Blueberry Pancakes

opendbc_repo/opendbc/car/gm/carstate.py

@@ -18,6 +18,7 @@ from opendbc.car.gm.values import (
   AccState,
   CanBus,
   CruiseButtons,
+  GM_AUTO_HOLD_CARS,
   GMFlags,
   SDGM_CAR,
   STEER_THRESHOLD,
@@ -68,6 +69,18 @@ def update_auto_hold_drive_timers(in_drive_for_hold: bool, moving_for_hold: bool
   return auto_hold_drive_time, one_pedal_drive_time
 
 
+def is_gm_auto_hold_active(car_fingerprint: str, auto_hold_engaged: bool, in_drive_for_hold: bool,
+                           cruise_available: bool, standstill: bool, gas_pressed: bool) -> bool:
+  return (
+    auto_hold_engaged and
+    car_fingerprint in GM_AUTO_HOLD_CARS and
+    in_drive_for_hold and
+    cruise_available and
+    standstill and
+    not gas_pressed
+  )
+
+
 def update_startup_acc_fault_suppression(car_fingerprint: str, system_power_mode: int,
                                           previous_system_power_mode: int, timer: float,
                                           acc_state: int, friction_brake_unavailable: bool) -> tuple[float, bool]:
@@ -431,6 +444,11 @@ class CarState(CarStateBase):
       self.auto_hold_fault_suppression_timer = max(self.auto_hold_fault_suppression_timer - DT_CTRL, 0.0)
       ret.accFaulted = False
 
+    ret.brakeHoldActive = is_gm_auto_hold_active(
+      self.CP.carFingerprint, self.auto_hold_engaged, in_drive_for_hold,
+      ret.cruiseState.available, ret.standstill, ret.gasPressed,
+    )
+
     if self.CP.enableBsm and not sdgm_non_volt:
       ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
       ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1

opendbc_repo/opendbc/car/gm/tests/test_gm.py

@@ -11,6 +11,7 @@ from opendbc.car.gm import gmcan
 from opendbc.car.gm.carstate import (
   CarState as GMCarState,
   get_hard_cruise_buttons,
+  is_gm_auto_hold_active,
   update_auto_hold_drive_timers,
   update_startup_acc_fault_suppression,
 )
@@ -210,6 +211,19 @@ class TestBoltGps:
 
 
 class TestGMCarState:
+  @parameterized.expand([
+    (CAR.BUICK_LACROSSE, True, True, True, True, False, True),
+    (CAR.CHEVROLET_VOLT, True, True, True, True, False, True),
+    (CAR.CHEVROLET_BOLT_CC_2017, True, True, True, True, False, False),
+    (CAR.BUICK_LACROSSE, True, True, True, False, False, False),
+    (CAR.BUICK_LACROSSE, True, True, True, True, True, False),
+  ])
+  def test_auto_hold_alert_state_requires_supported_complete_stop(self, car_fingerprint, engaged, in_drive,
+                                                                    cruise_available, standstill, gas_pressed, expected):
+    assert is_gm_auto_hold_active(
+      car_fingerprint, engaged, in_drive, cruise_available, standstill, gas_pressed,
+    ) is expected
+
   def test_lacrosse_startup_acc_fault_is_suppressed(self):
     timer, suppressed = update_startup_acc_fault_suppression(
       CAR.BUICK_LACROSSE, 2, 0, 0.0, 3, False,

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -16,6 +16,7 @@ from opendbc.car.hyundai.values import HyundaiFlags, HyundaiSafetyFlags, Hyundai
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.common.params import Params
+from openpilot.selfdrive.controls.lib.longitudinal_vehicle_tunes import get_hyundai_canfd_scc_jerk_limits
 from openpilot.starpilot.common.testing_grounds import testing_ground
 
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
@@ -862,7 +863,6 @@ class CarController(CarControllerBase):
     longitudinal_active = bool(self.long_active_ecu and getattr(CC, "longActive", False))
     lfa_status_cars = (
       CAR.HYUNDAI_IONIQ_6,
-      CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
       CAR.KIA_EV6,
     )
     lfa_longitudinal_active = self.CP.openpilotLongitudinalControl \
@@ -896,7 +896,8 @@ class CarController(CarControllerBase):
     if angle_lkas_alt:
       steering_msg_active = bool(steering_msg_active and drive_gear)
     angle_lkas_alt_standstill_handoff = bool(getattr(CS.out, "standstill", False) and not CC.latActive)
-    forward_stock_lkas = self.CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR and angle_lkas_alt and (
+    forward_stock_lkas = (self.CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR or
+                          self.CP.carFingerprint == CAR.KIA_SPORTAGE_HEV_2026) and angle_lkas_alt and (
       angle_lkas_alt_standstill_handoff or not (drive_gear and (CC.latActive or CC.enabled))
     )
     preserve_stock_lfa_status = preserve_stock_canfd_lfa_status(self.CP.carFingerprint)
@@ -1023,7 +1024,11 @@ class CarController(CarControllerBase):
                                                                                  CC.rightBlinker))
       if self.frame % 2 == 0:
         if self.CP.carFingerprint == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN:
-          acc_kwargs = {}
+          scc_jerk_limits = get_hyundai_canfd_scc_jerk_limits(self.CP)
+          acc_kwargs = {
+            "jerk_upper": scc_jerk_limits[0],
+            "jerk_lower": scc_jerk_limits[1],
+          }
         else:
           lead_visible, lead_distance, lead_rel_speed = self._get_canfd_scc_lead_state(CC, CS, now_nanos)
           acc_kwargs = {

opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py

@@ -2555,6 +2555,7 @@ class TestHyundaiFingerprint:
       "DAMP_FACTOR": 100,
     }
     cc = SimpleNamespace(enabled=True, latActive=True,
+                         longActive=False,
                          actuators=SimpleNamespace(longControlState=LongCtrlState.off),
                          leftBlinker=False, rightBlinker=False,
                          hudControl=SimpleNamespace())
@@ -2588,7 +2589,7 @@ class TestHyundaiFingerprint:
                                                  cc.hudControl, cs, cc, get_test_toggles(), lka_icon=2, lfa_icon=2)
     steering_names = [(controller.packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in inactive_msgs
                       if controller.packer.dbc.addr_to_msg[addr].name in ("LFA", "LKAS")]
-    assert steering_names == [("LFA", can_bus.ECAN), ("LKAS", can_bus.ACAN)]
+    assert steering_names == [("LKAS", can_bus.ACAN)]
 
     controller.frame = 1
     cc.longActive = True
@@ -2755,7 +2756,7 @@ class TestHyundaiFingerprint:
     assert len([msg for msg in msgs if msg[0] == 0x110]) == expected_lkas_msgs
 
   @pytest.mark.parametrize("standstill", [False, True])
-  def test_sportage_angle_lkas_alt_publishes_inactive_status(self, standstill):
+  def test_sportage_angle_lkas_alt_forwards_stock_status_when_inactive(self, standstill):
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.KIA_SPORTAGE_HEV_2026
     CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.HYBRID | HyundaiFlags.CANFD_ANGLE_STEERING |
@@ -2763,7 +2764,6 @@ class TestHyundaiFingerprint:
     CP.openpilotLongitudinalControl = False
 
     controller = CarController(DBC[CP.carFingerprint], CP)
-    can_bus = CanBus(CP)
     cc = SimpleNamespace(enabled=False, latActive=False,
                          actuators=SimpleNamespace(longControlState=LongCtrlState.off),
                          leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace())
@@ -2773,16 +2773,7 @@ class TestHyundaiFingerprint:
 
     msgs = controller.create_canfd_msgs(0, False, 0.0, 0.0, 0.0, 0.0, False, cc.hudControl, cs, cc,
                                         get_test_toggles(), lka_icon=1, lfa_icon=1)
-    lkas_msgs = [msg for msg in msgs if msg[0] == 0x110]
-    assert len(lkas_msgs) == 1
-
-    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS_ALT", 0)], can_bus.ACAN)
-    parser.update([(1, lkas_msgs)])
-    assert parser.can_valid
-    assert parser.vl["LKAS_ALT"]["LKA_ICON"] == 1
-    assert parser.vl["LKAS_ALT"]["LKA_SysIndReq"] == 1
-    assert parser.vl["LKAS_ALT"]["LKA_RcgSta"] == 0
-    assert parser.vl["LKAS_ALT"]["LKAS_ANGLE_ACTIVE"] == 1
+    assert not [msg for msg in msgs if msg[0] in (0x110, 0x12A)]
 
   def test_ev9_inactive_angle_steering_does_not_suppress_stock_lfa(self):
     CP = CarParams.new_message()

opendbc_repo/opendbc/car/subaru/carcontroller.py

@@ -222,12 +222,14 @@ class CarController(CarControllerBase):
     self.angle_reclaim_frames = 0
     self.angle_reclaim_start_angle = 0.0
 
-  def _angle_manual_handoff(self, CS, lat_active):
+  def _angle_manual_handoff(self, CS, lat_active, use_steering_pressed=False):
     if not lat_active:
       self._reset_angle_handoff()
       return False
 
     driver_override = self._update_angle_driver_override(CS)
+    if use_steering_pressed:
+      driver_override = driver_override or getattr(CS.out, "steeringPressed", False)
     if driver_override:
       self.angle_handoff_active = True
       self.angle_override_hold_frames = _ANGLE_OVERRIDE_HOLD_FRAMES
@@ -325,7 +327,9 @@ class CarController(CarControllerBase):
       lkas_available = CC.latActive and (not mads_only or mads_only_ok) and \
         CS.out.gearShifter == structs.CarState.GearShifter.drive and not CS.out.standstill
 
-      manual_handoff = self._angle_manual_handoff(CS, CC.latActive)
+      manual_handoff = self._angle_manual_handoff(
+        CS, CC.latActive, use_steering_pressed=self.CP.carFingerprint == CAR.SUBARU_OUTBACK_2023,
+      )
       lkas_active = lkas_available and not manual_handoff
 
       if lkas_active and not self.angle_lkas_active:
@@ -408,6 +412,11 @@ class CarController(CarControllerBase):
 
     return subarucan.create_steering_control(self.packer, apply_torque, apply_steer_req)
 
+  def _lkas_status_active(self, CC):
+    if self.CP.carFingerprint == CAR.SUBARU_OUTBACK_2023:
+      return self.angle_lkas_active
+    return CC.latActive
+
   def update(self, CC, CS, now_nanos, starpilot_toggles):
     actuators = CC.actuators
     hud_control = CC.hudControl
@@ -484,7 +493,7 @@ class CarController(CarControllerBase):
                                                         CC.longActive, hud_control.leadVisible,
                                                         self.status_bus))
 
-        can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.latActive, hud_control.visualAlert,
+        can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, self._lkas_status_active(CC), hud_control.visualAlert,
                                                         hud_control.leftLaneVisible, hud_control.rightLaneVisible,
                                                         hud_control.leftLaneDepart, hud_control.rightLaneDepart, self.status_bus))
 

opendbc_repo/opendbc/car/subaru/tests/test_subaru.py

@@ -744,10 +744,10 @@ def test_ascent_angle_controller_blocks_parking_lot_aol_engagement():
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
 
 
-def test_lkas_hud_state_uses_lateral_active():
+def test_lkas_hud_state_uses_outback_angle_request_state():
   update_source = inspect.getsource(CarController.update)
 
-  assert "create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.latActive" in update_source
+  assert "create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, self._lkas_status_active(CC)" in update_source
   assert "create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.enabled" not in update_source
 
 
@@ -765,3 +765,38 @@ def test_lkas_hud_active_bit_follows_lateral_state(enabled, expected):
 
   assert parser.can_valid
   assert parser.vl["ES_LKAS_State"]["LKAS_ACTIVE"] == expected
+
+
+def test_outback_manual_steering_releases_angle_request_before_lkas_fault():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_OUTBACK_2023)
+  controller = CarController({}, CP)
+  CC = SimpleNamespace(
+    enabled=False,
+    latActive=True,
+    actuators=SimpleNamespace(steeringAngleDeg=-225.0),
+  )
+  CS = SimpleNamespace(out=SimpleNamespace(
+    vEgoRaw=0.9,
+    steeringAngleDeg=-57.0,
+    steeringRateDeg=-45.0,
+    steeringTorque=-127.0,
+    steeringPressed=True,
+    gearShifter=structs.CarState.GearShifter.drive,
+    standstill=False,
+  ))
+  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main)
+
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(1, [msg])])
+
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
+  assert not controller._lkas_status_active(CC)
+
+
+def test_other_angle_cars_keep_lateral_status_behavior():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_CROSSTREK_2025)
+  controller = CarController({}, CP)
+  controller.angle_lkas_active = False
+
+  assert controller._lkas_status_active(SimpleNamespace(latActive=True))

opendbc_repo/opendbc/safety/modes/gm.h

@@ -60,6 +60,7 @@ static bool gm_panda_3d1_sched = false;
 static bool gm_panda_paddle_sched = false;
 static bool gm_bolt_2022_pedal = false;
 static bool gm_alt_brake = false;
+static bool gm_volt_cc_gateway = false;
 static bool gm_volt_auto_hold = false;
 static bool gm_volt_one_pedal = false;
 
@@ -261,7 +262,8 @@ static void gm_rx_hook(const CANPacket_t *msg) {
     }
 
     if ((msg->addr == 0xF1U) && gm_alt_brake) {
-      brake_pressed = msg->data[1] >= 6U;
+      const uint8_t brake_threshold = gm_volt_cc_gateway ? 21U : 6U;
+      brake_pressed = msg->data[1] >= brake_threshold;
     }
 
     if ((msg->addr == 0xC9U) && (gm_hw == GM_CAM) && !gm_force_brake_c9) {
@@ -720,7 +722,7 @@ static safety_config gm_init(uint16_t param) {
   gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
   gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);
   gm_pedal_long = GET_FLAG(param, GM_PARAM_PEDAL_LONG);
-  const bool gm_volt_cc_gateway = GET_FLAG(param, GM_PARAM_VOLT_CC_GATEWAY) && gm_no_camera && !gm_pedal_long && !gm_has_acc;
+  gm_volt_cc_gateway = GET_FLAG(param, GM_PARAM_VOLT_CC_GATEWAY) && gm_no_camera && !gm_pedal_long && !gm_has_acc;
   enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR);
   gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG);
   gm_force_brake_c9 = GET_FLAG(param, GM_PARAM_FORCE_BRAKE_C9);

opendbc_repo/opendbc/safety/tests/test_gm.py

@@ -654,6 +654,31 @@ class TestGmCcLongitudinalNoCameraSafety(TestGmCcLongitudinalSafety):
     self.safety.init_tests()
 
 
+def test_gm_volt_cc_gateway_brake_threshold_matches_carstate():
+  safety = libsafety_py.libsafety
+  safety.set_safety_hooks(
+    CarParams.SafetyModel.gm,
+    GMSafetyFlags.FLAG_GM_NO_CAMERA |
+    GMSafetyFlags.FLAG_GM_NO_ACC |
+    GMSafetyFlags.FLAG_GM_CC_LONG |
+    GMSafetyFlags.FLAG_GM_VOLT_CC_GATEWAY,
+  )
+  safety.init_tests()
+  safety.set_controls_allowed(True)
+
+  cruise = common.make_msg(0, 0x3D1, 8, bytes([0, 0, 0, 0, 0x80, 0, 0, 0]))
+  safety.safety_rx_hook(cruise)
+  assert safety.get_controls_allowed()
+
+  noisy_brake = libsafety_py.make_CANPacket(0xF1, 0, b"\x34\x06\x05\x40\x00\x00")
+  safety.safety_rx_hook(noisy_brake)
+  assert safety.get_controls_allowed()
+
+  pressed_brake = libsafety_py.make_CANPacket(0xF1, 0, b"\x34\x15\x05\x40\x00\x00")
+  safety.safety_rx_hook(pressed_brake)
+  assert not safety.get_controls_allowed()
+
+
 class TestGmCcLongitudinalPandaSchedSafety(TestGmCcLongitudinalSafety):
   FWD_BLACKLISTED_ADDRS = {2: [0x180, 0x370], 0: [0x184, 0x3D1]}
   INTERCEPTOR_GAS_PRESSED = 596

panda/board/drivers/can_common.h

@@ -249,6 +249,19 @@ void ignition_can_hook(CANPacket_t *msg) {
       ignition_can_cnt = 0U;
     }
 
+    // Volkswagen MEB exception
+    if ((msg->addr == 0x3C0U) && (len == 4)) {
+      int counter = msg->data[1] & 0xFU;
+
+      static int prev_counter_vw_meb = -1;
+      if ((counter == ((prev_counter_vw_meb + 1) % 16)) && (prev_counter_vw_meb != -1)) {
+        // Klemmen_Status_01->ZAS_Kl_15
+        ignition_can = ((msg->data[2] >> 1) & 1U) != 0U;
+        ignition_can_cnt = 0U;
+      }
+      prev_counter_vw_meb = counter;
+    }
+
   }
 }
 

panda/tests/libpanda/libpanda_py.py

@@ -25,6 +25,12 @@ typedef struct {
 
 ffi.cdef("""
 int set_safety_hooks(uint16_t mode, uint16_t param);
+
+void ignition_can_hook(CANPacket_t *msg);
+void set_ignition_can_for_test(bool enabled);
+bool get_ignition_can_for_test(void);
+void set_ignition_can_cnt_for_test(uint32_t cnt);
+uint32_t get_ignition_can_cnt_for_test(void);
 """)
 
 ffi.cdef("""

panda/tests/libpanda/panda.c

@@ -24,5 +24,21 @@ can_ring *tx1_q = &can_tx1_q;
 can_ring *tx2_q = &can_tx2_q;
 can_ring *tx3_q = &can_tx3_q;
 
+void set_ignition_can_for_test(bool enabled) {
+  ignition_can = enabled;
+}
+
+bool get_ignition_can_for_test(void) {
+  return ignition_can;
+}
+
+void set_ignition_can_cnt_for_test(uint32_t cnt) {
+  ignition_can_cnt = cnt;
+}
+
+uint32_t get_ignition_can_cnt_for_test(void) {
+  return ignition_can_cnt;
+}
+
 #include "comms_definitions.h"
 #include "can_comms.h"

panda/tests/usbprotocol/test_ignition.py

@@ -0,0 +1,45 @@
+#!/usr/bin/env python3
+import unittest
+
+from panda.tests.libpanda import libpanda_py
+
+
+lpp = libpanda_py.libpanda
+
+
+def volkswagen_meb_ignition_msg(counter, ignition, bus=0, length=4):
+  dat = bytearray(length)
+  if length >= 2:
+    dat[1] = counter & 0xF
+  if length >= 3:
+    dat[2] = int(ignition) << 1
+  return libpanda_py.make_CANPacket(0x3C0, bus, dat)
+
+
+class TestIgnitionCanHook(unittest.TestCase):
+  def test_volkswagen_meb_ignition(self):
+    lpp.set_ignition_can_for_test(False)
+    lpp.set_ignition_can_cnt_for_test(123)
+
+    # A single frame is insufficient: the rolling counter must first be established.
+    lpp.ignition_can_hook(volkswagen_meb_ignition_msg(7, True))
+    self.assertFalse(lpp.get_ignition_can_for_test())
+    self.assertEqual(lpp.get_ignition_can_cnt_for_test(), 123)
+
+    lpp.ignition_can_hook(volkswagen_meb_ignition_msg(8, True))
+    self.assertTrue(lpp.get_ignition_can_for_test())
+    self.assertEqual(lpp.get_ignition_can_cnt_for_test(), 0)
+
+    # A duplicate counter must not change ignition state.
+    lpp.set_ignition_can_cnt_for_test(123)
+    lpp.ignition_can_hook(volkswagen_meb_ignition_msg(8, False))
+    self.assertTrue(lpp.get_ignition_can_for_test())
+    self.assertEqual(lpp.get_ignition_can_cnt_for_test(), 123)
+
+    lpp.ignition_can_hook(volkswagen_meb_ignition_msg(9, False))
+    self.assertFalse(lpp.get_ignition_can_for_test())
+    self.assertEqual(lpp.get_ignition_can_cnt_for_test(), 0)
+
+
+if __name__ == "__main__":
+  unittest.main()

selfdrive/controls/lib/longitudinal_vehicle_tunes.py

@@ -23,6 +23,8 @@ HONDA_ACCORD_LOW_SPEED_STOP_MAX_LEAD_SPEED = 1.0
 HONDA_ACCORD_STANDSTILL_GUARD_MAX_EGO_SPEED = 0.25
 HYUNDAI_ELANTRA_LEAD_FOLLOW_JERK_SCALE = 1.25
 GENESIS_GV70_ELECTRIFIED_LEAD_FOLLOW_JERK_SCALE = 1.75
+GENESIS_GV70_ELECTRIFIED_SCC_JERK_UPPER = 1.5
+GENESIS_GV70_ELECTRIFIED_SCC_JERK_LOWER = 2.0
 FORD_LIGHTNING_LEAD_FOLLOW_JERK_SCALE = 1.35
 HONDA_CRV_5G_LEAD_FOLLOW_JERK_SCALE = 1.35
 GM_SILVERADO_EARLY_FOLLOW_MIN_EGO_SPEED = 18.0
@@ -524,6 +526,12 @@ def get_lead_follow_jerk_scale(CP):
   return 1.0
 
 
+def get_hyundai_canfd_scc_jerk_limits(CP):
+  if str(getattr(CP, "carFingerprint", "")) == "GENESIS_GV70_ELECTRIFIED_1ST_GEN":
+    return GENESIS_GV70_ELECTRIFIED_SCC_JERK_UPPER, GENESIS_GV70_ELECTRIFIED_SCC_JERK_LOWER
+  return None
+
+
 def get_honda_accord_lead_departure_tune(CP):
   if CP.brand == "honda" and str(CP.carFingerprint) == "HONDA_ACCORD":
     return (

selfdrive/controls/tests/test_starpilot_planner.py

@@ -5,7 +5,10 @@ from types import SimpleNamespace
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.starpilot.controls.starpilot_planner import StarPilotPlanner, get_force_stop_jerk_scale
-from openpilot.selfdrive.controls.lib.longitudinal_vehicle_tunes import get_lead_follow_jerk_scale
+from openpilot.selfdrive.controls.lib.longitudinal_vehicle_tunes import (
+  get_hyundai_canfd_scc_jerk_limits,
+  get_lead_follow_jerk_scale,
+)
 import openpilot.starpilot.controls.starpilot_planner as starpilot_planner_module
 
 
@@ -48,6 +51,14 @@ def test_lead_follow_jerk_scale_is_platform_specific():
   assert get_lead_follow_jerk_scale(SimpleNamespace(brand="other", carFingerprint="OTHER_CAR")) == 1.0
 
 
+def test_genesis_gv70_scc_jerk_limits_are_platform_specific():
+  gv70 = SimpleNamespace(brand="hyundai", carFingerprint="GENESIS_GV70_ELECTRIFIED_1ST_GEN")
+  other = SimpleNamespace(brand="hyundai", carFingerprint="HYUNDAI_IONIQ_6")
+
+  assert get_hyundai_canfd_scc_jerk_limits(gv70) == (1.5, 2.0)
+  assert get_hyundai_canfd_scc_jerk_limits(other) is None
+
+
 def make_sm(planner, *, frame: int, v_ego: float, left_blinker: bool, right_blinker: bool = False, standstill: bool = False):
   return FakeSM(frame, {
     "radarState": SimpleNamespace(

selfdrive/selfdrived/events.py

@@ -265,6 +265,15 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
     Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 1.5)
 
 
+def brake_hold_alert(CP, *_args) -> Alert:
+  alert_text = "Car in Auto Hold mode" if CP.brand == "gm" else "Press Resume to Exit Brake Hold"
+  return Alert(
+    alert_text,
+    "",
+    AlertStatus.userPrompt, AlertSize.small,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, .2)
+
+
 def speed_limit_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, starpilot_toggles: SimpleNamespace) -> Alert:
   return Alert(
     "Speed limit changed",
@@ -802,11 +811,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.brakeHold: {
-    ET.WARNING: Alert(
-      "Press Resume to Exit Brake Hold",
-      "",
-      AlertStatus.userPrompt, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
+    ET.WARNING: brake_hold_alert,
   },
 
   EventName.parkBrake: {

starpilot/car/ford/lateral.py

@@ -44,6 +44,7 @@ FORD_MANUAL_TURN_LATCH_CARS = frozenset({
   CAR.FORD_MUSTANG_MACH_E_MK1,
 })
 MANUAL_TURN_ENTRY_ANGLE_DEG = 12.0
+MANUAL_TURN_RELEASE_ANGLE_DEG = 12.0
 MANUAL_TURN_RECOVERY_SECONDS = 0.25
 
 
@@ -207,7 +208,8 @@ class FordLateralController:
       self.manual_turn_recovery_timer = 0.0
       return False
 
-    if CS.out.steeringPressed or blinker_direction != 0.0:
+    if (CS.out.steeringPressed or blinker_direction != 0.0 or
+        abs(CS.out.steeringAngleDeg) > MANUAL_TURN_RELEASE_ANGLE_DEG):
       self.manual_turn_recovery_timer = 0.0
     else:
       self.manual_turn_recovery_timer += STEER_DT

starpilot/car/ford/tests/test_lateral.py

@@ -208,6 +208,55 @@ def test_mach_e_signaled_manual_turn_yields_until_inputs_settle(controller):
   assert result.curvature > 0.0
 
 
+def test_mach_e_manual_turn_waits_for_wheel_to_unwind(controller):
+  controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
+  CC = SimpleNamespace(latActive=True)
+  actuators = SimpleNamespace(curvature=0.006)
+
+  assert not controller.update(CC, car_state(
+    steering_pressed=True, steering_angle=-30.0, steering_torque=-2.0,
+    right_blinker=True), actuators).active
+
+  for _ in range(8):
+    result = controller.update(CC, car_state(steering_angle=-35.0), actuators)
+    assert not result.active
+
+  for _ in range(4):
+    result = controller.update(CC, car_state(steering_angle=-10.0), actuators)
+    assert not result.active
+  result = controller.update(CC, car_state(steering_angle=-10.0), actuators)
+  assert result.active
+
+
+def test_mach_e_left_manual_turn_waits_for_wheel_to_unwind(controller):
+  controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
+  CC = SimpleNamespace(latActive=True)
+  actuators = SimpleNamespace(curvature=-0.006)
+
+  assert not controller.update(CC, car_state(
+    steering_pressed=True, steering_angle=30.0, steering_torque=2.0,
+    left_blinker=True), actuators).active
+
+  for _ in range(8):
+    result = controller.update(CC, car_state(steering_angle=35.0), actuators)
+    assert not result.active
+
+  for _ in range(4):
+    result = controller.update(CC, car_state(steering_angle=10.0), actuators)
+    assert not result.active
+  result = controller.update(CC, car_state(steering_angle=10.0), actuators)
+  assert result.active
+
+
+def test_non_mach_e_signaled_turn_does_not_latch(controller):
+  CC = SimpleNamespace(latActive=True)
+  result = controller.update(CC, car_state(
+    steering_pressed=True, steering_angle=30.0, steering_torque=2.0,
+    left_blinker=True), SimpleNamespace(curvature=-0.006))
+
+  assert result.active
+
+
 def test_mach_e_opposite_blinker_correction_does_not_start_manual_turn(controller):
   controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
 

starpilot/common/assets/device_settings_layout.json

@@ -3600,9 +3600,9 @@
       },
       {
         "key": "GMAutoHold",
-        "label": "Volt Auto Hold",
-        "description": "Hold the car at a stop on supported non-CC-only Chevy Volts until the gas pedal is pressed.",
-        "picker_description": "Holds Chevy Volt brakes until the gas pedal is pressed.",
+        "label": "GM Auto Hold",
+        "description": "Hold supported GM vehicles at a stop until the gas pedal is pressed.",
+        "picker_description": "Holds supported GM vehicle brakes until the gas pedal is pressed.",
         "data_type": "bool",
         "ui_type": "toggle",
         "settings_tier": "simple"

starpilot/system/the_galaxy/assets/mobile/js/components/AppShell.js

@@ -1,6 +1,7 @@
 import { store, navigate, goBack, toolHref, toggleTheme } from "../store.js"
 import { api } from "../api.js"
 import { usePolling } from "../composables.js"
+import { languageState, setLanguage, t } from "../i18n.js"
 
 const NAV = {
   recordings: [
@@ -37,7 +38,7 @@ export const AppShell = {
   },
   computed: {
     online() { return store.online },
-    statusLabel() { return store.online ? store.deviceStatus : "Offline" },
+    statusLabel() { return store.online ? t(store.deviceStatus, store.deviceStatus) : t("Offline") },
     isLight() { return store.theme === "light" },
     drawerOpen: {
       get() { return store.drawerOpen },
@@ -57,6 +58,7 @@ export const AppShell = {
     },
   },
   methods: {
+    tr(key, fallback = key) { return t(key, fallback) },
     closeDrawer() { store.drawerOpen = false },
     back() { goBack() },
     async refreshStatus() {
@@ -69,6 +71,14 @@ export const AppShell = {
         store.online = false
       }
     },
+    async loadLanguage() {
+      try {
+        const values = await api.getParams()
+        setLanguage(values?.LanguageSetting || languageState.code || "en")
+      } catch (e) {
+        setLanguage(languageState.code || "en")
+      }
+    },
     clearSearch() {
       store.search = ""
       this.$nextTick(() => { const el = this.$refs.searchInput; if (el) el.focus() })
@@ -89,6 +99,7 @@ export const AppShell = {
     },
   },
   created() {
+    this.loadLanguage()
     this.statusPoll = usePolling(() => this.refreshStatus(), { interval: 5000 })
     this.statusPoll.start()
   },
@@ -98,21 +109,21 @@ export const AppShell = {
   template: `
     <div class="gx-app">
       <header class="gx-appbar">
-        <button type="button" class="gx-icon-btn gx-appbar__back gx-back-btn" aria-label="Back" @click="back">
+        <button type="button" class="gx-icon-btn gx-appbar__back gx-back-btn" :aria-label="tr('Back')" @click="back">
           <i class="bi bi-arrow-left"></i>
         </button>
         <div class="gx-appbar__pill">
-          <button type="button" class="gx-icon-btn gx-menu-btn" aria-label="Menu" @click="store.drawerOpen = true">
+          <button type="button" class="gx-icon-btn gx-menu-btn" :aria-label="tr('Menu')" @click="store.drawerOpen = true">
             <i class="bi bi-list"></i>
           </button>
           <span class="gx-appbar__home" role="button" tabindex="0"
-            aria-label="Galaxy home" @click="goHome" @keydown.enter="goHome" @keydown.space.prevent="goHome">
-            <span class="gx-appbar__title">Galaxy</span>
+            :aria-label="tr('Galaxy home')" @click="goHome" @keydown.enter="goHome" @keydown.space.prevent="goHome">
+            <span class="gx-appbar__title">{{ tr("Galaxy") }}</span>
           </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" />
-            <button v-if="search" type="button" class="gx-search-clear" aria-label="Clear search" @click="clearSearch">
+            <input ref="searchInput" class="gx-search gx-appbar__search" type="search" :placeholder="tr('Search toggles...')"
+              v-model="search" :aria-label="tr('Search toggles')" />
+            <button v-if="search" type="button" class="gx-search-clear" :aria-label="tr('Clear search')" @click="clearSearch">
               <i class="bi bi-x"></i>
             </button>
           </div>
@@ -123,8 +134,8 @@ export const AppShell = {
             </span>
           </div>
         </div>
-        <button type="button" class="gx-icon-btn gx-theme-toggle" :aria-label="isLight ? 'Switch to dark mode' : 'Switch to light mode'"
-          :title="isLight ? 'Dark mode' : 'Light mode'" @click="themeToggle">
+        <button type="button" class="gx-icon-btn gx-theme-toggle" :aria-label="isLight ? tr('Switch to dark mode') : tr('Switch to light mode')"
+          :title="isLight ? tr('Dark mode') : tr('Light mode')" @click="themeToggle">
           <i class="bi" :class="isLight ? 'bi-moon-stars-fill' : 'bi-sun-fill'"></i>
         </button>
       </header>
@@ -135,24 +146,24 @@ export const AppShell = {
       <aside class="gx-drawer" :class="{ open: store.drawerOpen }">
         <div class="gx-drawer__header">
           <img class="gx-logo" src="/assets/images/main_logo.png" alt="Galaxy logo" />
-          <span class="gx-drawer-title">Galaxy</span>
+          <span class="gx-drawer-title">{{ tr("Galaxy") }}</span>
         </div>
         <div class="gx-nav-section">
-          <div class="gx-nav-section__title">Main</div>
+          <div class="gx-nav-section__title">{{ tr("Main") }}</div>
           <a class="gx-nav-item" :class="{ active: isActive('/') }" @click.prevent="navTo('/')">
-            <i class="bi bi-house-fill"></i><span>Home</span>
+            <i class="bi bi-house-fill"></i><span>{{ tr("Home") }}</span>
           </a>
           <a class="gx-nav-item" :class="{ active: isActive('/settings') }" @click.prevent="navTo('/settings')">
-            <i class="bi bi-toggle-on"></i><span>Toggles</span>
+            <i class="bi bi-toggle-on"></i><span>{{ tr("Toggles") }}</span>
           </a>
           <a class="gx-nav-item" :class="{ active: isActive('/tools') }" @click.prevent="navTo('/tools')">
-            <i class="bi bi-tools"></i><span>Tools</span>
+            <i class="bi bi-tools"></i><span>{{ tr("Tools") }}</span>
           </a>
         </div>
         <div v-for="(links, section) in NAV" :key="section" class="gx-nav-section">
-          <div class="gx-nav-section__title">{{ section }}</div>
+          <div class="gx-nav-section__title">{{ tr(section === 'recordings' ? 'Recordings' : 'Tools') }}</div>
           <a v-for="link in links" :key="link.link" class="gx-nav-item" @click.prevent="navTo(link.link)">
-            <i class="bi" :class="link.icon"></i><span>{{ link.name }}</span>
+            <i class="bi" :class="link.icon"></i><span>{{ tr(link.name, link.name) }}</span>
           </a>
         </div>
       </aside>
@@ -166,7 +177,7 @@ export const AppShell = {
           class="nav-item" :class="{ active: isActive(item.link) }"
           @click="bottomNavTo(item)">
           <i class="bi" :class="item.icon"></i>
-          <span>{{ item.name }}</span>
+          <span>{{ tr(item.name, item.name) }}</span>
         </button>
       </nav>
     </div>

starpilot/system/the_galaxy/assets/mobile/js/components/GalaxyToggleCard.js

@@ -5,6 +5,7 @@ import {
   resolveVehicleUnitParam, stepPrecision,
 } from "../params.js"
 import { FavoritesEditor } from "./FavoritesEditor.js"
+import { t } from "../i18n.js"
 
 export const GalaxyToggleCard = {
   name: "GalaxyToggleCard",
@@ -67,6 +68,7 @@ export const GalaxyToggleCard = {
     },
   },
   methods: {
+    tr(key, fallback = key) { return t(key, fallback) },
     normalizeHexColor,
     getColorDefault,
     coerce(v) { return coerceValueByType(v, this.param.data_type) },
@@ -177,11 +179,11 @@ export const GalaxyToggleCard = {
     <div>
       <div class="gx-row" :class="{ disabled: locked, 'gx-row--favorites': isFavorites, 'gx-row--stack': isSlider || isSelect }">
         <div class="gx-row__info">
-          <span class="gx-row__label">{{ displayParam.label }}
-            <span v-if="displayParam.settings_tier === 'advanced'" class="gx-chip gx-chip--advanced">Advanced</span>
+          <span class="gx-row__label">{{ tr(displayParam.label, displayParam.label) }}
+            <span v-if="displayParam.settings_tier === 'advanced'" class="gx-chip gx-chip--advanced">{{ tr("Advanced") }}</span>
           </span>
-          <span v-if="displayParam.description" class="gx-row__desc">{{ displayParam.description }}</span>
-          <div v-if="locked" class="gx-row__desc"><strong>Locked:</strong> {{ lockMessage }}</div>
+          <span v-if="displayParam.description" class="gx-row__desc">{{ tr(displayParam.description, displayParam.description) }}</span>
+          <div v-if="locked" class="gx-row__desc"><strong>{{ tr("Locked:") }}</strong> {{ tr(lockMessage, lockMessage) }}</div>
         </div>
 
         <label v-if="isSwitch" class="gx-switch">
@@ -202,15 +204,15 @@ export const GalaxyToggleCard = {
             @touchstart="beginInteract" @mousedown="beginInteract" @keydown="beginInteract" />
           <div v-if="displayParam.unit_type" class="gx-slider-meta">
             <span>{{ sliderRangeDisplay }}</span>
-            <span>Step: {{ sliderStepDisplay }}</span>
+            <span>{{ tr("Step:") }} {{ sliderStepDisplay }}</span>
           </div>
-          <button class="gx-slider-reset" :disabled="locked || updating" @click="resetToDefault">Default</button>
+          <button class="gx-slider-reset" :disabled="locked || updating" @click="resetToDefault">{{ tr("Default") }}</button>
         </div>
 
         <select v-else-if="isSelect" class="gx-field" :disabled="locked || updating" :value="String(value ?? '')" @change="onSelect">
-          <option v-if="optionsLoading" value="">Loading...</option>
-          <option v-else-if="!selectOptions.length" value="">No options available</option>
-          <option v-for="opt in selectOptions" :key="String(opt.value)" :value="String(opt.value)">{{ opt.label }}</option>
+          <option v-if="optionsLoading" value="">{{ tr("Loading...") }}</option>
+          <option v-else-if="!selectOptions.length" value="">{{ tr("No options available") }}</option>
+          <option v-for="opt in selectOptions" :key="String(opt.value)" :value="String(opt.value)">{{ tr(opt.label, opt.label) }}</option>
         </select>
 
         <input v-else-if="isText" class="gx-field" :type="param.input_type || 'text'" :value="value ?? ''"
@@ -220,19 +222,19 @@ export const GalaxyToggleCard = {
           <span class="gx-row__value">{{ displayValue }}</span>
           <input type="color" class="gx-color" :value="normalizeHexColor(value) || getColorDefault(param)"
             :disabled="locked || updating" @change="onColor" />
-          <button class="gx-slider-reset" :disabled="locked || updating || !normalizeHexColor(value)" @click="resetColor">Stock</button>
+          <button class="gx-slider-reset" :disabled="locked || updating || !normalizeHexColor(value)" @click="resetColor">{{ tr("Stock") }}</button>
         </div>
 
         <span v-else-if="isReadout" class="gx-row__value">{{ displayValue }}</span>
 
         <button v-else-if="isAction" class="gx-btn" :disabled="locked || updating" @click="runAction">
-          {{ updating ? "Working..." : (param.action_label || "Run") }}
+          {{ updating ? tr("Working...") : tr(param.action_label || "Run", param.action_label || "Run") }}
         </button>
 
-        <button v-else-if="isGroup" class="gx-btn gx-btn--tonal" @click="$emit('manage', param.key)">Manage</button>
+        <button v-else-if="isGroup" class="gx-btn gx-btn--tonal" @click="$emit('manage', param.key)">{{ tr("Manage") }}</button>
       </div>
       <button v-if="manageable" type="button" class="gx-manage-btn" @click="$emit('manage', param.key)">
-        {{ manageOpen ? "Close" : "Manage" }}
+        {{ manageOpen ? tr("Close") : tr("Manage") }}
         <i class="bi" :class="manageOpen ? 'bi-chevron-up' : 'bi-chevron-down'"></i>
       </button>
     </div>

starpilot/system/the_galaxy/assets/mobile/js/components/LanguageSelector.js

@@ -0,0 +1,65 @@
+import { api, showSnackbar } from "../api.js"
+import { LANGUAGE_OPTIONS, languageState, normalizeLanguage, setLanguage, t } from "../i18n.js"
+
+export const LanguageSelector = {
+  name: "LanguageSelector",
+  props: { deviceValue: { type: String, default: "" } },
+  data() {
+    return { languages: LANGUAGE_OPTIONS, selected: languageState.code, saving: false, error: "" }
+  },
+  computed: {
+    languageCode() { return languageState.code },
+  },
+  watch: {
+    languageCode(value) { this.selected = value },
+    deviceValue: {
+      immediate: true,
+      handler(value) {
+        if (!value) return
+        this.selected = setLanguage(value)
+      },
+    },
+  },
+  methods: {
+    tr(key, fallback = key) { return t(key, fallback) },
+    async change(event) {
+      const next = normalizeLanguage(event.target.value)
+      const previous = languageState.code
+      this.selected = next
+      this.error = ""
+      setLanguage(next)
+      this.saving = true
+      try {
+        // LanguageSetting is shared with the native UI, which stores the
+        // language catalog values as main_<locale>.
+        await api.updateParam({ key: "LanguageSetting", value: `main_${next}` })
+        showSnackbar(t("Language updated.", "Language updated."))
+      } catch (err) {
+        setLanguage(previous)
+        this.selected = previous
+        this.error = err?.message || t("Unable to save language.", "Unable to save language.")
+        showSnackbar(this.error, "error")
+      } finally {
+        this.saving = false
+      }
+    },
+  },
+  template: `
+    <div class="gx-card" style="margin-bottom:16px;">
+      <div class="gx-section__header">
+        <i class="bi bi-translate"></i>
+        <span class="gx-section__title">{{ tr("Language") }}</span>
+      </div>
+      <div style="display:flex; align-items:center; gap:12px; flex-wrap:wrap;">
+        <label style="display:flex; align-items:center; gap:10px; flex:1; min-width:220px;">
+          <span>{{ tr("Select language") }}</span>
+          <select class="gx-field" style="max-width:220px;" :value="selected" :disabled="saving" @change="change">
+            <option v-for="option in languages" :key="option.value" :value="option.value">{{ tr(option.label, option.label) }}</option>
+          </select>
+        </label>
+        <small class="gx-row__desc">{{ tr("Galaxy uses English when no language is selected.") }}</small>
+      </div>
+      <p v-if="error" class="gx-row__desc" style="color:var(--danger); margin:8px 0 0;">{{ error }}</p>
+    </div>
+  `,
+}

starpilot/system/the_galaxy/assets/mobile/js/i18n.js

@@ -0,0 +1,132 @@
+import { reactive } from "vue"
+
+const STORAGE_KEY = "galaxy-language"
+
+export const LANGUAGE_OPTIONS = [
+  { value: "en", label: "English" },
+  { value: "es", label: "Spanish" },
+  { value: "fr", label: "French" },
+  { value: "ko", label: "Korean" },
+  { value: "zh-CHS", label: "Chinese" },
+]
+
+const SUPPORTED_CODES = new Set(LANGUAGE_OPTIONS.map((option) => option.value))
+
+// Galaxy deliberately keeps English as the fallback. This lets new server-side
+// labels ship safely before they have been added to every translation below.
+const TRANSLATIONS = {
+  es: {
+    English: "Inglés", Spanish: "Español", French: "Francés", Korean: "Coreano", Chinese: "Chino",
+    Home: "Inicio", Toggles: "Interruptores", Tools: "Herramientas", Recordings: "Grabaciones",
+    Bluetooth: "Bluetooth", "Cameras & Monitoring": "Cámaras y monitoreo", Galaxy: "Galaxy",
+    "Logs & Diagnostics": "Registros y diagnósticos", "Model Manager": "Administrador de modelos",
+    "Navigation & Maps": "Navegación y mapas", "System Tools": "Herramientas del sistema",
+    "Model Laboratory": "Laboratorio de modelos", Plots: "Gráficas", "Testing Ground": "Área de pruebas",
+    "Theme Maker": "Creador de temas", "Tuning, Plots & Testing": "Ajustes, gráficas y pruebas",
+    "Vehicle Controls": "Controles del vehículo", Main: "Principal", Offline: "Sin conexión", Parked: "Estacionado",
+    Back: "Atrás", Menu: "Menú", "Galaxy home": "Inicio de Galaxy", "Search toggles...": "Buscar interruptores...",
+    "Search toggles": "Buscar interruptores", "Clear search": "Borrar búsqueda", "Dark mode": "Modo oscuro",
+    "Light mode": "Modo claro", "Switch to dark mode": "Cambiar a modo oscuro", "Switch to light mode": "Cambiar a modo claro",
+    Settings: "Configuración", Language: "Idioma", "Select language": "Seleccionar idioma", Advanced: "Avanzado",
+    "result(s)": "resultado(s)",
+    "Galaxy uses English when no language is selected.": "Galaxy usa inglés si no se selecciona un idioma.",
+    "Language updated.": "Idioma actualizado.", "Unable to save language.": "No se pudo guardar el idioma.",
+    "Loading configuration...": "Cargando configuración...", "No settings available.": "No hay ajustes disponibles.",
+    "No settings in this section.": "No hay ajustes en esta sección.", "Locked:": "Bloqueado:", "Step:": "Paso:",
+    "This setting can only be changed while parked.": "Este ajuste solo se puede cambiar mientras el vehículo está estacionado.",
+    Default: "Predeterminado", "Loading...": "Cargando...", "No options available": "No hay opciones disponibles",
+    "Working...": "Procesando...", Run: "Ejecutar", Manage: "Administrar", Close: "Cerrar", Stock: "Original",
+  },
+  fr: {
+    English: "Anglais", Spanish: "Espagnol", French: "Français", Korean: "Coréen", Chinese: "Chinois",
+    Home: "Accueil", Toggles: "Options", Tools: "Outils", Recordings: "Enregistrements",
+    Bluetooth: "Bluetooth", "Cameras & Monitoring": "Caméras et surveillance", Galaxy: "Galaxy",
+    "Logs & Diagnostics": "Journaux et diagnostics", "Model Manager": "Gestionnaire de modèles",
+    "Navigation & Maps": "Navigation et cartes", "System Tools": "Outils système",
+    "Model Laboratory": "Laboratoire de modèles", Plots: "Graphiques", "Testing Ground": "Zone de test",
+    "Theme Maker": "Créateur de thèmes", "Tuning, Plots & Testing": "Réglages, graphiques et tests",
+    "Vehicle Controls": "Commandes du véhicule", Main: "Principal", Offline: "Hors ligne", Parked: "Stationné",
+    Back: "Retour", Menu: "Menu", "Galaxy home": "Accueil Galaxy", "Search toggles...": "Rechercher des options...",
+    "Search toggles": "Rechercher des options", "Clear search": "Effacer la recherche", "Dark mode": "Mode sombre",
+    "Light mode": "Mode clair", "Switch to dark mode": "Passer au mode sombre", "Switch to light mode": "Passer au mode clair",
+    Settings: "Paramètres", Language: "Langue", "Select language": "Choisir la langue", Advanced: "Avancé",
+    "result(s)": "résultat(s)",
+    "Galaxy uses English when no language is selected.": "Galaxy utilise l’anglais si aucune langue n’est sélectionnée.",
+    "Language updated.": "Langue mise à jour.", "Unable to save language.": "Impossible d’enregistrer la langue.",
+    "Loading configuration...": "Chargement de la configuration...", "No settings available.": "Aucun réglage disponible.",
+    "No settings in this section.": "Aucun réglage dans cette section.", "Locked:": "Verrouillé :", "Step:": "Pas :",
+    "This setting can only be changed while parked.": "Ce réglage ne peut être modifié que lorsque le véhicule est stationné.",
+    Default: "Par défaut", "Loading...": "Chargement...", "No options available": "Aucune option disponible",
+    "Working...": "En cours...", Run: "Exécuter", Manage: "Gérer", Close: "Fermer", Stock: "Origine",
+  },
+  ko: {
+    English: "영어", Spanish: "스페인어", French: "프랑스어", Korean: "한국어", Chinese: "중국어",
+    Home: "홈", Toggles: "토글", Tools: "도구", Recordings: "녹화",
+    Bluetooth: "블루투스", "Cameras & Monitoring": "카메라 및 모니터링", Galaxy: "Galaxy",
+    "Logs & Diagnostics": "로그 및 진단", "Model Manager": "모델 관리자",
+    "Navigation & Maps": "내비게이션 및 지도", "System Tools": "시스템 도구",
+    "Model Laboratory": "모델 연구소", Plots: "플롯", "Testing Ground": "테스트 공간",
+    "Theme Maker": "테마 만들기", "Tuning, Plots & Testing": "튜닝, 플롯 및 테스트",
+    "Vehicle Controls": "차량 제어", Main: "메인", Offline: "오프라인", Parked: "주차됨",
+    Back: "뒤로", Menu: "메뉴", "Galaxy home": "Galaxy 홈", "Search toggles...": "토글 검색...",
+    "Search toggles": "토글 검색", "Clear search": "검색 지우기", "Dark mode": "다크 모드",
+    "Light mode": "라이트 모드", "Switch to dark mode": "다크 모드로 전환", "Switch to light mode": "라이트 모드로 전환",
+    Settings: "설정", Language: "언어", "Select language": "언어 선택", Advanced: "고급",
+    "result(s)": "개 결과",
+    "Galaxy uses English when no language is selected.": "언어를 선택하지 않으면 Galaxy는 영어를 사용합니다.",
+    "Language updated.": "언어가 업데이트되었습니다.", "Unable to save language.": "언어를 저장할 수 없습니다.",
+    "Loading configuration...": "설정을 불러오는 중...", "No settings available.": "사용 가능한 설정이 없습니다.",
+    "No settings in this section.": "이 섹션에 설정이 없습니다.", "Locked:": "잠김:", "Step:": "단계:",
+    "This setting can only be changed while parked.": "이 설정은 주차 중에만 변경할 수 있습니다.",
+    Default: "기본값", "Loading...": "로드 중...", "No options available": "사용 가능한 옵션이 없습니다",
+    "Working...": "처리 중...", Run: "실행", Manage: "관리", Close: "닫기", Stock: "기본",
+  },
+  "zh-CHS": {
+    English: "英语", Spanish: "西班牙语", French: "法语", Korean: "韩语", Chinese: "中文",
+    Home: "主页", Toggles: "开关", Tools: "工具", Recordings: "录制内容",
+    Bluetooth: "蓝牙", "Cameras & Monitoring": "摄像头和监控", Galaxy: "Galaxy",
+    "Logs & Diagnostics": "日志和诊断", "Model Manager": "模型管理器",
+    "Navigation & Maps": "导航和地图", "System Tools": "系统工具",
+    "Model Laboratory": "模型实验室", Plots: "图表", "Testing Ground": "测试区",
+    "Theme Maker": "主题制作器", "Tuning, Plots & Testing": "调校、图表和测试",
+    "Vehicle Controls": "车辆控制", Main: "主菜单", Offline: "离线", Parked: "已停车",
+    Back: "返回", Menu: "菜单", "Galaxy home": "Galaxy 主页", "Search toggles...": "搜索开关...",
+    "Search toggles": "搜索开关", "Clear search": "清除搜索", "Dark mode": "深色模式",
+    "Light mode": "浅色模式", "Switch to dark mode": "切换到深色模式", "Switch to light mode": "切换到浅色模式",
+    Settings: "设置", Language: "语言", "Select language": "选择语言", Advanced: "高级",
+    "result(s)": "个结果",
+    "Galaxy uses English when no language is selected.": "未选择语言时，Galaxy 将使用英语。",
+    "Language updated.": "语言已更新。", "Unable to save language.": "无法保存语言。",
+    "Loading configuration...": "正在加载配置...", "No settings available.": "没有可用设置。",
+    "No settings in this section.": "此部分没有设置。", "Locked:": "已锁定：", "Step:": "步长：",
+    "This setting can only be changed while parked.": "此设置只能在车辆停放时更改。",
+    Default: "默认值", "Loading...": "加载中...", "No options available": "没有可用选项",
+    "Working...": "处理中...", Run: "运行", Manage: "管理", Close: "关闭", Stock: "原厂",
+  },
+}
+
+function storageValue() {
+  try { return window.localStorage.getItem(STORAGE_KEY) || "en" } catch (e) { return "en" }
+}
+
+export function normalizeLanguage(value) {
+  const code = String(value || "").trim().replace(/^main_/i, "")
+  return SUPPORTED_CODES.has(code) ? code : "en"
+}
+
+export const languageState = reactive({ code: normalizeLanguage(storageValue()) })
+
+export function setLanguage(value) {
+  const code = normalizeLanguage(value)
+  languageState.code = code
+  try { window.localStorage.setItem(STORAGE_KEY, code) } catch (e) { /* storage can be unavailable in private webviews */ }
+  if (typeof document !== "undefined") document.documentElement.lang = code === "zh-CHS" ? "zh-CN" : code
+  return code
+}
+
+export function t(key, fallback = key) {
+  const source = String(key ?? "")
+  return TRANSLATIONS[languageState.code]?.[source] || fallback || source
+}
+
+setLanguage(languageState.code)

starpilot/system/the_galaxy/assets/mobile/js/views/Settings.js

@@ -11,6 +11,8 @@ import { PersonalityProfiles } from "../components/PersonalityProfiles.js"
 import { GalaxyToggleCard } from "../components/GalaxyToggleCard.js"
 import { GalaxySection } from "../components/GalaxySection.js"
 import { DevModeBanner } from "../components/DevModeBanner.js"
+import { LanguageSelector } from "../components/LanguageSelector.js"
+import { setLanguage, t } from "../i18n.js"
 
 const LEGACY_PERSONALITY_KEYS = new Set([
   "AccelerationProfile", "AggressiveFollow", "AggressiveFollowHigh", "CustomAccelProfile",
@@ -22,7 +24,7 @@ const LEGACY_PERSONALITY_KEYS = new Set([
 
 export const Settings = {
   name: "Settings",
-  components: { SettingTree, PersonalityProfiles, GalaxyToggleCard, GalaxySection, DevModeBanner, LongitudinalMode },
+  components: { SettingTree, PersonalityProfiles, GalaxyToggleCard, GalaxySection, DevModeBanner, LongitudinalMode, LanguageSelector },
   data() {
     return {
       layout: [],
@@ -68,6 +70,7 @@ export const Settings = {
     },
   },
   methods: {
+    tr(key, fallback = key) { return t(key, fallback) },
     isModeParam(p) { return p.key === LONGITUDINAL_MODE_KEY || !!p.longitudinal_mode },
     modeSection(s) { return this.layout.find(section => section.name === s.name && section.params.some(p => p.key === LONGITUDINAL_MODE_KEY)) },
     ordinaryParams(s) { return s.params.filter(p => !this.isModeParam(p)) },
@@ -78,6 +81,7 @@ export const Settings = {
         ])
         this.layout = longitudinalModeLayout(layout)
         this.values = values || {}
+        setLanguage(this.values.LanguageSetting || "en")
         this.defaults = defaults || {}
         if (!this.activeSectionSlug && this.sections.length) {
           const preferred = this.sections.find((s) => s.slug === this.defaultSectionSlug)
@@ -136,22 +140,24 @@ export const Settings = {
   },
   template: `
     <div>
-      <h2 style="margin-top:0;">Toggles</h2>
+      <h2 style="margin-top:0;">{{ tr("Toggles") }}</h2>
+
+      <LanguageSelector :device-value="String(values.LanguageSetting || '')" />
 
       <DevModeBanner :hidden-count="hiddenAdvancedCount" :dev-mode-on="devModeOn" />
 
-      <div v-if="loading" class="gx-loading">Loading configuration...</div>
+      <div v-if="loading" class="gx-loading">{{ tr("Loading configuration...") }}</div>
 
       <template v-else-if="sections.length">
         <div v-if="searchActive">
           <div class="gx-card">
             <div class="gx-section__header">
               <i class="bi bi-search"></i>
-              <span class="gx-section__title">{{ searchResults.reduce((n, s) => n + s.matches.length, 0) }} result(s)</span>
+              <span class="gx-section__title">{{ searchResults.reduce((n, s) => n + s.matches.length, 0) }} {{ tr("result(s)") }}</span>
             </div>
           </div>
           <template v-for="section in searchResults" :key="section.slug">
-            <GalaxySection :title="section.name + ' (' + section.matches.length + ')'" :icon="section.icon || 'bi-search'" :default-open="false">
+            <GalaxySection :title="tr(section.name, section.name) + ' (' + section.matches.length + ')'" :icon="section.icon || 'bi-search'" :default-open="false">
               <LongitudinalMode v-if="section.matches.some(isModeParam)" :section="modeSection(section)" :values="values" @change="onParamChange" />
               <template v-for="p in section.matches" :key="p.key">
                 <PersonalityProfiles v-if="p.key === 'CustomPersonalities'" :manage-open="!!expanded[p.key]" @manage="toggleManage(p.key)" @change="onParamChange" />
@@ -167,24 +173,24 @@ export const Settings = {
             <button v-for="s in sections" :key="s.slug" type="button"
               class="gx-chip" :style="s.slug === activeSection.slug ? 'background: var(--primary); color: var(--on-primary);' : 'background: var(--surface-variant); color: var(--on-surface-variant); cursor:pointer;'"
               @click="selectSection(s.slug)">
-              {{ s.name }}
+              {{ tr(s.name, s.name) }}
             </button>
           </div>
 
           <div class="gx-card">
             <div class="gx-section__header">
               <i class="bi" :class="activeSection.icon"></i>
-              <span class="gx-section__title">{{ activeSection.name }}</span>
+              <span class="gx-section__title">{{ tr(activeSection.name, activeSection.name) }}</span>
             </div>
             <LongitudinalMode v-if="modeSection(activeSection)" :section="modeSection(activeSection)" :values="values" @change="onParamChange" />
             <SettingTree :params="ordinaryParams(activeSection)" :parent-key="null" :values="values"
               :expanded="expanded" :lock-reason="lockReason" @change="onParamChange" @manage="toggleManage" />
-            <div v-if="!activeSection.params.length" class="gx-empty">No settings in this section.</div>
+            <div v-if="!activeSection.params.length" class="gx-empty">{{ tr("No settings in this section.") }}</div>
           </div>
         </div>
       </template>
 
-      <div v-else class="gx-empty">No settings available.</div>
+      <div v-else class="gx-empty">{{ tr("No settings available.") }}</div>
     </div>
   `,
 }

starpilot/system/the_galaxy/tests/test_ui_vue_frontend.py

@@ -24,6 +24,7 @@ def test_ui_app_shell_files_exist():
     "js/store.js",
     "js/api.js",
     "js/params.js",
+    "js/i18n.js",
     "js/components/AppShell.js",
     "js/components/GalaxyModal.js",
     "js/components/GalaxySection.js",
@@ -35,6 +36,7 @@ def test_ui_app_shell_files_exist():
     "js/components/WheelControls.js",
     "js/components/BluetoothPanel.js",
     "js/components/DevModeBanner.js",
+    "js/components/LanguageSelector.js",
     "js/composables.js",
     "js/views/Home.js",
     "js/views/Settings.js",
@@ -73,6 +75,19 @@ def test_ui_uses_same_backend_endpoints():
   assert '"/api/params/defaults"' in api
 
 
+def test_ui_language_selector_uses_shared_device_language_setting():
+  i18n = _read("js/i18n.js")
+  selector = _read("js/components/LanguageSelector.js")
+  settings = _read("js/views/Settings.js")
+
+  for code in ["en", "es", "fr", "ko", "zh-CHS"]:
+    assert f'value: "{code}"' in i18n
+  assert "localStorage" in i18n
+  assert "LanguageSetting" in selector
+  assert "main_${next}" in selector
+  assert "<LanguageSelector" in settings
+
+
 def test_ui_ports_developer_mode_gating():
   params = _read("js/params.js")
   assert "countAdvancedHiddenByDeveloperMode" in params