diff --git a/selfdrive/common/params.cc b/selfdrive/common/params.cc
index 3f64f790c1f126b..6531a1308407bcb 100644
--- a/selfdrive/common/params.cc
+++ b/selfdrive/common/params.cc
@@ -157,6 +157,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"TrainingVersion", PERSISTENT},
     {"UpdateAvailable", CLEAR_ON_MANAGER_START},
     {"UpdateFailedCount", CLEAR_ON_MANAGER_START},
+    {"UploadRaw", PERSISTENT},
     {"Version", PERSISTENT},
     {"VisionRadarToggle", PERSISTENT},
     {"ApiCache_Device", PERSISTENT},
diff --git a/selfdrive/loggerd/tests/loggerd_tests_common.py b/selfdrive/loggerd/tests/loggerd_tests_common.py
index 1a16e343e612ab7..579aaf6042fda6e 100644
--- a/selfdrive/loggerd/tests/loggerd_tests_common.py
+++ b/selfdrive/loggerd/tests/loggerd_tests_common.py
@@ -56,6 +56,7 @@ class MockParams():
   def __init__(self):
     self.params = {
       "DongleId": b"0000000000000000",
+      "UploadRaw": b"1",
       "IsOffroad": b"1",
     }
 
diff --git a/selfdrive/loggerd/tests/test_uploader.py b/selfdrive/loggerd/tests/test_uploader.py
index 54c65db73dda891..664a3eb6801ae60 100755
--- a/selfdrive/loggerd/tests/test_uploader.py
+++ b/selfdrive/loggerd/tests/test_uploader.py
@@ -68,6 +68,12 @@ def gen_order(self, seg1, seg2, boot=True):
       keys += [f"boot/{self.seg_format2.format(i)}.bz2" for i in seg2]
     keys += [f"{self.seg_format.format(i)}/qlog.bz2" for i in seg1]
     keys += [f"{self.seg_format2.format(i)}/qlog.bz2" for i in seg2]
+    keys += [f"{self.seg_format.format(i)}/rlog.bz2" for i in seg1]
+    keys += [f"{self.seg_format2.format(i)}/rlog.bz2" for i in seg2]
+    for i in seg1:
+      keys += [f"{self.seg_format.format(i)}/{f}" for f in ['fcamera.hevc', 'dcamera.hevc']]
+    for i in seg2:
+      keys += [f"{self.seg_format2.format(i)}/{f}" for f in ['fcamera.hevc', 'dcamera.hevc']]
     return keys
 
   def test_upload(self):
diff --git a/selfdrive/loggerd/uploader.py b/selfdrive/loggerd/uploader.py
index 2013a522bc7a9c5..7abf580788b3fc1 100644
--- a/selfdrive/loggerd/uploader.py
+++ b/selfdrive/loggerd/uploader.py
@@ -70,10 +70,16 @@ def __init__(self, dongle_id, root):
 
     self.immediate_folders = ["crash/", "boot/"]
     self.immediate_priority = {"qlog.bz2": 0, "qcamera.ts": 1}
+    self.high_priority = {"rlog.bz2": 0}
+    self.normal_priority = {"fcamera.hevc": 1, "dcamera.hevc": 2, "ecamera.hevc": 3}
 
   def get_upload_sort(self, name):
     if name in self.immediate_priority:
       return self.immediate_priority[name]
+    if name in self.high_priority:
+      return self.high_priority[name] + 100
+    if name in self.normal_priority:
+      return self.normal_priority[name] + 300
     return 1000
 
   def list_upload_files(self):
@@ -114,7 +120,7 @@ def list_upload_files(self):
 
         yield (name, key, fn)
 
-  def next_file_to_upload(self):
+  def next_file_to_upload(self, with_raw):
     upload_files = list(self.list_upload_files())
 
     for name, key, fn in upload_files:
@@ -125,6 +131,17 @@ def next_file_to_upload(self):
       if name in self.immediate_priority:
         return (key, fn)
 
+    if with_raw:
+      # then upload the full log files, rear and front camera files
+      for name, key, fn in upload_files:
+        if name in self.high_priority:
+          return (key, fn)
+
+      # Could add a param here to disable full video uploads
+      for name, key, fn in upload_files:
+        if name in self.normal_priority:
+          return (key, fn)
+
     return None
 
   def do_upload(self, key, fn):
@@ -237,7 +254,9 @@ def uploader_fn(exit_event):
         time.sleep(60 if offroad else 5)
       continue
 
-    d = uploader.next_file_to_upload()
+    allow_raw_upload = params.get_bool("UploadRaw")
+
+    d = uploader.next_file_to_upload(with_raw=allow_raw_upload)
     if d is None:  # Nothing to upload
       if allow_sleep:
         time.sleep(60 if offroad else 5)
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 73dbf0a845f6e23..6e99fb7f989f2ec 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -53,6 +53,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "Display speed in km/h instead of mph.",
       "../assets/offroad/icon_metric.png",
     },
+    {
+      "UploadRaw",
+      "Upload Raw Logs",
+      "Upload full logs and full resolution video by default while on Wi-Fi. If not enabled, individual logs can be marked for upload at useradmin.comma.ai.",
+      "../assets/offroad/icon_network.png",
+    },
     {
       "RecordFront",
       "Record and Upload Driver Camera",