The Final Countdown

2026-09-09 09:43:47 +08:00 · 2026-09-08 18:19:19 -05:00
parent 2504441a4e
commit 0976fd804d
42 changed files with 445 additions and 247 deletions
@@ -317,7 +317,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"DeveloperSidebarMetric7", {PERSISTENT, INT, "7", "0", 3}},
    {"DeveloperUI", {PERSISTENT, BOOL, "0", "0", 3}},
    {"GalaxyDeveloperMode", {PERSISTENT | DONT_LOG, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
-    {"GalaxyMobileDefault", {PERSISTENT | DONT_LOG, BOOL, "0", "0", 0, SETTINGS_ADVANCED}},
+    {"GalaxyMobileDefault", {PERSISTENT | DONT_LOG, BOOL, "1", "1", 0, SETTINGS_SIMPLE}},
    {"DeveloperWidgets", {PERSISTENT, BOOL, "1", "0", 3}},
    {"DeviceManagement", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
    {"DeviceShutdown", {PERSISTENT, INT, "6", "6", 1, SETTINGS_SIMPLE}},
@@ -609,6 +609,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"RelaxedJerkDeceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
    {"RelaxedJerkSpeed", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
    {"RelaxedJerkSpeedDecrease", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
+    {"ReverseCruise", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
    {"RivianAngleControl", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"RivianAngleSaturated", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL, "0", "0"}},
    {"RivianToiRecoveryFailed", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL, "0", "0"}},
@@ -72,11 +72,7 @@ class VCruiseHelper:
    return short_interval, long_interval

  def _uses_software_cruise(self) -> bool:
-    # Some cars, including Toyota TSS2, keep pcmCruise enabled while
-    # openpilot owns longitudinal control. In that case the software cruise
-    # target must be used so custom short/hold intervals are honored.
-    return bool(self.gm_cc_only or self.redneck_non_pcm or not self.CP.pcmCruise or
-                getattr(self.CP, "openpilotLongitudinalControl", False))
+    return bool(self.gm_cc_only or self.redneck_non_pcm or not self.CP.pcmCruise)

  @property
  def v_cruise_initialized(self):
@@ -229,12 +225,6 @@ class VCruiseHelper:
      self.v_cruise_kph = float(np.clip(initialized_speed_limit_kph, V_CRUISE_MIN, V_CRUISE_MAX))
    elif self.redneck_non_pcm and CS.cruiseState.speedCluster > 0:
      self.v_cruise_kph = float(np.clip(CS.cruiseState.speedCluster * CV.MS_TO_KPH, V_CRUISE_MIN, V_CRUISE_MAX))
-    elif self.CP.pcmCruise and CS.cruiseState.speed > 0:
-      # Keep PCM/dash set speed as the starting target when software cruise
-      # takes over, while allowing subsequent button presses to use custom
-      # intervals. This preserves Toyota's stock engage behavior.
-      pcm_speed_kph = CS.cruiseState.speed * CV.MS_TO_KPH
-      self.v_cruise_kph = float(np.clip(pcm_speed_kph, V_CRUISE_MIN, V_CRUISE_MAX))
    else:
      self.v_cruise_kph = int(round(np.clip(CS.vEgo * CV.MS_TO_KPH, engage_floor_kph, V_CRUISE_MAX)))

@@ -498,95 +498,34 @@ class TestVCruiseHelper:

    assert self.v_cruise_helper.v_cruise_kph == pytest.approx(initial_v_cruise_kph + IMPERIAL_INCREMENT)

-  def test_pcm_cruise_uses_pcm_speed(self):
-    CP = car.CarParams(pcmCruise=True, openpilotLongitudinalControl=False)
+  @pytest.mark.parametrize("openpilot_longitudinal", [False, True])
+  def test_pcm_cruise_always_tracks_pcm_speed(self, openpilot_longitudinal):
+    CP = car.CarParams(pcmCruise=True, openpilotLongitudinalControl=openpilot_longitudinal)
    helper = VCruiseHelper(CP)
    toggles = SimpleNamespace(cruise_increase=5, cruise_increase_long=1, set_speed_limit=False)
-    pcm_speed_kph = 72.0
-    pcm_cluster_speed_kph = 71.0

    helper.initialize_v_cruise(car.CarState(vEgo=40 * CV.KPH_TO_MS), False, False, toggles)
    assert not helper.v_cruise_initialized

-    cs = car.CarState(
-      cruiseState={
-        "available": True,
-        "speed": pcm_speed_kph * CV.KPH_TO_MS,
-        "speedCluster": pcm_cluster_speed_kph * CV.KPH_TO_MS,
-      },
+    samples = (
+      (72.0, 71.0, None),
+      (25.0, 25.0, {"type": ButtonType.decelCruise, "pressed": True}),
+      (65.0, 65.0, {"type": ButtonType.decelCruise, "pressed": False}),
+      (90.0, 90.0, {"type": ButtonType.accelCruise, "pressed": True}),
+      (5.0, 5.0, {"type": ButtonType.accelCruise, "pressed": False}),
    )
-
-    helper.update_v_cruise(cs, True, True, False, toggles)
-    assert helper.v_cruise_kph == pytest.approx(pcm_speed_kph)
-    assert helper.v_cruise_cluster_kph == pytest.approx(pcm_cluster_speed_kph)
-
-    next_pcm_speed_kph = 74.0
-    next_cs = car.CarState(
-      cruiseState={
-        "available": True,
-        "speed": next_pcm_speed_kph * CV.KPH_TO_MS,
-        "speedCluster": next_pcm_speed_kph * CV.KPH_TO_MS,
-      },
-      buttonEvents=[{"type": ButtonType.accelCruise, "pressed": False}],
-    )
-    helper.update_v_cruise(next_cs, True, True, False, toggles)
-    assert helper.v_cruise_kph == pytest.approx(next_pcm_speed_kph)
-
-  def test_openpilot_longitudinal_pcm_cruise_uses_custom_intervals(self):
-    CP = car.CarParams(pcmCruise=True, openpilotLongitudinalControl=True)
-    helper = VCruiseHelper(CP)
-    toggles = SimpleNamespace(cruise_increase=5, cruise_increase_long=1, set_speed_limit=False)
-    initial_speed_kph = 40.0
-
-    helper.initialize_v_cruise(car.CarState(vEgo=initial_speed_kph * CV.KPH_TO_MS), False, False, toggles)
-    assert helper.v_cruise_kph == pytest.approx(initial_speed_kph)
-
-    press_cs = car.CarState(
-      cruiseState={"available": True},
-      buttonEvents=[{"type": ButtonType.accelCruise, "pressed": True}],
-    )
-    helper.update_v_cruise(press_cs, True, True, False, toggles)
-
-    release_cs = car.CarState(
-      cruiseState={"available": True},
-      buttonEvents=[{"type": ButtonType.accelCruise, "pressed": False}],
-    )
-    helper.update_v_cruise(release_cs, True, True, False, toggles)
-    assert helper.v_cruise_kph == pytest.approx(initial_speed_kph + 5)
-
-    helper.update_v_cruise(press_cs, True, True, False, toggles)
-    for _ in range(50):
-      helper.update_v_cruise(car.CarState(cruiseState={"available": True}), True, True, False, toggles)
-
-    assert helper.v_cruise_kph == pytest.approx(initial_speed_kph + 5 + 1)
-
-  def test_openpilot_longitudinal_pcm_cruise_starts_from_pcm_set_speed(self):
-    CP = car.CarParams(pcmCruise=True, openpilotLongitudinalControl=True)
-    helper = VCruiseHelper(CP)
-    toggles = SimpleNamespace(cruise_increase=5, cruise_increase_long=1, set_speed_limit=False)
-    pcm_speed_kph = 72.0
-
-    helper.initialize_v_cruise(
-      car.CarState(
-        vEgo=40 * CV.KPH_TO_MS,
-        cruiseState={"available": True, "speed": pcm_speed_kph * CV.KPH_TO_MS},
-      ),
-      False,
-      False,
-      toggles,
-    )
-    assert helper.v_cruise_kph == pytest.approx(pcm_speed_kph)
-
-    helper.update_v_cruise(
-      car.CarState(
-        cruiseState={"available": True, "speed": 74 * CV.KPH_TO_MS},
-      ),
-      True,
-      True,
-      False,
-      toggles,
-    )
-    assert helper.v_cruise_kph == pytest.approx(pcm_speed_kph)
+    for pcm_speed_kph, pcm_cluster_speed_kph, button_event in samples:
+      cs = car.CarState(
+        cruiseState={
+          "available": True,
+          "speed": pcm_speed_kph * CV.KPH_TO_MS,
+          "speedCluster": pcm_cluster_speed_kph * CV.KPH_TO_MS,
+        },
+        buttonEvents=[] if button_event is None else [button_event],
+      )
+      helper.update_v_cruise(cs, True, True, False, toggles)
+      assert helper.v_cruise_kph == pytest.approx(pcm_speed_kph)
+      assert helper.v_cruise_cluster_kph == pytest.approx(pcm_cluster_speed_kph)


 class TestVCruiseHelperRedneck:
@@ -639,6 +639,9 @@ class LatControlTorque(LatControl):
        output_torque *= tucson_4th_gen_center_taper
      elif genesis_g70_active:
        output_torque *= genesis_g70_center_output_taper
+        output_torque *= get_genesis_g70_high_speed_transition_scale(
+          setpoint, desired_lateral_jerk, CS.vEgo,
+        )
        output_torque *= get_genesis_g70_curve_unwind_output_scale(setpoint, desired_lateral_jerk, CS.vEgo)
        output_torque *= get_genesis_g70_high_speed_error_scale(
          setpoint, measurement, desired_lateral_jerk, CS.vEgo,
@@ -289,6 +289,13 @@ GENESIS_G70_CENTER_OUTPUT_TAPER_LAT = 0.30
 GENESIS_G70_CENTER_OUTPUT_TAPER_LAT_WIDTH = 0.10
 GENESIS_G70_CENTER_OUTPUT_TAPER_SPEED = 18.0
 GENESIS_G70_CENTER_OUTPUT_TAPER_SPEED_WIDTH = 3.0
+GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_MAX = 0.18
+GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_SPEED = 45.0 * CV.MPH_TO_MS
+GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_SPEED_WIDTH = 8.0 * CV.MPH_TO_MS
+GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_LAT = 0.45
+GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_LAT_WIDTH = 0.15
+GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_JERK = 0.35
+GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_JERK_WIDTH = 0.15
 GENESIS_G70_LOW_SPEED_CENTER_TAPER_MAX = 0.06
 GENESIS_G70_LOW_SPEED_CENTER_TAPER_LAT = 0.14
 GENESIS_G70_LOW_SPEED_CENTER_TAPER_LAT_WIDTH = 0.05
@@ -3246,6 +3253,18 @@ def get_genesis_g70_center_output_scale(desired_lateral_accel: float, v_ego: flo
  return 1.0 - reduction


+def get_genesis_g70_high_speed_transition_scale(desired_lateral_accel: float,
+                                                desired_lateral_jerk: float, v_ego: float) -> float:
+  speed_weight = _sigmoid((v_ego - GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_SPEED) /
+                          GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_SPEED_WIDTH)
+  center_weight = _sigmoid((GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_LAT - abs(desired_lateral_accel)) /
+                           GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_LAT_WIDTH)
+  jerk_weight = _sigmoid((abs(desired_lateral_jerk) - GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_JERK) /
+                          GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_JERK_WIDTH)
+  reduction = (GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_MAX * speed_weight * center_weight * jerk_weight)
+  return 1.0 - reduction
+
+
 def get_genesis_g70_low_speed_angle_damping(desired_angle_deg: float, actual_angle_deg: float,
                                             current_output_torque: float, v_ego: float) -> float:
  angle_error = desired_angle_deg - actual_angle_deg
@@ -54,6 +54,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_vehicle_tunes import (
  get_rav4_tss2_pid_output,
  get_subaru_impreza_pid_output_scale,
  get_genesis_gv70_low_speed_center_overshoot_scale,
+  get_genesis_g70_high_speed_transition_scale,
  normalize_flm_overrides,
  set_flm_runtime_overrides,
 )
@@ -960,6 +961,12 @@ class TestLatControl:
    assert get_genesis_g70_low_speed_output_limit(0.0, 2.0) < 0.30
    assert get_genesis_g70_low_speed_angle_damping(0.0, -20.0, 0.0, 2.0) < 0.0
    assert get_genesis_g70_low_speed_angle_damping(0.0, 20.0, 0.0, 2.0) > 0.0
+    assert get_genesis_g70_high_speed_transition_scale(0.0, 0.8, 65.0 * 0.44704) < \
+      get_genesis_g70_high_speed_transition_scale(0.0, 0.1, 65.0 * 0.44704)
+    assert get_genesis_g70_high_speed_transition_scale(1.0, 0.8, 65.0 * 0.44704) > \
+      get_genesis_g70_high_speed_transition_scale(0.0, 0.8, 65.0 * 0.44704)
+    assert get_genesis_g70_high_speed_transition_scale(0.0, 0.8, 20.0 * 0.44704) > \
+      get_genesis_g70_high_speed_transition_scale(0.0, 0.8, 65.0 * 0.44704)
    assert 0.90 < get_genesis_g70_curve_unwind_output_scale(0.7, -0.5, 25.0) < 1.0
    assert get_genesis_g70_curve_unwind_output_scale(0.7, 0.5, 25.0) == 1.0
    assert get_genesis_g70_angle_output_scale(55.0, 1.0) > get_genesis_g70_angle_output_scale(85.0, 1.0)
@@ -32,6 +32,7 @@ class DeveloperLayout(Widget):
  def __init__(self):
    super().__init__()
    self._params = Params()
+    self._params.put_bool("LongitudinalManeuverMode", False)

    # Build items and keep references for callbacks/state updates
    self._adb_toggle = toggle_item(
@@ -59,13 +60,6 @@ class DeveloperLayout(Widget):
      enabled=ui_state.is_offroad,
    )

-    self._long_maneuver_toggle = toggle_item(
-      lambda: tr("Longitudinal Maneuver Mode"),
-      description="",
-      initial_state=self._params.get_bool("LongitudinalManeuverMode"),
-      callback=self._on_long_maneuver_mode,
-    )
-
    self._alpha_long_toggle = toggle_item(
      lambda: tr("openpilot Longitudinal Control (Alpha)"),
      description=lambda: tr(DESCRIPTIONS["alpha_longitudinal"]),
@@ -87,7 +81,6 @@ class DeveloperLayout(Widget):
      self._ssh_toggle,
      self._ssh_keys,
      self._joystick_toggle,
-      self._long_maneuver_toggle,
      self._alpha_long_toggle,
      self._ui_debug_toggle,
    ], line_separator=True, spacing=0)
@@ -114,13 +107,7 @@ class DeveloperLayout(Widget):
      else:
        self._alpha_long_toggle.set_visible(True)

-      long_man_enabled = ui_state.has_longitudinal_control and ui_state.is_offroad()
-      self._long_maneuver_toggle.action_item.set_enabled(long_man_enabled)
-      if not long_man_enabled:
-        self._long_maneuver_toggle.action_item.set_state(False)
-        self._params.put_bool("LongitudinalManeuverMode", False)
    else:
-      self._long_maneuver_toggle.action_item.set_enabled(False)
      self._alpha_long_toggle.set_visible(False)

    # TODO: make a param control list item so we don't need to manage internal state as much here
@@ -129,7 +116,6 @@ class DeveloperLayout(Widget):
      ("AdbEnabled", self._adb_toggle),
      ("SshEnabled", self._ssh_toggle),
      ("JoystickDebugMode", self._joystick_toggle),
-      ("LongitudinalManeuverMode", self._long_maneuver_toggle),
      ("AlphaLongitudinalEnabled", self._alpha_long_toggle),
      ("ShowDebugInfo", self._ui_debug_toggle),
    ):
@@ -149,12 +135,6 @@ class DeveloperLayout(Widget):
  def _on_joystick_debug_mode(self, state: bool):
    self._params.put_bool("JoystickDebugMode", state)
    self._params.put_bool("LongitudinalManeuverMode", False)
-    self._long_maneuver_toggle.action_item.set_state(False)
-
-  def _on_long_maneuver_mode(self, state: bool):
-    self._params.put_bool("LongitudinalManeuverMode", state)
-    self._params.put_bool("JoystickDebugMode", False)
-    self._joystick_toggle.action_item.set_state(False)

  def _on_alpha_long_enabled(self, state: bool):
    if state:
@@ -731,7 +731,7 @@ class StarPilotLongitudinalLayout(_SettingsPage):
                                                    unit=self._speed_unit(),
                                                    value_type="float",
                                                    current_value=max(1, self._params.get_float("CustomCruise"))),
-                 visible=lambda: self._params.get_bool("QOLLongitudinal")),
+                 visible=lambda: self._params.get_bool("QOLLongitudinal") and not starpilot_state.car_state.isToyota),
      SettingRow("CustomCruiseLong", "value", tr_noop("Cruise Long"),
                 subtitle="",
                 get_value=lambda: f"{max(1, self._params.get_float('CustomCruiseLong')):g}{self._speed_unit()}",
@@ -739,7 +739,12 @@ class StarPilotLongitudinalLayout(_SettingsPage):
                                                    unit=self._speed_unit(),
                                                    value_type="float",
                                                    current_value=max(1, self._params.get_float("CustomCruiseLong"))),
-                 visible=lambda: self._params.get_bool("QOLLongitudinal")),
+                 visible=lambda: self._params.get_bool("QOLLongitudinal") and not starpilot_state.car_state.isToyota),
+      SettingRow("ReverseCruise", "toggle", tr_noop("Reverse Cruise Increase"),
+                 subtitle=tr_noop("Swap Toyota/Lexus cruise increments: short press changes the dash set speed by 5; hold changes it by 1."),
+                 get_state=lambda: self._params.get_bool("ReverseCruise"),
+                 set_state=lambda s: self._params.put_bool("ReverseCruise", s),
+                 visible=lambda: self._params.get_bool("QOLLongitudinal") and starpilot_state.car_state.isToyota),
      SettingRow("ForceStops", "toggle", tr_noop("Force Stops"),
                 subtitle="",
                 get_state=lambda: self._params.get_bool("ForceStops"),
@@ -12,6 +12,7 @@ class DeveloperLayoutMici(NavScroller):
  def __init__(self):
    super().__init__()
    self._ssh_fetcher = SshKeyFetcher(ui_state.params)
+    ui_state.params.put_bool("LongitudinalManeuverMode", False)

    def github_username_callback(username: str):
      if username:
@@ -45,7 +46,6 @@ class DeveloperLayoutMici(NavScroller):
    self._ssh_keys_btn = BigButton("SSH keys", "Not set" if not github_username else github_username, icon=txt_ssh)
    self._ssh_keys_btn.set_click_callback(ssh_keys_callback)

-    # adb, ssh, ssh keys, debug mode, joystick debug mode, longitudinal maneuver mode, ip address
    # ******** Main Scroller ********
    self._adb_toggle = BigCircleParamControl(gui_app.texture("icons_mici/adb_short.png", 82, 82), "AdbEnabled", icon_offset=(0, 12))
    self._ssh_toggle = BigCircleParamControl(gui_app.texture("icons_mici/ssh_short.png", 82, 82), "SshEnabled", icon_offset=(0, 12))
@@ -53,9 +53,6 @@ class DeveloperLayoutMici(NavScroller):
    self._joystick_toggle = BigToggle("joystick debug mode",
                                      initial_state=ui_state.params.get_bool("JoystickDebugMode"),
                                      toggle_callback=self._on_joystick_debug_mode)
-    self._long_maneuver_toggle = BigToggle("longitudinal maneuver mode",
-                                           initial_state=ui_state.params.get_bool("LongitudinalManeuverMode"),
-                                           toggle_callback=self._on_long_maneuver_mode)
    self._alpha_long_toggle = BigToggle("alpha longitudinal",
                                        initial_state=ui_state.params.get_bool("AlphaLongitudinalEnabled"),
                                        toggle_callback=self._on_alpha_long_enabled)
@@ -69,7 +66,6 @@ class DeveloperLayoutMici(NavScroller):
      self._ssh_keys_btn,
      self._disable_wide_road_toggle,
      self._joystick_toggle,
-      self._long_maneuver_toggle,
      self._alpha_long_toggle,
      self._debug_mode_toggle,
    ])
@@ -80,7 +76,6 @@ class DeveloperLayoutMici(NavScroller):
      ("SshEnabled", self._ssh_toggle),
      ("DisableWideRoad", self._disable_wide_road_toggle),
      ("JoystickDebugMode", self._joystick_toggle),
-      ("LongitudinalManeuverMode", self._long_maneuver_toggle),
      ("AlphaLongitudinalEnabled", self._alpha_long_toggle),
      ("ShowDebugInfo", self._debug_mode_toggle),
    )
@@ -89,7 +84,7 @@ class DeveloperLayoutMici(NavScroller):
      self._disable_wide_road_toggle,
      self._joystick_toggle,
    )
-    engaged_blocked_toggles = (self._long_maneuver_toggle, self._alpha_long_toggle)
+    engaged_blocked_toggles = (self._alpha_long_toggle,)

    # Disable toggles that require offroad
    for item in onroad_blocked_toggles:
@@ -129,13 +124,7 @@ class DeveloperLayoutMici(NavScroller):
      else:
        self._alpha_long_toggle.set_visible(True)

-      long_man_enabled = ui_state.has_longitudinal_control and ui_state.is_offroad()
-      self._long_maneuver_toggle.set_enabled(long_man_enabled)
-      if not long_man_enabled:
-        self._long_maneuver_toggle.set_checked(False)
-        ui_state.params.put_bool("LongitudinalManeuverMode", False)
    else:
-      self._long_maneuver_toggle.set_enabled(False)
      self._alpha_long_toggle.set_visible(False)

    # Refresh toggles from params to mirror external changes
@@ -145,16 +134,8 @@ class DeveloperLayoutMici(NavScroller):
  def _on_joystick_debug_mode(self, state: bool):
    ui_state.params.put_bool("JoystickDebugMode", state)
    ui_state.params.put_bool("LongitudinalManeuverMode", False)
-    self._long_maneuver_toggle.set_checked(False)
    ui_state.params.put_bool("LateralManeuverMode", False)

-  def _on_long_maneuver_mode(self, state: bool):
-    ui_state.params.put_bool("LongitudinalManeuverMode", state)
-    ui_state.params.put_bool("JoystickDebugMode", False)
-    self._joystick_toggle.set_checked(False)
-    ui_state.params.put_bool("LateralManeuverMode", False)
-    restart_needed_callback(state)
-
  def _on_alpha_long_enabled(self, state: bool):
    # TODO: show confirmation dialog before enabling
    ui_state.params.put_bool("AlphaLongitudinalEnabled", state)
@@ -1704,6 +1704,10 @@
        "precision": 0,
        "unit_type": "vehicle_speed",
        "metric_max": 150.0,
+        "excluded_vehicle_makes": [
+          "Lexus",
+          "Toyota"
+        ],
        "parent_key": "QOLLongitudinal",
        "settings_tier": "simple"
      },
@@ -1719,6 +1723,24 @@
        "precision": 0,
        "unit_type": "vehicle_speed",
        "metric_max": 150.0,
+        "excluded_vehicle_makes": [
+          "Lexus",
+          "Toyota"
+        ],
+        "parent_key": "QOLLongitudinal",
+        "settings_tier": "simple"
+      },
+      {
+        "key": "ReverseCruise",
+        "label": "Reverse Cruise Increase",
+        "description": "Reverse Toyota/Lexus cruise-button behavior so a short press changes the dashboard set speed by 5 and a hold changes it by 1.",
+        "picker_description": "Swaps Toyota/Lexus short-press and hold cruise increments.",
+        "data_type": "bool",
+        "ui_type": "toggle",
+        "vehicle_makes": [
+          "Lexus",
+          "Toyota"
+        ],
        "parent_key": "QOLLongitudinal",
        "settings_tier": "simple"
      },
@@ -4829,12 +4851,12 @@
      },
      {
        "key": "GalaxyMobileDefault",
-        "label": "Try the Big Dipper Web UI",
-        "description": "Open the Big Dipper at the top-level Galaxy link instead of the classic Galaxy. The classic UI remains available at /classic and Big Dipper at /mobile regardless of this toggle.",
-        "picker_description": "Serve the Big Dipper as the default landing page.",
+        "label": "Use Galaxy (new) by Default",
+        "description": "Open Galaxy (new) at the top-level Galaxy link. Turn this off to use Galaxy (old) instead. Galaxy (old) remains available at /classic and Galaxy (new) at /mobile.",
+        "picker_description": "Serve Galaxy (new) as the default landing page.",
        "data_type": "bool",
        "ui_type": "toggle",
-        "settings_tier": "advanced"
+        "settings_tier": "simple"
      },
      {
        "key": "AlphaLongitudinalEnabled",
@@ -390,6 +390,16 @@ def speed_limit_controller_available(openpilot_longitudinal: bool, redneck_cruis
  return openpilot_longitudinal or redneck_cruise


+def software_cruise_intervals_available(quality_of_life: bool, car_make: str, pcm_cruise: bool,
+                                        openpilot_longitudinal: bool, pcm_cruise_speed: bool) -> bool:
+  return bool(quality_of_life and not (car_make == "toyota" and pcm_cruise) and
+              (openpilot_longitudinal or not pcm_cruise_speed))
+
+
+def reverse_cruise_available(quality_of_life: bool, car_make: str, pcm_cruise: bool) -> bool:
+  return bool(quality_of_life and car_make == "toyota" and pcm_cruise)
+
+
 def migrate_cancel_button_controls(params: Params | None = None) -> bool:
  params = params or Params(return_defaults=True)
  if params.get_bool(CANCEL_BUTTON_MIGRATION_KEY) or not params.get_bool("RemapCancelToDistance"):
@@ -1345,10 +1355,17 @@ class StarPilotVariables:
    toggle.pause_lateral_below_signal = self.get_value("PauseLateralOnSignal", condition=toggle.pause_lateral_below_speed != 0)
    toggle.pause_lateral_signal_delay = self.get_value("LateralResumeDelay", cast=float, condition=toggle.pause_lateral_below_signal, default=0.0, min=0.0, max=5.0)

-    quality_of_life_longitudinal = toggle.openpilot_longitudinal and self.get_value("QOLLongitudinal")
-    quality_of_life_cruise = self.get_value("QOLLongitudinal") and (toggle.openpilot_longitudinal or not FPCP.pcmCruiseSpeed)
+    quality_of_life = self.get_value("QOLLongitudinal")
+    quality_of_life_longitudinal = toggle.openpilot_longitudinal and quality_of_life
+    quality_of_life_cruise = software_cruise_intervals_available(
+      quality_of_life, toggle.car_make, pcm_cruise, toggle.openpilot_longitudinal, FPCP.pcmCruiseSpeed,
+    )
    toggle.cruise_increase = self.get_value("CustomCruise", cast=float, condition=quality_of_life_cruise, default=1.0)
    toggle.cruise_increase_long = self.get_value("CustomCruiseLong", cast=float, condition=quality_of_life_cruise, default=5.0)
+    toggle.reverse_cruise_increase = self.get_value(
+      "ReverseCruise",
+      condition=reverse_cruise_available(quality_of_life, toggle.car_make, pcm_cruise),
+    )
    toggle.force_stops = self.get_value("ForceStops", condition=quality_of_life_longitudinal)
    toggle.force_stop_distance_offset = self.get_value("ForceStopDistanceOffset", cast=int, condition=(quality_of_life_longitudinal and toggle.force_stops))
    toggle.force_standstill = self.get_value("ForceStandstill", condition=quality_of_life_longitudinal)
@@ -328,4 +328,14 @@ def test_set_speed_limit_unavailable_on_stock_pcm_without_helper():
 def test_speed_limit_controller_available_on_openpilot_longitudinal_or_redneck():
  assert spv.speed_limit_controller_available(openpilot_longitudinal=True, redneck_cruise=False) is True
  assert spv.speed_limit_controller_available(openpilot_longitudinal=False, redneck_cruise=True) is True
+
+
+def test_toyota_pcm_cruise_uses_hardware_reverse_instead_of_software_intervals():
+  assert spv.software_cruise_intervals_available(True, "toyota", True, True, True) is False
+  assert spv.reverse_cruise_available(True, "toyota", True) is True
+
+
+def test_non_toyota_software_cruise_keeps_custom_intervals():
+  assert spv.software_cruise_intervals_available(True, "hyundai", False, True, True) is True
+  assert spv.reverse_cruise_available(True, "hyundai", False) is False
  assert spv.speed_limit_controller_available(openpilot_longitudinal=False, redneck_cruise=False) is False
@@ -10,7 +10,6 @@ import { VehicleFeatures } from "/assets/components/tools/vehicle_features.js"
 import { TSKManager } from "/assets/components/tools/tsk_manager.js"
 import { GalaxyPairing } from "/assets/components/tools/galaxy.js"
 import { Home } from "/assets/components/home/home.js"
-import { LongitudinalManeuvers } from "/assets/components/tools/longitudinal_maneuvers.js"
 import { MapsManager } from "/assets/components/tools/maps.js"
 import { NavDestination } from "/assets/components/navigation/navigation_destination.js?v=nav-search-context-2"
 import { NavKeys } from "/assets/components/navigation/navigation_keys.js?v=app-keys-session-1"
@@ -91,7 +90,6 @@ function Root() {
    createRoute("model_laboratory", "/model_laboratory", ModelLaboratory),
    createRoute("tuning", "/tuning", Tuning),
    createRoute("lateral_maneuvers", "/lateral_maneuvers", Tuning),
-    createRoute("longitudinal_maneuvers", "/longitudinal_maneuvers", LongitudinalManeuvers),
    createRoute("maps", "/manage_maps", MapsManager),
    createRoute("plots", "/plots", LivePlots),
    createRoute("thememaker", "/theme_maker", ThemeMaker),
@@ -18,7 +18,6 @@ const MENU_ITEMS = {
    { name: "Sentry Mode", link: "/sentry", icon: "bi-shield-exclamation" },
    { name: "Controllers", link: "/wheel-controls", icon: "bi-controller" },
    { name: "Lateral Tuning", link: "/tuning", icon: "bi-sign-turn-right" },
-    { name: "Long Maneuvers", link: "/longitudinal_maneuvers", icon: "bi-signpost-split" },
    { name: "Maps", link: "/manage_maps", icon: "bi-map" },
    { name: "Navigation", link: "/set_navigation_destination", icon: "bi-geo-alt-fill" },
    { name: "App Keys", link: "/manage_navigation_keys", icon: "bi-key-fill" },
@@ -1,5 +1,5 @@
 import { html, reactive } from "/assets/vendor/arrow-core.js"
-import { formatNumericParamValue, resolveVehicleUnitParam, vehicleSpeedUnit } from "/assets/mobile/js/params.js"
+import { formatNumericParamValue, resolveVehicleUnitParam } from "/assets/mobile/js/params.js"

 const endpointOptionsCache = {}
 const endpointOptionsInflight = {}
@@ -102,9 +102,11 @@ function normalizeVehicleMake(value) {

 function isVehicleSettingVisible(section, param) {
  const allowedMakes = param.vehicle_makes || (section.name === "Vehicle" ? VEHICLE_SETTING_MAKES[param.key] : null)
-  if (!allowedMakes) return true
  const selectedMake = normalizeVehicleMake(state.values.CarMake)
-  return allowedMakes.some(make => normalizeVehicleMake(make) === selectedMake)
+  if (allowedMakes && !allowedMakes.some(make => normalizeVehicleMake(make) === selectedMake)) return false
+
+  const excludedMakes = param.excluded_vehicle_makes || []
+  return !excludedMakes.some(make => normalizeVehicleMake(make) === selectedMake)
 }

 function matchesSettingValueCondition(param) {
@@ -1818,11 +1820,6 @@ export function DeviceSettings({ params }) {
    <div class="ds-wrapper">
      <h2>Toggles</h2>

-      <div class="ds-unit-note">
-        <i class="bi bi-speedometer2"></i>
-        <span>Vehicle-unit speed settings use <strong>${() => vehicleSpeedUnit(state.values)}</strong> and follow the comma's <em>Use Metric System</em> toggle. Each control shows its adjustment step.</span>
-      </div>
-
      <div class="ds-search-row">
        <input
          class="ds-search"
@@ -138,10 +138,13 @@

 .dh-donut {
  --dh-value: 0;
-  display: grid;
+  align-items: center;
+  display: flex;
+  flex-direction: column;
  flex: 0 0 auto;
+  gap: 3px;
  height: 116px;
-  place-items: center;
+  justify-content: center;
  position: relative;
  width: 116px;
 }
@@ -610,6 +610,48 @@ ul { list-style: none; margin: 0; padding: 0; }
  font-size: 1.2rem;
 }

+.gx-row.gx-diagnostic-row--changed {
+  background: rgba(139, 108, 197, 0.18) !important;
+  box-shadow: inset 3px 0 var(--primary);
+}
+
+.gx-update-progress {
+  display: grid;
+  gap: 6px;
+  margin-top: var(--sp-2);
+}
+
+.gx-update-progress__track {
+  background: rgba(255, 255, 255, 0.12);
+  border-radius: var(--radius-full);
+  height: 12px;
+  overflow: hidden;
+}
+
+.gx-update-progress__fill {
+  background: linear-gradient(90deg, #5ec8c8 0%, #8b6cc5 100%);
+  border-radius: inherit;
+  height: 100%;
+  transition: width 0.4s ease;
+}
+
+.gx-update-progress__fill--error {
+  background: linear-gradient(90deg, #b43a3a 0%, #de5656 100%);
+}
+
+.gx-update-progress__meta {
+  align-items: center;
+  display: flex;
+  font-size: var(--fs-sm);
+  gap: var(--sp-2);
+  justify-content: space-between;
+}
+
+.gx-update-progress small {
+  color: var(--text-muted);
+  overflow-wrap: anywhere;
+}
+
 [data-theme="light"] .gx-card {
  border: 1px solid rgba(120, 73, 232, 0.22);
 }
@@ -7,7 +7,7 @@
  <meta name="mobile-web-app-capable" content="yes">
  <meta name="apple-mobile-web-app-capable" content="yes">
  <meta name="apple-mobile-web-app-status-bar-style" content="black-translucent">
-  <meta name="apple-mobile-web-app-title" content="Big Dipper">
+  <meta name="apple-mobile-web-app-title" content="Galaxy">
  <meta name="format-detection" content="telephone=no">
  <meta name="theme-color" content="#8b6cc5" />
  <link rel="manifest" href="/assets/mobile/manifest.json" crossorigin="use-credentials">
@@ -26,7 +26,7 @@
    }
  </script>

-  <title>Big Dipper</title>
+  <title>Galaxy</title>
 </head>

 <body>
@@ -8,12 +8,12 @@ import { Logs } from "./views/Logs.js"
 import { Tuning } from "./views/Tuning.js"
 import { Navigation } from "./views/Navigation.js"
 import { Vehicle } from "./views/Vehicle.js"
+import { Bluetooth } from "./views/Bluetooth.js"
 import { SystemTools } from "./views/SystemTools.js"
 import { ToolEmbed } from "./views/ToolEmbed.js"
 import { Doors } from "./views/Doors.js"
 import { Galaxy } from "./views/Galaxy.js"
 import { Tsk } from "./views/Tsk.js"
-import { Sentry } from "./views/Sentry.js"
 import { ModelManager } from "./views/ModelManager.js"
 import { Plots } from "./views/Plots.js"
 import { TestingGround } from "./views/TestingGround.js"
@@ -43,12 +43,13 @@ const VIEWS = {
  "/tuning": Tuning,
  "/navigation": Navigation,
  "/vehicle": Vehicle,
+  "/bluetooth": Bluetooth,
  "/system": SystemTools,
  "/embed": ToolEmbed,
  "/manage_doors": Doors,
  "/galaxy": Galaxy,
  "/manage_tsk": Tsk,
-  "/sentry": Sentry,
+  "/sentry": Cameras,
  "/manage_models": ModelManager,
  "/plots": Plots,
  "/testing_ground": TestingGround,
@@ -7,12 +7,12 @@ const NAV = {
    { name: "Recordings", link: "/recordings", icon: "bi-camera-reels" },
  ],
  tools: [
+    { name: "Bluetooth", link: "/bluetooth", icon: "bi-bluetooth" },
    { name: "Cameras & Monitoring", link: "/cameras", icon: "bi-camera-video" },
    { name: "Galaxy", link: "/galaxy", icon: "bi-globe2" },
    { name: "Logs & Diagnostics", link: "/logs", icon: "bi-exclamation-triangle" },
    { name: "Model Manager", link: "/manage_models", icon: "bi-cpu" },
    { name: "Navigation & Maps", link: "/navigation", icon: "bi-map" },
-    { name: "Sentry Mode", link: "/sentry", icon: "bi-shield-exclamation" },
    { name: "System Tools", link: "/system", icon: "bi-arrow-repeat" },
    { name: "Model Laboratory", link: "/model_laboratory", icon: "bi-bezier2" },
    { name: "Plots", link: "/plots", icon: "bi-graph-up-arrow" },
@@ -102,7 +102,7 @@ export const AppShell = {
          <button type="button" class="gx-icon-btn gx-menu-btn" aria-label="Menu" @click="store.drawerOpen = true">
            <i class="bi bi-list"></i>
          </button>
-          <span class="gx-appbar__title">Big Dipper</span>
+          <span class="gx-appbar__title">Galaxy</span>
          <div class="gx-searchwrap">
            <input ref="searchInput" class="gx-search gx-appbar__search" type="search" placeholder="Search toggles..."
              v-model="search" aria-label="Search toggles" />
@@ -128,8 +128,8 @@ export const AppShell = {
      </transition>
      <aside class="gx-drawer" :class="{ open: store.drawerOpen }">
        <div class="gx-drawer__header">
-          <img class="gx-logo" src="/assets/images/main_logo.png" alt="Big Dipper logo" />
-          <span class="gx-drawer-title">Big Dipper</span>
+          <img class="gx-logo" src="/assets/images/main_logo.png" alt="Galaxy logo" />
+          <span class="gx-drawer-title">Galaxy</span>
        </div>
        <div class="gx-nav-section">
          <div class="gx-nav-section__title">Main</div>
@@ -20,6 +20,7 @@ export const BluetoothPanel = {
    availableDevices() { return this.devices.filter((d) => !d.paired && !d.trusted && !d.connected) },
  },
  methods: {
+    address,
    async refresh() {
      try {
        const p = await api.getBluetoothStatus()
@@ -216,6 +216,7 @@ export const TroubleshootPanel = {
          <div v-if="!itemsVisible(section).length" class="gx-empty">No settings are currently different from their defaults.</div>
          <div v-else style="display:grid; gap:8px; grid-template-columns:repeat(auto-fill,minmax(260px,1fr)); padding:0 var(--sp-3) var(--sp-3);">
            <div v-for="item in itemsVisible(section)" :key="item.label" class="gx-row"
+              :class="{ 'gx-diagnostic-row--changed': isChanged(item) }"
              style="border:none; background:var(--surface); border-radius:var(--radius-md); margin:0; padding:10px 12px; flex-direction:column; align-items:stretch; gap:8px;">
              <div style="display:flex; align-items:center; gap:6px; min-width:0;">
                <span class="gx-row__label" style="font-size:var(--fs-sm); overflow-wrap:anywhere;">{{ item.label }}</span>
@@ -91,7 +91,7 @@ export function goBack() {
  window.location.hash = prev
 }

-const NATIVE_ROOTS = new Set(["/", "/settings", "/tools", "/recordings", "/logs", "/tuning", "/navigation", "/vehicle", "/system", "/embed", "/manage_doors", "/galaxy", "/manage_tsk", "/sentry", "/manage_models", "/plots", "/testing_ground", "/theme_maker", "/model_laboratory", "/cameras"])
+const NATIVE_ROOTS = new Set(["/", "/settings", "/tools", "/recordings", "/logs", "/tuning", "/navigation", "/vehicle", "/bluetooth", "/system", "/embed", "/manage_doors", "/galaxy", "/manage_tsk", "/sentry", "/manage_models", "/plots", "/testing_ground", "/theme_maker", "/model_laboratory", "/cameras"])

 export function toolHref(link) {
  const path = link.split("?")[0]
@@ -0,0 +1,15 @@
+import { BluetoothPanel } from "../components/BluetoothPanel.js"
+import { GalaxySection } from "../components/GalaxySection.js"
+
+export const Bluetooth = {
+  name: "Bluetooth",
+  components: { BluetoothPanel, GalaxySection },
+  template: `
+    <div class="gx-view">
+      <h2 style="margin-top:0;">Bluetooth</h2>
+      <GalaxySection title="Bluetooth Devices" icon="bi-bluetooth" :collapsible="false">
+        <BluetoothPanel />
+      </GalaxySection>
+    </div>
+  `,
+}
@@ -1,18 +1,20 @@
 import { GalaxyTabs } from "../components/GalaxyTabs.js"
 import { useTabRouting } from "../composables.js"
+import { Sentry } from "./Sentry.js"
 import { Vasm } from "./Vasm.js"
 import { Pip } from "./Pip.js"

 const TABS = {
+  sentry: "Sentry Mode",
  vasm: "V-ASM Spot Monitor",
  pip: "PiP Side Camera",
 }

 export const Cameras = {
  name: "Cameras",
-  components: { Vasm, Pip, GalaxyTabs },
+  components: { Sentry, Vasm, Pip, GalaxyTabs },
  setup() {
-    return useTabRouting("/cameras", { vasm: "vasm", pip: "pip" })
+    return useTabRouting("/cameras", { sentry: "sentry", vasm: "vasm", pip: "pip" })
  },
  data() { return { TABS } },
  template: `
@@ -20,7 +22,11 @@ export const Cameras = {
      <h2 style="margin-top:0;">Cameras & Monitoring</h2>
      <GalaxyTabs :items="TABS" :active="tab" @select="selectTab" />

-      <template v-if="tab === 'vasm'">
+      <template v-if="tab === 'sentry'">
+        <Sentry />
+      </template>
+
+      <template v-else-if="tab === 'vasm'">
        <Vasm :embedded="true" />
      </template>

@@ -4,6 +4,13 @@ import { PwaInstallSection, isFirestarOrigin } from "../components/PwaInstallSec

 const isTunnel = () => isFirestarOrigin()

+function localDeviceUrl(ip) {
+  const raw = String(ip || "").trim()
+  if (!raw || raw === "unknown") return ""
+  const host = raw.includes(":") && !raw.startsWith("[") ? `[${raw}]` : raw
+  return `http://${host}:8082`
+}
+
 export const Galaxy = {
  name: "Galaxy",
  components: { PwaInstallSection },
@@ -14,10 +21,17 @@ export const Galaxy = {
      url: "",
      password: "",
      submitting: false,
+      localUrl: "",
    }
  },
  async mounted() {
-    if (this.isTunnel) return
+    if (this.isTunnel) {
+      try {
+        const status = await api.getDeviceStatus()
+        this.localUrl = localDeviceUrl(status?.lanIp)
+      } catch (e) {}
+      return
+    }
    try {
      const data = await api.getGalaxyStatus()
      this.paired = !!data?.paired
@@ -76,7 +90,11 @@ export const Galaxy = {
            <i class="bi bi-satellite gx-alert__icon"></i>
            <div class="gx-alert__body">
              <strong>Galaxy Pairing Unavailable via Galaxy</strong>
-              <span>Galaxy pairing requires a direct connection. Connect to your device's local network to use this feature.</span>
+              <span>
+                Galaxy pairing requires a direct connection. If you are on the same local network, connect here:
+                <a v-if="localUrl" :href="localUrl" style="color:inherit; font-weight:var(--fw-bold); overflow-wrap:anywhere;">{{ localUrl }}</a>
+                <span v-else>your device's local IP on port 8082.</span>
+              </span>
            </div>
          </div>
        </section>
@@ -253,7 +253,7 @@ export const Home = {
        name: m.name,
        label: `${toInt(m.drives)} ${toNum(m.drives) === 1 ? "drive" : "drives"} using this model`,
      }))
-      return { hasModels: true, style: `background: conic-gradient(${segments.join(", ")})`, rows }
+      return { hasModels: true, style: `conic-gradient(${segments.join(", ")})`, rows }
    },

    storageView() {
@@ -510,7 +510,7 @@ export const Home = {
          <section class="gx-card dh-card">
            <div class="dh-card__head"><i class="bi bi-stars"></i><span>Most used models</span></div>
            <div v-if="modelView.hasModels" class="dh-body dh-models">
-              <div class="dh-chart-ring" :style="{ background: modelView.style }"></div>
+              <div class="dh-chart-ring" :style="{ backgroundImage: modelView.style }" role="img" aria-label="Model usage share"></div>
              <div class="dh-models__list">
                <div v-for="m in modelView.rows" :key="m.name" class="dh-model">
                  <span class="dh-swatch" :style="{ background: m.color }"></span>
@@ -5,9 +5,9 @@ import { TroubleshootPanel } from "../components/TroubleshootPanel.js"
 import { GalaxyTabs } from "../components/GalaxyTabs.js"

 const TABS = {
+  troubleshoot: "Troubleshoot",
  errors: "Error Logs",
  tmux: "Tmux Live Log",
-  troubleshoot: "Troubleshoot",
 }

 function parseLogDate(filename) {
@@ -35,7 +35,7 @@ export const Logs = {
    }
  },
  setup() {
-    return useTabRouting("/logs", { errors: "errors", tmux: "tmux", troubleshoot: "troubleshoot" })
+    return useTabRouting("/logs", { troubleshoot: "troubleshoot", errors: "errors", tmux: "tmux" })
  },
  created() {
    this.stream = useLogStream({ endpoint: "/api/tmux_log/live", snapshotFn: () => api.tmuxSnapshot(), interval: 2000 })
@@ -52,6 +52,13 @@ function normalizeRoute(r) {
  }
 }

+function localDeviceUrl(ip) {
+  const raw = String(ip || "").trim()
+  if (!raw || raw === "unknown") return ""
+  const host = raw.includes(":") && !raw.startsWith("[") ? `[${raw}]` : raw
+  return `http://${host}:8082`
+}
+
 export const Recordings = {
  name: "Recordings",
  components: { GalaxyTabs, GxNotice },
@@ -75,6 +82,7 @@ export const Recordings = {
      logsRoute: null,
      logsData: null,
      onFirestar: isFirestarOrigin(),
+      localUrl: "",
      // Screen recordings subtab
      screenLoading: false,
      screenError: "",
@@ -335,7 +343,14 @@ export const Recordings = {
    },
  },
  async mounted() {
-    if (!this.onFirestar) await this.loadRoutes()
+    if (this.onFirestar) {
+      try {
+        const status = await api.getDeviceStatus()
+        this.localUrl = localDeviceUrl(status?.lanIp)
+      } catch (e) {}
+      return
+    }
+    await this.loadRoutes()
  },
  beforeUnmount() {
    this.controller?.abort()
@@ -503,8 +518,11 @@ export const Recordings = {
      </Teleport>
      </template>

-      <GxNotice v-else tone="info" icon="bi-satellite" title="Recordings Unavailable via Galaxy"
-                text="Loading recordings requires a direct connection. Connect to your device's local network to use this feature." />
+      <GxNotice v-else tone="info" icon="bi-satellite" title="Recordings unavailable via Galaxy">
+        Recordings are unavailable via Galaxy for bandwidth reasons. If you are on the same local network, connect here:
+        <a v-if="localUrl" :href="localUrl" style="color:inherit; font-weight:var(--fw-bold); overflow-wrap:anywhere;">{{ localUrl }}</a>
+        <span v-else>your device's local IP on port 8082.</span>
+      </GxNotice>
    </div>
  `,
 }
@@ -2,7 +2,7 @@ import { api, showSnackbar } from "../api.js"
 import { navigate, store } from "../store.js"
 import {
  applyParamChange, countAdvancedHiddenByDeveloperMode, GALAXY_DEVELOPER_MODE_KEY, isSettingVisible,
-  resolveVehicleUnitParam, slugifySectionName, vehicleSpeedUnit,
+  resolveVehicleUnitParam, slugifySectionName,
 } from "../params.js"
 import { SettingTree } from "../components/SettingTree.js"
 import { GalaxyToggleCard } from "../components/GalaxyToggleCard.js"
@@ -39,7 +39,6 @@ export const Settings = {
      return this.sections.find((s) => s.slug === this.activeSectionSlug) || this.sections[0]
    },
    hiddenAdvancedCount() { return countAdvancedHiddenByDeveloperMode(this.layout, this.values) },
-    speedUnit() { return vehicleSpeedUnit(this.values) },
    searchActive() { return !!this.searchTerm },
    searchTerm: {
      get() { return store.search },
@@ -120,11 +119,6 @@ export const Settings = {
    <div>
      <h2 style="margin-top:0;">Toggles</h2>

-      <div class="gx-unit-note">
-        <i class="bi bi-speedometer2"></i>
-        <span>Vehicle-unit speed settings use <strong>{{ speedUnit }}</strong> and follow the comma's <em>Use Metric System</em> toggle. Each control shows its adjustment step.</span>
-      </div>
-
      <DevModeBanner :hidden-count="hiddenAdvancedCount" :dev-mode-on="devModeOn" />

      <div v-if="loading" class="gx-loading">Loading configuration...</div>
@@ -30,11 +30,17 @@ export const SystemTools = {
      profileBusy: "",
    }
  },
-  created() { this.poll = usePolling(() => this.loadFastStatus(), { interval: 3000 }); this.poll.start() },
+  created() {
+    this.poll = usePolling(() => this.loadFastStatus(), {
+      interval: 1000,
+      enabled: () => !this.fastStatus || !!this.fastStatus.running,
+    })
+    this.poll.start()
+  },
  mounted() { this.loadBranches(); this.loadProfiles() },
  beforeUnmount() { this.poll?.destroy() },
  computed: {
-    updateAvailable() { return !!this.fastStatus?.updateAvailable && !this.fastStatus?.running },
+    updateAvailable() { return this.checkedForUpdates && !!this.fastStatus?.updateAvailable && !this.fastStatus?.running },
    factoryResetStatus() {
      const s = this.fastStatus
      if (!s || String(s?.lastMode || "").trim() !== "factory-reset") return null
@@ -53,6 +59,7 @@ export const SystemTools = {
  },
  methods: {
    shortCommit,
+    toPercent,
    async loadBranches() {
      try {
        const data = await api.getUpdateBranches()
@@ -65,8 +72,15 @@ export const SystemTools = {
        this.branchLoading = false
      }
    },
-    async loadFastStatus() {
-      try { this.fastStatus = await api.getUpdateFastStatus() } catch (e) { this.fastStatus = null }
+    async loadFastStatus({ throwOnError = false } = {}) {
+      try {
+        const status = await api.getUpdateFastStatus()
+        if (!status) throw new Error("Update status unavailable")
+        this.fastStatus = status
+      } catch (e) {
+        this.fastStatus = null
+        if (throwOnError) throw e
+      }
    },
    async backupToggles() {
      try {
@@ -160,6 +174,7 @@ export const SystemTools = {
      try {
        await api.setUpdateBranch(branch)
        showSnackbar(`Switching to ${branch}...`)
+        await this.loadFastStatus()
      } catch (e) {
        showSnackbar(e?.message || "Switch failed.", "error")
      }
@@ -168,7 +183,7 @@ export const SystemTools = {
      if (this.busy) return
      this.busy = "check"
      try {
-        await this.loadFastStatus()
+        await this.loadFastStatus({ throwOnError: true })
        this.checkedForUpdates = true
        const st = this.fastStatus
        if (st?.running) showSnackbar("An update is already running.")
@@ -227,6 +242,7 @@ export const SystemTools = {
      try {
        await api.factoryReset()
        showSnackbar("SAVE ME initiated — factory resetting...")
+        await this.loadFastStatus()
      } catch (e) {
        showSnackbar(e?.message || "Factory reset failed.", "error")
      }
@@ -256,14 +272,27 @@ export const SystemTools = {
                <i class="bi bi-arrow-repeat"></i>
                <span class="gx-section__title">Update Status</span>
                <span v-if="fastStatus.running" class="gx-chip" style="background:var(--primary);color:var(--on-primary);">{{ fastStatus.progressPercent }}%</span>
-                <span v-else-if="fastStatus.updateAvailable" class="gx-chip" style="background:var(--warning);color:var(--black);">Update available</span>
-                <span v-else class="gx-chip">Up to date</span>
+                <span v-else-if="updateAvailable" class="gx-chip" style="background:var(--warning);color:var(--black);">Update available</span>
+                <span v-else-if="checkedForUpdates" class="gx-chip">Up to date</span>
+                <span v-else class="gx-chip">Not checked</span>
              </div>
              <div style="padding: var(--sp-3); display:grid; gap:6px;">
                <div class="gx-row" style="border-top:none; min-height:0; padding:4px 0;"><span class="gx-row__label">Branch</span><span class="gx-row__value">{{ fastStatus.branch || currentBranch || '—' }}</span></div>
                <div v-if="fastStatus.running" class="gx-row" style="border-top:none; min-height:0; padding:4px 0;"><span class="gx-row__label">Stage</span><span class="gx-row__value">{{ fastStatus.stage }} · {{ fastStatus.progressLabel }}</span></div>
                <div class="gx-row" style="border-top:none; min-height:0; padding:4px 0;"><span class="gx-row__label">Local</span><span class="gx-row__value" style="font-family:monospace;">{{ shortCommit(fastStatus.localCommit) }}</span></div>
                <div class="gx-row" style="border-top:none; min-height:0; padding:4px 0;"><span class="gx-row__label">Remote</span><span class="gx-row__value" style="font-family:monospace;">{{ shortCommit(fastStatus.remoteCommit) }}</span></div>
+                <div v-if="fastStatus.running" class="gx-update-progress" role="progressbar" aria-label="Update progress"
+                  :aria-valuenow="Math.round(fastStatus.progressPercent || 0)" aria-valuemin="0" aria-valuemax="100">
+                  <div class="gx-update-progress__track">
+                    <div class="gx-update-progress__fill" :class="{ 'gx-update-progress__fill--error': fastStatus.stage === 'error' }"
+                      :style="{ width: toPercent(fastStatus.progressPercent) + '%' }"></div>
+                  </div>
+                  <div class="gx-update-progress__meta">
+                    <span>Step {{ fastStatus.progressStep || 0 }}/{{ fastStatus.progressTotalSteps || 5 }}: {{ fastStatus.progressLabel || fastStatus.stage || 'Updating' }}</span>
+                    <strong>{{ Math.round(toPercent(fastStatus.progressPercent)) }}%</strong>
+                  </div>
+                  <small v-if="fastStatus.progressDetail">{{ fastStatus.progressDetail }}</small>
+                </div>
                <div v-if="fastStatus.message" class="gx-note">{{ fastStatus.message }}</div>
                <div v-if="fastStatus.warning && (fastStatus.running || fastStatus.updateAvailable)" class="gx-note gx-note--danger">{{ fastStatus.warning }}</div>
                <div v-if="fastStatus.agnosUpdate?.available && fastStatus.agnosUpdate?.warnings?.length" style="margin-top:4px;">
@@ -287,7 +316,7 @@ export const SystemTools = {
                <i v-if="busy === 'check'" class="bi bi-arrow-repeat gx-spin"></i>
                <i v-else class="bi bi-search"></i> {{ busy === 'check' ? 'Checking...' : 'Check for Updates' }}
              </button>
-              <button type="button" class="gx-btn" :disabled="!updateAvailable || !!busy || isOnroad" @click="applyFastUpdate">
+              <button v-if="updateAvailable" type="button" class="gx-btn" :disabled="!!busy || isOnroad" @click="applyFastUpdate">
                <i class="bi bi-arrow-up-circle"></i> {{ busy === 'fast' ? 'Updating...' : 'Update Now' }}
              </button>
              <button type="button" class="gx-btn gx-btn--tonal" :disabled="!!busy || isOnroad" @click="runUpdate('recover')">Recover</button>
@@ -1,17 +1,17 @@
 import { navigate, toolHref } from "../store.js"

 const TOOLS = [
-  { name: "Cameras & Monitoring", link: "/cameras", icon: "bi-camera-video", desc: "PiP side camera & V-ASM spot monitor" },
+  { name: "Bluetooth", link: "/bluetooth", icon: "bi-bluetooth", desc: "Pair devices, controllers, & audio" },
+  { name: "Cameras & Monitoring", link: "/cameras", icon: "bi-camera-video", desc: "Sentry, PiP side camera, & V-ASM spot monitor" },
  { name: "Galaxy & App Install", link: "/galaxy", icon: "bi-globe2", desc: "Remote access, pairing, & app install" },  
  { name: "Logs & Diagnostics", link: "/logs", icon: "bi-exclamation-triangle", desc: "Error logs, tmux, troubleshoot" },
  { name: "Model Manager", link: "/manage_models", icon: "bi-cpu", desc: "Install/swap models" },
  { name: "Model Laboratory", link: "/model_laboratory", icon: "bi-bezier2", desc: "Pair lateral and longitudinal models" },
  { name: "Navigation & Maps", link: "/navigation", icon: "bi-map", desc: "Offline maps & destinations" },
-  { name: "Sentry Mode", link: "/sentry", icon: "bi-shield-exclamation", desc: "Sentry alerts & security" },
  { name: "System Tools", link: "/system", icon: "bi-arrow-repeat", desc: "Backup, restore, updates" },
  { name: "Theme Maker", link: "/theme_maker", icon: "bi-palette-fill", desc: "Customize the look" },
  { name: "Tuning, Plots & Testing", link: "/tuning", icon: "bi-sign-turn-right", desc: "Steering & speed tuning, live plots, testing grounds" },
-  { name: "Vehicle Controls", link: "/vehicle", icon: "bi-car-front", desc: "Controllers, bluetooth, vehicle features" },
+  { name: "Vehicle Controls", link: "/vehicle", icon: "bi-car-front", desc: "Controllers & vehicle features" },
 ].sort((a, b) => a.name.localeCompare(b.name))

 export const Tools = {
@@ -1,5 +1,4 @@
 import { LateralTuningPanel } from "../components/LateralTuningPanel.js"
-import { LongitudinalManeuvers } from "../components/LongitudinalManeuvers.js"
 import { GalaxyTabs } from "../components/GalaxyTabs.js"
 import { Plots } from "./Plots.js"
 import { TestingGround } from "./TestingGround.js"
@@ -7,16 +6,15 @@ import { useTabRouting } from "../composables.js"

 const TABS = {
  lateral: "Lateral Tuning",
-  long: "Long Maneuvers",
  plots: "Plots",
  testing: "Testing Ground",
 }

 export const Tuning = {
  name: "Tuning",
-  components: { LateralTuningPanel, LongitudinalManeuvers, Plots, TestingGround, GalaxyTabs },
+  components: { LateralTuningPanel, Plots, TestingGround, GalaxyTabs },
  setup() {
-    return useTabRouting("/tuning", { lateral: "lateral", long: "long", plots: "plots", testing: "testing" })
+    return useTabRouting("/tuning", { lateral: "lateral", plots: "plots", testing: "testing" })
  },
  data() { return { TABS } },
  template: `
@@ -29,10 +27,6 @@ export const Tuning = {
        <LateralTuningPanel />
      </template>

-      <template v-else-if="tab === 'long'">
-        <LongitudinalManeuvers />
-      </template>
-
      <template v-else-if="tab === 'plots'">
        <Plots :embedded="true" />
      </template>
@@ -1,7 +1,6 @@
 import { api, showSnackbar } from "../api.js"
 import { navigate, toolHref } from "../store.js"
 import { WheelControls } from "../components/WheelControls.js"
-import { BluetoothPanel } from "../components/BluetoothPanel.js"
 import { GalaxySection } from "../components/GalaxySection.js"
 import { GalaxyTabs } from "../components/GalaxyTabs.js"
 import { useTabRouting } from "../composables.js"
@@ -13,13 +12,12 @@ const FEATURES = [

 const TABS = {
  controllers: "Controllers",
-  bluetooth: "Bluetooth",
  features: "Vehicle Features",
 }

 export const Vehicle = {
  name: "Vehicle",
-  components: { WheelControls, BluetoothPanel, GalaxySection, GalaxyTabs },
+  components: { WheelControls, GalaxySection, GalaxyTabs },
  data() {
    return {
      TABS,
@@ -29,7 +27,7 @@ export const Vehicle = {
    }
  },
  setup() {
-    return useTabRouting("/vehicle", { controllers: "controllers", bluetooth: "bluetooth", features: "features" })
+    return useTabRouting("/vehicle", { controllers: "controllers", features: "features" })
  },
  computed: {
    featureList() { return this.features },
@@ -71,10 +69,6 @@ export const Vehicle = {
        <WheelControls />
      </template>

-      <template v-else-if="tab === 'bluetooth'">
-        <BluetoothPanel />
-      </template>
-
      <template v-else>
        <GalaxySection title="Vehicle Features" icon="bi-check2-square">
          <div style="padding: var(--sp-3); display:grid; gap:8px;">
@@ -52,10 +52,15 @@ def test_device_settings_speed_units_follow_the_vehicle():
  assert 'from "/assets/mobile/js/params.js"' in source
  assert "resolveVehicleUnitParam" in source
  assert "formatNumericParamValue" in source
-  assert "vehicleSpeedUnit(state.values)" in source
  assert "unit_search_terms" in source
-  assert "Use Metric System" in source
  assert "per click" in source
+  assert "ds-unit-note" not in source
+
+
+def test_device_settings_supports_vehicle_make_exclusions():
+  source = _device_settings()
+
+  assert "excluded_vehicle_makes" in source


 def test_lane_center_offset_can_step_below_zero():
@@ -66,6 +66,15 @@ def test_galaxy_layout_contains_basic_mode_controls():
  assert {"AlphaLongitudinalEnabled", "ForceOffroad", "GalaxyDeveloperMode"} <= sections["Developer"].keys()


+def test_galaxy_new_ui_is_the_visible_default_choice():
+  galaxy_default = _params_by_section(_layout())["Developer"]["GalaxyMobileDefault"]
+
+  assert _declared_default("GalaxyMobileDefault") == "1"
+  assert galaxy_default["settings_tier"] == "simple"
+  assert galaxy_default["label"] == "Use Galaxy (new) by Default"
+  assert "Galaxy (old)" in galaxy_default["description"]
+
+
 def test_ford_lateral_controls_are_ford_only_and_galaxy_only():
  lateral = _params_by_section(_layout())["Lateral (Steering)"]
  ford_keys = {
@@ -142,6 +151,15 @@ def test_speed_settings_follow_vehicle_units_with_one_unit_steps():
  assert params["PulseGlideSpeedDelta"]["imperial_max"] == 15


+def test_cruise_controls_are_split_between_toyota_and_software_cruise():
+  longitudinal = _params_by_section(_layout())["Longitudinal (Speed & Following)"]
+
+  assert longitudinal["CustomCruise"]["excluded_vehicle_makes"] == ["Lexus", "Toyota"]
+  assert longitudinal["CustomCruiseLong"]["excluded_vehicle_makes"] == ["Lexus", "Toyota"]
+  assert longitudinal["ReverseCruise"]["vehicle_makes"] == ["Lexus", "Toyota"]
+  assert _declared_default("ReverseCruise") == "0"
+
+
 def test_curve_speed_controller_no_lead_toggle_is_nested_under_csc():
  csc_no_lead = _params_by_section(_layout())["Longitudinal (Speed & Following)"]["CurveSpeedControllerNoLead"]

@@ -44,6 +44,7 @@ def test_ui_app_shell_files_exist():
    "js/views/Tuning.js",
    "js/views/Navigation.js",
    "js/views/Vehicle.js",
+    "js/views/Bluetooth.js",
    "js/views/SystemTools.js",
  ]
  for rel in required:
@@ -55,6 +56,8 @@ def test_ui_index_wires_vue_and_mount_point():
  assert 'id="galaxy-app"' in index
  assert 'src="/assets/mobile/js/app.js"' in index
  assert '"vue": "/assets/vendor/vue/vue.esm-browser.js"' in index
+  assert '<title>Galaxy</title>' in index
+  assert 'apple-mobile-web-app-title" content="Galaxy"' in index


 def test_ui_uses_same_backend_endpoints():
@@ -107,7 +110,7 @@ def test_ui_ports_all_tool_views():
        "js/views/Recordings.js": ["/api/routes", "getRoutesStream", "getRouteLogs"],
    "js/views/Logs.js": ["getErrorLogs", "tmuxSnapshot"],
    "js/components/TroubleshootPanel.js": ["getTroubleshoot", "resetTroubleshootSection", "GalaxyConfirm"],
-    "js/views/Tuning.js": ["LateralTuningPanel", "LongitudinalManeuvers"],
+    "js/views/Tuning.js": ["LateralTuningPanel"],
    "js/views/Navigation.js": ["getNavigation", "setNavigation", "MapsPanel", "NavigationKeysPanel"],
    "js/views/ToolEmbed.js": ["/manage_maps", "/manage_navigation_keys"],
    "js/views/SystemTools.js": [
@@ -122,7 +125,9 @@ def test_ui_ports_all_tool_views():
    for ep in endpoints:
      assert ep in src, f"{rel} should use api.{ep}"
  vehicle = _read("js/views/Vehicle.js")
-  assert "WheelControls" in vehicle and "BluetoothPanel" in vehicle and "carFeaturesCheck" in vehicle
+  bluetooth = _read("js/views/Bluetooth.js")
+  assert "WheelControls" in vehicle and "BluetoothPanel" not in vehicle and "carFeaturesCheck" in vehicle
+  assert "BluetoothPanel" in bluetooth


 def test_ui_routes_ported_views_natively_no_classic_fallback():
@@ -130,16 +135,16 @@ def test_ui_routes_ported_views_natively_no_classic_fallback():
  shell = _read("js/components/AppShell.js")
  tools = _read("js/views/Tools.js")

-  for view in ["Recordings", "Logs", "Tuning", "Navigation", "Vehicle", "SystemTools"]:
+  for view in ["Recordings", "Logs", "Tuning", "Navigation", "Vehicle", "Bluetooth", "SystemTools"]:
    assert view in app, f"app.js should register {view}"

  # Ported routes must resolve natively in the Vue app (zero /classic redirect).
-  for route in ["/recordings", "/logs", "/tuning", "/navigation", "/vehicle", "/system"]:
+  for route in ["/recordings", "/logs", "/tuning", "/navigation", "/vehicle", "/bluetooth", "/system"]:
    assert route in shell, f"AppShell should route {route} natively"
    assert route in app, f"app.js should resolve {route} natively"
  # Tools grid routes the native categories (Recordings lives in the bottom nav
  # and is intentionally absent from the Tools page).
-  for tool in ["/tuning", "/logs", "/navigation", "/vehicle", "/system"]:
+  for tool in ["/tuning", "/logs", "/navigation", "/vehicle", "/bluetooth", "/system"]:
    assert tool in tools, f"Tools grid should route {tool} natively"
  assert "/cameras" in tools, "Tools grid should route the camera hub natively"
  assert "/manage_v_asm" not in tools and "/manage_pip_sidecam" not in tools
@@ -204,7 +209,7 @@ def test_ui_speed_units_follow_the_vehicle():
  assert "displayParam" in card and "formatNumericParamValue" in card
  assert "sliderStepDisplay" in card and "Step:" in card
  assert ':values="values"' in settings
-  assert "Use Metric System" in settings
+  assert "gx-unit-note" not in settings


 def test_ui_centralizes_api_and_uses_composables():
@@ -226,10 +231,10 @@ def test_ui_centralizes_api_and_uses_composables():
 def test_ui_schema_driven_param_engine_reused():
  tuning = _read("js/views/Tuning.js")
  assert "GalaxyEmbed" not in tuning and 'src="/tuning"' not in tuning, "Tuning must be native, not a classic embed"
-  assert "LateralTuningPanel" in tuning and "LongitudinalManeuvers" in tuning
+  assert "LateralTuningPanel" in tuning and "LongitudinalManeuvers" not in tuning
  vehicle = _read("js/views/Vehicle.js")
  assert "ParamSections" not in vehicle, "Vehicle must not render redundant toggles"
-  assert "WheelControls" in vehicle and "BluetoothPanel" in vehicle
+  assert "WheelControls" in vehicle and "BluetoothPanel" not in vehicle
  assert "GalaxySection" in vehicle
  engine = _read("js/components/ParamSections.js")
  assert "SettingTree" in engine
@@ -285,6 +290,7 @@ def test_ui_has_bottom_navigation_and_drawer():
  assert "gx-drawer" in shell
  assert "gx-appbar" in shell
  assert "Search toggles" in shell
+  assert ">Galaxy</span>" in shell


 def test_ui_search_visible_on_mobile_and_content_full_width():
@@ -342,8 +348,6 @@ def test_ui_galaxy_background_is_css_only_and_lightweight():

 def test_galaxy_py_serves_classic_at_root_and_new_ui_at_mobile():
  source = GALAXY_PY.read_text(encoding="utf-8")
-  # The classic Galaxy SPA is the default landing at / (original behaviour) unless
-  # the "New Galaxy by Default" (GalaxyMobileDefault) toggle is enabled.
  assert '@app.route("/", methods=["GET"])' in source
  assert 'render_template("index.html")' in source
  assert 'params.get_bool("GalaxyMobileDefault")' in source
@@ -358,7 +362,8 @@ def test_galaxy_py_serves_classic_at_root_and_new_ui_at_mobile():
 def test_ui_manifest_is_valid_pwa_manifest():
  manifest = json.loads((UI_ROOT / "manifest.json").read_text(encoding="utf-8"))
  assert manifest["display"] == "standalone"
-  assert manifest["name"]
+  assert manifest["name"] == "Galaxy"
+  assert manifest["short_name"] == "Galaxy"
  assert manifest["icons"]
  assert "start_url" not in manifest

@@ -417,7 +422,6 @@ def test_ui_all_remaining_classic_tools_native_no_embed():

  # Standalone native views + their routes.
  native = {
-    "/sentry": "Sentry",
    "/manage_models": "ModelManager",
    "/plots": "Plots",
    "/testing_ground": "TestingGround",
@@ -431,6 +435,10 @@ def test_ui_all_remaining_classic_tools_native_no_embed():
    assert src, f"missing view: {view}"
    assert "GalaxyEmbed" not in src and "fetch(" not in src, f"{view} should be native with no raw fetch"

+  assert '"/sentry": Cameras' in app
+  sentry = _read("js/views/Sentry.js")
+  assert "GalaxyEmbed" not in sentry and "fetch(" not in sentry
+
  # Navigation maps + App Keys and Tuning lateral are native tabs now.
  nav = _read("js/views/Navigation.js")
  assert "GalaxyEmbed" not in nav and "MapsPanel" in nav and "NavigationKeysPanel" in nav
@@ -466,8 +474,9 @@ def test_ui_cameras_hub_vasm_and_pip_native_no_embed():
  assert "/cameras" in app and "Cameras" in app, "app.js should register the camera hub"
  assert "/cameras" in store, "store NATIVE_ROOTS should include /cameras"
  assert "GalaxyEmbed" not in cameras and "fetch(" not in cameras
-  assert "Vasm" in cameras and "Pip" in cameras, "camera hub should embed V-ASM and PiP"
+  assert "Sentry" in cameras and "Vasm" in cameras and "Pip" in cameras, "camera hub should embed Sentry, V-ASM, and PiP"
  assert "GalaxyTabs" in cameras
+  assert cameras.index('sentry: "Sentry Mode"') < cameras.index('vasm: "V-ASM Spot Monitor"')

  # Removed standalone pages are no longer routed or listed as native roots.
  for route in ["/manage_v_asm", "/manage_pip_sidecam"]:
@@ -487,6 +496,40 @@ def test_ui_cameras_hub_vasm_and_pip_native_no_embed():
    assert method in api, f"api.js should expose {method}"


+def test_ui_mobile_polish_regressions():
+  system = _read("js/views/SystemTools.js")
+  css = _read("css/material.css")
+  assert 'button v-if="updateAvailable"' in system
+  assert "checkedForUpdates && !!this.fastStatus?.updateAvailable" in system
+  assert "gx-update-progress__fill" in system
+  assert "linear-gradient(90deg, #5ec8c8 0%, #8b6cc5 100%)" in css
+
+  bluetooth = _read("js/components/BluetoothPanel.js")
+  assert "methods: {\n    address," in bluetooth
+
+  logs = _read("js/views/Logs.js")
+  assert logs.index('troubleshoot: "Troubleshoot"') < logs.index('errors: "Error Logs"') < logs.index('tmux: "Tmux Live Log"')
+  troubleshoot = _read("js/components/TroubleshootPanel.js")
+  assert "gx-diagnostic-row--changed" in troubleshoot and ".gx-row.gx-diagnostic-row--changed" in css
+
+  recordings = _read("js/views/Recordings.js")
+  galaxy = _read("js/views/Galaxy.js")
+  assert "bandwidth reasons" in recordings and "status?.lanIp" in recordings
+  assert "status?.lanIp" in galaxy
+  assert ':href="localUrl"' in recordings and ':href="localUrl"' in galaxy
+
+  home = _read("js/views/Home.js")
+  home_css = _read("css/home.css")
+  assert "backgroundImage: modelView.style" in home
+  assert "display: flex" in home_css and "flex-direction: column" in home_css
+
+  tuning = _read("js/views/Tuning.js")
+  classic_sidebar = (REPO_ROOT / "starpilot/system/the_galaxy/assets/components/sidebar.js").read_text(encoding="utf-8")
+  c4_developer = (REPO_ROOT / "selfdrive/ui/layouts/settings/developer.py").read_text(encoding="utf-8")
+  assert "LongitudinalManeuvers" not in tuning and "Long Maneuvers" not in classic_sidebar
+  assert 'tr("Longitudinal Maneuver Mode")' not in c4_developer
+
+
 def _node_exe():
  candidates = [
    shutil.which("node"),
@@ -5305,12 +5305,12 @@ def setup(app):
  def mobile_manifest():
    manifest_path = Path(app.static_folder) / "mobile" / "manifest.json"
    if not manifest_path.is_file():
-      return jsonify({"error": "Big Dipper manifest not found"}), 404
+      return jsonify({"error": "Galaxy manifest not found"}), 404

    try:
      manifest_data = json.loads(manifest_path.read_text(encoding="utf-8"))
    except (OSError, ValueError, json.JSONDecodeError):
-      return jsonify({"error": "Big Dipper manifest is invalid"}), 500
+      return jsonify({"error": "Galaxy manifest is invalid"}), 500

    slug = _read_galaxy_text(_get_galaxy_dir() / "glxyslug")
    if re.fullmatch(r"[A-Za-z0-9]{16}", slug):
@@ -22,7 +22,7 @@ DEVELOPER_METRIC_DISPLAY_KEYS = (
 )
 DEVICE_SHUTDOWN_KEY = "DeviceShutdown"
 CAMERA_VIEW_KEY = "CameraView"
-REVERSE_CRUISE_KEY = "ReverseCruise"
+GALAXY_NEW_DEFAULT_KEY = "GalaxyMobileDefault"

 DEFAULT_STEER_KP = 0.6
 LEGACY_STEER_KP = 0.7
@@ -39,7 +39,8 @@ LANE_CHANGE_SMOOTHING_MIGRATION_MARKER = ".starpilot_lane_change_smoothing_defau
 SPEED_LIMIT_VISIBILITY_MIGRATION_MARKER = ".starpilot_speed_limit_visibility_v1"
 DEVICE_SHUTDOWN_HOURS_MIGRATION_MARKER = ".starpilot_device_shutdown_hours_v1"
 CAMERA_VIEW_DEFAULT_MIGRATION_MARKER = ".starpilot_camera_view_default_v1"
-REVERSE_CRUISE_REMOVAL_MIGRATION_MARKER = ".starpilot_remove_reverse_cruise_v1"
+REVERSE_CRUISE_RESTORE_MIGRATION_MARKER = ".starpilot_restore_reverse_cruise_v1"
+GALAXY_NEW_DEFAULT_MIGRATION_MARKER = ".starpilot_galaxy_new_default_v1"
 MARKER_DIRNAME = ".starpilot_param_migrations"

 LATERAL_METHOD_PARAM_SUFFIXES = (
@@ -147,8 +148,12 @@ def _camera_view_default_marker_path(params: ParamsLike) -> Path:
  return _marker_dir_path(params) / CAMERA_VIEW_DEFAULT_MIGRATION_MARKER


-def _reverse_cruise_removal_marker_path(params: ParamsLike) -> Path:
-  return _marker_dir_path(params) / REVERSE_CRUISE_REMOVAL_MIGRATION_MARKER
+def _reverse_cruise_restore_marker_path(params: ParamsLike) -> Path:
+  return _marker_dir_path(params) / REVERSE_CRUISE_RESTORE_MIGRATION_MARKER
+
+
+def _galaxy_new_default_marker_path(params: ParamsLike) -> Path:
+  return _marker_dir_path(params) / GALAXY_NEW_DEFAULT_MIGRATION_MARKER


 def _marker_dir_path(params: ParamsLike) -> Path:
@@ -332,12 +337,24 @@ def _apply_camera_view_default_migration(params: ParamsLike, marker: Path) -> No
  marker.touch()


-def _remove_reverse_cruise_param(params: ParamsLike, marker: Path) -> None:
+def _restore_reverse_cruise_param(params: ParamsLike, marker: Path) -> None:
  if marker.exists():
    return

  marker.parent.mkdir(parents=True, exist_ok=True)
-  Path(params.get_param_path(REVERSE_CRUISE_KEY)).unlink(missing_ok=True)
+  if (not _param_file_exists(params, "ReverseCruise") and
+      _approx_equal(params.get_float("CustomCruise"), 5.0) and
+      _approx_equal(params.get_float("CustomCruiseLong"), 1.0)):
+    params.put_bool("ReverseCruise", True)
+  marker.touch()
+
+
+def _enable_galaxy_new_default(params: ParamsLike, marker: Path) -> None:
+  if marker.exists():
+    return
+
+  marker.parent.mkdir(parents=True, exist_ok=True)
+  params.put_bool(GALAXY_NEW_DEFAULT_KEY, True)
  marker.touch()


@@ -352,7 +369,8 @@ def apply_launch_param_migrations(params: ParamsLike, marker_path: Path | None =
                                  speed_limit_visibility_marker_path: Path | None = None,
                                  device_shutdown_hours_marker_path: Path | None = None,
                                  camera_view_default_marker_path: Path | None = None,
-                                  reverse_cruise_removal_marker_path: Path | None = None) -> None:
+                                  reverse_cruise_restore_marker_path: Path | None = None,
+                                  galaxy_new_default_marker_path: Path | None = None) -> None:
  _apply_legacy_launch_param_migrations(params, marker_path or _default_marker_path(params))
  # Keep branch-default rollout on its own marker so older installs that already
  # have the legacy marker still receive this one-time param reset.
@@ -384,8 +402,11 @@ def apply_launch_param_migrations(params: ParamsLike, marker_path: Path | None =
  _apply_camera_view_default_migration(
    params, camera_view_default_marker_path or _camera_view_default_marker_path(params)
  )
-  _remove_reverse_cruise_param(
-    params, reverse_cruise_removal_marker_path or _reverse_cruise_removal_marker_path(params)
+  _restore_reverse_cruise_param(
+    params, reverse_cruise_restore_marker_path or _reverse_cruise_restore_marker_path(params)
+  )
+  _enable_galaxy_new_default(
+    params, galaxy_new_default_marker_path or _galaxy_new_default_marker_path(params)
  )


@@ -71,7 +71,7 @@ STARPILOT_DEFAULT_MODEL_MIGRATION_FLAG = Path("/data") / "starpilot_default_mode
 STARPILOT_CE_MODEL_STOP_TIME_MIGRATION_FLAG = Path("/data") / "starpilot_ce_model_stop_time_v2"
 STARPILOT_LEGACY_CACHE_MARKER_KEYS = ("RemapCancelToDistance",)
 STARPILOT_REMOVED_PARAM_KEYS = (
-  "CoastUpToLeads", "HumanAcceleration", "HumanFollowing", "PrioritizeSmoothFollowing", "ReverseCruise",
+  "CoastUpToLeads", "HumanAcceleration", "HumanFollowing", "PrioritizeSmoothFollowing",
 )
 LEGACY_CARMODEL_MIGRATIONS = {
  "CHEVROLET_BOLT_CC_2019_2021": "CHEVROLET_BOLT_CC_2018_2021",
@@ -7,6 +7,7 @@ from openpilot.system.manager.launch_param_migrations import (
  DEFAULT_CAMERA_VIEW,
  DEVELOPER_METRIC_DISPLAY_KEYS,
  DEVELOPER_METRIC_DISPLAY_MIGRATION_MARKER,
+  GALAXY_NEW_DEFAULT_MIGRATION_MARKER,
  DEFAULT_LANE_CHANGE_SMOOTHING,
  DEFAULT_STEER_KP,
  DEVICE_SHUTDOWN_HOURS_MIGRATION_MARKER,
@@ -14,7 +15,7 @@ from openpilot.system.manager.launch_param_migrations import (
  LAUNCH_PARAM_MIGRATION_MARKER,
  LATERAL_METHOD_REBRAND_MIGRATION_MARKER,
  MARKER_DIRNAME,
-  REVERSE_CRUISE_REMOVAL_MIGRATION_MARKER,
+  REVERSE_CRUISE_RESTORE_MIGRATION_MARKER,
  STANDARD_ACCELERATION_PROFILE,
  SPEED_LIMIT_VISIBILITY_MIGRATION_MARKER,
  LEGACY_UI_SELECTION_MIGRATION_MARKER,
@@ -178,14 +179,42 @@ def test_apply_launch_param_migrations_preserves_custom_camera_view(tmp_path):
  assert params.get_int("CameraView") == 0


-def test_apply_launch_param_migrations_removes_reverse_cruise_param(tmp_path):
+def test_apply_launch_param_migrations_restores_reverse_cruise_from_swapped_intervals(tmp_path):
  params = FileBackedFakeParams(tmp_path / "params")
-  params.put_bool("ReverseCruise", True)
+  params.put_float("CustomCruise", 5.0)
+  params.put_float("CustomCruiseLong", 1.0)

  apply_launch_param_migrations(params)

-  assert not Path(params.get_param_path("ReverseCruise")).exists()
-  assert marker_path(tmp_path, REVERSE_CRUISE_REMOVAL_MIGRATION_MARKER).is_file()
+  assert params.get_bool("ReverseCruise")
+  assert marker_path(tmp_path, REVERSE_CRUISE_RESTORE_MIGRATION_MARKER).is_file()
+
+
+def test_apply_launch_param_migrations_preserves_explicit_reverse_cruise_choice(tmp_path):
+  params = FileBackedFakeParams(tmp_path / "params")
+  params.put_float("CustomCruise", 5.0)
+  params.put_float("CustomCruiseLong", 1.0)
+  params.put_bool("ReverseCruise", False)
+
+  apply_launch_param_migrations(params)
+
+  assert not params.get_bool("ReverseCruise")
+
+
+def test_apply_launch_param_migrations_enables_galaxy_new_default_once(tmp_path):
+  params = FileBackedFakeParams(tmp_path / "params")
+  params.put_bool("GalaxyMobileDefault", False)
+
+  apply_launch_param_migrations(params)
+
+  assert params.get_bool("GalaxyMobileDefault")
+  marker = marker_path(tmp_path, GALAXY_NEW_DEFAULT_MIGRATION_MARKER)
+  assert marker.is_file()
+
+  params.put_bool("GalaxyMobileDefault", False)
+  apply_launch_param_migrations(params)
+
+  assert not params.get_bool("GalaxyMobileDefault")


 def test_apply_launch_param_migrations_applies_branch_defaults_for_existing_installs(tmp_path):
@@ -397,7 +397,6 @@ class TestManager:
    params_cache = FileBackedFakeParams(tmp_path / "cache", {
      "HumanFollowing": False,
      "PrioritizeSmoothFollowing": True,
-      "ReverseCruise": True,
    })

    manager.cleanup_removed_starpilot_params(params, params_cache)
@@ -405,10 +404,9 @@ class TestManager:
    assert not Path(params.get_param_path("CoastUpToLeads")).exists()
    assert not Path(params.get_param_path("HumanAcceleration")).exists()
    assert not Path(params.get_param_path("HumanFollowing")).exists()
-    assert not Path(params.get_param_path("ReverseCruise")).exists()
+    assert params.get_bool("ReverseCruise")
    assert not Path(params_cache.get_param_path("HumanFollowing")).exists()
    assert not Path(params_cache.get_param_path("PrioritizeSmoothFollowing")).exists()
-    assert not Path(params_cache.get_param_path("ReverseCruise")).exists()

  def test_migrate_legacy_starpilot_params_cache_copies_marker_sources(self, tmp_path, monkeypatch):
    monkeypatch.setattr(manager, "STARPILOT_PARAMS_CACHE_MIGRATION_FLAG", tmp_path / "starpilot_params_cache_v1")