diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index e52c8d2e6..f4f7b0300 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -1,8 +1,4 @@
-#include <errno.h>
 #include <sched.h>
-#include <stdint.h>
-#include <stdio.h>
-#include <stdlib.h>
 #include <sys/cdefs.h>
 #include <sys/resource.h>
 #include <sys/types.h>
@@ -12,6 +8,10 @@
 #include <atomic>
 #include <bitset>
 #include <cassert>
+#include <cerrno>
+#include <cstdint>
+#include <cstdio>
+#include <cstdlib>
 #include <thread>
 #include <unordered_map>
 
diff --git a/selfdrive/boardd/pigeon.cc b/selfdrive/boardd/pigeon.cc
index dc6a5e49a..3d9f25700 100644
--- a/selfdrive/boardd/pigeon.cc
+++ b/selfdrive/boardd/pigeon.cc
@@ -1,11 +1,11 @@
 #include "selfdrive/boardd/pigeon.h"
 
-#include <errno.h>
 #include <fcntl.h>
 #include <termios.h>
 #include <unistd.h>
 
 #include <cassert>
+#include <cerrno>
 #include <optional>
 
 #include "selfdrive/common/gpio.h"
diff --git a/selfdrive/camerad/cameras/camera_common.cc b/selfdrive/camerad/cameras/camera_common.cc
index cf629bde3..67bfd742d 100644
--- a/selfdrive/camerad/cameras/camera_common.cc
+++ b/selfdrive/camerad/cameras/camera_common.cc
@@ -1,8 +1,9 @@
 #include "selfdrive/camerad/cameras/camera_common.h"
 
-#include <assert.h>
-#include <stdio.h>
 #include <unistd.h>
+
+#include <cassert>
+#include <cstdio>
 #include <chrono>
 #include <thread>
 
diff --git a/selfdrive/camerad/cameras/camera_common.h b/selfdrive/camerad/cameras/camera_common.h
index ab3efce28..f0f118af7 100644
--- a/selfdrive/camerad/cameras/camera_common.h
+++ b/selfdrive/camerad/cameras/camera_common.h
@@ -1,8 +1,7 @@
 #pragma once
 
-#include <stdint.h>
-#include <stdlib.h>
-
+#include <cstdint>
+#include <cstdlib>
 #include <memory>
 #include <thread>
 
diff --git a/selfdrive/camerad/cameras/camera_qcom.cc b/selfdrive/camerad/cameras/camera_qcom.cc
index aa386e5c8..fef06fa34 100644
--- a/selfdrive/camerad/cameras/camera_qcom.cc
+++ b/selfdrive/camerad/cameras/camera_qcom.cc
@@ -1,15 +1,15 @@
 #include "selfdrive/camerad/cameras/camera_qcom.h"
 
-#include <assert.h>
 #include <fcntl.h>
-#include <math.h>
 #include <poll.h>
-#include <stdio.h>
 #include <sys/ioctl.h>
 #include <unistd.h>
 
 #include <algorithm>
 #include <atomic>
+#include <cassert>
+#include <cmath>
+#include <cstdio>
 
 #include <cutils/properties.h>
 #include <linux/media.h>
diff --git a/selfdrive/camerad/cameras/camera_qcom.h b/selfdrive/camerad/cameras/camera_qcom.h
index 1bcfed205..684df4a37 100644
--- a/selfdrive/camerad/cameras/camera_qcom.h
+++ b/selfdrive/camerad/cameras/camera_qcom.h
@@ -1,8 +1,7 @@
 #pragma once
 
-#include <stdint.h>
-
 #include <atomic>
+#include <cstdint>
 #include <memory>
 
 #include "cereal/messaging/messaging.h"
diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc
index a81779e94..291b6ab51 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/selfdrive/camerad/cameras/camera_qcom2.cc
@@ -1,31 +1,28 @@
 #include "selfdrive/camerad/cameras/camera_qcom2.h"
 
-#include <stdio.h>
-#include <string.h>
-#include <errno.h>
-#include <unistd.h>
-#include <assert.h>
 #include <fcntl.h>
+#include <poll.h>
 #include <sys/ioctl.h>
 #include <sys/mman.h>
-#include <poll.h>
-#include <math.h>
+#include <unistd.h>
+
 #include <atomic>
+#include <cassert>
+#include <cerrno>
+#include <cmath>
+#include <cstdio>
+#include <cstring>
 
 #include "media/cam_defs.h"
 #include "media/cam_isp.h"
 #include "media/cam_isp_ife.h"
-#include "media/cam_sensor_cmn_header.h"
 #include "media/cam_sensor.h"
+#include "media/cam_sensor_cmn_header.h"
 #include "media/cam_sync.h"
-#include "sensor2_i2c.h"
-
 #include "selfdrive/common/swaglog.h"
+#include "selfdrive/camerad/cameras/sensor2_i2c.h"
 
-#define FRAME_WIDTH  1928
-#define FRAME_HEIGHT 1208
 //#define FRAME_STRIDE 1936 // for 8 bit output
-#define FRAME_STRIDE 2416  // for 10 bit output
 
 #define MIPI_SETTLE_CNT 33  // Calculated by camera_freqs.py
 
diff --git a/selfdrive/camerad/cameras/camera_qcom2.h b/selfdrive/camerad/cameras/camera_qcom2.h
index 851dab9f4..3d249253b 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.h
+++ b/selfdrive/camerad/cameras/camera_qcom2.h
@@ -1,8 +1,9 @@
 #pragma once
 
-#include <stdint.h>
 #include <pthread.h>
 
+#include <cstdint>
+
 #include <media/cam_req_mgr.h>
 
 #include "selfdrive/camerad/cameras/camera_common.h"
diff --git a/selfdrive/camerad/cameras/camera_webcam.cc b/selfdrive/camerad/cameras/camera_webcam.cc
index f4204146c..0d0e53a3a 100644
--- a/selfdrive/camerad/cameras/camera_webcam.cc
+++ b/selfdrive/camerad/cameras/camera_webcam.cc
@@ -1,9 +1,10 @@
 #include "selfdrive/camerad/cameras/camera_webcam.h"
 
-#include <assert.h>
-#include <string.h>
 #include <unistd.h>
 
+#include <cassert>
+#include <cstring>
+
 #pragma clang diagnostic push
 #pragma clang diagnostic ignored "-Wundefined-inline"
 #include <opencv2/core.hpp>
diff --git a/selfdrive/camerad/imgproc/utils.cc b/selfdrive/camerad/imgproc/utils.cc
index 5c2110131..ad6452c6a 100644
--- a/selfdrive/camerad/imgproc/utils.cc
+++ b/selfdrive/camerad/imgproc/utils.cc
@@ -1,11 +1,10 @@
 #include "selfdrive/camerad/imgproc/utils.h"
 
-#include <assert.h>
-#include <stdio.h>
-#include <string.h>
-
 #include <algorithm>
+#include <cassert>
+#include <cstdio>
 #include <cmath>
+#include <cstring>
 
 const int16_t lapl_conv_krnl[9] = {0, 1, 0,
                                    1, -4, 1,
diff --git a/selfdrive/camerad/imgproc/utils.h b/selfdrive/camerad/imgproc/utils.h
index d7d518c0f..72baa5d53 100644
--- a/selfdrive/camerad/imgproc/utils.h
+++ b/selfdrive/camerad/imgproc/utils.h
@@ -1,8 +1,7 @@
 #pragma once
 
-#include <stddef.h>
-#include <stdint.h>
-
+#include <cstddef>
+#include <cstdint>
 #include <vector>
 
 #include "selfdrive/common/clutil.h"
diff --git a/selfdrive/camerad/main.cc b/selfdrive/camerad/main.cc
index 9636fd27b..b4cf162d2 100644
--- a/selfdrive/camerad/main.cc
+++ b/selfdrive/camerad/main.cc
@@ -1,9 +1,9 @@
-#include <assert.h>
 #include <poll.h>
-#include <stdio.h>
 #include <sys/socket.h>
 #include <unistd.h>
 
+#include <cassert>
+#include <cstdio>
 #include <thread>
 
 #include "libyuv.h"
diff --git a/selfdrive/camerad/transforms/rgb_to_yuv.cc b/selfdrive/camerad/transforms/rgb_to_yuv.cc
index 661568fc6..63e032e2d 100644
--- a/selfdrive/camerad/transforms/rgb_to_yuv.cc
+++ b/selfdrive/camerad/transforms/rgb_to_yuv.cc
@@ -1,6 +1,7 @@
 #include "selfdrive/camerad/transforms/rgb_to_yuv.h"
 
-#include <assert.h>
+#include <cassert>
+#include <cstdio>
 
 Rgb2Yuv::Rgb2Yuv(cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride) {
   assert(width % 2 == 0 && height % 2 == 0);
diff --git a/selfdrive/camerad/transforms/rgb_to_yuv_test.cc b/selfdrive/camerad/transforms/rgb_to_yuv_test.cc
index 04b6afd09..d15e388d4 100644
--- a/selfdrive/camerad/transforms/rgb_to_yuv_test.cc
+++ b/selfdrive/camerad/transforms/rgb_to_yuv_test.cc
@@ -1,11 +1,11 @@
 #include <fcntl.h>
 #include <getopt.h>
-#include <math.h>
 #include <memory.h>
-#include <signal.h>
 #include <unistd.h>
 
 #include <cassert>
+#include <cmath>
+#include <csignal>
 #include <cstdint>
 #include <cstdlib>
 #include <fstream>
diff --git a/selfdrive/clocksd/clocksd.cc b/selfdrive/clocksd/clocksd.cc
index c6ad4061a..f3057b8e2 100644
--- a/selfdrive/clocksd/clocksd.cc
+++ b/selfdrive/clocksd/clocksd.cc
@@ -1,9 +1,10 @@
-#include <stdint.h>
-#include <stdio.h>
 #include <sys/resource.h>
 #include <sys/time.h>
 #include <unistd.h>
 
+#include <cstdint>
+#include <cstdio>
+
 // Apple doesn't have timerfd
 #ifdef __APPLE__
 #include <thread>
diff --git a/selfdrive/common/clutil.cc b/selfdrive/common/clutil.cc
index 526c66b22..68207c286 100644
--- a/selfdrive/common/clutil.cc
+++ b/selfdrive/common/clutil.cc
@@ -1,10 +1,9 @@
 #include "selfdrive/common/clutil.h"
 
-#include <assert.h>
-#include <inttypes.h>
-#include <string.h>
 #include <sys/stat.h>
 
+#include <cassert>
+#include <cstring>
 #include <iostream>
 #include <memory>
 #include <vector>
diff --git a/selfdrive/common/clutil.h b/selfdrive/common/clutil.h
index 71523c273..4c8723d64 100644
--- a/selfdrive/common/clutil.h
+++ b/selfdrive/common/clutil.h
@@ -1,8 +1,7 @@
 #pragma once
 
-#include <stdint.h>
-#include <stdio.h>
-#include <stdlib.h>
+#include <cstdint>
+#include <cstdlib>
 
 #ifdef __APPLE__
 #include <OpenCL/cl.h>
diff --git a/selfdrive/common/glutil.cc b/selfdrive/common/glutil.cc
index 7e53975e1..f13e132a8 100644
--- a/selfdrive/common/glutil.cc
+++ b/selfdrive/common/glutil.cc
@@ -1,9 +1,8 @@
 #include "selfdrive/common/glutil.h"
 
-#include <assert.h>
-#include <stdio.h>
-#include <stdlib.h>
-
+#include <cassert>
+#include <cstdio>
+#include <cstdlib>
 #include <string>
 
 static GLuint load_shader(GLenum shaderType, const char *src) {
diff --git a/selfdrive/common/gpio.cc b/selfdrive/common/gpio.cc
index 8a2885316..5c2c2d85b 100644
--- a/selfdrive/common/gpio.cc
+++ b/selfdrive/common/gpio.cc
@@ -1,9 +1,10 @@
 #include "selfdrive/common/gpio.h"
 
 #include <fcntl.h>
-#include <string.h>
 #include <unistd.h>
 
+#include <cstring>
+
 #include "selfdrive/common/util.h"
 
 // We assume that all pins have already been exported on boot,
diff --git a/selfdrive/common/i2c.cc b/selfdrive/common/i2c.cc
index c2842948b..652e0b5c2 100644
--- a/selfdrive/common/i2c.cc
+++ b/selfdrive/common/i2c.cc
@@ -1,11 +1,11 @@
 #include "selfdrive/common/i2c.h"
 
 #include <fcntl.h>
-#include <stdio.h>
 #include <sys/ioctl.h>
 #include <unistd.h>
 
 #include <cassert>
+#include <cstdio>
 #include <stdexcept>
 
 #include "selfdrive/common/swaglog.h"
diff --git a/selfdrive/common/i2c.h b/selfdrive/common/i2c.h
index d5788510d..0669116bb 100644
--- a/selfdrive/common/i2c.h
+++ b/selfdrive/common/i2c.h
@@ -1,6 +1,7 @@
 #pragma once
 
-#include <stdint.h>
+#include <cstdint>
+
 #include <sys/types.h>
 
 class I2CBus {
diff --git a/selfdrive/common/params.cc b/selfdrive/common/params.cc
index 45eac661b..5e0a26eea 100644
--- a/selfdrive/common/params.cc
+++ b/selfdrive/common/params.cc
@@ -5,14 +5,14 @@
 #endif  // _GNU_SOURCE
 
 #include <dirent.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
 #include <sys/file.h>
 #include <sys/stat.h>
 #include <unistd.h>
 
 #include <csignal>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
 #include <mutex>
 #include <unordered_map>
 
diff --git a/selfdrive/common/params.h b/selfdrive/common/params.h
index 3d59f07b1..bc1372295 100644
--- a/selfdrive/common/params.h
+++ b/selfdrive/common/params.h
@@ -1,7 +1,5 @@
 #pragma once
 
-#include <stddef.h>
-
 #include <map>
 #include <sstream>
 #include <string>
diff --git a/selfdrive/common/swaglog.cc b/selfdrive/common/swaglog.cc
index c42d48642..74488e220 100644
--- a/selfdrive/common/swaglog.cc
+++ b/selfdrive/common/swaglog.cc
@@ -4,8 +4,8 @@
 
 #include "selfdrive/common/swaglog.h"
 
-#include <assert.h>
-#include <string.h>
+#include <cassert>
+#include <cstring>
 #include <mutex>
 #include <string>
 
diff --git a/selfdrive/common/timing.h b/selfdrive/common/timing.h
index b940cc924..83f55e0c4 100644
--- a/selfdrive/common/timing.h
+++ b/selfdrive/common/timing.h
@@ -1,7 +1,7 @@
 #pragma once
 
-#include <stdint.h>
-#include <time.h>
+#include <cstdint>
+#include <ctime>
 
 #ifdef __APPLE__
 #define CLOCK_BOOTTIME CLOCK_MONOTONIC
diff --git a/selfdrive/common/util.cc b/selfdrive/common/util.cc
index c629550c8..a7e1fe3a5 100644
--- a/selfdrive/common/util.cc
+++ b/selfdrive/common/util.cc
@@ -1,8 +1,7 @@
 #include "selfdrive/common/util.h"
 
-#include <errno.h>
-
 #include <cassert>
+#include <cerrno>
 #include <cstring>
 #include <dirent.h>
 #include <fstream>
diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index 45d036d70..70a2441c3 100755
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -1,6 +1,8 @@
 #include <sys/time.h>
 #include <sys/resource.h>
 
+#include <cmath>
+
 #include "locationd.h"
 
 using namespace EKFS;
@@ -357,11 +359,11 @@ void Localizer::finite_check(double current_time) {
 }
 
 void Localizer::time_check(double current_time) {
-  if (isnan(this->last_reset_time)) {
+  if (std::isnan(this->last_reset_time)) {
     this->last_reset_time = current_time;
   }
   double filter_time = this->kf->get_filter_time();
-  bool big_time_gap = !isnan(filter_time) && (current_time - filter_time > 10);
+  bool big_time_gap = !std::isnan(filter_time) && (current_time - filter_time > 10);
   if (big_time_gap){
     LOGE("Time gap of over 10s detected, kalman reset");
     this->reset_kalman(current_time);
diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h
index b5b5a9bde..82b7eb6b3 100755
--- a/selfdrive/locationd/locationd.h
+++ b/selfdrive/locationd/locationd.h
@@ -12,7 +12,6 @@
 #include "selfdrive/common/swaglog.h"
 #include "selfdrive/common/timing.h"
 #include "selfdrive/common/util.h"
-#include <math.h>
 
 #include "selfdrive/sensord/sensors/constants.h"
 #define VISION_DECIMATION 2
diff --git a/selfdrive/loggerd/bootlog.cc b/selfdrive/loggerd/bootlog.cc
index e36012bd2..86c4473af 100644
--- a/selfdrive/loggerd/bootlog.cc
+++ b/selfdrive/loggerd/bootlog.cc
@@ -1,5 +1,4 @@
-#include <assert.h>
-
+#include <cassert>
 #include <string>
 
 #include "cereal/messaging/messaging.h"
diff --git a/selfdrive/loggerd/logger.cc b/selfdrive/loggerd/logger.cc
index 442d79283..6436b960b 100644
--- a/selfdrive/loggerd/logger.cc
+++ b/selfdrive/loggerd/logger.cc
@@ -1,15 +1,15 @@
 #include "selfdrive/loggerd/logger.h"
 
-#include <assert.h>
-#include <errno.h>
-#include <stdint.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
 #include <sys/stat.h>
-#include <time.h>
 #include <unistd.h>
 
+#include <cassert>
+#include <cerrno>
+#include <cstdint>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <ctime>
 #include <fstream>
 #include <iostream>
 #include <streambuf>
diff --git a/selfdrive/loggerd/logger.h b/selfdrive/loggerd/logger.h
index 7a6524004..21eadfbb3 100644
--- a/selfdrive/loggerd/logger.h
+++ b/selfdrive/loggerd/logger.h
@@ -2,9 +2,9 @@
 
 #include <cassert>
 #include <pthread.h>
-#include <stdint.h>
-#include <stdio.h>
 
+#include <cstdint>
+#include <cstdio>
 #include <memory>
 
 #include <bzlib.h>
diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc
index 9a6420590..d2ed9ff88 100644
--- a/selfdrive/loggerd/loggerd.cc
+++ b/selfdrive/loggerd/loggerd.cc
@@ -1,17 +1,16 @@
-#include <errno.h>
 #include <ftw.h>
-#include <inttypes.h>
 #include <pthread.h>
-#include <string.h>
 #include <sys/resource.h>
 #include <unistd.h>
 
 #include <atomic>
 #include <cassert>
+#include <cerrno>
 #include <condition_variable>
 #include <cstdint>
 #include <cstdio>
 #include <cstdlib>
+#include <cstring>
 #include <mutex>
 #include <random>
 #include <string>
diff --git a/selfdrive/loggerd/omx_encoder.cc b/selfdrive/loggerd/omx_encoder.cc
index cd10bae9e..59c18c16b 100644
--- a/selfdrive/loggerd/omx_encoder.cc
+++ b/selfdrive/loggerd/omx_encoder.cc
@@ -2,13 +2,14 @@
 
 #include "selfdrive/loggerd/omx_encoder.h"
 
-#include <assert.h>
 #include <fcntl.h>
-#include <stdio.h>
-#include <stdlib.h>
 #include <sys/stat.h>
 #include <unistd.h>
 
+#include <cassert>
+#include <cstdlib>
+#include <cstdio>
+
 #include <OMX_Component.h>
 #include <OMX_IndexExt.h>
 #include <OMX_QCOMExtns.h>
diff --git a/selfdrive/loggerd/omx_encoder.h b/selfdrive/loggerd/omx_encoder.h
index caa87101d..d7273872a 100644
--- a/selfdrive/loggerd/omx_encoder.h
+++ b/selfdrive/loggerd/omx_encoder.h
@@ -1,8 +1,7 @@
 #pragma once
 
-#include <stdint.h>
-#include <stdio.h>
-
+#include <cstdint>
+#include <cstdio>
 #include <vector>
 
 #include <OMX_Component.h>
diff --git a/selfdrive/modeld/dmonitoringmodeld.cc b/selfdrive/modeld/dmonitoringmodeld.cc
index 85b412609..6ae6e780c 100644
--- a/selfdrive/modeld/dmonitoringmodeld.cc
+++ b/selfdrive/modeld/dmonitoringmodeld.cc
@@ -1,8 +1,9 @@
-#include <stdio.h>
-#include <stdlib.h>
 #include <sys/resource.h>
 #include <limits.h>
 
+#include <cstdio>
+#include <cstdlib>
+
 #include "cereal/visionipc/visionipc_client.h"
 #include "selfdrive/common/swaglog.h"
 #include "selfdrive/common/util.h"
diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc
index 0cfed4acd..00ea94529 100644
--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@@ -1,6 +1,5 @@
-#include <stdio.h>
-#include <stdlib.h>
-
+#include <cstdio>
+#include <cstdlib>
 #include <mutex>
 
 #include <eigen3/Eigen/Dense>
diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
index 30ee1b4e3..7ecb2d517 100644
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -1,9 +1,8 @@
 #include "selfdrive/modeld/models/commonmodel.h"
 
-#include <assert.h>
-#include <math.h>
-
 #include <algorithm>
+#include <cassert>
+#include <cmath>
 
 #include "selfdrive/common/clutil.h"
 #include "selfdrive/common/mat.h"
diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h
index 281930be6..fe97710c9 100644
--- a/selfdrive/modeld/models/commonmodel.h
+++ b/selfdrive/modeld/models/commonmodel.h
@@ -1,7 +1,7 @@
 #pragma once
 
-#include <float.h>
-#include <stdlib.h>
+#include <cfloat>
+#include <cstdlib>
 
 #define CL_USE_DEPRECATED_OPENCL_1_2_APIS
 #ifdef __APPLE__
diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc
index 9425128b3..d5b2d4a63 100644
--- a/selfdrive/modeld/models/dmonitoring.cc
+++ b/selfdrive/modeld/models/dmonitoring.cc
@@ -1,6 +1,6 @@
 #include "selfdrive/modeld/models/dmonitoring.h"
 
-#include <string.h>
+#include <cstring>
 
 #include "libyuv.h"
 
diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc
index 29c227c7a..366b868ea 100644
--- a/selfdrive/modeld/models/driving.cc
+++ b/selfdrive/modeld/models/driving.cc
@@ -1,10 +1,11 @@
 #include "selfdrive/modeld/models/driving.h"
 
-#include <assert.h>
 #include <fcntl.h>
-#include <string.h>
 #include <unistd.h>
 
+#include <cassert>
+#include <cstring>
+
 #include <eigen3/Eigen/Dense>
 
 #include "selfdrive/common/clutil.h"
diff --git a/selfdrive/modeld/runners/onnxmodel.cc b/selfdrive/modeld/runners/onnxmodel.cc
index 5df30e5af..7ae107cb4 100644
--- a/selfdrive/modeld/runners/onnxmodel.cc
+++ b/selfdrive/modeld/runners/onnxmodel.cc
@@ -1,13 +1,13 @@
 #include "selfdrive/modeld/runners/onnxmodel.h"
 
 #include <poll.h>
-#include <signal.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
 #include <unistd.h>
 
 #include <cassert>
+#include <csignal>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
 #include <stdexcept>
 #include <string>
 
diff --git a/selfdrive/modeld/runners/onnxmodel.h b/selfdrive/modeld/runners/onnxmodel.h
index 5ecfdc040..8fb1403c9 100644
--- a/selfdrive/modeld/runners/onnxmodel.h
+++ b/selfdrive/modeld/runners/onnxmodel.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <stdlib.h>
+#include <cstdlib>
 
 #include "selfdrive/modeld/runners/runmodel.h"
 
diff --git a/selfdrive/modeld/runners/snpemodel.cc b/selfdrive/modeld/runners/snpemodel.cc
index 9f26ad27f..3a6e9e622 100644
--- a/selfdrive/modeld/runners/snpemodel.cc
+++ b/selfdrive/modeld/runners/snpemodel.cc
@@ -2,10 +2,9 @@
 
 #include "selfdrive/modeld/runners/snpemodel.h"
 
-#include <stdlib.h>
-#include <string.h>
-
 #include <cassert>
+#include <cstdlib>
+#include <cstring>
 
 #include "selfdrive/common/util.h"
 
diff --git a/selfdrive/modeld/runners/thneedmodel.cc b/selfdrive/modeld/runners/thneedmodel.cc
index 1dec72dd4..be782b974 100644
--- a/selfdrive/modeld/runners/thneedmodel.cc
+++ b/selfdrive/modeld/runners/thneedmodel.cc
@@ -1,6 +1,6 @@
 #include "selfdrive/modeld/runners/thneedmodel.h"
 
-#include <assert.h>
+#include <cassert>
 
 ThneedModel::ThneedModel(const char *path, float *loutput, size_t loutput_size, int runtime) {
   thneed = new Thneed(true);
diff --git a/selfdrive/modeld/test/dmon_lag/repro.cc b/selfdrive/modeld/test/dmon_lag/repro.cc
index d5c571e59..bba404fb5 100644
--- a/selfdrive/modeld/test/dmon_lag/repro.cc
+++ b/selfdrive/modeld/test/dmon_lag/repro.cc
@@ -1,14 +1,15 @@
 // clang++ -O2 repro.cc && ./a.out
 
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <stdint.h>
-#include <time.h>
 #include <sched.h>
 #include <sys/types.h>
 #include <unistd.h>
 
+#include <cstdint>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <ctime>
+
 static inline double millis_since_boot() {
   struct timespec t;
   clock_gettime(CLOCK_BOOTTIME, &t);
diff --git a/selfdrive/modeld/test/tf_test/main.cc b/selfdrive/modeld/test/tf_test/main.cc
index bd325c81c..db1ef3d67 100644
--- a/selfdrive/modeld/test/tf_test/main.cc
+++ b/selfdrive/modeld/test/tf_test/main.cc
@@ -1,6 +1,6 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <assert.h>
+#include <cassert>
+#include <cstdio>
+#include <cstdlib>
 #include "tensorflow/c/c_api.h"
 
 void* read_file(const char* path, size_t* out_len) {
diff --git a/selfdrive/modeld/thneed/compile.cc b/selfdrive/modeld/thneed/compile.cc
index cf15e9ceb..651b67aa1 100644
--- a/selfdrive/modeld/thneed/compile.cc
+++ b/selfdrive/modeld/thneed/compile.cc
@@ -1,4 +1,4 @@
-#include <string.h>
+#include <cstring>
 
 #include "selfdrive/modeld/runners/snpemodel.h"
 #include "selfdrive/modeld/thneed/thneed.h"
diff --git a/selfdrive/modeld/thneed/serialize.cc b/selfdrive/modeld/thneed/serialize.cc
index e3aa099d1..1f17c4a87 100644
--- a/selfdrive/modeld/thneed/serialize.cc
+++ b/selfdrive/modeld/thneed/serialize.cc
@@ -1,5 +1,4 @@
-#include <assert.h>
-
+#include <cassert>
 #include <set>
 
 #include "json11.hpp"
diff --git a/selfdrive/modeld/thneed/thneed.cc b/selfdrive/modeld/thneed/thneed.cc
index 3b0138a14..89fdfe391 100644
--- a/selfdrive/modeld/thneed/thneed.cc
+++ b/selfdrive/modeld/thneed/thneed.cc
@@ -1,11 +1,11 @@
 #include "selfdrive/modeld/thneed/thneed.h"
 
 #include <dlfcn.h>
-#include <errno.h>
-#include <string.h>
 #include <sys/mman.h>
 
 #include <cassert>
+#include <cerrno>
+#include <cstring>
 #include <map>
 #include <string>
 
diff --git a/selfdrive/modeld/thneed/thneed.h b/selfdrive/modeld/thneed/thneed.h
index eaea22e41..1ae724747 100644
--- a/selfdrive/modeld/thneed/thneed.h
+++ b/selfdrive/modeld/thneed/thneed.h
@@ -4,14 +4,14 @@
 #define __user __attribute__(())
 #endif
 
-#include <CL/cl.h>
-#include <stdint.h>
-#include <stdlib.h>
-
+#include <cstdint>
+#include <cstdlib>
 #include <memory>
 #include <string>
 #include <vector>
 
+#include <CL/cl.h>
+
 #include "selfdrive/modeld/thneed/include/msm_kgsl.h"
 
 #define THNEED_RECORD 1
diff --git a/selfdrive/modeld/transforms/loadyuv.cc b/selfdrive/modeld/transforms/loadyuv.cc
index 04a12a852..9f3dd45aa 100644
--- a/selfdrive/modeld/transforms/loadyuv.cc
+++ b/selfdrive/modeld/transforms/loadyuv.cc
@@ -1,7 +1,8 @@
 #include "selfdrive/modeld/transforms/loadyuv.h"
 
-#include <assert.h>
-#include <string.h>
+#include <cassert>
+#include <cstdio>
+#include <cstring>
 
 void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
   memset(s, 0, sizeof(*s));
diff --git a/selfdrive/modeld/transforms/loadyuv.h b/selfdrive/modeld/transforms/loadyuv.h
index 7289aeff4..a77258deb 100644
--- a/selfdrive/modeld/transforms/loadyuv.h
+++ b/selfdrive/modeld/transforms/loadyuv.h
@@ -1,7 +1,5 @@
 #pragma once
 
-#include <inttypes.h>
-
 #include "selfdrive/common/clutil.h"
 
 typedef struct {
diff --git a/selfdrive/modeld/transforms/transform.cc b/selfdrive/modeld/transforms/transform.cc
index f3e30fd1c..5f4929bab 100644
--- a/selfdrive/modeld/transforms/transform.cc
+++ b/selfdrive/modeld/transforms/transform.cc
@@ -1,7 +1,7 @@
 #include "selfdrive/modeld/transforms/transform.h"
 
-#include <assert.h>
-#include <string.h>
+#include <cassert>
+#include <cstring>
 
 #include "selfdrive/common/clutil.h"
 
diff --git a/selfdrive/modeld/transforms/transform.h b/selfdrive/modeld/transforms/transform.h
index 4a40b976a..f34613684 100644
--- a/selfdrive/modeld/transforms/transform.h
+++ b/selfdrive/modeld/transforms/transform.h
@@ -1,7 +1,5 @@
 #pragma once
 
-#include <inttypes.h>
-
 #define CL_USE_DEPRECATED_OPENCL_1_2_APIS
 #ifdef __APPLE__
 #include <OpenCL/cl.h>
diff --git a/selfdrive/sensord/sensors_qcom.cc b/selfdrive/sensord/sensors_qcom.cc
index 81bb78e85..64a6eccc4 100644
--- a/selfdrive/sensord/sensors_qcom.cc
+++ b/selfdrive/sensord/sensors_qcom.cc
@@ -1,10 +1,5 @@
-#include <assert.h>
 #include <cutils/log.h>
 #include <hardware/sensors.h>
-#include <stdint.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
 #include <sys/cdefs.h>
 #include <sys/resource.h>
 #include <sys/time.h>
@@ -12,6 +7,11 @@
 #include <unistd.h>
 #include <utils/Timers.h>
 
+#include <cassert>
+#include <cstdint>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
 #include <map>
 #include <set>
 
diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 353cacbca..db3c40d56 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -1,8 +1,7 @@
 #include "selfdrive/ui/paint.h"
 
-#include <assert.h>
-
 #include <algorithm>
+#include <cassert>
 
 #ifdef __APPLE__
 #include <OpenGL/gl3.h>
diff --git a/selfdrive/ui/qt/offroad/wifiManager.cc b/selfdrive/ui/qt/offroad/wifiManager.cc
index 9f2b05fad..a8d9e8298 100644
--- a/selfdrive/ui/qt/offroad/wifiManager.cc
+++ b/selfdrive/ui/qt/offroad/wifiManager.cc
@@ -1,9 +1,8 @@
 #include "selfdrive/ui/qt/offroad/wifiManager.h"
 
-#include <stdlib.h>
-
 #include <algorithm>
 #include <set>
+#include <cstdlib>
 
 #include "selfdrive/common/params.h"
 #include "selfdrive/common/swaglog.h"
diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc
index d2ed68352..86723513c 100644
--- a/selfdrive/ui/qt/setup/setup.cc
+++ b/selfdrive/ui/qt/setup/setup.cc
@@ -1,7 +1,7 @@
 #include "selfdrive/ui/qt/setup/setup.h"
 
-#include <stdio.h>
-#include <stdlib.h>
+#include <cstdio>
+#include <cstdlib>
 
 #include <QApplication>
 #include <QLabel>
diff --git a/selfdrive/ui/qt/setup/wifi.cc b/selfdrive/ui/qt/setup/wifi.cc
index b46658c65..a087c531c 100644
--- a/selfdrive/ui/qt/setup/wifi.cc
+++ b/selfdrive/ui/qt/setup/wifi.cc
@@ -1,8 +1,9 @@
 #include "selfdrive/ui/qt/setup/wifi.h"
 
 #include <curl/curl.h>
-#include <stdio.h>
-#include <stdlib.h>
+
+#include <cstdio>
+#include <cstdlib>
 
 #include <QApplication>
 #include <QLabel>
diff --git a/selfdrive/ui/qt/spinner.cc b/selfdrive/ui/qt/spinner.cc
index 305dda1de..f16be965b 100644
--- a/selfdrive/ui/qt/spinner.cc
+++ b/selfdrive/ui/qt/spinner.cc
@@ -1,6 +1,6 @@
 #include "selfdrive/ui/qt/spinner.h"
 
-#include <stdio.h>
+#include <cstdio>
 #include <iostream>
 #include <string>
 
diff --git a/selfdrive/ui/replay/framereader.cc b/selfdrive/ui/replay/framereader.cc
index 88c3c8665..038b8359f 100644
--- a/selfdrive/ui/replay/framereader.cc
+++ b/selfdrive/ui/replay/framereader.cc
@@ -1,10 +1,10 @@
 #include "selfdrive/ui/replay/framereader.h"
 
-#include <assert.h>
 #include <unistd.h>
 
-#include <QDebug>
+#include <cassert>
 
+#include <QDebug>
 
 static int ffmpeg_lockmgr_cb(void **arg, enum AVLockOp op) {
   std::mutex *mutex = (std::mutex *)*arg;
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index b43a71d1a..ceac22450 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -1,10 +1,10 @@
 #include "selfdrive/ui/ui.h"
 
-#include <assert.h>
-#include <stdio.h>
 #include <unistd.h>
 
+#include <cassert>
 #include <cmath>
+#include <cstdio>
 
 #include "selfdrive/common/swaglog.h"
 #include "selfdrive/common/util.h"