Sleppy time

common/params_keys.h

@@ -18,6 +18,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"BootCount", {PERSISTENT, INT}},
     {"BluetoothAudioAddress", {PERSISTENT, STRING}},
     {"BluetoothAudioTestActive", {CLEAR_ON_MANAGER_START | DONT_LOG, BOOL}},
+    {"BluetoothDisconnectControllersOffroad", {PERSISTENT, BOOL, "0"}},
     {"BluetoothEnabled", {PERSISTENT, BOOL, "0"}},
     {"CalibrationParams", {PERSISTENT, BYTES}},
     {"CameraDebugExpGain", {CLEAR_ON_MANAGER_START, STRING}},

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -852,7 +852,6 @@ class CarController(CarControllerBase):
       CAR.CHEVROLET_VOLT_CC,
       CAR.CHEVROLET_MALIBU_CC,
       CAR.CHEVROLET_MALIBU_HYBRID_CC,
-      CAR.BUICK_LACROSSE,
     }
 
     if (self.CP.enableGasInterceptorDEPRECATED and self.CP.carFingerprint in CC_REGEN_PADDLE_CAR and

opendbc_repo/opendbc/car/gm/interface.py

@@ -408,7 +408,7 @@ class CarInterface(CarInterfaceBase):
     ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
 
     ret.steerLimitTimer = 0.4
-    ret.radarTimeStepDEPRECATED = 0.0667  # GM radar runs at 15Hz instead of the standard 20Hz
+    ret.radarTimeStepDEPRECATED = 0.15 if candidate == CAR.BUICK_LACROSSE else 0.0667
     ret.longitudinalActuatorDelay = 0.5  # large delay to initially start braking
 
     if candidate in (
@@ -440,7 +440,7 @@ class CarInterface(CarInterfaceBase):
     elif candidate in (CAR.BUICK_LACROSSE, CAR.BUICK_LACROSSE_ASCM, CAR.BUICK_LACROSSE_ASCM_19US):
       CarInterfaceBase.configure_torque_tune(CAR.BUICK_LACROSSE, ret.lateralTuning)
       if candidate == CAR.BUICK_LACROSSE_ASCM_19US:
-        ret.minSteerSpeed = 27 * CV.MPH_TO_MS
+        ret.minSteerSpeed = 28 * CV.MPH_TO_MS
 
     elif candidate == CAR.CADILLAC_ESCALADE:
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm

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

@@ -205,6 +205,33 @@ class TestBoltGps:
 
 
 class TestGMInterface:
+  def test_lacrosse_obd_and_ascm_integrations_remain_separate(self):
+    obd_params = interfaces[CAR.BUICK_LACROSSE].get_params(
+      CAR.BUICK_LACROSSE,
+      _empty_fingerprint(),
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=_test_starpilot_toggles(),
+    )
+    ascm_params = interfaces[CAR.BUICK_LACROSSE_ASCM].get_params(
+      CAR.BUICK_LACROSSE_ASCM,
+      _empty_fingerprint(),
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=_test_starpilot_toggles(),
+    )
+
+    assert obd_params.networkLocation == structs.CarParams.NetworkLocation.gateway
+    assert obd_params.openpilotLongitudinalControl
+    assert obd_params.radarTimeStepDEPRECATED == pytest.approx(0.15)
+    assert ascm_params.networkLocation == structs.CarParams.NetworkLocation.fwdCamera
+    assert not ascm_params.openpilotLongitudinalControl
+    assert ascm_params.radarTimeStepDEPRECATED == pytest.approx(0.0667)
+
   @parameterized.expand([
     CAR.CHEVROLET_BOLT_CC_2017,
     CAR.CHEVROLET_BOLT_CC_2018_2021,
@@ -291,6 +318,14 @@ class TestGMInterface:
 
     assert car_params.minSteerSpeed == pytest.approx(7 * CV.MPH_TO_MS)
 
+  def test_lacrosse_2019_ascm_min_steer_speed_is_28_mph(self):
+    car_model = CAR.BUICK_LACROSSE_ASCM_19US
+    CarInterface = interfaces[car_model]
+    car_params = CarInterface.get_params(car_model, _empty_fingerprint(), [], alpha_long=False, is_release=False, docs=False,
+                                         starpilot_toggles=_test_starpilot_toggles())
+
+    assert car_params.minSteerSpeed == pytest.approx(28 * CV.MPH_TO_MS)
+
   @parameterized.expand([
     ("interceptor", True),
     ("ascm_int", False),

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -860,7 +860,9 @@ class CarController(CarControllerBase):
 
     lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
     longitudinal_active = bool(self.long_active_ecu and getattr(CC, "longActive", False))
-    lfa_longitudinal_active = longitudinal_active if self.CP.carFingerprint == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN else self.CP.openpilotLongitudinalControl
+    lfa_status_cars = (CAR.HYUNDAI_IONIQ_6, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN)
+    lfa_longitudinal_active = self.CP.openpilotLongitudinalControl \
+      if self.CP.carFingerprint in lfa_status_cars else longitudinal_active
     lka_steering_long = lka_steering and lfa_longitudinal_active
     ccnc_non_hda2 = self.CP.flags & HyundaiFlags.CCNC and not lka_steering
     use_egmp_dynamic_long_tuning = egmp_dynamic_longitudinal_tuning(self.CP) and self.long_active_ecu and \
@@ -890,7 +892,8 @@ 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)

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

@@ -2484,10 +2484,11 @@ class TestHyundaiFingerprint:
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN
     CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING)
-    CP.openpilotLongitudinalControl = False
+    CP.openpilotLongitudinalControl = True
 
     controller = CarController(DBC[CP.carFingerprint], CP)
     controller.frame = 1
+    controller.long_active_ecu = True
     can_bus = CanBus(CP)
     parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS", 0)], can_bus.ACAN)
     stock_lkas = {
@@ -2529,7 +2530,6 @@ class TestHyundaiFingerprint:
     assert parser.vl["LKAS"]["STEER_MODE"] == 0
     assert parser.vl["LKAS"]["NEW_SIGNAL_2"] == 0
 
-    CP.openpilotLongitudinalControl = True
     lfa_parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LFA", 0)], can_bus.ECAN)
     lfa_msgs = hyundaicanfd.create_steering_messages(controller.packer, CP, can_bus, True, True, 0, 0.0)
     assert [(controller.packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in lfa_msgs] == [("LFA", can_bus.ECAN), ("LKAS", can_bus.ACAN)]
@@ -2537,13 +2537,12 @@ class TestHyundaiFingerprint:
     assert lfa_parser.can_valid
     assert lfa_parser.vl["LFA"]["DAMP_FACTOR"] == 100
 
-    controller.long_active_ecu = True
     cc.longActive = False
     inactive_msgs = controller.create_canfd_msgs(0, True, 0.44, 0.0, 0.0, 0.0, False,
                                                  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 == [("LKAS", can_bus.ACAN)]
+    assert steering_names == [("LFA", can_bus.ECAN), ("LKAS", can_bus.ACAN)]
 
     controller.frame = 1
     cc.longActive = True
@@ -2708,7 +2707,7 @@ 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_keeps_inactive_status_in_drive(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 |
@@ -2716,60 +2715,16 @@ class TestHyundaiFingerprint:
     CP.openpilotLongitudinalControl = False
 
     controller = CarController(DBC[CP.carFingerprint], CP)
-    can_bus = CanBus(CP)
-    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS_ALT", 0)], can_bus.ACAN)
-    stock_lkas = {
-      "CHECKSUM": 1234,
-      "COUNTER": 42,
-      "LKA_OptUsmSta": 2,
-      "LKA_MODE": 2,
-      "LKA_RcgSta": 3,
-      "LKA_AVAILABLE": 3,
-      "LKA_LHLnWrnSta": 3,
-      "LKA_RHLnWrnSta": 3,
-      "LKA_WARNING": 1,
-      "LKA_HndsoffSnd": 1,
-      "LKA_StrSnd": 1,
-      "LKA_SysIndReq": 4,
-      "LKA_ICON": 2,
-      "FCA_SYSWARN": 1,
-      "StrTqReqVal": 17,
-      "TORQUE_REQUEST": 17,
-      "ActToiSta": 3,
-      "STEER_REQ": 1,
-      "ToiFltSta": 3,
-      "LFA_BUTTON": 1,
-      "LKA_SysWrn": 15,
-      "LKA_ASSIST": 1,
-      "Damping_Gain": 0,
-      "STEER_MODE": 5,
-      "NEW_SIGNAL_2": 0,
-      "LKAS_ANGLE_ACTIVE": 2,
-      "LKA_UsmMod": 3,
-      "HAS_LANE_SAFETY": 1,
-      "ADAS_StrAnglReqVal": 12.3,
-      "ADAS_ACIAnglTqRedcGainVal": 0.42,
-      "DAMP_FACTOR": 0,
-    }
     cc = SimpleNamespace(enabled=False, latActive=False,
                          actuators=SimpleNamespace(longControlState=LongCtrlState.off),
                          leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace())
-    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg=stock_lkas,
+    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg={},
                          out=SimpleNamespace(standstill=standstill, steeringAngleDeg=0.0,
                                              gearShifter=structs.CarState.GearShifter.drive))
 
     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.update([(1, lkas_msgs)])
-    assert parser.can_valid
-    assert parser.vl["LKAS_ALT"]["LKA_StrSnd"] == 2
-    assert parser.vl["LKAS_ALT"]["LKA_SysIndReq"] == 1
-    assert parser.vl["LKAS_ALT"]["LKA_RcgSta"] == 0
-    assert parser.vl["LKAS_ALT"]["LKA_AVAILABLE"] == 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()

scripts/model_compiler.py

@@ -69,10 +69,6 @@ def build_compile_env(*, supercombo: bool = False) -> dict[str, str]:
       int(str(env.get(key)), 0)
     except (TypeError, ValueError):
       env[key] = default
-  if supercombo:
-    # Unified supercombo artifacts must use upstream compile defaults. The
-    # legacy QCOM tuning causes a reproducible HCQ timeline failure here.
-    env.pop("QCOM_PRIORITY", None)
   return env
 
 

selfdrive/car/cruise.py

@@ -214,7 +214,7 @@ class VCruiseHelper:
 
     engage_floor_kph = max(V_CRUISE_MIN, 7.0 * CV.MPH_TO_KPH)
     resume_pressed = any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents)
-    remembered_resume = resume_prev_button and (self.gm_cc_only or self.redneck_non_pcm)
+    remembered_resume = resume_prev_button and self._uses_software_cruise()
 
     if self.v_cruise_initialized and (resume_pressed or remembered_resume):
       self.v_cruise_kph = self.v_cruise_kph_last

selfdrive/car/tests/test_cruise_speed.py

@@ -313,6 +313,22 @@ class TestVCruiseHelper:
         assert V_CRUISE_MIN <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
         assert self.v_cruise_helper.v_cruise_initialized
 
+  def test_resume_keeps_previous_software_cruise_speed(self):
+    engage_cs = car.CarState(vEgo=75 * CV.MPH_TO_MS)
+    self.v_cruise_helper.initialize_v_cruise(engage_cs, experimental_mode=False, resume_prev_button=False,
+                                             starpilot_toggles=self.starpilot_toggles)
+
+    disabled_cs = car.CarState(cruiseState={"available": True})
+    self.v_cruise_helper.update_v_cruise(disabled_cs, enabled=False, is_metric=False,
+                                         speed_limit_changed=False, starpilot_toggles=self.starpilot_toggles)
+
+    resume_cs = car.CarState(vEgo=22 * CV.MPH_TO_MS)
+    self.v_cruise_helper.initialize_v_cruise(resume_cs, experimental_mode=False, resume_prev_button=True,
+                                             starpilot_toggles=self.starpilot_toggles)
+
+    assert self.v_cruise_helper.v_cruise_kph == pytest.approx(75 * CV.MPH_TO_KPH)
+    assert self.v_cruise_helper.v_cruise_cluster_kph == pytest.approx(75 * CV.MPH_TO_KPH)
+
   def test_initialize_v_cruise_matches_speed_limit(self):
     self.reset_cruise_speed_state()
     self.starpilot_toggles.set_speed_limit = True

selfdrive/controls/lib/latcontrol_vehicle_tunes.py

@@ -275,7 +275,7 @@ GENESIS_G70_FRICTION_JERK_DEADZONE_LAT = 0.30
 GENESIS_G70_FRICTION_JERK_DEADZONE_LAT_WIDTH = 0.08
 GENESIS_G70_FRICTION_JERK_DEADZONE_SPEED = 12.0
 GENESIS_G70_FRICTION_JERK_DEADZONE_SPEED_WIDTH = 3.5
-GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_MAX = 0.16
+GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_MAX = 0.22
 GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_SPEED = 35.0 * CV.MPH_TO_MS
 GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_SPEED_WIDTH = 8.0 * CV.MPH_TO_MS
 GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_LAT = 0.35
@@ -284,7 +284,7 @@ GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_LAT_CUTOFF = 1.25
 GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_LAT_CUTOFF_WIDTH = 0.25
 GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_JERK = 0.20
 GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_JERK_WIDTH = 0.12
-GENESIS_G70_CENTER_OUTPUT_TAPER_MAX = 0.22
+GENESIS_G70_CENTER_OUTPUT_TAPER_MAX = 0.26
 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

selfdrive/controls/lib/longitudinal_planner.py

@@ -397,6 +397,27 @@ def get_vehicle_min_accel(CP, v_ego):
   return float(ACCEL_MIN)
 
 
+def get_far_lead_coast_cap(lead, v_ego, desired_gap, output_a_target):
+  if lead is None or not bool(getattr(lead, "status", False)):
+    return float(output_a_target)
+
+  v_ego = float(v_ego)
+  lead_distance = float(getattr(lead, "dRel", float("inf")))
+  lead_speed = float(getattr(lead, "vLead", v_ego))
+  closing_speed = v_ego - lead_speed
+  if (
+    v_ego <= 10.0 or
+    closing_speed <= 0.5 or
+    lead_distance < FAR_LEAD_COAST_MIN_DISTANCE or
+    lead_distance <= float(desired_gap) + FAR_LEAD_COAST_MIN_GAP_MARGIN or
+    lead_distance / max(closing_speed, 0.1) < FAR_LEAD_COAST_MIN_TTC or
+    max(0.0, -float(getattr(lead, "aLeadK", 0.0))) > FAR_LEAD_COAST_MAX_LEAD_BRAKE
+  ):
+    return float(output_a_target)
+
+  return max(float(output_a_target), -FAR_LEAD_COAST_MAX_DECEL)
+
+
 # Restored planner constants retained by CEM, stop, and departure paths.
 A_CRUISE_MIN = -1.0
 # The stop distance runs ~9 m long through the mid-approach, which leaves the obstacle slack
@@ -433,6 +454,11 @@ VEHICLE_FAR_FOLLOW_SLEW_MIN_DISTANCE_TIME = 1.35
 VEHICLE_FAR_FOLLOW_SLEW_MIN_HEADWAY = 1.35
 VEHICLE_FAR_FOLLOW_SLEW_MIN_TTC = 8.0
 VEHICLE_FAR_FOLLOW_SLEW_MAX_LATERAL_OFFSET = 1.5
+FAR_LEAD_COAST_MIN_DISTANCE = 45.0
+FAR_LEAD_COAST_MIN_TTC = 8.0
+FAR_LEAD_COAST_MIN_GAP_MARGIN = 6.0
+FAR_LEAD_COAST_MAX_LEAD_BRAKE = 0.35
+FAR_LEAD_COAST_MAX_DECEL = 0.20
 RADAR_DEPART_CONFLICT_MAX_EGO_SPEED = 1.6
 RADAR_DEPART_CONFLICT_MIN_RADAR_LATERAL = 1.5
 RADAR_DEPART_CONFLICT_MAX_RADAR_DISTANCE = 18.0
@@ -3069,6 +3095,28 @@ class LongitudinalPlanner:
       panic_bypass,
     )
 
+    far_lead_coast_allowed = (
+      not experimental_mode and
+      comfort_lead is not None and
+      desired_gap is not None and
+      not output_should_stop and
+      not vision_low_speed_stop_active and
+      not close_lead_caps and
+      not panic_bypass and
+      not depart_safety_veto and
+      inside_gap_closing_cap is None and
+      not bool(getattr(sm['starpilotPlan'], 'forcingStop', False)) and
+      not bool(getattr(sm['starpilotPlan'], 'redLight', False)) and
+      not bool(getattr(sm['starpilotPlan'], 'stopSignConfirmed', False))
+    )
+    if far_lead_coast_allowed:
+      output_a_target = get_far_lead_coast_cap(
+        comfort_lead,
+        scene_v_ego,
+        desired_gap,
+        output_a_target,
+      )
+
     if radar_gap_settle_active:
       output_a_target = RADAR_STANDSTILL_GAP_SETTLE_ACCEL
       output_should_stop = False

selfdrive/controls/radard.py

@@ -7,6 +7,7 @@ from typing import Any
 
 import capnp
 from cereal import messaging, log, car, custom
+from cereal.services import SERVICE_LIST
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process
@@ -42,6 +43,11 @@ def is_bosch_a_radar_car(CP) -> bool:
   return CP.brand == "honda" and CP.carFingerprint in HONDA_BOSCH_A and not CP.radarUnavailable
 
 
+def has_slow_radar_tracks(CP) -> bool:
+  radar_ts = float(getattr(CP, "radarTimeStepDEPRECATED", DT_MDL) or DT_MDL)
+  return not CP.radarUnavailable and radar_ts > 2.0 / SERVICE_LIST["liveTracks"].frequency
+
+
 # Adjacent-lane stopped-vehicle detector, used as a stop-line hint on red-light
 # approaches. The qualifier is the DECELERATION HISTORY, not the current speed: roadside
 # furniture and curb-parked cars never show a moving -> stopped transition, so testing
@@ -636,8 +642,9 @@ def main() -> None:
   cloudlog.info("radard got CarParams")
 
   # *** setup messaging
+  ignore_avg_freq = ['liveTracks'] if has_slow_radar_tracks(CP) else None
   sm = messaging.SubMaster(['modelV2', 'carState', 'liveTracks'], poll='modelV2',
-                           ignore_valid=['starpilotPlan'])
+                           ignore_avg_freq=ignore_avg_freq, ignore_valid=['starpilotPlan'])
   pm = messaging.PubMaster(['radarState'])
 
   radar_ts = float(getattr(CP, "radarTimeStepDEPRECATED", DT_MDL) or DT_MDL)

selfdrive/controls/tests/test_leads.py

@@ -14,6 +14,7 @@ from openpilot.selfdrive.controls.radard import (
   RadarD,
   g90_low_speed_radar_lead_sane,
   g90_radar_lead_lateral_sane,
+  has_slow_radar_tracks,
   is_bosch_a_radar_car,
   match_vision_to_track,
 )
@@ -96,6 +97,15 @@ class TestLeads:
     assert bosch_a.lead_prob_filters[0].dt == pytest.approx(DT_MDL)
     assert bosch_a.kalman_params.A[0][1] == pytest.approx(HONDA_BOSCH_A_RADAR_TS)
 
+  def test_slow_radar_frequency_relaxation_is_scoped(self):
+    slow_radar = SimpleNamespace(radarTimeStepDEPRECATED=0.15, radarUnavailable=False)
+    normal_radar = SimpleNamespace(radarTimeStepDEPRECATED=0.1, radarUnavailable=False)
+    unavailable_radar = SimpleNamespace(radarTimeStepDEPRECATED=0.15, radarUnavailable=True)
+
+    assert has_slow_radar_tracks(slow_radar)
+    assert not has_slow_radar_tracks(normal_radar)
+    assert not has_slow_radar_tracks(unavailable_radar)
+
   @pytest.mark.skipif(platform.system() == "Darwin", reason="SocketEventHandle requires eventfd")
   def test_radar_fault(self):
     # if there's no radar-related can traffic, radard should either not respond or respond with an error

selfdrive/controls/tests/test_longitudinal_planner.py

@@ -18,7 +18,13 @@ from opendbc.car.toyota.values import CAR as TOYOTA_CAR
 import openpilot.selfdrive.controls.lib.longitudinal_planner as longitudinal_planner_module
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
-from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner, get_coast_accel, get_vehicle_min_accel, should_publish_planner_fcw
+from openpilot.selfdrive.controls.lib.longitudinal_planner import (
+  LongitudinalPlanner,
+  get_coast_accel,
+  get_far_lead_coast_cap,
+  get_vehicle_min_accel,
+  should_publish_planner_fcw,
+)
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import (
   LongitudinalMpc,
   build_model_lead_trajectory,
@@ -310,6 +316,24 @@ def test_mpc_panic_bypass_immediately_removes_duplicate_vision_filter():
   assert mpc.lead_v_filter.x == pytest.approx(10.0)
 
 
+def test_far_lead_coast_cap_delays_nonurgent_deceleration():
+  lead = make_lead(status=True, d_rel=128.0, v_lead=16.7, a_lead=0.2, radar=True)
+
+  assert get_far_lead_coast_cap(lead, 26.6, 115.0, -0.43) == pytest.approx(-0.20)
+  assert get_far_lead_coast_cap(lead, 26.6, 115.0, 0.10) == pytest.approx(0.10)
+
+
+@pytest.mark.parametrize("d_rel,v_lead,a_lead,desired_gap", [
+  (50.0, 20.0, 0.2, 45.0),  # only a small gap remains
+  (128.0, 8.0, 0.2, 115.0),  # urgent closing time
+  (128.0, 16.7, -0.5, 115.0),  # the lead is braking materially
+])
+def test_far_lead_coast_cap_preserves_urgent_or_close_deceleration(d_rel, v_lead, a_lead, desired_gap):
+  lead = make_lead(status=True, d_rel=d_rel, v_lead=v_lead, a_lead=a_lead, radar=True)
+
+  assert get_far_lead_coast_cap(lead, 26.6, desired_gap, -0.43) == pytest.approx(-0.43)
+
+
 def test_hrv_far_follow_output_slew_damps_only_continuous_safe_follow():
   v_ego = 24.0
   CP = CarInterface.get_non_essential_params(CAR.HONDA_HRV_3G)

starpilot/common/assets/device_settings_layout.json

@@ -201,6 +201,8 @@
         "min": 0.0,
         "max": 99.0,
         "step": 1.0,
+        "unit_type": "vehicle_speed",
+        "metric_max": 150.0,
         "parent_key": "LaneChanges",
         "settings_tier": "simple"
       },
@@ -339,6 +341,8 @@
         "min": 0.0,
         "max": 99.0,
         "step": 1.0,
+        "unit_type": "vehicle_speed",
+        "metric_max": 150.0,
         "parent_key": "QOLLateral",
         "settings_tier": "simple"
       },
@@ -1016,6 +1020,8 @@
         "min": 0.0,
         "max": 99.0,
         "step": 1.0,
+        "unit_type": "vehicle_speed",
+        "metric_max": 150.0,
         "parent_key": "ConditionalExperimental",
         "settings_tier": "simple"
       },
@@ -1028,6 +1034,8 @@
         "min": 0.0,
         "max": 99.0,
         "step": 1.0,
+        "unit_type": "vehicle_speed",
+        "metric_max": 150.0,
         "parent_key": "ConditionalExperimental",
         "settings_tier": "simple"
       },
@@ -1113,6 +1121,8 @@
         "min": 0.0,
         "max": 99.0,
         "step": 1.0,
+        "unit_type": "vehicle_speed",
+        "metric_max": 150.0,
         "parent_key": "ConditionalExperimental",
         "settings_tier": "simple"
       },
@@ -1690,6 +1700,10 @@
         "ui_type": "numeric",
         "min": 1.0,
         "max": 99.0,
+        "step": 1.0,
+        "precision": 0,
+        "unit_type": "vehicle_speed",
+        "metric_max": 150.0,
         "parent_key": "QOLLongitudinal",
         "settings_tier": "simple"
       },
@@ -1701,6 +1715,10 @@
         "ui_type": "numeric",
         "min": 1.0,
         "max": 99.0,
+        "step": 1.0,
+        "precision": 0,
+        "unit_type": "vehicle_speed",
+        "metric_max": 150.0,
         "parent_key": "QOLLongitudinal",
         "settings_tier": "simple"
       },
@@ -1774,6 +1792,10 @@
         "ui_type": "numeric",
         "min": 0.0,
         "max": 99.0,
+        "step": 1.0,
+        "precision": 0,
+        "unit_type": "vehicle_speed",
+        "metric_max": 150.0,
         "parent_key": "QOLLongitudinal",
         "settings_tier": "simple"
       },
@@ -1787,6 +1809,8 @@
         "max": 30.0,
         "step": 0.5,
         "precision": 1,
+        "unit_type": "vehicle_speed",
+        "imperial_max": 15.0,
         "parent_key": "QOLLongitudinal",
         "settings_tier": "advanced"
       },
@@ -2223,6 +2247,12 @@
         "ui_type": "numeric",
         "min": -99.0,
         "max": 99.0,
+        "step": 1.0,
+        "precision": 0,
+        "unit_type": "vehicle_speed",
+        "metric_min": -150.0,
+        "metric_max": 150.0,
+        "unit_range_index": 0,
         "parent_key": "SpeedLimitController",
         "settings_tier": "advanced"
       },
@@ -2234,6 +2264,12 @@
         "ui_type": "numeric",
         "min": -99.0,
         "max": 99.0,
+        "step": 1.0,
+        "precision": 0,
+        "unit_type": "vehicle_speed",
+        "metric_min": -150.0,
+        "metric_max": 150.0,
+        "unit_range_index": 1,
         "parent_key": "SpeedLimitController",
         "settings_tier": "advanced"
       },
@@ -2245,6 +2281,12 @@
         "ui_type": "numeric",
         "min": -99.0,
         "max": 99.0,
+        "step": 1.0,
+        "precision": 0,
+        "unit_type": "vehicle_speed",
+        "metric_min": -150.0,
+        "metric_max": 150.0,
+        "unit_range_index": 2,
         "parent_key": "SpeedLimitController",
         "settings_tier": "advanced"
       },
@@ -2256,6 +2298,12 @@
         "ui_type": "numeric",
         "min": -99.0,
         "max": 99.0,
+        "step": 1.0,
+        "precision": 0,
+        "unit_type": "vehicle_speed",
+        "metric_min": -150.0,
+        "metric_max": 150.0,
+        "unit_range_index": 3,
         "parent_key": "SpeedLimitController",
         "settings_tier": "advanced"
       },
@@ -2267,6 +2315,12 @@
         "ui_type": "numeric",
         "min": -99.0,
         "max": 99.0,
+        "step": 1.0,
+        "precision": 0,
+        "unit_type": "vehicle_speed",
+        "metric_min": -150.0,
+        "metric_max": 150.0,
+        "unit_range_index": 4,
         "parent_key": "SpeedLimitController",
         "settings_tier": "advanced"
       },
@@ -2278,6 +2332,12 @@
         "ui_type": "numeric",
         "min": -99.0,
         "max": 99.0,
+        "step": 1.0,
+        "precision": 0,
+        "unit_type": "vehicle_speed",
+        "metric_min": -150.0,
+        "metric_max": 150.0,
+        "unit_range_index": 5,
         "parent_key": "SpeedLimitController",
         "settings_tier": "advanced"
       },
@@ -2289,6 +2349,12 @@
         "ui_type": "numeric",
         "min": -99.0,
         "max": 99.0,
+        "step": 1.0,
+        "precision": 0,
+        "unit_type": "vehicle_speed",
+        "metric_min": -150.0,
+        "metric_max": 150.0,
+        "unit_range_index": 6,
         "parent_key": "SpeedLimitController",
         "settings_tier": "advanced"
       },
@@ -2341,6 +2407,8 @@
         "min": 0.0,
         "max": 99.0,
         "step": 1.0,
+        "unit_type": "vehicle_speed",
+        "metric_max": 150.0,
         "parent_key": "ConditionalChill",
         "settings_tier": "advanced"
       },
@@ -2353,6 +2421,8 @@
         "min": 0.0,
         "max": 99.0,
         "step": 1.0,
+        "unit_type": "vehicle_speed",
+        "metric_max": 150.0,
         "parent_key": "ConditionalChill",
         "settings_tier": "advanced"
       },
@@ -2385,6 +2455,8 @@
         "min": 0.0,
         "max": 15.0,
         "step": 1.0,
+        "unit_type": "vehicle_speed",
+        "metric_max": 30.0,
         "parent_key": "ConditionalChill",
         "settings_tier": "advanced"
       },
@@ -2454,6 +2526,7 @@
         "min": 5,
         "max": 80,
         "step": 5,
+        "unit_type": "vehicle_speed",
         "parent_key": "VisionSpeedLimitLowLimitFilter",
         "settings_tier": "advanced"
       },
@@ -4818,6 +4891,7 @@
         "min": 0.0,
         "max": 99.0,
         "step": 1.0,
+        "unit_type": "vehicle_speed",
         "parent_key": "GalaxyDeveloperMode",
         "settings_tier": "advanced"
       },

starpilot/system/bluetooth/daemon.py

@@ -20,6 +20,7 @@ AUDIO_TEST_HOLD_TIME = 3.0
 RECONNECT_INTERVAL_SECONDS = 15.0
 RECONNECT_MAX_BACKOFF_SECONDS = 300.0
 MANUAL_DISCONNECT_SUPPRESSION_SECONDS = 300.0
+CONTROLLER_OFFROAD_DISCONNECT_DELAY_SECONDS = 120.0
 
 
 class BluetoothController:
@@ -36,6 +37,9 @@ class BluetoothController:
     self._last_reconnect = 0.0
     self._reconnect_backoff: dict[str, tuple[int, float]] = {}
     self._manual_disconnect_until: dict[str, float] = {}
+    self._offroad_since: float | None = None
+    self._policy_disconnected: set[str] = set()
+    self._policy_disconnect_retry_after: dict[str, float] = {}
     self._scan_deadline = 0.0
     self._audio_test_deadline = 0.0
     self._sleep = sleep
@@ -272,17 +276,65 @@ class BluetoothController:
       self._client().stop_discovery()
       self._scan_deadline = 0.0
 
+  def _maintain_controller_offroad_policy(self, status: dict[str, Any], now: float) -> bool:
+    if not status["offroad"]:
+      self._offroad_since = None
+      if self._policy_disconnected:
+        for address in self._policy_disconnected:
+          self._reconnect_backoff.pop(address, None)
+        self._policy_disconnected.clear()
+        self._policy_disconnect_retry_after.clear()
+        self._last_reconnect = 0.0
+      return False
+
+    if self._offroad_since is None:
+      self._offroad_since = now
+
+    if not self.params.get_bool("BluetoothDisconnectControllersOffroad"):
+      if self._policy_disconnected:
+        self._policy_disconnected.clear()
+        self._policy_disconnect_retry_after.clear()
+        self._last_reconnect = 0.0
+      return False
+
+    if now - self._offroad_since < CONTROLLER_OFFROAD_DISCONNECT_DELAY_SECONDS:
+      return False
+
+    for device in status["devices"]:
+      if not device.get("paired") or not device.get("controller") or not device.get("connected"):
+        continue
+      address = str(device["address"]).upper()
+      if now < self._policy_disconnect_retry_after.get(address, 0.0):
+        continue
+      self._policy_disconnected.add(address)
+      self._policy_disconnect_retry_after[address] = now + RECONNECT_INTERVAL_SECONDS
+      try:
+        with self._lock:
+          self._client().disconnect(address)
+      except RuntimeError as error:
+        if "notconnected" not in str(error).replace(" ", "").lower():
+          self._policy_disconnected.discard(address)
+          self._policy_disconnect_retry_after.pop(address, None)
+          cloudlog.warning(f"Bluetooth offroad controller disconnect failed for {address}: {error}")
+      except Exception as error:
+        self._policy_disconnected.discard(address)
+        self._policy_disconnect_retry_after.pop(address, None)
+        cloudlog.warning(f"Bluetooth offroad controller disconnect failed for {address}: {error}")
+    return True
+
   def maintain_connections(self) -> None:
     while True:
       time.sleep(2)
+      now = time.monotonic()
       if not self.params.get_bool("BluetoothEnabled"):
+        self._maintain_controller_offroad_policy({"offroad": self._offroad(), "devices": []}, now)
         continue
       try:
         status = self.status()
         if not status["available"] or not status["powered"]:
           continue
-        now = time.monotonic()
         self._maintain_scan(status, now)
+        suspend_controller_reconnect = self._maintain_controller_offroad_policy(status, now)
         if self._pairing_address or now - self._last_reconnect < RECONNECT_INTERVAL_SECONDS:
           continue
         self._last_reconnect = now
@@ -298,6 +350,8 @@ class BluetoothController:
             self._reconnect_backoff.pop(address, None)
         for device in candidates:
           if device["audio"] or device["controller"]:
+            if suspend_controller_reconnect and device["controller"]:
+              continue
             address = device["address"].upper()
             if now < self._manual_disconnect_until.get(address, 0.0):
               continue

starpilot/system/bluetooth/tests/test_bluetooth.py

@@ -432,6 +432,48 @@ def test_scan_stops_after_timeout():
   assert not client.discovering and controller._scan_deadline == 0.0
 
 
+def test_controller_offroad_disconnect_policy_is_opt_in_and_delayed():
+  params = FakeParams(IsOffroad=True, BluetoothEnabled=True, BluetoothDisconnectControllersOffroad=False)
+  client = FakeBlueZ()
+  controller = BluetoothController(params, lambda: client, FakeRadio())
+  controller._bluez = client
+  controller_status = {
+    "offroad": True,
+    "devices": [
+      {**client.device, "name": "Controller", "audio": False, "controller": True, "connected": True},
+      {**client.device, "address": "AA:BB:CC:DD:EE:FF", "audio": True, "controller": False, "connected": True},
+    ],
+  }
+
+  assert not controller._maintain_controller_offroad_policy(controller_status, 100.0)
+  params.put_bool("BluetoothDisconnectControllersOffroad", True)
+  assert not controller._maintain_controller_offroad_policy(controller_status, 219.9)
+  assert client.actions == []
+
+  assert controller._maintain_controller_offroad_policy(controller_status, 220.0)
+  assert client.actions == [("disconnect", client.device["address"])]
+  assert client.device["address"].upper() in controller._policy_disconnected
+  assert controller._maintain_controller_offroad_policy(controller_status, 221.0)
+  assert client.actions == [("disconnect", client.device["address"])]
+
+
+def test_controller_offroad_disconnect_policy_reconnects_onroad():
+  params = FakeParams(IsOffroad=True, BluetoothEnabled=True, BluetoothDisconnectControllersOffroad=True)
+  controller = BluetoothController(params, FakeBlueZ, FakeRadio())
+  address = "00:11:22:33:44:55"
+  controller._offroad_since = 100.0
+  controller._policy_disconnected.add(address)
+  controller._reconnect_backoff[address] = (3, 500.0)
+  controller._last_reconnect = 210.0
+
+  assert not controller._maintain_controller_offroad_policy({"offroad": False, "devices": []}, 220.0)
+  assert controller._offroad_since is None
+  assert controller._policy_disconnected == set()
+  assert controller._policy_disconnect_retry_after == {}
+  assert address not in controller._reconnect_backoff
+  assert controller._last_reconnect == 0.0
+
+
 def test_pair_keeps_discovery_until_pair_starts():
   params = FakeParams(IsOffroad=True, BluetoothEnabled=True)
   client = FakeBlueZ()

starpilot/system/the_galaxy/assets/components/router.js

@@ -3,7 +3,7 @@ import { createBrowserHistory, createRouter } from "/assets/vendor/remix-router-
 import { hideSidebar } from "/assets/js/utils.js"
 import { DeviceSettings } from "/assets/components/tools/device_settings.js?v=favorite-c4-hint-1"
 import { Bluetooth } from "/assets/components/tools/bluetooth.js?v=bluetooth-live-15"
-import { WheelControls } from "/assets/components/tools/wheel_controls.js?v=controllers-2"
+import { WheelControls } from "/assets/components/tools/wheel_controls.js?v=controllers-3"
 import { DoorControl } from "/assets/components/tools/doors.js"
 import { ErrorLogs } from "/assets/components/tools/error_logs.js"
 import { VehicleFeatures } from "/assets/components/tools/vehicle_features.js"

starpilot/system/the_galaxy/assets/components/tools/device_settings.css

@@ -342,6 +342,24 @@
   margin-bottom: var(--margin-sm);
 }
 
+.ds-unit-note {
+  align-items: center;
+  background: var(--input-bg);
+  border: var(--border-style-main);
+  border-radius: var(--border-radius-base);
+  color: var(--text-muted);
+  display: flex;
+  font-size: var(--font-size-sm);
+  gap: var(--gap-sm);
+  margin-bottom: var(--margin-base);
+  padding: var(--padding-sm) var(--padding-base);
+}
+
+.ds-unit-note i,
+.ds-unit-note strong {
+  color: var(--main-fg);
+}
+
 /* ――― Empty Filter State ――― */
 .ds-empty {
   color: var(--text-muted);

starpilot/system/the_galaxy/assets/components/tools/device_settings.js

@@ -1,4 +1,5 @@
 import { html, reactive } from "/assets/vendor/arrow-core.js"
+import { formatNumericParamValue, resolveVehicleUnitParam, vehicleSpeedUnit } from "/assets/mobile/js/params.js"
 
 const endpointOptionsCache = {}
 const endpointOptionsInflight = {}
@@ -448,40 +449,6 @@ async function fetchLayoutAndParams() {
   scheduleSyncInputs()
 }
 
-function formatSliderValue(val, stepStr, precisionInt, key) {
-  if (val === null || val === undefined) return "--"
-  const v = parseFloat(val)
-  if (Number.isNaN(v)) return val
-
-  if (key === "SwitchbackModeCooldown") {
-    if (v === 0) return "Off"
-    return v === 1 ? "1 min" : `${v} min`
-  }
-
-  if (key === "DeviceShutdown") {
-    return v === 1 ? "1 hour" : `${v} hours`
-  }
-
-  const volumeKeys = [
-    "BelowSteerSpeedVolume", "DisengageVolume", "EngageVolume", "PromptVolume",
-    "PromptDistractedVolume", "RefuseVolume",
-    "WarningImmediateVolume", "WarningSoftVolume",
-  ]
-  if (key && volumeKeys.includes(key)) {
-    if (v === 0) return "Muted"
-    if (v === 101) return "Auto"
-    return `${v}%`
-  }
-
-  if (precisionInt !== undefined && precisionInt !== null) {
-    return Number(v.toFixed(precisionInt)).toString()
-  }
-
-  if (!stepStr || !stepStr.includes(".")) return Math.round(v).toString()
-  const dec = stepStr.split(".")[1].length
-  return Number(v.toFixed(dec)).toString()
-}
-
 function formatReadoutValue(p) {
   const raw = state.values[p.key]
   const v = parseFloat(raw)
@@ -505,6 +472,7 @@ function formatStepValue(step, precision) {
 }
 
 function numericBounds(param) {
+  param = resolveVehicleUnitParam(param, state.values)
   const defaultBounds = {
     min: param.min !== undefined ? param.min : (param.data_type === "float" ? 0.0 : 0),
     max: param.max !== undefined ? param.max : (param.data_type === "float" ? 100.0 : 100),
@@ -952,13 +920,7 @@ function syncNumericDisplay(param, rawValue) {
   const displayEl = document.getElementById(`ds-display-${param.key}`)
   if (!displayEl) return
 
-  const bounds = numericBounds(param)
-  displayEl.textContent = formatSliderValue(
-    rawValue,
-    String(bounds.step),
-    param.precision,
-    param.key,
-  )
+  displayEl.textContent = formatNumericParamValue(param, rawValue, state.values)
 }
 
 async function updateNumericParam(param, numericValue, options = {}) {
@@ -1311,10 +1273,9 @@ function matchesFilter(p) {
   if (!state.filter) return true
   if (isGroupParam(p)) return false
   const q = state.filter.toLowerCase()
-  const label = String(p.label || "").toLowerCase()
-  const key = String(p.key || "").toLowerCase()
-  const description = String(p.description || "").toLowerCase()
-  return label.includes(q) || key.includes(q) || description.includes(q)
+  const displayParam = resolveVehicleUnitParam(p, state.values)
+  return [displayParam.label, displayParam.key, displayParam.description, displayParam.unit, displayParam.unit_search_terms]
+    .some(value => String(value || "").toLowerCase().includes(q))
 }
 
 function clearSearchFilter() {
@@ -1376,8 +1337,7 @@ function formatFlmValue(param, value) {
   if (value === undefined || value === null) return "not set"
   if (param.data_type === "bool") return value ? "On" : "Off"
   if (param.ui_type === "numeric") {
-    const bounds = numericBounds(param)
-    return formatSliderValue(value, String(bounds.step), param.precision, param.key)
+    return formatNumericParamValue(param, value, state.values)
   }
   return String(value)
 }
@@ -1562,6 +1522,8 @@ function renderSettingRow(p) {
     return ""
   }
 
+  p = resolveVehicleUnitParam(p, state.values)
+
   const isNumeric = p.ui_type === "numeric"
   const isSlider = isNumeric && p.control === "slider"
   const isText = p.ui_type === "text"
@@ -1604,8 +1566,8 @@ function renderSettingRow(p) {
           @input="${(event) => previewSliderParam(p, event.currentTarget.value)}"
           @change="${(event) => commitSliderParam(p, event.currentTarget.value)}" />
         <div class="ds-slider-scale">
-          <span>${formatSliderValue(numericBounds(p).min, String(numericBounds(p).step), p.precision, p.key)}</span>
-          <span>${formatSliderValue(numericBounds(p).max, String(numericBounds(p).step), p.precision, p.key)}</span>
+          <span>${formatNumericParamValue(p, numericBounds(p).min, state.values)}</span>
+          <span>${formatNumericParamValue(p, numericBounds(p).max, state.values)}</span>
         </div>
         <button
           class="ds-reset-btn"
@@ -1631,10 +1593,10 @@ function renderSettingRow(p) {
       const updating = isNumericUpdating(p.key)
       const defaultNumeric = resolveDefaultNumericValue(p, bounds)
       const defaultLabel = defaultNumeric !== null
-        ? formatSliderValue(defaultNumeric, String(bounds.step), p.precision, p.key)
+        ? formatNumericParamValue(p, defaultNumeric, state.values)
         : "N/A"
       const canReset = !updating && defaultNumeric !== null && Math.abs(defaultNumeric - currentNumeric) > epsilon
-      const stepLabel = p.key === "DeviceShutdown" ? "1 hour" : formatStepValue(bounds.step, precision)
+      const stepLabel = p.key === "DeviceShutdown" ? "1 hour" : `${formatStepValue(bounds.step, precision)}${p.unit || ""}`
       return html`
             <div class="ds-stepper">
               <button
@@ -1642,7 +1604,7 @@ function renderSettingRow(p) {
                 disabled="${() => isLocked() || isNumericUpdating(p.key) || !canStepNumericParam(p, -1)}"
                 @click="${() => stepNumericParam(p, -1)}">-</button>
               <div class="ds-stepper-meta">
-                <span>${formatSliderValue(bounds.min, String(bounds.step), p.precision, p.key)} to ${formatSliderValue(bounds.max, String(bounds.step), p.precision, p.key)}</span>
+                <span>${formatNumericParamValue(p, bounds.min, state.values)} to ${formatNumericParamValue(p, bounds.max, state.values)}</span>
                 <span class="ds-step-value">Step: ${stepLabel} per click</span>
                 <span class="ds-default-value">Default: ${defaultLabel}</span>
                 <div class="ds-manual-row">
@@ -1790,8 +1752,7 @@ function renderSettingRow(p) {
             if (isColor) return formatColorDisplayValue(p)
             if (isReadout) return formatReadoutValue(p)
             const currentValue = state.sliderPreviewValues[p.key] ?? state.values[p.key]
-            const bounds = numericBounds(p)
-            return currentValue !== undefined ? formatSliderValue(currentValue, String(bounds.step), p.precision, p.key) : ".."
+            return currentValue !== undefined ? formatNumericParamValue(p, currentValue, state.values) : ".."
           }}</span>` : ""}
       </div>
 
@@ -1857,6 +1818,11 @@ 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"

starpilot/system/the_galaxy/assets/components/tools/wheel_controls.css

@@ -37,13 +37,44 @@
 .wheelCard,
 .wheelNotice,
 .wheelError,
-.wheelDeviceSummary {
+.wheelDeviceSummary,
+.wheelPolicy {
   background: var(--sidebar-bg);
   border: 1px solid var(--sidebar-border-color);
   border-radius: var(--border-radius-lg);
   padding: 16px;
 }
 
+.wheelPolicy {
+  display: flex;
+  align-items: center;
+  justify-content: space-between;
+  gap: 20px;
+  cursor: pointer;
+}
+
+.wheelPolicy span,
+.wheelPolicy small {
+  display: block;
+}
+
+.wheelPolicy small {
+  margin-top: 5px;
+  opacity: 0.68;
+}
+
+.wheelPolicy input {
+  width: 22px;
+  height: 22px;
+  flex: 0 0 auto;
+  accent-color: #8b6cc5;
+}
+
+.wheelPolicy:has(input:disabled) {
+  cursor: not-allowed;
+  opacity: 0.6;
+}
+
 .wheelSlotGrid,
 .wheelControllerGrid,
 .wheelMappings {

starpilot/system/the_galaxy/assets/components/tools/wheel_controls.js

@@ -11,6 +11,7 @@ const state = reactive({
   slots: [],
   controllerSlots: [],
   controllerOptions: [],
+  disconnectControllersOffroad: false,
   speedUnit: "mph",
   speedMinimum: 5,
   speedMaximum: 90,
@@ -37,6 +38,7 @@ async function refresh() {
     state.slots = Array.isArray(payload.slots) ? payload.slots : []
     state.controllerSlots = Array.isArray(payload.controller_slots) ? payload.controller_slots : []
     state.controllerOptions = Array.isArray(payload.controller_options) ? payload.controller_options : []
+    state.disconnectControllersOffroad = !!payload.disconnect_controllers_offroad
     state.speedUnit = typeof payload.speed_unit === "string" ? payload.speed_unit : "mph"
     state.speedMinimum = Number(payload.speed_minimum || 5)
     state.speedMaximum = Number(payload.speed_maximum || 90)
@@ -265,6 +267,16 @@ export function WheelControls() {
       ${() => !state.loading && !state.available && state.mappings.length ? html`<div class="wheelNotice">The wheel control service is starting.</div>` : ""}
       ${() => state.testing ? testPanel() : ""}
 
+      <label class="wheelPolicy">
+        <span>
+          <strong>Disconnect controllers when offroad</strong>
+          <small>After two minutes offroad, paired controllers disconnect to save battery and reconnect when the car starts. Bluetooth and audio-only devices stay connected.</small>
+        </span>
+        <input type="checkbox" checked="${() => state.disconnectControllersOffroad}"
+               disabled="${() => !state.offroad || !!state.busy}"
+               @change="${event => request("offroad-disconnect", { enabled: event.currentTarget.checked })}" />
+      </label>
+
       <div class="wheelDeviceSummary">
         <div class="wheelDeviceHeading">
           <strong>Connected input devices</strong>

starpilot/system/the_galaxy/assets/mobile/css/material.css

@@ -592,6 +592,24 @@ ul { list-style: none; margin: 0; padding: 0; }
   transition: transform var(--motion-fast), box-shadow var(--motion-fast);
 }
 
+.gx-unit-note {
+  align-items: center;
+  background: var(--primary-container);
+  border: 1px solid var(--primary);
+  border-radius: var(--radius-md);
+  color: var(--on-primary-container);
+  display: flex;
+  font-size: var(--fs-sm);
+  gap: var(--sp-2);
+  margin: 0 0 var(--sp-4);
+  padding: var(--sp-3) var(--sp-4);
+}
+
+.gx-unit-note i {
+  color: var(--primary);
+  font-size: 1.2rem;
+}
+
 [data-theme="light"] .gx-card {
   border: 1px solid rgba(120, 73, 232, 0.22);
 }
@@ -749,6 +767,13 @@ ul { list-style: none; margin: 0; padding: 0; }
 .gx-slider-row .gx-row__value { text-align: left; min-width: 0; }
 .gx-slider-row .gx-slider-reset { align-self: flex-end; }
 
+.gx-slider-meta {
+  color: var(--text-muted);
+  display: flex;
+  font-size: var(--fs-xs);
+  justify-content: space-between;
+}
+
 input[type="range"].gx-slider {
   -webkit-appearance: none;
   appearance: none;
@@ -1497,4 +1522,4 @@ input[type="color"].gx-color {
   .gx-menu-btn { display: inline-flex; }
   .gx-back-btn { display: none; }
   .gx-content { padding-bottom: var(--sp-6); }
-}
+}

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

@@ -1,8 +1,8 @@
 import { api, showSnackbar } from "../api.js"
 import {
-  coerceValueByType, formatSliderValue, formatReadoutValue, getColorDefault,
+  coerceValueByType, formatNumericParamValue, formatReadoutValue, getColorDefault,
   normalizeHexColor, numericBounds, numericEpsilon, snapNumericToBoundsAndStep,
-  stepPrecision,
+  resolveVehicleUnitParam, stepPrecision,
 } from "../params.js"
 import { FavoritesEditor } from "./FavoritesEditor.js"
 
@@ -12,6 +12,7 @@ export const GalaxyToggleCard = {
   props: {
     param: { type: Object, required: true },
     value: { default: undefined },
+    values: { type: Object, default: () => ({}) },
     locked: { type: Boolean, default: false },
     manageable: { type: Boolean, default: false },
     manageOpen: { type: Boolean, default: false },
@@ -28,8 +29,9 @@ export const GalaxyToggleCard = {
     }
   },
   computed: {
-    bounds() { return numericBounds(this.param, {}) },
-    precision() { return stepPrecision(this.bounds.step, this.param.precision) },
+    displayParam() { return resolveVehicleUnitParam(this.param, this.values) },
+    bounds() { return numericBounds(this.displayParam, this.values) },
+    precision() { return stepPrecision(this.bounds.step, this.displayParam.precision) },
     epsilon() { return numericEpsilon(this.precision) },
     isSlider() { return this.isNumeric },
     isNumeric() { return this.param.ui_type === "numeric" },
@@ -38,11 +40,17 @@ export const GalaxyToggleCard = {
     currentValue() { return this.preview !== undefined ? this.preview : this.value },
     displayValue() {
       if (this.isColor) return normalizeHexColor(this.value) ? normalizeHexColor(this.value).toUpperCase() : "Stock"
-      if (this.isReadout) return formatReadoutValue(this.param, this.value)
-      return this.value !== undefined && this.value !== null ? formatSliderValue(this.value, String(this.bounds.step), this.param.precision, this.param.key) : ".."
+      if (this.isReadout) return formatReadoutValue(this.displayParam, this.value)
+      return this.value !== undefined && this.value !== null ? formatNumericParamValue(this.displayParam, this.value, this.values) : ".."
     },
     sliderDisplay() {
-      return this.value !== undefined ? formatSliderValue(this.currentValue, String(this.bounds.step), this.param.precision, this.param.key) : ".."
+      return this.value !== undefined ? formatNumericParamValue(this.displayParam, this.currentValue, this.values) : ".."
+    },
+    sliderRangeDisplay() {
+      return `${formatNumericParamValue(this.displayParam, this.bounds.min, this.values)} to ${formatNumericParamValue(this.displayParam, this.bounds.max, this.values)}`
+    },
+    sliderStepDisplay() {
+      return formatNumericParamValue(this.displayParam, this.bounds.step, this.values)
     },
     isColor() { return this.param.ui_type === "color" },
     isAction() { return this.param.ui_type === "action" },
@@ -167,10 +175,10 @@ 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">{{ param.label }}
-            <span v-if="param.settings_tier === 'advanced'" class="gx-chip gx-chip--advanced">Advanced</span>
+          <span class="gx-row__label">{{ displayParam.label }}
+            <span v-if="displayParam.settings_tier === 'advanced'" class="gx-chip gx-chip--advanced">Advanced</span>
           </span>
-          <span v-if="param.description" class="gx-row__desc">{{ param.description }}</span>
+          <span v-if="displayParam.description" class="gx-row__desc">{{ displayParam.description }}</span>
           <div v-if="locked" class="gx-row__desc"><strong>Locked:</strong> This setting can only be changed while parked.</div>
         </div>
 
@@ -190,6 +198,10 @@ export const GalaxyToggleCard = {
             :value="currentValue" :disabled="locked || updating"
             @input="onSliderInput" @change="onSliderCommit" @blur="onSliderBlur"
             @touchstart="beginInteract" @mousedown="beginInteract" @keydown="beginInteract" />
+          <div v-if="displayParam.unit_type" class="gx-slider-meta">
+            <span>{{ sliderRangeDisplay }}</span>
+            <span>Step: {{ sliderStepDisplay }}</span>
+          </div>
           <button class="gx-slider-reset" :disabled="locked || updating" @click="resetToDefault">Default</button>
         </div>
 

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

@@ -1,5 +1,5 @@
 import { api } from "../api.js"
-import { isSettingVisible, slugifySectionName, applyParamChange } from "../params.js"
+import { isSettingVisible, resolveVehicleUnitParam, slugifySectionName, applyParamChange } from "../params.js"
 import { SettingTree } from "./SettingTree.js"
 import { GalaxySection } from "./GalaxySection.js"
 
@@ -35,7 +35,9 @@ export const ParamSections = {
     matches(p) {
       if (!this.search) return true
       const q = this.search.toLowerCase()
-      return [p.label, p.key, p.description].some((v) => String(v || "").toLowerCase().includes(q))
+      const displayParam = resolveVehicleUnitParam(p, this.values)
+      return [displayParam.label, displayParam.key, displayParam.description, displayParam.unit, displayParam.unit_search_terms]
+        .some((v) => String(v || "").toLowerCase().includes(q))
     },
     async load() {
       try {

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

@@ -30,7 +30,7 @@ export const SettingTree = {
   template: `
     <template v-for="p in children" :key="p.key">
       <div class="gx-tree-node" :class="{ 'gx-tree-node--child': depth > 0 }" :style="'--gx-depth:' + depth">
-        <GalaxyToggleCard :param="p" :value="values[p.key]" :locked="lockReason(p) !== ''"
+        <GalaxyToggleCard :param="p" :value="values[p.key]" :values="values" :locked="lockReason(p) !== ''"
           :manageable="manageable(p)" :manage-open="manageOpen(p)"
           @change="$emit('change', $event)" @manage="$emit('manage', $event)" />
       </div>

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

@@ -12,6 +12,7 @@ export const WheelControls = {
       loading: true, busy: "", available: false, offroad: false, learning: false,
       devices: [], mappings: [], slots: [], controllerSlots: [], controllerOptions: [],
       joystickDevice: "", learningSlot: null, remainingSeconds: 0, testing: false,
+      disconnectControllersOffroad: false,
       lastTested: null, speedUnit: "mph", speedMinimum: 0, speedMaximum: 0, error: "",
     }
   },
@@ -29,6 +30,7 @@ export const WheelControls = {
         this.slots = Array.isArray(p.slots) ? p.slots : []
         this.controllerSlots = Array.isArray(p.controller_slots) ? p.controller_slots : []
         this.controllerOptions = Array.isArray(p.controller_options) ? p.controller_options : []
+        this.disconnectControllersOffroad = !!p.disconnect_controllers_offroad
         this.joystickDevice = typeof p.joystick_device === "string" ? p.joystick_device : ""
         this.learningSlot = Number.isInteger(p.learning_slot) ? p.learning_slot : null
         this.remainingSeconds = Number.isFinite(Number(p.remaining_seconds)) ? Number(p.remaining_seconds) : 0
@@ -99,6 +101,18 @@ export const WheelControls = {
           <button type="button" class="gx-btn" :disabled="disabled() || !mappings.length" @click="request(testing ? 'test-stop' : 'test')">{{ testing ? 'Stop Testing' : 'Test Buttons' }}</button>
           <button type="button" class="gx-btn gx-btn--danger" :disabled="disabled() || !mappings.length" @click="request('clear')">Clear All</button>
         </div>
+        <div class="gx-row" style="margin-bottom:12px;">
+          <div class="gx-row__info">
+            <span class="gx-row__label">Disconnect controllers when offroad</span>
+            <span class="gx-row__desc">After two minutes offroad, paired controllers disconnect to save battery and reconnect when the car starts. Bluetooth and audio-only devices stay connected.</span>
+          </div>
+          <label class="gx-switch">
+            <input type="checkbox" :checked="disconnectControllersOffroad" :disabled="disabled()"
+              @change="request('offroad-disconnect', { enabled: $event.target.checked })" />
+            <span class="gx-switch__track"></span>
+            <span class="gx-switch__thumb"></span>
+          </label>
+        </div>
         <div v-if="testing && lastTested" style="margin-bottom:12px;">
           <span class="gx-chip" :style="lastTested.mapped ? 'background:var(--success);' : 'background:var(--error);'">{{ lastTested.mapped ? 'Successful' : 'Not mapped' }}</span>
           <p style="color:var(--text-muted); margin-top:6px;">{{ lastTested.event_name || ('Button ' + lastTested.event_code) }} on {{ lastTested.device_name || 'External input' }} {{ lastTested.mapped ? 'is mapped to slot ' + lastTested.slot : 'has no mapping' }}.</p>

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

@@ -1,4 +1,45 @@
 export const GALAXY_DEVELOPER_MODE_KEY = "GalaxyDeveloperMode"
+export const VEHICLE_SPEED_UNIT_TYPE = "vehicle_speed"
+
+const SPEED_OFFSET_RANGES = {
+  imperial: ["0–24", "25–34", "35–44", "45–54", "55–64", "65–74", "75–99"],
+  metric: ["0–29", "30–49", "50–59", "60–79", "80–99", "100–119", "120–140"],
+}
+
+export function usesMetricUnits(values = {}) {
+  const value = values?.IsMetric
+  if (value === true || value === 1) return true
+  return ["1", "true", "yes", "on"].includes(String(value ?? "").trim().toLowerCase())
+}
+
+export function vehicleSpeedUnit(values = {}) {
+  return usesMetricUnits(values) ? "km/h" : "mph"
+}
+
+export function resolveVehicleUnitParam(param, values = {}) {
+  if (!param || param.unit_type !== VEHICLE_SPEED_UNIT_TYPE) return param
+
+  const metric = usesMetricUnits(values)
+  const mode = metric ? "metric" : "imperial"
+  const resolved = {
+    ...param,
+    unit: ` ${vehicleSpeedUnit(values)}`,
+    unit_search_terms: "metric imperial mph km/h vehicle speed units",
+  }
+  for (const field of ["min", "max", "step", "precision"]) {
+    const override = param[`${mode}_${field}`]
+    if (override !== undefined && override !== null) resolved[field] = override
+  }
+
+  if (Number.isInteger(param.unit_range_index)) {
+    const range = SPEED_OFFSET_RANGES[mode][param.unit_range_index]
+    if (range) {
+      resolved.label = `Speed Offset (${range} ${vehicleSpeedUnit(values)})`
+      resolved.description = `How much to offset posted speed limits between ${range} ${vehicleSpeedUnit(values)}.`
+    }
+  }
+  return resolved
+}
 
 const HIDDEN_SETTING_KEYS = new Set(["HumanAcceleration"])
 const RADAR_REQUIRED_KEYS = new Set(["HumanLaneChanges", "RadarTakeoffs"])
@@ -88,7 +129,8 @@ export function countAdvancedHiddenByDeveloperMode(layout, values) {
   return count
 }
 
-export function numericBounds(param, values) {
+export function numericBounds(param, values = {}) {
+  param = resolveVehicleUnitParam(param, values)
   const defaultBounds = {
     min: param.min !== undefined ? param.min : (param.data_type === "float" ? 0.0 : 0),
     max: param.max !== undefined ? param.max : (param.data_type === "float" ? 100.0 : 100),
@@ -194,6 +236,13 @@ export function formatSliderValue(val, stepStr, precisionInt, key) {
   return Number(v.toFixed(dec)).toString()
 }
 
+export function formatNumericParamValue(param, value, values = {}) {
+  const resolved = resolveVehicleUnitParam(param, values)
+  const bounds = numericBounds(resolved, values)
+  const formatted = formatSliderValue(value, String(bounds.step), resolved.precision, resolved.key)
+  return resolved.unit && formatted !== "--" ? `${formatted}${resolved.unit}` : formatted
+}
+
 export function formatReadoutValue(p, value) {
   const raw = value
   const parsed = parseFloat(raw)

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

@@ -2,7 +2,7 @@ import { api, showSnackbar } from "../api.js"
 import { navigate, store } from "../store.js"
 import {
   applyParamChange, countAdvancedHiddenByDeveloperMode, GALAXY_DEVELOPER_MODE_KEY, isSettingVisible,
-  slugifySectionName,
+  resolveVehicleUnitParam, slugifySectionName, vehicleSpeedUnit,
 } from "../params.js"
 import { SettingTree } from "../components/SettingTree.js"
 import { GalaxyToggleCard } from "../components/GalaxyToggleCard.js"
@@ -39,6 +39,7 @@ 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 },
@@ -82,7 +83,9 @@ export const Settings = {
     matchesFilter(p) {
       if (!this.searchTerm) return true
       const q = this.searchTerm.toLowerCase()
-      return [p.label, p.key, p.description].some((v) => String(v || "").toLowerCase().includes(q))
+      const displayParam = resolveVehicleUnitParam(p, this.values)
+      return [displayParam.label, displayParam.key, displayParam.description, displayParam.unit, displayParam.unit_search_terms]
+        .some((v) => String(v || "").toLowerCase().includes(q))
     },
     selectSection(slug) {
       if (slug !== this.activeSectionSlug) navigate("/settings/" + slug)
@@ -117,6 +120,11 @@ 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>
@@ -132,7 +140,7 @@ export const Settings = {
           <template v-for="section in searchResults" :key="section.slug">
             <GalaxySection :title="section.name + ' (' + section.matches.length + ')'" :icon="section.icon || 'bi-search'" :default-open="false">
               <template v-for="p in section.matches" :key="p.key">
-                <GalaxyToggleCard :param="p" :value="values[p.key]" :locked="lockReason(p) !== ''"
+                <GalaxyToggleCard :param="p" :value="values[p.key]" :values="values" :locked="lockReason(p) !== ''"
                   @change="onParamChange" />
               </template>
             </GalaxySection>

starpilot/system/the_galaxy/assets/mobile/manifest.json

@@ -8,7 +8,6 @@
     { "src": "/assets/images/apple-touch-icon.png", "sizes": "180x180", "type": "image/png" }
   ],
   "id": "46bf2df73deba8e1512c35de",
-  "start_url": "/mobile/",
   "scope": "/",
   "background_color": "#06060f",
   "theme_color": "#8b6cc5",

starpilot/system/the_galaxy/templates/index.html

@@ -42,7 +42,7 @@
   <link rel="stylesheet" href="/assets/components/tools/update_manager.css">
   <link rel="stylesheet" href="/assets/components/tools/device_settings.css?v=favorite-actions-1">
   <link rel="stylesheet" href="/assets/components/tools/bluetooth.css?v=bluetooth-6">
-  <link rel="stylesheet" href="/assets/components/tools/wheel_controls.css?v=controllers-2">
+  <link rel="stylesheet" href="/assets/components/tools/wheel_controls.css?v=controllers-3">
   <link rel="stylesheet" href="/assets/components/tools/galaxy.css">
   <link rel="stylesheet" href="/assets/components/tools/sentry.css">
   <link rel="stylesheet" href="/assets/components/tools/longitudinal_maneuvers.css">
@@ -51,7 +51,7 @@
   <link rel="stylesheet" href="/assets/components/tools/tsk_manager.css">
 
   <script type="module">
-    import("/assets/components/router.js?v=router-cycle-fix-7").catch((err) => {
+    import("/assets/components/router.js?v=router-cycle-fix-8").catch((err) => {
       console.error("[the_galaxy] bootstrap failed", err);
       const target = document.getElementById("app") || document.body;
       const pre = document.createElement("pre");

starpilot/system/the_galaxy/tests/test_device_settings_frontend.py

@@ -46,6 +46,18 @@ def test_device_settings_uses_the_params_api_and_layout_json():
   assert 'fetch("/assets/components/tools/device_settings_layout.json?v=settings-tier-1"' in source
 
 
+def test_device_settings_speed_units_follow_the_vehicle():
+  source = _device_settings()
+
+  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
+
+
 def test_lane_center_offset_can_step_below_zero():
   source = _device_settings()
 

starpilot/system/the_galaxy/tests/test_device_settings_layout.py

@@ -107,6 +107,41 @@ def test_device_shutdown_uses_literal_hours():
   assert device_shutdown["step"] == 1
 
 
+def test_speed_settings_follow_vehicle_units_with_one_unit_steps():
+  sections = _params_by_section(_layout())
+  speed_keys = {
+    "MinimumLaneChangeSpeed", "PauseLateralSpeed",
+    "CESpeed", "CESpeedLead", "CESignalSpeed",
+    "CustomCruise", "CustomCruiseLong", "SetSpeedOffset", "PulseGlideSpeedDelta",
+    "Offset1", "Offset2", "Offset3", "Offset4", "Offset5", "Offset6", "Offset7",
+    "CCMSpeed", "CCMSpeedLead", "CCMSetSpeedMargin",
+    "VisionSpeedLimitLowLimitThreshold", "TurnSteeringLimitMuteSpeed",
+  }
+  params = {
+    param["key"]: param
+    for section in sections.values()
+    for param in section.values()
+    if param["key"] in speed_keys
+  }
+
+  assert params.keys() == speed_keys
+  assert all(param["unit_type"] == "vehicle_speed" for param in params.values())
+
+  one_unit_keys = speed_keys - {"PulseGlideSpeedDelta", "VisionSpeedLimitLowLimitThreshold"}
+  assert all(params[key]["step"] == 1 for key in one_unit_keys)
+  assert params["PulseGlideSpeedDelta"]["step"] == 0.5
+  assert params["VisionSpeedLimitLowLimitThreshold"]["step"] == 5
+
+  for index in range(7):
+    offset = params[f"Offset{index + 1}"]
+    assert offset["unit_range_index"] == index
+    assert (offset["metric_min"], offset["metric_max"]) == (-150, 150)
+
+  assert params["CustomCruise"]["metric_max"] == 150
+  assert params["CCMSetSpeedMargin"]["metric_max"] == 30
+  assert params["PulseGlideSpeedDelta"]["imperial_max"] == 15
+
+
 def test_curve_speed_controller_no_lead_toggle_is_nested_under_csc():
   csc_no_lead = _params_by_section(_layout())["Longitudinal (Speed & Following)"]["CurveSpeedControllerNoLead"]
 

starpilot/system/the_galaxy/tests/test_frontend_module_graph.py

@@ -7,6 +7,7 @@ ROUTER_PATH = REPO_ROOT / "starpilot/system/the_galaxy/assets/components/router.
 INDEX_PATH = REPO_ROOT / "starpilot/system/the_galaxy/templates/index.html"
 BLUETOOTH_PATH = REPO_ROOT / "starpilot/system/the_galaxy/assets/components/tools/bluetooth.js"
 CONTROLLERS_PATH = REPO_ROOT / "starpilot/system/the_galaxy/assets/components/tools/wheel_controls.js"
+MOBILE_CONTROLLERS_PATH = REPO_ROOT / "starpilot/system/the_galaxy/assets/mobile/js/components/WheelControls.js"
 SIDEBAR_PATH = REPO_ROOT / "starpilot/system/the_galaxy/assets/components/sidebar.js"
 MODEL_LAB_PATH = REPO_ROOT / "starpilot/system/the_galaxy/assets/components/tools/model_laboratory.js"
 
@@ -23,7 +24,7 @@ def test_router_and_settings_cache_bust_is_consistent():
   index = INDEX_PATH.read_text(encoding="utf-8")
 
   assert "/assets/components/settings.js?v=router-cycle-fix-5" in router
-  assert "/assets/components/router.js?v=router-cycle-fix-7" in index
+  assert "/assets/components/router.js?v=router-cycle-fix-8" in index
 
 
 def test_bluetooth_actions_use_reactive_disabled_bindings():
@@ -76,6 +77,16 @@ def test_controller_joystick_mode_requires_explicit_device_selection():
   assert 'request("joystick", { device_id: device.device_id, enabled: !selected() })' in source
 
 
+def test_controller_offroad_disconnect_is_opt_in():
+  source = CONTROLLERS_PATH.read_text(encoding="utf-8")
+  mobile_source = MOBILE_CONTROLLERS_PATH.read_text(encoding="utf-8")
+
+  for frontend in (source, mobile_source):
+    assert "Disconnect controllers when offroad" in frontend
+    assert "After two minutes offroad" in frontend
+    assert "offroad-disconnect" in frontend
+
+
 def test_controller_page_has_ten_controller_only_action_slots():
   source = CONTROLLERS_PATH.read_text(encoding="utf-8")
 

starpilot/system/the_galaxy/tests/test_navigation_params.py

@@ -231,6 +231,25 @@ def test_wheel_controls_status_includes_favorite_slots(monkeypatch):
     "__starpilot_controller_action__:disengage_openpilot",
   }
   assert response.get_json()["speed_unit"] == "mph"
+  assert response.get_json()["disconnect_controllers_offroad"] is False
+
+
+def test_wheel_controls_configures_offroad_controller_disconnect(monkeypatch):
+  client, fake_params = _params_client(monkeypatch, {"IsOffroad": True}, "mici")
+
+  response = client.post("/api/wheel-controls/offroad-disconnect", json={"enabled": True})
+
+  assert response.status_code == 200
+  assert fake_params.get_bool("BluetoothDisconnectControllersOffroad")
+
+
+def test_wheel_controls_offroad_controller_disconnect_requires_offroad(monkeypatch):
+  client, fake_params = _params_client(monkeypatch, {"IsOffroad": False}, "mici")
+
+  response = client.post("/api/wheel-controls/offroad-disconnect", json={"enabled": True})
+
+  assert response.status_code == 409
+  assert not fake_params.get_bool("BluetoothDisconnectControllersOffroad")
 
 
 def test_wheel_controls_configures_a_controller_only_action(monkeypatch):

starpilot/system/the_galaxy/tests/test_ui_vue_frontend.py

@@ -190,6 +190,23 @@ def test_ui_numeric_toggles_are_sliders_with_default():
   assert 'title="Set to zero"' not in card
 
 
+def test_ui_speed_units_follow_the_vehicle():
+  params = _read("js/params.js")
+  card = _read("js/components/GalaxyToggleCard.js")
+  tree = _read("js/components/SettingTree.js")
+  settings = _read("js/views/Settings.js")
+
+  assert "resolveVehicleUnitParam" in params
+  assert "formatNumericParamValue" in params
+  assert "unit_search_terms" in params and "unit_search_terms" in settings
+  assert "IsMetric" in params
+  assert ':values="values"' in tree
+  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
+
+
 def test_ui_centralizes_api_and_uses_composables():
   api = _read("js/api.js")
   composables = _read("js/composables.js")
@@ -343,7 +360,7 @@ def test_ui_manifest_is_valid_pwa_manifest():
   assert manifest["display"] == "standalone"
   assert manifest["name"]
   assert manifest["icons"]
-  assert manifest["start_url"] == "/mobile/"
+  assert "start_url" not in manifest
 
 
 def test_ui_ported_classic_tools_native_no_embed():
@@ -505,6 +522,23 @@ assert(P.countAdvancedHiddenByDeveloperMode([sec], { GalaxyDeveloperMode: true }
 const slider = { key: "DeviceShutdown", data_type: "int", min: 1, max: 30, step: 1 }
 assert(P.snapNumericToBoundsAndStep(17.9, P.numericBounds(slider, {}), 0) === 18, "snap")
 assert(P.formatSliderValue(6, "1", 0, "DeviceShutdown") === "6 hours", "format")
+const speed = {
+  key: "Offset2", data_type: "float", unit_type: "vehicle_speed",
+  min: -99, max: 99, step: 1, precision: 0,
+  metric_min: -150, metric_max: 150, unit_range_index: 1,
+}
+const imperialSpeed = P.resolveVehicleUnitParam(speed, { IsMetric: false })
+assert(imperialSpeed.unit === " mph", "imperial unit")
+assert(imperialSpeed.label === "Speed Offset (25–34 mph)", "imperial offset band")
+assert(P.formatNumericParamValue(speed, 3, { IsMetric: false }) === "3 mph", "imperial value")
+const metricSpeed = P.resolveVehicleUnitParam(speed, { IsMetric: true })
+assert(metricSpeed.unit === " km/h", "metric unit")
+assert(metricSpeed.label === "Speed Offset (30–49 km/h)", "metric offset band")
+assert(metricSpeed.unit_search_terms.includes("metric"), "metric settings are searchable")
+assert(P.numericBounds(speed, { IsMetric: true }).max === 150, "metric bounds")
+assert(P.numericBounds(speed, { IsMetric: true }).step === 1, "one km/h per step")
+assert(P.formatNumericParamValue(speed, 3, { IsMetric: true }) === "3 km/h", "metric value")
+assert(P.usesMetricUnits({ IsMetric: "1" }) === true, "serialized metric bool")
 const laneOffset = { key: "LaneCenterOffset", data_type: "float", min: 0, max: 0.3, step: 0.01 }
 const laneBounds = P.numericBounds(laneOffset, {})
 assert(laneBounds.min === -0.3, "lane offset keeps signed lower bound")

starpilot/system/the_galaxy/the_galaxy.py

@@ -5015,6 +5015,7 @@ def setup(app):
       "/assets/components/settings.js",
       "/assets/components/home/home.js",
       "/assets/components/home/home.css",
+      "/assets/mobile/js/params.js",
       "/assets/components/tools/device_settings.js",
       "/assets/components/tools/device_settings.css",
       "/assets/components/tools/device_settings_layout.json",
@@ -5181,6 +5182,7 @@ def setup(app):
     status["slots"] = slots
     status["controller_slots"] = controller_slots
     status["controller_options"] = controller_options
+    status["disconnect_controllers_offroad"] = params.get_bool("BluetoothDisconnectControllersOffroad")
     is_metric = params.get_bool("IsMetric")
     speed_minimum, speed_maximum = controller_speed_bounds(is_metric)
     status["speed_unit"] = "km/h" if is_metric else "mph"
@@ -5190,13 +5192,16 @@ def setup(app):
 
   @app.route("/api/wheel-controls/<operation>", methods=["POST"])
   def wheel_controls_operation(operation):
-    if operation not in {"action", "learn", "cancel", "delete", "clear", "test", "test-stop", "joystick"}:
+    if operation not in {"action", "learn", "cancel", "delete", "clear", "test", "test-stop", "joystick", "offroad-disconnect"}:
       return jsonify({"error": "Unknown wheel control operation."}), 404
     if not params.get_bool("IsOffroad"):
       return jsonify({"error": "Wheel controls can only be configured offroad."}), 409
 
     data = request.get_json(silent=True) or {}
     try:
+      if operation == "offroad-disconnect":
+        params.put_bool("BluetoothDisconnectControllersOffroad", bool(data.get("enabled", False)))
+        return jsonify({"message": "Offroad controller disconnect updated."}), 200
       if operation == "action":
         slot_index = int(data.get("slot", -1))
         key = str(data.get("key") or "").strip()