diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py
index 13b6a61..48a8628 100644
--- a/selfdrive/car/cruise.py
+++ b/selfdrive/car/cruise.py
@@ -463,6 +463,8 @@ class VCruiseCarrot:
         self._pause_auto_speed_up = False
         if self._soft_hold_active > 0:
           self._soft_hold_active = 0
+        elif self._cruise_ready:
+          pass
         elif self._v_cruise_kph_at_brake > 0 and v_cruise_kph < self._v_cruise_kph_at_brake:
           v_cruise_kph = self._v_cruise_kph_at_brake
           self._v_cruise_kph_at_brake = 0
@@ -476,6 +478,8 @@ class VCruiseCarrot:
         self._pause_auto_speed_up = True
         if self._soft_hold_active > 0:
           self._cruise_control(-1, -1, "Cruise off,softhold mode (decelCruise)")
+        elif self._cruise_ready:
+          pass
         elif self.v_ego_kph_set > v_cruise_kph + 2:
           v_cruise_kph = max(self.v_ego_kph_set, self._cruise_speed_min)
         elif self._cruise_button_mode in [0, 1]:
diff --git a/selfdrive/carrot_settings.json b/selfdrive/carrot_settings.json
index ab097de..3787aa3 100644
--- a/selfdrive/carrot_settings.json
+++ b/selfdrive/carrot_settings.json
@@ -212,14 +212,14 @@
     {
       "group": "조향튜닝",
       "name": "SteerActuatorDelay",
-      "title": "SteerActuatorDelay(40)",
+      "title": "SteerActuatorDelay(30)",
       "descr": "조향지연값",
       "egroup": "LAT",
-      "etitle": "SteerActuatorDelay(40)",
+      "etitle": "SteerActuatorDelay(30)",
       "edescr": "",
       "min": 1,
       "max": 300,
-      "default": 40,
+      "default": 30,
       "unit": 1
     },
     {
@@ -368,23 +368,23 @@
     {
       "group": "주행튜닝",
       "name": "ComfortBrake",
-      "title": "Comfort Brake(240)",
+      "title": "Comfort Brake(250)",
       "descr": "x0.01, 값이 크면 급하게 브레이킹",
       "egroup": "LONG",
-      "etitle": "Comfort Brake(240)",
+      "etitle": "Comfort Brake(250)",
       "edescr": "",
       "min": 200,
       "max": 300,
-      "default": 240,
+      "default": 250,
       "unit": 5
     },
     {
       "group": "주행튜닝",
       "name": "JLeadFactor2",
-      "title": "JerkLeadFactor(0)",
+      "title": "JerkLeadFactor(100)",
       "descr": "값이 작으면 전방차량의 Jerk에 민감하게 반응",
       "egroup": "LONG",
-      "etitle": "JerkLeadFactor(0)",
+      "etitle": "JerkLeadFactor(100)",
       "edescr": "",
       "min": 10,
       "max": 100,
@@ -394,11 +394,11 @@
     {
       "group": "주행튜닝",
       "name": "LongTuningKpV",
-      "title": "Long KpV(100)x0.01",
-      "descr": "",
+      "title": "Long KpV(0)x0.01",
+      "descr": "HKG: AccelPid:0, VelocityPid:100",
       "egroup": "LONG",
-      "etitle": "Long KpV(100)x0.01",
-      "edescr": "",
+      "etitle": "Long KpV(0)x0.01",
+      "edescr": "HKG: AccelPid:0, VelocityPid:100",
       "min": 0,
       "max": 200,
       "default": 0,
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 0cbd606..cbc84f7 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -54,6 +54,9 @@ def clamp(val, min_val, max_val):
   clamped_val = float(np.clip(val, min_val, max_val))
   return clamped_val, clamped_val != val
 
+def smooth_value(val, prev_val, tau, dt=DT_MDL):
+  alpha = 1 - np.exp(-dt/tau) if tau > 0 else 1
+  return alpha * val + (1 - alpha) * prev_val
 
 def clip_curvature(v_ego, prev_curvature, new_curvature, roll):
   # This function respects ISO lateral jerk and acceleration limits + a max curvature
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 2f2edca..fd469e5 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -26,7 +26,7 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan
+from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
@@ -46,10 +46,6 @@ POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.p
 LAT_SMOOTH_SECONDS = 0.13
 LONG_SMOOTH_SECONDS = 0.3
 
-def smooth_value(val, prev_val, tau):
-  alpha = 1 - np.exp(-DT_MDL / tau) if tau > 0 else 1
-  return alpha * val + (1 - alpha) * prev_val
-
 
 def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                           lat_action_t: float, long_action_t: float,) -> log.ModelDataV2.Action:
diff --git a/selfdrive/ui/carrot.cc b/selfdrive/ui/carrot.cc
index 5d4a298..549a56a 100644
--- a/selfdrive/ui/carrot.cc
+++ b/selfdrive/ui/carrot.cc
@@ -310,6 +310,9 @@ protected:
         }
 
     }
+    Params  params;
+    std::deque<float> minDeque[3];  // 최소값을 유지하는 덱
+    std::deque<float> maxDeque[3];  // 최대값을 유지하는 덱
     void	makePlotData(const UIState* s, float data[], char* title) {
 
         SubMaster& sm = *(s->sm);
@@ -395,14 +398,14 @@ protected:
             plotIndex = 0;
             plotMin = 0.;
             plotMax = 0.;
+            for (int i = 0; i < 3; i++) {
+              minDeque[i].clear();
+              maxDeque[i].clear();
+            }
             show_plot_mode_prev = show_plot_mode;
         }
     }
 
-    Params  params;
-    std::deque<float> minDeque[3];  // 최소값을 유지하는 덱
-    std::deque<float> maxDeque[3];  // 최대값을 유지하는 덱
-
     void updatePlotQueue(float plot_data[3]) {
         // plotIndex 업데이트
         plotIndex = (plotIndex + 1) % PLOT_MAX;
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 484feb5..cde0998 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -664,8 +664,8 @@ CarrotPanel::CarrotPanel(QWidget* parent) : QWidget(parent) {
   latLongToggles->addItem(new CValueControl("StoppingAccel", "LONG: StoppingStartAccelx0.01(-40)", "", "../assets/offroad/icon_logic.png", -100, 0, 5));
   latLongToggles->addItem(new CValueControl("StopDistanceCarrot", "LONG: StopDistance (600)cm", "", "../assets/offroad/icon_logic.png", 300, 1000, 10));
   //latLongToggles->addItem(new CValueControl("TraffStopDistanceAdjust", "LONG: TrafficStopDistance adjust(150)cm", "", "../assets/offroad/icon_road.png", -1000, 1000, 10));
-  latLongToggles->addItem(new CValueControl("ComfortBrake", "LONG: Comfort Brake (240)", "x0.01", "../assets/offroad/icon_logic.png", 200, 300, 1));
-  latLongToggles->addItem(new CValueControl("JLeadFactor2", "LONG: Jerk Lead Factor (0)", "x0.01", "../assets/offroad/icon_logic.png", 10, 100, 5));
+  latLongToggles->addItem(new CValueControl("ComfortBrake", "LONG: Comfort Brake (250)", "x0.01", "../assets/offroad/icon_logic.png", 200, 300, 1));
+  latLongToggles->addItem(new CValueControl("JLeadFactor2", "LONG: Jerk Lead Factor (100)", "x0.01", "../assets/offroad/icon_logic.png", 10, 100, 5));
   latLongToggles->addItem(new CValueControl("CruiseMaxVals1", "ACCEL:0km/h(160)", "속도별 가속도를 지정합니다.(x0.01m/s^2)", "../assets/offroad/icon_logic.png", 1, 250, 5));
   latLongToggles->addItem(new CValueControl("CruiseMaxVals2", "ACCEL:40km/h(120)", "속도별 가속도를 지정합니다.(x0.01m/s^2)", "../assets/offroad/icon_logic.png", 1, 250, 5));
   latLongToggles->addItem(new CValueControl("CruiseMaxVals3", "ACCEL:60km/h(100)", "속도별 가속도를 지정합니다.(x0.01m/s^2)", "../assets/offroad/icon_logic.png", 1, 250, 5));
@@ -674,7 +674,7 @@ CarrotPanel::CarrotPanel(QWidget* parent) : QWidget(parent) {
   latLongToggles->addItem(new CValueControl("CruiseMaxVals6", "ACCEL:140km/h(60)", "속도별 가속도를 지정합니다.(x0.01m/s^2)", "../assets/offroad/icon_logic.png", 1, 250, 5));
   //latLongToggles->addItem(new CValueControl("CruiseMinVals", "DECEL:(120)", "감속도를 설정합니다.(x0.01m/s^2)", "../assets/offroad/icon_road.png", 50, 250, 5));
   latLongToggles->addItem(new CValueControl("MaxAngleFrames", "MaxAngleFrames(89)", "89:기본, 스티어계기판에러시 85~87", "../assets/offroad/icon_logic.png", 80, 100, 1));
-  latLongToggles->addItem(new CValueControl("SteerActuatorDelay", "LAT:SteerActuatorDelay(40)", "표준", "../assets/offroad/icon_logic.png", 1, 100, 1));
+  latLongToggles->addItem(new CValueControl("SteerActuatorDelay", "LAT:SteerActuatorDelay(30)", "표준", "../assets/offroad/icon_logic.png", 1, 100, 1));
   latLongToggles->addItem(new CValueControl("LateralTorqueCustom", "LAT: TorqueCustom(0)", "", "../assets/offroad/icon_logic.png", 0, 2, 1));
   latLongToggles->addItem(new CValueControl("LateralTorqueAccelFactor", "LAT: TorqueAccelFactor(2500)", "", "../assets/offroad/icon_logic.png", 1000, 6000, 10));
   latLongToggles->addItem(new CValueControl("LateralTorqueFriction", "LAT: TorqueFriction(100)", "", "../assets/offroad/icon_logic.png", 0, 1000, 10));
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 1f6ad9b..f6c2681 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -26,6 +26,9 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
     LOGD("allocated %d CL buffers", frame_buf_count);
   }
 
+  out_img_width = sensor->frame_width;
+  out_img_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height;
+
   // the encoder HW tells us the size it wants after setting it up.
   // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
   size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*cam->stride;
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index c26859c..c042667 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -32,7 +32,7 @@ public:
   VisionBuf *cur_yuv_buf;
   VisionBuf *cur_camera_buf;
   std::unique_ptr<VisionBuf[]> camera_bufs_raw;
-  uint32_t out_img_width, out_img_height;
+  int out_img_width, out_img_height;
 
   CameraBuf() = default;
   ~CameraBuf();
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 8c4602b..18a42f0 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -73,7 +73,7 @@ void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ct
 
   if (!camera.enabled) return;
 
-  fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm / camera.sensor->out_scale;
+  fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm;
   set_exposure_rect();
 
   dc_gain_weight = camera.sensor->dc_gain_min_weight;
@@ -107,10 +107,10 @@ void CameraState::set_exposure_rect() {
   float fl_ref = ae_target.second;
 
   ae_xywh = (Rect){
-    std::max(0, (int)camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
-    std::max(0, (int)camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
-    std::min((int)(fl_pix / fl_ref * xywh_ref.w), (int)camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
-    std::min((int)(fl_pix / fl_ref * xywh_ref.h), (int)camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
+    std::max(0, camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
+    std::max(0, camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
+    std::min((int)(fl_pix / fl_ref * xywh_ref.w), camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
+    std::min((int)(fl_pix / fl_ref * xywh_ref.h), camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
   };
 }
 
diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h
index fd87d2b..49737f2 100644
--- a/system/camerad/cameras/ife.h
+++ b/system/camerad/cameras/ife.h
@@ -105,7 +105,7 @@ int build_update(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std:
 }
 
 
-int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector<uint32_t> &patches, uint32_t out_width, uint32_t out_height) {
+int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector<uint32_t> &patches) {
   uint8_t *start = dst;
 
   // start with the every frame config
@@ -185,12 +185,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo
   // output size/scaling
   dst += write_cont(dst, 0xa3c, {
     0x00000003,
-    ((out_width - 1) << 16) | (s->frame_width - 1),
+    ((s->frame_width - 1) << 16) | (s->frame_width - 1),
     0x30036666,
     0x00000000,
     0x00000000,
     s->frame_width - 1,
-    ((out_height - 1) << 16) | (s->frame_height - 1),
+    ((s->frame_height - 1) << 16) | (s->frame_height - 1),
     0x30036666,
     0x00000000,
     0x00000000,
@@ -198,12 +198,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo
   });
   dst += write_cont(dst, 0xa68, {
     0x00000003,
-    ((out_width / 2 - 1) << 16) | (s->frame_width - 1),
+    ((s->frame_width/2 - 1) << 16) | (s->frame_width - 1),
     0x3006cccc,
     0x00000000,
     0x00000000,
     s->frame_width - 1,
-    ((out_height / 2 - 1) << 16) | (s->frame_height - 1),
+    ((s->frame_height/2 - 1) << 16) | (s->frame_height - 1),
     0x3006cccc,
     0x00000000,
     0x00000000,
@@ -212,12 +212,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo
 
   // cropping
   dst += write_cont(dst, 0xe10, {
-    out_height - 1,
-    out_width - 1,
+    s->frame_height - 1,
+    s->frame_width - 1,
   });
   dst += write_cont(dst, 0xe30, {
-    out_height / 2 - 1,
-    out_width - 1,
+    s->frame_height/2 - 1,
+    s->frame_width - 1,
   });
   dst += write_cont(dst, 0xe18, {
     0x0ff00000,
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 47ae906..4535078 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -281,21 +281,18 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
 
   if (!enabled) return;
 
-  buf.out_img_width = sensor->frame_width / sensor->out_scale;
-  buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale;
-
   // size is driven by all the HW that handles frames,
   // the video encoder has certain alignment requirements in this case
-  stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, buf.out_img_width);
-  y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, buf.out_img_height);
-  uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, buf.out_img_height);
+  stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, sensor->frame_width);
+  y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, sensor->frame_height);
+  uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, sensor->frame_height);
   uv_offset = stride*y_height;
   yuv_size = uv_offset + stride*uv_height;
   if (cc.output_type != ISP_RAW_OUTPUT) {
     uv_offset = ALIGNED_SIZE(uv_offset, 0x1000);
     yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000);
   }
-  assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, buf.out_img_width));
+  assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, sensor->frame_width));
   assert(y_height/2 == uv_height);
 
   open = true;
@@ -648,14 +645,14 @@ void SpectraCamera::config_bps(int idx, int request_id) {
     io_cfg[1].mem_handle[0] = buf_handle_yuv[idx];
     io_cfg[1].mem_handle[1] = buf_handle_yuv[idx];
     io_cfg[1].planes[0] = (struct cam_plane_cfg){
-      .width = buf.out_img_width,
-      .height = buf.out_img_height,
+      .width = sensor->frame_width,
+      .height = sensor->frame_height,
       .plane_stride = stride,
       .slice_height = y_height,
     };
     io_cfg[1].planes[1] = (struct cam_plane_cfg){
-      .width = buf.out_img_width,
-      .height = buf.out_img_height / 2,
+      .width = sensor->frame_width,
+      .height = sensor->frame_height/2,
       .plane_stride = stride,
       .slice_height = uv_height,
     };
@@ -740,7 +737,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
     bool is_raw = cc.output_type != ISP_IFE_PROCESSED;
     if (!is_raw) {
       if (init) {
-        buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches, buf.out_img_width, buf.out_img_height);
+        buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches);
       } else {
         buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches);
       }
@@ -847,14 +844,14 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
       io_cfg[0].mem_handle[0] = buf_handle_yuv[idx];
       io_cfg[0].mem_handle[1] = buf_handle_yuv[idx];
       io_cfg[0].planes[0] = (struct cam_plane_cfg){
-        .width = buf.out_img_width,
-        .height = buf.out_img_height,
+        .width = sensor->frame_width,
+        .height = sensor->frame_height,
         .plane_stride = stride,
         .slice_height = y_height,
       };
       io_cfg[0].planes[1] = (struct cam_plane_cfg){
-        .width = buf.out_img_width,
-        .height = buf.out_img_height / 2,
+        .width = sensor->frame_width,
+        .height = sensor->frame_height/2,
         .plane_stride = stride,
         .slice_height = uv_height,
       };
@@ -996,9 +993,6 @@ bool SpectraCamera::openSensor() {
   LOGD("-- Probing sensor %d", cc.camera_num);
 
   auto init_sensor_lambda = [this](SensorInfo *s) {
-    if (s->image_sensor == cereal::FrameData::ImageSensor::OS04C10 && cc.output_type == ISP_IFE_PROCESSED) {
-      ((OS04C10*)s)->ife_downscale_configure();
-    }
     sensor.reset(s);
     return (sensors_init() == 0);
   };
@@ -1071,8 +1065,8 @@ void SpectraCamera::configISP() {
     .data[0] = (struct cam_isp_out_port_info){
       .res_type = CAM_ISP_IFE_OUT_RES_FULL,
       .format = CAM_FORMAT_NV12,
-      .width = buf.out_img_width,
-      .height = buf.out_img_height + sensor->extra_height,
+      .width = sensor->frame_width,
+      .height = sensor->frame_height + sensor->extra_height,
       .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,
     },
   };
@@ -1147,8 +1141,8 @@ void SpectraCamera::configICP() {
     },
     .out_res[0] = (struct cam_icp_res_info){
       .format = 0x3,  // YUV420NV12
-      .width = buf.out_img_width,
-      .height = buf.out_img_height,
+      .width = sensor->frame_width,
+      .height = sensor->frame_height,
       .fps = 20,
     },
   };
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index 38be4ec..d008e1d 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -20,17 +20,6 @@ const uint32_t os04c10_analog_gains_reg[] = {
 
 }  // namespace
 
-void OS04C10::ife_downscale_configure() {
-  out_scale = 2;
-
-  pixel_size_mm = 0.002;
-  frame_width = 2688;
-  frame_height = 1520;
-  exposure_time_max = 2352;
-
-  init_reg_array.insert(init_reg_array.end(), std::begin(ife_downscale_override_array_os04c10), std::end(ife_downscale_override_array_os04c10));
-}
-
 OS04C10::OS04C10() {
   image_sensor = cereal::FrameData::ImageSensor::OS04C10;
   bayer_pattern = CAM_ISP_PATTERN_BAYER_BGBGBG;
diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h
index b501656..8b1c78c 100644
--- a/system/camerad/sensors/os04c10_registers.h
+++ b/system/camerad/sensors/os04c10_registers.h
@@ -88,6 +88,8 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37c7, 0xa8},
   {0x37da, 0x11},
   {0x381f, 0x08},
+  // {0x3829, 0x03},
+  // {0x3832, 0x00},
   {0x3881, 0x00},
   {0x3888, 0x04},
   {0x388b, 0x00},
@@ -197,6 +199,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x370b, 0x48},
   {0x370c, 0x01},
   {0x370f, 0x00},
+  {0x3714, 0x28},
   {0x3716, 0x04},
   {0x3719, 0x11},
   {0x371a, 0x1e},
@@ -228,6 +231,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37bd, 0x01},
   {0x37bf, 0x26},
   {0x37c0, 0x11},
+  {0x37c2, 0x14},
   {0x37cd, 0x19},
   {0x37e0, 0x08},
   {0x37e6, 0x04},
@@ -237,9 +241,14 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37d8, 0x02},
   {0x37e2, 0x10},
   {0x3739, 0x10},
+  {0x3662, 0x08},
   {0x37e4, 0x20},
   {0x37e3, 0x08},
+  {0x37d9, 0x04},
   {0x4040, 0x00},
+  {0x4041, 0x03},
+  {0x4008, 0x01},
+  {0x4009, 0x06},
 
   // FSIN
   {0x3002, 0x22},
@@ -260,11 +269,20 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3802, 0x00}, {0x3803, 0x00},
   {0x3804, 0x0a}, {0x3805, 0x8f},
   {0x3806, 0x05}, {0x3807, 0xff},
+  {0x3808, 0x05}, {0x3809, 0x40},
+  {0x380a, 0x02}, {0x380b, 0xf8},
   {0x3811, 0x08},
   {0x3813, 0x08},
+  {0x3814, 0x03},
   {0x3815, 0x01},
+  {0x3816, 0x03},
   {0x3817, 0x01},
 
+  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS
+  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS
+
+  {0x3820, 0xb3},
+  {0x3821, 0x01},
   {0x3880, 0x00},
   {0x3882, 0x20},
   {0x3c91, 0x0b},
@@ -313,40 +331,4 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   // r
   {0x5104, 0x08}, {0x5105, 0xd6},
   {0x5144, 0x08}, {0x5145, 0xd6},
-
-  {0x3714, 0x28},
-  {0x37c2, 0x14},
-  {0x3662, 0x08},
-  {0x37d9, 0x04},
-  {0x4041, 0x03},
-  {0x4008, 0x01},
-  {0x4009, 0x06},
-  {0x3808, 0x05}, {0x3809, 0x40},
-  {0x380a, 0x02}, {0x380b, 0xf8},
-  {0x3814, 0x03},
-  {0x3816, 0x03},
-  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS
-  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS
-  {0x3820, 0xb3},
-  {0x3821, 0x01},
-};
-
-const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = {
-  // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
-  {0x3829, 0x03},
-  {0x3714, 0x24},
-  {0x37c2, 0x04},
-  {0x3662, 0x10},
-  {0x37d9, 0x08},
-  {0x4041, 0x07},
-  {0x4008, 0x02},
-  {0x4009, 0x0d},
-  {0x3808, 0x0a}, {0x3809, 0x80},
-  {0x380a, 0x05}, {0x380b, 0xf0},
-  {0x3814, 0x01},
-  {0x3816, 0x01},
-  {0x380c, 0x08}, {0x380d, 0x5c}, // HTS
-  {0x380e, 0x09}, {0x380f, 0x38}, // VTS
-  {0x3820, 0xb0},
-  {0x3821, 0x00},
 };
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index d4be3cf..c1131aa 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -29,7 +29,6 @@ public:
   uint32_t frame_stride;
   uint32_t frame_offset = 0;
   uint32_t extra_height = 0;
-  int out_scale = 1;
   int registers_offset = -1;
   int stats_offset = -1;
   int hdr_offset = -1;
@@ -110,7 +109,6 @@ public:
 class OS04C10 : public SensorInfo {
 public:
   OS04C10();
-  void ife_downscale_configure();
   std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
   float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
   int getSlaveAddress(int port) const override;
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 40b0119..4bbf155 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -83,7 +83,7 @@ def get_default_params():
     ("MapTurnSpeedFactor", "90"),
     ("StoppingAccel", "0"),
     ("StopDistanceCarrot", "550"),
-    ("ComfortBrake", "240"),
+    ("ComfortBrake", "250"),
     ("JLeadFactor2", "100"),
     ("CruiseButtonMode", "2"),
     ("CruiseButtonTest1", "8"),
@@ -100,7 +100,7 @@ def get_default_params():
     ("CruiseMaxVals4", "110"),
     ("CruiseMaxVals5", "95"),
     ("CruiseMaxVals6", "80"),
-    ("LongTuningKpV", "100"),
+    ("LongTuningKpV", "0"),
     ("LongTuningKiV", "0"),
     ("LongTuningKf", "100"),
     ("LongActuatorDelay", "20"),
diff --git a/system/ui/spinner.py b/system/ui/spinner.py
index 951c6f6..adfb604 100755
--- a/system/ui/spinner.py
+++ b/system/ui/spinner.py
@@ -9,7 +9,7 @@ from openpilot.system.ui.lib.application import gui_app
 # Constants
 PROGRESS_BAR_WIDTH = 1000
 PROGRESS_BAR_HEIGHT = 20
-ROTATION_TIME_SECONDS = 1.0  # Time for one full circle
+DEGREES_PER_SECOND = 360.0  # one full rotation per second
 MARGIN = 200
 TEXTURE_SIZE = 360
 FONT_SIZE = 80
@@ -26,21 +26,25 @@ class Spinner:
     self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE)
     self._rotation = 0.0
     self._text: str = ""
+    self._progress: int | None = None
     self._lock = threading.Lock()
 
   def set_text(self, text: str) -> None:
     with self._lock:
-      self._text = text
+      if text.isdigit():
+        self._progress = clamp(int(text), 0, 100)
+        self._text = ""
+      else:
+        self._progress = None
+        self._text = text
 
   def render(self):
     center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0)
     spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0)
     comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0)
 
-    fps = rl.get_fps()
-    if fps > 0:
-      degrees_per_frame = 360.0 / (ROTATION_TIME_SECONDS * fps)
-      self._rotation = (self._rotation + degrees_per_frame) % 360.0
+    delta_time = rl.get_frame_time()
+    self._rotation = (self._rotation + DEGREES_PER_SECOND * delta_time) % 360.0
 
     # Draw rotating spinner and static comma logo
     rl.draw_texture_pro(self._spinner_texture, rl.Rectangle(0, 0, TEXTURE_SIZE, TEXTURE_SIZE),
@@ -49,23 +53,21 @@ class Spinner:
     rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE)
 
     # Display progress bar or text based on user input
-    text = None
+    y_pos = rl.get_screen_height() - MARGIN - PROGRESS_BAR_HEIGHT
     with self._lock:
+      progress = self._progress
       text = self._text
 
-    if text:
-      y_pos = rl.get_screen_height() - MARGIN - PROGRESS_BAR_HEIGHT
-      if text.isdigit():
-        progress = clamp(int(text), 0, 100)
-        bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT)
-        rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY)
+    if progress is not None:
+      bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT)
+      rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY)
 
-        bar.width *= progress / 100.0
-        rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE)
-      else:
-        text_size = rl.measure_text_ex(gui_app.font(), text, FONT_SIZE, 1.0)
-        rl.draw_text_ex(gui_app.font(), text,
-                        rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE)
+      bar.width *= progress / 100.0
+      rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE)
+    elif text:
+      text_size = rl.measure_text_ex(gui_app.font(), text, FONT_SIZE, 1.0)
+      rl.draw_text_ex(gui_app.font(), text,
+                      rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE)
 
 
 if __name__ == "__main__":
diff --git a/system/ui/text.py b/system/ui/text.py
index 97d0ebc..4ea886b 100755
--- a/system/ui/text.py
+++ b/system/ui/text.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import re
 import pyray as rl
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.lib.button import gui_button, ButtonStyle
@@ -7,8 +8,8 @@ from openpilot.system.ui.lib.application import gui_app
 
 MARGIN = 50
 SPACING = 50
-FONT_SIZE = 60
-LINE_HEIGHT = 64
+FONT_SIZE = 72
+LINE_HEIGHT = 80
 BUTTON_SIZE = rl.Vector2(310, 160)
 
 DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necessary.
@@ -16,18 +17,24 @@ DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necess
 
 def wrap_text(text, font_size, max_width):
   lines = []
-  current_line = ""
   font = gui_app.font()
 
-  for word in text.split():
-    test_line = current_line + word + " "
-    if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width:
-      current_line = test_line
-    else:
+  for paragraph in text.split("\n"):
+    if not paragraph.strip():
+      lines.append("")
+      continue
+    indent = re.match(r"^\s*", paragraph).group()
+    current_line = indent
+    for word in paragraph.split():
+      test_line = current_line + word + " "
+      if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width:
+        current_line = test_line
+      else:
+        lines.append(current_line)
+        current_line = word + " "
+    current_line = current_line.rstrip()
+    if current_line:
       lines.append(current_line)
-      current_line = word + " "
-  if current_line:
-    lines.append(current_line)
 
   return lines
 
@@ -45,7 +52,7 @@ class TextWindow:
       position = rl.Vector2(self._textarea_rect.x + scroll.x, self._textarea_rect.y + scroll.y + i * LINE_HEIGHT)
       if position.y + LINE_HEIGHT < self._textarea_rect.y or position.y > self._textarea_rect.y + self._textarea_rect.height:
         continue
-      rl.draw_text_ex(gui_app.font(), line.strip(), position, FONT_SIZE, 0, rl.WHITE)
+      rl.draw_text_ex(gui_app.font(), line, position, FONT_SIZE, 0, rl.WHITE)
     rl.end_scissor_mode()
 
     button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y)
diff --git a/system/ui/updater.py b/system/ui/updater.py
new file mode 100755
index 0000000..eb9d766
--- /dev/null
+++ b/system/ui/updater.py
@@ -0,0 +1,197 @@
+#!/usr/bin/env python3
+import sys
+import subprocess
+import threading
+import pyray as rl
+from enum import IntEnum
+
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.button import gui_button, ButtonStyle
+from openpilot.system.ui.lib.label import gui_text_box, gui_label
+
+# Constants
+MARGIN = 50
+BUTTON_HEIGHT = 160
+BUTTON_WIDTH = 400
+PROGRESS_BAR_HEIGHT = 72
+TITLE_FONT_SIZE = 80
+BODY_FONT_SIZE = 65
+BACKGROUND_COLOR = rl.BLACK
+PROGRESS_BG_COLOR = rl.Color(41, 41, 41, 255)
+PROGRESS_COLOR = rl.Color(54, 77, 239, 255)
+
+
+class Screen(IntEnum):
+  PROMPT = 0
+  WIFI = 1
+  PROGRESS = 2
+
+
+class Updater:
+  def __init__(self, updater_path, manifest_path):
+    self.updater = updater_path
+    self.manifest = manifest_path
+    self.current_screen = Screen.PROMPT
+
+    self.progress_value = 0
+    self.progress_text = "Loading..."
+    self.show_reboot_button = False
+    self.process = None
+    self.update_thread = None
+
+  def install_update(self):
+    self.current_screen = Screen.PROGRESS
+    self.progress_value = 0
+    self.progress_text = "Downloading..."
+    self.show_reboot_button = False
+
+    # Start the update process in a separate thread
+    self.update_thread = threading.Thread(target=self._run_update_process)
+    self.update_thread.daemon = True
+    self.update_thread.start()
+
+  def _run_update_process(self):
+    # TODO: just import it and run in a thread without a subprocess
+    cmd = [self.updater, "--swap", self.manifest]
+    self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE,
+                                   text=True, bufsize=1, universal_newlines=True)
+
+    for line in self.process.stdout:
+      parts = line.strip().split(":")
+      if len(parts) == 2:
+        self.progress_text = parts[0]
+        try:
+          self.progress_value = int(float(parts[1]))
+        except ValueError:
+          pass
+
+    exit_code = self.process.wait()
+    if exit_code == 0:
+      HARDWARE.reboot()
+    else:
+      self.progress_text = "Update failed"
+      self.show_reboot_button = True
+
+  def render_prompt_screen(self):
+    # Title
+    title_rect = rl.Rectangle(MARGIN + 50, 250, gui_app.width - MARGIN * 2 - 100, TITLE_FONT_SIZE)
+    gui_label(title_rect, "Update Required", TITLE_FONT_SIZE, font_weight=FontWeight.BOLD)
+
+    # Description
+    desc_text = "An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. \
+                 The download size is approximately 1GB."
+    desc_rect = rl.Rectangle(MARGIN + 50, 250 + TITLE_FONT_SIZE + 75, gui_app.width - MARGIN * 2 - 100, BODY_FONT_SIZE * 3)
+    gui_text_box(desc_rect, desc_text, BODY_FONT_SIZE)
+
+    # Buttons at the bottom
+    button_y = gui_app.height - MARGIN - BUTTON_HEIGHT
+    button_width = (gui_app.width - MARGIN * 3) // 2
+
+    # WiFi button
+    wifi_button_rect = rl.Rectangle(MARGIN, button_y, button_width, BUTTON_HEIGHT)
+    if gui_button(wifi_button_rect, "Connect to Wi-Fi"):
+      self.current_screen = Screen.WIFI
+      return  # Return to avoid processing other buttons after screen change
+
+    # Install button
+    install_button_rect = rl.Rectangle(MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT)
+    if gui_button(install_button_rect, "Install", button_style=ButtonStyle.PRIMARY):
+      self.install_update()
+      return  # Return to avoid further processing after action
+
+  def render_wifi_screen(self):
+    # Title and back button
+    title_rect = rl.Rectangle(MARGIN + 50, MARGIN, gui_app.width - MARGIN * 2 - 100, 60)
+    gui_label(title_rect, "Wi-Fi Networks", 60, font_weight=FontWeight.BOLD)
+
+    back_button_rect = rl.Rectangle(MARGIN, gui_app.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT)
+    if gui_button(back_button_rect, "Back"):
+      self.current_screen = Screen.PROMPT
+      return  # Return to avoid processing other interactions after screen change
+
+    # Draw placeholder for WiFi implementation
+    placeholder_rect = rl.Rectangle(
+      MARGIN,
+      title_rect.y + title_rect.height + MARGIN,
+      gui_app.width - MARGIN * 2,
+      gui_app.height - title_rect.height - MARGIN * 3 - BUTTON_HEIGHT
+    )
+
+    # Draw rounded rectangle background
+    rl.draw_rectangle_rounded(
+      placeholder_rect,
+      0.1,
+      10,
+      rl.Color(41, 41, 41, 255)
+    )
+
+    # Draw placeholder text
+    placeholder_text = "WiFi Implementation Placeholder"
+    text_size = rl.measure_text_ex(gui_app.font(), placeholder_text, 80, 1)
+    text_pos = rl.Vector2(
+      placeholder_rect.x + (placeholder_rect.width - text_size.x) / 2,
+      placeholder_rect.y + (placeholder_rect.height - text_size.y) / 2
+    )
+    rl.draw_text_ex(gui_app.font(), placeholder_text, text_pos, 80, 1, rl.WHITE)
+
+    # Draw instructions
+    instructions_text = "Real WiFi functionality would be implemented here"
+    instructions_size = rl.measure_text_ex(gui_app.font(), instructions_text, 40, 1)
+    instructions_pos = rl.Vector2(
+      placeholder_rect.x + (placeholder_rect.width - instructions_size.x) / 2,
+      text_pos.y + text_size.y + 20
+    )
+    rl.draw_text_ex(gui_app.font(), instructions_text, instructions_pos, 40, 1, rl.GRAY)
+
+  def render_progress_screen(self):
+    title_rect = rl.Rectangle(MARGIN + 100, 330, gui_app.width - MARGIN * 2 - 200, 100)
+    gui_label(title_rect, self.progress_text, 90, font_weight=FontWeight.SEMI_BOLD)
+
+    # Progress bar
+    bar_rect = rl.Rectangle(MARGIN + 100, 330 + 100 + 100, gui_app.width - MARGIN * 2 - 200, PROGRESS_BAR_HEIGHT)
+    rl.draw_rectangle_rounded(bar_rect, 0.5, 10, PROGRESS_BG_COLOR)
+
+    # Calculate the width of the progress chunk
+    progress_width = (bar_rect.width * self.progress_value) / 100
+    if progress_width > 0:
+      progress_rect = rl.Rectangle(bar_rect.x, bar_rect.y, progress_width, bar_rect.height)
+      rl.draw_rectangle_rounded(progress_rect, 0.5, 10, PROGRESS_COLOR)
+
+    # Show reboot button if needed
+    if self.show_reboot_button:
+      reboot_rect = rl.Rectangle(MARGIN + 100, gui_app.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT)
+      if gui_button(reboot_rect, "Reboot"):
+        # Return True to signal main loop to exit before rebooting
+        HARDWARE.reboot()
+        return
+
+  def render(self):
+    if self.current_screen == Screen.PROMPT:
+      self.render_prompt_screen()
+    elif self.current_screen == Screen.WIFI:
+      self.render_wifi_screen()
+    elif self.current_screen == Screen.PROGRESS:
+      self.render_progress_screen()
+
+
+def main():
+  if len(sys.argv) < 3:
+    print("Usage: updater.py <updater_path> <manifest_path>")
+    sys.exit(1)
+
+  updater_path = sys.argv[1]
+  manifest_path = sys.argv[2]
+
+  try:
+    gui_app.init_window("System Update")
+    updater = Updater(updater_path, manifest_path)
+    for _ in gui_app.render():
+      updater.render()
+  finally:
+    # Make sure we clean up even if there's an error
+    gui_app.close()
+
+
+if __name__ == "__main__":
+  main()