November 15th, 2025 Patch

2026-08-06 00:36:32 +08:00 · 2025-11-15 12:00:00 -07:00
parent 090208d482
commit 2309424dfe
54 changed files with 692 additions and 354 deletions
@@ -4,7 +4,7 @@ on:
  workflow_dispatch:
    inputs:
      runner:
-        description: "Select the runner"
+        description: "Select runner"
        required: true
        default: "c3"
        type: choice
@@ -14,22 +14,22 @@ on:
      not_vetted:
        description: "This branch is not vetted"
        required: false
-        default: "false"
+        default: false
        type: boolean
      publish_frogpilot:
        description: "Push to FrogPilot"
        required: false
-        default: "false"
+        default: false
        type: boolean
      publish_staging:
        description: "Push to FrogPilot-Staging"
        required: false
-        default: "false"
+        default: false
        type: boolean
      publish_testing:
        description: "Push to FrogPilot-Testing"
        required: false
-        default: "false"
+        default: false
        type: boolean
      publish_custom_branch:
        description: "Push to custom branch:"
@@ -39,18 +39,18 @@ on:
      update_translations:
        description: "Update missing/outdated translations"
        required: false
-        default: "false"
+        default: false
        type: boolean
      vet_existing_translations:
        description: "Vet existing translations"
        required: false
-        default: "false"
+        default: false
        type: boolean

 env:
-  BASEDIR: "${{ github.workspace }}"
+  BASEDIR: ${{ github.workspace }}
  BUILD_DIR: /data/openpilot
-  OPENAI_API_KEY: "${{ secrets.OPENAI_API_KEY }}"
+  OPENAI_API_KEY: ${{ secrets.OPENAI_API_KEY }}

 jobs:
  get_branch:
@@ -61,19 +61,16 @@ jobs:
      branch: ${{ steps.get_branch.outputs.branch }}
      python_version: ${{ steps.get_python_version.outputs.python_version }}
    steps:
-      - name: Determine Current Branch on Runner
+      - name: Get Current Branch
        id: get_branch
        run: |
          cd $BUILD_DIR
+          echo "branch=$(git rev-parse --abbrev-ref HEAD)" >> $GITHUB_OUTPUT

-          BRANCH=$(git rev-parse --abbrev-ref HEAD)
-          echo "branch=$BRANCH" >> $GITHUB_OUTPUT
-
-      - name: Get Python Version from Runner
+      - name: Get Python Version
        id: get_python_version
        run: |
-          PYTHON_VERSION=$(tr -d '[:space:]' < "$BUILD_DIR/.python-version")
-          echo "python_version=$PYTHON_VERSION" >> $GITHUB_OUTPUT
+          echo "python_version=$(tr -d '[:space:]' < "$BUILD_DIR/.python-version")" >> $GITHUB_OUTPUT

  translate:
    if: inputs.update_translations
@@ -100,29 +97,28 @@ jobs:
      - name: Set Up Python
        uses: actions/setup-python@v4
        with:
-          python-version: "${{ needs.get_branch.outputs.python_version }}"
+          python-version: ${{ needs.get_branch.outputs.python_version }}

      - name: Install Dependencies
-        run: pip install requests
-
-      - name: Install Qt5 Tools
-        run: sudo apt update && sudo apt install -y qttools5-dev-tools
+        run: |
+          pip install requests
+          sudo apt update && sudo apt install -y qttools5-dev-tools

      - name: Update Translations
        run: python selfdrive/ui/update_translations.py --vanish

      - name: Update Missing Translations
        continue-on-error: true
-        run: python selfdrive/ui/translations/auto_translate.py --all-files
        timeout-minutes: 300
+        run: python selfdrive/ui/translations/auto_translate.py --all-files

      - name: Vet Existing Translations
-        if: github.event.inputs.vet_existing_translations == 'true'
+        if: inputs.vet_existing_translations
        continue-on-error: true
-        run: python selfdrive/ui/translations/auto_translate.py --all-files --vet-translations
        timeout-minutes: 300
+        run: python selfdrive/ui/translations/auto_translate.py --all-files --vet-translations

-      - name: Commit and Push Translation Updates
+      - name: Commit and Push Translations
        run: |
          if git diff --quiet selfdrive/ui/translations/*.ts; then
            echo "No translation updates detected."
@@ -136,9 +132,7 @@ jobs:
          git push --force origin ${{ needs.get_branch.outputs.branch }}

  build_and_push:
-    needs:
-      - get_branch
-      - translate
+    needs: [get_branch, translate]
    if: always()
    runs-on:
      - self-hosted
@@ -149,27 +143,23 @@ jobs:
      run:
        working-directory: ${{ env.BUILD_DIR }}
    steps:
-      - name: Configure Git Identity
+      - name: Configure Git
        run: |
          git config --global http.postBuffer 104857600
-
          git config --global user.name "James"
          git config --global user.email "91348155+FrogAi@users.noreply.github.com"
-
-      - name: Update Repository
-        run: |
          git remote set-url origin https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/FrogAi/FrogPilot.git

-          if [ "${{ github.event.inputs.update_translations }}" = "true" ]; then
-            git fetch origin ${{ needs.get_branch.outputs.branch }}
-            git reset --hard FETCH_HEAD
-          fi
-
-      - name: Take Ownership of Build
+      - name: Sync Translation Updates
+        if: inputs.update_translations
        run: |
-          sudo chown -R $(whoami):$(whoami) .
+          git fetch origin ${{ needs.get_branch.outputs.branch }}
+          git reset --hard FETCH_HEAD

-      - name: Finalize Build
+      - name: Take Ownership of Build Directory
+        run: sudo chown -R $(whoami):$(whoami) .
+
+      - name: Clean Build Artifacts
        run: |
          rm -f .clang-tidy
          rm -f .dockerignore
@@ -215,7 +205,6 @@ jobs:
          rm -rf teleoprtc_repo/

          find .github -mindepth 1 -maxdepth 1 ! -name 'workflows' -exec rm -rf {} +
-
          find .github/workflows -mindepth 1 ! \( \
            -type f \( \
              -name 'compile_frogpilot.yaml' -o \
@@ -233,8 +222,6 @@ jobs:
          find third_party/ -name '*x86*' -exec rm -rf {} +
          find third_party/ -name '*Darwin*' -exec rm -rf {} +

-          find tools/ -mindepth 1 -maxdepth 1 ! \( -name '__init__.py' -o -name 'bodyteleop' -o -name 'lib' -o -name 'scripts' \) -exec rm -rf {} +
-
          find . -name 'SConstruct' -delete
          find . -name 'SConscript' -delete

@@ -244,34 +231,32 @@ jobs:
          find . -type f -regex '.*matlab.*\.md' -delete

          touch prebuilt
+          [ "${{ inputs.not_vetted }}" = "true" ] && touch not_vetted || true

-          if [ "${{ github.event.inputs.not_vetted }}" = "true" ]; then
-            touch not_vetted
-          fi
-
-      - name: Add the update_date file
-        if: github.event.inputs.publish_staging == 'true'
+      - name: Add Update Date File
+        if: inputs.publish_staging
+        continue-on-error: true
        run: |
-          curl -fLsS https://raw.githubusercontent.com/FrogAi/FrogPilot/FrogPilot-Staging/.github/update_date -o .github/update_date || echo "No update_date found, skipping."
+          curl -fLsS https://raw.githubusercontent.com/FrogAi/FrogPilot/FrogPilot-Staging/.github/update_date -o .github/update_date || echo "No update_date found, skipping..."

-      - name: Commit Build
+      - name: Commit and Push Build
        run: |
          git add -f .
          git commit -m "Compile FrogPilot"
          git push --force origin HEAD

-          if [ "${{ github.event.inputs.publish_frogpilot }}" = "true" ]; then
-            git push --force origin HEAD:"FrogPilot"
+          if [ "${{ inputs.publish_frogpilot }}" = "true" ]; then
+            git push --force origin HEAD:FrogPilot
          fi

-          if [ "${{ github.event.inputs.publish_staging }}" = "true" ]; then
-            git push --force origin HEAD:"FrogPilot-Staging"
+          if [ "${{ inputs.publish_staging }}" = "true" ]; then
+            git push --force origin HEAD:FrogPilot-Staging
          fi

-          if [ "${{ github.event.inputs.publish_testing }}" = "true" ]; then
-            git push --force origin HEAD:"FrogPilot-Testing"
+          if [ "${{ inputs.publish_testing }}" = "true" ]; then
+            git push --force origin HEAD:FrogPilot-Testing
          fi

-          if [ -n "${{ github.event.inputs.publish_custom_branch }}" ]; then
-            git push --force origin HEAD:"${{ github.event.inputs.publish_custom_branch }}"
+          if [ -n "${{ inputs.publish_custom_branch }}" ]; then
+            git push --force origin HEAD:"${{ inputs.publish_custom_branch }}"
          fi
@@ -57,7 +57,7 @@ We have detailed instructions for [how to install the harness and device in a ca

 [![Ask DeepWiki](https://deepwiki.com/badge.svg)](https://deepwiki.com/FrogAi/FrogPilot)
 [![Discord](https://img.shields.io/discord/1137853399715549214?label=Discord)](https://discord.frogpilot.download)
-[![Last Updated](https://img.shields.io/badge/Last%20Updated-October%2018th%2C%202025-brightgreen)](https://github.com/FrogAi/FrogPilot/releases/latest)
+[![Last Updated](https://img.shields.io/badge/Last%20Updated-November%2015th%2C%202025-brightgreen)](https://github.com/FrogAi/FrogPilot/releases/latest)
 [![Wiki](https://img.shields.io/badge/Wiki-FrogPilot-blue?logo=wiki)](https://frogpilot.wiki.gg/)

 </div>
@@ -530,14 +530,14 @@ struct CarParams {

  struct LateralTorqueTuning {
    useSteeringAngle @0 :Bool;
+    kp @1 :Float32;
+    ki @2 :Float32;
+    kd @8 : Float32;
    friction @3 :Float32;
    steeringAngleDeadzoneDeg @5 :Float32;
    latAccelFactor @6 :Float32;
    latAccelOffset @7 :Float32;
-    kpDEPRECATED @1 :Float32;
-    kiDEPRECATED @2 :Float32;
    kfDEPRECATED @4 :Float32;
-    kdDEPRECATED @8 : Float32;
  }

  struct LongitudinalPIDTuning {
@@ -186,38 +186,39 @@ struct FrogPilotPlan @0xa1680744031fdb2d {
  cscControllingSpeed @2 :Bool;
  cscSpeed @3 :Float32;
  cscTraining @4 :Bool;
-  dangerJerk @5 :Float32;
-  desiredFollowDistance @6 :Int64;
-  experimentalMode @7 :Bool;
-  forcingStop @8 :Bool;
-  forcingStopLength @9 :Float32;
-  frogpilotEvents @10 :List(FrogPilotCarEvent);
-  increasedStoppedDistance @11 :Float32;
-  lateralCheck @12 :Bool;
-  laneWidthLeft @13 :Float32;
-  laneWidthRight @14 :Float32;
-  maxAcceleration @15 :Float32;
-  minAcceleration @16 :Float32;
-  redLight @17 :Bool;
-  roadCurvature @18 :Float32;
-  slcMapSpeedLimit @19 :Float32;
-  slcMapboxSpeedLimit @20 :Float32;
-  slcNextSpeedLimit @21 :Float32;
-  slcOverriddenSpeed @22 :Float32;
-  slcSpeedLimit @23 :Float32;
-  slcSpeedLimitOffset @24 :Float32;
-  slcSpeedLimitSource @25 :Text;
-  speedJerk @26 :Float32;
-  speedJerkStock @27 :Float32;
-  speedLimitChanged @28 :Bool;
-  tFollow @29 :Float32;
-  themeUpdated @30 :Bool;
-  togglesUpdated @31 :Bool;
-  trackingLead @32 :Bool;
-  unconfirmedSlcSpeedLimit @33 :Float32;
-  vCruise @34 :Float32;
-  weatherDaytime @35 :Bool;
-  weatherId @36 :Int16;
+  dangerFactor @5 :Float32;
+  dangerJerk @6 :Float32;
+  desiredFollowDistance @7 :Int64;
+  experimentalMode @8 :Bool;
+  forcingStop @9 :Bool;
+  forcingStopLength @10 :Float32;
+  frogpilotEvents @11 :List(FrogPilotCarEvent);
+  increasedStoppedDistance @12 :Float32;
+  lateralCheck @13 :Bool;
+  laneWidthLeft @14 :Float32;
+  laneWidthRight @15 :Float32;
+  maxAcceleration @16 :Float32;
+  minAcceleration @17 :Float32;
+  redLight @18 :Bool;
+  roadCurvature @19 :Float32;
+  slcMapSpeedLimit @20 :Float32;
+  slcMapboxSpeedLimit @21 :Float32;
+  slcNextSpeedLimit @22 :Float32;
+  slcOverriddenSpeed @23 :Float32;
+  slcSpeedLimit @24 :Float32;
+  slcSpeedLimitOffset @25 :Float32;
+  slcSpeedLimitSource @26 :Text;
+  speedJerk @27 :Float32;
+  speedJerkStock @28 :Float32;
+  speedLimitChanged @29 :Bool;
+  tFollow @30 :Float32;
+  themeUpdated @31 :Bool;
+  togglesUpdated @32 :Bool;
+  trackingLead @33 :Bool;
+  unconfirmedSlcSpeedLimit @34 :Float32;
+  vCruise @35 :Float32;
+  weatherDaytime @36 :Bool;
+  weatherId @37 :Int16;
 }

 struct FrogPilotRadarState @0xcb9fd56c7057593a {
@@ -22,7 +22,6 @@ from openpilot.selfdrive.car.mock.values import CAR as MOCK
 from openpilot.selfdrive.car.subaru.values import SubaruFlags
 from openpilot.selfdrive.car.toyota.values import ToyotaFlags, ToyotaFrogPilotFlags
 from openpilot.selfdrive.controls.lib.desire_helper import LANE_CHANGE_SPEED_MIN
-from openpilot.selfdrive.controls.lib.latcontrol_torque import KP
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.power_monitoring import VBATT_PAUSE_CHARGING
@@ -90,6 +89,26 @@ BUTTON_FUNCTIONS = {
  "TRAFFIC_MODE": 6
 }

+DEVELOPER_SIDEBAR_METRICS = {
+  "NONE": 0,
+  "ACCELERATION_CURRENT": 1,
+  "ACCELERATION_MAX": 2,
+  "AUTOTUNE_ACTUATOR_DELAY": 3,
+  "AUTOTUNE_FRICTION": 4,
+  "AUTOTUNE_LATERAL_ACCELERATION": 5,
+  "AUTOTUNE_STEER_RATIO": 6,
+  "AUTOTUNE_STIFFNESS_FACTOR": 7,
+  "ENGAGEMENT_LATERAL": 8,
+  "ENGAGEMENT_LONGITUDINAL": 9,
+  "LATERAL_STEERING_ANGLE": 10,
+  "LATERAL_TORQUE_USED": 11,
+  "LONGITUDINAL_ACTUATOR_ACCELERATION": 12,
+  "LONGITUDINAL_MPC_DANGER_FACTOR": 13,
+  "LONGITUDINAL_MPC_JERK_ACCELERATION": 14,
+  "LONGITUDINAL_MPC_JERK_DANGER_ZONE": 15,
+  "LONGITUDINAL_MPC_JERK_SPEED_CONTROL": 16
+}
+
 EXCLUDED_KEYS = {
  "AvailableModels", "AvailableModelNames", "CalibratedLateralAcceleration", "CalibrationProgress", "CarParamsPersistent",
  "CurvatureData", "ExperimentalLongitudinalEnabled", "KonikMinutes", "MapBoxRequests", "ModelDrivesAndScores", "ModelVersions",
@@ -608,7 +627,7 @@ class FrogPilotVariables:
    startAccel = CP.startAccel
    stopAccel = CP.stopAccel
    steerActuatorDelay = CP.steerActuatorDelay
-    steerKp = CP.lateralTuning.pid.kp if CP.lateralTuning.which() == "pid" else KP
+    steerKp = CP.lateralTuning.torque.kp
    steerRatio = CP.steerRatio
    toggle.stoppingDecelRate = CP.stoppingDecelRate
    taco_hacks_allowed = CP.safetyConfigs[0].safetyModel == SafetyModel.hyundaiCanfd
@@ -649,7 +668,7 @@ class FrogPilotVariables:
    toggle.steerRatio = np.clip(params.get_float("SteerRatio"), steerRatio * 0.5, steerRatio * 1.5) if advanced_lateral_tuning and tuning_level >= level["SteerRatio"] else steerRatio
    toggle.use_custom_steerRatio = bool(round(toggle.steerRatio, 2) != round(steerRatio, 2)) and not toggle.force_auto_tune or toggle.force_auto_tune_off

-    advanced_longitudinal_tuning = params.get_bool("AdvancedLongitudinalTune") if tuning_level >= level["AdvancedLongitudinalTune"] else default.get_bool("AdvancedLongitudinalTune")
+    advanced_longitudinal_tuning = toggle.openpilot_longitudinal and (params.get_bool("AdvancedLongitudinalTune") if tuning_level >= level["AdvancedLongitudinalTune"] else default.get_bool("AdvancedLongitudinalTune"))
    toggle.longitudinalActuatorDelay = np.clip(params.get_float("LongitudinalActuatorDelay"), 0, 1) if advanced_longitudinal_tuning and tuning_level >= level["LongitudinalActuatorDelay"] else longitudinalActuatorDelay
    toggle.max_desired_acceleration = np.clip(params.get_float("MaxDesiredAcceleration"), 0.1, 4.0) if advanced_longitudinal_tuning and tuning_level >= level["MaxDesiredAcceleration"] else default.get_float("MaxDesiredAcceleration")
    toggle.startAccel = np.clip(params.get_float("StartAccel"), 0, 4) if advanced_longitudinal_tuning and tuning_level >= level["StartAccel"] else startAccel
@@ -768,13 +787,13 @@ class FrogPilotVariables:
    toggle.storage_used_metrics = developer_metrics and (params.get_bool("ShowStorageUsed") if tuning_level >= level["ShowStorageUsed"] else default.get_bool("ShowStorageUsed")) and not toggle.debug_mode
    toggle.use_si_metrics = developer_metrics and (params.get_bool("UseSI") if tuning_level >= level["UseSI"] else default.get_bool("UseSI")) or toggle.debug_mode
    toggle.developer_sidebar = toggle.developer_ui and (params.get_bool("DeveloperSidebar") if tuning_level >= level["DeveloperSidebar"] else default.get_bool("DeveloperSidebar")) or toggle.debug_mode
-    toggle.developer_sidebar_metric1 = params.get_int("DeveloperSidebarMetric1") if toggle.developer_sidebar and tuning_level >= level["DeveloperSidebarMetric1"] else 1 if toggle.debug_mode else default.get_int("DeveloperSidebarMetric1")
-    toggle.developer_sidebar_metric2 = params.get_int("DeveloperSidebarMetric2") if toggle.developer_sidebar and tuning_level >= level["DeveloperSidebarMetric2"] else 3 if toggle.debug_mode else default.get_int("DeveloperSidebarMetric2")
-    toggle.developer_sidebar_metric3 = params.get_int("DeveloperSidebarMetric3") if toggle.developer_sidebar and tuning_level >= level["DeveloperSidebarMetric3"] else 4 if toggle.debug_mode else default.get_int("DeveloperSidebarMetric3")
-    toggle.developer_sidebar_metric4 = params.get_int("DeveloperSidebarMetric4") if toggle.developer_sidebar and tuning_level >= level["DeveloperSidebarMetric4"] else 5 if toggle.debug_mode else default.get_int("DeveloperSidebarMetric4")
-    toggle.developer_sidebar_metric5 = params.get_int("DeveloperSidebarMetric5") if toggle.developer_sidebar and tuning_level >= level["DeveloperSidebarMetric5"] else 6 if toggle.debug_mode else default.get_int("DeveloperSidebarMetric5")
-    toggle.developer_sidebar_metric6 = params.get_int("DeveloperSidebarMetric6") if toggle.developer_sidebar and tuning_level >= level["DeveloperSidebarMetric6"] else 7 if toggle.debug_mode else default.get_int("DeveloperSidebarMetric6")
-    toggle.developer_sidebar_metric7 = params.get_int("DeveloperSidebarMetric7") if toggle.developer_sidebar and tuning_level >= level["DeveloperSidebarMetric7"] else 11 if toggle.debug_mode else default.get_int("DeveloperSidebarMetric7")
+    toggle.developer_sidebar_metric1 = params.get_int("DeveloperSidebarMetric1") if toggle.developer_sidebar and tuning_level >= level["DeveloperSidebarMetric1"] else DEVELOPER_SIDEBAR_METRICS["ACCELERATION_CURRENT"] if toggle.debug_mode else default.get_int("DeveloperSidebarMetric1")
+    toggle.developer_sidebar_metric2 = params.get_int("DeveloperSidebarMetric2") if toggle.developer_sidebar and tuning_level >= level["DeveloperSidebarMetric2"] else DEVELOPER_SIDEBAR_METRICS["AUTOTUNE_ACTUATOR_DELAY"] if toggle.debug_mode else default.get_int("DeveloperSidebarMetric2")
+    toggle.developer_sidebar_metric3 = params.get_int("DeveloperSidebarMetric3") if toggle.developer_sidebar and tuning_level >= level["DeveloperSidebarMetric3"] else DEVELOPER_SIDEBAR_METRICS["AUTOTUNE_FRICTION"] if toggle.debug_mode else default.get_int("DeveloperSidebarMetric3")
+    toggle.developer_sidebar_metric4 = params.get_int("DeveloperSidebarMetric4") if toggle.developer_sidebar and tuning_level >= level["DeveloperSidebarMetric4"] else DEVELOPER_SIDEBAR_METRICS["AUTOTUNE_LATERAL_ACCELERATION"] if toggle.debug_mode else default.get_int("DeveloperSidebarMetric4")
+    toggle.developer_sidebar_metric5 = params.get_int("DeveloperSidebarMetric5") if toggle.developer_sidebar and tuning_level >= level["DeveloperSidebarMetric5"] else DEVELOPER_SIDEBAR_METRICS["AUTOTUNE_STEER_RATIO"] if toggle.debug_mode else default.get_int("DeveloperSidebarMetric5")
+    toggle.developer_sidebar_metric6 = params.get_int("DeveloperSidebarMetric6") if toggle.developer_sidebar and tuning_level >= level["DeveloperSidebarMetric6"] else DEVELOPER_SIDEBAR_METRICS["AUTOTUNE_STIFFNESS_FACTOR"] if toggle.debug_mode else default.get_int("DeveloperSidebarMetric6")
+    toggle.developer_sidebar_metric7 = params.get_int("DeveloperSidebarMetric7") if toggle.developer_sidebar and tuning_level >= level["DeveloperSidebarMetric7"] else DEVELOPER_SIDEBAR_METRICS["LATERAL_TORQUE_USED"] if toggle.debug_mode else default.get_int("DeveloperSidebarMetric7")
    developer_widgets = toggle.developer_ui and params.get_bool("DeveloperWidgets") if tuning_level >= level["DeveloperWidgets"] else default.get_bool("DeveloperWidgets")
    toggle.adjacent_lead_tracking = has_radar and ((developer_widgets and params.get_bool("AdjacentLeadsUI") if tuning_level >= level["AdjacentLeadsUI"] else default.get_bool("AdjacentLeadsUI")) or toggle.debug_mode)
    toggle.radar_tracks = has_radar and ((developer_widgets and params.get_bool("RadarTracksUI") if tuning_level >= level["RadarTracksUI"] else default.get_bool("RadarTracksUI")) or toggle.debug_mode)
@@ -832,9 +851,9 @@ class FrogPilotVariables:
    toggle.holiday_themes = params.get_bool("HolidayThemes") if tuning_level >= level["HolidayThemes"] else default.get_bool("HolidayThemes")
    toggle.current_holiday_theme = holiday_theme if toggle.holiday_themes else "stock"

-    toggle.honda_alt_Tune = toggle.car_make == "honda" and honda_nidec and (params.get_bool("HondaAltTune") if tuning_level >= level["HondaAltTune"] else default.get_bool("HondaAltTune"))
-    toggle.honda_low_speed_pedal = toggle.car_make == "honda" and toggle.has_pedal and (params.get_bool("HondaLowSpeedPedal") if tuning_level >= level["HondaLowSpeedPedal"] else default.get_bool("HondaLowSpeedPedal"))
-    toggle.honda_nidec_max_brake = toggle.car_make == "honda" and honda_nidec and (params.get_bool("HondaMaxBrake") if tuning_level >= level["HondaMaxBrake"] else default.get_bool("HondaMaxBrake"))
+    toggle.honda_alt_Tune = toggle.openpilot_longitudinal and toggle.car_make == "honda" and honda_nidec and (params.get_bool("HondaAltTune") if tuning_level >= level["HondaAltTune"] else default.get_bool("HondaAltTune"))
+    toggle.honda_low_speed_pedal = toggle.openpilot_longitudinal and toggle.car_make == "honda" and toggle.has_pedal and (params.get_bool("HondaLowSpeedPedal") if tuning_level >= level["HondaLowSpeedPedal"] else default.get_bool("HondaLowSpeedPedal"))
+    toggle.honda_nidec_max_brake = toggle.openpilot_longitudinal and toggle.car_make == "honda" and honda_nidec and (params.get_bool("HondaMaxBrake") if tuning_level >= level["HondaMaxBrake"] else default.get_bool("HondaMaxBrake"))

    toggle.lane_changes = params.get_bool("LaneChanges") if tuning_level >= level["LaneChanges"] else default.get_bool("LaneChanges")
    toggle.lane_change_delay = params.get_float("LaneChangeTime") if toggle.lane_changes and tuning_level >= level["LaneChangeTime"] else default.get_float("LaneChangeTime")
@@ -934,7 +953,7 @@ class FrogPilotVariables:
    toggle.pause_lateral_below_speed = params.get_int("PauseLateralSpeed") * speed_conversion if quality_of_life_lateral and tuning_level >= level["PauseLateralSpeed"] else default.get_int("PauseLateralSpeed") * CV.MPH_TO_MS
    toggle.pause_lateral_below_signal = toggle.pause_lateral_below_speed != 0 and (params.get_bool("PauseLateralOnSignal") if tuning_level >= level["PauseLateralOnSignal"] else default.get_bool("PauseLateralOnSignal"))

-    quality_of_life_longitudinal = params.get_bool("QOLLongitudinal") if tuning_level >= level["QOLLongitudinal"] else default.get_bool("QOLLongitudinal")
+    quality_of_life_longitudinal = toggle.openpilot_longitudinal and (params.get_bool("QOLLongitudinal") if tuning_level >= level["QOLLongitudinal"] else default.get_bool("QOLLongitudinal"))
    toggle.cruise_increase = params.get_int("CustomCruise") if quality_of_life_longitudinal and not pcm_cruise and tuning_level >= level["CustomCruise"] else default.get_int("CustomCruise")
    toggle.cruise_increase_long = params.get_int("CustomCruiseLong") if quality_of_life_longitudinal and not pcm_cruise and tuning_level >= level["CustomCruiseLong"] else default.get_int("CustomCruiseLong")
    toggle.force_stops = quality_of_life_longitudinal and (params.get_bool("ForceStops") if tuning_level >= level["ForceStops"] else default.get_bool("ForceStops"))
@@ -36,7 +36,7 @@ class FrogPilotCard:
    self.gap_counter = 0

  def update_distance_button(self, sm):
-    if self.car.frogpilot_toggles.experimental_mode_via_distance and sm["carControl"].longActive:
+    if sm["carControl"].longActive and self.car.frogpilot_toggles.experimental_mode_via_distance:
      handle_experimental_mode(self.car.frogpilot_toggles.conditional_experimental_mode)
    elif self.car.frogpilot_toggles.force_coast_via_distance:
      self.force_coast = not self.force_coast
@@ -44,11 +44,11 @@ class FrogPilotCard:
      self.pause_lateral = not self.pause_lateral
    elif self.car.frogpilot_toggles.pause_longitudinal_via_distance:
      self.pause_longitudinal = not self.pause_longitudinal
-    elif self.car.frogpilot_toggles.traffic_mode_via_distance and sm["carControl"].longActive:
+    elif sm["carControl"].longActive and self.car.frogpilot_toggles.traffic_mode_via_distance:
      self.traffic_mode_enabled = not self.traffic_mode_enabled

  def update_distance_button_long(self, sm):
-    if self.car.frogpilot_toggles.experimental_mode_via_distance_long and sm["carControl"].longActive:
+    if sm["carControl"].longActive and self.car.frogpilot_toggles.experimental_mode_via_distance_long:
      handle_experimental_mode(self.car.frogpilot_toggles.conditional_experimental_mode)
    elif self.car.frogpilot_toggles.force_coast_via_distance_long:
      self.force_coast = not self.force_coast
@@ -56,13 +56,13 @@ class FrogPilotCard:
      self.pause_lateral = not self.pause_lateral
    elif self.car.frogpilot_toggles.pause_longitudinal_via_distance_long:
      self.pause_longitudinal = not self.pause_longitudinal
-    elif self.car.frogpilot_toggles.traffic_mode_via_distance_long and sm["carControl"].longActive:
+    elif sm["carControl"].longActive and self.car.frogpilot_toggles.traffic_mode_via_distance_long:
      self.traffic_mode_enabled = not self.traffic_mode_enabled

  def update_distance_button_very_long(self, sm):
    self.update_distance_button_long(sm)

-    if self.car.frogpilot_toggles.experimental_mode_via_distance_very_long and sm["carControl"].longActive:
+    if sm["carControl"].longActive and self.car.frogpilot_toggles.experimental_mode_via_distance_very_long:
      handle_experimental_mode(self.car.frogpilot_toggles.conditional_experimental_mode)
    elif self.car.frogpilot_toggles.force_coast_via_distance_very_long:
      self.force_coast = not self.force_coast
@@ -70,11 +70,11 @@ class FrogPilotCard:
      self.pause_lateral = not self.pause_lateral
    elif self.car.frogpilot_toggles.pause_longitudinal_via_distance_very_long:
      self.pause_longitudinal = not self.pause_longitudinal
-    elif self.car.frogpilot_toggles.traffic_mode_via_distance_very_long and sm["carControl"].longActive:
+    elif sm["carControl"].longActive and self.car.frogpilot_toggles.traffic_mode_via_distance_very_long:
      self.traffic_mode_enabled = not self.traffic_mode_enabled

  def update_lkas_button(self, sm):
-    if self.car.frogpilot_toggles.experimental_mode_via_lkas and sm["carControl"].longActive:
+    if sm["carControl"].longActive and self.car.frogpilot_toggles.experimental_mode_via_lkas:
      handle_experimental_mode(self.car.frogpilot_toggles.conditional_experimental_mode)
    elif self.car.frogpilot_toggles.force_coast_via_lkas:
      self.force_coast = not self.force_coast
@@ -82,7 +82,7 @@ class FrogPilotCard:
      self.pause_lateral = not self.pause_lateral
    elif self.car.frogpilot_toggles.pause_longitudinal_via_lkas:
      self.pause_longitudinal = not self.pause_longitudinal
-    elif self.car.frogpilot_toggles.traffic_mode_via_lkas and sm["carControl"].longActive:
+    elif sm["carControl"].longActive and self.car.frogpilot_toggles.traffic_mode_via_lkas:
      self.traffic_mode_enabled = not self.traffic_mode_enabled

  def update(self, carState, frogpilotCarState, sm):
@@ -4,7 +4,7 @@ import math

 import cereal.messaging as messaging

-from cereal import car, log
+from cereal import log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
@@ -29,9 +29,6 @@ class FrogPilotPlanner:
    self.frogpilot_vcruise = FrogPilotVCruise(self)
    self.frogpilot_weather = WeatherChecker()

-    with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
-      self.CP = msg
-
    self.tracking_lead_filter = FirstOrderFilter(0, 0.5, DT_MDL)

    self.driving_in_curve = False
@@ -87,8 +84,6 @@ class FrogPilotPlanner:

      params_memory.remove("LastGPSPosition")

-    self.lateral_acceleration = v_ego**2 * (sm["carState"].steeringAngleDeg - sm["liveParameters"].angleOffsetDeg) * CV.DEG_TO_RAD / (self.CP.steerRatio * self.CP.wheelbase)
-
    check_lane_width = frogpilot_toggles.adjacent_paths or frogpilot_toggles.adjacent_path_metrics or frogpilot_toggles.blind_spot_path or frogpilot_toggles.lane_detection
    if check_lane_width and v_ego >= frogpilot_toggles.minimum_lane_change_speed:
      self.lane_width_left = calculate_lane_width(sm["modelV2"].laneLines[0], sm["modelV2"].laneLines[1], sm["modelV2"].roadEdges[0])
@@ -97,6 +92,8 @@ class FrogPilotPlanner:
      self.lane_width_left = 0
      self.lane_width_right = 0

+    self.lateral_acceleration = v_ego**2 * sm["controlsState"].curvature
+
    self.lateral_check = v_ego >= frogpilot_toggles.pause_lateral_below_speed
    self.lateral_check |= not (sm["carState"].leftBlinker or sm["carState"].rightBlinker) and frogpilot_toggles.pause_lateral_below_signal
    self.lateral_check |= sm["carState"].standstill
@@ -134,6 +131,7 @@ class FrogPilotPlanner:

    frogpilotPlan.accelerationJerk = A_CHANGE_COST * self.frogpilot_following.acceleration_jerk
    frogpilotPlan.accelerationJerkStock = A_CHANGE_COST * self.frogpilot_following.base_acceleration_jerk
+    frogpilotPlan.dangerFactor = self.frogpilot_following.danger_factor
    frogpilotPlan.dangerJerk = DANGER_ZONE_COST * self.frogpilot_following.danger_jerk
    frogpilotPlan.speedJerk = J_EGO_COST * self.frogpilot_following.speed_jerk
    frogpilotPlan.speedJerkStock = J_EGO_COST * self.frogpilot_following.base_speed_jerk
@@ -22,7 +22,7 @@ class ConditionalExperimentalMode:
    else:
      self.status_value = 0

-    if self.status_value not in {1, 2} and not sm["carState"].standstill:
+    if self.status_value not in (1, 2) and not sm["carState"].standstill:
      self.update_conditions(v_ego, sm, frogpilot_toggles)

      self.experimental_mode = self.check_conditions(v_ego, sm, frogpilot_toggles)
@@ -30,12 +30,12 @@ class ConditionalExperimentalMode:
      params_memory.put_int("CEStatus", self.status_value if self.experimental_mode else 0)
    else:
      self.experimental_mode = self.status_value == 2 or sm["carState"].standstill and self.experimental_mode and self.frogpilot_planner.model_stopped
-      self.stop_light_detected &= self.status_value not in {1, 2}
+      self.stop_light_detected &= self.status_value not in (1, 2)
      self.stop_light_filter.x = 0

  def check_conditions(self, v_ego, sm, frogpilot_toggles):
-    below_speed = frogpilot_toggles.conditional_limit > v_ego >= 1 and not self.frogpilot_planner.frogpilot_following.following_lead
-    below_speed_with_lead = frogpilot_toggles.conditional_limit_lead > v_ego >= 1 and self.frogpilot_planner.frogpilot_following.following_lead
+    below_speed = not self.frogpilot_planner.frogpilot_following.following_lead and 1 <= v_ego < frogpilot_toggles.conditional_limit
+    below_speed_with_lead = self.frogpilot_planner.frogpilot_following.following_lead and 1 <= v_ego < frogpilot_toggles.conditional_limit_lead
    if below_speed or below_speed_with_lead:
      self.status_value = 3 if self.frogpilot_planner.frogpilot_following.following_lead else 4
      return True
@@ -47,19 +47,19 @@ class ConditionalExperimentalMode:
      return True

    approaching_maneuver = sm["frogpilotNavigation"].approachingIntersection or sm["frogpilotNavigation"].approachingTurn
-    if frogpilot_toggles.conditional_navigation and approaching_maneuver and (frogpilot_toggles.conditional_navigation_lead or not self.frogpilot_planner.frogpilot_following.following_lead):
+    if approaching_maneuver and (not self.frogpilot_planner.frogpilot_following.following_lead or frogpilot_toggles.conditional_navigation_lead) and frogpilot_toggles.conditional_navigation:
      self.status_value = 6 if sm["frogpilotNavigation"].approachingIntersection else 7
      return True

-    if frogpilot_toggles.conditional_curves and self.curve_detected and (frogpilot_toggles.conditional_curves_lead or not self.frogpilot_planner.frogpilot_following.following_lead):
+    if self.curve_detected and (not self.frogpilot_planner.frogpilot_following.following_lead or frogpilot_toggles.conditional_curves_lead) and frogpilot_toggles.conditional_curves:
      self.status_value = 8
      return True

-    if frogpilot_toggles.conditional_lead and self.slow_lead_detected:
+    if self.slow_lead_detected and frogpilot_toggles.conditional_lead:
      self.status_value = 9 if self.frogpilot_planner.lead_one.vLead < 1 else 10
      return True

-    if frogpilot_toggles.conditional_model_stop_time != 0 and self.stop_light_detected:
+    if self.stop_light_detected and frogpilot_toggles.conditional_model_stop_time != 0:
      self.status_value = 11 if not self.frogpilot_planner.frogpilot_vcruise.forcing_stop else 12
      return True

@@ -71,17 +71,17 @@ class ConditionalExperimentalMode:

  def update_conditions(self, v_ego, sm, frogpilot_toggles):
    self.curve_detection(v_ego, frogpilot_toggles)
-    self.slow_lead(frogpilot_toggles)
+    self.slow_lead(v_ego, frogpilot_toggles)
    self.stop_sign_and_light(v_ego, sm, frogpilot_toggles.conditional_model_stop_time)

  def curve_detection(self, v_ego, frogpilot_toggles):
    self.curvature_filter.update(self.frogpilot_planner.road_curvature_detected or self.frogpilot_planner.driving_in_curve)
    self.curve_detected = self.curvature_filter.x >= THRESHOLD and v_ego > CRUISING_SPEED

-  def slow_lead(self, frogpilot_toggles):
+  def slow_lead(self, v_ego, frogpilot_toggles):
    if self.frogpilot_planner.tracking_lead:
-      slower_lead = frogpilot_toggles.conditional_slower_lead and self.frogpilot_planner.frogpilot_following.slower_lead
-      stopped_lead = frogpilot_toggles.conditional_stopped_lead and self.frogpilot_planner.lead_one.vLead < 1
+      slower_lead = (v_ego - self.frogpilot_planner.lead_one.vLead) > CRUISING_SPEED and frogpilot_toggles.conditional_slower_lead
+      stopped_lead = self.frogpilot_planner.lead_one.vLead < 1 and frogpilot_toggles.conditional_stopped_lead

      self.slow_lead_filter.update(slower_lead or stopped_lead)
      self.slow_lead_detected = self.slow_lead_filter.x >= THRESHOLD
@@ -42,7 +42,7 @@ class FrogPilotAcceleration:

    if sm["frogpilotCarState"].trafficModeEnabled:
      self.max_accel = get_max_accel(v_ego)
-    elif frogpilot_toggles.map_acceleration and (eco_gear or sport_gear):
+    elif (eco_gear or sport_gear) and frogpilot_toggles.map_acceleration:
      if eco_gear:
        self.max_accel = get_max_accel_eco(v_ego)
      else:
@@ -71,7 +71,7 @@ class FrogPilotAcceleration:
      self.min_accel = ACCEL_MIN
    elif sm["frogpilotCarState"].forceCoast:
      self.min_accel = A_CRUISE_MIN_ECO
-    elif frogpilot_toggles.map_deceleration and (eco_gear or sport_gear):
+    elif (eco_gear or sport_gear) and frogpilot_toggles.map_deceleration:
      if eco_gear:
        self.min_accel = A_CRUISE_MIN_ECO
      else:
@@ -4,7 +4,7 @@ import random
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.controls.lib.desire_helper import TurnDirection
-from openpilot.selfdrive.controls.lib.events import ET, EventName, FrogPilotEventName, Events
+from openpilot.selfdrive.controls.lib.events import ET, EVENT_NAME, FROGPILOT_EVENT_NAME, EventName, FrogPilotEventName, Events
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY

 from openpilot.frogpilot.common.frogpilot_variables import CRUISING_SPEED, NON_DRIVING_GEARS, params, params_memory
@@ -34,8 +34,8 @@ class FrogPilotEvents:
    self.played_events = set()

  def update(self, v_cruise, sm, frogpilot_toggles):
-    self.event_names = {event.name for event in sm["onroadEvents"]}
-    self.frogpilot_event_names = {event.name for event in sm["frogpilotOnroadEvents"]}
+    current_alert = sm["controlsState"].alertType
+    current_frogpilot_alert = sm["frogpilotControlsState"].alertType

    alerts_empty = all(sm[state].alertText1 == "" and sm[state].alertText2 == "" for state in ["controlsState", "frogpilotControlsState"])

@@ -75,7 +75,7 @@ class FrogPilotEvents:
    else:
      self.stopped_for_light = False

-    if "holidayActive" not in self.played_events and self.startup_seen and alerts_empty and frogpilot_toggles.current_holiday_theme != "stock" and len(self.events) == 0:
+    if "holidayActive" not in self.played_events and self.startup_seen and alerts_empty and len(self.events) == 0 and frogpilot_toggles.current_holiday_theme != "stock":
      self.events.add(FrogPilotEventName.holidayActive)

      self.played_events.add("holidayActive")
@@ -135,13 +135,13 @@ class FrogPilotEvents:
          self.random_event_playing = True
          self.played_events.add("dejaVuCurve")

-      if "hal9000" not in self.played_events and (sm["controlsState"].alertType == ET.NO_ENTRY or sm["frogpilotControlsState"].alertType == ET.NO_ENTRY):
+      if "hal9000" not in self.played_events and (ET.NO_ENTRY in current_alert or ET.NO_ENTRY in current_frogpilot_alert):
        self.events.add(FrogPilotEventName.hal9000)

        self.random_event_playing = True
        self.played_events.add("hal9000")

-      if (EventName.steerSaturated in self.event_names or FrogPilotEventName.goatSteerSaturated in self.frogpilot_event_names):
+      if f"{EVENT_NAME[EventName.steerSaturated]}/" in current_alert or f"{FROGPILOT_EVENT_NAME[FrogPilotEventName.goatSteerSaturated]}/" in current_frogpilot_alert:
        event_choices = []
        if "firefoxSteerSaturated" not in self.played_events:
          event_choices.append("firefoxSteerSaturated")
@@ -178,21 +178,22 @@ class FrogPilotEvents:
        self.random_event_playing = True
        self.played_events.add("vCruise69")

-      if (EventName.fcw in self.event_names or EventName.stockAeb in self.event_names):
+      if f"{EVENT_NAME[EventName.fcw]}/" in current_alert or f"{EVENT_NAME[EventName.stockAeb]}/" in current_alert:
        event_choices = []
        if "toBeContinued" not in self.played_events:
          event_choices.append("toBeContinued")
        if "yourFrogTriedToKillMe" not in self.played_events:
          event_choices.append("yourFrogTriedToKillMe")

-        event_choice = random.choice(event_choices)
-        if event_choice == "toBeContinued":
-          self.events.add(FrogPilotEventName.toBeContinued)
-        elif event_choice == "yourFrogTriedToKillMe":
-          self.events.add(FrogPilotEventName.yourFrogTriedToKillMe)
+        if event_choices:
+          event_choice = random.choice(event_choices)
+          if event_choice == "toBeContinued":
+            self.events.add(FrogPilotEventName.toBeContinued)
+          elif event_choice == "yourFrogTriedToKillMe":
+            self.events.add(FrogPilotEventName.yourFrogTriedToKillMe)

-        self.random_event_playing = True
-        self.played_events.add(event_choice)
+          self.random_event_playing = True
+          self.played_events.add(event_choice)

      if "youveGotMail" not in self.played_events and sm["frogpilotCarState"].alwaysOnLateralEnabled and not self.always_on_lateral_enabled_previously:
        if random.random() < RANDOM_EVENTS_CHANCE:
@@ -203,7 +204,7 @@ class FrogPilotEvents:

      self.always_on_lateral_enabled_previously = sm["frogpilotCarState"].alwaysOnLateralEnabled

-    if frogpilot_toggles.speed_limit_changed_alert and self.frogpilot_planner.frogpilot_vcruise.slc.speed_limit_changed_timer == DT_MDL:
+    if self.frogpilot_planner.frogpilot_vcruise.slc.speed_limit_changed_timer == DT_MDL and frogpilot_toggles.speed_limit_changed_alert:
      self.events.add(FrogPilotEventName.speedLimitChanged)

    self.startup_seen |= sm["frogpilotControlsState"].alertText1 == frogpilot_toggles.startup_alert_top and sm["frogpilotControlsState"].alertText2 == frogpilot_toggles.startup_alert_bottom
@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 import numpy as np

-from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import COMFORT_BRAKE, STOP_DISTANCE, desired_follow_distance, get_jerk_factor, get_T_FOLLOW
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import COMFORT_BRAKE, LEAD_DANGER_FACTOR, STOP_DISTANCE, desired_follow_distance, get_jerk_factor, get_T_FOLLOW

-from openpilot.frogpilot.common.frogpilot_variables import CITY_SPEED_LIMIT, MAX_T_FOLLOW
+from openpilot.frogpilot.common.frogpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED, MAX_T_FOLLOW

 TRAFFIC_MODE_BP = [0., CITY_SPEED_LIMIT]

@@ -12,7 +12,6 @@ class FrogPilotFollowing:
    self.frogpilot_planner = FrogPilotPlanner

    self.following_lead = False
-    self.slower_lead = False

    self.acceleration_jerk = 0
    self.danger_jerk = 0
@@ -60,6 +59,7 @@ class FrogPilotFollowing:
      self.t_follow = 0

    self.acceleration_jerk = self.base_acceleration_jerk
+    self.danger_factor = LEAD_DANGER_FACTOR
    self.danger_jerk = self.base_danger_jerk
    self.speed_jerk = self.base_speed_jerk

@@ -69,7 +69,7 @@ class FrogPilotFollowing:
      self.t_follow = min(self.t_follow + self.frogpilot_planner.frogpilot_weather.increase_following_distance, MAX_T_FOLLOW)

    if sm["controlsState"].enabled and self.frogpilot_planner.tracking_lead:
-      if not sm["frogpilotCarState"].trafficModeEnabled:
+      if not sm["frogpilotCarState"].trafficModeEnabled and frogpilot_toggles.human_following:
        self.update_follow_values(self.frogpilot_planner.lead_one.dRel, v_ego, self.frogpilot_planner.lead_one.vLead, frogpilot_toggles)
      self.desired_follow_distance = int(desired_follow_distance(v_ego, self.frogpilot_planner.lead_one.vLead, self.t_follow))
    else:
@@ -77,7 +77,7 @@ class FrogPilotFollowing:

  def update_follow_values(self, lead_distance, v_ego, v_lead, frogpilot_toggles):
    # Offset by FrogAi for FrogPilot for a more natural approach to a faster lead
-    if frogpilot_toggles.human_following and v_lead > v_ego:
+    if v_lead > v_ego:
      distance_factor = max(lead_distance - (v_ego * self.t_follow), 1)
      accelerating_offset = float(np.clip(STOP_DISTANCE - v_ego, 1, distance_factor))

@@ -86,14 +86,14 @@ class FrogPilotFollowing:
      self.t_follow /= accelerating_offset

    # Offset by FrogAi for FrogPilot for a more natural approach to a slower lead
-    if (frogpilot_toggles.conditional_slower_lead or frogpilot_toggles.human_following) and v_lead < v_ego:
+    if v_lead < v_ego:
      distance_factor = max(lead_distance - (v_lead * self.t_follow), 1)
      braking_offset = float(np.clip(min(v_ego - v_lead, v_lead) - COMFORT_BRAKE, 1, distance_factor))

-      if frogpilot_toggles.human_following:
-        if not self.following_lead and v_lead > CITY_SPEED_LIMIT:
-          far_lead_offset = max(lead_distance - (v_ego * self.t_follow) - STOP_DISTANCE, 0)
-        else:
-          far_lead_offset = 0
-        self.t_follow /= braking_offset + far_lead_offset
-      self.slower_lead = braking_offset > 1
+      self.danger_factor += (braking_offset / 100)
+
+      if lead_distance >= 100:
+        far_lead_offset = max(lead_distance - (v_ego * self.t_follow) - STOP_DISTANCE, 0)
+        braking_offset += far_lead_offset
+
+      self.t_follow /= braking_offset
@@ -14,7 +14,6 @@ from openpilot.common.numpy_fast import interp
 from openpilot.common.params import Params
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
-from openpilot.selfdrive.controls.lib.latcontrol_torque import KD, KI, KP
 from openpilot.selfdrive.controls.lib.pid import PIDController
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.modeld.constants import ModelConstants
@@ -175,7 +174,7 @@ class LatControlNNFF(LatControl):
    self.nnff_loaded = self.lat_torque_nn_model is not None

    self.torque_params = CP.lateralTuning.torque
-    self.pid = PIDController(KP, KI, k_d=KD,
+    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
                             pos_limit=self.steer_max, neg_limit=-self.steer_max)
    self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
    self.use_steering_angle = self.torque_params.useSteeringAngle
@@ -51,7 +51,7 @@ class SpeedLimitController:

  @property
  def experimental_mode(self):
-    return self.frogpilot_toggles.slc_fallback_experimental_mode and self.target == 0
+    return self.target == 0 and self.frogpilot_toggles.slc_fallback_experimental_mode

  @property
  def offset(self):
@@ -42,6 +42,8 @@ class WeatherChecker:
  def __init__(self):
    self.is_daytime = False

+    self.api_25_calls = 0
+    self.api_3_calls = 0
    self.increase_following_distance = 0
    self.increase_stopped_distance = 0
    self.reduce_acceleration = 0
@@ -147,10 +149,12 @@ class WeatherChecker:

      for attempt in range(1, MAX_RETRIES + 1):
        try:
+          self.api_3_calls += 1
          response = self.session.get("https://api.openweathermap.org/data/3.0/onecall", params=params, timeout=10)
          if response.status_code == 429:
            fallback_params = params.copy()
            fallback_params.pop("exclude", None)
+            self.api_25_calls += 1
            fallback_response = self.session.get("https://api.openweathermap.org/data/2.5/weather", params=fallback_params, timeout=10)
            fallback_response.raise_for_status()
            return fallback_response.json()
@@ -14,8 +14,8 @@ from openpilot.frogpilot.common.frogpilot_functions import backup_toggles
 from openpilot.frogpilot.common.frogpilot_utilities import capture_report, flash_panda, is_url_pingable, lock_doors, run_thread_with_lock, update_maps, update_openpilot
 from openpilot.frogpilot.common.frogpilot_variables import ERROR_LOGS_PATH, FrogPilotVariables, get_frogpilot_toggles, params, params_cache, params_memory
 from openpilot.frogpilot.controls.frogpilot_planner import FrogPilotPlanner
-from openpilot.frogpilot.controls.lib.frogpilot_tracking import FrogPilotTracking
 from openpilot.frogpilot.system.frogpilot_stats import send_stats
+from openpilot.frogpilot.system.frogpilot_tracking import FrogPilotTracking

 ASSET_CHECK_RATE = (1 / DT_MDL)

@@ -1,14 +1,17 @@
 #!/usr/bin/env python3
 import json

+from cereal import log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.controls.controlsd import ACTIVE_STATES, EventName, FrogPilotEventName, State
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
+from openpilot.selfdrive.controls.lib.events import EVENT_NAME
 from openpilot.selfdrive.ui.soundd import FrogPilotAudibleAlert

 from openpilot.frogpilot.common.frogpilot_utilities import clean_model_name
 from openpilot.frogpilot.common.frogpilot_variables import params
+from openpilot.frogpilot.controls.lib.weather_checker import WEATHER_CATEGORIES

 RANDOM_EVENTS = {
  FrogPilotEventName.accel30: "accel30",
@@ -28,6 +31,7 @@ RANDOM_EVENTS = {
 class FrogPilotTracking:
  def __init__(self, frogpilot_planner, frogpilot_toggles):
    self.frogpilot_events = frogpilot_planner.frogpilot_events
+    self.frogpilot_weather = frogpilot_planner.frogpilot_weather

    self.frogpilot_stats = json.loads(params.get("FrogPilotStats") or "{}")
    self.frogpilot_stats.setdefault("AOLTime", self.frogpilot_stats.get("TotalAOLTime", 0))
@@ -35,7 +39,14 @@ class FrogPilotTracking:
    self.frogpilot_stats.setdefault("LongitudinalTime", self.frogpilot_stats.get("TotalLongitudinalTime", 0))
    self.frogpilot_stats.setdefault("TrackedTime", self.frogpilot_stats.get("TotalTrackedTime", 0))

-    self.frogpilot_stats = {key: value for key, value in self.frogpilot_stats.items() if not key.startswith("Total")}
+    self.frogpilot_stats = {
+      key: (
+        {sub_key: sub_value for sub_key, sub_value in value.items() if sub_key.lower() != "unknown"}
+        if isinstance(value, dict) else value
+      )
+      for key, value in self.frogpilot_stats.items()
+      if not key.startswith("Total") and key.lower() != "unknown"
+    }

    if "ResetStats" not in self.frogpilot_stats:
      self.frogpilot_stats["Disengages"] = 0
@@ -53,9 +64,11 @@ class FrogPilotTracking:
    self.distance_since_override = 0
    self.tracked_time = 0

-    self.previous_events = set()
    self.previous_random_events = set()

+    self.personality_map = {key: key.capitalize() for key in log.LongitudinalPersonality.schema.enumerants.keys()}
+
+    self.previous_alert_type = ""
    self.previous_state = State.disabled
    self.sound = FrogPilotAudibleAlert.none

@@ -91,6 +104,11 @@ class FrogPilotTracking:
      self.frogpilot_stats["LateralTime"] = self.frogpilot_stats.get("LateralTime", 0) + DT_MDL
    if sm["carControl"].longActive:
      self.frogpilot_stats["LongitudinalTime"] = self.frogpilot_stats.get("LongitudinalTime", 0) + DT_MDL
+
+      personality_name = self.personality_map.get(str(sm["controlsState"].personality), "Unknown")
+      total_personality_times = self.frogpilot_stats.get("PersonalityTimes", {})
+      total_personality_times[personality_name] = total_personality_times.get(personality_name, 0) + DT_MDL
+      self.frogpilot_stats["PersonalityTimes"] = total_personality_times
    elif sm["frogpilotCarState"].alwaysOnLateralEnabled:
      self.frogpilot_stats["AOLTime"] = self.frogpilot_stats.get("AOLTime", 0) + DT_MDL

@@ -125,15 +143,13 @@ class FrogPilotTracking:

      self.previous_state = sm["controlsState"].state

-    current_events = {event for event in self.frogpilot_events.event_names}
-    if len(current_events) > 0:
-      new_events = current_events - self.previous_events
+    if sm["controlsState"].alertType not in (self.previous_alert_type, ""):
+      alert_name = sm["controlsState"].alertType.split('/')[0]
+      total_events = self.frogpilot_stats.get("TotalEvents", {})
+      total_events[alert_name] = total_events.get(alert_name, 0) + 1
+      self.frogpilot_stats["TotalEvents"] = total_events

-      if new_events:
-        if (EventName.fcw in self.frogpilot_events.event_names or EventName.stockAeb in self.frogpilot_events.event_names):
-          self.frogpilot_stats["AEBEvents"] = self.frogpilot_stats.get("AEBEvents", 0) + 1
-
-    self.previous_events = current_events
+    self.previous_alert_type = sm["controlsState"].alertType

    current_random_events = {event for event in self.frogpilot_events.events.names if event in RANDOM_EVENTS}
    if len(current_random_events) > 0:
@@ -148,6 +164,30 @@ class FrogPilotTracking:

    self.previous_random_events = current_random_events

+    if self.frogpilot_weather.sunrise != 0 and self.frogpilot_weather.sunset != 0:
+      if self.frogpilot_weather.is_daytime:
+        self.frogpilot_stats["DayTime"] = self.frogpilot_stats.get("DayTime", 0) + DT_MDL
+      else:
+        self.frogpilot_stats["NightTime"] = self.frogpilot_stats.get("NightTime", 0) + DT_MDL
+
+    weather_api_calls = self.frogpilot_stats.get("WeatherAPICalls", {})
+    weather_api_calls["2.5"] = weather_api_calls.get("2.5", 0) + self.frogpilot_weather.api_25_calls
+    weather_api_calls["3.0"] = weather_api_calls.get("3.0", 0) + self.frogpilot_weather.api_3_calls
+    self.frogpilot_stats["WeatherAPICalls"] = weather_api_calls
+
+    self.frogpilot_weather.api_25_calls = 0
+    self.frogpilot_weather.api_3_calls = 0
+
+    suffix = "Unknown"
+    for category in WEATHER_CATEGORIES.values():
+      if any(start <= self.frogpilot_weather.weather_id <= end for start, end in category["ranges"]):
+        suffix = category["suffix"]
+        break
+
+    weather_times = self.frogpilot_stats.get("WeatherTimes", {})
+    weather_times[suffix] = weather_times.get(suffix, 0) + DT_MDL
+    self.frogpilot_stats["WeatherTimes"] = weather_times
+
    if self.tracked_time > 60 and sm["carState"].standstill and self.enabled:
      if time_validated:
        current_month = now.month
@@ -660,15 +660,19 @@ void FrogPilotDataPanel::updateStatsLabels(FrogPilotListWidget *labelsList) {
    {"Month", {tr("Month"), "other"}},
    {"Overrides", {tr("Total Overrides"), "count"}},
    {"OverrideTime", {tr("Time Overriding openpilot"), "time"}},
+    {"PersonalityTimes", {tr("Driving Personalities:"), "other"}},
    {"RandomEvents", {tr("Random Events:"), "other"}},
    {"StandstillTime", {tr("Time Stopped"), "time"}},
    {"StopLightTime", {tr("Time Spent at Stoplights"), "time"}},
-    {"TrackedTime", {tr("Total Time Tracked"), "time"}}
+    {"TrackedTime", {tr("Total Time Tracked"), "time"}},
+    {"WeatherTimes", {tr("Time Spent in Weather:"), "other"}}
  };

  static QSet<QString> parent_keys = {
    "ModelTimes",
-    "RandomEvents"
+    "PersonalityTimes",
+    "RandomEvents",
+    "WeatherTimes"
  };

  static QSet<QString> percentage_keys = {
@@ -742,7 +746,18 @@ void FrogPilotDataPanel::updateStatsLabels(FrogPilotListWidget *labelsList) {
    QString label_text = key_map.value(key).first;
    QString type = key_map.value(key).second;

-    if (key == "CruiseSpeedTimes" && value.isObject()) {
+    if (key == "AEBEvents") {
+      QJsonObject totalEvents = stats.value("TotalEvents").toObject();
+
+      QString trimmed_label = label_text;
+      if (trimmed_label.startsWith(tr("Total "))) {
+        trimmed_label = trimmed_label.mid(6);
+      }
+      QString display_value = format_number(totalEvents.value("stockAeb").toInt(0) + totalEvents.value("fcw").toInt(0)) + " " + trimmed_label;
+
+      labelsList->addItem(new LabelControl(label_text, display_value, "", this));
+
+    } else if (key == "CruiseSpeedTimes" && value.isObject()) {
      QJsonObject speeds = value.toObject();

      double max_time = -1.0;
@@ -783,6 +798,9 @@ void FrogPilotDataPanel::updateStatsLabels(FrogPilotListWidget *labelsList) {
        } else if (key == "RandomEvents") {
          display_a = random_events_map.value(a, a);
          display_b = random_events_map.value(b, b);
+        } else if (key == "WeatherTimes") {
+          display_a = a.left(1).toUpper() + a.mid(1);
+          display_b = b.left(1).toUpper() + b.mid(1);
        } else {
          display_a = a;
          display_b = b;
@@ -791,17 +809,23 @@ void FrogPilotDataPanel::updateStatsLabels(FrogPilotListWidget *labelsList) {
      });

      for (const QString &subkey : subkeys) {
+        if (subkey == "Unknown") {
+          continue;
+        }
+
        QString display_subkey;
        if (key == "ModelTimes") {
          display_subkey = processModelName(subkey);
        } else if (key == "RandomEvents") {
          display_subkey = random_events_map.value(subkey, subkey);
+        } else if (key == "WeatherTimes") {
+          display_subkey = subkey.left(1).toUpper() + subkey.mid(1);
        } else {
          display_subkey = subkey;
        }

        QString subvalue;
-        if (key == "ModelTimes") {
+        if (key == "ModelTimes" || key == "PersonalityTimes" || key == "WeatherTimes") {
          subvalue = format_time(subobj.value(subkey).toDouble());
        } else {
          subvalue = subobj.value(subkey).toVariant().toString().isEmpty() ? "0" : format_number(subobj.value(subkey).toInt());
@@ -304,7 +304,7 @@ void FrogPilotSettingsWindow::updateVariables() {
    hasPedal = CP.getEnableGasInterceptor();
    hasRadar = !CP.getRadarUnavailable();
    hasSDSU = frogpilot_toggles.value("has_sdsu").toBool();
-    hasSNG = hasOpenpilotLongitudinal && CP.getAutoResumeSng();
+    hasSNG = CP.getAutoResumeSng();
    hasZSS = frogpilot_toggles.value("has_zss").toBool();
    isAngleCar = CP.getSteerControlType() == cereal::CarParams::SteerControlType::ANGLE;
    isBolt = carFingerprint == "CHEVROLET_BOLT_CC" || carFingerprint == "CHEVROLET_BOLT_EUV";
@@ -322,7 +322,7 @@ void FrogPilotSettingsWindow::updateVariables() {
    longitudinalActuatorDelay = CP.getLongitudinalActuatorDelay();
    startAccel = CP.getStartAccel();
    steerActuatorDelay = CP.getSteerActuatorDelay();
-    steerKp = CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::PID ? CP.getLateralTuning().getPid().getKpV()[0] : 1.0;
+    steerKp = 1.0;
    steerRatio = CP.getSteerRatio();
    stopAccel = CP.getStopAccel();
    stoppingDecelRate = CP.getStoppingDecelRate();
@@ -365,7 +365,7 @@ void FrogPilotLateralPanel::updateToggles() {
    else if (key == "ForceAutoTune") {
      setVisible &= !parent->hasAutoTune;
      setVisible &= !parent->isAngleCar;
-      setVisible &= parent->isTorqueCar || forcingTorqueController;
+      setVisible &= parent->isTorqueCar || forcingTorqueController || usingNNFF;
    }

    else if (key == "ForceAutoTuneOff") {
@@ -402,19 +402,20 @@ void FrogPilotLateralPanel::updateToggles() {
    else if (key == "SteerFriction") {
      setVisible &= parent->friction != 0;
      setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : !forcingAutoTune;
-      setVisible &= parent->isTorqueCar || forcingTorqueController;
+      setVisible &= parent->isTorqueCar || forcingTorqueController || usingNNFF;
      setVisible &= !usingNNFF;
    }

    else if (key == "SteerKP") {
      setVisible &= parent->steerKp != 0;
+      setVisible &= parent->isTorqueCar || forcingTorqueController || usingNNFF;
      setVisible &= !parent->isAngleCar;
    }

    else if (key == "SteerLatAccel") {
      setVisible &= parent->latAccelFactor != 0;
      setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : !forcingAutoTune;
-      setVisible &= parent->isTorqueCar || forcingTorqueController;
+      setVisible &= parent->isTorqueCar || forcingTorqueController || usingNNFF;
      setVisible &= !usingNNFF;
    }

@@ -430,14 +430,14 @@ FrogPilotLongitudinalPanel::FrogPilotLongitudinalPanel(FrogPilotSettingsWindow *
              weatherKeyControl->setVisibleButton(1, false);
            }
          } else {
-            QString key = InputDialog::getText(tr("Enter your \"OpenWeatherMap\" key"), this).trimmed();
-            if (key.length() == 32) {
-              params.put("WeatherToken", key.toStdString());
+            int keyLength = 32;
+            QString currentKey = QString::fromStdString(params.get("WeatherToken"));
+            QString newKey = InputDialog::getText(tr("Enter your \"OpenWeatherMap\" key"), this, tr("Characters: 0/%1").arg(keyLength), false, -1, currentKey, keyLength).trimmed();
+            if (!newKey.isEmpty()) {
+              params.put("WeatherToken", newKey.toStdString());

              weatherKeyControl->setText(0, tr("REMOVE"));
              weatherKeyControl->setVisibleButton(1, true);
-            } else if (!key.isEmpty()) {
-              ConfirmationDialog::alert(tr("Invalid key!"), this);
            }
          }
        } else {
@@ -52,18 +52,14 @@ FrogPilotNavigationPanel::FrogPilotNavigationPanel(FrogPilotSettingsWindow *pare
          updateButtons();
        }
      } else {
-        QString key = InputDialog::getText(tr("Enter your Public Mapbox Key"), this).trimmed();
+        int minKeyLength = 80;
+        QString key = InputDialog::getText(tr("Enter your Public Mapbox Key"), this, "", false, minKeyLength).trimmed();
        if (!key.isEmpty()) {
          if (!key.startsWith("pk.")) {
            key = "pk." + key;
          }
-          if (key.length() >= 80) {
-            params.put("MapboxPublicKey", key.toStdString());
-
-            updateButtons();
-          } else {
-            ConfirmationDialog::alert(tr("Inputted key is invalid or too short!"), this);
-          }
+          params.put("MapboxPublicKey", key.toStdString());
+          updateButtons();
        }
      }
    } else {
@@ -103,18 +99,14 @@ FrogPilotNavigationPanel::FrogPilotNavigationPanel(FrogPilotSettingsWindow *pare
          updateButtons();
        }
      } else {
-        QString key = InputDialog::getText(tr("Enter your Secret Mapbox Key"), this).trimmed();
+        int minKeyLength = 80;
+        QString key = InputDialog::getText(tr("Enter your Secret Mapbox Key"), this, "", false, minKeyLength).trimmed();
        if (!key.isEmpty()) {
          if (!key.startsWith("sk.")) {
            key = "sk." + key;
          }
-          if (key.length() >= 80) {
-            params.put("MapboxSecretKey", key.toStdString());
-
-            updateButtons();
-          } else {
-            ConfirmationDialog::alert(tr("Inputted key is invalid or too short!"), this);
-          }
+          params.put("MapboxSecretKey", key.toStdString());
+          updateButtons();
        }
      }
    } else {
@@ -325,16 +317,12 @@ void FrogPilotNavigationPanel::createKeyControl(ButtonControl *&control, const Q
  control = new ButtonControl(label, "", tr("<b>Manage your \"%1\".</b>").arg(label));
  QObject::connect(control, &ButtonControl::clicked, [=] {
    if (control->text() == tr("ADD")) {
-      QString key = InputDialog::getText(tr("Enter your %1").arg(label), this).trimmed();
-
-      if (!key.startsWith(prefix)) {
-        key = prefix + key;
-      }
-
-      if (key.length() >= minLength) {
+      QString key = InputDialog::getText(tr("Enter your %1").arg(label), this, "", false, minLength).trimmed();
+      if (!key.isEmpty()) {
+        if (!key.startsWith(prefix)) {
+          key = prefix + key;
+        }
        params.put(paramKey, key.toStdString());
-      } else {
-        ConfirmationDialog::alert(tr("Inputted key is invalid or too short!"), this);
      }
    } else {
      if (FrogPilotConfirmationDialog::yesorno(tr("Remove your %1?").arg(label), this)) {
@@ -599,9 +599,12 @@ FrogPilotThemesPanel::FrogPilotThemesPanel(FrogPilotSettingsWindow *parent) : Fr
          params.put("StartupMessageTop", frogpilotTop.toStdString());
          params.put("StartupMessageBottom", frogpilotBottom.toStdString());
        } else if (id == 2) {
+          QString currentTop = QString::fromStdString(params.get("StartupMessageTop"));
          QString newTop = InputDialog::getText(tr("Enter the text for the top half"), this, tr("Characters: 0/%1").arg(maxLengthTop), false, -1, currentTop, maxLengthTop).trimmed();
          if (!newTop.isEmpty()) {
            params.put("StartupMessageTop", newTop.toStdString());
+
+            QString currentBottom = QString::fromStdString(params.get("StartupMessageBottom"));
            QString newBottom = InputDialog::getText(tr("Enter the text for the bottom half"), this, tr("Characters: 0/%1").arg(maxLengthBottom), false, -1, currentBottom, maxLengthBottom).trimmed();
            if (!newBottom.isEmpty()) {
              params.put("StartupMessageBottom", newBottom.toStdString());
@@ -313,7 +313,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent)

  static_cast<FrogPilotParamValueControl*>(toggles["LockDoorsTimer"])->setWarning("<b>Warning:</b> openpilot can't detect if keys are still inside the car, so ensure you have a spare key to prevent accidental lockouts!");

-  QSet<QString> rebootKeys = {"HondaAltTune", "NewLongAPI", "SubaruSNG", "TacoTuneHacks"};
+  QSet<QString> rebootKeys = {"HondaAltTune", "NewLongAPI", "TacoTuneHacks"};
  for (const QString &key : rebootKeys) {
    QObject::connect(static_cast<ToggleControl*>(toggles[key]), &ToggleControl::toggleFlipped, [key, this](bool state) {
      if (started) {
@@ -211,9 +211,10 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(FrogPilotSettingsWindow *parent) :
        {10, tr("Lateral Control: Steering Angle")},
        {11, tr("Lateral Control: Torque % Used")},
        {12, tr("Longitudinal Control: Actuator Acceleration Output")},
-        {13, tr("Longitudinal MPC Jerk: Acceleration")},
-        {14, tr("Longitudinal MPC Jerk: Danger Zone")},
-        {15, tr("Longitudinal MPC Jerk: Speed Control")},
+        {13, tr("Longitudinal MPC: Danger Factor")},
+        {14, tr("Longitudinal MPC Jerk: Acceleration")},
+        {15, tr("Longitudinal MPC Jerk: Danger Zone")},
+        {16, tr("Longitudinal MPC Jerk: Speed Control")},
      };

      ButtonControl *metricToggle = new ButtonControl(title, tr("SELECT"), desc);
@@ -26,9 +26,7 @@ void FrogPilotOnroadWindow::updateState(const UIState &s, const FrogPilotUIState
  showSignal = (turnSignalLeft || turnSignalRight) && frogpilot_toggles.value("signal_metrics").toBool();
  showSteering = frogpilot_toggles.value("steering_metrics").toBool();

-  if (showBlindspot || showFPS || showSignal || showSteering) {
-    update();
-  }
+  update();
 }

 void FrogPilotOnroadWindow::paintEvent(QPaintEvent *event) {
@@ -117,6 +117,7 @@ void DeveloperSidebar::updateState(const UIState &s, const FrogPilotUIState &fs)
  accelerationStatus = ItemStatus(QPair<QString, QString>(tr("ACCEL"), QString::number(acceleration, 'f', 2) + accelerationUnit), metricColor);
  accelerationJerkStatus = ItemStatus(QPair<QString, QString>(tr("ACCEL JERK"), QString::number(frogpilotPlan.getAccelerationJerk())), metricColor);
  actuatorAccelerationStatus = ItemStatus(QPair<QString, QString>(tr("ACT ACCEL"), QString::number(carControl.getActuators().getAccel() * accelerationConversion, 'f', 2) + accelerationUnit), metricColor);
+  dangerFactorStatus = ItemStatus(QPair<QString, QString>(tr("DANGER %"), QString::number(frogpilotPlan.getDangerFactor(), 'f', 2)), metricColor);
  dangerJerkStatus = ItemStatus(QPair<QString, QString>(tr("DANGER JERK"), QString::number(frogpilotPlan.getDangerJerk())), metricColor);
  delayStatus = ItemStatus(QPair<QString, QString>(tr("STEER DELAY"), QString::number(liveDelay.getLateralDelay(), 'f', 5)), metricColor);
  frictionStatus = ItemStatus(QPair<QString, QString>(tr("FRICTION"), QString::number(liveTorqueParameters.getFrictionCoefficientFiltered(), 'f', 5)), metricColor);
@@ -153,9 +154,10 @@ void DeveloperSidebar::paintEvent(QPaintEvent *event) {
  metricMap.insert(10, &steerAngleStatus);
  metricMap.insert(11, &torqueStatus);
  metricMap.insert(12, &actuatorAccelerationStatus);
-  metricMap.insert(13, &accelerationJerkStatus);
-  metricMap.insert(14, &dangerJerkStatus);
-  metricMap.insert(15, &speedJerkStatus);
+  metricMap.insert(13, &dangerFactorStatus);
+  metricMap.insert(14, &accelerationJerkStatus);
+  metricMap.insert(15, &dangerJerkStatus);
+  metricMap.insert(16, &speedJerkStatus);

  int count = 0;
  for (size_t i = 0; i < metricAssignments.size(); ++i) {
@@ -28,6 +28,7 @@ private:
  ItemStatus accelerationJerkStatus;
  ItemStatus accelerationStatus;
  ItemStatus actuatorAccelerationStatus;
+  ItemStatus dangerFactorStatus;
  ItemStatus dangerJerkStatus;
  ItemStatus delayStatus;
  ItemStatus frictionStatus;
@@ -273,6 +273,7 @@ class CarInterface(CarInterfaceBase):
        # Note: Low speed, stop and go not tested. Should be fairly smooth on highway
        ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
        ret.longitudinalTuning.kiV = [0.0, 0.35, 0.5]
+        ret.longitudinalTuning.kfDEPRECATED = 0.15
        ret.stoppingDecelRate = 0.8
      else:  # Pedal used for SNG, ACC for longitudinal control otherwise
        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
@@ -287,6 +287,7 @@ class CarInterfaceBase(ABC):
    ret.vEgoStopping = 0.5
    ret.vEgoStarting = 0.5
    ret.stoppingControl = True
+    ret.longitudinalTuning.kfDEPRECATED = 1.
    ret.longitudinalTuning.kpBP = [0.]
    ret.longitudinalTuning.kpV = [0.]
    ret.longitudinalTuning.kiBP = [0.]
@@ -302,6 +303,9 @@ class CarInterfaceBase(ABC):

    tune.init('torque')
    tune.torque.useSteeringAngle = use_steering_angle
+    tune.torque.kp = 1.0
+    tune.torque.ki = 0.3
+    tune.torque.kd = 0.0
    tune.torque.friction = params['FRICTION']
    tune.torque.latAccelFactor = params['LAT_ACCEL_FACTOR']
    tune.torque.latAccelOffset = 0.0
@@ -770,7 +770,7 @@ class Controls:
    if self.frogpilot_toggles.conditional_experimental_mode or self.frogpilot_toggles.slc_fallback_experimental_mode:
      self.experimental_mode = self.sm['frogpilotPlan'].experimentalMode

-    if hasattr(self.LaC, "pid"):
+    if hasattr(self.LaC, "pid") and self.CP.lateralTuning.which() != "pid":
      self.LaC.pid._k_p = self.frogpilot_toggles.steerKp

    # Update FrogPilot variables
@@ -16,22 +16,15 @@ from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_G
 # wheel slip, or to speed.

 # This controller applies torque to achieve desired lateral
-# accelerations. To compensate for the low speed effects the
-# proportional gain is increased at low speeds by the PID controller.
-# Additionally, there is friction in the steering wheel that needs
-# to be overcome to move it at all, this is compensated for too.
+# accelerations. To compensate for the low speed effects we
+# use a LOW_SPEED_FACTOR in the error. Additionally, there is
+# friction in the steering wheel that needs to be overcome to
+# move it at all, this is compensated for too.

-KP = 1.0
-KI = 0.1
-KD = 0.3
-INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
-KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
+LOW_SPEED_X = [0, 10, 20, 30]
+LOW_SPEED_Y = [15, 13, 10, 5]

-LP_FILTER_CUTOFF_HZ = 1.2
-JERK_LOOKAHEAD_SECONDS = 0.19
-JERK_GAIN = 0.3
-LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
-VERSION = 1  # bump this when changing controller
+MAX_LAT_JERK_UP = 2.5            # m/s^3

 class LatControlTorque(LatControl):
  def __init__(self, CP, CI, dt):
@@ -39,15 +32,13 @@ class LatControlTorque(LatControl):
    self.torque_params = CP.lateralTuning.torque
    self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
    self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
-    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD, rate=1/self.dt)
+    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki, rate=1/self.dt)
    self.update_limits()
    self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
-    self.lookahead_frames = int(JERK_LOOKAHEAD_SECONDS / self.dt)
-    self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
-    self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
-    self.jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
-    self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
+    self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES = int(1 / self.dt)
+    self.requested_lateral_accel_buffer = deque([0.] * self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES , maxlen=self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES)
    self.previous_measurement = 0.0
+    self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * (MAX_LAT_JERK_UP - 0.5)), self.dt)

  def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
    self.torque_params.latAccelFactor = latAccelFactor
@@ -61,7 +52,6 @@ class LatControlTorque(LatControl):

  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, llk, model_data, frogpilot_toggles):
    pid_log = log.ControlsState.LateralTorqueState.new_message()
-    pid_log.version = VERSION
    if not active:
      output_torque = 0.0
      pid_log.active = False
@@ -71,31 +61,37 @@ class LatControlTorque(LatControl):
      curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
      lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2

-      delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len))
-      expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
-      lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2))
-      raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt)
-      desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk)
+      delay_frames = int(np.clip(lat_delay / self.dt, 1, self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES))
+      expected_lateral_accel = self.requested_lateral_accel_buffer[-delay_frames]
+      # TODO factor out lateral jerk from error to later replace it with delay independent alternative
      future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
-      self.lat_accel_request_buffer.append(future_desired_lateral_accel)
+      self.requested_lateral_accel_buffer.append(future_desired_lateral_accel)
      gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
-      setpoint = expected_lateral_accel
+      desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / lat_delay

      measurement = measured_curvature * CS.vEgo ** 2
      measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
      self.previous_measurement = measurement

+      low_speed_factor = (np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y) / max(CS.vEgo, MIN_SPEED)) ** 2
+      setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
      error = setpoint - measurement
+      error_lsf = error + low_speed_factor / self.torque_params.kp * error

      # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
-      pid_log.error = float(error)
+      pid_log.error = float(error_lsf)
      ff = gravity_adjusted_future_lateral_accel
      # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
      ff -= self.torque_params.latAccelOffset
-      ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+      # TODO jerk is weighted by lat_delay for legacy reasons, but should be made independent of it
+      ff += get_friction(error, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)

      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-      output_lataccel = self.pid.update(pid_log.error, -measurement_rate, CS.vEgo, ff, freeze_integrator)
+      output_lataccel = self.pid.update(pid_log.error,
+                                       -measurement_rate,
+                                        feedforward=ff,
+                                        speed=CS.vEgo,
+                                        freeze_integrator=freeze_integrator)
      output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)

      pid_log.active = True
@@ -103,10 +99,9 @@ class LatControlTorque(LatControl):
      pid_log.i = float(self.pid.i)
      pid_log.d = float(self.pid.d)
      pid_log.f = float(self.pid.f)
-      pid_log.output = float(-output_torque) # TODO: log lat accel?
+      pid_log.output = float(-output_torque)  # TODO: log lat accel?
      pid_log.actualLateralAccel = float(measurement)
      pid_log.desiredLateralAccel = float(setpoint)
-      pid_log.desiredLateralJerk = float(desired_lateral_jerk)
      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))

    # TODO left is positive in this convention
@@ -92,7 +92,7 @@ class LongControl:
    self.long_control_state = LongCtrlState.off
    self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
                             (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
-                             rate=1 / DT_CTRL)
+                             k_f=CP.longitudinalTuning.kfDEPRECATED, rate=1 / DT_CTRL)
    self.v_pid = 0.0
    self.last_output_accel = 0.0

@@ -350,7 +350,7 @@ class LongitudinalMpc:
    lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
    return lead_xv

-  def update(self, radarstate, v_cruise, x, v, a, j, t_follow, personality=log.LongitudinalPersonality.standard):
+  def update(self, radarstate, v_cruise, x, v, a, j, danger_factor, t_follow, personality=log.LongitudinalPersonality.standard):
    v_ego = self.x0[1]
    self.status = radarstate.leadOne.status or radarstate.leadTwo.status

@@ -368,7 +368,7 @@ class LongitudinalMpc:

    # Update in ACC mode or ACC/e2e blend
    if self.mode == 'acc':
-      self.params[:,5] = LEAD_DANGER_FACTOR
+      self.params[:,5] = danger_factor

      # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
      # when the leads are no factor.
@@ -155,7 +155,7 @@ class LongitudinalPlanner:

    self.mpc.set_weights(sm['frogpilotPlan'].accelerationJerk, sm['frogpilotPlan'].dangerJerk, sm['frogpilotPlan'].speedJerk, prev_accel_constraint, personality=sm['controlsState'].personality)
    self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
-    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, sm['frogpilotPlan'].tFollow, personality=sm['controlsState'].personality)
+    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, sm['frogpilotPlan'].dangerFactor, sm['frogpilotPlan'].tFollow, personality=sm['controlsState'].personality)

    self.a_desired_trajectory_full = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
    self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
@@ -2,10 +2,11 @@ import numpy as np
 from numbers import Number

 class PIDController:
-  def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
+  def __init__(self, k_p, k_i, k_f=1., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
    self._k_p = k_p
    self._k_i = k_i
    self._k_d = k_d
+    self.k_f = k_f   # feedforward gain
    if isinstance(self._k_p, Number):
      self._k_p = [[0], [self._k_p]]
    if isinstance(self._k_i, Number):
@@ -47,7 +48,7 @@ class PIDController:
    self.speed = speed
    self.p = self.k_p * float(error)
    self.d = self.k_d * error_rate
-    self.f = feedforward
+    self.f = self.k_f * feedforward

    if not freeze_integrator:
      i = self.i + self.k_i * self.i_dt * error
@@ -110,8 +110,8 @@ class Track:
      "radarTrackId": self.identifier,
    }

-  def potential_adjacent_lead(self, left: bool, standstill: bool, model_data: capnp._DynamicStructReader):
-    if standstill or self.vLead < 1 or self.leadTrackID == self.identifier:
+  def potential_adjacent_lead(self, left: bool, model_data: capnp._DynamicStructReader):
+    if self.vLeadK < 1 or self.leadTrackID == self.identifier:
      return False

    far_left_lane = interp(self.dRel, model_data.laneLines[0].x, model_data.laneLines[0].y)
@@ -119,22 +119,19 @@ class Track:
    right_lane = interp(self.dRel, model_data.laneLines[2].x, model_data.laneLines[2].y)
    far_right_lane = interp(self.dRel, model_data.laneLines[3].x, model_data.laneLines[3].y)

-    self.leadLeft = far_left_lane < -self.yRel < left_lane
-    self.leadRight = right_lane < -self.yRel < far_right_lane
+    self.leadLeft = far_left_lane < -self.yRel < left_lane and self.dRel < model_data.position.x[-1]
+    self.leadRight = right_lane < -self.yRel < far_right_lane and self.dRel < model_data.position.x[-1]

    if left:
      return self.leadLeft
    else:
      return self.leadRight

-  def potential_far_lead(self, standstill: bool, model_data: capnp._DynamicStructReader):
-    if standstill or self.vLead < 1:
-      return False
-
+  def potential_far_lead(self, lead_msg: capnp._DynamicStructReader, model_data: capnp._DynamicStructReader):
    left_lane = interp(self.dRel, model_data.laneLines[1].x, model_data.laneLines[1].y)
    right_lane = interp(self.dRel, model_data.laneLines[2].x, model_data.laneLines[2].y)

-    if left_lane < -self.yRel < right_lane:
+    if left_lane < -self.yRel < right_lane and self.dRel < model_data.position.x[-1] and (self.vLeadK > 1 or lead_msg.prob > 0.25):
      self.radarfulFilter.update(1)
      return True
    else:
@@ -214,7 +211,7 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa


 def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader,
-             model_v_ego: float, model_data: capnp._DynamicStructReader, standstill: bool,
+             model_v_ego: float, model_data: capnp._DynamicStructReader,
             frogpilot_plan: capnp._DynamicStructReader, frogpilot_toggles: SimpleNamespace,
             low_speed_override: bool = True) -> dict[str, Any]:
  # Determine leads, this is where the essential logic happens
@@ -239,7 +236,7 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
        lead_dict = closest_track.get_RadarState()

    if not lead_dict['status'] and len(tracks) > 0:
-      far_lead_tracks = [c for c in tracks.values() if c.potential_far_lead(standstill, model_data) and c.radarfulFilter.x >= THRESHOLD]
+      far_lead_tracks = [c for c in tracks.values() if c.potential_far_lead(lead_msg, model_data) and c.radarfulFilter.x >= THRESHOLD]
      if len(far_lead_tracks) > 0:
        closest_track = min(far_lead_tracks, key=lambda c: c.dRel)
        lead_dict = closest_track.get_RadarState()
@@ -253,10 +250,10 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
  return lead_dict


-def get_adjacent_lead(tracks: dict[int, Track], standstill: bool, model_data: capnp._DynamicStructReader, left: bool = True) -> dict[str, Any]:
+def get_adjacent_lead(tracks: dict[int, Track], model_data: capnp._DynamicStructReader, left: bool = True) -> dict[str, Any]:
  lead_dict = {'status': False}

-  adjacent_tracks = [c for c in tracks.values() if c.potential_adjacent_lead(left, standstill, model_data)]
+  adjacent_tracks = [c for c in tracks.values() if c.potential_adjacent_lead(left, model_data)]
  if len(adjacent_tracks) > 0:
    closest_track = min(adjacent_tracks, key=lambda c: c.dRel)
    lead_dict = closest_track.get_RadarState()
@@ -336,12 +333,12 @@ class RadarD:
      model_v_ego = self.v_ego
    leads_v3 = sm['modelV2'].leadsV3
    if len(leads_v3) > 1:
-      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, sm['modelV2'], sm['carState'].standstill, sm['frogpilotPlan'], self.frogpilot_toggles, low_speed_override=True)
-      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, sm['modelV2'], sm['carState'].standstill, sm['frogpilotPlan'], self.frogpilot_toggles, low_speed_override=False)
+      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, sm['modelV2'], sm['frogpilotPlan'], self.frogpilot_toggles, low_speed_override=True)
+      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, sm['modelV2'], sm['frogpilotPlan'], self.frogpilot_toggles, low_speed_override=False)

    if (self.frogpilot_toggles.adjacent_lead_tracking or self.frogpilot_toggles.human_lane_changes) and self.ready:
-      self.frogpilot_radar_state.leadLeft = get_adjacent_lead(self.tracks, sm['carState'].standstill, sm['modelV2'], left=True)
-      self.frogpilot_radar_state.leadRight = get_adjacent_lead(self.tracks, sm['carState'].standstill, sm['modelV2'], left=False)
+      self.frogpilot_radar_state.leadLeft = get_adjacent_lead(self.tracks, sm['modelV2'], left=True)
+      self.frogpilot_radar_state.leadRight = get_adjacent_lead(self.tracks, sm['modelV2'], left=False)

    # Update FrogPilot variables
    if sm['frogpilotPlan'].togglesUpdated:
@@ -253,6 +253,10 @@
        <source>TORQUE %</source>
        <translation type="gpt-5-generated">عزم</translation>
    </message>
+    <message>
+        <source>DANGER FACTOR</source>
+        <translation type="gpt-5-generated">عامل الخطر</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -966,6 +970,14 @@
        <source>% of </source>
        <translation type="gpt-5-generated">% من</translation>
    </message>
+    <message>
+        <source>Driving Personalities:</source>
+        <translation type="gpt-5-generated">شخصيات القيادة</translation>
+    </message>
+    <message>
+        <source>Time Spent in Weather:</source>
+        <translation type="gpt-5-generated">الوقت المستغرق في الطقس</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotDevicePanel</name>
@@ -2606,6 +2618,10 @@
        <source>An error occurred: %1</source>
        <translation type="gpt-5-generated">حدث خطأ: %1</translation>
    </message>
+    <message>
+        <source>Characters: 0/%1</source>
+        <translation type="gpt-5-generated">عدد الأحرف: 0/%1</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotManageControl</name>
@@ -3217,10 +3233,6 @@ It will reset in %1 hours and %2 minutes.</source>
        <source>Enter your %1</source>
        <translation type="gpt-5-generated">أدخل %1 الخاص بك</translation>
    </message>
-    <message>
-        <source>Inputted key is invalid or too short!</source>
-        <translation type="gpt-5-generated">المفتاح المُدخل غير صالح أو قصير جدًا!</translation>
-    </message>
    <message>
        <source>Remove your %1?</source>
        <translation type="gpt-5-generated">هل تريد إزالة %1؟</translation>
@@ -5024,6 +5036,10 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
        <source>&lt;b&gt;Set the road-edge thickness.&lt;/b&gt;&lt;br&gt;&lt;br&gt;Default matches half of the MUTCD lane-line width standard of 10 centimeters.</source>
        <translation type="gpt-5-generated">&lt;b&gt;اضبط سماكة حافة الطريق.&lt;/b&gt;&lt;br&gt;&lt;br&gt;القيمة الافتراضية تطابق نصف معيار MUTCD لعرض خط المسار وهو 10 سنتيمترات.</translation>
    </message>
+    <message>
+        <source>Longitudinal MPC: Danger Factor</source>
+        <translation type="gpt-5-generated">عامل الخطر لمنظّم الحركة الطولي (MPC)</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotWheelPanel</name>
@@ -254,6 +254,10 @@
        <source>TORQUE %</source>
        <translation type="gpt-5-generated">TORQUE %</translation>
    </message>
+    <message>
+        <source>DANGER FACTOR</source>
+        <translation type="gpt-5-generated">DANGER FACTOR</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -967,6 +971,14 @@
        <source>% of </source>
        <translation type="gpt-5-generated">% of</translation>
    </message>
+    <message>
+        <source>Driving Personalities:</source>
+        <translation type="gpt-5-generated">Drive Personality:</translation>
+    </message>
+    <message>
+        <source>Time Spent in Weather:</source>
+        <translation type="gpt-5-generated">Time Spent in Sky Mood:</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotDevicePanel</name>
@@ -2608,6 +2620,10 @@
        <source>An error occurred: %1</source>
        <translation type="gpt-5-generated">Error happen: %1</translation>
    </message>
+    <message>
+        <source>Characters: 0/%1</source>
+        <translation type="gpt-5-generated">Marks: 0/%1</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotManageControl</name>
@@ -3219,10 +3235,6 @@ It reset in %1 hour and %2 minute.</translation>
        <source>Enter your %1</source>
        <translation type="gpt-5-generated">You put %1</translation>
    </message>
-    <message>
-        <source>Inputted key is invalid or too short!</source>
-        <translation type="gpt-5-generated">Key bad or too short!</translation>
-    </message>
    <message>
        <source>Remove your %1?</source>
        <translation type="gpt-5-generated">You remove %1?</translation>
@@ -5030,6 +5042,10 @@ Developer - Many custom setting for seasoned enthusiast</translation>
        <source>&lt;b&gt;Set the road-edge thickness.&lt;/b&gt;&lt;br&gt;&lt;br&gt;Default matches half of the MUTCD lane-line width standard of 10 centimeters.</source>
        <translation type="gpt-5-generated">&lt;b&gt;Set road-edge thickness.&lt;/b&gt;&lt;br&gt;&lt;br&gt;Default same as half MUTCD lane-line width standard, 10 centimeters.</translation>
    </message>
+    <message>
+        <source>Longitudinal MPC: Danger Factor</source>
+        <translation type="gpt-5-generated">Longitudinal MPC: Danger Factor</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotWheelPanel</name>
@@ -253,6 +253,10 @@
        <source>TORQUE %</source>
        <translation type="gpt-5-generated">DREHMOMENT %</translation>
    </message>
+    <message>
+        <source>DANGER FACTOR</source>
+        <translation type="gpt-5-generated">GEFAHRENFAKTOR</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -966,6 +970,14 @@
        <source>% of </source>
        <translation type="gpt-5-generated">% von</translation>
    </message>
+    <message>
+        <source>Driving Personalities:</source>
+        <translation type="gpt-5-generated">Fahrprofile:</translation>
+    </message>
+    <message>
+        <source>Time Spent in Weather:</source>
+        <translation type="gpt-5-generated">Verbrachte Zeit bei Wetterbedingungen:</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotDevicePanel</name>
@@ -2606,6 +2618,10 @@
        <source>An error occurred: %1</source>
        <translation type="gpt-5-generated">Ein Fehler ist aufgetreten: %1</translation>
    </message>
+    <message>
+        <source>Characters: 0/%1</source>
+        <translation type="gpt-5-generated">Zeichen: 0/%1</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotManageControl</name>
@@ -3217,10 +3233,6 @@ Es wird in %1 Stunden und %2 Minuten zurückgesetzt.</translation>
        <source>Enter your %1</source>
        <translation type="gpt-5-generated">Geben Sie Ihr %1 ein</translation>
    </message>
-    <message>
-        <source>Inputted key is invalid or too short!</source>
-        <translation type="gpt-5-generated">Eingegebener Schlüssel ist ungültig oder zu kurz!</translation>
-    </message>
    <message>
        <source>Remove your %1?</source>
        <translation type="gpt-5-generated">Entfernen Sie Ihr %1?</translation>
@@ -5024,6 +5036,10 @@ Entwickler – Hochgradig anpassbare Einstellungen für versierte Enthusiasten</
        <source>&lt;b&gt;Set the road-edge thickness.&lt;/b&gt;&lt;br&gt;&lt;br&gt;Default matches half of the MUTCD lane-line width standard of 10 centimeters.</source>
        <translation type="gpt-5-generated">&lt;b&gt;Stellen Sie die Randstreifendicke ein.&lt;/b&gt;&lt;br&gt;&lt;br&gt;Standard entspricht der Hälfte des MUTCD-Standards für Fahrbahnmarkierungsbreite von 10 Zentimetern.</translation>
    </message>
+    <message>
+        <source>Longitudinal MPC: Danger Factor</source>
+        <translation type="gpt-5-generated">Längsdynamik-MPC: Gefahrenfaktor</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotWheelPanel</name>
@@ -253,6 +253,10 @@
        <source>TORQUE %</source>
        <translation type="gpt-5-generated">Quack! TORQUE % — waddle-whoosh!</translation>
    </message>
+    <message>
+        <source>DANGER FACTOR</source>
+        <translation type="gpt-5-generated">QUACK DANGER FACTOR WADDLE!</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -966,6 +970,14 @@
        <source>% of </source>
        <translation type="gpt-5-generated">Quack % of quack!</translation>
    </message>
+    <message>
+        <source>Driving Personalities:</source>
+        <translation type="gpt-5-generated">Quack-Quack Driving Personalities: Waddle!</translation>
+    </message>
+    <message>
+        <source>Time Spent in Weather:</source>
+        <translation type="gpt-5-generated">Quack Time in Weather: Waddle Waddle!</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotDevicePanel</name>
@@ -2608,6 +2620,10 @@
        <source>An error occurred: %1</source>
        <translation type="gpt-5-generated">Quack! An error splashed in: %1</translation>
    </message>
+    <message>
+        <source>Characters: 0/%1</source>
+        <translation type="gpt-5-generated">Quack-acters: 0/%1</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotManageControl</name>
@@ -3219,10 +3235,6 @@ Waddle back later—resets in %1 hours and %2 minutes.</translation>
        <source>Enter your %1</source>
        <translation type="gpt-5-generated">Quack! Waddle in your %1</translation>
    </message>
-    <message>
-        <source>Inputted key is invalid or too short!</source>
-        <translation type="gpt-5-generated">Quack! That key’s invalid or too short, waddley-woot!</translation>
-    </message>
    <message>
        <source>Remove your %1?</source>
        <translation type="gpt-5-generated">Quack! Remove your %1, waddly-waddle?</translation>
@@ -5026,6 +5038,10 @@ Developer - Ultra-custom settings for seasoned duckthusiasts</translation>
        <source>&lt;b&gt;Set the road-edge thickness.&lt;/b&gt;&lt;br&gt;&lt;br&gt;Default matches half of the MUTCD lane-line width standard of 10 centimeters.</source>
        <translation type="gpt-5-generated">&lt;b&gt;Quack! Set the road-edge thickness, waddlers.&lt;/b&gt;&lt;br&gt;&lt;br&gt;Default quacks to half the MUTCD lane-line width standard of 10 centimeters.</translation>
    </message>
+    <message>
+        <source>Longitudinal MPC: Danger Factor</source>
+        <translation type="gpt-5-generated">Longitudinal MPC: Quack! Danger Factor 🦆</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotWheelPanel</name>
@@ -253,6 +253,10 @@
        <source>TORQUE %</source>
        <translation type="gpt-5-generated">PAR %</translation>
    </message>
+    <message>
+        <source>DANGER FACTOR</source>
+        <translation type="gpt-5-generated">FACTOR DE PELIGRO</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -966,6 +970,14 @@
        <source>% of </source>
        <translation type="gpt-5-generated">% de</translation>
    </message>
+    <message>
+        <source>Driving Personalities:</source>
+        <translation type="gpt-5-generated">Personalidades de conducción</translation>
+    </message>
+    <message>
+        <source>Time Spent in Weather:</source>
+        <translation type="gpt-5-generated">Tiempo en el clima</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotDevicePanel</name>
@@ -2606,6 +2618,10 @@
        <source>An error occurred: %1</source>
        <translation type="gpt-5-generated">Ocurrió un error: %1</translation>
    </message>
+    <message>
+        <source>Characters: 0/%1</source>
+        <translation type="gpt-5-generated">Caracteres: 0/%1</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotManageControl</name>
@@ -3216,10 +3232,6 @@ Se restablecerá en %1 horas y %2 minutos.</translation>
        <source>Enter your %1</source>
        <translation type="gpt-5-generated">Introduce tu %1</translation>
    </message>
-    <message>
-        <source>Inputted key is invalid or too short!</source>
-        <translation type="gpt-5-generated">¡La clave introducida es inválida o demasiado corta!</translation>
-    </message>
    <message>
        <source>Remove your %1?</source>
        <translation type="gpt-5-generated">¿Quitar su %1?</translation>
@@ -5023,6 +5035,10 @@ Desarrollador: configuración altamente personalizable para entusiastas veterano
        <source>&lt;b&gt;Set the road-edge thickness.&lt;/b&gt;&lt;br&gt;&lt;br&gt;Default matches half of the MUTCD lane-line width standard of 10 centimeters.</source>
        <translation type="gpt-5-generated">&lt;b&gt;Establece el grosor del borde de la carretera.&lt;/b&gt;&lt;br&gt;&lt;br&gt;El valor predeterminado coincide con la mitad del estándar MUTCD de ancho de línea de carril de 10 centímetros.</translation>
    </message>
+    <message>
+        <source>Longitudinal MPC: Danger Factor</source>
+        <translation type="gpt-5-generated">MPC longitudinal: factor de peligro</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotWheelPanel</name>
@@ -253,6 +253,10 @@
        <source>TORQUE %</source>
        <translation type="gpt-5-generated">COUPLE %</translation>
    </message>
+    <message>
+        <source>DANGER FACTOR</source>
+        <translation type="gpt-5-generated">FACTEUR DE DANGER</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -966,6 +970,14 @@
        <source>% of </source>
        <translation type="gpt-5-generated">% de</translation>
    </message>
+    <message>
+        <source>Driving Personalities:</source>
+        <translation type="gpt-5-generated">Personnalités de conduite</translation>
+    </message>
+    <message>
+        <source>Time Spent in Weather:</source>
+        <translation type="gpt-5-generated">Temps passé par météo</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotDevicePanel</name>
@@ -2606,6 +2618,10 @@
        <source>An error occurred: %1</source>
        <translation type="gpt-5-generated">Une erreur s’est produite : %1</translation>
    </message>
+    <message>
+        <source>Characters: 0/%1</source>
+        <translation type="gpt-5-generated">Caractères : 0/%1</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotManageControl</name>
@@ -3216,10 +3232,6 @@ Elle sera réinitialisée dans %1 heures et %2 minutes.</translation>
        <source>Enter your %1</source>
        <translation type="gpt-5-generated">Saisissez votre %1</translation>
    </message>
-    <message>
-        <source>Inputted key is invalid or too short!</source>
-        <translation type="gpt-5-generated">La clé saisie est invalide ou trop courte !</translation>
-    </message>
    <message>
        <source>Remove your %1?</source>
        <translation type="gpt-5-generated">Retirer votre %1 ?</translation>
@@ -5023,6 +5035,10 @@ Développeur – Paramètres hautement personnalisables pour passionnés chevron
        <source>&lt;b&gt;Set the road-edge thickness.&lt;/b&gt;&lt;br&gt;&lt;br&gt;Default matches half of the MUTCD lane-line width standard of 10 centimeters.</source>
        <translation type="gpt-5-generated">&lt;b&gt;Réglez l’épaisseur du bord de route.&lt;/b&gt;&lt;br&gt;&lt;br&gt;La valeur par défaut correspond à la moitié de la largeur standard des lignes de voie du MUTCD, soit 10 centimètres.</translation>
    </message>
+    <message>
+        <source>Longitudinal MPC: Danger Factor</source>
+        <translation type="gpt-5-generated">MPC longitudinal : facteur de danger</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotWheelPanel</name>
@@ -253,6 +253,10 @@
        <source>TORQUE %</source>
        <translation type="gpt-5-generated">Ribbit TORQUE % croak</translation>
    </message>
+    <message>
+        <source>DANGER FACTOR</source>
+        <translation type="gpt-5-generated">RIBBIT DANGER FACTOR CROAK</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -966,6 +970,14 @@
        <source>% of </source>
        <translation type="gpt-5-generated">Ribbit % of croak</translation>
    </message>
+    <message>
+        <source>Driving Personalities:</source>
+        <translation type="gpt-5-generated">Ribbit Rides: Croak-sonalities!</translation>
+    </message>
+    <message>
+        <source>Time Spent in Weather:</source>
+        <translation type="gpt-5-generated">Ribbit! Time Spent in Weather, croak!</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotDevicePanel</name>
@@ -2606,6 +2618,10 @@
        <source>An error occurred: %1</source>
        <translation type="gpt-5-generated">Ribbit! An error croaked up: %1</translation>
    </message>
+    <message>
+        <source>Characters: 0/%1</source>
+        <translation type="gpt-5-generated">Ribbit: 0/%1 croak</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotManageControl</name>
@@ -3217,10 +3233,6 @@ It’ll reset in %1 hours and %2 minutes.</translation>
        <source>Enter your %1</source>
        <translation type="gpt-5-generated">Ribbit! Enter your %1, croak.</translation>
    </message>
-    <message>
-        <source>Inputted key is invalid or too short!</source>
-        <translation type="gpt-5-generated">Ribbit! That key’s no good or too tiny, croak!</translation>
-    </message>
    <message>
        <source>Remove your %1?</source>
        <translation type="gpt-5-generated">Ribbit! Remove your %1? Croak!</translation>
@@ -5024,6 +5036,10 @@ Developer - Highly customizable settings for seasoned swamp pros</translation>
        <source>&lt;b&gt;Set the road-edge thickness.&lt;/b&gt;&lt;br&gt;&lt;br&gt;Default matches half of the MUTCD lane-line width standard of 10 centimeters.</source>
        <translation type="gpt-5-generated">&lt;b&gt;Croak! Set the road-edge thickness.&lt;/b&gt;&lt;br&gt;&lt;br&gt;Default ribbits to half the MUTCD lane-line width standard of 10 centimeters.</translation>
    </message>
+    <message>
+        <source>Longitudinal MPC: Danger Factor</source>
+        <translation type="gpt-5-generated">Ribbit-longitudinal MPC: Danger Factor, croak!</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotWheelPanel</name>
@@ -253,6 +253,10 @@
        <source>TORQUE %</source>
        <translation type="gpt-5-generated">トルク %</translation>
    </message>
+    <message>
+        <source>DANGER FACTOR</source>
+        <translation type="gpt-5-generated">危険要因</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -966,6 +970,14 @@
        <source>% of </source>
        <translation type="gpt-5-generated">% の</translation>
    </message>
+    <message>
+        <source>Driving Personalities:</source>
+        <translation type="gpt-5-generated">運転の個性</translation>
+    </message>
+    <message>
+        <source>Time Spent in Weather:</source>
+        <translation type="gpt-5-generated">天候での経過時間</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotDevicePanel</name>
@@ -2606,6 +2618,10 @@
        <source>An error occurred: %1</source>
        <translation type="gpt-5-generated">エラーが発生しました: %1</translation>
    </message>
+    <message>
+        <source>Characters: 0/%1</source>
+        <translation type="gpt-5-generated">文字数: 0/%1</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotManageControl</name>
@@ -3215,10 +3231,6 @@ It will reset in %1 hours and %2 minutes.</source>
        <source>Enter your %1</source>
        <translation type="gpt-5-generated">%1 を入力してください</translation>
    </message>
-    <message>
-        <source>Inputted key is invalid or too short!</source>
-        <translation type="gpt-5-generated">入力したキーが無効か短すぎます！</translation>
-    </message>
    <message>
        <source>Remove your %1?</source>
        <translation type="gpt-5-generated">%1 を取り外しますか?</translation>
@@ -5022,6 +5034,10 @@ Developer - こだわりのある上級者向けの高度にカスタマイズ
        <source>&lt;b&gt;Set the road-edge thickness.&lt;/b&gt;&lt;br&gt;&lt;br&gt;Default matches half of the MUTCD lane-line width standard of 10 centimeters.</source>
        <translation type="gpt-5-generated">&lt;b&gt;道路端の太さを設定します。&lt;/b&gt;&lt;br&gt;&lt;br&gt;デフォルトは、MUTCDの車線線幅標準10センチメートルの半分に一致します。</translation>
    </message>
+    <message>
+        <source>Longitudinal MPC: Danger Factor</source>
+        <translation type="gpt-5-generated">縦方向MPC：危険係数</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotWheelPanel</name>
@@ -253,6 +253,10 @@
        <source>TORQUE %</source>
        <translation type="gpt-5-generated">토크 %</translation>
    </message>
+    <message>
+        <source>DANGER FACTOR</source>
+        <translation type="gpt-5-generated">위험 요소</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -966,6 +970,14 @@
        <source>% of </source>
        <translation type="gpt-5-generated">% 중</translation>
    </message>
+    <message>
+        <source>Driving Personalities:</source>
+        <translation type="gpt-5-generated">운전 성향:"</translation>
+    </message>
+    <message>
+        <source>Time Spent in Weather:</source>
+        <translation type="gpt-5-generated">날씨에서 보낸 시간</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotDevicePanel</name>
@@ -2606,6 +2618,10 @@
        <source>An error occurred: %1</source>
        <translation type="gpt-5-generated">오류가 발생했습니다: %1</translation>
    </message>
+    <message>
+        <source>Characters: 0/%1</source>
+        <translation type="gpt-5-generated">문자: 0/%1</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotManageControl</name>
@@ -3216,10 +3232,6 @@ It will reset in %1 hours and %2 minutes.</source>
        <source>Enter your %1</source>
        <translation type="gpt-5-generated">%1을(를) 입력하세요</translation>
    </message>
-    <message>
-        <source>Inputted key is invalid or too short!</source>
-        <translation type="gpt-5-generated">입력한 키가 유효하지 않거나 너무 짧습니다!</translation>
-    </message>
    <message>
        <source>Remove your %1?</source>
        <translation type="gpt-5-generated">%1을(를) 제거하시겠습니까?</translation>
@@ -5023,6 +5035,10 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
        <source>&lt;b&gt;Set the road-edge thickness.&lt;/b&gt;&lt;br&gt;&lt;br&gt;Default matches half of the MUTCD lane-line width standard of 10 centimeters.</source>
        <translation type="gpt-5-generated">&lt;b&gt;도로 가장자리 두께를 설정하세요.&lt;/b&gt;&lt;br&gt;&lt;br&gt;기본값은 MUTCD 차선선 폭 표준 10센티미터의 절반과 일치합니다.</translation>
    </message>
+    <message>
+        <source>Longitudinal MPC: Danger Factor</source>
+        <translation type="gpt-5-generated">종방향 MPC: 위험 요인</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotWheelPanel</name>
@@ -253,6 +253,10 @@
        <source>TORQUE %</source>
        <translation type="gpt-5-generated">TORQUE %</translation>
    </message>
+    <message>
+        <source>DANGER FACTOR</source>
+        <translation type="gpt-5-generated">DANGER FACTOR, ye scallywag</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -966,6 +970,14 @@
        <source>% of </source>
        <translation type="gpt-5-generated">% o’</translation>
    </message>
+    <message>
+        <source>Driving Personalities:</source>
+        <translation type="gpt-5-generated">Sailin’ Personalities:</translation>
+    </message>
+    <message>
+        <source>Time Spent in Weather:</source>
+        <translation type="gpt-5-generated">Time Spent in Thar Weather:</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotDevicePanel</name>
@@ -2606,6 +2618,10 @@
        <source>An error occurred: %1</source>
        <translation type="gpt-5-generated">Arr, an error befall'd: %1</translation>
    </message>
+    <message>
+        <source>Characters: 0/%1</source>
+        <translation type="gpt-5-generated">Characters: 0/%1</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotManageControl</name>
@@ -3217,10 +3233,6 @@ It’ll reset in %1 hours ‘n %2 minutes.</translation>
        <source>Enter your %1</source>
        <translation type="gpt-5-generated">Avast! Enter yer %1</translation>
    </message>
-    <message>
-        <source>Inputted key is invalid or too short!</source>
-        <translation type="gpt-5-generated">Arr, the key ye entered be invalid or too short!</translation>
-    </message>
    <message>
        <source>Remove your %1?</source>
        <translation type="gpt-5-generated">Be ye removin’ yer %1?</translation>
@@ -5024,6 +5036,10 @@ Developer - Highly customizable riggin’s fer seasoned enthusiasts</translation
        <source>&lt;b&gt;Set the road-edge thickness.&lt;/b&gt;&lt;br&gt;&lt;br&gt;Default matches half of the MUTCD lane-line width standard of 10 centimeters.</source>
        <translation type="gpt-5-generated">&lt;b&gt;Set th’ road-edge thickness, ye landlubber.&lt;/b&gt;&lt;br&gt;&lt;br&gt;Default be half o’ the MUTCD lane-line width standard o’ 10 centimeters.</translation>
    </message>
+    <message>
+        <source>Longitudinal MPC: Danger Factor</source>
+        <translation type="gpt-5-generated">Longitudinal MPC: Peril Factor</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotWheelPanel</name>
@@ -253,6 +253,10 @@
        <source>TORQUE %</source>
        <translation type="gpt-5-generated">TORQUE %</translation>
    </message>
+    <message>
+        <source>DANGER FACTOR</source>
+        <translation type="gpt-5-generated">FATOR DE PERIGO</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -966,6 +970,14 @@
        <source>% of </source>
        <translation type="gpt-5-generated">% de</translation>
    </message>
+    <message>
+        <source>Driving Personalities:</source>
+        <translation type="gpt-5-generated">Personalidades de Condução</translation>
+    </message>
+    <message>
+        <source>Time Spent in Weather:</source>
+        <translation type="gpt-5-generated">Tempo gasto em clima:</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotDevicePanel</name>
@@ -2606,6 +2618,10 @@
        <source>An error occurred: %1</source>
        <translation type="gpt-5-generated">Ocorreu um erro: %1</translation>
    </message>
+    <message>
+        <source>Characters: 0/%1</source>
+        <translation type="gpt-5-generated">Caracteres: 0/%1</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotManageControl</name>
@@ -3217,10 +3233,6 @@ Ele será reiniciado em %1 horas e %2 minutos.</translation>
        <source>Enter your %1</source>
        <translation type="gpt-5-generated">Insira seu %1</translation>
    </message>
-    <message>
-        <source>Inputted key is invalid or too short!</source>
-        <translation type="gpt-5-generated">A chave inserida é inválida ou muito curta!</translation>
-    </message>
    <message>
        <source>Remove your %1?</source>
        <translation type="gpt-5-generated">Remover seu %1?</translation>
@@ -5024,6 +5036,10 @@ Desenvolvedor - Configurações altamente personalizáveis para entusiastas expe
        <source>&lt;b&gt;Set the road-edge thickness.&lt;/b&gt;&lt;br&gt;&lt;br&gt;Default matches half of the MUTCD lane-line width standard of 10 centimeters.</source>
        <translation type="gpt-5-generated">&lt;b&gt;Defina a espessura da borda da estrada.&lt;/b&gt;&lt;br&gt;&lt;br&gt;O padrão corresponde à metade do padrão de largura de faixa do MUTCD de 10 centímetros.</translation>
    </message>
+    <message>
+        <source>Longitudinal MPC: Danger Factor</source>
+        <translation type="gpt-5-generated">MPC Longitudinal: Fator de Perigo</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotWheelPanel</name>
@@ -253,6 +253,10 @@
        <source>TORQUE %</source>
        <translation type="gpt-5-generated">TORQUE %</translation>
    </message>
+    <message>
+        <source>DANGER FACTOR</source>
+        <translation type="gpt-5-generated">PERILOUS FACTOR</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -971,6 +975,14 @@
        <source>% of </source>
        <translation type="gpt-5-generated">% of</translation>
    </message>
+    <message>
+        <source>Driving Personalities:</source>
+        <translation type="gpt-5-generated">Driving Dispositions:</translation>
+    </message>
+    <message>
+        <source>Time Spent in Weather:</source>
+        <translation type="gpt-5-generated">Time Bestow’d in Tempest:</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotDevicePanel</name>
@@ -2615,6 +2627,10 @@
        <source>An error occurred: %1</source>
        <translation type="gpt-5-generated">An error hath occurred: %1</translation>
    </message>
+    <message>
+        <source>Characters: 0/%1</source>
+        <translation type="gpt-5-generated">Characters: 0/%1</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotManageControl</name>
@@ -3226,10 +3242,6 @@ It shall reset in %1 hours and %2 minutes.</translation>
        <source>Enter your %1</source>
        <translation type="gpt-5-generated">Enter thy %1</translation>
    </message>
-    <message>
-        <source>Inputted key is invalid or too short!</source>
-        <translation type="gpt-5-generated">The key thou hast entered is invalid or too brief!</translation>
-    </message>
    <message>
        <source>Remove your %1?</source>
        <translation type="gpt-5-generated">Wilt thou remove thy %1?</translation>
@@ -5039,6 +5051,10 @@ Developer - Most customizable settings for well-tried enthusiasts</translation>
        <source>&lt;b&gt;Set the road-edge thickness.&lt;/b&gt;&lt;br&gt;&lt;br&gt;Default matches half of the MUTCD lane-line width standard of 10 centimeters.</source>
        <translation type="gpt-5-generated">&lt;b&gt;Set the road-edge thickness.&lt;/b&gt;&lt;br&gt;&lt;br&gt;The default doth match half the MUTCD lane-line width standard of 10 centimeters.</translation>
    </message>
+    <message>
+        <source>Longitudinal MPC: Danger Factor</source>
+        <translation type="gpt-5-generated">Longitudinal MPC: Peril Factor</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotWheelPanel</name>
@@ -253,6 +253,10 @@
        <source>TORQUE %</source>
        <translation type="gpt-5-generated">แรงบิด %</translation>
    </message>
+    <message>
+        <source>DANGER FACTOR</source>
+        <translation type="gpt-5-generated">ปัจจัยอันตราย</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -966,6 +970,14 @@
        <source>% of </source>
        <translation type="gpt-5-generated">% ของ</translation>
    </message>
+    <message>
+        <source>Driving Personalities:</source>
+        <translation type="gpt-5-generated">ลักษณะการขับขี่</translation>
+    </message>
+    <message>
+        <source>Time Spent in Weather:</source>
+        <translation type="gpt-5-generated">เวลาที่ใช้ในสภาพอากาศ</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotDevicePanel</name>
@@ -2606,6 +2618,10 @@
        <source>An error occurred: %1</source>
        <translation type="gpt-5-generated">เกิดข้อผิดพลาด: %1</translation>
    </message>
+    <message>
+        <source>Characters: 0/%1</source>
+        <translation type="gpt-5-generated">อักขระ: 0/%1</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotManageControl</name>
@@ -3217,10 +3233,6 @@ It will reset in %1 hours and %2 minutes.</source>
        <source>Enter your %1</source>
        <translation type="gpt-5-generated">ป้อน %1 ของคุณ</translation>
    </message>
-    <message>
-        <source>Inputted key is invalid or too short!</source>
-        <translation type="gpt-5-generated">คีย์ที่ป้อนไม่ถูกต้องหรือสั้นเกินไป!</translation>
-    </message>
    <message>
        <source>Remove your %1?</source>
        <translation type="gpt-5-generated">ลบ %1 ของคุณหรือไม่?</translation>
@@ -5024,6 +5036,10 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
        <source>&lt;b&gt;Set the road-edge thickness.&lt;/b&gt;&lt;br&gt;&lt;br&gt;Default matches half of the MUTCD lane-line width standard of 10 centimeters.</source>
        <translation type="gpt-5-generated">&lt;b&gt;ตั้งค่าความหนาของขอบถนน&lt;/b&gt;&lt;br&gt;&lt;br&gt;ค่าเริ่มต้นเท่ากับครึ่งหนึ่งของมาตรฐานความกว้างเส้นแบ่งช่องจราจรของ MUTCD ที่ 10 เซนติเมตร</translation>
    </message>
+    <message>
+        <source>Longitudinal MPC: Danger Factor</source>
+        <translation type="gpt-5-generated">MPC ตามยาว: ปัจจัยอันตราย</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotWheelPanel</name>
@@ -253,6 +253,10 @@
        <source>TORQUE %</source>
        <translation type="gpt-5-generated">TORK %</translation>
    </message>
+    <message>
+        <source>DANGER FACTOR</source>
+        <translation type="gpt-5-generated">TEHLİKE FAKTÖRÜ</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -966,6 +970,14 @@
        <source>% of </source>
        <translation type="gpt-5-generated">% of</translation>
    </message>
+    <message>
+        <source>Driving Personalities:</source>
+        <translation type="gpt-5-generated">Sürüş Kişilikleri</translation>
+    </message>
+    <message>
+        <source>Time Spent in Weather:</source>
+        <translation type="gpt-5-generated">Havada Geçirilen Süre:</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotDevicePanel</name>
@@ -2606,6 +2618,10 @@
        <source>An error occurred: %1</source>
        <translation type="gpt-5-generated">Bir hata oluştu: %1</translation>
    </message>
+    <message>
+        <source>Characters: 0/%1</source>
+        <translation type="gpt-5-generated">Karakterler: 0/%1</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotManageControl</name>
@@ -3216,10 +3232,6 @@ It will reset in %1 hours and %2 minutes.</source>
        <source>Enter your %1</source>
        <translation type="gpt-5-generated">%1 girin</translation>
    </message>
-    <message>
-        <source>Inputted key is invalid or too short!</source>
-        <translation type="gpt-5-generated">Girilen anahtar geçersiz veya çok kısa!</translation>
-    </message>
    <message>
        <source>Remove your %1?</source>
        <translation type="gpt-5-generated">%1 öğenizi kaldırın?</translation>
@@ -5023,6 +5035,10 @@ Geliştirici - Tecrübeli meraklılar için yüksek özelleştirilebilir ayarlar
        <source>&lt;b&gt;Set the road-edge thickness.&lt;/b&gt;&lt;br&gt;&lt;br&gt;Default matches half of the MUTCD lane-line width standard of 10 centimeters.</source>
        <translation type="gpt-5-generated">&lt;b&gt;Yol kenarı kalınlığını ayarlayın.&lt;/b&gt;&lt;br&gt;&lt;br&gt;Varsayılan, MUTCD şerit çizgisi genişliği standardı olan 10 santimetrenin yarısına karşılık gelir.</translation>
    </message>
+    <message>
+        <source>Longitudinal MPC: Danger Factor</source>
+        <translation type="gpt-5-generated">Boylamsal MPC: Tehlike Faktörü</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotWheelPanel</name>
@@ -253,6 +253,10 @@
        <source>TORQUE %</source>
        <translation>МОМЕНТ %</translation>
    </message>
+    <message>
+        <source>DANGER FACTOR</source>
+        <translation type="gpt-5-generated">ФАКТОР НЕБЕЗПЕКИ</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -966,6 +970,14 @@
        <source>% of </source>
        <translation type="gpt-5-generated">% від</translation>
    </message>
+    <message>
+        <source>Driving Personalities:</source>
+        <translation type="gpt-5-generated">Стилі водіння</translation>
+    </message>
+    <message>
+        <source>Time Spent in Weather:</source>
+        <translation type="gpt-5-generated">Час, проведений у погодних умовах:</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotDevicePanel</name>
@@ -2606,6 +2618,10 @@
        <source>An error occurred: %1</source>
        <translation type="gpt-5-generated">Сталася помилка: %1</translation>
    </message>
+    <message>
+        <source>Characters: 0/%1</source>
+        <translation type="gpt-5-generated">Символи: 0/%1</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotManageControl</name>
@@ -3125,10 +3141,6 @@
        <source>Enter your %1</source>
        <translation>Введіть ваш %1</translation>
    </message>
-    <message>
-        <source>Inputted key is invalid or too short!</source>
-        <translation>Введений ключ недійсний або занадто короткий!</translation>
-    </message>
    <message>
        <source>REMOVE</source>
        <translation>ПРИБРАТИ</translation>
@@ -5024,6 +5036,10 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
        <source>&lt;b&gt;Set the road-edge thickness.&lt;/b&gt;&lt;br&gt;&lt;br&gt;Default matches half of the MUTCD lane-line width standard of 10 centimeters.</source>
        <translation>&lt;b&gt;Встановіть товщину краю дороги.&lt;/b&gt;&lt;br&gt;&lt;br&gt;За замовчуванням встановлюється половина стандартної ширини смуги руху MUTCD, яка становить 10 сантиметрів.</translation>
    </message>
+    <message>
+        <source>Longitudinal MPC: Danger Factor</source>
+        <translation type="gpt-5-generated">Поздовжній MPC: Фактор небезпеки</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotWheelPanel</name>
@@ -253,6 +253,10 @@
        <source>TORQUE %</source>
        <translation type="gpt-5-generated">扭矩 %</translation>
    </message>
+    <message>
+        <source>DANGER FACTOR</source>
+        <translation type="gpt-5-generated">危险因素</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -966,6 +970,14 @@
        <source>% of </source>
        <translation type="gpt-5-generated">% 的</translation>
    </message>
+    <message>
+        <source>Driving Personalities:</source>
+        <translation type="gpt-5-generated">驾驶风格</translation>
+    </message>
+    <message>
+        <source>Time Spent in Weather:</source>
+        <translation type="gpt-5-generated">在天气中的时间</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotDevicePanel</name>
@@ -2606,6 +2618,10 @@
        <source>An error occurred: %1</source>
        <translation type="gpt-5-generated">发生错误：%1</translation>
    </message>
+    <message>
+        <source>Characters: 0/%1</source>
+        <translation type="gpt-5-generated">字符：0/%1</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotManageControl</name>
@@ -3217,10 +3233,6 @@ It will reset in %1 hours and %2 minutes.</source>
        <source>Enter your %1</source>
        <translation type="gpt-5-generated">输入你的%1</translation>
    </message>
-    <message>
-        <source>Inputted key is invalid or too short!</source>
-        <translation type="gpt-5-generated">输入的密钥无效或过短！</translation>
-    </message>
    <message>
        <source>Remove your %1?</source>
        <translation type="gpt-5-generated">要移除你的%1吗？</translation>
@@ -5024,6 +5036,10 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
        <source>&lt;b&gt;Set the road-edge thickness.&lt;/b&gt;&lt;br&gt;&lt;br&gt;Default matches half of the MUTCD lane-line width standard of 10 centimeters.</source>
        <translation type="gpt-5-generated">&lt;b&gt;设置路缘厚度。&lt;/b&gt;&lt;br&gt;&lt;br&gt;默认值等于 MUTCD 车道线宽度标准 10 厘米的一半。</translation>
    </message>
+    <message>
+        <source>Longitudinal MPC: Danger Factor</source>
+        <translation type="gpt-5-generated">纵向MPC：危险系数</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotWheelPanel</name>
@@ -253,6 +253,10 @@
        <source>TORQUE %</source>
        <translation type="gpt-5-generated">扭矩 %</translation>
    </message>
+    <message>
+        <source>DANGER FACTOR</source>
+        <translation type="gpt-5-generated">危險因素</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -966,6 +970,14 @@
        <source>% of </source>
        <translation type="gpt-5-generated">% 的</translation>
    </message>
+    <message>
+        <source>Driving Personalities:</source>
+        <translation type="gpt-5-generated">駕駛風格：</translation>
+    </message>
+    <message>
+        <source>Time Spent in Weather:</source>
+        <translation type="gpt-5-generated">在天氣中的花費時間：</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotDevicePanel</name>
@@ -2606,6 +2618,10 @@
        <source>An error occurred: %1</source>
        <translation type="gpt-5-generated">發生錯誤：%1</translation>
    </message>
+    <message>
+        <source>Characters: 0/%1</source>
+        <translation type="gpt-5-generated">字元：0/%1</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotManageControl</name>
@@ -3217,10 +3233,6 @@ It will reset in %1 hours and %2 minutes.</source>
        <source>Enter your %1</source>
        <translation type="gpt-5-generated">輸入您的 %1</translation>
    </message>
-    <message>
-        <source>Inputted key is invalid or too short!</source>
-        <translation type="gpt-5-generated">輸入的金鑰無效或過短！</translation>
-    </message>
    <message>
        <source>Remove your %1?</source>
        <translation type="gpt-5-generated">要移除您的 %1 嗎？</translation>
@@ -5024,6 +5036,10 @@ Developer - 為資深愛好者提供高度自訂的設定</translation>
        <source>&lt;b&gt;Set the road-edge thickness.&lt;/b&gt;&lt;br&gt;&lt;br&gt;Default matches half of the MUTCD lane-line width standard of 10 centimeters.</source>
        <translation type="gpt-5-generated">&lt;b&gt;設定道路邊緣粗細。&lt;/b&gt;&lt;br&gt;&lt;br&gt;預設值相當於符合 MUTCD 車道線標準 10 公分的一半。</translation>
    </message>
+    <message>
+        <source>Longitudinal MPC: Danger Factor</source>
+        <translation type="gpt-5-generated">縱向 MPC：危險因子</translation>
+    </message>
 </context>
 <context>
    <name>FrogPilotWheelPanel</name>
@@ -404,6 +404,9 @@ void Device::setAwake(bool on) {
 void Device::resetInteractiveTimeout(int timeout, int timeout_onroad) {
  if (timeout == -1) {
    timeout = (ignition_on ? 10 : 30);
+  } else {
+    // FrogPilot variables
+    timeout = (ignition_on ? timeout_onroad : timeout);
  }
  interactive_timeout = timeout * UI_FREQ;
 }