diff --git a/VERSION b/VERSION
index 0d687f1e2ba8c5..1de48e4cdaa2df 100644
--- a/VERSION
+++ b/VERSION
@@ -1 +1 @@
-v1.7.3
\ No newline at end of file
+v1.7.4
\ No newline at end of file
diff --git a/board/drivers/can.h b/board/drivers/can.h
index 93db2565ca5342..ff60473f7dc83f 100644
--- a/board/drivers/can.h
+++ b/board/drivers/can.h
@@ -28,6 +28,7 @@ void can_set_forwarding(int from, int to);
 
 void can_init(uint8_t can_number);
 void can_init_all(void);
+bool can_tx_check_min_slots_free(uint32_t min);
 void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number, bool skip_tx_hook);
 bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
 
@@ -107,6 +108,20 @@ bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
   return ret;
 }
 
+uint32_t can_slots_empty(can_ring *q) {
+  uint32_t ret = 0;
+
+  ENTER_CRITICAL();
+  if (q->w_ptr >= q->r_ptr) {
+    ret = q->fifo_size - 1U - q->w_ptr + q->r_ptr;
+  } else {
+    ret = q->r_ptr - q->w_ptr - 1U;
+  }
+  EXIT_CRITICAL();
+
+  return ret;
+}
+
 void can_clear(can_ring *q) {
   ENTER_CRITICAL();
   q->w_ptr = 0;
@@ -317,6 +332,10 @@ void process_can(uint8_t can_number) {
         CAN->sTxMailBox[0].TDHR = to_send.RDHR;
         CAN->sTxMailBox[0].TDTR = to_send.RDTR;
         CAN->sTxMailBox[0].TIR = to_send.RIR;
+
+        if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_BULK_TRANSFER)) {
+          usb_outep3_resume_if_paused();
+        }
       }
     }
 
@@ -405,6 +424,14 @@ void CAN3_TX_IRQ_Handler(void) { process_can(2); }
 void CAN3_RX0_IRQ_Handler(void) { can_rx(2); }
 void CAN3_SCE_IRQ_Handler(void) { can_sce(CAN3); }
 
+bool can_tx_check_min_slots_free(uint32_t min) {
+  return
+    (can_slots_empty(&can_tx1_q) >= min) &&
+    (can_slots_empty(&can_tx2_q) >= min) &&
+    (can_slots_empty(&can_tx3_q) >= min) &&
+    (can_slots_empty(&can_txgmlan_q) >= min);
+}
+
 void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number, bool skip_tx_hook) {
   if (skip_tx_hook || safety_tx_hook(to_push) != 0) {
     if (bus_number < BUS_MAX) {
diff --git a/board/drivers/usb.h b/board/drivers/usb.h
index a970194ffd284e..4cfd90df289088 100644
--- a/board/drivers/usb.h
+++ b/board/drivers/usb.h
@@ -23,12 +23,16 @@ typedef union _USB_Setup {
 }
 USB_Setup_TypeDef;
 
+#define MAX_CAN_MSGS_PER_BULK_TRANSFER 4U
+
 void usb_init(void);
 int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired);
 int usb_cb_ep1_in(void *usbdata, int len, bool hardwired);
 void usb_cb_ep2_out(void *usbdata, int len, bool hardwired);
 void usb_cb_ep3_out(void *usbdata, int len, bool hardwired);
+void usb_cb_ep3_out_complete(void);
 void usb_cb_enumeration_complete(void);
+void usb_outep3_resume_if_paused(void);
 
 // **** supporting defines ****
 
@@ -380,6 +384,7 @@ USB_Setup_TypeDef setup;
 uint8_t usbdata[0x100];
 uint8_t* ep0_txdata = NULL;
 uint16_t ep0_txlen = 0;
+bool outep3_processing = false;
 
 // Store the current interface alt setting.
 int current_int0_alt_setting = 0;
@@ -744,6 +749,7 @@ void usb_irqhandler(void) {
       }
 
       if (endpoint == 3) {
+        outep3_processing = true;
         usb_cb_ep3_out(usbdata, len, 1);
       }
     } else if (status == STS_SETUP_UPDT) {
@@ -816,15 +822,17 @@ void usb_irqhandler(void) {
       #ifdef DEBUG_USB
         puts("  OUT3 PACKET XFRC\n");
       #endif
-      USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
-      USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
+      // NAK cleared by process_can (if tx buffers have room)
+      outep3_processing = false;
+      usb_cb_ep3_out_complete();
     } else if ((USBx_OUTEP(3)->DOEPINT & 0x2000) != 0) {
       #ifdef DEBUG_USB
         puts("  OUT3 PACKET WTF\n");
       #endif
       // if NAK was set trigger this, unknown interrupt
-      USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
-      USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+      // TODO: why was this here? fires when TX buffers when we can't clear NAK
+      // USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
+      // USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
     } else if ((USBx_OUTEP(3)->DOEPINT) != 0) {
       puts("OUTEP3 error ");
       puth(USBx_OUTEP(3)->DOEPINT);
@@ -932,6 +940,15 @@ void usb_irqhandler(void) {
   //USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF);
 }
 
+void usb_outep3_resume_if_paused() {
+  ENTER_CRITICAL();
+  if (!outep3_processing && (USBx_OUTEP(3)->DOEPCTL & USB_OTG_DOEPCTL_NAKSTS) != 0) {
+    USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
+    USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
+  }
+  EXIT_CRITICAL();
+}
+
 void OTG_FS_IRQ_Handler(void) {
   NVIC_DisableIRQ(OTG_FS_IRQn);
   //__disable_irq();
diff --git a/board/get_sdk_mac.sh b/board/get_sdk_mac.sh
index a0a919f7d85e04..24b93b540dba19 100755
--- a/board/get_sdk_mac.sh
+++ b/board/get_sdk_mac.sh
@@ -1,5 +1,7 @@
 #!/bin/bash
 # Need formula for gcc
+sudo easy_install pip
+/usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
 brew tap ArmMbed/homebrew-formulae
 brew install python dfu-util arm-none-eabi-gcc
 pip install --user libusb1 pycrypto requests
diff --git a/board/main.c b/board/main.c
index 8bc4ac78f1b43b..4144d80fd6c940 100644
--- a/board/main.c
+++ b/board/main.c
@@ -235,6 +235,12 @@ void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
   }
 }
 
+void usb_cb_ep3_out_complete() {
+  if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_BULK_TRANSFER)) {
+    usb_outep3_resume_if_paused();
+  }
+}
+
 void usb_cb_enumeration_complete() {
   puts("USB enumeration complete\n");
   is_enumerated = 1;
@@ -469,6 +475,15 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
         can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
       }
       break;
+    // **** 0xdf: set unsafe mode
+    case 0xdf:
+      // you can only set this if you are in a non car safety mode
+      if ((current_safety_mode == SAFETY_SILENT) ||
+          (current_safety_mode == SAFETY_NOOUTPUT) ||
+          (current_safety_mode == SAFETY_ELM327)) {
+        unsafe_mode = setup->b.wValue.w;
+      }
+      break;
     // **** 0xe0: uart read
     case 0xe0:
       ur = get_ring_by_number(setup->b.wValue.w);
diff --git a/board/pedal/main.c b/board/pedal/main.c
index 3192f4b2bd2f77..093f4c9357936d 100644
--- a/board/pedal/main.c
+++ b/board/pedal/main.c
@@ -76,6 +76,7 @@ void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
   UNUSED(len);
   UNUSED(hardwired);
 }
+void usb_cb_ep3_out_complete(void) {}
 void usb_cb_enumeration_complete(void) {}
 
 int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired) {
diff --git a/board/safety.h b/board/safety.h
index 407f33f6695ee8..782c4ef7ed9790 100644
--- a/board/safety.h
+++ b/board/safety.h
@@ -37,6 +37,7 @@
 #define SAFETY_GM_ASCM 18U
 #define SAFETY_NOOUTPUT 19U
 #define SAFETY_HONDA_BOSCH_HARNESS 20U
+#define SAFETY_VOLKSWAGEN_PQ 21U
 #define SAFETY_SUBARU_LEGACY 22U
 
 uint16_t current_safety_mode = SAFETY_SILENT;
@@ -203,6 +204,7 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_SUBARU_LEGACY, &subaru_legacy_hooks},
   {SAFETY_MAZDA, &mazda_hooks},
   {SAFETY_VOLKSWAGEN_MQB, &volkswagen_mqb_hooks},
+  {SAFETY_VOLKSWAGEN_PQ, &volkswagen_pq_hooks},
   {SAFETY_NOOUTPUT, &nooutput_hooks},
 #ifdef ALLOW_DEBUG
   {SAFETY_CADILLAC, &cadillac_hooks},
diff --git a/board/safety/safety_chrysler.h b/board/safety/safety_chrysler.h
index 0bcffd6363a217..4f5edd0da2e3dc 100644
--- a/board/safety/safety_chrysler.h
+++ b/board/safety/safety_chrysler.h
@@ -74,6 +74,8 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
                                  chrysler_get_checksum, chrysler_compute_checksum,
                                  chrysler_get_counter);
 
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+
   if (valid && (GET_BUS(to_push) == 0)) {
     int addr = GET_ADDR(to_push);
 
@@ -107,7 +109,7 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     // exit controls on rising edge of gas press
     if (addr == 308) {
       bool gas_pressed = (GET_BYTE(to_push, 5) & 0x7F) != 0;
-      if (gas_pressed && !gas_pressed_prev && (chrysler_speed > CHRYSLER_GAS_THRSLD)) {
+      if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev && (chrysler_speed > CHRYSLER_GAS_THRSLD)) {
         controls_allowed = 0;
       }
       gas_pressed_prev = gas_pressed;
diff --git a/board/safety/safety_ford.h b/board/safety/safety_ford.h
index 067ed1cadd3983..562c8d2a436efa 100644
--- a/board/safety/safety_ford.h
+++ b/board/safety/safety_ford.h
@@ -13,6 +13,7 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   int addr = GET_ADDR(to_push);
   int bus = GET_BUS(to_push);
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
 
   if (addr == 0x217) {
     // wheel speeds are 14 bits every 16
@@ -47,7 +48,7 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // exit controls on rising edge of gas press
   if (addr == 0x204) {
     bool gas_pressed = ((GET_BYTE(to_push, 0) & 0x03) | GET_BYTE(to_push, 1)) != 0;
-    if (gas_pressed && !gas_pressed_prev) {
+    if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
       controls_allowed = 0;
     }
     gas_pressed_prev = gas_pressed;
@@ -72,7 +73,11 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
-  int pedal_pressed = gas_pressed_prev || (brake_pressed_prev && ford_moving);
+  int pedal_pressed = brake_pressed_prev && ford_moving;
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+  if (!unsafe_allow_gas) {
+    pedal_pressed = pedal_pressed || gas_pressed_prev;
+  }
   bool current_controls_allowed = controls_allowed && !(pedal_pressed);
 
   if (relay_malfunction) {
diff --git a/board/safety/safety_gm.h b/board/safety/safety_gm.h
index 8672cc267a663a..43e412af9dafd9 100644
--- a/board/safety/safety_gm.h
+++ b/board/safety/safety_gm.h
@@ -44,6 +44,8 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   bool valid = addr_safety_check(to_push, gm_rx_checks, GM_RX_CHECK_LEN,
                                  NULL, NULL, NULL);
 
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+
   if (valid && (GET_BUS(to_push) == 0)) {
     int addr = GET_ADDR(to_push);
 
@@ -91,7 +93,7 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     // exit controls on rising edge of gas press
     if (addr == 417) {
       bool gas_pressed = GET_BYTE(to_push, 6) != 0;
-      if (gas_pressed && !gas_pressed_prev) {
+      if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
         controls_allowed = 0;
       }
       gas_pressed_prev = gas_pressed;
@@ -138,7 +140,11 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
-  int pedal_pressed = gas_pressed_prev || (brake_pressed_prev && gm_moving);
+  int pedal_pressed = brake_pressed_prev && gm_moving;
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+  if (!unsafe_allow_gas) {
+    pedal_pressed = pedal_pressed || gas_pressed_prev;
+  }
   bool current_controls_allowed = controls_allowed && !pedal_pressed;
 
   // BRAKE: safety check
diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
index ecac14890f68f9..7a0117757a9053 100644
--- a/board/safety/safety_honda.h
+++ b/board/safety/safety_honda.h
@@ -72,6 +72,8 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
                               honda_get_checksum, honda_compute_checksum, honda_get_counter);
   }
 
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+
   if (valid) {
     int addr = GET_ADDR(to_push);
     int len = GET_LEN(to_push);
@@ -121,7 +123,7 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     if ((addr == 0x201) && (len == 6)) {
       gas_interceptor_detected = 1;
       int gas_interceptor = GET_INTERCEPTOR(to_push);
-      if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
+      if (!unsafe_allow_gas && (gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
           (gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD)) {
         controls_allowed = 0;
       }
@@ -132,24 +134,28 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     if (!gas_interceptor_detected) {
       if (addr == 0x17C) {
         bool gas_pressed = GET_BYTE(to_push, 0) != 0;
-        if (gas_pressed && !gas_pressed_prev) {
+        if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
           controls_allowed = 0;
         }
         gas_pressed_prev = gas_pressed;
       }
     }
-    if ((bus == 2) && (addr == 0x1FA)) {
-      bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20;
-      int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3);
-
-      // Forward AEB when stock braking is higher than openpilot braking
-      // only stop forwarding when AEB event is over
-      if (!honda_stock_aeb) {
-        honda_fwd_brake = false;
-      } else if (honda_stock_brake >= honda_brake) {
-        honda_fwd_brake = true;
-      } else {
-        // Leave Honda forward brake as is
+
+    // disable stock Honda AEB in unsafe mode
+    if ( !(unsafe_mode & UNSAFE_DISABLE_STOCK_AEB) ) {
+      if ((bus == 2) && (addr == 0x1FA)) {
+        bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20;
+        int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3);
+
+        // Forward AEB when stock braking is higher than openpilot braking
+        // only stop forwarding when AEB event is over
+        if (!honda_stock_aeb) {
+          honda_fwd_brake = false;
+        } else if (honda_stock_brake >= honda_brake) {
+          honda_fwd_brake = true;
+        } else {
+          // Leave Honda forward brake as is
+        }
       }
     }
 
@@ -192,8 +198,11 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
-  int pedal_pressed = gas_pressed_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
-                      (brake_pressed_prev && honda_moving);
+  int pedal_pressed = brake_pressed_prev && honda_moving;
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+  if (!unsafe_allow_gas) {
+    pedal_pressed = pedal_pressed || gas_pressed_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD);
+  }
   bool current_controls_allowed = controls_allowed && !(pedal_pressed);
 
   // BRAKE: safety check
diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
index 1b5b656ff2fab8..66ec5e7b858548 100644
--- a/board/safety/safety_hyundai.h
+++ b/board/safety/safety_hyundai.h
@@ -30,6 +30,8 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   bool valid = addr_safety_check(to_push, hyundai_rx_checks, HYUNDAI_RX_CHECK_LEN,
                                  NULL, NULL, NULL);
 
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+
   if (valid && GET_BUS(to_push) == 0) {
     int addr = GET_ADDR(to_push);
 
@@ -55,7 +57,7 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     // exit controls on rising edge of gas press
     if (addr == 608) {
       bool gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0;
-      if (gas_pressed && !gas_pressed_prev) {
+      if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
         controls_allowed = 0;
       }
       gas_pressed_prev = gas_pressed;
diff --git a/board/safety/safety_nissan.h b/board/safety/safety_nissan.h
index baa82b8d4aa319..cb647ee39a9d00 100644
--- a/board/safety/safety_nissan.h
+++ b/board/safety/safety_nissan.h
@@ -9,18 +9,16 @@ const struct lookup_t NISSAN_LOOKUP_ANGLE_RATE_DOWN = {
   {2., 7., 17.},
   {5., 3.5, .5}};
 
-const struct lookup_t NISSAN_LOOKUP_MAX_ANGLE = {
-  {3.3, 12, 32},
-  {540., 120., 23.}};
-
 const int NISSAN_DEG_TO_CAN = 100;
 
-const AddrBus NISSAN_TX_MSGS[] = {{0x169, 0}, {0x2b1, 0}, {0x4cc, 0}, {0x20b, 2}};
+const AddrBus NISSAN_TX_MSGS[] = {{0x169, 0}, {0x2b1, 0}, {0x4cc, 0}, {0x20b, 2}, {0x280, 2}};
 
 AddrCheckStruct nissan_rx_checks[] = {
-  {.addr = {0x2}, .bus = 0, .expected_timestep = 10000U},
-  {.addr = {0x29a}, .bus = 0, .expected_timestep = 20000U},
-  {.addr = {0x1b6}, .bus = 1, .expected_timestep = 10000U},
+  {.addr = {0x2}, .bus = 0, .expected_timestep = 10000U},  // STEER_ANGLE_SENSOR (100Hz)
+  {.addr = {0x285}, .bus = 0, .expected_timestep = 20000U}, // WHEEL_SPEEDS_REAR (50Hz)
+  {.addr = {0x30f}, .bus = 2, .expected_timestep = 100000U}, // CRUISE_STATE (10Hz)
+  {.addr = {0x15c, 0x239}, .bus = 0, .expected_timestep = 20000U}, // GAS_PEDAL (100Hz / 50Hz)
+  {.addr = {0x454, 0x1cc}, .bus = 0, .expected_timestep = 100000U}, // DOORS_LIGHTS (10Hz) / BRAKE (100Hz)
 };
 const int NISSAN_RX_CHECK_LEN = sizeof(nissan_rx_checks) / sizeof(nissan_rx_checks[0]);
 
@@ -38,6 +36,8 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   bool valid = addr_safety_check(to_push, nissan_rx_checks, NISSAN_RX_CHECK_LEN,
                                  NULL, NULL, NULL);
 
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+
   if (valid) {
     int bus = GET_BUS(to_push);
     int addr = GET_ADDR(to_push);
@@ -54,16 +54,23 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
         update_sample(&nissan_angle_meas, angle_meas_new);
       }
 
-      if (addr == 0x29a) {
+      if (addr == 0x285) {
         // Get current speed
-        // Factor 0.00555
-        nissan_speed = ((GET_BYTE(to_push, 2) << 8) | (GET_BYTE(to_push, 3))) * 0.00555 / 3.6;
+        // Factor 0.005
+        nissan_speed = ((GET_BYTE(to_push, 2) << 8) | (GET_BYTE(to_push, 3))) * 0.005 / 3.6;
       }
 
       // exit controls on rising edge of gas press
-      if (addr == 0x15c) {
-        bool gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3));
-        if (gas_pressed && !gas_pressed_prev) {
+      // X-Trail 0x15c, Leaf 0x239
+      if ((addr == 0x15c) || (addr == 0x239)) {
+        bool gas_pressed = true;
+        if (addr == 0x15c){
+          gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3)) > 1;
+        } else {
+          gas_pressed = GET_BYTE(to_push, 0) > 3;
+        }
+
+        if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
           controls_allowed = 0;
         }
         gas_pressed_prev = gas_pressed;
@@ -75,26 +82,34 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
       }
     }
 
-    if (bus == 1) {
-      if (addr == 0x1b6) {
-        int cruise_engaged = (GET_BYTE(to_push, 4) >> 6) & 1;
-        if (cruise_engaged && !nissan_cruise_engaged_last) {
-          controls_allowed = 1;
-        }
-        if (!cruise_engaged) {
-          controls_allowed = 0;
-        }
-        nissan_cruise_engaged_last = cruise_engaged;
+    // exit controls on rising edge of brake press, or if speed > 0 and brake
+    // X-trail 0x454, Leaf  0x1cc
+    if ((addr == 0x454) || (addr == 0x1cc)) {
+      bool brake_pressed = true;
+      if (addr == 0x454){
+        brake_pressed = (GET_BYTE(to_push, 2) & 0x80) != 0;
+      } else {
+        brake_pressed = GET_BYTE(to_push, 0) > 3;
       }
 
-      // exit controls on rising edge of brake press, or if speed > 0 and brake
-      if (addr == 0x454) {
-        bool brake_pressed = (GET_BYTE(to_push, 2) & 0x80) != 0;
-        if (brake_pressed && (!brake_pressed_prev || (nissan_speed > 0.))) {
-          controls_allowed = 0;
-        }
-        brake_pressed_prev = brake_pressed;
+      if (brake_pressed && (!brake_pressed_prev || (nissan_speed > 0.))) {
+        controls_allowed = 0;
       }
+      brake_pressed_prev = brake_pressed;
+    }
+
+
+    // Handle cruise enabled
+    if ((bus == 2) && (addr == 0x30f)) {
+      bool cruise_engaged = (GET_BYTE(to_push, 0) >> 3) & 1;
+
+      if (cruise_engaged && !nissan_cruise_engaged_last) {
+        controls_allowed = 1;
+      }
+      if (!cruise_engaged) {
+        controls_allowed = 0;
+      }
+      nissan_cruise_engaged_last = cruise_engaged;
     }
   }
   return valid;
@@ -133,16 +148,6 @@ static int nissan_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
       int highest_desired_angle = nissan_desired_angle_last + ((nissan_desired_angle_last > 0) ? delta_angle_up : delta_angle_down);
       int lowest_desired_angle = nissan_desired_angle_last - ((nissan_desired_angle_last >= 0) ? delta_angle_down : delta_angle_up);
 
-      // Limit maximum steering angle at current speed
-      int maximum_angle = ((int)interpolate(NISSAN_LOOKUP_MAX_ANGLE, nissan_speed));
-
-      if (highest_desired_angle > (maximum_angle * NISSAN_DEG_TO_CAN)) {
-        highest_desired_angle = (maximum_angle * NISSAN_DEG_TO_CAN);
-      }
-      if (lowest_desired_angle < (-maximum_angle * NISSAN_DEG_TO_CAN)) {
-        lowest_desired_angle = (-maximum_angle * NISSAN_DEG_TO_CAN);
-      }
-
       // check for violation;
       violation |= max_limit_check(desired_angle, highest_desired_angle, lowest_desired_angle);
 
@@ -183,7 +188,10 @@ static int nissan_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   int addr = GET_ADDR(to_fwd);
 
   if (bus_num == 0) {
-    bus_fwd = 2;  // ADAS
+    int block_msg = (addr == 0x280); // CANCEL_MSG
+    if (!block_msg) {
+      bus_fwd = 2;  // ADAS
+    }
   }
 
   if (bus_num == 2) {
diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 9b7665f2bcbe36..052713775c02c7 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -67,6 +67,8 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
                               NULL, NULL, NULL);
   }
 
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+
   if (valid && (GET_BUS(to_push) == 0)) {
     int addr = GET_ADDR(to_push);
     if (((addr == 0x119) && subaru_global) ||
@@ -116,7 +118,7 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
         ((addr == 0x140) && !subaru_global)) {
       int byte = subaru_global ? 4 : 0;
       bool gas_pressed = GET_BYTE(to_push, byte) != 0;
-      if (gas_pressed && !gas_pressed_prev) {
+      if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
         controls_allowed = 0;
       }
       gas_pressed_prev = gas_pressed;
diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
index 4f18ee678f1f20..979cb19bd1ab0b 100644
--- a/board/safety/safety_toyota.h
+++ b/board/safety/safety_toyota.h
@@ -14,7 +14,10 @@ const uint32_t TOYOTA_RT_INTERVAL = 250000;    // 250ms between real time checks
 
 // longitudinal limits
 const int TOYOTA_MAX_ACCEL = 1500;        // 1.5 m/s2
-const int TOYOTA_MIN_ACCEL = -3000;       // 3.0 m/s2
+const int TOYOTA_MIN_ACCEL = -3000;       // -3.0 m/s2
+
+const int TOYOTA_ISO_MAX_ACCEL = 2000;        // 2.0 m/s2
+const int TOYOTA_ISO_MIN_ACCEL = -3500;       // -3.5 m/s2
 
 const int TOYOTA_STANDSTILL_THRSLD = 100;  // 1kph
 const int TOYOTA_GAS_INTERCEPTOR_THRSLD = 475;  // ratio between offset and gain from dbc file
@@ -63,6 +66,8 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   bool valid = addr_safety_check(to_push, toyota_rx_checks, TOYOTA_RX_CHECKS_LEN,
                                  toyota_get_checksum, toyota_compute_checksum, NULL);
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+
   if (valid && (GET_BUS(to_push) == 0)) {
     int addr = GET_ADDR(to_push);
 
@@ -121,7 +126,7 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     if (addr == 0x201) {
       gas_interceptor_detected = 1;
       int gas_interceptor = GET_INTERCEPTOR(to_push);
-      if ((gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRSLD) &&
+      if (!unsafe_allow_gas && (gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRSLD) &&
           (gas_interceptor_prev <= TOYOTA_GAS_INTERCEPTOR_THRSLD)) {
         controls_allowed = 0;
       }
@@ -131,7 +136,7 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     // exit controls on rising edge of gas press
     if (addr == 0x2C1) {
       bool gas_pressed = GET_BYTE(to_push, 6) != 0;
-      if (gas_pressed && !gas_pressed_prev && !gas_interceptor_detected) {
+      if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev && !gas_interceptor_detected) {
         controls_allowed = 0;
       }
       gas_pressed_prev = gas_pressed;
@@ -180,7 +185,10 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
           tx = 0;
         }
       }
-      bool violation = max_limit_check(desired_accel, TOYOTA_MAX_ACCEL, TOYOTA_MIN_ACCEL);
+      bool violation = (unsafe_mode & UNSAFE_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX)?
+        max_limit_check(desired_accel, TOYOTA_ISO_MAX_ACCEL, TOYOTA_ISO_MIN_ACCEL) :
+        max_limit_check(desired_accel, TOYOTA_MAX_ACCEL, TOYOTA_MIN_ACCEL);
+        
       if (violation) {
         tx = 0;
       }
diff --git a/board/safety/safety_volkswagen.h b/board/safety/safety_volkswagen.h
index 132c10d110fd96..0939709a900469 100644
--- a/board/safety/safety_volkswagen.h
+++ b/board/safety/safety_volkswagen.h
@@ -30,6 +30,26 @@ AddrCheckStruct volkswagen_mqb_rx_checks[] = {
 };
 const int VOLKSWAGEN_MQB_RX_CHECKS_LEN = sizeof(volkswagen_mqb_rx_checks) / sizeof(volkswagen_mqb_rx_checks[0]);
 
+// Safety-relevant CAN messages for the Volkswagen PQ35/PQ46/NMS platforms
+#define MSG_LENKHILFE_3 0x0D0   // RX from EPS, for steering angle and driver steering torque
+#define MSG_HCA_1       0x0D2   // TX by OP, Heading Control Assist steering torque
+#define MSG_MOTOR_2     0x288   // RX from ECU, for CC state and brake switch state
+#define MSG_MOTOR_3     0x380   // RX from ECU, for driver throttle input
+#define MSG_GRA_NEU     0x38A   // TX by OP, ACC control buttons for cancel/resume
+#define MSG_BREMSE_3    0x4A0   // RX from ABS, for wheel speeds
+#define MSG_LDW_1       0x5BE   // TX by OP, Lane line recognition and text alerts
+
+// Transmit of GRA_Neu is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
+const AddrBus VOLKSWAGEN_PQ_TX_MSGS[] = {{MSG_HCA_1, 0}, {MSG_GRA_NEU, 0}, {MSG_GRA_NEU, 2}, {MSG_LDW_1, 0}};
+const int VOLKSWAGEN_PQ_TX_MSGS_LEN = sizeof(VOLKSWAGEN_PQ_TX_MSGS) / sizeof(VOLKSWAGEN_PQ_TX_MSGS[0]);
+
+AddrCheckStruct volkswagen_pq_rx_checks[] = {
+  {.addr = {MSG_LENKHILFE_3}, .bus = 0, .check_checksum = true,  .max_counter = 15U, .expected_timestep = 10000U},
+  {.addr = {MSG_MOTOR_2},     .bus = 0, .check_checksum = false, .max_counter = 0U,  .expected_timestep = 20000U},
+  {.addr = {MSG_MOTOR_3},     .bus = 0, .check_checksum = false, .max_counter = 0U,  .expected_timestep = 10000U},
+  {.addr = {MSG_BREMSE_3},    .bus = 0, .check_checksum = false, .max_counter = 0U,  .expected_timestep = 10000U},
+};
+const int VOLKSWAGEN_PQ_RX_CHECKS_LEN = sizeof(volkswagen_pq_rx_checks) / sizeof(volkswagen_pq_rx_checks[0]);
 
 struct sample_t volkswagen_torque_driver; // Last few driver torques measured
 int volkswagen_rt_torque_last = 0;
@@ -45,10 +65,17 @@ static uint8_t volkswagen_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
   return (uint8_t)GET_BYTE(to_push, 0);
 }
 
-static uint8_t volkswagen_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
+static uint8_t volkswagen_mqb_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
+  // MQB message counters are consistently found at LSB 8.
   return (uint8_t)GET_BYTE(to_push, 1) & 0xFU;
 }
 
+static uint8_t volkswagen_pq_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
+  // Few PQ messages have counters, and their offsets are inconsistent. This
+  // function works only for Lenkhilfe_3 at this time.
+  return (uint8_t)(GET_BYTE(to_push, 1) & 0xF0U) >> 4;
+}
+
 static uint8_t volkswagen_mqb_compute_crc(CAN_FIFOMailBox_TypeDef *to_push) {
   int addr = GET_ADDR(to_push);
   int len = GET_LEN(to_push);
@@ -62,7 +89,7 @@ static uint8_t volkswagen_mqb_compute_crc(CAN_FIFOMailBox_TypeDef *to_push) {
     crc = volkswagen_crc8_lut_8h2f[crc];
   }
 
-  uint8_t counter = volkswagen_get_counter(to_push);
+  uint8_t counter = volkswagen_mqb_get_counter(to_push);
   switch(addr) {
     case MSG_EPS_01:
       crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter];
@@ -84,6 +111,17 @@ static uint8_t volkswagen_mqb_compute_crc(CAN_FIFOMailBox_TypeDef *to_push) {
   return crc ^ 0xFFU;
 }
 
+static uint8_t volkswagen_pq_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
+  int len = GET_LEN(to_push);
+  uint8_t checksum = 0U;
+
+  for (int i = 1; i < len; i++) {
+    checksum ^= (uint8_t)GET_BYTE(to_push, i);
+  }
+
+  return checksum;
+}
+
 static void volkswagen_mqb_init(int16_t param) {
   UNUSED(param);
 
@@ -94,10 +132,19 @@ static void volkswagen_mqb_init(int16_t param) {
   gen_crc_lookup_table(0x2F, volkswagen_crc8_lut_8h2f);
 }
 
+static void volkswagen_pq_init(int16_t param) {
+  UNUSED(param);
+
+  controls_allowed = false;
+  relay_malfunction = false;
+  volkswagen_torque_msg = MSG_HCA_1;
+  volkswagen_lane_msg = MSG_LDW_1;
+}
+
 static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   bool valid = addr_safety_check(to_push, volkswagen_mqb_rx_checks, VOLKSWAGEN_MQB_RX_CHECKS_LEN,
-                                 volkswagen_get_checksum, volkswagen_mqb_compute_crc, volkswagen_get_counter);
+                                 volkswagen_get_checksum, volkswagen_mqb_compute_crc, volkswagen_mqb_get_counter);
 
   if (valid && (GET_BUS(to_push) == 0)) {
     int addr = GET_ADDR(to_push);
@@ -136,7 +183,7 @@ static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     // Signal: Motor_20.MO_Fahrpedalrohwert_01
     if (addr == MSG_MOTOR_20) {
       bool gas_pressed = ((GET_BYTES_04(to_push) >> 12) & 0xFF) != 0;
-      if (gas_pressed && !gas_pressed_prev) {
+      if (gas_pressed && !gas_pressed_prev && !(unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS)) {
         controls_allowed = 0;
       }
       gas_pressed_prev = gas_pressed;
@@ -160,6 +207,73 @@ static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   return valid;
 }
 
+static int volkswagen_pq_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+
+  bool valid = addr_safety_check(to_push, volkswagen_pq_rx_checks, VOLKSWAGEN_PQ_RX_CHECKS_LEN,
+                                volkswagen_get_checksum, volkswagen_pq_compute_checksum, volkswagen_pq_get_counter);
+
+  if (valid) {
+    int bus = GET_BUS(to_push);
+    int addr = GET_ADDR(to_push);
+
+    // Update in-motion state by sampling front wheel speeds
+    // Signal: Bremse_3.Radgeschw__VL_4_1 (front left)
+    // Signal: Bremse_3.Radgeschw__VR_4_1 (front right)
+    if ((bus == 0) && (addr == MSG_BREMSE_3)) {
+      int wheel_speed_fl = (GET_BYTE(to_push, 0) | (GET_BYTE(to_push, 1) << 8)) >> 1;
+      int wheel_speed_fr = (GET_BYTE(to_push, 2) | (GET_BYTE(to_push, 3) << 8)) >> 1;
+      // Check for average front speed in excess of 0.3m/s, 1.08km/h
+      // DBC speed scale 0.01: 0.3m/s = 108, sum both wheels to compare
+      volkswagen_moving = (wheel_speed_fl + wheel_speed_fr) > 216;
+    }
+
+    // Update driver input torque samples
+    // Signal: Lenkhilfe_3.LH3_LM (absolute torque)
+    // Signal: Lenkhilfe_3.LH3_LMSign (direction)
+    if ((bus == 0) && (addr == MSG_LENKHILFE_3)) {
+      int torque_driver_new = GET_BYTE(to_push, 2) | ((GET_BYTE(to_push, 3) & 0x3) << 8);
+      int sign = (GET_BYTE(to_push, 3) & 0x4) >> 2;
+      if (sign == 1) {
+        torque_driver_new *= -1;
+      }
+      update_sample(&volkswagen_torque_driver, torque_driver_new);
+    }
+
+    // Update ACC status from ECU for controls-allowed state
+    // Signal: Motor_2.GRA_Status
+    if ((bus == 0) && (addr == MSG_MOTOR_2)) {
+      int acc_status = (GET_BYTE(to_push, 2) & 0xC0) >> 6;
+      controls_allowed = ((acc_status == 1) || (acc_status == 2)) ? 1 : 0;
+    }
+
+    // Exit controls on rising edge of gas press
+    // Signal: Motor_3.Fahrpedal_Rohsignal
+    if ((bus == 0) && (addr == MSG_MOTOR_3)) {
+      int gas_pressed = (GET_BYTE(to_push, 2));
+      if (gas_pressed && !gas_pressed_prev && !(unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS)) {
+        controls_allowed = 0;
+      }
+      gas_pressed_prev = gas_pressed;
+    }
+
+    // Exit controls on rising edge of brake press
+    // Signal: Motor_2.Bremslichtschalter
+    if ((bus == 0) && (addr == MSG_MOTOR_2)) {
+      bool brake_pressed = (GET_BYTE(to_push, 2) & 0x1);
+      if (brake_pressed && (!(brake_pressed_prev) || volkswagen_moving)) {
+        controls_allowed = 0;
+      }
+      brake_pressed_prev = brake_pressed;
+    }
+
+    // If there are HCA messages on bus 0 not sent by OP, there's a relay problem
+    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == MSG_HCA_1)) {
+      relay_malfunction = true;
+    }
+  }
+  return valid;
+}
+
 static bool volkswagen_steering_check(int desired_torque) {
   bool violation = false;
   uint32_t ts = TIM2->CNT;
@@ -237,6 +351,44 @@ static int volkswagen_mqb_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   return tx;
 }
 
+static int volkswagen_pq_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+  int addr = GET_ADDR(to_send);
+  int bus = GET_BUS(to_send);
+  int tx = 1;
+
+  if (!msg_allowed(addr, bus, VOLKSWAGEN_PQ_TX_MSGS, VOLKSWAGEN_PQ_TX_MSGS_LEN) || relay_malfunction) {
+    tx = 0;
+  }
+
+  // Safety check for HCA_1 Heading Control Assist torque
+  // Signal: HCA_1.LM_Offset (absolute torque)
+  // Signal: HCA_1.LM_Offsign (direction)
+  if (addr == MSG_HCA_1) {
+    int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x7F) << 8);
+    desired_torque = desired_torque / 32;  // DBC scale from PQ network to centi-Nm
+    int sign = (GET_BYTE(to_send, 3) & 0x80) >> 7;
+    if (sign == 1) {
+      desired_torque *= -1;
+    }
+
+    if (volkswagen_steering_check(desired_torque)) {
+      tx = 0;
+    }
+  }
+
+  // FORCE CANCEL: ensuring that only the cancel button press is sent when controls are off.
+  // This avoids unintended engagements while still allowing resume spam
+  if ((addr == MSG_GRA_NEU) && !controls_allowed) {
+    // disallow resume and set: bits 16 and 17
+    if ((GET_BYTE(to_send, 2) & 0x3) != 0) {
+      tx = 0;
+    }
+  }
+
+  // 1 allows the message through
+  return tx;
+}
+
 static int volkswagen_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   int addr = GET_ADDR(to_fwd);
   int bus_fwd = -1;
@@ -275,3 +427,14 @@ const safety_hooks volkswagen_mqb_hooks = {
   .addr_check = volkswagen_mqb_rx_checks,
   .addr_check_len = sizeof(volkswagen_mqb_rx_checks) / sizeof(volkswagen_mqb_rx_checks[0]),
 };
+
+// Volkswagen PQ35/PQ46/NMS platforms
+const safety_hooks volkswagen_pq_hooks = {
+  .init = volkswagen_pq_init,
+  .rx = volkswagen_pq_rx_hook,
+  .tx = volkswagen_pq_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .fwd = volkswagen_fwd_hook,
+  .addr_check = volkswagen_pq_rx_checks,
+  .addr_check_len = sizeof(volkswagen_pq_rx_checks) / sizeof(volkswagen_pq_rx_checks[0]),
+};
diff --git a/board/safety_declarations.h b/board/safety_declarations.h
index aa9f7fdfe43704..8ba89c43bdbe6a 100644
--- a/board/safety_declarations.h
+++ b/board/safety_declarations.h
@@ -88,6 +88,24 @@ int gas_interceptor_prev = 0;
 bool gas_pressed_prev = false;
 bool brake_pressed_prev = false;
 
+// This can be set with a USB command
+// It enables features we consider to be unsafe, but understand others may have different opinions
+// It is always 0 on mainline comma.ai openpilot
+
+// If using this flag, be very careful about what happens if your fork wants to brake while the
+//   user is pressing the gas. Tesla is careful with this.
+#define UNSAFE_DISABLE_DISENGAGE_ON_GAS 1
+
+// If using this flag, make sure to communicate to your users that a stock safety feature is now disabled.
+#define UNSAFE_DISABLE_STOCK_AEB 2
+
+// If using this flag, be aware that harder braking is more likely to lead to rear endings,
+//   and that alone this flag doesn't make braking compliant because there's also a time element.
+// See ISO 15622:2018 for more information.
+#define UNSAFE_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX 8
+
+int unsafe_mode = 0;
+
 // time since safety mode has been changed
 uint32_t safety_mode_cnt = 0U;
 // allow 1s of transition timeout after relay changes state before assessing malfunctioning
diff --git a/board/spi_flasher.h b/board/spi_flasher.h
index 1c703516ac1731..b0511c14efd2ca 100644
--- a/board/spi_flasher.h
+++ b/board/spi_flasher.h
@@ -110,6 +110,7 @@ void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
   UNUSED(len);
   UNUSED(hardwired);
 }
+void usb_cb_ep3_out_complete(void) {}
 
 int is_enumerated = 0;
 void usb_cb_enumeration_complete(void) {
diff --git a/python/__init__.py b/python/__init__.py
index c0e27e8d6a775e..bda1fedd2df498 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -129,6 +129,7 @@ class Panda(object):
   SAFETY_GM_ASCM = 18
   SAFETY_NOOUTPUT = 19
   SAFETY_HONDA_BOSCH_HARNESS = 20
+  SAFETY_VOLKSWAGEN_PQ = 21
   SAFETY_SUBARU_LEGACY = 22
 
   SERIAL_DEBUG = 0
@@ -187,6 +188,7 @@ def connect(self, claim=True, wait=False):
                 self.bootstub = device.getProductID() == 0xddee
                 self.legacy = (device.getbcdDevice() != 0x2300)
                 self._handle = device.open()
+                self._handle.setAutoDetachKernelDriver(True)
                 if claim:
                   self._handle.claimInterface(0)
                   #self._handle.setInterfaceAltSetting(0, 0) #Issue in USB stack
@@ -476,7 +478,12 @@ def set_uart_callback(self, uart, install):
 
   # ******************* can *******************
 
-  def can_send_many(self, arr):
+  # The panda will NAK CAN writes when there is CAN congestion. 
+  # libusb will try to send it again, with a max timeout.
+  # Timeout is in ms. If set to 0, the timeout is infinite.
+  CAN_SEND_TIMEOUT_MS = 10
+
+  def can_send_many(self, arr, timeout=CAN_SEND_TIMEOUT_MS):
     snds = []
     transmit = 1
     extended = 4
@@ -499,13 +506,13 @@ def can_send_many(self, arr):
           for s in snds:
             self._handle.bulkWrite(3, s)
         else:
-          self._handle.bulkWrite(3, b''.join(snds))
+          self._handle.bulkWrite(3, b''.join(snds), timeout=timeout)
         break
       except (usb1.USBErrorIO, usb1.USBErrorOverflow):
         print("CAN: BAD SEND MANY, RETRYING")
 
-  def can_send(self, addr, dat, bus):
-    self.can_send_many([[addr, None, dat, bus]])
+  def can_send(self, addr, dat, bus, timeout=CAN_SEND_TIMEOUT_MS):
+    self.can_send_many([[addr, None, dat, bus]], timeout=timeout)
 
   def can_recv(self):
     dat = bytearray()
diff --git a/tests/automated/7_can_loopback.py b/tests/automated/7_can_loopback.py
index cb9f5570b5551f..0b0df1bf11fcea 100644
--- a/tests/automated/7_can_loopback.py
+++ b/tests/automated/7_can_loopback.py
@@ -1,6 +1,7 @@
 import os
 import time
 import random
+import threading
 from panda import Panda
 from nose.tools import assert_equal, assert_less, assert_greater
 from .helpers import panda_jungle, start_heartbeat_thread, reset_pandas, time_many_sends, test_all_pandas, test_all_gen2_pandas, clear_can_buffers, panda_connect_and_init
@@ -200,3 +201,44 @@ def test(p_send, p_recv):
   finally:
     # Set back to silent mode
     p.set_safety_mode(Panda.SAFETY_SILENT)
+
+@test_all_pandas
+@panda_connect_and_init
+def test_bulk_write(p):
+  # The TX buffers on pandas is 0x100 in length.
+  NUM_MESSAGES_PER_BUS = 10000
+
+  def flood_tx(panda):
+    print('Sending!')
+    msg = b"\xaa"*4
+    packet = [[0xaa, None, msg, 0], [0xaa, None, msg, 1], [0xaa, None, msg, 2]] * NUM_MESSAGES_PER_BUS
+
+    # Disable timeout
+    panda.can_send_many(packet, timeout=0)
+    print(f"Done sending {3*NUM_MESSAGES_PER_BUS} messages!")
+  
+  # Start heartbeat
+  start_heartbeat_thread(p)
+
+  # Set safety mode and power saving
+  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  p.set_power_save(False)
+  
+  # Start transmisson
+  threading.Thread(target=flood_tx, args=(p,)).start()
+
+  # Receive as much as we can in a few second time period
+  rx = []
+  old_len = 0
+  start_time = time.time()
+  while time.time() - start_time < 2 or len(rx) > old_len:
+    old_len = len(rx)
+    rx.extend(panda_jungle.can_recv())
+  print(f"Received {len(rx)} messages")
+
+  # All messages should have been received
+  if len(rx) != 3*NUM_MESSAGES_PER_BUS:
+    Exception("Did not receive all messages!")
+
+  # Set back to silent mode
+  p.set_safety_mode(Panda.SAFETY_SILENT)
diff --git a/tests/bulk_write_test.py b/tests/bulk_write_test.py
new file mode 100755
index 00000000000000..43a52bce57e22c
--- /dev/null
+++ b/tests/bulk_write_test.py
@@ -0,0 +1,38 @@
+#!/usr/bin/env python3
+import time
+import threading
+
+from panda import Panda
+
+# The TX buffers on pandas is 0x100 in length.
+NUM_MESSAGES_PER_BUS = 10000
+
+def flood_tx(panda):
+  print('Sending!')
+  msg = b"\xaa"*4
+  packet = [[0xaa, None, msg, 0], [0xaa, None, msg, 1], [0xaa, None, msg, 2]] * NUM_MESSAGES_PER_BUS
+  panda.can_send_many(packet)
+  print(f"Done sending {3*NUM_MESSAGES_PER_BUS} messages!")
+
+if __name__ == "__main__":
+  serials = Panda.list()
+  if len(serials) != 2:
+    raise Exception("Connect two pandas to perform this test!")
+  
+  sender = Panda(serials[0])
+  receiver = Panda(serials[1])
+  
+  sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  receiver.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  
+  # Start transmisson
+  threading.Thread(target=flood_tx, args=(sender,)).start()
+
+  # Receive as much as we can in a few second time period
+  rx = []
+  old_len = 0
+  start_time = time.time()
+  while time.time() - start_time < 2 or len(rx) > old_len:
+    old_len = len(rx)
+    rx.extend(receiver.can_recv())
+  print(f"Received {len(rx)} messages")
diff --git a/tests/safety/common.py b/tests/safety/common.py
index e0296d3ac11d54..8b5780832d4a51 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -2,6 +2,12 @@
 
 MAX_WRONG_COUNTERS = 5
 
+class UNSAFE_MODE:
+  DEFAULT = 0
+  DISABLE_DISENGAGE_ON_GAS = 1
+  DISABLE_STOCK_AEB = 2
+  RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX = 8
+
 def make_msg(bus, addr, length=8):
   to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
   if addr >= 0x800:
diff --git a/tests/safety/libpandasafety_py.py b/tests/safety/libpandasafety_py.py
index 3b552d0f80ed62..295a04848ff7ae 100644
--- a/tests/safety/libpandasafety_py.py
+++ b/tests/safety/libpandasafety_py.py
@@ -32,6 +32,8 @@
 
 void set_controls_allowed(bool c);
 bool get_controls_allowed(void);
+void set_unsafe_mode(int mode);
+int get_unsafe_mode(void);
 void set_relay_malfunction(bool c);
 bool get_relay_malfunction(void);
 void set_gas_interceptor_detected(bool c);
diff --git a/tests/safety/test.c b/tests/safety/test.c
index 9c7955b2869ce0..ccd3cf1169a159 100644
--- a/tests/safety/test.c
+++ b/tests/safety/test.c
@@ -72,7 +72,9 @@ uint8_t hw_type = HW_TYPE_UNKNOWN;
 
 #define UNUSED(x) (void)(x)
 
+#ifndef PANDA
 #define PANDA
+#endif
 #define NULL ((void*)0)
 #define static
 #include "safety.h"
@@ -81,6 +83,10 @@ void set_controls_allowed(bool c){
   controls_allowed = c;
 }
 
+void set_unsafe_mode(int mode){
+  unsafe_mode = mode;
+}
+
 void set_relay_malfunction(bool c){
   relay_malfunction = c;
 }
@@ -93,6 +99,10 @@ bool get_controls_allowed(void){
   return controls_allowed;
 }
 
+int get_unsafe_mode(void){
+  return unsafe_mode;
+}
+
 bool get_relay_malfunction(void){
   return relay_malfunction;
 }
diff --git a/tests/safety/test_chrysler.py b/tests/safety/test_chrysler.py
index c66b90b6ba3eb0..71ca8b0a320fce 100755
--- a/tests/safety/test_chrysler.py
+++ b/tests/safety/test_chrysler.py
@@ -3,7 +3,7 @@
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import StdTest, make_msg
+from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE
 
 MAX_RATE_UP = 3
 MAX_RATE_DOWN = 3
@@ -149,6 +149,14 @@ def test_gas_disable(self):
     self.safety.safety_rx_hook(self._gas_msg(1))
     self.assertFalse(self.safety.get_controls_allowed())
 
+  def test_unsafe_mode_no_disengage_on_gas(self):
+    self.safety.safety_rx_hook(self._gas_msg(0))
+    self.safety.set_controls_allowed(1)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+    self.safety.safety_rx_hook(self._gas_msg(1))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+
   def test_brake_disengage(self):
     StdTest.test_allow_brake_at_zero_speed(self)
     StdTest.test_not_allow_brake_when_moving(self, 0)
diff --git a/tests/safety/test_gm.py b/tests/safety/test_gm.py
index 34d92357c79d9f..7ed0d5cf44a778 100644
--- a/tests/safety/test_gm.py
+++ b/tests/safety/test_gm.py
@@ -3,7 +3,7 @@
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import StdTest, make_msg
+from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE
 
 MAX_RATE_UP = 7
 MAX_RATE_DOWN = 17
@@ -126,6 +126,14 @@ def test_disengage_on_gas(self):
     self.assertFalse(self.safety.get_controls_allowed())
     self.safety.safety_rx_hook(self._gas_msg(False))
 
+  def test_unsafe_mode_no_disengage_on_gas(self):
+    self.safety.safety_rx_hook(self._gas_msg(False))
+    self.safety.set_controls_allowed(1)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+    self.safety.safety_rx_hook(self._gas_msg(True))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+
   def test_allow_engage_with_gas_pressed(self):
     self.safety.safety_rx_hook(self._gas_msg(True))
     self.safety.set_controls_allowed(1)
@@ -252,6 +260,59 @@ def test_fwd_hook(self):
         # assume len 8
         self.assertEqual(-1, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
 
+  def test_tx_hook_on_pedal_pressed(self):
+    for pedal in ['brake', 'gas']:
+      if pedal == 'brake':
+        # brake_pressed_prev and honda_moving
+        self.safety.safety_rx_hook(self._speed_msg(100))
+        self.safety.safety_rx_hook(self._brake_msg(MAX_BRAKE))
+      elif pedal == 'gas':
+        # gas_pressed_prev
+        self.safety.safety_rx_hook(self._gas_msg(MAX_GAS))
+
+      self.safety.set_controls_allowed(1)
+      self.assertFalse(self.safety.safety_tx_hook(self._send_brake_msg(MAX_BRAKE)))
+      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP)))
+      self.assertFalse(self.safety.safety_tx_hook(self._send_gas_msg(MAX_GAS)))
+
+      # reset status
+      self.safety.set_controls_allowed(0)
+      self.safety.safety_tx_hook(self._send_brake_msg(0))
+      self.safety.safety_tx_hook(self._torque_msg(0))
+      if pedal == 'brake':
+        self.safety.safety_rx_hook(self._speed_msg(0))
+        self.safety.safety_rx_hook(self._brake_msg(0))
+      elif pedal == 'gas':
+        self.safety.safety_rx_hook(self._gas_msg(0))
+
+  def test_tx_hook_on_pedal_pressed_on_unsafe_gas_mode(self):
+    for pedal in ['brake', 'gas']:
+      self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+      if pedal == 'brake':
+        # brake_pressed_prev and honda_moving
+        self.safety.safety_rx_hook(self._speed_msg(100))
+        self.safety.safety_rx_hook(self._brake_msg(MAX_BRAKE))
+        allow_ctrl = False
+      elif pedal == 'gas':
+        # gas_pressed_prev
+        self.safety.safety_rx_hook(self._gas_msg(MAX_GAS))
+        allow_ctrl = True
+
+      self.safety.set_controls_allowed(1)
+      self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._send_brake_msg(MAX_BRAKE)))
+      self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP)))
+      self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._send_gas_msg(MAX_GAS)))
+
+      # reset status
+      self.safety.set_controls_allowed(0)
+      self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+      self.safety.safety_tx_hook(self._send_brake_msg(0))
+      self.safety.safety_tx_hook(self._torque_msg(0))
+      if pedal == 'brake':
+        self.safety.safety_rx_hook(self._speed_msg(0))
+        self.safety.safety_rx_hook(self._brake_msg(0))
+      elif pedal == 'gas':
+        self.safety.safety_rx_hook(self._gas_msg(0))
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/tests/safety/test_honda.py b/tests/safety/test_honda.py
index adf02fd5cc0dbb..3b3827f767383e 100755
--- a/tests/safety/test_honda.py
+++ b/tests/safety/test_honda.py
@@ -3,7 +3,7 @@
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import StdTest, make_msg, MAX_WRONG_COUNTERS
+from panda.tests.safety.common import StdTest, make_msg, MAX_WRONG_COUNTERS, UNSAFE_MODE
 
 MAX_BRAKE = 255
 
@@ -189,6 +189,14 @@ def test_disengage_on_gas(self):
     self.safety.safety_rx_hook(self._gas_msg(1))
     self.assertFalse(self.safety.get_controls_allowed())
 
+  def test_unsafe_mode_no_disengage_on_gas(self):
+    self.safety.safety_rx_hook(self._gas_msg(0))
+    self.safety.set_controls_allowed(1)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+    self.safety.safety_rx_hook(self._gas_msg(1))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+
   def test_allow_engage_with_gas_pressed(self):
     self.safety.safety_rx_hook(self._gas_msg(1))
     self.safety.set_controls_allowed(1)
@@ -205,6 +213,17 @@ def test_disengage_on_gas_interceptor(self):
       self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
       self.safety.set_gas_interceptor_detected(False)
 
+  def test_unsafe_mode_no_disengage_on_gas_interceptor(self):
+    self.safety.set_controls_allowed(True)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+    for g in range(0, 0x1000):
+      self.safety.safety_rx_hook(self._send_interceptor_msg(g, 0x201))
+      self.assertTrue(self.safety.get_controls_allowed())
+      self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
+      self.safety.set_gas_interceptor_detected(False)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+    self.safety.set_controls_allowed(False)
+
   def test_allow_engage_with_gas_interceptor_pressed(self):
     self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
     self.safety.set_controls_allowed(1)
@@ -335,6 +354,79 @@ def test_fwd_hook(self):
 
     self.safety.set_honda_fwd_brake(False)
 
+  def test_tx_hook_on_pedal_pressed(self):
+    for pedal in ['brake', 'gas', 'interceptor']:
+      if pedal == 'brake':
+        # brake_pressed_prev and honda_moving
+        self.safety.safety_rx_hook(self._speed_msg(100))
+        self.safety.safety_rx_hook(self._brake_msg(1))
+      elif pedal == 'gas':
+        # gas_pressed_prev
+        self.safety.safety_rx_hook(self._gas_msg(1))
+      elif pedal == 'interceptor':
+        # gas_interceptor_prev > INTERCEPTOR_THRESHOLD
+        self.safety.safety_rx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD+1, 0x201))
+        self.safety.safety_rx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD+1, 0x201))
+
+      self.safety.set_controls_allowed(1)
+      hw = self.safety.get_honda_hw()
+      if hw == HONDA_N_HW:
+        self.safety.set_honda_fwd_brake(False)
+        self.assertFalse(self.safety.safety_tx_hook(self._send_brake_msg(MAX_BRAKE)))
+        self.assertFalse(self.safety.safety_tx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD, 0x200)))
+      self.assertFalse(self.safety.safety_tx_hook(self._send_steer_msg(0x1000)))
+
+      # reset status
+      self.safety.set_controls_allowed(0)
+      self.safety.safety_tx_hook(self._send_brake_msg(0))
+      self.safety.safety_tx_hook(self._send_steer_msg(0))
+      self.safety.safety_tx_hook(self._send_interceptor_msg(0, 0x200))
+      if pedal == 'brake':
+        self.safety.safety_rx_hook(self._speed_msg(0))
+        self.safety.safety_rx_hook(self._brake_msg(0))
+      elif pedal == 'gas':
+        self.safety.safety_rx_hook(self._gas_msg(0))
+      elif pedal == 'interceptor':
+        self.safety.set_gas_interceptor_detected(False)
+
+  def test_tx_hook_on_pedal_pressed_on_unsafe_gas_mode(self):
+    for pedal in ['brake', 'gas', 'interceptor']:
+      self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+      if pedal == 'brake':
+        # brake_pressed_prev and honda_moving
+        self.safety.safety_rx_hook(self._speed_msg(100))
+        self.safety.safety_rx_hook(self._brake_msg(1))
+        allow_ctrl = False
+      elif pedal == 'gas':
+        # gas_pressed_prev
+        self.safety.safety_rx_hook(self._gas_msg(1))
+        allow_ctrl = True
+      elif pedal == 'interceptor':
+        # gas_interceptor_prev > INTERCEPTOR_THRESHOLD
+        self.safety.safety_rx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD+1, 0x201))
+        self.safety.safety_rx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD+1, 0x201))
+        allow_ctrl = True
+
+      self.safety.set_controls_allowed(1)
+      hw = self.safety.get_honda_hw()
+      if hw == HONDA_N_HW:
+        self.safety.set_honda_fwd_brake(False)
+        self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._send_brake_msg(MAX_BRAKE)))
+        self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD, 0x200)))
+      self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._send_steer_msg(0x1000)))
+      # reset status
+      self.safety.set_controls_allowed(0)
+      self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+      self.safety.safety_tx_hook(self._send_brake_msg(0))
+      self.safety.safety_tx_hook(self._send_steer_msg(0))
+      self.safety.safety_tx_hook(self._send_interceptor_msg(0, 0x200))
+      if pedal == 'brake':
+        self.safety.safety_rx_hook(self._speed_msg(0))
+        self.safety.safety_rx_hook(self._brake_msg(0))
+      elif pedal == 'gas':
+        self.safety.safety_rx_hook(self._gas_msg(0))
+      elif pedal == 'interceptor':
+        self.safety.set_gas_interceptor_detected(False)
 
 class TestHondaBoschGiraffeSafety(TestHondaSafety):
   @classmethod
diff --git a/tests/safety/test_hyundai.py b/tests/safety/test_hyundai.py
index 2d022759e102f2..29fa64d91fe7cd 100644
--- a/tests/safety/test_hyundai.py
+++ b/tests/safety/test_hyundai.py
@@ -3,7 +3,7 @@
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import StdTest, make_msg
+from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE
 
 MAX_RATE_UP = 3
 MAX_RATE_DOWN = 7
@@ -114,6 +114,14 @@ def test_disengage_on_gas(self):
     self.safety.safety_rx_hook(self._gas_msg(1))
     self.assertFalse(self.safety.get_controls_allowed())
 
+  def test_unsafe_mode_no_disengage_on_gas(self):
+    self.safety.safety_rx_hook(self._gas_msg(0))
+    self.safety.set_controls_allowed(True)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+    self.safety.safety_rx_hook(self._gas_msg(1))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+
   def test_brake_disengage(self):
     StdTest.test_allow_brake_at_zero_speed(self)
     StdTest.test_not_allow_brake_when_moving(self, SPEED_THRESHOLD)
diff --git a/tests/safety/test_nissan.py b/tests/safety/test_nissan.py
index ab826fffbd2a03..bce0eabb63cf8a 100644
--- a/tests/safety/test_nissan.py
+++ b/tests/safety/test_nissan.py
@@ -3,15 +3,13 @@
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import StdTest, make_msg
+from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE
 
-ANGLE_MAX_BP = [1.3, 10., 30.]
-ANGLE_MAX_V = [540., 120., 23.]
 ANGLE_DELTA_BP = [0., 5., 15.]
 ANGLE_DELTA_V = [5., .8, .15]     # windup limit
 ANGLE_DELTA_VU = [5., 3.5, 0.4]   # unwind limit
 
-TX_MSGS = [[0x169, 0], [0x2b1, 0], [0x4cc, 0], [0x20b, 2]]
+TX_MSGS = [[0x169, 0], [0x2b1, 0], [0x4cc, 0], [0x20b, 2], [0x280, 2]]
 
 def twos_comp(val, bits):
   if val >= 0:
@@ -50,8 +48,8 @@ def _angle_meas_msg_array(self, angle):
       self.safety.safety_rx_hook(self._angle_meas_msg(angle))
 
   def _lkas_state_msg(self, state):
-    to_send = make_msg(0, 0x1b6)
-    to_send[0].RDHR = (state & 0x1) << 6
+    to_send = make_msg(1, 0x30f)
+    to_send[0].RDHR = (state & 0x1) << 3
 
     return to_send
 
@@ -64,8 +62,8 @@ def _lkas_control_msg(self, angle, state):
     return to_send
 
   def _speed_msg(self, speed):
-    to_send = make_msg(0, 0x29a)
-    speed = int(speed / 0.00555 * 3.6)
+    to_send = make_msg(0, 0x285)
+    speed = int(speed / 0.005 * 3.6)
     to_send[0].RDLR = ((speed & 0xFF) << 24) | ((speed & 0xFF00) << 8)
 
     return to_send
@@ -92,46 +90,48 @@ def test_spam_can_buses(self):
     StdTest.test_spam_can_buses(self, TX_MSGS)
 
   def test_angle_cmd_when_enabled(self):
-
     # when controls are allowed, angle cmd rate limit is enforced
-    # test 1: no limitations if we stay within limits
-    speeds = [0., 1., 5., 10., 15., 100.]
+    speeds = [0., 1., 5., 10., 15., 50.]
     angles = [-300, -100, -10, 0, 10, 100, 300]
     for a in angles:
       for s in speeds:
         max_delta_up = np.interp(s, ANGLE_DELTA_BP, ANGLE_DELTA_V)
         max_delta_down = np.interp(s, ANGLE_DELTA_BP, ANGLE_DELTA_VU)
-        angle_lim = np.interp(s, ANGLE_MAX_BP, ANGLE_MAX_V)
 
         # first test against false positives
         self._angle_meas_msg_array(a)
         self.safety.safety_rx_hook(self._speed_msg(s))
 
-        self._set_prev_angle(np.clip(a, -angle_lim, angle_lim))
+        self._set_prev_angle(a)
         self.safety.set_controls_allowed(1)
 
-        self.assertEqual(True, self.safety.safety_tx_hook(self._lkas_control_msg(
-            np.clip(a + sign(a) * max_delta_up, -angle_lim, angle_lim), 1)))
+        # Stay within limits
+        # Up
+        self.assertEqual(True, self.safety.safety_tx_hook(self._lkas_control_msg(a + sign(a) * max_delta_up, 1)))
         self.assertTrue(self.safety.get_controls_allowed())
-        self.assertEqual(True, self.safety.safety_tx_hook(
-            self._lkas_control_msg(np.clip(a, -angle_lim, angle_lim), 1)))
+
+        # Don't change
+        self.assertEqual(True, self.safety.safety_tx_hook(self._lkas_control_msg(a, 1)))
         self.assertTrue(self.safety.get_controls_allowed())
-        self.assertEqual(True, self.safety.safety_tx_hook(self._lkas_control_msg(
-            np.clip(a - sign(a) * max_delta_down, -angle_lim, angle_lim), 1)))
+
+        # Down
+        self.assertEqual(True, self.safety.safety_tx_hook(self._lkas_control_msg(a - sign(a) * max_delta_down, 1)))
         self.assertTrue(self.safety.get_controls_allowed())
 
-        # now inject too high rates
-        self.assertEqual(False, self.safety.safety_tx_hook(self._lkas_control_msg(a + sign(a) *
-                                                                                  (max_delta_up + 1), 1)))
+        # Inject too high rates
+        # Up
+        self.assertEqual(False, self.safety.safety_tx_hook(self._lkas_control_msg(a + sign(a) * (max_delta_up + 1), 1)))
         self.assertFalse(self.safety.get_controls_allowed())
+
+        # Don't change
         self.safety.set_controls_allowed(1)
-        self._set_prev_angle(np.clip(a, -angle_lim, angle_lim))
+        self._set_prev_angle(a)
         self.assertTrue(self.safety.get_controls_allowed())
-        self.assertEqual(True, self.safety.safety_tx_hook(
-            self._lkas_control_msg(np.clip(a, -angle_lim, angle_lim), 1)))
+        self.assertEqual(True, self.safety.safety_tx_hook(self._lkas_control_msg(a, 1)))
         self.assertTrue(self.safety.get_controls_allowed())
-        self.assertEqual(False, self.safety.safety_tx_hook(self._lkas_control_msg(a - sign(a) *
-                                                                                  (max_delta_down + 1), 1)))
+
+        # Down
+        self.assertEqual(False, self.safety.safety_tx_hook(self._lkas_control_msg(a - sign(a) * (max_delta_down + 1), 1)))
         self.assertFalse(self.safety.get_controls_allowed())
 
         # Check desired steer should be the same as steer angle when controls are off
@@ -154,6 +154,14 @@ def test_gas_rising_edge(self):
     self.safety.safety_rx_hook(self._send_gas_cmd(100))
     self.assertFalse(self.safety.get_controls_allowed())
 
+  def test_unsafe_mode_no_disengage_on_gas(self):
+    self.safety.safety_rx_hook(self._send_gas_cmd(0))
+    self.safety.set_controls_allowed(True)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+    self.safety.safety_rx_hook(self._send_gas_cmd(100))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+
   def test_acc_buttons(self):
     self.safety.set_controls_allowed(1)
     self.safety.safety_tx_hook(self._acc_button_cmd(0x2)) # Cancel button
@@ -181,7 +189,7 @@ def test_fwd_hook(self):
     buss = list(range(0x0, 0x3))
     msgs = list(range(0x1, 0x800))
 
-    blocked_msgs = [0x169,0x2b1,0x4cc]
+    blocked_msgs = [(2, 0x169), (2, 0x2b1), (2, 0x4cc), (0, 0x280)]
     for b in buss:
       for m in msgs:
         if b == 0:
@@ -189,7 +197,10 @@ def test_fwd_hook(self):
         elif b == 1:
           fwd_bus = -1
         elif b == 2:
-          fwd_bus = -1 if m in blocked_msgs else 0
+          fwd_bus = 0
+
+        if (b, m) in blocked_msgs:
+          fwd_bus = -1
 
         # assume len 8
         self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index d68090d19eb4d9..9f1f5c45a1b7af 100644
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -3,7 +3,7 @@
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import StdTest, make_msg
+from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE
 
 MAX_RATE_UP = 50
 MAX_RATE_DOWN = 70
@@ -155,6 +155,14 @@ def test_disengage_on_gas(self):
     self.safety.safety_rx_hook(self._gas_msg(1))
     self.assertFalse(self.safety.get_controls_allowed())
 
+  def test_unsafe_mode_no_disengage_on_gas(self):
+    self.safety.safety_rx_hook(self._gas_msg(0))
+    self.safety.set_controls_allowed(True)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+    self.safety.safety_rx_hook(self._gas_msg(1))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+
   def test_brake_disengage(self):
     if (self.safety.get_subaru_global()):
       StdTest.test_allow_brake_at_zero_speed(self)
diff --git a/tests/safety/test_toyota.py b/tests/safety/test_toyota.py
index bc0795595e700a..76786e2e673c44 100644
--- a/tests/safety/test_toyota.py
+++ b/tests/safety/test_toyota.py
@@ -3,7 +3,7 @@
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import StdTest, make_msg
+from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE
 
 MAX_RATE_UP = 10
 MAX_RATE_DOWN = 25
@@ -12,6 +12,9 @@
 MAX_ACCEL = 1500
 MIN_ACCEL = -3000
 
+ISO_MAX_ACCEL = 2000
+ISO_MIN_ACCEL = -3500
+
 MAX_RT_DELTA = 375
 RT_INTERVAL = 250000
 
@@ -154,6 +157,14 @@ def test_disengage_on_gas(self):
     self.safety.safety_rx_hook(self._send_gas_msg(1))
     self.assertFalse(self.safety.get_controls_allowed())
 
+  def test_unsafe_mode_no_disengage_on_gas(self):
+    self.safety.safety_rx_hook(self._send_gas_msg(0))
+    self.safety.set_controls_allowed(True)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+    self.safety.safety_rx_hook(self._send_gas_msg(1))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+
   def test_allow_engage_with_gas_pressed(self):
     self.safety.safety_rx_hook(self._send_gas_msg(1))
     self.safety.set_controls_allowed(True)
@@ -172,6 +183,17 @@ def test_disengage_on_gas_interceptor(self):
       self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
       self.safety.set_gas_interceptor_detected(False)
 
+  def test_unsafe_mode_no_disengage_on_gas_interceptor(self):
+    self.safety.set_controls_allowed(True)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+    for g in range(0, 0x1000):
+      self.safety.safety_rx_hook(self._send_interceptor_msg(g, 0x201))
+      self.assertTrue(self.safety.get_controls_allowed())
+      self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
+      self.safety.set_gas_interceptor_detected(False)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+    self.safety.set_controls_allowed(False)
+
   def test_brake_disengage(self):
     StdTest.test_allow_brake_at_zero_speed(self)
     StdTest.test_not_allow_brake_when_moving(self, STANDSTILL_THRESHOLD)
@@ -194,6 +216,18 @@ def test_accel_actuation_limits(self):
           send = accel == 0
         self.assertEqual(send, self.safety.safety_tx_hook(self._accel_msg(accel)))
 
+  def test_unsafe_iso_accel_actuation_limits(self):
+    for accel in np.arange(ISO_MIN_ACCEL - 1000, ISO_MAX_ACCEL + 1000, 100):
+      for controls_allowed in [True, False]:
+        self.safety.set_controls_allowed(controls_allowed)
+        self.safety.set_unsafe_mode(UNSAFE_MODE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX)
+        if controls_allowed:
+          send = ISO_MIN_ACCEL <= accel <= ISO_MAX_ACCEL
+        else:
+          send = accel == 0
+        self.assertEqual(send, self.safety.safety_tx_hook(self._accel_msg(accel)))
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+
   def test_torque_absolute_limits(self):
     for controls_allowed in [True, False]:
       for torque in np.arange(-MAX_TORQUE - 1000, MAX_TORQUE + 1000, MAX_RATE_UP):
diff --git a/tests/safety/test_volkswagen_mqb.py b/tests/safety/test_volkswagen_mqb.py
index a413fd445b05a9..403ad4ecb7eb4d 100644
--- a/tests/safety/test_volkswagen_mqb.py
+++ b/tests/safety/test_volkswagen_mqb.py
@@ -4,7 +4,7 @@
 import crcmod
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import StdTest, make_msg, MAX_WRONG_COUNTERS
+from panda.tests.safety.common import StdTest, make_msg, MAX_WRONG_COUNTERS, UNSAFE_MODE
 
 MAX_RATE_UP = 4
 MAX_RATE_DOWN = 10
@@ -198,6 +198,14 @@ def test_disengage_on_gas(self):
     self.safety.safety_rx_hook(self._motor_20_msg(1))
     self.assertFalse(self.safety.get_controls_allowed())
 
+  def test_unsafe_mode_no_disengage_on_gas(self):
+    self.safety.safety_rx_hook(self._motor_20_msg(0))
+    self.safety.set_controls_allowed(True)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+    self.safety.safety_rx_hook(self._motor_20_msg(1))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+
   def test_allow_engage_with_gas_pressed(self):
     self.safety.safety_rx_hook(self._motor_20_msg(1))
     self.safety.set_controls_allowed(True)
diff --git a/tests/safety/test_volkswagen_pq.py b/tests/safety/test_volkswagen_pq.py
new file mode 100644
index 00000000000000..7d29bd73420fc4
--- /dev/null
+++ b/tests/safety/test_volkswagen_pq.py
@@ -0,0 +1,365 @@
+#!/usr/bin/env python3
+import unittest
+import numpy as np
+from panda import Panda
+from panda.tests.safety import libpandasafety_py
+from panda.tests.safety.common import StdTest, make_msg, MAX_WRONG_COUNTERS, UNSAFE_MODE
+
+MAX_RATE_UP = 4
+MAX_RATE_DOWN = 10
+MAX_STEER = 300
+MAX_RT_DELTA = 75
+RT_INTERVAL = 250000
+
+DRIVER_TORQUE_ALLOWANCE = 80
+DRIVER_TORQUE_FACTOR = 3
+
+MSG_LENKHILFE_3 = 0x0D0  # RX from EPS, for steering angle and driver steering torque
+MSG_HCA_1 = 0x0D2        # TX by OP, Heading Control Assist steering torque
+MSG_MOTOR_2 = 0x288      # RX from ECU, for CC state and brake switch state
+MSG_MOTOR_3 = 0x380      # RX from ECU, for driver throttle input
+MSG_GRA_NEU = 0x38A      # TX by OP, ACC control buttons for cancel/resume
+MSG_BREMSE_3 = 0x4A0     # RX from ABS, for wheel speeds
+MSG_LDW_1 = 0x5BE        # TX by OP, Lane line recognition and text alerts
+
+# Transmit of GRA_Neu is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
+TX_MSGS = [[MSG_HCA_1, 0], [MSG_GRA_NEU, 0], [MSG_GRA_NEU, 2], [MSG_LDW_1, 0]]
+
+def sign(a):
+  if a > 0:
+    return 1
+  else:
+    return -1
+
+def volkswagen_pq_checksum(msg, addr, len_msg):
+  msg_bytes = msg.RDLR.to_bytes(4, 'little') + msg.RDHR.to_bytes(4, 'little')
+  msg_bytes = msg_bytes[1:len_msg]
+
+  checksum = 0
+  for i in msg_bytes:
+    checksum ^= i
+  return checksum
+
+class TestVolkswagenPqSafety(unittest.TestCase):
+  cruise_engaged = False
+  brake_pressed = False
+  cnt_lenkhilfe_3 = 0
+  cnt_hca_1 = 0
+
+  @classmethod
+  def setUp(cls):
+    cls.safety = libpandasafety_py.libpandasafety
+    cls.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_PQ, 0)
+    cls.safety.init_tests_volkswagen()
+
+  def _set_prev_torque(self, t):
+    self.safety.set_volkswagen_desired_torque_last(t)
+    self.safety.set_volkswagen_rt_torque_last(t)
+
+  # Wheel speeds (Bremse_3)
+  def _speed_msg(self, speed):
+    wheel_speed_scaled = int(speed / 0.01)
+    to_send = make_msg(0, MSG_BREMSE_3)
+    to_send[0].RDLR = (wheel_speed_scaled | (wheel_speed_scaled << 16)) << 1
+    to_send[0].RDHR = (wheel_speed_scaled | (wheel_speed_scaled << 16)) << 1
+    return to_send
+
+  # Brake light switch (shared message Motor_2)
+  def _brake_msg(self, brake):
+    self.__class__.brake_pressed = brake
+    return self._motor_2_msg()
+
+  # ACC engaged status (shared message Motor_2)
+  def _cruise_msg(self, cruise):
+    self.__class__.cruise_engaged = cruise
+    return self._motor_2_msg()
+
+  # Driver steering input torque
+  def _lenkhilfe_3_msg(self, torque):
+    to_send = make_msg(0, MSG_LENKHILFE_3)
+    t = abs(torque)
+    to_send[0].RDLR = ((t & 0x3FF) << 16)
+    if torque < 0:
+      to_send[0].RDLR |= 0x1 << 26
+    to_send[0].RDLR |= (self.cnt_lenkhilfe_3 % 16) << 12
+    to_send[0].RDLR |= volkswagen_pq_checksum(to_send[0], MSG_LENKHILFE_3, 8)
+    self.__class__.cnt_lenkhilfe_3 += 1
+    return to_send
+
+  # openpilot steering output torque
+  def _hca_1_msg(self, torque):
+    to_send = make_msg(0, MSG_HCA_1)
+    t = abs(torque) << 5  # DBC scale from centi-Nm to PQ network (approximated)
+    to_send[0].RDLR = (t & 0x7FFF) << 16
+    if torque < 0:
+      to_send[0].RDLR |= 0x1 << 31
+    to_send[0].RDLR |= (self.cnt_hca_1 % 16) << 8
+    to_send[0].RDLR |= volkswagen_pq_checksum(to_send[0], MSG_HCA_1, 8)
+    self.__class__.cnt_hca_1 += 1
+    return to_send
+
+  # ACC engagement and brake light switch status
+  # Called indirectly for compatibility with common.py tests
+  def _motor_2_msg(self):
+    to_send = make_msg(0, MSG_MOTOR_2)
+    to_send[0].RDLR = (0x1 << 16) if self.__class__.brake_pressed else 0
+    to_send[0].RDLR |= (self.__class__.cruise_engaged & 0x3) << 22
+    return to_send
+
+  # Driver throttle input
+  def _motor_3_msg(self, gas):
+    to_send = make_msg(0, MSG_MOTOR_3)
+    to_send[0].RDLR = (gas & 0xFF) << 16
+    return to_send
+
+  # Cruise control buttons
+  def _gra_neu_msg(self, bit):
+    to_send = make_msg(2, MSG_GRA_NEU)
+    to_send[0].RDLR = 1 << bit
+    to_send[0].RDLR |= volkswagen_pq_checksum(to_send[0], MSG_GRA_NEU, 8)
+    return to_send
+
+  def test_spam_can_buses(self):
+    StdTest.test_spam_can_buses(self, TX_MSGS)
+
+  def test_relay_malfunction(self):
+    StdTest.test_relay_malfunction(self, MSG_HCA_1)
+
+  def test_prev_gas(self):
+    for g in range(0, 256):
+      self.safety.safety_rx_hook(self._motor_3_msg(g))
+      self.assertEqual(True if g > 0 else False, self.safety.get_gas_pressed_prev())
+
+  def test_default_controls_not_allowed(self):
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_enable_control_allowed_from_cruise(self):
+    self.safety.safety_rx_hook(self._brake_msg(False))
+    self.safety.set_controls_allowed(0)
+    self.safety.safety_rx_hook(self._cruise_msg(True))
+    self.assertTrue(self.safety.get_controls_allowed())
+
+  def test_disable_control_allowed_from_cruise(self):
+    self.safety.safety_rx_hook(self._brake_msg(False))
+    self.safety.set_controls_allowed(1)
+    self.safety.safety_rx_hook(self._cruise_msg(False))
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_sample_speed(self):
+    # Stationary
+    self.safety.safety_rx_hook(self._speed_msg(0))
+    self.assertEqual(0, self.safety.get_volkswagen_moving())
+    # 1 km/h, just under 0.3 m/s safety grace threshold
+    self.safety.safety_rx_hook(self._speed_msg(1))
+    self.assertEqual(0, self.safety.get_volkswagen_moving())
+    # 2 km/h, just over 0.3 m/s safety grace threshold
+    self.safety.safety_rx_hook(self._speed_msg(2))
+    self.assertEqual(1, self.safety.get_volkswagen_moving())
+    # 144 km/h, openpilot V_CRUISE_MAX
+    self.safety.safety_rx_hook(self._speed_msg(144))
+    self.assertEqual(1, self.safety.get_volkswagen_moving())
+
+  def test_prev_brake(self):
+    self.assertFalse(self.safety.get_brake_pressed_prev())
+    self.safety.safety_rx_hook(self._brake_msg(True))
+    self.assertTrue(self.safety.get_brake_pressed_prev())
+    self.safety.safety_rx_hook(self._brake_msg(False))
+
+  def test_brake_disengage(self):
+    self.__class__.cruise_engaged = True  # Hack due to brake and ACC signals being in the same message
+    StdTest.test_allow_brake_at_zero_speed(self)
+    StdTest.test_not_allow_brake_when_moving(self, 1)
+
+  def test_disengage_on_gas(self):
+    self.safety.safety_rx_hook(self._motor_3_msg(0))
+    self.safety.set_controls_allowed(True)
+    self.safety.safety_rx_hook(self._motor_3_msg(1))
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_unsafe_mode_no_disengage_on_gas(self):
+    self.safety.safety_rx_hook(self._motor_3_msg(0))
+    self.safety.set_controls_allowed(True)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+    self.safety.safety_rx_hook(self._motor_3_msg(1))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+
+  def test_allow_engage_with_gas_pressed(self):
+    self.safety.safety_rx_hook(self._motor_3_msg(1))
+    self.safety.set_controls_allowed(True)
+    self.safety.safety_rx_hook(self._motor_3_msg(1))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.safety_rx_hook(self._motor_3_msg(1))
+    self.assertTrue(self.safety.get_controls_allowed())
+
+  def test_steer_safety_check(self):
+    for enabled in [0, 1]:
+      for t in range(-500, 500):
+        self.safety.set_controls_allowed(enabled)
+        self._set_prev_torque(t)
+        if abs(t) > MAX_STEER or (not enabled and abs(t) > 0):
+          self.assertFalse(self.safety.safety_tx_hook(self._hca_1_msg(t)))
+        else:
+          self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(t)))
+
+  def test_manually_enable_controls_allowed(self):
+    StdTest.test_manually_enable_controls_allowed(self)
+
+  def test_spam_cancel_safety_check(self):
+    BIT_CANCEL = 9
+    BIT_SET = 16
+    BIT_RESUME = 17
+    self.safety.set_controls_allowed(0)
+    self.assertTrue(self.safety.safety_tx_hook(self._gra_neu_msg(BIT_CANCEL)))
+    self.assertFalse(self.safety.safety_tx_hook(self._gra_neu_msg(BIT_RESUME)))
+    self.assertFalse(self.safety.safety_tx_hook(self._gra_neu_msg(BIT_SET)))
+    # do not block resume if we are engaged already
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self.safety.safety_tx_hook(self._gra_neu_msg(BIT_RESUME)))
+
+  def test_non_realtime_limit_up(self):
+    self.safety.set_volkswagen_torque_driver(0, 0)
+    self.safety.set_controls_allowed(True)
+
+    self._set_prev_torque(0)
+    self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(MAX_RATE_UP)))
+    self._set_prev_torque(0)
+    self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(-MAX_RATE_UP)))
+
+    self._set_prev_torque(0)
+    self.assertFalse(self.safety.safety_tx_hook(self._hca_1_msg(MAX_RATE_UP + 1)))
+    self.safety.set_controls_allowed(True)
+    self._set_prev_torque(0)
+    self.assertFalse(self.safety.safety_tx_hook(self._hca_1_msg(-MAX_RATE_UP - 1)))
+
+  def test_non_realtime_limit_down(self):
+    self.safety.set_volkswagen_torque_driver(0, 0)
+    self.safety.set_controls_allowed(True)
+
+  def test_against_torque_driver(self):
+    self.safety.set_controls_allowed(True)
+
+    for sign in [-1, 1]:
+      for t in np.arange(0, DRIVER_TORQUE_ALLOWANCE + 1, 1):
+        t *= -sign
+        self.safety.set_volkswagen_torque_driver(t, t)
+        self._set_prev_torque(MAX_STEER * sign)
+        self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(MAX_STEER * sign)))
+
+      self.safety.set_volkswagen_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
+      self.assertFalse(self.safety.safety_tx_hook(self._hca_1_msg(-MAX_STEER)))
+
+    # spot check some individual cases
+    for sign in [-1, 1]:
+      driver_torque = (DRIVER_TORQUE_ALLOWANCE + 10) * sign
+      torque_desired = (MAX_STEER - 10 * DRIVER_TORQUE_FACTOR) * sign
+      delta = 1 * sign
+      self._set_prev_torque(torque_desired)
+      self.safety.set_volkswagen_torque_driver(-driver_torque, -driver_torque)
+      self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(torque_desired)))
+      self._set_prev_torque(torque_desired + delta)
+      self.safety.set_volkswagen_torque_driver(-driver_torque, -driver_torque)
+      self.assertFalse(self.safety.safety_tx_hook(self._hca_1_msg(torque_desired + delta)))
+
+      self._set_prev_torque(MAX_STEER * sign)
+      self.safety.set_volkswagen_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
+      self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg((MAX_STEER - MAX_RATE_DOWN) * sign)))
+      self._set_prev_torque(MAX_STEER * sign)
+      self.safety.set_volkswagen_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
+      self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(0)))
+      self._set_prev_torque(MAX_STEER * sign)
+      self.safety.set_volkswagen_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
+      self.assertFalse(self.safety.safety_tx_hook(self._hca_1_msg((MAX_STEER - MAX_RATE_DOWN + 1) * sign)))
+
+  def test_realtime_limits(self):
+    self.safety.set_controls_allowed(True)
+
+    for sign in [-1, 1]:
+      self.safety.init_tests_volkswagen()
+      self._set_prev_torque(0)
+      self.safety.set_volkswagen_torque_driver(0, 0)
+      for t in np.arange(0, MAX_RT_DELTA, 1):
+        t *= sign
+        self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(t)))
+      self.assertFalse(self.safety.safety_tx_hook(self._hca_1_msg(sign * (MAX_RT_DELTA + 1))))
+
+      self._set_prev_torque(0)
+      for t in np.arange(0, MAX_RT_DELTA, 1):
+        t *= sign
+        self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(t)))
+
+      # Increase timer to update rt_torque_last
+      self.safety.set_timer(RT_INTERVAL + 1)
+      self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(sign * (MAX_RT_DELTA - 1))))
+      self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(sign * (MAX_RT_DELTA + 1))))
+
+  def test_torque_measurements(self):
+    self.safety.safety_rx_hook(self._lenkhilfe_3_msg(50))
+    self.safety.safety_rx_hook(self._lenkhilfe_3_msg(-50))
+    self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0))
+    self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0))
+    self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0))
+    self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0))
+
+    self.assertEqual(-50, self.safety.get_volkswagen_torque_driver_min())
+    self.assertEqual(50, self.safety.get_volkswagen_torque_driver_max())
+
+    self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0))
+    self.assertEqual(0, self.safety.get_volkswagen_torque_driver_max())
+    self.assertEqual(-50, self.safety.get_volkswagen_torque_driver_min())
+
+    self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0))
+    self.assertEqual(0, self.safety.get_volkswagen_torque_driver_max())
+    self.assertEqual(0, self.safety.get_volkswagen_torque_driver_min())
+
+  def test_rx_hook(self):
+    # checksum checks
+    # TODO: Would be ideal to check non-checksum non-counter messages as well,
+    # but I'm not sure if we can easily validate Panda's simple temporal
+    # reception-rate check here.
+    for msg in [MSG_LENKHILFE_3]:
+      self.safety.set_controls_allowed(1)
+      if msg == MSG_LENKHILFE_3:
+        to_push = self._lenkhilfe_3_msg(0)
+      self.assertTrue(self.safety.safety_rx_hook(to_push))
+      to_push[0].RDHR ^= 0xFF
+      self.assertFalse(self.safety.safety_rx_hook(to_push))
+      self.assertFalse(self.safety.get_controls_allowed())
+
+    # counter
+    # reset wrong_counters to zero by sending valid messages
+    for i in range(MAX_WRONG_COUNTERS + 1):
+      self.__class__.cnt_lenkhilfe_3 += 1
+      if i < MAX_WRONG_COUNTERS:
+        self.safety.set_controls_allowed(1)
+        self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0))
+      else:
+        self.assertFalse(self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0)))
+        self.assertFalse(self.safety.get_controls_allowed())
+
+    # restore counters for future tests with a couple of good messages
+    for i in range(2):
+      self.safety.set_controls_allowed(1)
+      self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0))
+    self.assertTrue(self.safety.get_controls_allowed())
+
+  def test_fwd_hook(self):
+    buss = list(range(0x0, 0x3))
+    msgs = list(range(0x1, 0x800))
+    blocked_msgs_0to2 = []
+    blocked_msgs_2to0 = [MSG_HCA_1, MSG_LDW_1]
+    for b in buss:
+      for m in msgs:
+        if b == 0:
+          fwd_bus = -1 if m in blocked_msgs_0to2 else 2
+        elif b == 1:
+          fwd_bus = -1
+        elif b == 2:
+          fwd_bus = -1 if m in blocked_msgs_2to0 else 0
+
+        # assume len 8
+        self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/tests/safety_replay/Dockerfile b/tests/safety_replay/Dockerfile
index b0b5f0c2710bfa..09236e6a2adee4 100644
--- a/tests/safety_replay/Dockerfile
+++ b/tests/safety_replay/Dockerfile
@@ -1,6 +1,21 @@
 FROM ubuntu:16.04
 
-RUN apt-get update && apt-get install -y make clang python python-pip git libarchive-dev libusb-1.0-0 locales curl zlib1g-dev libffi-dev bzip2 libssl-dev libbz2-dev
+RUN apt-get update && apt-get install -y \
+    bzip2 \
+    clang \
+    curl \
+    git \
+    libarchive-dev \
+    libbz2-dev \
+    libcurl4-openssl-dev \
+    libffi-dev \
+    libssl-dev \
+    libusb-1.0-0 \
+    locales \
+    make \
+    python \
+    python-pip \
+    zlib1g-dev
 
 RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
 ENV LANG en_US.UTF-8
@@ -21,15 +36,11 @@ RUN pip install -r requirements_extra.txt
 COPY tests/safety_replay/install_capnp.sh install_capnp.sh
 RUN ./install_capnp.sh
 
-RUN mkdir /openpilot
+RUN git clone https://github.com/commaai/openpilot.git || true
 WORKDIR /openpilot
-RUN git clone https://github.com/commaai/cereal.git || true
-WORKDIR /openpilot/cereal
-RUN git pull
-RUN git checkout bb2cc7572de99becce1bfbae63f3b38d5464e162
+RUN git pull && git checkout f9257fc75f68c673f9e433985fbe739f23310bb4
+RUN git submodule update --init cereal
+
 COPY . /openpilot/panda
 
 WORKDIR /openpilot/panda/tests/safety_replay
-RUN git clone https://github.com/commaai/openpilot-tools.git tools || true
-WORKDIR tools
-RUN git checkout d69c6bc85f221766305ec53956e9a1d3bf283160
diff --git a/tests/safety_replay/requirements_extra.txt b/tests/safety_replay/requirements_extra.txt
index b04b7674d76efa..8034efc89e0ded 100644
--- a/tests/safety_replay/requirements_extra.txt
+++ b/tests/safety_replay/requirements_extra.txt
@@ -2,3 +2,6 @@ aenum
 subprocess32
 libarchive
 pycapnp
+pycurl
+tenacity
+atomicwrites
diff --git a/tests/safety_replay/test_safety_replay.py b/tests/safety_replay/test_safety_replay.py
index 81b9f5b13e9d54..dde81ac050ad41 100755
--- a/tests/safety_replay/test_safety_replay.py
+++ b/tests/safety_replay/test_safety_replay.py
@@ -18,7 +18,8 @@
   ("02ec6bea180a4d36|2019-04-17--11-21-35.bz2", Panda.SAFETY_HYUNDAI, 0), # HYUNDAI.SANTA_FE
   ("6fb4948a7ebe670e|2019-11-12--00-35-53.bz2", Panda.SAFETY_CHRYSLER, 0), # CHRYSLER.PACIFICA_2018_HYBRID
   ("791340bc01ed993d|2019-04-08--10-26-00.bz2", Panda.SAFETY_SUBARU, 0), # SUBARU.IMPREZA
-  ("76b83eb0245de90e|2020-03-05--19-16-05.bz2", Panda.SAFETY_VOLKSWAGEN_MQB, 0), # VOLKSWAGEN.GOLF
+  ("76b83eb0245de90e|2020-03-05--19-16-05.bz2", Panda.SAFETY_VOLKSWAGEN_MQB, 0), # VOLKSWAGEN.GOLF (MK7)
+  ("d12cd943127f267b|2020-03-27--15-57-18.bz2", Panda.SAFETY_VOLKSWAGEN_PQ, 0), # 2009 VW Passat R36 (B6), supporting OP port not yet upstreamed
   ("fbbfa6af821552b9|2020-03-03--08-09-43.bz2", Panda.SAFETY_NISSAN, 0), # NISSAN.XTRAIL
 ]