diff --git a/.github/labeler.yaml b/.github/labeler.yaml
index 63d41d5b73506c..16c55789bdb9d5 100644
--- a/.github/labeler.yaml
+++ b/.github/labeler.yaml
@@ -4,7 +4,7 @@ CI / testing:
 
 car:
   - changed-files:
-    - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
+    - any-glob-to-all-files: 'selfdrive/car/**'
 
 simulation:
   - changed-files:
diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index d2c2447d7acd16..4f82d1282e2ebc 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -68,7 +68,7 @@ jobs:
         git add .
     - name: update car docs
       run: |
-        scons -j$(nproc) --minimal opendbc_repo
+        scons -j$(nproc) --minimal
         python selfdrive/car/docs.py
         git add docs/CARS.md
     - name: Create Pull Request
diff --git a/.gitmodules b/.gitmodules
index ad6530de9ac910..904fee05d7cc16 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,18 +1,3 @@
-[submodule "panda"]
-  path = panda
-  url = ../../commaai/panda.git
-[submodule "opendbc"]
-  path = opendbc_repo
-  url = ../../commaai/opendbc.git
-[submodule "msgq"]
-  path = msgq_repo
-  url = ../../commaai/msgq.git
-[submodule "rednose_repo"]
-  path = rednose_repo
-  url = ../../commaai/rednose.git
-[submodule "teleoprtc_repo"]
-  path = teleoprtc_repo
-  url = ../../commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
   url = https://github.com/tinygrad/tinygrad.git
diff --git a/SConstruct b/SConstruct
index 3b8aadf91408be..29f7cb0919b14d 100644
--- a/SConstruct
+++ b/SConstruct
@@ -5,6 +5,10 @@ import sysconfig
 import platform
 import shlex
 import numpy as np
+import opendbc
+import panda as _panda
+import rednose
+import msgq as _msgq
 
 import SCons.Errors
 
@@ -65,7 +69,9 @@ env = Environment(
   CXXFLAGS=["-std=c++1z"],
   CPPPATH=[
     "#",
-    "#msgq",
+    _msgq.INCLUDE_PATH,
+    _panda.INCLUDE_PATH,
+    rednose.BASEDIR,
     "#third_party",
     "#third_party/json11",
     "#third_party/linux/include",
@@ -77,19 +83,18 @@ env = Environment(
   ],
   LIBPATH=[
     "#common",
-    "#msgq_repo",
     "#third_party",
     "#selfdrive/pandad",
-    "#rednose/helpers",
+    "#build/rednose",
     f"#third_party/libyuv/{arch}/lib",
     f"#third_party/acados/{arch}/lib",
   ],
   RPATH=[],
   CYTHONCFILESUFFIX=".cpp",
   COMPILATIONDB_USE_ABSPATH=True,
-  REDNOSE_ROOT="#",
+  REDNOSE_ROOT=rednose.INCLUDE_PATH,
   tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
+  toolpath=["#site_scons/site_tools", rednose.SITE_SCONS_TOOLS],
 )
 
 # Arch-specific flags and paths
@@ -182,21 +187,53 @@ Export('common')
 # Enable swaglog include in submodules
 env_swaglog = env.Clone()
 env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
-SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
-SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
+
+# Build msgq/visionipc static libraries (for linking into openpilot C++ binaries)
+# Note: Cython extensions (ipc_pyx.so, visionipc_pyx.so) are built by pip install
+msgq_dir = _msgq.BASEDIR
+vipc_dir = os.path.join(msgq_dir, 'visionipc')
+
+msgq_cc = ['ipc.cc', 'event.cc', 'impl_msgq.cc', 'impl_fake.cc', 'msgq.cc']
+msgq_objects = [env_swaglog.SharedObject(f'#build/msgq/{f.replace(".cc", ".os")}', os.path.join(msgq_dir, f)) for f in msgq_cc]
+msgq_lib = env.Library('msgq', msgq_objects)
+
+vipc_files = ['visionipc.cc', 'visionipc_server.cc', 'visionipc_client.cc']
+vipc_files += ['visionbuf_ion.cc'] if arch == "larch64" else ['visionbuf.cc']
+vipc_objects = [env.SharedObject(f'#build/visionipc/{f.replace(".cc", ".os")}', os.path.join(vipc_dir, f)) for f in vipc_files]
+visionipc = env.Library('visionipc', vipc_objects)
+Export('visionipc', 'msgq_lib')
 
 SConscript(['cereal/SConscript'])
 
-Import('socketmaster', 'msgq')
-messaging = [socketmaster, msgq, 'capnp', 'kj',]
+Import('socketmaster')
+messaging = [socketmaster, msgq_lib, 'capnp', 'kj',]
 Export('messaging')
 
 
-# Build other submodules
-SConscript(['panda/SConscript'])
-
-# Build rednose library
-SConscript(['rednose/SConscript'])
+# Build rednose static library (for linking into openpilot C++ binaries)
+# Note: Cython extension (ekf_sym_pyx.so) is built by pip install
+Import('_common')
+rednose_helpers = rednose.HELPERS_PATH
+rednose_cc_files = ['ekf_load.cc', 'ekf_sym.cc']
+ekf_objects = [env.SharedObject(f'#build/rednose/{f.replace(".cc", ".os")}', os.path.join(rednose_helpers, f)) for f in rednose_cc_files]
+rednose_lib = env.Library('#build/rednose/ekf_sym', ekf_objects, LIBS=['dl', _common, 'zmq'])
+Export('rednose_lib')
+
+# Build opendbc libsafety for tests
+safety_dir = os.path.join(os.path.dirname(opendbc.__file__), 'safety', 'tests', 'libsafety')
+if GetOption('extras') and os.path.exists(os.path.join(safety_dir, 'safety.c')):
+  safety_env = Environment(
+    CC='clang',
+    CFLAGS=['-Wall', '-Wextra', '-Werror', '-nostdlib', '-fno-builtin', '-std=gnu11',
+            '-Wfatal-errors', '-Wno-pointer-to-int-cast', '-g', '-O0',
+            '-fno-omit-frame-pointer', '-grecord-command-line', '-DALLOW_DEBUG'],
+    LINKFLAGS=['-fsanitize=undefined', '-fno-sanitize-recover=undefined'],
+    CPPPATH=[os.path.dirname(opendbc.__file__) + "/.."],
+    tools=["default"],
+  )
+  safety = safety_env.SharedObject('#build/opendbc/safety.os', os.path.join(safety_dir, "safety.c"))
+  # libsafety.so must be in opendbc's package dir (loaded via cffi dlopen from __file__'s dir)
+  safety_env.SharedLibrary(os.path.join(safety_dir, "libsafety.so"), [safety])
 
 # Build system services
 SConscript([
diff --git a/cereal/SConscript b/cereal/SConscript
index 73dc61844b3c58..b9b51e9ee4f689 100644
--- a/cereal/SConscript
+++ b/cereal/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'common', 'msgq')
+Import('env', 'common', 'msgq_lib')
 
 cereal_dir = Dir('.')
 gen_dir = Dir('gen')
@@ -13,7 +13,7 @@ cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
 
 # Build messaging
 services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc', 'messaging/bridge_zmq.cc'], LIBS=[msgq, common, 'pthread'])
+env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc', 'messaging/bridge_zmq.cc'], LIBS=[msgq_lib, common, 'pthread'])
 
 socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
 
diff --git a/cereal/__init__.py b/cereal/__init__.py
index 93f4d772276d57..61e22741dc1a4b 100644
--- a/cereal/__init__.py
+++ b/cereal/__init__.py
@@ -1,11 +1,9 @@
 import os
 import capnp
-from importlib.resources import as_file, files
 
 capnp.remove_import_hook()
 
-with as_file(files("cereal")) as fspath:
-  CEREAL_PATH = fspath.as_posix()
-  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
-  car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
-  custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
+CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
+log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
+car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
+custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
diff --git a/cereal/car.capnp b/cereal/car.capnp
deleted file mode 120000
index 4bc7f89b1fb5f2..00000000000000
--- a/cereal/car.capnp
+++ /dev/null
@@ -1 +0,0 @@
-../opendbc_repo/opendbc/car/car.capnp
\ No newline at end of file
diff --git a/cereal/car.capnp b/cereal/car.capnp
new file mode 100644
index 00000000000000..d2b8d758a7c159
--- /dev/null
+++ b/cereal/car.capnp
@@ -0,0 +1,736 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+@0x8e2af1e708af8b8d;
+
+# ******* events causing controls state machine transition *******
+
+# IMPORTANT: This struct is to not be modified so old logs can be parsed
+struct OnroadEventDEPRECATED @0x9b1657f34caf3ad3 {
+  name @0 :EventName;
+
+  # event types
+  enable @1 :Bool;
+  noEntry @2 :Bool;
+  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
+  userDisable @4 :Bool;
+  softDisable @5 :Bool;
+  immediateDisable @6 :Bool;
+  preEnable @7 :Bool;
+  permanent @8 :Bool; # alerts presented regardless of openpilot state
+  overrideLateral @10 :Bool;
+  overrideLongitudinal @9 :Bool;
+
+  enum EventName @0xbaa8c5d505f727de {
+    canError @0;
+    steerUnavailable @1;
+    wrongGear @4;
+    doorOpen @5;
+    seatbeltNotLatched @6;
+    espDisabled @7;
+    wrongCarMode @8;
+    steerTempUnavailable @9;
+    reverseGear @10;
+    buttonCancel @11;
+    buttonEnable @12;
+    pedalPressed @13;  # exits active state
+    preEnableStandstill @73;  # added during pre-enable state with brake
+    gasPressedOverride @108;  # added when user is pressing gas with no disengage on gas
+    steerOverride @114;
+    cruiseDisabled @14;
+    speedTooLow @17;
+    outOfSpace @18;
+    overheat @19;
+    calibrationIncomplete @20;
+    calibrationInvalid @21;
+    calibrationRecalibrating @117;
+    controlsMismatch @22;
+    pcmEnable @23;
+    pcmDisable @24;
+    radarFault @26;
+    brakeHold @28;
+    parkBrake @29;
+    manualRestart @30;
+    joystickDebug @34;
+    longitudinalManeuver @124;
+    steerTempUnavailableSilent @35;
+    resumeRequired @36;
+    preDriverDistracted @37;
+    promptDriverDistracted @38;
+    driverDistracted @39;
+    preDriverUnresponsive @43;
+    promptDriverUnresponsive @44;
+    driverUnresponsive @45;
+    belowSteerSpeed @46;
+    lowBattery @48;
+    accFaulted @51;
+    sensorDataInvalid @52;
+    commIssue @53;
+    commIssueAvgFreq @109;
+    tooDistracted @54;
+    posenetInvalid @55;
+    preLaneChangeLeft @57;
+    preLaneChangeRight @58;
+    laneChange @59;
+    lowMemory @63;
+    stockAeb @64;
+    ldw @65;
+    carUnrecognized @66;
+    invalidLkasSetting @69;
+    speedTooHigh @70;
+    laneChangeBlocked @71;
+    relayMalfunction @72;
+    stockFcw @74;
+    startup @75;
+    startupNoCar @76;
+    startupNoControl @77;
+    startupNoSecOcKey @125;
+    startupMaster @78;
+    fcw @79;
+    steerSaturated @80;
+    belowEngageSpeed @84;
+    noGps @85;
+    wrongCruiseMode @87;
+    modeldLagging @89;
+    deviceFalling @90;
+    fanMalfunction @91;
+    cameraMalfunction @92;
+    cameraFrameRate @110;
+    processNotRunning @95;
+    dashcamMode @96;
+    selfdriveInitializing @98;
+    usbError @99;
+    cruiseMismatch @106;
+    canBusMissing @111;
+    selfdrivedLagging @112;
+    resumeBlocked @113;
+    steerTimeLimit @115;
+    vehicleSensorsInvalid @116;
+    locationdTemporaryError @103;
+    locationdPermanentError @118;
+    paramsdTemporaryError @50;
+    paramsdPermanentError @119;
+    actuatorsApiUnavailable @120;
+    espActive @121;
+    personalityChanged @122;
+    aeb @123;
+
+    radarCanErrorDEPRECATED @15;
+    communityFeatureDisallowedDEPRECATED @62;
+    radarCommIssueDEPRECATED @67;
+    driverMonitorLowAccDEPRECATED @68;
+    gasUnavailableDEPRECATED @3;
+    dataNeededDEPRECATED @16;
+    modelCommIssueDEPRECATED @27;
+    ipasOverrideDEPRECATED @33;
+    geofenceDEPRECATED @40;
+    driverMonitorOnDEPRECATED @41;
+    driverMonitorOffDEPRECATED @42;
+    calibrationProgressDEPRECATED @47;
+    invalidGiraffeHondaDEPRECATED @49;
+    invalidGiraffeToyotaDEPRECATED @60;
+    internetConnectivityNeededDEPRECATED @61;
+    whitePandaUnsupportedDEPRECATED @81;
+    commIssueWarningDEPRECATED @83;
+    focusRecoverActiveDEPRECATED @86;
+    neosUpdateRequiredDEPRECATED @88;
+    modelLagWarningDEPRECATED @93;
+    startupOneplusDEPRECATED @82;
+    startupFuzzyFingerprintDEPRECATED @97;
+    noTargetDEPRECATED @25;
+    brakeUnavailableDEPRECATED @2;
+    plannerErrorDEPRECATED @32;
+    gpsMalfunctionDEPRECATED @94;
+    roadCameraErrorDEPRECATED @100;
+    driverCameraErrorDEPRECATED @101;
+    wideRoadCameraErrorDEPRECATED @102;
+    highCpuUsageDEPRECATED @105;
+    startupNoFwDEPRECATED @104;
+    lowSpeedLockoutDEPRECATED @31;
+    lkasDisabledDEPRECATED @107;
+    soundsUnavailableDEPRECATED @56;
+  }
+}
+
+struct CarState {
+  # CAN health
+  canValid @26 :Bool;       # invalid counter/checksums
+  canTimeout @40 :Bool;     # CAN bus dropped out
+  canErrorCounter @48 :UInt32;
+
+  # process meta
+  cumLagMs @50 :Float32;
+
+  # car speed
+  vEgo @1 :Float32;            # best estimate of speed
+  aEgo @16 :Float32;           # best estimate of aCAN cceleration
+  vEgoRaw @17 :Float32;        # unfiltered speed from wheel speed sensors
+  vEgoCluster @44 :Float32;    # best estimate of speed shown on car's instrument cluster, used for UI
+
+  vCruise @53 :Float32;        # actual set speed
+  vCruiseCluster @54 :Float32; # set speed to display in the UI
+
+  yawRate @22 :Float32;     # best estimate of yaw rate
+  standstill @18 :Bool;
+  wheelSpeeds @2 :WheelSpeeds;
+
+  gasPressed @4 :Bool;    # this is user pedal only
+
+  # brake pedal, 0.0-1.0
+  brake @5 :Float32;      # this is user pedal only
+  brakePressed @6 :Bool;  # this is user pedal only
+  regenBraking @45 :Bool; # this is user pedal only
+  parkingBrake @39 :Bool;
+  brakeHoldActive @38 :Bool;
+
+  # steering wheel
+  steeringAngleDeg @7 :Float32;
+  steeringAngleOffsetDeg @37 :Float32; # Offset between sensors in case there multiple
+  steeringRateDeg @15 :Float32;    # optional
+  steeringTorque @8 :Float32;      # Native CAN units, only needed on cars where it's used for control
+  steeringTorqueEps @27 :Float32;  # Native CAN units, only needed on cars where it's used for control
+  steeringPressed @9 :Bool;        # is the user overring the steering wheel?
+  steeringDisengage @58 :Bool;     # more force than steeringPressed, disengages for applicable brands
+  steerFaultTemporary @35 :Bool;
+  steerFaultPermanent @36 :Bool;
+
+  invalidLkasSetting @55 :Bool;    # stock LKAS is incorrectly configured (i.e. on or off)
+  stockAeb @30 :Bool;
+  stockLkas @59 :Bool;
+  stockFcw @31 :Bool;
+  espDisabled @32 :Bool;
+  accFaulted @42 :Bool;
+  carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
+  espActive @51 :Bool;
+  vehicleSensorsInvalid @52 :Bool;  # invalid steering angle readings, etc.
+  lowSpeedAlert @56 :Bool;  # lost steering control due to a dynamic min steering speed
+  blockPcmEnable @60 :Bool;  # whether to allow PCM to enable this frame
+
+  # cruise state
+  cruiseState @10 :CruiseState;
+
+  # gear
+  gearShifter @14 :GearShifter;
+
+  # button presses
+  buttonEvents @11 :List(ButtonEvent);
+  buttonEnable @57 :Bool;  # user is requesting enable, usually one frame. set if pcmCruise=False
+  leftBlinker @20 :Bool;
+  rightBlinker @21 :Bool;
+  genericToggle @23 :Bool;
+
+  # lock info
+  doorOpen @24 :Bool;           # ideally includes all doors
+  seatbeltUnlatched @25 :Bool;  # driver seatbelt
+
+  # blindspot sensors
+  leftBlindspot @33 :Bool;  # Is there something blocking the left lane change
+  rightBlindspot @34 :Bool; # Is there something blocking the right lane change
+
+  fuelGauge @41 :Float32; # battery or fuel tank level from [0.0, 1.0]
+  charging @43 :Bool;
+
+  struct WheelSpeeds {
+    # optional wheel speeds
+    fl @0 :Float32;
+    fr @1 :Float32;
+    rl @2 :Float32;
+    rr @3 :Float32;
+  }
+
+  struct CruiseState {
+    enabled @0 :Bool;
+    speed @1 :Float32;
+    speedCluster @6 :Float32;  # Set speed as shown on instrument cluster
+    available @2 :Bool;
+    standstill @4 :Bool;
+    nonAdaptive @5 :Bool;
+
+    speedOffsetDEPRECATED @3 :Float32;
+  }
+
+  enum GearShifter {
+    unknown @0;
+    park @1;
+    drive @2;
+    neutral @3;
+    reverse @4;
+    sport @5;
+    low @6;
+    brake @7;
+    eco @8;
+    manumatic @9;
+  }
+
+  # send on change
+  struct ButtonEvent {
+    pressed @0 :Bool;
+    type @1 :Type;
+
+    enum Type {
+      unknown @0;
+      leftBlinker @1;
+      rightBlinker @2;
+      accelCruise @3;
+      decelCruise @4;
+      cancel @5;
+      lkas @6;
+      altButton2 @7;
+      mainCruise @8;
+      setCruise @9;
+      resumeCruise @10;
+      gapAdjustCruise @11;
+    }
+  }
+
+  # deprecated
+  errorsDEPRECATED @0 :List(OnroadEventDEPRECATED.EventName);
+  gasDEPRECATED @3 :Float32;        # this is user pedal only
+  brakeLightsDEPRECATED @19 :Bool;
+  steeringRateLimitedDEPRECATED @29 :Bool;
+  canMonoTimesDEPRECATED @12: List(UInt64);
+  canRcvTimeoutDEPRECATED @49 :Bool;
+  eventsDEPRECATED @13 :List(OnroadEventDEPRECATED);
+  clutchPressedDEPRECATED @28 :Bool;
+  engineRpmDEPRECATED @46 :Float32;
+}
+
+# ******* radar state @ 20hz *******
+
+struct RadarData @0x888ad6581cf0aacb {
+  errors @3 :Error;
+  points @1 :List(RadarPoint);
+
+  struct Error {
+    canError @0 :Bool;
+    radarFault @1 :Bool;
+    wrongConfig @2 :Bool;
+    radarUnavailableTemporary @3 :Bool;  # radar data is temporarily unavailable due to conditions the car sets
+  }
+
+  # similar to LiveTracks
+  # is one timestamp valid for all? I think so
+  struct RadarPoint {
+    trackId @0 :UInt64;  # no trackId reuse
+
+    # these 3 are the minimum required
+    dRel @1 :Float32; # m from the front bumper of the car
+    yRel @2 :Float32; # m
+    vRel @3 :Float32; # m/s
+
+    # these are optional and valid if they are not NaN
+    aRel @4 :Float32; # m/s^2
+    yvRel @5 :Float32; # m/s
+
+    # some radars flag measurements VS estimates
+    measured @6 :Bool;
+  }
+
+  enum ErrorDEPRECATED {
+    canError @0;
+    fault @1;
+    wrongConfig @2;
+  }
+
+  # deprecated
+  canMonoTimesDEPRECATED @2 :List(UInt64);
+  errorsDEPRECATED @0 :List(ErrorDEPRECATED);
+}
+
+# ******* car controls @ 100hz *******
+
+struct CarControl {
+  # must be true for any actuator commands to work
+  enabled @0 :Bool;
+  latActive @11: Bool;
+  longActive @12: Bool;
+
+  # Final actuator commands
+  actuators @6 :Actuators;
+
+  # Blinker controls
+  leftBlinker @15: Bool;
+  rightBlinker @16: Bool;
+
+  orientationNED @13 :List(Float32);
+  angularVelocity @14 :List(Float32);
+  currentCurvature @17 :Float32;  # From vehicle model
+
+  cruiseControl @4 :CruiseControl;
+  hudControl @5 :HUDControl;
+
+  struct Actuators {
+    # lateral commands, mutually exclusive
+    torque @2: Float32;  # [0.0, 1.0]
+    steeringAngleDeg @3: Float32;
+    curvature @7: Float32;
+
+    # longitudinal commands
+    accel @4: Float32;  # m/s^2
+    longControlState @5: LongControlState;
+
+    # these are only for logging the actual values sent to the car over CAN
+    gas @0: Float32;   # [0.0, 1.0]
+    brake @1: Float32; # [0.0, 1.0]
+    torqueOutputCan @8: Float32;   # value sent over can to the car
+    speed @6: Float32;  # m/s
+
+    enum LongControlState @0xe40f3a917d908282{
+      off @0;
+      pid @1;
+      stopping @2;
+      starting @3;
+    }
+  }
+
+  struct CruiseControl {
+    cancel @0: Bool;
+    resume @1: Bool;
+    override @4: Bool;
+    speedOverrideDEPRECATED @2: Float32;
+    accelOverrideDEPRECATED @3: Float32;
+  }
+
+  struct HUDControl {
+    speedVisible @0: Bool;
+    setSpeed @1: Float32;
+    lanesVisible @2: Bool;
+    leadVisible @3: Bool;
+    visualAlert @4: VisualAlert;
+    rightLaneVisible @6: Bool;
+    leftLaneVisible @7: Bool;
+    rightLaneDepart @8: Bool;
+    leftLaneDepart @9: Bool;
+    leadDistanceBars @10: Int8;  # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead
+
+    # not used with the dash, TODO: separate structs for dash UI and device UI
+    audibleAlert @5: AudibleAlert;
+
+    enum VisualAlert {
+      # these are the choices from the Honda
+      # map as good as you can for your car
+      none @0;
+      fcw @1;
+      steerRequired @2;
+      brakePressed @3;
+      wrongGear @4;
+      seatbeltUnbuckled @5;
+      speedTooHigh @6;
+      ldw @7;
+    }
+
+    enum AudibleAlert {
+      none @0;
+
+      engage @1;
+      disengage @2;
+      refuse @3;
+
+      warningSoft @4;
+      warningImmediate @5;
+
+      prompt @6;
+      promptRepeat @7;
+      promptDistracted @8;
+    }
+  }
+
+  gasDEPRECATED @1 :Float32;
+  brakeDEPRECATED @2 :Float32;
+  steeringTorqueDEPRECATED @3 :Float32;
+  activeDEPRECATED @7 :Bool;
+  rollDEPRECATED @8 :Float32;
+  pitchDEPRECATED @9 :Float32;
+  actuatorsOutputDEPRECATED @10 :Actuators;
+}
+
+struct CarOutput {
+  # Any car specific rate limits or quirks applied by
+  # the CarController are reflected in actuatorsOutput
+  # and matches what is sent to the car
+  actuatorsOutput @0 :CarControl.Actuators;
+}
+
+# ****** car param ******
+
+struct CarParams {
+  brand @0 :Text;  # Designates which group a platform falls under. Each folder in opendbc/car is assigned one brand string
+  carFingerprint @1 :Text;
+  fuzzyFingerprint @55 :Bool;
+
+  notCar @66 :Bool;  # flag for non-car robotics platforms
+
+  pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
+  enableBsm @56 :Bool;       # blind spot monitoring
+  flags @64 :UInt32;         # flags for car specific quirks
+  alphaLongitudinalAvailable @71 :Bool;
+
+  minEnableSpeed @7 :Float32;
+  minSteerSpeed @8 :Float32;
+  steerAtStandstill @77 :Bool;  # is steering available at standstill? just check if it faults
+  safetyConfigs @62 :List(SafetyConfig);
+  alternativeExperience @65 :Int16;      # panda flag for features like no disengage on gas
+
+  # Car docs fields, not used for control
+  maxLateralAccel @68 :Float32;
+  autoResumeSng @69 :Bool;               # describes whether car can resume from a stop automatically
+
+  # things about the car in the manual
+  mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
+  wheelbase @18 :Float32;       # [m] distance from rear axle to front axle
+  centerToFront @19 :Float32;   # [m] distance from center of mass to front axle
+  steerRatio @20 :Float32;      # [] ratio of steering wheel angle to front wheel angle
+  steerRatioRear @21 :Float32;  # [] ratio of steering wheel angle to rear wheel angle (usually 0)
+
+  # things we can derive
+  rotationalInertia @22 :Float32;    # [kg*m2] body rotational inertia
+  tireStiffnessFactor @72 :Float32;  # scaling factor used in calculating tireStiffness[Front,Rear]
+  tireStiffnessFront @23 :Float32;   # [N/rad] front tire coeff of stiff
+  tireStiffnessRear @24 :Float32;    # [N/rad] rear tire coeff of stiff
+
+  longitudinalTuning @25 :LongitudinalPIDTuning;
+  lateralParams @48 :LateralParams;
+  lateralTuning :union {
+    pid @26 :LateralPIDTuning;
+    indiDEPRECATED @27 :LateralINDITuning;
+    lqrDEPRECATED @40 :LateralLQRTuning;
+    torque @67 :LateralTorqueTuning;
+  }
+
+  steerLimitAlert @28 :Bool;
+  steerLimitTimer @47 :Float32;  # time before steerLimitAlert is issued
+
+  vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
+  vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
+  steerControlType @34 :SteerControlType;
+  radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
+  stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
+  stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
+  startAccel @32 :Float32; # Required acceleration to get car moving
+  startingState @70 :Bool; # Does this car make use of special starting state
+
+  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
+  longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
+  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
+  carVin @38 :Text; # VIN number queried during fingerprinting
+  dashcamOnly @41: Bool;
+  passive @73: Bool;   # is openpilot in control?
+  transmissionType @43 :TransmissionType;
+  carFw @44 :List(CarFw);
+
+  radarDelay @74 :Float32;
+  fingerprintSource @49: FingerprintSource;
+  networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network
+
+  wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
+
+  secOcRequired @75 :Bool;  # Car requires SecOC message authentication to operate
+  secOcKeyAvailable @76 :Bool;  # Stored SecOC key loaded from params
+
+  struct SafetyConfig {
+    safetyModel @0 :SafetyModel;
+    safetyParam @3 :UInt16;
+    safetyParamDEPRECATED @1 :Int16;
+    safetyParam2DEPRECATED @2 :UInt32;
+  }
+
+  struct LateralParams {
+    torqueBP @0 :List(Int32);
+    torqueV @1 :List(Int32);
+  }
+
+  struct LateralPIDTuning {
+    kpBP @0 :List(Float32);
+    kpV @1 :List(Float32);
+    kiBP @2 :List(Float32);
+    kiV @3 :List(Float32);
+    kf @4 :Float32;
+  }
+
+  struct LateralTorqueTuning {
+    friction @3 :Float32;
+    steeringAngleDeadzoneDeg @5 :Float32;
+    latAccelFactor @6 :Float32;
+    latAccelOffset @7 :Float32;
+    useSteeringAngleDEPRECATED @0 :Bool;
+    kpDEPRECATED @1 :Float32;
+    kiDEPRECATED @2 :Float32;
+    kfDEPRECATED @4 :Float32;
+    kdDEPRECATED @8 : Float32;
+  }
+
+  struct LongitudinalPIDTuning {
+    kpBP @0 :List(Float32);
+    kpV @1 :List(Float32);
+    kiBP @2 :List(Float32);
+    kiV @3 :List(Float32);
+    kfDEPRECATED @6 :Float32;
+    deadzoneBPDEPRECATED @4 :List(Float32);
+    deadzoneVDEPRECATED @5 :List(Float32);
+  }
+
+  struct LateralINDITuning {
+    outerLoopGainBP @4 :List(Float32);
+    outerLoopGainV @5 :List(Float32);
+    innerLoopGainBP @6 :List(Float32);
+    innerLoopGainV @7 :List(Float32);
+    timeConstantBP @8 :List(Float32);
+    timeConstantV @9 :List(Float32);
+    actuatorEffectivenessBP @10 :List(Float32);
+    actuatorEffectivenessV @11 :List(Float32);
+
+    outerLoopGainDEPRECATED @0 :Float32;
+    innerLoopGainDEPRECATED @1 :Float32;
+    timeConstantDEPRECATED @2 :Float32;
+    actuatorEffectivenessDEPRECATED @3 :Float32;
+  }
+
+  struct LateralLQRTuning {
+    scale @0 :Float32;
+    ki @1 :Float32;
+    dcGain @2 :Float32;
+
+    # State space system
+    a @3 :List(Float32);
+    b @4 :List(Float32);
+    c @5 :List(Float32);
+
+    k @6 :List(Float32);  # LQR gain
+    l @7 :List(Float32);  # Kalman gain
+  }
+
+  enum SafetyModel {
+    silent @0;
+    hondaNidec @1;
+    toyota @2;
+    elm327 @3;
+    gm @4;
+    hondaBoschGiraffe @5;
+    ford @6;
+    cadillac @7;
+    hyundai @8;
+    chrysler @9;
+    tesla @10;
+    subaru @11;
+    gmPassive @12;
+    mazda @13;
+    nissan @14;
+    volkswagen @15;
+    toyotaIpas @16;
+    allOutput @17;
+    gmAscm @18;
+    noOutput @19;  # like silent but without silent CAN TXs
+    hondaBosch @20;
+    volkswagenPq @21;
+    subaruPreglobal @22;  # pre-Global platform
+    hyundaiLegacy @23;
+    hyundaiCommunity @24;
+    volkswagenMlb @25;
+    hongqi @26;
+    body @27;
+    hyundaiCanfd @28;
+    volkswagenMqbEvo @29;
+    chryslerCusw @30;
+    psa @31;
+    fcaGiorgio @32;
+    rivian @33;
+    volkswagenMeb @34;
+  }
+
+  enum SteerControlType {
+    torque @0;
+    angle @1;
+
+    curvatureDEPRECATED @2;
+  }
+
+  enum TransmissionType {
+    unknown @0;
+    automatic @1;  # Traditional auto, including DSG
+    manual @2;  # True "stick shift" only
+    direct @3;  # Electric vehicle or other direct drive
+    cvt @4;
+  }
+
+  struct CarFw {
+    ecu @0 :Ecu;
+    fwVersion @1 :Data;
+    address @2 :UInt32;
+    subAddress @3 :UInt8;
+    responseAddress @4 :UInt32;
+    request @5 :List(Data);
+    brand @6 :Text;
+    bus @7 :UInt8;
+    logging @8 :Bool;
+    obdMultiplexing @9 :Bool;
+  }
+
+  enum Ecu {
+    eps @0;
+    abs @1;
+    fwdRadar @2;
+    fwdCamera @3;
+    engine @4;
+    unknown @5;
+    transmission @8; # Transmission Control Module
+    hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer
+    srs @9; # airbag
+    gateway @10; # can gateway
+    hud @11; # heads up display
+    combinationMeter @12; # instrument cluster
+    electricBrakeBooster @15;
+    shiftByWire @16;
+    adas @19;
+    cornerRadar @21;
+    hvac @20;
+    parkingAdas @7;  # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
+    epb @22;  # electronic parking brake
+    telematics @23;
+    body @24;  # body control module
+
+    # Toyota only
+    dsu @6;
+
+    # Honda only
+    vsa @13; # Vehicle Stability Assist
+    programmedFuelInjection @14;
+
+    debug @17;
+  }
+
+  enum FingerprintSource {
+    can @0;
+    fw @1;
+    fixed @2;
+  }
+
+  enum NetworkLocation {
+    fwdCamera @0;  # Standard/default integration at LKAS camera
+    gateway @1;    # Integration at vehicle's CAN gateway
+  }
+
+  enableGasInterceptorDEPRECATED @2 :Bool;
+  enableCameraDEPRECATED @4 :Bool;
+  enableApgsDEPRECATED @6 :Bool;
+  steerRateCostDEPRECATED @33 :Float32;
+  isPandaBlackDEPRECATED @39 :Bool;
+  hasStockCameraDEPRECATED @57 :Bool;
+  safetyParamDEPRECATED @10 :Int16;
+  safetyModelDEPRECATED @9 :SafetyModel;
+  safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
+  minSpeedCanDEPRECATED @51 :Float32;
+  communityFeatureDEPRECATED @46: Bool;
+  startingAccelRateDEPRECATED @53 :Float32;
+  steerMaxBPDEPRECATED @11 :List(Float32);
+  steerMaxVDEPRECATED @12 :List(Float32);
+  gasMaxBPDEPRECATED @13 :List(Float32);
+  gasMaxVDEPRECATED @14 :List(Float32);
+  brakeMaxBPDEPRECATED @15 :List(Float32);
+  brakeMaxVDEPRECATED @16 :List(Float32);
+  directAccelControlDEPRECATED @30 :Bool;
+  maxSteeringAngleDegDEPRECATED @54 :Float32;
+  longitudinalActuatorDelayLowerBoundDEPRECATED @61 :Float32;
+  stoppingControlDEPRECATED @31 :Bool; # Does the car allow full control even at lows speeds when stopping
+  radarTimeStepDEPRECATED @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
+  enableDsuDEPRECATED @5 :Bool;        # driving support unit
+}
diff --git a/msgq b/msgq
deleted file mode 120000
index df09146f62ea88..00000000000000
--- a/msgq
+++ /dev/null
@@ -1 +0,0 @@
-msgq_repo/msgq
\ No newline at end of file
diff --git a/msgq_repo b/msgq_repo
deleted file mode 160000
index fa514e7dd77025..00000000000000
--- a/msgq_repo
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit fa514e7dd77025952d94e893c622a5006e260321
diff --git a/opendbc b/opendbc
deleted file mode 120000
index 7cd9a5bd1ebf2e..00000000000000
--- a/opendbc
+++ /dev/null
@@ -1 +0,0 @@
-opendbc_repo/opendbc
\ No newline at end of file
diff --git a/opendbc_repo b/opendbc_repo
deleted file mode 160000
index 647441e42db573..00000000000000
--- a/opendbc_repo
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 647441e42db5735e249344449ad857eeeeff7224
diff --git a/panda b/panda
deleted file mode 160000
index e1da7dc918c0bc..00000000000000
--- a/panda
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit e1da7dc918c0bcda6fbbdd9ee6f89c5428ec5039
diff --git a/pyproject.toml b/pyproject.toml
index 5aeb2ffab4a2e3..7d0f6f871b574b 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -63,6 +63,13 @@ dependencies = [
   "raylib > 5.5.0.3",
   "qrcode",
   "jeepney",
+
+  # submodule packages
+  "teleoprtc @ git+https://github.com/commaai/teleoprtc.git@389815b",
+  "pandacan @ git+https://github.com/commaai/panda.git@fix_packages",
+  "opendbc @ git+https://github.com/commaai/opendbc.git@fix_packages",
+  "rednose @ git+https://github.com/commaai/rednose.git@fix_packages",
+  "msgq @ git+https://github.com/commaai/msgq.git@fix_packages",
 ]
 
 [project.optional-dependencies]
@@ -112,7 +119,7 @@ allow-direct-references = true
 
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=20 --maxprocesses=8 -n auto --dist=loadgroup"
+addopts = "--ignore=openpilot/ --ignore=tinygrad_repo/ -Werror --strict-config --strict-markers --durations=20 --maxprocesses=8 -n auto --dist=loadgroup"
 cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
@@ -135,7 +142,7 @@ quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
 ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
-skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
+skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, *.po, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
 
 # https://docs.astral.sh/ruff/configuration/#using-pyprojecttoml
 [tool.ruff]
@@ -164,13 +171,7 @@ target-version ="py311"
 exclude = [
   "body",
   "cereal",
-  "panda",
-  "opendbc",
-  "opendbc_repo",
-  "rednose_repo",
   "tinygrad_repo",
-  "teleoprtc",
-  "teleoprtc_repo",
   "third_party",
   "*.ipynb",
   "generated",
@@ -199,17 +200,8 @@ quote-style = "preserve"
 [tool.ty.src]
 exclude = [
   "cereal/",
-  "msgq/",
-  "msgq_repo/",
-  "opendbc/",
-  "opendbc_repo/",
-  "panda/",
-  "rednose/",
-  "rednose_repo/",
   "tinygrad/",
   "tinygrad_repo/",
-  "teleoprtc/",
-  "teleoprtc_repo/",
   "third_party/",
 ]
 
diff --git a/rednose b/rednose
deleted file mode 120000
index 674cfec35f9112..00000000000000
--- a/rednose
+++ /dev/null
@@ -1 +0,0 @@
-rednose_repo/rednose
\ No newline at end of file
diff --git a/rednose_repo b/rednose_repo
deleted file mode 160000
index 7fddc8e6d49def..00000000000000
--- a/rednose_repo
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 7fddc8e6d49def83c952a78673179bdc62789214
diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh
index 5581171e8feb65..36f07bcc11032b 100755
--- a/scripts/lint/lint.sh
+++ b/scripts/lint/lint.sh
@@ -14,7 +14,7 @@ cd $ROOT
 FAILED=0
 
 IGNORED_FILES="uv\.lock|docs\/CARS.md"
-IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
+IGNORED_DIRS="^third_party.*|^cereal.*|^tinygrad.*|^tinygrad_repo.*"
 
 function run() {
   shopt -s extglob
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
index c9ebf892079976..77e5bc58418a90 100644
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version')
+Import('env', 'envCython', 'arch', 'common_python', 'np_version')
 
 gen = "c_generated_code"
 
@@ -62,7 +62,7 @@ lenv.Clean(generated_files, Dir(gen))
 generated_lat = lenv.Command(generated_files,
                              source_list,
                              f"cd {Dir('.').abspath} && python3 lat_mpc.py")
-lenv.Depends(generated_lat, [msgq_python, common_python])
+lenv.Depends(generated_lat, [common_python])
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 7a6c02a538d728..bb24419185f277 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version')
+Import('env', 'envCython', 'arch', 'common_python', 'np_version')
 
 gen = "c_generated_code"
 
@@ -67,7 +67,7 @@ lenv.Clean(generated_files, Dir(gen))
 generated_long = lenv.Command(generated_files,
                               source_list,
                               f"cd {Dir('.').abspath} && python3 long_mpc.py")
-lenv.Depends(generated_long, [msgq_python, common_python])
+lenv.Depends(generated_long, [common_python])
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
diff --git a/selfdrive/locationd/SConscript b/selfdrive/locationd/SConscript
index e8eeff7e0cc102..206564c7950e9f 100644
--- a/selfdrive/locationd/SConscript
+++ b/selfdrive/locationd/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'rednose')
+Import('env', 'rednose_lib')
 
 # build ekf models
 rednose_gen_dir = 'models/generated'
diff --git a/selfdrive/test/scons_build_test.sh b/selfdrive/test/scons_build_test.sh
deleted file mode 100755
index 5ffdb4379e004c..00000000000000
--- a/selfdrive/test/scons_build_test.sh
+++ /dev/null
@@ -1,20 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-SCRIPT_DIR=$(dirname "$0")
-BASEDIR=$(realpath "$SCRIPT_DIR/../../")
-cd $BASEDIR
-
-# tests that our build system's dependencies are configured properly,
-# needs a machine with lots of cores
-
-# helpful commands:
-# scons -Q --tree=derived
-
-cd $BASEDIR/opendbc_repo/
-scons --clean
-scons --no-cache --random -j$(nproc)
-if ! scons -q; then
-  echo "FAILED: all build products not up to date after first pass."
-  exit 1
-fi
diff --git a/teleoprtc b/teleoprtc
deleted file mode 120000
index 3d3dbc8dea1ac6..00000000000000
--- a/teleoprtc
+++ /dev/null
@@ -1 +0,0 @@
-teleoprtc_repo/teleoprtc
\ No newline at end of file
diff --git a/teleoprtc_repo b/teleoprtc_repo
deleted file mode 160000
index 389815b8ca5302..00000000000000
--- a/teleoprtc_repo
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 389815b8ca5302ce7c1504b7841d4eb61a8cd51b
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index 025797d1e371ac..840998f47d1d0a 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -1,6 +1,7 @@
 import subprocess
 import os
 import shutil
+import opendbc
 
 Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal')
 
@@ -76,7 +77,7 @@ qt_libs = base_libs
 cabana_env = qt_env.Clone()
 
 cabana_libs = [cereal, messaging, visionipc, replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'usb-1.0'] + qt_libs
-opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc/dbc").abspath)
+opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % opendbc.DBC_PATH
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
 # build assets
@@ -100,4 +101,4 @@ output_json_file = 'tools/cabana/dbc/car_fingerprint_to_dbc.json'
 generate_dbc = cabana_env.Command('#' + output_json_file,
                                   ['dbc/generate_dbc_json.py'],
                                   "python3 tools/cabana/dbc/generate_dbc_json.py --out " + output_json_file)
-cabana_env.Depends(generate_dbc, ["#common", '#opendbc_repo', "#cereal", "#msgq_repo"])
+cabana_env.Depends(generate_dbc, ["#common", "#cereal"])
diff --git a/uv.lock b/uv.lock
index 8b8bfd639ba195..e99331760b5071 100644
--- a/uv.lock
+++ b/uv.lock
@@ -107,16 +107,16 @@ wheels = [
 
 [[package]]
 name = "av"
-version = "13.1.0"
+version = "12.3.0"
 source = { registry = "https://pypi.org/simple" }
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+version = "0.1.0"
+source = { git = "https://github.com/commaai/msgq.git?rev=fix_packages#32b2404f68eab3c9c0869777a055b272e1ebf0e5" }
+dependencies = [
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+]
+
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+[[package]]
+name = "opendbc"
+version = "0.2.1"
+source = { git = "https://github.com/commaai/opendbc.git?rev=fix_packages#66aff6a1f7a5cf3efbcd8a52d9ade3813c8b6486" }
+dependencies = [
+    { name = "crcmod-plus" },
+    { name = "numpy" },
+    { name = "pycapnp" },
+    { name = "pycryptodome" },
+    { name = "scons" },
+    { name = "tqdm" },
+]
+
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 name = "openpilot"
 version = "0.1.0"
@@ -752,7 +773,10 @@ dependencies = [
     { name = "jeepney" },
     { name = "json-rpc" },
     { name = "libusb1" },
+    { name = "msgq" },
     { name = "numpy" },
+    { name = "opendbc" },
+    { name = "pandacan" },
     { name = "psutil" },
     { name = "pyaudio" },
     { name = "pycapnp" },
@@ -762,6 +786,7 @@ dependencies = [
     { name = "pyzmq" },
     { name = "qrcode" },
     { name = "raylib" },
+    { name = "rednose" },
     { name = "requests" },
     { name = "scons" },
     { name = "sentry-sdk" },
@@ -770,6 +795,7 @@ dependencies = [
     { name = "sounddevice" },
     { name = "spidev", marker = "sys_platform == 'linux'" },
     { name = "sympy" },
+    { name = "teleoprtc" },
     { name = "tqdm" },
     { name = "websocket-client" },
     { name = "xattr" },
@@ -825,8 +851,11 @@ requires-dist = [
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     { name = "mkdocs", marker = "extra == 'docs'" },
+    { name = "msgq", git = "https://github.com/commaai/msgq.git?rev=fix_packages" },
     { name = "numpy", specifier = ">=2.0" },
     { name = "opencv-python-headless", marker = "extra == 'dev'" },
+    { name = "opendbc", git = "https://github.com/commaai/opendbc.git?rev=fix_packages" },
+    { name = "pandacan", git = "https://github.com/commaai/panda.git?rev=fix_packages" },
     { name = "pre-commit-hooks", marker = "extra == 'testing'" },
     { name = "psutil" },
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@@ -843,6 +872,7 @@ requires-dist = [
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     { name = "qrcode" },
     { name = "raylib", specifier = ">5.5.0.3" },
+    { name = "rednose", git = "https://github.com/commaai/rednose.git?rev=fix_packages" },
     { name = "requests" },
     { name = "ruff", marker = "extra == 'testing'" },
     { name = "scons" },
@@ -852,6 +882,7 @@ requires-dist = [
     { name = "sounddevice" },
     { name = "spidev", marker = "sys_platform == 'linux'" },
     { name = "sympy" },
+    { name = "teleoprtc", git = "https://github.com/commaai/teleoprtc.git?rev=389815b" },
     { name = "tqdm" },
     { name = "ty", marker = "extra == 'testing'" },
     { name = "websocket-client" },
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+[[package]]
+name = "pandacan"
+version = "0.0.10"
+source = { git = "https://github.com/commaai/panda.git?rev=fix_packages#8f19e23383b4cc8f38907546e0ba56afd223f819" }
+dependencies = [
+    { name = "libusb1" },
+    { name = "opendbc" },
+]
+
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+[[package]]
+name = "rednose"
+version = "0.1.0"
+source = { git = "https://github.com/commaai/rednose.git?rev=fix_packages#0ffaec2be5f6b31c13716a6298e05dab0fe6b437" }
+dependencies = [
+    { name = "cffi" },
+    { name = "cython" },
+    { name = "numpy" },
+    { name = "scons" },
+    { name = "sympy" },
+]
+
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 version = "2.32.5"
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+[[package]]
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+version = "1.0.1"
+source = { git = "https://github.com/commaai/teleoprtc.git?rev=389815b#389815b8ca5302ce7c1504b7841d4eb61a8cd51b" }
+dependencies = [
+    { name = "aiohttp" },
+    { name = "aiortc" },
+    { name = "av" },
+    { name = "numpy" },
+]
+
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 version = "4.67.3"