diff --git a/selfdrive/SConscript b/selfdrive/SConscript
index f9d1c88..a03a014 100755
--- a/selfdrive/SConscript
+++ b/selfdrive/SConscript
@@ -3,4 +3,5 @@ SConscript(['controls/lib/lateral_mpc_lib/SConscript'])
 SConscript(['controls/lib/longitudinal_mpc_lib/SConscript'])
 SConscript(['locationd/SConscript'])
 SConscript(['modeld/SConscript'])
-SConscript(['ui/SConscript'])
\ No newline at end of file
+SConscript(['ui/SConscript'])
+SConscript(['clearpilot/SConscript'])
\ No newline at end of file
diff --git a/selfdrive/clearpilot/SConscript b/selfdrive/clearpilot/SConscript
new file mode 100644
index 0000000..2a58a7e
--- /dev/null
+++ b/selfdrive/clearpilot/SConscript
@@ -0,0 +1,16 @@
+Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal')
+
+clearpilot_env = env.Clone()
+clearpilot_env['CPPPATH'] += ['#selfdrive/frogpilot/screenrecorder/openmax/include/']
+# Disable --as-needed so static lib ordering doesn't matter
+clearpilot_env['LINKFLAGS'] = [f for f in clearpilot_env.get('LINKFLAGS', []) if f != '-Wl,--as-needed']
+
+if arch == "larch64":
+  omx_obj = File('#selfdrive/frogpilot/screenrecorder/omx_encoder.o')
+  clearpilot_env.Program(
+    'dashcamd',
+    ['dashcamd.cc', omx_obj],
+    LIBS=[common, 'json11', cereal, visionipc, messaging,
+          'zmq', 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread',
+          'OmxCore', 'avformat', 'avcodec', 'avutil', 'yuv']
+  )
diff --git a/selfdrive/clearpilot/dashcamd b/selfdrive/clearpilot/dashcamd
new file mode 100755
index 0000000..da98ac4
Binary files /dev/null and b/selfdrive/clearpilot/dashcamd differ
diff --git a/selfdrive/clearpilot/dashcamd.cc b/selfdrive/clearpilot/dashcamd.cc
new file mode 100644
index 0000000..97f84fa
--- /dev/null
+++ b/selfdrive/clearpilot/dashcamd.cc
@@ -0,0 +1,409 @@
+/*
+ * CLEARPILOT dashcamd — records raw camera footage to MP4 using OMX H.264 hardware encoder.
+ *
+ * Connects to camerad via VisionIPC, receives NV12 frames, and feeds them directly
+ * to the Qualcomm OMX encoder. Produces 3-minute MP4 segments organized by trip.
+ *
+ * Trip directory structure:
+ *   /data/media/0/videos/YYYYMMDD-HHMMSS/   (trip directory, named at trip start)
+ *     YYYYMMDD-HHMMSS.mp4                    (3-minute segments)
+ *     YYYYMMDD-HHMMSS.srt                    (GPS subtitle sidecar)
+ *
+ * Trip lifecycle state machine:
+ *
+ *   WAITING:
+ *     - Process starts in this state
+ *     - Waits for valid system time (year >= 2024) AND car in drive gear
+ *     - Transitions to RECORDING when both conditions met
+ *
+ *   RECORDING:
+ *     - Actively encoding frames, car is in drive
+ *     - Car leaves drive → start 10-min idle timer → IDLE_TIMEOUT
+ *
+ *   IDLE_TIMEOUT:
+ *     - Car left drive, still recording with timer running
+ *     - Car re-enters drive → cancel timer → RECORDING
+ *     - Timer expires → close trip → WAITING
+ *     - Ignition off → close trip → WAITING
+ *
+ *   Graceful shutdown (DashcamShutdown param):
+ *     - thermald sets DashcamShutdown="1" before device power-off
+ *     - dashcamd closes current segment, acks, exits
+ *
+ *   Published params (memory, every 5s):
+ *     - DashcamState: "waiting" or "recording"
+ *     - DashcamFrames: per-trip encoded frame count (resets each trip)
+ */
+
+#include <cstdio>
+#include <ctime>
+#include <string>
+#include <errno.h>
+#include <signal.h>
+#include <sched.h>
+#include <execinfo.h>
+#include <sys/stat.h>
+#include <sys/resource.h>
+#include <unistd.h>
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/visionipc/visionipc_client.h"
+#include "common/params.h"
+#include "common/timing.h"
+#include "common/swaglog.h"
+#include "common/util.h"
+#include "selfdrive/frogpilot/screenrecorder/omx_encoder.h"
+
+const std::string VIDEOS_BASE = "/data/media/0/videos";
+const int SEGMENT_SECONDS = 180;  // 3 minutes
+const int SOURCE_FPS = 20;
+const int CAMERA_FPS = 10;
+const int FRAMES_PER_SEGMENT = SEGMENT_SECONDS * CAMERA_FPS;
+const int BITRATE = 2500 * 1024;  // 2500 kbps
+const double IDLE_TIMEOUT_SECONDS = 600.0;  // 10 minutes
+
+ExitHandler do_exit;
+
+enum TripState {
+  WAITING,        // no trip, waiting for valid time + drive gear
+  RECORDING,      // actively recording, car in drive
+  IDLE_TIMEOUT,   // car left drive, recording with 10-min timer
+};
+
+static std::string make_timestamp() {
+  char buf[64];
+  time_t t = time(NULL);
+  struct tm tm = *localtime(&t);
+  snprintf(buf, sizeof(buf), "%04d%02d%02d-%02d%02d%02d",
+           tm.tm_year + 1900, tm.tm_mon + 1, tm.tm_mday,
+           tm.tm_hour, tm.tm_min, tm.tm_sec);
+  return std::string(buf);
+}
+
+static bool system_time_valid() {
+  time_t t = time(NULL);
+  struct tm tm = *gmtime(&t);
+  return (tm.tm_year + 1900) >= 2024;
+}
+
+static std::string make_utc_timestamp() {
+  char buf[32];
+  time_t t = time(NULL);
+  struct tm tm = *gmtime(&t);
+  snprintf(buf, sizeof(buf), "%04d-%02d-%02d %02d:%02d:%02d UTC",
+           tm.tm_year + 1900, tm.tm_mon + 1, tm.tm_mday,
+           tm.tm_hour, tm.tm_min, tm.tm_sec);
+  return std::string(buf);
+}
+
+// Format SRT timestamp: HH:MM:SS,mmm
+static std::string srt_time(int seconds) {
+  int h = seconds / 3600;
+  int m = (seconds % 3600) / 60;
+  int s = seconds % 60;
+  char buf[16];
+  snprintf(buf, sizeof(buf), "%02d:%02d:%02d,000", h, m, s);
+  return std::string(buf);
+}
+
+static void crash_handler(int sig) {
+  FILE *f = fopen("/tmp/dashcamd_crash.log", "w");
+  if (f) {
+    fprintf(f, "CRASH: signal %d\n", sig);
+    void *bt[30];
+    int n = backtrace(bt, 30);
+    backtrace_symbols_fd(bt, n, fileno(f));
+    fclose(f);
+  }
+  _exit(1);
+}
+
+int main(int argc, char *argv[]) {
+  signal(SIGSEGV, crash_handler);
+  signal(SIGABRT, crash_handler);
+  setpriority(PRIO_PROCESS, 0, -10);
+
+  // CLEARPILOT: pin to cores 0-3 (little cluster). Avoids cache/memory-bandwidth
+  // contention with the RT-pinned processes on the big cluster:
+  //   core 4 = controlsd, core 5 = plannerd/radard, core 7 = modeld.
+  // OMX offloads actual H.264 work to hardware, so the main thread just copies
+  // frames and muxes MP4 — fine on the little cluster.
+  cpu_set_t mask;
+  CPU_ZERO(&mask);
+  for (int i = 0; i < 4; i++) CPU_SET(i, &mask);
+  if (sched_setaffinity(0, sizeof(mask), &mask) != 0) {
+    LOGW("dashcamd: sched_setaffinity failed (%d), continuing unpinned", errno);
+  } else {
+    LOGW("dashcamd: pinned to cores 0-3");
+  }
+
+  // Ensure base output directory exists
+  mkdir(VIDEOS_BASE.c_str(), 0755);
+
+  LOGW("dashcamd: started, connecting to camerad road stream");
+  VisionIpcClient vipc("camerad", VISION_STREAM_ROAD, false);
+  while (!do_exit && !vipc.connect(false)) {
+    usleep(100000);
+  }
+  if (do_exit) return 0;
+  LOGW("dashcamd: vipc connected, waiting for valid frame");
+
+  // Wait for a frame with valid dimensions (camerad may still be initializing)
+  VisionBuf *init_buf = nullptr;
+  while (!do_exit) {
+    init_buf = vipc.recv();
+    if (init_buf != nullptr && init_buf->width > 0 && init_buf->height > 0) break;
+    usleep(100000);
+  }
+  if (do_exit) return 0;
+
+  int width = init_buf->width;
+  int height = init_buf->height;
+  int y_stride = init_buf->stride;
+  int uv_stride = y_stride;
+  LOGW("dashcamd: first valid frame %dx%d stride=%d", width, height, y_stride);
+
+  // Subscribe to carState (gear), deviceState (ignition), gpsLocation (subtitles)
+  SubMaster sm({"carState", "deviceState", "gpsLocation"});
+  Params params;
+  Params params_memory("/dev/shm/params");
+
+  // Trip state
+  TripState state = WAITING;
+  OmxEncoder *encoder = nullptr;
+  std::string trip_dir;
+  int frame_count = 0;     // per-segment (for rotation)
+  int trip_frames = 0;     // per-trip (published to params)
+  int recv_count = 0;
+  uint64_t segment_start_ts = 0;
+  double idle_timer_start = 0.0;
+
+  // SRT subtitle state
+  FILE *srt_file = nullptr;
+  int srt_index = 0;
+  int srt_segment_sec = 0;
+  double last_srt_write = 0;
+
+  // Ignition tracking
+  bool prev_started = false;
+  bool started_initialized = false;
+
+  // Param publish throttle
+  int param_check_counter = 0;
+  double last_param_write = 0;
+
+  // Publish initial state
+  params_memory.put("DashcamState", "waiting");
+  params_memory.put("DashcamFrames", "0");
+
+  LOGW("dashcamd: entering main loop in WAITING state");
+
+  // Helper: start a new trip
+  auto start_new_trip = [&]() {
+    trip_dir = VIDEOS_BASE + "/" + make_timestamp();
+    mkdir(trip_dir.c_str(), 0755);
+    LOGW("dashcamd: new trip %s", trip_dir.c_str());
+
+    encoder = new OmxEncoder(trip_dir.c_str(), width, height, CAMERA_FPS, BITRATE);
+
+    std::string seg_name = make_timestamp();
+    LOGW("dashcamd: opening segment %s", seg_name.c_str());
+    encoder->encoder_open((seg_name + ".mp4").c_str());
+
+    std::string srt_path = trip_dir + "/" + seg_name + ".srt";
+    srt_file = fopen(srt_path.c_str(), "w");
+    srt_index = 0;
+    srt_segment_sec = 0;
+    last_srt_write = 0;
+
+    frame_count = 0;
+    trip_frames = 0;
+    segment_start_ts = nanos_since_boot();
+    state = RECORDING;
+
+    params_memory.put("DashcamState", "recording");
+    params_memory.put("DashcamFrames", "0");
+  };
+
+  // Helper: close current trip
+  auto close_trip = [&]() {
+    if (srt_file) { fclose(srt_file); srt_file = nullptr; }
+    if (encoder) {
+      encoder->encoder_close();
+      LOGW("dashcamd: segment closed");
+      delete encoder;
+      encoder = nullptr;
+    }
+    state = WAITING;
+    frame_count = 0;
+    trip_frames = 0;
+    idle_timer_start = 0.0;
+    LOGW("dashcamd: trip ended, returning to WAITING");
+
+    params_memory.put("DashcamState", "waiting");
+    params_memory.put("DashcamFrames", "0");
+  };
+
+  while (!do_exit) {
+    VisionBuf *buf = vipc.recv();
+    if (buf == nullptr) continue;
+
+    // Skip frames to match target FPS (SOURCE_FPS -> CAMERA_FPS)
+    recv_count++;
+    if (SOURCE_FPS > CAMERA_FPS && (recv_count % (SOURCE_FPS / CAMERA_FPS)) != 0) continue;
+
+    sm.update(0);
+    double now = nanos_since_boot() / 1e9;
+
+    // Read vehicle state
+    bool started = sm.valid("deviceState") &&
+                   sm["deviceState"].getDeviceState().getStarted();
+    auto gear = sm.valid("carState") ?
+                sm["carState"].getCarState().getGearShifter() :
+                cereal::CarState::GearShifter::UNKNOWN;
+    bool in_drive = (gear == cereal::CarState::GearShifter::DRIVE ||
+                     gear == cereal::CarState::GearShifter::SPORT ||
+                     gear == cereal::CarState::GearShifter::LOW ||
+                     gear == cereal::CarState::GearShifter::MANUMATIC);
+
+    // Detect ignition off → close any active trip
+    if (started_initialized && prev_started && !started) {
+      LOGW("dashcamd: ignition off");
+      if (state == RECORDING || state == IDLE_TIMEOUT) {
+        close_trip();
+      }
+    }
+    prev_started = started;
+    started_initialized = true;
+
+    // Check for graceful shutdown request (every ~1 second)
+    if (++param_check_counter >= CAMERA_FPS) {
+      param_check_counter = 0;
+      if (params_memory.getBool("DashcamShutdown")) {
+        LOGW("dashcamd: shutdown requested");
+        if (state == RECORDING || state == IDLE_TIMEOUT) {
+          close_trip();
+        }
+        params_memory.putBool("DashcamShutdown", false);
+        LOGW("dashcamd: shutdown ack sent, exiting");
+        break;
+      }
+    }
+
+    // State machine
+    switch (state) {
+      case WAITING: {
+        bool has_gps = sm.valid("gpsLocation") && sm["gpsLocation"].getGpsLocation().getHasFix();
+        if (in_drive && system_time_valid() && has_gps) {
+          start_new_trip();
+        }
+        break;
+      }
+
+      case RECORDING:
+        if (!in_drive) {
+          idle_timer_start = now;
+          state = IDLE_TIMEOUT;
+          LOGW("dashcamd: car left drive, starting 10-min idle timer");
+        }
+        break;
+
+      case IDLE_TIMEOUT:
+        if (in_drive) {
+          idle_timer_start = 0.0;
+          state = RECORDING;
+          LOGW("dashcamd: back in drive, resuming trip");
+        } else if ((now - idle_timer_start) >= IDLE_TIMEOUT_SECONDS) {
+          LOGW("dashcamd: idle timeout expired");
+          close_trip();
+        }
+        break;
+    }
+
+    // Only encode frames when we have an active recording
+    if (state != RECORDING && state != IDLE_TIMEOUT) continue;
+
+    // Segment rotation
+    if (frame_count >= FRAMES_PER_SEGMENT) {
+      if (srt_file) { fclose(srt_file); srt_file = nullptr; }
+      encoder->encoder_close();
+
+      std::string seg_name = make_timestamp();
+      LOGW("dashcamd: opening segment %s", seg_name.c_str());
+      encoder->encoder_open((seg_name + ".mp4").c_str());
+
+      std::string srt_path = trip_dir + "/" + seg_name + ".srt";
+      srt_file = fopen(srt_path.c_str(), "w");
+      srt_index = 0;
+      srt_segment_sec = 0;
+      last_srt_write = 0;
+
+      frame_count = 0;
+      segment_start_ts = nanos_since_boot();
+    }
+
+    uint64_t ts = nanos_since_boot() - segment_start_ts;
+
+    // Validate buffer before encoding
+    if (buf->y == nullptr || buf->uv == nullptr || buf->width == 0 || buf->height == 0) {
+      LOGE("dashcamd: invalid frame buf y=%p uv=%p %zux%zu, skipping", buf->y, buf->uv, buf->width, buf->height);
+      continue;
+    }
+
+    // Feed NV12 frame directly to OMX encoder
+    encoder->encode_frame_nv12(buf->y, y_stride, buf->uv, uv_stride, width, height, ts);
+    frame_count++;
+    trip_frames++;
+
+    // Publish state every 5 seconds
+    if (now - last_param_write >= 5.0) {
+      params_memory.put("DashcamFrames", std::to_string(trip_frames));
+      last_param_write = now;
+    }
+
+    // Write GPS subtitle at most once per second
+    if (srt_file && (now - last_srt_write) >= 1.0) {
+      last_srt_write = now;
+      srt_index++;
+
+      double lat = 0, lon = 0, speed_ms = 0;
+      bool has_gps = sm.valid("gpsLocation") && sm["gpsLocation"].getGpsLocation().getHasFix();
+      if (has_gps) {
+        auto gps = sm["gpsLocation"].getGpsLocation();
+        lat = gps.getLatitude();
+        lon = gps.getLongitude();
+        speed_ms = gps.getSpeed();
+      }
+
+      double speed_mph = speed_ms * 2.23694;
+      std::string utc = make_utc_timestamp();
+      std::string t_start = srt_time(srt_segment_sec);
+      std::string t_end = srt_time(srt_segment_sec + 1);
+      srt_segment_sec++;
+
+      if (has_gps) {
+        const char *deg = "\xC2\xB0";  // UTF-8 degree sign
+        fprintf(srt_file, "%d\n%s --> %s\n%.0f MPH | %.4f%s%c %.4f%s%c | %s\n\n",
+                srt_index, t_start.c_str(), t_end.c_str(),
+                speed_mph,
+                std::abs(lat), deg, lat >= 0 ? 'N' : 'S',
+                std::abs(lon), deg, lon >= 0 ? 'E' : 'W',
+                utc.c_str());
+      } else {
+        fprintf(srt_file, "%d\n%s --> %s\nNo GPS | %s\n\n",
+                srt_index, t_start.c_str(), t_end.c_str(), utc.c_str());
+      }
+      fflush(srt_file);
+    }
+  }
+
+  // Clean exit
+  if (state == RECORDING || state == IDLE_TIMEOUT) {
+    close_trip();
+  }
+  params_memory.put("DashcamState", "stopped");
+  params_memory.put("DashcamFrames", "0");
+  LOGW("dashcamd: stopped");
+
+  return 0;
+}
diff --git a/selfdrive/frogpilot/screenrecorder/omx_encoder.cc b/selfdrive/frogpilot/screenrecorder/omx_encoder.cc
index 332e541..bbb1888 100755
--- a/selfdrive/frogpilot/screenrecorder/omx_encoder.cc
+++ b/selfdrive/frogpilot/screenrecorder/omx_encoder.cc
@@ -35,120 +35,19 @@ int ABGRToNV12(const uint8_t* src_abgr,
   int halfwidth = (width + 1) >> 1;
   void (*ABGRToUVRow)(const uint8_t* src_abgr0, int src_stride_abgr,
                       uint8_t* dst_u, uint8_t* dst_v, int width) =
-      ABGRToUVRow_C;
+      ABGRToUVRow_NEON;
   void (*ABGRToYRow)(const uint8_t* src_abgr, uint8_t* dst_y, int width) =
-      ABGRToYRow_C;
-  void (*MergeUVRow_)(const uint8_t* src_u, const uint8_t* src_v, uint8_t* dst_uv, int width) = MergeUVRow_C;
+      ABGRToYRow_NEON;
+  void (*MergeUVRow_)(const uint8_t* src_u, const uint8_t* src_v, uint8_t* dst_uv, int width) = MergeUVRow_NEON;
   if (!src_abgr || !dst_y || !dst_uv || width <= 0 || height == 0) {
     return -1;
   }
-if (height < 0) {  // Negative height means invert the image.
-  height = -height;
-  src_abgr = src_abgr + (height - 1) * src_stride_abgr;
-  src_stride_abgr = -src_stride_abgr;
-}
-#if defined(HAS_ABGRTOYROW_SSSE3) && defined(HAS_ABGRTOUVROW_SSSE3)
-  if (TestCpuFlag(kCpuHasSSSE3)) {
-    ABGRToUVRow = ABGRToUVRow_Any_SSSE3;
-    ABGRToYRow = ABGRToYRow_Any_SSSE3;
-    if (IS_ALIGNED(width, 16)) {
-      ABGRToUVRow = ABGRToUVRow_SSSE3;
-      ABGRToYRow = ABGRToYRow_SSSE3;
-    }
+  if (height < 0) {
+    height = -height;
+    src_abgr = src_abgr + (height - 1) * src_stride_abgr;
+    src_stride_abgr = -src_stride_abgr;
   }
-#endif
-#if defined(HAS_ABGRTOYROW_AVX2) && defined(HAS_ABGRTOUVROW_AVX2)
-  if (TestCpuFlag(kCpuHasAVX2)) {
-    ABGRToUVRow = ABGRToUVRow_Any_AVX2;
-    ABGRToYRow = ABGRToYRow_Any_AVX2;
-    if (IS_ALIGNED(width, 32)) {
-      ABGRToUVRow = ABGRToUVRow_AVX2;
-      ABGRToYRow = ABGRToYRow_AVX2;
-    }
-  }
-#endif
-#if defined(HAS_ABGRTOYROW_NEON)
-  if (TestCpuFlag(kCpuHasNEON)) {
-    ABGRToYRow = ABGRToYRow_Any_NEON;
-    if (IS_ALIGNED(width, 8)) {
-      ABGRToYRow = ABGRToYRow_NEON;
-    }
-  }
-#endif
-#if defined(HAS_ABGRTOUVROW_NEON)
-  if (TestCpuFlag(kCpuHasNEON)) {
-    ABGRToUVRow = ABGRToUVRow_Any_NEON;
-    if (IS_ALIGNED(width, 16)) {
-      ABGRToUVRow = ABGRToUVRow_NEON;
-    }
-  }
-#endif
-#if defined(HAS_ABGRTOYROW_MMI) && defined(HAS_ABGRTOUVROW_MMI)
-  if (TestCpuFlag(kCpuHasMMI)) {
-    ABGRToYRow = ABGRToYRow_Any_MMI;
-    ABGRToUVRow = ABGRToUVRow_Any_MMI;
-    if (IS_ALIGNED(width, 8)) {
-      ABGRToYRow = ABGRToYRow_MMI;
-    }
-    if (IS_ALIGNED(width, 16)) {
-      ABGRToUVRow = ABGRToUVRow_MMI;
-    }
-  }
-#endif
-#if defined(HAS_ABGRTOYROW_MSA) && defined(HAS_ABGRTOUVROW_MSA)
-  if (TestCpuFlag(kCpuHasMSA)) {
-    ABGRToYRow = ABGRToYRow_Any_MSA;
-    ABGRToUVRow = ABGRToUVRow_Any_MSA;
-    if (IS_ALIGNED(width, 16)) {
-      ABGRToYRow = ABGRToYRow_MSA;
-    }
-    if (IS_ALIGNED(width, 32)) {
-      ABGRToUVRow = ABGRToUVRow_MSA;
-    }
-  }
-#endif
-#if defined(HAS_MERGEUVROW_SSE2)
-  if (TestCpuFlag(kCpuHasSSE2)) {
-    MergeUVRow_ = MergeUVRow_Any_SSE2;
-    if (IS_ALIGNED(halfwidth, 16)) {
-      MergeUVRow_ = MergeUVRow_SSE2;
-    }
-  }
-#endif
-#if defined(HAS_MERGEUVROW_AVX2)
-  if (TestCpuFlag(kCpuHasAVX2)) {
-    MergeUVRow_ = MergeUVRow_Any_AVX2;
-    if (IS_ALIGNED(halfwidth, 32)) {
-      MergeUVRow_ = MergeUVRow_AVX2;
-    }
-  }
-#endif
-#if defined(HAS_MERGEUVROW_NEON)
-  if (TestCpuFlag(kCpuHasNEON)) {
-    MergeUVRow_ = MergeUVRow_Any_NEON;
-    if (IS_ALIGNED(halfwidth, 16)) {
-      MergeUVRow_ = MergeUVRow_NEON;
-    }
-  }
-#endif
-#if defined(HAS_MERGEUVROW_MMI)
-  if (TestCpuFlag(kCpuHasMMI)) {
-    MergeUVRow_ = MergeUVRow_Any_MMI;
-    if (IS_ALIGNED(halfwidth, 8)) {
-      MergeUVRow_ = MergeUVRow_MMI;
-    }
-  }
-#endif
-#if defined(HAS_MERGEUVROW_MSA)
-  if (TestCpuFlag(kCpuHasMSA)) {
-    MergeUVRow_ = MergeUVRow_Any_MSA;
-    if (IS_ALIGNED(halfwidth, 16)) {
-      MergeUVRow_ = MergeUVRow_MSA;
-    }
-  }
-#endif
   {
-    // Allocate a rows of uv.
     align_buffer_64(row_u, ((halfwidth + 31) & ~31) * 2);
     uint8_t* row_v = row_u + ((halfwidth + 31) & ~31);
 
@@ -182,9 +81,9 @@ extern ExitHandler do_exit;
 // ***** OMX callback functions *****
 
 void OmxEncoder::wait_for_state(OMX_STATETYPE state_) {
-  std::unique_lock lk(this->state_lock);
-  while (this->state != state_) {
-    this->state_cv.wait(lk);
+  std::unique_lock lk(state_lock);
+  while (state != state_) {
+    state_cv.wait(lk);
   }
 }
 
@@ -236,270 +135,203 @@ static const char* omx_color_fomat_name(uint32_t format) __attribute__((unused))
 static const char* omx_color_fomat_name(uint32_t format) {
   switch (format) {
   case OMX_COLOR_FormatUnused: return "OMX_COLOR_FormatUnused";
-  case OMX_COLOR_FormatMonochrome: return "OMX_COLOR_FormatMonochrome";
-  case OMX_COLOR_Format8bitRGB332: return "OMX_COLOR_Format8bitRGB332";
-  case OMX_COLOR_Format12bitRGB444: return "OMX_COLOR_Format12bitRGB444";
-  case OMX_COLOR_Format16bitARGB4444: return "OMX_COLOR_Format16bitARGB4444";
-  case OMX_COLOR_Format16bitARGB1555: return "OMX_COLOR_Format16bitARGB1555";
-  case OMX_COLOR_Format16bitRGB565: return "OMX_COLOR_Format16bitRGB565";
-  case OMX_COLOR_Format16bitBGR565: return "OMX_COLOR_Format16bitBGR565";
-  case OMX_COLOR_Format18bitRGB666: return "OMX_COLOR_Format18bitRGB666";
-  case OMX_COLOR_Format18bitARGB1665: return "OMX_COLOR_Format18bitARGB1665";
-  case OMX_COLOR_Format19bitARGB1666: return "OMX_COLOR_Format19bitARGB1666";
-  case OMX_COLOR_Format24bitRGB888: return "OMX_COLOR_Format24bitRGB888";
-  case OMX_COLOR_Format24bitBGR888: return "OMX_COLOR_Format24bitBGR888";
-  case OMX_COLOR_Format24bitARGB1887: return "OMX_COLOR_Format24bitARGB1887";
-  case OMX_COLOR_Format25bitARGB1888: return "OMX_COLOR_Format25bitARGB1888";
-  case OMX_COLOR_Format32bitBGRA8888: return "OMX_COLOR_Format32bitBGRA8888";
-  case OMX_COLOR_Format32bitARGB8888: return "OMX_COLOR_Format32bitARGB8888";
-  case OMX_COLOR_FormatYUV411Planar: return "OMX_COLOR_FormatYUV411Planar";
-  case OMX_COLOR_FormatYUV411PackedPlanar: return "OMX_COLOR_FormatYUV411PackedPlanar";
-  case OMX_COLOR_FormatYUV420Planar: return "OMX_COLOR_FormatYUV420Planar";
-  case OMX_COLOR_FormatYUV420PackedPlanar: return "OMX_COLOR_FormatYUV420PackedPlanar";
   case OMX_COLOR_FormatYUV420SemiPlanar: return "OMX_COLOR_FormatYUV420SemiPlanar";
-  case OMX_COLOR_FormatYUV422Planar: return "OMX_COLOR_FormatYUV422Planar";
-  case OMX_COLOR_FormatYUV422PackedPlanar: return "OMX_COLOR_FormatYUV422PackedPlanar";
-  case OMX_COLOR_FormatYUV422SemiPlanar: return "OMX_COLOR_FormatYUV422SemiPlanar";
-  case OMX_COLOR_FormatYCbYCr: return "OMX_COLOR_FormatYCbYCr";
-  case OMX_COLOR_FormatYCrYCb: return "OMX_COLOR_FormatYCrYCb";
-  case OMX_COLOR_FormatCbYCrY: return "OMX_COLOR_FormatCbYCrY";
-  case OMX_COLOR_FormatCrYCbY: return "OMX_COLOR_FormatCrYCbY";
-  case OMX_COLOR_FormatYUV444Interleaved: return "OMX_COLOR_FormatYUV444Interleaved";
-  case OMX_COLOR_FormatRawBayer8bit: return "OMX_COLOR_FormatRawBayer8bit";
-  case OMX_COLOR_FormatRawBayer10bit: return "OMX_COLOR_FormatRawBayer10bit";
-  case OMX_COLOR_FormatRawBayer8bitcompressed: return "OMX_COLOR_FormatRawBayer8bitcompressed";
-  case OMX_COLOR_FormatL2: return "OMX_COLOR_FormatL2";
-  case OMX_COLOR_FormatL4: return "OMX_COLOR_FormatL4";
-  case OMX_COLOR_FormatL8: return "OMX_COLOR_FormatL8";
-  case OMX_COLOR_FormatL16: return "OMX_COLOR_FormatL16";
-  case OMX_COLOR_FormatL24: return "OMX_COLOR_FormatL24";
-  case OMX_COLOR_FormatL32: return "OMX_COLOR_FormatL32";
-  case OMX_COLOR_FormatYUV420PackedSemiPlanar: return "OMX_COLOR_FormatYUV420PackedSemiPlanar";
-  case OMX_COLOR_FormatYUV422PackedSemiPlanar: return "OMX_COLOR_FormatYUV422PackedSemiPlanar";
-  case OMX_COLOR_Format18BitBGR666: return "OMX_COLOR_Format18BitBGR666";
-  case OMX_COLOR_Format24BitARGB6666: return "OMX_COLOR_Format24BitARGB6666";
-  case OMX_COLOR_Format24BitABGR6666: return "OMX_COLOR_Format24BitABGR6666";
-
-  case OMX_COLOR_FormatAndroidOpaque: return "OMX_COLOR_FormatAndroidOpaque";
-  case OMX_TI_COLOR_FormatYUV420PackedSemiPlanar: return "OMX_TI_COLOR_FormatYUV420PackedSemiPlanar";
-  case OMX_QCOM_COLOR_FormatYVU420SemiPlanar: return "OMX_QCOM_COLOR_FormatYVU420SemiPlanar";
-  case OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar64x32Tile2m8ka: return "OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar64x32Tile2m8ka";
-  case OMX_SEC_COLOR_FormatNV12Tiled: return "OMX_SEC_COLOR_FormatNV12Tiled";
   case OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar32m: return "OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar32m";
-
-  case QOMX_COLOR_FormatYVU420PackedSemiPlanar32m4ka: return "QOMX_COLOR_FormatYVU420PackedSemiPlanar32m4ka";
-  case QOMX_COLOR_FormatYUV420PackedSemiPlanar16m2ka: return "QOMX_COLOR_FormatYUV420PackedSemiPlanar16m2ka";
-  case QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mMultiView: return "QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mMultiView";
-  case QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mCompressed: return "QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mCompressed";
   case QOMX_COLOR_Format32bitRGBA8888: return "QOMX_COLOR_Format32bitRGBA8888";
-  case QOMX_COLOR_Format32bitRGBA8888Compressed: return "QOMX_COLOR_Format32bitRGBA8888Compressed";
-
-  default:
-    return "unkn";
+  default: return "unkn";
   }
 }
 
 
 // ***** encoder functions *****
 
-OmxEncoder::OmxEncoder(const char* path, int width, int height, int fps, int bitrate, bool h265, bool downscale) {
+OmxEncoder::OmxEncoder(const char* path, int width, int height, int fps, int bitrate) {
   this->path = path;
   this->width = width;
   this->height = height;
   this->fps = fps;
-  this->remuxing = !h265;
 
-  this->downscale = downscale;
-  if (this->downscale) {
-    this->y_ptr2 = (uint8_t *)malloc(this->width*this->height);
-    this->u_ptr2 = (uint8_t *)malloc(this->width*this->height/4);
-    this->v_ptr2 = (uint8_t *)malloc(this->width*this->height/4);
+  OMX_ERRORTYPE err = OMX_Init();
+  if (err != OMX_ErrorNone) {
+    LOGE("OMX_Init failed: %x", err);
+    return;
   }
 
-  auto component = (OMX_STRING)(h265 ? "OMX.qcom.video.encoder.hevc" : "OMX.qcom.video.encoder.avc");
-  int err = OMX_GetHandle(&this->handle, component, this, &omx_callbacks);
+  OMX_STRING component = (OMX_STRING)("OMX.qcom.video.encoder.avc");
+  err = OMX_GetHandle(&handle, component, this, &omx_callbacks);
   if (err != OMX_ErrorNone) {
-    LOGE("error getting codec: %x", err);
+    LOGE("Error getting codec: %x", err);
+    OMX_Deinit();
+    return;
   }
 
   // setup input port
-
   OMX_PARAM_PORTDEFINITIONTYPE in_port = {0};
   in_port.nSize = sizeof(in_port);
   in_port.nPortIndex = (OMX_U32) PORT_INDEX_IN;
-  OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
+  OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
 
-  in_port.format.video.nFrameWidth = this->width;
-  in_port.format.video.nFrameHeight = this->height;
-  in_port.format.video.nStride = VENUS_Y_STRIDE(COLOR_FMT_NV12, this->width);
-  in_port.format.video.nSliceHeight = this->height;
-  in_port.nBufferSize = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, this->width, this->height);
-  in_port.format.video.xFramerate = (this->fps * 65536);
+  in_port.format.video.nFrameWidth = width;
+  in_port.format.video.nFrameHeight = height;
+  in_port.format.video.nStride = VENUS_Y_STRIDE(COLOR_FMT_NV12, width);
+  in_port.format.video.nSliceHeight = height;
+  in_port.nBufferSize = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, width, height);
+  in_port.format.video.xFramerate = (fps * 65536);
   in_port.format.video.eCompressionFormat = OMX_VIDEO_CodingUnused;
   in_port.format.video.eColorFormat = (OMX_COLOR_FORMATTYPE)QOMX_COLOR_FORMATYUV420PackedSemiPlanar32m;
 
-  OMX_CHECK(OMX_SetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
-  OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
-  this->in_buf_headers.resize(in_port.nBufferCountActual);
+  OMX_CHECK(OMX_SetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
+  OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
+  in_buf_headers.resize(in_port.nBufferCountActual);
 
   // setup output port
-
-  OMX_PARAM_PORTDEFINITIONTYPE out_port = {0};
+  OMX_PARAM_PORTDEFINITIONTYPE out_port;
+  memset(&out_port, 0, sizeof(OMX_PARAM_PORTDEFINITIONTYPE));
   out_port.nSize = sizeof(out_port);
+  out_port.nVersion.s.nVersionMajor = 1;
+  out_port.nVersion.s.nVersionMinor = 0;
+  out_port.nVersion.s.nRevision = 0;
+  out_port.nVersion.s.nStep = 0;
   out_port.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
-  OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR)&out_port));
-  out_port.format.video.nFrameWidth = this->width;
-  out_port.format.video.nFrameHeight = this->height;
+
+  OMX_ERRORTYPE error = OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR)&out_port);
+  if (error != OMX_ErrorNone) {
+    LOGE("Error getting output port parameters: 0x%08x", error);
+    return;
+  }
+
+  out_port.format.video.nFrameWidth = width;
+  out_port.format.video.nFrameHeight = height;
   out_port.format.video.xFramerate = 0;
   out_port.format.video.nBitrate = bitrate;
-  if (h265) {
-    out_port.format.video.eCompressionFormat = OMX_VIDEO_CodingHEVC;
-  } else {
-    out_port.format.video.eCompressionFormat = OMX_VIDEO_CodingAVC;
-  }
+  out_port.format.video.eCompressionFormat = OMX_VIDEO_CodingAVC;
   out_port.format.video.eColorFormat = OMX_COLOR_FormatUnused;
 
-  OMX_CHECK(OMX_SetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &out_port));
+  error = OMX_SetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &out_port);
+  if (error != OMX_ErrorNone) {
+    LOGE("Error setting output port parameters: 0x%08x", error);
+    return;
+  }
 
-  OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &out_port));
-  this->out_buf_headers.resize(out_port.nBufferCountActual);
+  error = OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &out_port);
+  if (error != OMX_ErrorNone) {
+    LOGE("Error getting updated output port parameters: 0x%08x", error);
+    return;
+  }
+
+  out_buf_headers.resize(out_port.nBufferCountActual);
 
   OMX_VIDEO_PARAM_BITRATETYPE bitrate_type = {0};
   bitrate_type.nSize = sizeof(bitrate_type);
   bitrate_type.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
-  OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamVideoBitrate, (OMX_PTR) &bitrate_type));
+  OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamVideoBitrate, (OMX_PTR) &bitrate_type));
   bitrate_type.eControlRate = OMX_Video_ControlRateVariable;
   bitrate_type.nTargetBitrate = bitrate;
 
-  OMX_CHECK(OMX_SetParameter(this->handle, OMX_IndexParamVideoBitrate, (OMX_PTR) &bitrate_type));
+  OMX_CHECK(OMX_SetParameter(handle, OMX_IndexParamVideoBitrate, (OMX_PTR) &bitrate_type));
 
-  if (h265) {
-    // setup HEVC
-  #ifndef QCOM2
-    OMX_VIDEO_PARAM_HEVCTYPE hevc_type = {0};
-    OMX_INDEXTYPE index_type = (OMX_INDEXTYPE) OMX_IndexParamVideoHevc;
-  #else
-    OMX_VIDEO_PARAM_PROFILELEVELTYPE hevc_type = {0};
-    OMX_INDEXTYPE index_type = OMX_IndexParamVideoProfileLevelCurrent;
-  #endif
-    hevc_type.nSize = sizeof(hevc_type);
-    hevc_type.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
-    OMX_CHECK(OMX_GetParameter(this->handle, index_type, (OMX_PTR) &hevc_type));
+  // setup h264
+  OMX_VIDEO_PARAM_AVCTYPE avc = {0};
+  avc.nSize = sizeof(avc);
+  avc.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
+  OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamVideoAvc, &avc));
 
-    hevc_type.eProfile = OMX_VIDEO_HEVCProfileMain;
-    hevc_type.eLevel = OMX_VIDEO_HEVCHighTierLevel5;
+  avc.nBFrames = 0;
+  avc.nPFrames = 15;
 
-    OMX_CHECK(OMX_SetParameter(this->handle, index_type, (OMX_PTR) &hevc_type));
-  } else {
-    // setup h264
-    OMX_VIDEO_PARAM_AVCTYPE avc = { 0 };
-    avc.nSize = sizeof(avc);
-    avc.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
-    OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamVideoAvc, &avc));
+  avc.eProfile = OMX_VIDEO_AVCProfileHigh;
+  avc.eLevel = OMX_VIDEO_AVCLevel31;
 
-    avc.nBFrames = 0;
-    avc.nPFrames = 15;
+  avc.nAllowedPictureTypes |= OMX_VIDEO_PictureTypeB;
+  avc.eLoopFilterMode = OMX_VIDEO_AVCLoopFilterEnable;
 
-    avc.eProfile = OMX_VIDEO_AVCProfileHigh;
-    avc.eLevel = OMX_VIDEO_AVCLevel31;
+  avc.nRefFrames = 1;
+  avc.bUseHadamard = OMX_TRUE;
+  avc.bEntropyCodingCABAC = OMX_TRUE;
+  avc.bWeightedPPrediction = OMX_TRUE;
+  avc.bconstIpred = OMX_TRUE;
 
-    avc.nAllowedPictureTypes |= OMX_VIDEO_PictureTypeB;
-    avc.eLoopFilterMode = OMX_VIDEO_AVCLoopFilterEnable;
+  OMX_CHECK(OMX_SetParameter(handle, OMX_IndexParamVideoAvc, &avc));
 
-    avc.nRefFrames = 1;
-    avc.bUseHadamard = OMX_TRUE;
-    avc.bEntropyCodingCABAC = OMX_TRUE;
-    avc.bWeightedPPrediction = OMX_TRUE;
-    avc.bconstIpred = OMX_TRUE;
+  OMX_CHECK(OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateIdle, NULL));
 
-    OMX_CHECK(OMX_SetParameter(this->handle, OMX_IndexParamVideoAvc, &avc));
+  for (OMX_BUFFERHEADERTYPE* &buf : in_buf_headers) {
+    OMX_CHECK(OMX_AllocateBuffer(handle, &buf, PORT_INDEX_IN, this, in_port.nBufferSize));
   }
 
-  OMX_CHECK(OMX_SendCommand(this->handle, OMX_CommandStateSet, OMX_StateIdle, NULL));
-
-  for (auto &buf : this->in_buf_headers) {
-    OMX_CHECK(OMX_AllocateBuffer(this->handle, &buf, PORT_INDEX_IN, this,
-                             in_port.nBufferSize));
-  }
-
-  for (auto &buf : this->out_buf_headers) {
-    OMX_CHECK(OMX_AllocateBuffer(this->handle, &buf, PORT_INDEX_OUT, this,
-                             out_port.nBufferSize));
+  for (OMX_BUFFERHEADERTYPE* &buf : out_buf_headers) {
+    OMX_CHECK(OMX_AllocateBuffer(handle, &buf, PORT_INDEX_OUT, this, out_port.nBufferSize));
   }
 
   wait_for_state(OMX_StateIdle);
 
-  OMX_CHECK(OMX_SendCommand(this->handle, OMX_CommandStateSet, OMX_StateExecuting, NULL));
+  OMX_CHECK(OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateExecuting, NULL));
 
   wait_for_state(OMX_StateExecuting);
 
   // give omx all the output buffers
-  for (auto &buf : this->out_buf_headers) {
-    OMX_CHECK(OMX_FillThisBuffer(this->handle, buf));
+  for (OMX_BUFFERHEADERTYPE* &buf : out_buf_headers) {
+    OMX_CHECK(OMX_FillThisBuffer(handle, buf));
   }
 
   // fill the input free queue
-  for (auto &buf : this->in_buf_headers) {
-    this->free_in.push(buf);
+  for (OMX_BUFFERHEADERTYPE* &buf : in_buf_headers) {
+    free_in.push(buf);
   }
 }
 
-void OmxEncoder::handle_out_buf(OmxEncoder *e, OMX_BUFFERHEADERTYPE *out_buf) {
+void OmxEncoder::handle_out_buf(OmxEncoder *encoder, OMX_BUFFERHEADERTYPE *out_buf) {
   int err;
   uint8_t *buf_data = out_buf->pBuffer + out_buf->nOffset;
 
   if (out_buf->nFlags & OMX_BUFFERFLAG_CODECCONFIG) {
-    if (e->codec_config_len < out_buf->nFilledLen) {
-      e->codec_config = (uint8_t *)realloc(e->codec_config, out_buf->nFilledLen);
+    if (encoder->codec_config_len < out_buf->nFilledLen) {
+      encoder->codec_config = (uint8_t *)realloc(encoder->codec_config, out_buf->nFilledLen);
     }
-    e->codec_config_len = out_buf->nFilledLen;
-    memcpy(e->codec_config, buf_data, out_buf->nFilledLen);
+    encoder->codec_config_len = out_buf->nFilledLen;
+    memcpy(encoder->codec_config, buf_data, out_buf->nFilledLen);
 #ifdef QCOM2
     out_buf->nTimeStamp = 0;
 #endif
   }
 
-  if (e->of) {
-    fwrite(buf_data, out_buf->nFilledLen, 1, e->of);
+  if (encoder->of) {
+    fwrite(buf_data, out_buf->nFilledLen, 1, encoder->of);
   }
 
-  if (e->remuxing) {
-    if (!e->wrote_codec_config && e->codec_config_len > 0) {
-      // extradata will be freed by av_free() in avcodec_free_context()
-      e->codec_ctx->extradata = (uint8_t*)av_mallocz(e->codec_config_len + AV_INPUT_BUFFER_PADDING_SIZE);
-      e->codec_ctx->extradata_size = e->codec_config_len;
-      memcpy(e->codec_ctx->extradata, e->codec_config, e->codec_config_len);
+  if (!encoder->wrote_codec_config && encoder->codec_config_len > 0) {
+    // extradata will be freed by av_free() in avcodec_free_context()
+    encoder->out_stream->codecpar->extradata = (uint8_t*)av_mallocz(encoder->codec_config_len + AV_INPUT_BUFFER_PADDING_SIZE);
+    encoder->out_stream->codecpar->extradata_size = encoder->codec_config_len;
+    memcpy(encoder->out_stream->codecpar->extradata, encoder->codec_config, encoder->codec_config_len);
 
-      err = avcodec_parameters_from_context(e->out_stream->codecpar, e->codec_ctx);
-      assert(err >= 0);
-      err = avformat_write_header(e->ofmt_ctx, NULL);
-      assert(err >= 0);
+    err = avformat_write_header(encoder->ofmt_ctx, NULL);
+    assert(err >= 0);
 
-      e->wrote_codec_config = true;
+    encoder->wrote_codec_config = true;
+  }
+
+  if (out_buf->nTimeStamp > 0) {
+    // input timestamps are in microseconds
+    AVRational in_timebase = {1, 1000000};
+
+    AVPacket pkt;
+    av_init_packet(&pkt);
+    pkt.data = buf_data;
+    pkt.size = out_buf->nFilledLen;
+
+    enum AVRounding rnd = static_cast<enum AVRounding>(AV_ROUND_NEAR_INF|AV_ROUND_PASS_MINMAX);
+    pkt.pts = pkt.dts = av_rescale_q_rnd(out_buf->nTimeStamp, in_timebase, encoder->out_stream->time_base, rnd);
+    pkt.duration = av_rescale_q(1, AVRational{1, encoder->fps}, encoder->out_stream->time_base);
+
+    if (out_buf->nFlags & OMX_BUFFERFLAG_SYNCFRAME) {
+      pkt.flags |= AV_PKT_FLAG_KEY;
     }
 
-    if (out_buf->nTimeStamp > 0) {
-      // input timestamps are in microseconds
-      AVRational in_timebase = {1, 1000000};
+    err = av_write_frame(encoder->ofmt_ctx, &pkt);
+    if (err < 0) { LOGW("ts encoder write issue"); }
 
-      AVPacket pkt;
-      av_init_packet(&pkt);
-      pkt.data = buf_data;
-      pkt.size = out_buf->nFilledLen;
-
-      enum AVRounding rnd = static_cast<enum AVRounding>(AV_ROUND_NEAR_INF|AV_ROUND_PASS_MINMAX);
-      pkt.pts = pkt.dts = av_rescale_q_rnd(out_buf->nTimeStamp, in_timebase, e->ofmt_ctx->streams[0]->time_base, rnd);
-      pkt.duration = av_rescale_q(50*1000, in_timebase, e->ofmt_ctx->streams[0]->time_base);
-
-      if (out_buf->nFlags & OMX_BUFFERFLAG_SYNCFRAME) {
-        pkt.flags |= AV_PKT_FLAG_KEY;
-      }
-
-      err = av_write_frame(e->ofmt_ctx, &pkt);
-      if (err < 0) { LOGW("ts encoder write issue"); }
-
-      av_free_packet(&pkt);
-    }
+    av_packet_unref(&pkt);
   }
 
   // give omx back the buffer
@@ -508,134 +340,186 @@ void OmxEncoder::handle_out_buf(OmxEncoder *e, OMX_BUFFERHEADERTYPE *out_buf) {
     out_buf->nTimeStamp = 0;
   }
 #endif
-  OMX_CHECK(OMX_FillThisBuffer(e->handle, out_buf));
+  OMX_CHECK(OMX_FillThisBuffer(encoder->handle, out_buf));
 }
 
 int OmxEncoder::encode_frame_rgba(const uint8_t *ptr, int in_width, int in_height, uint64_t ts) {
-  int err;
-  if (!this->is_open) {
+  if (!is_open) {
     return -1;
   }
 
-  // this sometimes freezes... put it outside the encoder lock so we can still trigger rotates...
-  // THIS IS A REALLY BAD IDEA, but apparently the race has to happen 30 times to trigger this
   OMX_BUFFERHEADERTYPE* in_buf = nullptr;
-  while (!this->free_in.try_pop(in_buf, 20)) {
+  while (!free_in.try_pop(in_buf, 20)) {
     if (do_exit) {
       return -1;
     }
   }
 
-  int ret = this->counter;
+  int ret = counter;
 
   uint8_t *in_buf_ptr = in_buf->pBuffer;
 
   uint8_t *in_y_ptr = in_buf_ptr;
-  int in_y_stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, this->width);
-  int in_uv_stride = VENUS_UV_STRIDE(COLOR_FMT_NV12, this->width);
-  uint8_t *in_uv_ptr = in_buf_ptr + (in_y_stride * VENUS_Y_SCANLINES(COLOR_FMT_NV12, this->height));
+  int in_y_stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, width);
+  int in_uv_stride = VENUS_UV_STRIDE(COLOR_FMT_NV12, width);
+  uint8_t *in_uv_ptr = in_buf_ptr + (in_y_stride * VENUS_Y_SCANLINES(COLOR_FMT_NV12, height));
 
-  err = ABGRToNV12(ptr, this->width*4,
-                   in_y_ptr, in_y_stride,
-                   in_uv_ptr, in_uv_stride,
-                   this->width, this->height);
+  int err = ABGRToNV12(ptr, width * 4, in_y_ptr, in_y_stride, in_uv_ptr, in_uv_stride, width, height);
   assert(err == 0);
 
-  in_buf->nFilledLen = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, this->width, this->height);
+  in_buf->nFilledLen = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, width, height);
   in_buf->nFlags = OMX_BUFFERFLAG_ENDOFFRAME;
   in_buf->nOffset = 0;
-  in_buf->nTimeStamp = ts/1000LL;  // OMX_TICKS, in microseconds
-  this->last_t = in_buf->nTimeStamp;
+  in_buf->nTimeStamp = ts / 1000LL;  // OMX_TICKS, in microseconds
+  last_t = in_buf->nTimeStamp;
 
-  OMX_CHECK(OMX_EmptyThisBuffer(this->handle, in_buf));
+  OMX_CHECK(OMX_EmptyThisBuffer(handle, in_buf));
 
   // pump output
   while (true) {
     OMX_BUFFERHEADERTYPE *out_buf;
-    if (!this->done_out.try_pop(out_buf)) {
+    if (!done_out.try_pop(out_buf)) {
       break;
     }
     handle_out_buf(this, out_buf);
   }
 
-  this->dirty = true;
+  dirty = true;
 
-  this->counter++;
+  counter++;
+
+  return ret;
+}
+
+// CLEARPILOT: encode raw NV12 frames directly (no RGBA conversion needed)
+int OmxEncoder::encode_frame_nv12(const uint8_t *y_ptr, int y_stride, const uint8_t *uv_ptr, int uv_stride,
+                                   int in_width, int in_height, uint64_t ts) {
+  if (!is_open) {
+    return -1;
+  }
+
+  OMX_BUFFERHEADERTYPE* in_buf = nullptr;
+  while (!free_in.try_pop(in_buf, 20)) {
+    if (do_exit) {
+      return -1;
+    }
+  }
+
+  int ret = counter;
+
+  uint8_t *in_buf_ptr = in_buf->pBuffer;
+  int venus_y_stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, width);
+  int venus_uv_stride = VENUS_UV_STRIDE(COLOR_FMT_NV12, width);
+  uint8_t *dst_y = in_buf_ptr;
+  uint8_t *dst_uv = in_buf_ptr + (venus_y_stride * VENUS_Y_SCANLINES(COLOR_FMT_NV12, height));
+
+  // Copy Y plane row by row (source stride may differ from VENUS stride)
+  for (int row = 0; row < in_height; row++) {
+    memcpy(dst_y + row * venus_y_stride, y_ptr + row * y_stride, in_width);
+  }
+  // Copy UV plane row by row
+  int uv_height = in_height / 2;
+  for (int row = 0; row < uv_height; row++) {
+    memcpy(dst_uv + row * venus_uv_stride, uv_ptr + row * uv_stride, in_width);
+  }
+
+  in_buf->nFilledLen = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, width, height);
+  in_buf->nFlags = OMX_BUFFERFLAG_ENDOFFRAME;
+  in_buf->nOffset = 0;
+  in_buf->nTimeStamp = ts / 1000LL;
+  last_t = in_buf->nTimeStamp;
+
+  OMX_CHECK(OMX_EmptyThisBuffer(handle, in_buf));
+
+  while (true) {
+    OMX_BUFFERHEADERTYPE *out_buf;
+    if (!done_out.try_pop(out_buf)) {
+      break;
+    }
+    handle_out_buf(this, out_buf);
+  }
+
+  dirty = true;
+  counter++;
 
   return ret;
 }
 
 void OmxEncoder::encoder_open(const char* filename) {
-  int err;
+  if (!filename || strlen(filename) == 0) {
+    return;
+  }
+
+  if (strlen(filename) + path.size() + 2 > sizeof(vid_path)) {
+    return;
+  }
 
   struct stat st = {0};
-  if (stat(this->path.c_str(), &st) == -1) {
-    mkdir(this->path.c_str(), 0755);
-  }
-
-  snprintf(this->vid_path, sizeof(this->vid_path), "%s/%s", this->path.c_str(), filename);
-  printf("encoder_open %s remuxing:%d\n", this->vid_path, this->remuxing);
-
-  if (this->remuxing) {
-    avformat_alloc_output_context2(&this->ofmt_ctx, NULL, NULL, this->vid_path);
-    assert(this->ofmt_ctx);
-
-    this->out_stream = avformat_new_stream(this->ofmt_ctx, NULL);
-    assert(this->out_stream);
-
-    // set codec correctly
-    av_register_all();
-
-    AVCodec *codec = NULL;
-    codec = avcodec_find_encoder(AV_CODEC_ID_H264);
-    assert(codec);
-
-    this->codec_ctx = avcodec_alloc_context3(codec);
-    assert(this->codec_ctx);
-    this->codec_ctx->width = this->width;
-    this->codec_ctx->height = this->height;
-    this->codec_ctx->pix_fmt = AV_PIX_FMT_YUV420P;
-    this->codec_ctx->time_base = (AVRational){ 1, this->fps };
-
-    err = avio_open(&this->ofmt_ctx->pb, this->vid_path, AVIO_FLAG_WRITE);
-    assert(err >= 0);
-
-    this->wrote_codec_config = false;
-  } else {
-    this->of = fopen(this->vid_path, "wb");
-    assert(this->of);
-#ifndef QCOM2
-    if (this->codec_config_len > 0) {
-      fwrite(this->codec_config, this->codec_config_len, 1, this->of);
+  if (stat(path.c_str(), &st) == -1) {
+    if (mkdir(path.c_str(), 0755) == -1) {
+      return;
     }
-#endif
   }
 
-  // create camera lock file
-  snprintf(this->lock_path, sizeof(this->lock_path), "%s/%s.lock", this->path.c_str(), filename);
-  int lock_fd = HANDLE_EINTR(open(this->lock_path, O_RDWR | O_CREAT, 0664));
-  assert(lock_fd >= 0);
+  snprintf(vid_path, sizeof(vid_path), "%s/%s", path.c_str(), filename);
+
+  if (avformat_alloc_output_context2(&ofmt_ctx, NULL, NULL, vid_path) < 0 || !ofmt_ctx) {
+    return;
+  }
+
+  out_stream = avformat_new_stream(ofmt_ctx, NULL);
+  if (!out_stream) {
+    avformat_free_context(ofmt_ctx);
+    ofmt_ctx = nullptr;
+    return;
+  }
+
+  out_stream->time_base = AVRational{1, fps};
+
+  out_stream->codecpar->codec_id = AV_CODEC_ID_H264;
+  out_stream->codecpar->codec_type = AVMEDIA_TYPE_VIDEO;
+  out_stream->codecpar->width = width;
+  out_stream->codecpar->height = height;
+
+  int err = avio_open(&ofmt_ctx->pb, vid_path, AVIO_FLAG_WRITE);
+  if (err < 0) {
+    avformat_free_context(ofmt_ctx);
+    ofmt_ctx = nullptr;
+    return;
+  }
+
+  wrote_codec_config = false;
+
+  snprintf(lock_path, sizeof(lock_path), "%s/%s.lock", path.c_str(), filename);
+  int lock_fd = HANDLE_EINTR(open(lock_path, O_RDWR | O_CREAT, 0664));
+  if (lock_fd < 0) {
+    avio_closep(&ofmt_ctx->pb);
+    avformat_free_context(ofmt_ctx);
+    ofmt_ctx = nullptr;
+    return;
+  }
   close(lock_fd);
 
-  this->is_open = true;
-  this->counter = 0;
+  is_open = true;
+  counter = 0;
 }
 
 void OmxEncoder::encoder_close() {
-  if (this->is_open) {
-    if (this->dirty) {
-      // drain output only if there could be frames in the encoder
+  if (!is_open) return;
 
-      OMX_BUFFERHEADERTYPE* in_buf = this->free_in.pop();
+  if (dirty) {
+    OMX_BUFFERHEADERTYPE* in_buf = free_in.pop();
+    if (in_buf) {
       in_buf->nFilledLen = 0;
       in_buf->nOffset = 0;
       in_buf->nFlags = OMX_BUFFERFLAG_EOS;
-      in_buf->nTimeStamp = this->last_t + 1000000LL/this->fps;
+      in_buf->nTimeStamp = last_t + 1000000LL / fps;
 
-      OMX_CHECK(OMX_EmptyThisBuffer(this->handle, in_buf));
+      OMX_CHECK(OMX_EmptyThisBuffer(handle, in_buf));
 
       while (true) {
-        OMX_BUFFERHEADERTYPE *out_buf = this->done_out.pop();
+        OMX_BUFFERHEADERTYPE *out_buf = done_out.pop();
+        if (!out_buf) break;
 
         handle_out_buf(this, out_buf);
 
@@ -643,55 +527,112 @@ void OmxEncoder::encoder_close() {
           break;
         }
       }
-      this->dirty = false;
     }
-
-    if (this->remuxing) {
-      av_write_trailer(this->ofmt_ctx);
-      avcodec_free_context(&this->codec_ctx);
-      avio_closep(&this->ofmt_ctx->pb);
-      avformat_free_context(this->ofmt_ctx);
-    } else {
-      fclose(this->of);
-      this->of = nullptr;
-    }
-    unlink(this->lock_path);
+    dirty = false;
+  }
+
+  if (out_stream) {
+    out_stream->nb_frames = counter;
+    out_stream->duration = av_rescale_q(counter, AVRational{1, fps}, out_stream->time_base);
+  }
+
+  if (ofmt_ctx) {
+    av_write_trailer(ofmt_ctx);
+    ofmt_ctx->duration = out_stream ? out_stream->duration : 0;
+    avio_closep(&ofmt_ctx->pb);
+    avformat_free_context(ofmt_ctx);
+    ofmt_ctx = nullptr;
+    out_stream = nullptr;
+  }
+
+  if (lock_path[0] != '\0') {
+    unlink(lock_path);
+  }
+
+  is_open = false;
+
+  // Remux with faststart for streaming/seeking support
+  if (strlen(vid_path) > 0) {
+    char fixed_path[1024];
+    snprintf(fixed_path, sizeof(fixed_path), "%s.fixed.mp4", vid_path);
+
+    char cmd[2048];
+    snprintf(cmd, sizeof(cmd), "ffmpeg -y -i \"%s\" -c copy -movflags +faststart \"%s\" && mv \"%s\" \"%s\"",
+             vid_path, fixed_path, fixed_path, vid_path);
+
+    int ret = system(cmd);
+    if (ret != 0) {
+      LOGW("ffmpeg faststart remux failed with exit code %d", ret);
+    }
   }
-  this->is_open = false;
 }
 
 OmxEncoder::~OmxEncoder() {
-  assert(!this->is_open);
-
-  OMX_CHECK(OMX_SendCommand(this->handle, OMX_CommandStateSet, OMX_StateIdle, NULL));
-
-  wait_for_state(OMX_StateIdle);
-
-  OMX_CHECK(OMX_SendCommand(this->handle, OMX_CommandStateSet, OMX_StateLoaded, NULL));
-
-  for (auto &buf : this->in_buf_headers) {
-    OMX_CHECK(OMX_FreeBuffer(this->handle, PORT_INDEX_IN, buf));
+  if (is_open) {
+    LOGE("OmxEncoder closed with is_open=true, calling encoder_close()");
+    encoder_close();
   }
 
-  for (auto &buf : this->out_buf_headers) {
-    OMX_CHECK(OMX_FreeBuffer(this->handle, PORT_INDEX_OUT, buf));
+  if (!handle) {
+    LOGE("OMX handle is null in destructor, skipping teardown.");
+    return;
+  }
+
+  OMX_ERRORTYPE err;
+
+  err = OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateIdle, NULL);
+  if (err != OMX_ErrorNone) {
+    LOGE("Failed to set OMX state to Idle: %x", err);
+  } else {
+    wait_for_state(OMX_StateIdle);
+  }
+
+  err = OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateLoaded, NULL);
+  if (err != OMX_ErrorNone) {
+    LOGE("Failed to set OMX state to Loaded: %x", err);
+  }
+
+  for (OMX_BUFFERHEADERTYPE *buf : in_buf_headers) {
+    if (buf) {
+      err = OMX_FreeBuffer(handle, PORT_INDEX_IN, buf);
+      if (err != OMX_ErrorNone) {
+        LOGE("Failed to free input buffer: %x", err);
+      }
+    }
+  }
+
+  for (OMX_BUFFERHEADERTYPE *buf : out_buf_headers) {
+    if (buf) {
+      err = OMX_FreeBuffer(handle, PORT_INDEX_OUT, buf);
+      if (err != OMX_ErrorNone) {
+        LOGE("Failed to free output buffer: %x", err);
+      }
+    }
   }
 
   wait_for_state(OMX_StateLoaded);
 
-  OMX_CHECK(OMX_FreeHandle(this->handle));
+  err = OMX_FreeHandle(handle);
+  if (err != OMX_ErrorNone) {
+    LOGE("Failed to free OMX handle: %x", err);
+  }
+
+  handle = nullptr;
+
+  err = OMX_Deinit();
+  if (err != OMX_ErrorNone) {
+    LOGE("OMX_Deinit failed: %x", err);
+  }
 
   OMX_BUFFERHEADERTYPE *out_buf;
-  while (this->free_in.try_pop(out_buf));
-  while (this->done_out.try_pop(out_buf));
+  while (free_in.try_pop(out_buf));
+  while (done_out.try_pop(out_buf));
 
-  if (this->codec_config) {
-    free(this->codec_config);
+  if (codec_config) {
+    free(codec_config);
+    codec_config = nullptr;
   }
 
-  if (this->downscale) {
-    free(this->y_ptr2);
-    free(this->u_ptr2);
-    free(this->v_ptr2);
-  }
+  in_buf_headers.clear();
+  out_buf_headers.clear();
 }
diff --git a/selfdrive/frogpilot/screenrecorder/omx_encoder.h b/selfdrive/frogpilot/screenrecorder/omx_encoder.h
index 5cb630c..2cabdcd 100755
--- a/selfdrive/frogpilot/screenrecorder/omx_encoder.h
+++ b/selfdrive/frogpilot/screenrecorder/omx_encoder.h
@@ -12,13 +12,15 @@ extern "C" {
 
 #include "common/queue.h"
 
-// OmxEncoder, lossey codec using hardware hevc
+// OmxEncoder, lossey codec using hardware H.264
 class OmxEncoder {
 public:
-  OmxEncoder(const char* path, int width, int height, int fps, int bitrate, bool h265, bool downscale);
+  OmxEncoder(const char* path, int width, int height, int fps, int bitrate);
   ~OmxEncoder();
 
   int encode_frame_rgba(const uint8_t *ptr, int in_width, int in_height, uint64_t ts);
+  int encode_frame_nv12(const uint8_t *y_ptr, int y_stride, const uint8_t *uv_ptr, int uv_stride,
+                        int in_width, int in_height, uint64_t ts);
   void encoder_open(const char* filename);
   void encoder_close();
 
@@ -42,31 +44,26 @@ private:
   int counter = 0;
 
   std::string path;
-  FILE *of;
+  FILE *of = nullptr;
 
-  size_t codec_config_len;
-  uint8_t *codec_config = NULL;
-  bool wrote_codec_config;
+  size_t codec_config_len = 0;
+  uint8_t *codec_config = nullptr;
+  bool wrote_codec_config = false;
 
   std::mutex state_lock;
   std::condition_variable state_cv;
   OMX_STATETYPE state = OMX_StateLoaded;
 
-  OMX_HANDLETYPE handle;
+  OMX_HANDLETYPE handle = nullptr;
 
   std::vector<OMX_BUFFERHEADERTYPE *> in_buf_headers;
   std::vector<OMX_BUFFERHEADERTYPE *> out_buf_headers;
 
-  uint64_t last_t;
+  uint64_t last_t = 0;
 
   SafeQueue<OMX_BUFFERHEADERTYPE *> free_in;
   SafeQueue<OMX_BUFFERHEADERTYPE *> done_out;
 
-  AVFormatContext *ofmt_ctx;
-  AVCodecContext *codec_ctx;
-  AVStream *out_stream;
-  bool remuxing;
-
-  bool downscale;
-  uint8_t *y_ptr2, *u_ptr2, *v_ptr2;
+  AVFormatContext *ofmt_ctx = nullptr;
+  AVStream *out_stream = nullptr;
 };
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
index 74fd50e..eb8cacc 100755
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -54,7 +54,9 @@ def allow_uploads(started, params, CP: car.CarParams) -> bool:
 procs = [
   DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
 
-  NativeProcess("camerad", "system/camerad", ["./camerad"], driverview),
+  # CLEARPILOT: camerad runs always (was driverview) so dashcamd can record
+  # the moment ignition+drive-gear arrives without waiting for camera startup.
+  NativeProcess("camerad", "system/camerad", ["./camerad"], always_run),
   NativeProcess("logcatd", "system/logcatd", ["./logcatd"], allow_logging),
   NativeProcess("proclogd", "system/proclogd", ["./proclogd"], allow_logging),
   PythonProcess("logmessaged", "system.logmessaged", allow_logging),
@@ -89,6 +91,9 @@ procs = [
   # CLEARPILOT: speed/cruise overlay daemon. Reads gpsLocation + carState, writes display
   # params for the onroad UI; asserts ClearpilotPlayDing on speed-limit warning transitions.
   PythonProcess("speed_logicd", "selfdrive.clearpilot.speed_logicd", only_onroad),
+  # CLEARPILOT: dashcam — VisionIPC frames → OMX H.264 → 3-min MP4 segments + SRT
+  # GPS subtitles in /data/media/0/videos/. Manages its own trip lifecycle.
+  NativeProcess("dashcamd", "selfdrive/clearpilot", ["./dashcamd"], always_run),
   # PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
   #PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
   PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),
diff --git a/system/loggerd/deleter.py b/system/loggerd/deleter.py
index 2f0b96c..46fba08 100755
--- a/system/loggerd/deleter.py
+++ b/system/loggerd/deleter.py
@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import os
 import shutil
+import sys
 import threading
 from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
@@ -8,11 +9,17 @@ from openpilot.system.loggerd.config import get_available_bytes, get_available_p
 from openpilot.system.loggerd.uploader import listdir_by_creation
 from openpilot.system.loggerd.xattr_cache import getxattr
 
-MIN_BYTES = 5 * 1024 * 1024 * 1024
+# CLEARPILOT: bumped from 5 GB to 9 GB so dashcam footage has headroom
+MIN_BYTES = 9 * 1024 * 1024 * 1024
 MIN_PERCENT = 10
 
 DELETE_LAST = ['boot', 'crash']
 
+# CLEARPILOT: dashcam footage directory (trip dirs YYYYMMDD-HHMMSS/ with .mp4 segments)
+VIDEOS_DIR = '/data/media/0/videos'
+# CLEARPILOT: max total size for /data/log2 session logs
+LOG2_MAX_BYTES = 4 * 1024 * 1024 * 1024
+
 PRESERVE_ATTR_NAME = 'user.preserve'
 PRESERVE_ATTR_VALUE = b'1'
 PRESERVE_COUNT = 5
@@ -44,12 +51,105 @@ def get_preserved_segments(dirs_by_creation: list[str]) -> list[str]:
   return preserved
 
 
+def delete_oldest_video():
+  """CLEARPILOT: prune dashcam footage when disk space is low.
+  Trip directories are /data/media/0/videos/YYYYMMDD-HHMMSS/ containing .mp4
+  segments. Deletes entire oldest trip directory first. If only one trip
+  remains (the active one), deletes individual segments oldest-first within
+  it. Also cleans up legacy flat .mp4 files.
+  Returns True if something was deleted."""
+  try:
+    if not os.path.isdir(VIDEOS_DIR):
+      return False
+
+    legacy_files = []
+    trip_dirs = []
+    for entry in os.listdir(VIDEOS_DIR):
+      path = os.path.join(VIDEOS_DIR, entry)
+      if os.path.isfile(path) and entry.endswith('.mp4'):
+        legacy_files.append(entry)
+      elif os.path.isdir(path):
+        trip_dirs.append(entry)
+
+    if legacy_files:
+      legacy_files.sort()
+      delete_path = os.path.join(VIDEOS_DIR, legacy_files[0])
+      print(f"CLP deleter: deleting legacy video {delete_path}", file=sys.stderr, flush=True)
+      os.remove(delete_path)
+      return True
+
+    if not trip_dirs:
+      return False
+
+    trip_dirs.sort()  # timestamp names = chronological order
+
+    if len(trip_dirs) > 1:
+      delete_path = os.path.join(VIDEOS_DIR, trip_dirs[0])
+      print(f"CLP deleter: deleting trip {delete_path}", file=sys.stderr, flush=True)
+      shutil.rmtree(delete_path)
+      return True
+
+    # Only one trip left (likely active) — drop its oldest segment
+    trip_path = os.path.join(VIDEOS_DIR, trip_dirs[0])
+    segments = sorted(f for f in os.listdir(trip_path) if f.endswith('.mp4'))
+    if not segments:
+      return False
+    delete_path = os.path.join(trip_path, segments[0])
+    print(f"CLP deleter: deleting segment {delete_path}", file=sys.stderr, flush=True)
+    os.remove(delete_path)
+    return True
+  except OSError as e:
+    print(f"CLP deleter: issue deleting video from {VIDEOS_DIR}: {e}", file=sys.stderr, flush=True)
+    return False
+
+
+def cleanup_log2():
+  """CLEARPILOT: keep /data/log2 session logs under LOG2_MAX_BYTES total.
+  Deletes oldest dated session directories first (the 'current' symlink/dir
+  is preserved). Runs even when disk space is fine."""
+  log_base = "/data/log2"
+  if not os.path.isdir(log_base):
+    return
+  dirs = []
+  for entry in sorted(os.listdir(log_base)):
+    if entry == "current":
+      continue
+    path = os.path.join(log_base, entry)
+    if os.path.isdir(path) and not os.path.islink(path):
+      try:
+        size = sum(f.stat().st_size for f in os.scandir(path) if f.is_file())
+      except OSError:
+        size = 0
+      dirs.append((entry, path, size))
+  total = sum(s for _, _, s in dirs)
+  current = os.path.join(log_base, "current")
+  if os.path.isdir(current):
+    try:
+      total += sum(f.stat().st_size for f in os.scandir(current) if f.is_file())
+    except OSError:
+      pass
+  while total > LOG2_MAX_BYTES and dirs:
+    entry, path, size = dirs.pop(0)
+    try:
+      print(f"CLP deleter: deleting log session {path} ({size // 1024 // 1024} MB)",
+            file=sys.stderr, flush=True)
+      shutil.rmtree(path)
+      total -= size
+    except OSError as e:
+      print(f"CLP deleter: issue deleting log {path}: {e}", file=sys.stderr, flush=True)
+
+
 def deleter_thread(exit_event):
   while not exit_event.is_set():
     out_of_bytes = get_available_bytes(default=MIN_BYTES + 1) < MIN_BYTES
     out_of_percent = get_available_percent(default=MIN_PERCENT + 1) < MIN_PERCENT
 
     if out_of_percent or out_of_bytes:
+      # CLEARPILOT: drop oldest dashcam footage first, fall back to log segments
+      if delete_oldest_video():
+        exit_event.wait(.1)
+        continue
+
       dirs = listdir_by_creation(Paths.log_root())
 
       # skip deleting most recent N preserved segments (and their prior segment)
@@ -73,6 +173,8 @@ def deleter_thread(exit_event):
           cloudlog.exception(f"issue deleting {delete_path}")
       exit_event.wait(.1)
     else:
+      # CLEARPILOT: keep /data/log2 quota even when disk space is fine
+      cleanup_log2()
       exit_event.wait(30)