diff --git a/SConstruct b/SConstruct
index 94369e4a2..5a111b561 100644
--- a/SConstruct
+++ b/SConstruct
@@ -181,6 +181,7 @@ env = Environment(
     "-O2",
     "-Wunused",
     "-Werror",
+    "-Wshadow",
     "-Wno-unknown-warning-option",
     "-Wno-deprecated-register",
     "-Wno-register",
@@ -267,7 +268,7 @@ def abspath(x):
 py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
 envCython["CPPPATH"] += [py_include, np.get_include()]
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
 
 envCython["LIBS"] = []
 if arch == "Darwin":
diff --git a/selfdrive/boardd/pigeon.cc b/selfdrive/boardd/pigeon.cc
index c917c1ae8..b8735cc3b 100644
--- a/selfdrive/boardd/pigeon.cc
+++ b/selfdrive/boardd/pigeon.cc
@@ -41,16 +41,16 @@ Pigeon * Pigeon::connect(const char * tty) {
   return pigeon;
 }
 
-bool Pigeon::wait_for_ack(const std::string &ack, const std::string &nack, int timeout_ms) {
+bool Pigeon::wait_for_ack(const std::string &ack_, const std::string &nack_, int timeout_ms) {
   std::string s;
   const double start_t = millis_since_boot();
   while (!do_exit) {
     s += receive();
 
-    if (s.find(ack) != std::string::npos) {
+    if (s.find(ack_) != std::string::npos) {
       LOGD("Received ACK from ublox");
       return true;
-    } else if (s.find(nack) != std::string::npos) {
+    } else if (s.find(nack_) != std::string::npos) {
       LOGE("Received NACK from ublox");
       return false;
     } else if (s.size() > 0x1000 || ((millis_since_boot() - start_t) > timeout_ms)) {
diff --git a/selfdrive/camerad/cameras/camera_common.cc b/selfdrive/camerad/cameras/camera_common.cc
index c1d7002b2..4db6eaa12 100644
--- a/selfdrive/camerad/cameras/camera_common.cc
+++ b/selfdrive/camerad/cameras/camera_common.cc
@@ -75,11 +75,11 @@ private:
   cl_kernel krnl_;
 };
 
-void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType rgb_type, VisionStreamType yuv_type, release_cb release_callback) {
+void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType init_rgb_type, VisionStreamType init_yuv_type, release_cb init_release_callback) {
   vipc_server = v;
-  this->rgb_type = rgb_type;
-  this->yuv_type = yuv_type;
-  this->release_callback = release_callback;
+  this->rgb_type = init_rgb_type;
+  this->yuv_type = init_yuv_type;
+  this->release_callback = init_release_callback;
 
   const CameraInfo *ci = &s->ci;
   camera_state = s;
diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index 8844b37f5..5fdd34ecf 100755
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -344,12 +344,12 @@ void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry
 
 void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log) {
   if (log.getRpyCalib().size() > 0) {
-    auto calib = floatlist2vector(log.getRpyCalib());
-    if ((calib.minCoeff() < -CALIB_RPY_SANITY_CHECK) || (calib.maxCoeff() > CALIB_RPY_SANITY_CHECK)) {
+    auto live_calib = floatlist2vector(log.getRpyCalib());
+    if ((live_calib.minCoeff() < -CALIB_RPY_SANITY_CHECK) || (live_calib.maxCoeff() > CALIB_RPY_SANITY_CHECK)) {
       return;
     }
 
-    this->calib = calib;
+    this->calib = live_calib;
     this->device_from_calib = euler2rot(this->calib);
     this->calib_from_device = this->device_from_calib.transpose();
     this->calibrated = log.getCalStatus() == 1;
diff --git a/selfdrive/locationd/ublox_msg.cc b/selfdrive/locationd/ublox_msg.cc
index cda433345..52c3906f1 100644
--- a/selfdrive/locationd/ublox_msg.cc
+++ b/selfdrive/locationd/ublox_msg.cc
@@ -172,12 +172,14 @@ kj::Array<capnp::word> UbloxMsgParser::gen_rxm_sfrbx(ubx_t::rxm_sfrbx_t *msg) {
     }
 
     // Collect subframes in map and parse when we have all the parts
-    kaitai::kstream stream(subframe_data);
-    gps_t subframe(&stream);
-    int subframe_id = subframe.how()->subframe_id();
+    {
+      kaitai::kstream stream(subframe_data);
+      gps_t subframe(&stream);
+      int subframe_id = subframe.how()->subframe_id();
 
-    if (subframe_id == 1) gps_subframes[msg->sv_id()].clear();
-    gps_subframes[msg->sv_id()][subframe_id] = subframe_data;
+      if (subframe_id == 1) gps_subframes[msg->sv_id()].clear();
+      gps_subframes[msg->sv_id()][subframe_id] = subframe_data;
+    }
 
     if (gps_subframes[msg->sv_id()].size() == 5) {
       MessageBuilder msg_builder;
diff --git a/selfdrive/locationd/ubloxd.cc b/selfdrive/locationd/ubloxd.cc
index 3a6c5f1a8..bcf33b3f7 100644
--- a/selfdrive/locationd/ubloxd.cc
+++ b/selfdrive/locationd/ubloxd.cc
@@ -45,10 +45,10 @@ int main() {
       if(parser.add_data(data + bytes_consumed, (uint32_t)(len - bytes_consumed), bytes_consumed_this_time)) {
 
         try {
-          auto msg = parser.gen_msg();
-          if (msg.second.size() > 0) {
-            auto bytes = msg.second.asBytes();
-            pm.send(msg.first.c_str(), bytes.begin(), bytes.size());
+          auto ublox_msg = parser.gen_msg();
+          if (ublox_msg.second.size() > 0) {
+            auto bytes = ublox_msg.second.asBytes();
+            pm.send(ublox_msg.first.c_str(), bytes.begin(), bytes.size());
           }
         } catch (const std::exception& e) {
           LOGE("Error parsing ublox message %s", e.what());
diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc
index 5dea6e575..71df85396 100644
--- a/selfdrive/loggerd/loggerd.cc
+++ b/selfdrive/loggerd/loggerd.cc
@@ -126,21 +126,21 @@ struct LoggerdState {
 LoggerdState s;
 
 // Wait for all encoders to reach the same frame id
-bool sync_encoders(LoggerdState *s, CameraType cam_type, uint32_t frame_id) {
-  if (s->camera_synced[cam_type]) return true;
+bool sync_encoders(LoggerdState *state, CameraType cam_type, uint32_t frame_id) {
+  if (state->camera_synced[cam_type]) return true;
 
-  if (s->max_waiting > 1 && s->encoders_ready != s->max_waiting) {
-    update_max_atomic(s->latest_frame_id, frame_id);
-    if (std::exchange(s->camera_ready[cam_type], true) == false) {
-      ++s->encoders_ready;
+  if (state->max_waiting > 1 && state->encoders_ready != state->max_waiting) {
+    update_max_atomic(state->latest_frame_id, frame_id);
+    if (std::exchange(state->camera_ready[cam_type], true) == false) {
+      ++state->encoders_ready;
       LOGE("camera %d encoder ready", cam_type);
     }
     return false;
   } else {
     // Small margin in case one of the encoders already dropped the next frame
-    uint32_t start_frame_id = s->latest_frame_id + 2;
+    uint32_t start_frame_id = state->latest_frame_id + 2;
     bool synced = frame_id >= start_frame_id;
-    s->camera_synced[cam_type] = synced;
+    state->camera_synced[cam_type] = synced;
     if (!synced) LOGE("camera %d waiting for frame %d, cur %d", cam_type, start_frame_id, frame_id);
     return synced;
   }
diff --git a/selfdrive/loggerd/tests/test_logger.cc b/selfdrive/loggerd/tests/test_logger.cc
index baef312ad..21b1d711d 100644
--- a/selfdrive/loggerd/tests/test_logger.cc
+++ b/selfdrive/loggerd/tests/test_logger.cc
@@ -66,7 +66,7 @@ void write_msg(LoggerHandle *logger) {
 TEST_CASE("logger") {
   const std::string log_root = "/tmp/test_logger";
   system(("rm " + log_root + " -rf").c_str());
-  
+
   ExitHandler do_exit;
 
   LoggerState logger = {};
@@ -121,11 +121,11 @@ TEST_CASE("logger") {
       REQUIRE(segment == i);
       main_segment = segment;
       if (i == 0) {
-        for (int i = 0; i < thread_cnt; ++i) {
+        for (int j = 0; j < thread_cnt; ++j) {
           threads.push_back(std::thread(logging_thread));
         }
       }
-      for (int i = 0; i < 100; ++i) {
+      for (int j = 0; j < 100; ++j) {
         write_msg(logger.cur_handle);
         usleep(1);
       }
diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
index 457519994..1a1f6eaea 100644
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -22,10 +22,10 @@ ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
   loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
 }
 
-float* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, const mat3 &transform, cl_mem *output) {
+float* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, const mat3 &projection, cl_mem *output) {
   transform_queue(&this->transform, q,
                   yuv_cl, frame_width, frame_height,
-                  y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, transform);
+                  y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
 
   if (output == NULL) {
     loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl);
diff --git a/selfdrive/proclogd/proclog.cc b/selfdrive/proclogd/proclog.cc
index adc828cb5..26fc1d94d 100644
--- a/selfdrive/proclogd/proclog.cc
+++ b/selfdrive/proclogd/proclog.cc
@@ -225,8 +225,8 @@ void buildProcs(cereal::ProcLog::Builder &builder) {
     const ProcCache &extra_info = Parser::getProcExtraInfo(r.pid, r.name);
     l.setExe(extra_info.exe);
     auto lcmdline = l.initCmdline(extra_info.cmdline.size());
-    for (size_t i = 0; i < lcmdline.size(); i++) {
-      lcmdline.set(i, extra_info.cmdline[i]);
+    for (size_t j = 0; j < lcmdline.size(); j++) {
+      lcmdline.set(j, extra_info.cmdline[j]);
     }
   }
 }
diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index 957c58f0a..3468f25e9 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -576,9 +576,9 @@ void MapInstructions::updateDistance(float d) {
   distance->setText(distance_str);
 }
 
-void MapInstructions::showError(QString error) {
+void MapInstructions::showError(QString error_text) {
   primary->setText("");
-  distance->setText(error);
+  distance->setText(error_text);
   distance->setAlignment(Qt::AlignCenter);
 
   secondary->setVisible(false);
diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc
index 9df155d62..60a781226 100644
--- a/selfdrive/ui/qt/maps/map_settings.cc
+++ b/selfdrive/ui/qt/maps/map_settings.cc
@@ -138,7 +138,6 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) {
       HttpRequest* deleter = new HttpRequest(this);
 
       QObject::connect(repeater, &RequestRepeater::receivedResponse, [=](QString resp) {
-        auto params = Params();
         if (resp != "null") {
           if (params.get("NavDestination").empty()) {
             qWarning() << "Setting NavDestination from /next" << resp;
diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc
index 05ca31225..dd519dd66 100644
--- a/selfdrive/ui/qt/offroad/networking.cc
+++ b/selfdrive/ui/qt/offroad/networking.cc
@@ -23,7 +23,7 @@ Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) {
   connect(wifi, &WifiManager::refreshSignal, this, &Networking::refresh);
   connect(wifi, &WifiManager::wrongPassword, this, &Networking::wrongPassword);
 
-  QWidget* wifiScreen = new QWidget(this);
+  wifiScreen = new QWidget(this);
   QVBoxLayout* vlayout = new QVBoxLayout(wifiScreen);
   vlayout->setContentsMargins(20, 20, 20, 20);
   if (show_advanced) {
diff --git a/selfdrive/ui/qt/offroad/wifiManager.cc b/selfdrive/ui/qt/offroad/wifiManager.cc
index 957d65e26..e798949a8 100644
--- a/selfdrive/ui/qt/offroad/wifiManager.cc
+++ b/selfdrive/ui/qt/offroad/wifiManager.cc
@@ -416,19 +416,19 @@ void WifiManager::activateModemConnection(const QDBusObjectPath &path) {
 NetworkType WifiManager::currentNetworkType() {
   QDBusInterface nm(NM_DBUS_SERVICE, NM_DBUS_PATH, NM_DBUS_INTERFACE_PROPERTIES, bus);
   nm.setTimeout(DBUS_TIMEOUT);
-  const QDBusObjectPath &path = get_response<QDBusObjectPath>(nm.call("Get", NM_DBUS_INTERFACE, "PrimaryConnection"));
+  const QDBusObjectPath &primary_conn = get_response<QDBusObjectPath>(nm.call("Get", NM_DBUS_INTERFACE, "PrimaryConnection"));
 
-  QDBusInterface nm2(NM_DBUS_SERVICE, path.path(), NM_DBUS_INTERFACE_PROPERTIES, bus);
+  QDBusInterface nm2(NM_DBUS_SERVICE, primary_conn.path(), NM_DBUS_INTERFACE_PROPERTIES, bus);
   nm.setTimeout(DBUS_TIMEOUT);
-  const QString &type = get_response<QString>(nm2.call("Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "Type"));
+  const QString &primary_type = get_response<QString>(nm2.call("Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "Type"));
 
-  if (type == "802-3-ethernet") {
+  if (primary_type == "802-3-ethernet") {
     return NetworkType::ETHERNET;
-  } else if (type == "802-11-wireless" && !isTetheringEnabled()) {
+  } else if (primary_type == "802-11-wireless" && !isTetheringEnabled()) {
     return NetworkType::WIFI;
   } else {
-    for (const QDBusObjectPath &path : get_active_connections()) {
-      QDBusInterface nm3(NM_DBUS_SERVICE, path.path(), NM_DBUS_INTERFACE_PROPERTIES, bus);
+    for (const QDBusObjectPath &conn : get_active_connections()) {
+      QDBusInterface nm3(NM_DBUS_SERVICE, conn.path(), NM_DBUS_INTERFACE_PROPERTIES, bus);
       nm3.setTimeout(DBUS_TIMEOUT);
       const QString &type = get_response<QString>(nm3.call("Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "Type"));
       if (type == "gsm") {
diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc
index 7c464639c..a85581368 100644
--- a/selfdrive/ui/qt/setup/setup.cc
+++ b/selfdrive/ui/qt/setup/setup.cc
@@ -2,6 +2,7 @@
 
 #include <cstdio>
 #include <cstdlib>
+#include <sstream>
 
 #include <QApplication>
 #include <QLabel>
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index f9fa56207..3d7c37559 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -201,9 +201,9 @@ void CameraViewWidget::updateFrameMat(int w, int h) {
     }
   } else if (vipc_client->connected) {
     // fit frame to widget size
-    float w  = (float)width() / height();
-    float f = (float)vipc_client->buffers[0].width  / vipc_client->buffers[0].height;
-    frame_mat = matmul(device_transform, get_fit_view_transform(w, f));
+    float widget_aspect_ratio = (float)width() / height();
+    float frame_aspect_ratio = (float)vipc_client->buffers[0].width  / vipc_client->buffers[0].height;
+    frame_mat = matmul(device_transform, get_fit_view_transform(widget_aspect_ratio, frame_aspect_ratio));
   }
 }
 
diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc
index d103db40d..8b09ba2bb 100644
--- a/selfdrive/ui/qt/widgets/controls.cc
+++ b/selfdrive/ui/qt/widgets/controls.cc
@@ -30,10 +30,10 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons
   // left icon
   if (!icon.isEmpty()) {
     QPixmap pix(icon);
-    QLabel *icon = new QLabel();
-    icon->setPixmap(pix.scaledToWidth(80, Qt::SmoothTransformation));
-    icon->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
-    hlayout->addWidget(icon);
+    QLabel *icon_label = new QLabel();
+    icon_label->setPixmap(pix.scaledToWidth(80, Qt::SmoothTransformation));
+    icon_label->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
+    hlayout->addWidget(icon_label);
   }
 
   // title
diff --git a/selfdrive/ui/replay/framereader.cc b/selfdrive/ui/replay/framereader.cc
index 3587ec1d2..12dda678f 100644
--- a/selfdrive/ui/replay/framereader.cc
+++ b/selfdrive/ui/replay/framereader.cc
@@ -113,7 +113,7 @@ bool FrameReader::load(const std::string &url, std::atomic<bool> *abort) {
   frames_.reserve(60 * 20);  // 20fps, one minute
   while (!(abort && *abort)) {
     Frame &frame = frames_.emplace_back();
-    int err = av_read_frame(pFormatCtx_, &frame.pkt);
+    err = av_read_frame(pFormatCtx_, &frame.pkt);
     if (err < 0) {
       frames_.pop_back();
       valid_ = (err == AVERROR_EOF);
diff --git a/selfdrive/ui/replay/main.cc b/selfdrive/ui/replay/main.cc
index 1be21b0ca..fea351c4b 100644
--- a/selfdrive/ui/replay/main.cc
+++ b/selfdrive/ui/replay/main.cc
@@ -39,7 +39,7 @@ int getch() {
   return ch;
 }
 
-void keyboardThread(Replay *replay) {
+void keyboardThread(Replay *replay_) {
   char c;
   while (true) {
     c = getch();
@@ -51,26 +51,26 @@ void keyboardThread(Replay *replay) {
       try {
         if (r[0] == '#') {
           r.erase(0, 1);
-          replay->seekTo(std::stoi(r) * 60, false);
+          replay_->seekTo(std::stoi(r) * 60, false);
         } else {
-          replay->seekTo(std::stoi(r), false);
+          replay_->seekTo(std::stoi(r), false);
         }
       } catch (std::invalid_argument) {
         qDebug() << "invalid argument";
       }
       getch();  // remove \n from entering seek
     } else if (c == 'm') {
-      replay->seekTo(+60, true);
+      replay_->seekTo(+60, true);
     } else if (c == 'M') {
-      replay->seekTo(-60, true);
+      replay_->seekTo(-60, true);
     } else if (c == 's') {
-      replay->seekTo(+10, true);
+      replay_->seekTo(+10, true);
     } else if (c == 'S') {
-      replay->seekTo(-10, true);
+      replay_->seekTo(-10, true);
     } else if (c == 'G') {
-      replay->seekTo(0, true);
+      replay_->seekTo(0, true);
     } else if (c == ' ') {
-      replay->pause(!replay->isPaused());
+      replay_->pause(!replay_->isPaused());
     }
   }
 }
diff --git a/third_party/nanovg/nanovg_gl_utils.h b/third_party/nanovg/nanovg_gl_utils.h
index 1323e90c6..2d8699c4c 100644
--- a/third_party/nanovg/nanovg_gl_utils.h
+++ b/third_party/nanovg/nanovg_gl_utils.h
@@ -52,11 +52,11 @@ static GLint defaultFBO = -1;
 NVGLUframebuffer* nvgluCreateFramebuffer(NVGcontext* ctx, int w, int h, int imageFlags)
 {
 #ifdef NANOVG_FBO_VALID
-	GLint defaultFBO;
+	GLint localDefaultFBO;
 	GLint defaultRBO;
 	NVGLUframebuffer* fb = NULL;
 
-	glGetIntegerv(GL_FRAMEBUFFER_BINDING, &defaultFBO);
+	glGetIntegerv(GL_FRAMEBUFFER_BINDING, &localDefaultFBO);
 	glGetIntegerv(GL_RENDERBUFFER_BINDING, &defaultRBO);
 
 	fb = (NVGLUframebuffer*)malloc(sizeof(NVGLUframebuffer));
@@ -92,11 +92,11 @@ NVGLUframebuffer* nvgluCreateFramebuffer(NVGcontext* ctx, int w, int h, int imag
 
 	if (glCheckFramebufferStatus(GL_FRAMEBUFFER) != GL_FRAMEBUFFER_COMPLETE) goto error;
 
-	glBindFramebuffer(GL_FRAMEBUFFER, defaultFBO);
+	glBindFramebuffer(GL_FRAMEBUFFER, localDefaultFBO);
 	glBindRenderbuffer(GL_RENDERBUFFER, defaultRBO);
 	return fb;
 error:
-	glBindFramebuffer(GL_FRAMEBUFFER, defaultFBO);
+	glBindFramebuffer(GL_FRAMEBUFFER, localDefaultFBO);
 	glBindRenderbuffer(GL_RENDERBUFFER, defaultRBO);
 	nvgluDeleteFramebuffer(fb);
 	return NULL;