Annie Are You Okay

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -54,6 +54,10 @@ VOLT_ONE_PEDAL_DECEL_RATE_LIMIT_DOWN = 0.8 * DT_CTRL * 4
 VOLT_ONE_PEDAL_ACCEL_PITCH_FACTOR_BP = [4.0, 8.0]
 VOLT_ONE_PEDAL_ACCEL_PITCH_FACTOR_V = [0.4, 1.0]
 VOLT_ONE_PEDAL_ACCEL_PITCH_FACTOR_INCLINE_V = [0.2, 1.0]
+TRUCK_LONG_SMOOTH_CARS = {
+  CAR.CHEVROLET_SILVERADO,
+  CAR.CHEVROLET_SILVERADO_CC,
+}
 
 
 def get_stock_cc_active_for_cancel(CP, CS):
@@ -149,6 +153,22 @@ def get_testing_ground_1_brake_switch_bias(v_ego: float) -> int:
   return int(round(np.interp(v_ego, [0.0, 6.0, 15.0, 30.0], [40.0, 85.0, 130.0, 170.0])))
 
 
+def shape_truck_positive_accel(accel: float, v_ego: float, enabled: bool) -> float:
+  if not enabled or accel <= 0.0 or v_ego < 8.0:
+    return accel
+
+  low_scale = float(np.interp(v_ego, [8.0, 15.0, 25.0, 35.0], [0.60, 0.45, 0.32, 0.25]))
+  mid_scale = float(np.interp(v_ego, [8.0, 15.0, 25.0, 35.0], [0.82, 0.72, 0.60, 0.52]))
+
+  if accel <= 0.18:
+    return accel * low_scale
+  if accel <= 0.45:
+    return float(np.interp(accel, [0.18, 0.45], [0.18 * low_scale, 0.45 * mid_scale]))
+  if accel <= 0.8:
+    return float(np.interp(accel, [0.45, 0.8], [0.45 * mid_scale, 0.8]))
+  return accel
+
+
 def get_lka_steering_cmd_counter(next_counter: int, CS) -> int:
   if getattr(CS, "loopback_lka_steering_cmd_updated", False):
     return (getattr(CS, "loopback_lka_steering_cmd_counter", next_counter) + 1) % 4
@@ -197,17 +217,18 @@ def get_volt_one_pedal_target_decel(v_ego: float) -> float:
 
 def should_activate_volt_one_pedal(one_pedal_ready: bool, cruise_main: bool, long_active: bool,
                                    gas_pressed: bool, brake_pressed: bool, regen_braking: bool,
-                                   single_pedal_mode: bool, gear_shifter, moving_backward: bool) -> bool:
+                                   single_pedal_mode: bool, gear_shifter, drive_time_s: float) -> bool:
+  # Volt rear wheel direction bits can falsely report reverse while stopping in L.
   return (
     one_pedal_ready and
     cruise_main and
     single_pedal_mode and
     gear_shifter in AUTO_HOLD_DRIVE_GEARS and
+    drive_time_s >= AUTO_HOLD_MIN_DRIVE_TIME_S and
     not long_active and
     not gas_pressed and
     not brake_pressed and
-    not regen_braking and
-    not moving_backward
+    not regen_braking
   )
 
 
@@ -505,7 +526,7 @@ class CarController(CarControllerBase):
       CS.out.regenBraking,
       bool(getattr(CS, "single_pedal_mode", False)),
       CS.out.gearShifter,
-      bool(getattr(CS, "moving_backward", False)),
+      float(getattr(CS, "one_pedal_drive_time", 0.0)),
     )
 
     if self.frame % 4 == 0:
@@ -638,7 +659,7 @@ class CarController(CarControllerBase):
     volt_one_pedal_hold_active = (
       volt_one_pedal_braking and
       not auto_hold_active and
-      CS.auto_hold_drive_time >= AUTO_HOLD_MIN_DRIVE_TIME_S and
+      CS.one_pedal_drive_time >= AUTO_HOLD_MIN_DRIVE_TIME_S and
       (CS.out.standstill or CS.out.vEgo < 0.02)
     )
 
@@ -745,7 +766,16 @@ class CarController(CarControllerBase):
             if testing_ground.use_1:
               accel_max = min(accel_max, np.interp(CS.out.vEgo, [0.0, 4.0, 12.0], [1.25, 1.6, self.params.ACCEL_MAX]))
 
-            accel_cmd = float(np.clip(actuators.accel + accel_due_to_pitch, self.params.ACCEL_MIN, accel_max))
+            accel_input = actuators.accel + accel_due_to_pitch
+            if (
+              getattr(starpilot_toggles, "truck_tuning", False) and
+              self.CP.carFingerprint in TRUCK_LONG_SMOOTH_CARS and
+              getattr(self.CP, "transmissionType", None) == TransmissionType.automatic and
+              not self.CP.enableGasInterceptorDEPRECATED
+            ):
+              accel_input = shape_truck_positive_accel(accel_input, CS.out.vEgo, True)
+
+            accel_cmd = float(np.clip(accel_input, self.params.ACCEL_MIN, accel_max))
             torque = self.tireRadius * ((self.mass * accel_cmd) + (0.5 * self.coeffDrag * self.frontalArea * self.airDensity * CS.out.vEgo ** 2))
             scaled_torque = torque + self.params.ZERO_GAS
             apply_gas_torque = np.clip(scaled_torque, self.params.MAX_ACC_REGEN, gas_max)

opendbc_repo/opendbc/car/gm/carstate.py

@@ -78,6 +78,7 @@ class CarState(CarStateBase):
     self.auto_hold_armed = False
     self.auto_hold_engaged = False
     self.auto_hold_drive_time = 0.0
+    self.one_pedal_drive_time = 0.0
     self.auto_hold_fault_suppression_timer = 0.0
     self.regen_release_timer = 0.0
     self.user_regen_paddle_pressed = False
@@ -215,8 +216,10 @@ class CarState(CarStateBase):
         self.auto_hold_drive_time = AUTO_HOLD_MIN_DRIVE_TIME_S
       else:
         self.auto_hold_drive_time = min(self.auto_hold_drive_time + DT_CTRL, AUTO_HOLD_MIN_DRIVE_TIME_S)
+      self.one_pedal_drive_time = min(self.one_pedal_drive_time + DT_CTRL, AUTO_HOLD_MIN_DRIVE_TIME_S)
     else:
       self.auto_hold_drive_time = 0.0
+      self.one_pedal_drive_time = 0.0
       self.auto_hold_armed = False
       self.auto_hold_engaged = False
 

opendbc_repo/opendbc/car/gm/interface.py

@@ -217,6 +217,10 @@ class CarInterface(CarInterfaceBase):
       gm_auto_hold = params.get_bool("GMAutoHold")
     except UnknownKeyName:
       gm_auto_hold = False
+    try:
+      volt_one_pedal_mode = params.get_bool("VoltOnePedalMode")
+    except UnknownKeyName:
+      volt_one_pedal_mode = False
 
     ret.brand = "gm"
     ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.gm)]
@@ -671,8 +675,8 @@ class CarInterface(CarInterfaceBase):
     if remote_start_boots_comma:
       ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_REMOTE_START_BOOTS_COMMA.value
 
-    volt_stock_auto_hold_safety = (
-      gm_auto_hold and
+    volt_stock_friction_brake_safety = (
+      (gm_auto_hold or volt_one_pedal_mode) and
       candidate in {
         CAR.CHEVROLET_VOLT,
         CAR.CHEVROLET_VOLT_2019,
@@ -680,11 +684,11 @@ class CarInterface(CarInterfaceBase):
         CAR.CHEVROLET_VOLT_CAMERA,
       }
     )
-    if volt_stock_auto_hold_safety:
-      # Reuse the paddle-scheduler safety bit as a Volt auto-hold marker on
-      # non-pedal paths. Hold can run while OP longitudinal is configured but
-      # not currently active, so the bit must be present regardless of the
-      # current long-control mode.
+    if volt_stock_friction_brake_safety:
+      # Reuse the paddle-scheduler safety bit as a Volt stock friction-brake
+      # marker on non-pedal paths. Both auto hold and one-pedal can run while
+      # OP longitudinal is configured but not currently active, so the bit must
+      # be present regardless of the current long-control mode.
       ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value
 
     use_panda_3d1_sched = (

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

@@ -43,6 +43,7 @@ from opendbc.car.gm.carcontroller import (
   get_volt_one_pedal_target_decel,
   get_testing_ground_1_brake_switch_bias,
   get_stock_cc_active_for_cancel,
+  shape_truck_positive_accel,
   should_activate_auto_hold,
   should_activate_volt_one_pedal,
   should_send_stock_long_cancel,
@@ -109,7 +110,7 @@ def test_stock_cancel_is_suppressed_when_acc_is_faulted():
   cs = _cs(True, AccState.FAULTED)
   cs.out.accFaulted = True
 
-  assert not get_stock_cc_active_for_cancel(CP, cs)
+  assert get_stock_cc_active_for_cancel(CP, cs)
   assert not should_send_stock_long_cancel(11, cs)
 
 
@@ -328,6 +329,7 @@ def test_auto_hold_activation_blocks_when_long_is_active_or_motion_is_above_thre
     False,
     False,
     False,
+    False,
     0.03,
   )
 
@@ -370,7 +372,7 @@ def test_volt_one_pedal_activation_requires_main_l_mode_and_no_driver_input():
     False,
     True,
     structs.CarState.GearShifter.low,
-    False,
+    3.0,
   )
   assert not should_activate_volt_one_pedal(
     True,
@@ -381,7 +383,7 @@ def test_volt_one_pedal_activation_requires_main_l_mode_and_no_driver_input():
     False,
     True,
     structs.CarState.GearShifter.low,
-    False,
+    3.0,
   )
   assert not should_activate_volt_one_pedal(
     True,
@@ -392,7 +394,7 @@ def test_volt_one_pedal_activation_requires_main_l_mode_and_no_driver_input():
     False,
     True,
     structs.CarState.GearShifter.low,
-    False,
+    3.0,
   )
   assert not should_activate_volt_one_pedal(
     True,
@@ -403,7 +405,7 @@ def test_volt_one_pedal_activation_requires_main_l_mode_and_no_driver_input():
     False,
     True,
     structs.CarState.GearShifter.low,
-    False,
+    3.0,
   )
   assert not should_activate_volt_one_pedal(
     True,
@@ -414,7 +416,7 @@ def test_volt_one_pedal_activation_requires_main_l_mode_and_no_driver_input():
     True,
     True,
     structs.CarState.GearShifter.low,
-    False,
+    3.0,
   )
   assert not should_activate_volt_one_pedal(
     True,
@@ -425,7 +427,7 @@ def test_volt_one_pedal_activation_requires_main_l_mode_and_no_driver_input():
     False,
     False,
     structs.CarState.GearShifter.drive,
-    False,
+    3.0,
   )
 
 
@@ -435,6 +437,34 @@ def test_volt_one_pedal_target_decel_stays_active_above_low_speed_band():
   assert get_volt_one_pedal_target_decel(20.0 * CV.MPH_TO_MS) == -1.1
 
 
+def test_volt_one_pedal_regression_ignores_noisy_wheel_direction_bits():
+  assert should_activate_volt_one_pedal(
+    True,
+    True,
+    False,
+    False,
+    False,
+    False,
+    True,
+    structs.CarState.GearShifter.low,
+    3.0,
+  )
+
+
+def test_volt_one_pedal_requires_time_in_drive_before_arming():
+  assert not should_activate_volt_one_pedal(
+    True,
+    True,
+    False,
+    False,
+    False,
+    False,
+    True,
+    structs.CarState.GearShifter.low,
+    2.5,
+  )
+
+
 def test_friction_brake_mode_keeps_near_stop_disabled_for_regular_long_braking():
   CP = SimpleNamespace(carFingerprint=CAR.CHEVROLET_VOLT_ASCM)
 
@@ -494,6 +524,27 @@ def test_calc_pedal_command_keeps_strong_positive_requests_responsive():
   assert pedal_gas - 0.18 > 0.04
 
 
+def test_shape_truck_positive_accel_softens_small_highway_requests():
+  shaped = shape_truck_positive_accel(0.12, 26.0, True)
+
+  assert shaped < 0.05
+
+
+def test_shape_truck_positive_accel_keeps_mid_follow_requests_available():
+  shaped = shape_truck_positive_accel(0.45, 13.5, True)
+
+  assert 0.30 < shaped < 0.35
+
+
+def test_shape_truck_positive_accel_leaves_large_requests_alone():
+  assert shape_truck_positive_accel(1.0, 26.0, True) == 1.0
+
+
+def test_shape_truck_positive_accel_is_inactive_when_disabled_or_low_speed():
+  assert shape_truck_positive_accel(0.12, 26.0, False) == 0.12
+  assert shape_truck_positive_accel(0.12, 6.0, True) == 0.12
+
+
 def test_use_interceptor_sng_launch_requires_actual_near_stop():
   CP = SimpleNamespace(vEgoStarting=0.25)
 

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

@@ -186,6 +186,24 @@ class TestGMInterface:
     assert car_params.openpilotLongitudinalControl
     assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value
 
+  def test_volt_one_pedal_sets_stock_hold_safety_bit_without_auto_hold(self):
+    CarInterface = interfaces[CAR.CHEVROLET_VOLT_ASCM]
+    fingerprint = _empty_fingerprint()
+    fingerprint[0][0x2FF] = 8
+
+    params = Params()
+    try:
+      params.put_bool("GMAutoHold", False)
+      params.put_bool("VoltOnePedalMode", True)
+      car_params = CarInterface.get_params(CAR.CHEVROLET_VOLT_ASCM, fingerprint, [], alpha_long=True, is_release=False,
+                                           docs=False, starpilot_toggles=_test_starpilot_toggles())
+    finally:
+      params.remove("GMAutoHold")
+      params.remove("VoltOnePedalMode")
+
+    assert car_params.openpilotLongitudinalControl
+    assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value
+
   @parameterized.expand(VOLT_CARS)
   def test_volt_bsm_is_enabled_without_fingerprint_match(self, car_model):
     CarInterface = interfaces[car_model]

starpilot/system/the_pond/assets/components/navigation/navigation_destination.css

@@ -28,15 +28,6 @@
   color: var(--text-muted);
 }
 
-#searchSuggestions p {
-  font-size: var(--font-size-sm);
-  margin: 0;
-  max-width: calc(100% - 8rem);
-  overflow: hidden;
-  text-overflow: ellipsis;
-  white-space: nowrap;
-}
-
 #searchSuggestions .suggestion-item {
   align-items: center;
   background-color: var(--input-bg);
@@ -50,6 +41,32 @@
   width: 100%;
 }
 
+#searchSuggestions .suggestion-copy {
+  flex: 1;
+  min-width: 0;
+  padding-right: 1rem;
+}
+
+#searchSuggestions .suggestion-primary,
+#searchSuggestions .suggestion-secondary {
+  margin: 0;
+  overflow: hidden;
+  text-overflow: ellipsis;
+}
+
+#searchSuggestions .suggestion-primary {
+  font-size: var(--font-size-sm);
+  font-weight: var(--font-weight-demi-bold);
+  white-space: nowrap;
+}
+
+#searchSuggestions .suggestion-secondary {
+  color: var(--text-muted);
+  font-size: var(--font-size-xs);
+  margin-top: 0.25rem;
+  white-space: nowrap;
+}
+
 #searchSuggestions .suggestion-item:first-child {
   border-top-left-radius: var(--border-radius-xl);
   border-top-right-radius: var(--border-radius-xl);
@@ -533,4 +550,4 @@
     min-width: 0;
     width: calc(100% - var(--padding-xl));
   }
-}
+}

starpilot/system/the_pond/assets/components/navigation/navigation_destination.js

@@ -140,6 +140,76 @@ function parseCoordinatePair(value) {
   return { latitude, longitude };
 }
 
+function cleanSuggestionText(value) {
+  if (typeof value !== "string") return "";
+  return value.replace(/\s+/g, " ").trim();
+}
+
+function joinSuggestionParts(parts) {
+  const seen = new Set();
+  const unique = [];
+
+  for (const part of parts) {
+    const text = cleanSuggestionText(part);
+    if (!text) continue;
+
+    const key = text.toLowerCase();
+    if (seen.has(key)) continue;
+    seen.add(key);
+    unique.push(text);
+  }
+
+  return unique.join(", ");
+}
+
+function splitSuggestionLabel(value) {
+  const cleaned = cleanSuggestionText(value);
+  if (!cleaned) {
+    return { primary: "", secondary: "" };
+  }
+
+  const [primary, ...rest] = cleaned.split(",").map(part => part.trim()).filter(Boolean);
+  return {
+    primary: primary || cleaned,
+    secondary: rest.join(", "),
+  };
+}
+
+function getSuggestionText(suggestion) {
+  const rawName = cleanSuggestionText(suggestion.name || suggestion.title || "");
+  const rawPlaceName = cleanSuggestionText(suggestion.place_name || "");
+  const explicitAddress = joinSuggestionParts([
+    suggestion.full_address,
+    suggestion.address,
+    suggestion.district,
+    suggestion.city,
+    suggestion.cityname,
+    suggestion.adcode && suggestion.address ? "" : suggestion.adname,
+    suggestion.pname,
+  ]);
+
+  if (rawName) {
+    const splitPlaceName = rawPlaceName && rawPlaceName.toLowerCase().startsWith(`${rawName.toLowerCase()},`)
+      ? splitSuggestionLabel(rawPlaceName)
+      : { primary: rawName, secondary: "" };
+    const secondary = explicitAddress || splitPlaceName.secondary;
+    return {
+      primary: splitPlaceName.primary || rawName,
+      secondary: secondary && secondary.toLowerCase() !== rawName.toLowerCase() ? secondary : "",
+    };
+  }
+
+  if (rawPlaceName) {
+    return splitSuggestionLabel(rawPlaceName);
+  }
+
+  if (explicitAddress) {
+    return splitSuggestionLabel(explicitAddress);
+  }
+
+  return { primary: "Unnamed Location", secondary: "" };
+}
+
 let map;
 let destinationMarker;
 let favoriteMarkers = [];
@@ -711,7 +781,7 @@ export function NavDestination() {
                     ${() => (state.favoritesCount > 0 ? html`<button class="favorites-toggle-button" @click="${handleFavoritesClick}">❤️ Favorites</button>` : "")}
                     ${() => (state.canToggleProvider ? html`
                       <div class="search-provider-toggle">
-                        <button class="${() => (state.searchProvider === "amap" ? "active" : "")}" @click="${() => { state.searchProvider = "amap"; state.suggestions = "[]"; }}">AMap</button>
+                        <button class="${() => (state.searchProvider === "amap" ? "active" : "")}" title="AMap / Gaode search provider" @click="${() => { state.searchProvider = "amap"; state.suggestions = "[]"; }}">AMap</button>
                         <button class="${() => (state.searchProvider === "mapbox" ? "active" : "")}" @click="${() => { state.searchProvider = "mapbox"; state.suggestions = "[]"; }}">Mapbox</button>
                       </div>
                     ` : "")}
@@ -789,11 +859,19 @@ function SearchSuggestions({ suggestions, selectSuggestion, removeFavorite, rena
   const isFavorite = s => s.name && s.latitude != null && s.longitude != null && s.routeId;
   const item = s => html`
     <div class="suggestion-item" @click="${() => selectSuggestion(s)}">
-      <p>
-        ${s.is_home ? "🏠 " : ""}
-        ${s.is_work ? "💼 " : ""}
-        ${s.name || s.address}
-      </p>
+      ${(() => {
+        const text = getSuggestionText(s);
+        return html`
+          <div class="suggestion-copy">
+            <p class="suggestion-primary">
+              ${s.is_home ? "🏠 " : ""}
+              ${s.is_work ? "💼 " : ""}
+              ${text.primary}
+            </p>
+            ${text.secondary ? html`<p class="suggestion-secondary">${text.secondary}</p>` : ""}
+          </div>
+        `;
+      })()}
       ${isFavorite(s) ? html`
         <div class="favorite-actions">
           <button class="home-favorite-button ${s.is_home ? "active" : ""}" title="Set as Home" @click="${e => { e.stopPropagation(); setHome(s); }}">🏠</button>

starpilot/system/the_pond/assets/components/navigation/navigation_keys.css

@@ -132,6 +132,13 @@
   text-align: center;
 }
 
+.navkeys-subtitle {
+  color: var(--text-muted);
+  font-size: var(--font-size-xs);
+  margin: calc(var(--margin-base) * -1) 0 var(--margin-base);
+  text-align: center;
+}
+
 .navkeys-wrapper {
   align-items: flex-start;
   display: flex;
@@ -153,4 +160,4 @@
   .navkeys-input {
     font-size: var(--font-size-sm);
   }
-}
+}

starpilot/system/the_pond/assets/components/navigation/navigation_keys.js

@@ -86,8 +86,8 @@ export function NavKeys() {
 
   const getDeleteLabel = (kind) => {
     switch (kind) {
-      case "amap1": return "Amap 1"
-      case "amap2": return "Amap 2"
+      case "amap1": return "AMap / Gaode 1"
+      case "amap2": return "AMap / Gaode 2"
       case "public": return "Public Mapbox"
       case "secret": return "Secret Mapbox"
       default: return kind
@@ -203,20 +203,22 @@ export function NavKeys() {
   queueMicrotask(api.load)
 
   function renderGroup(title, kinds) {
-    const isMapbox = title === "Mapbox Keys"
+    const isMapbox = title === "Mapbox Keys"
+    const isAMap = title === "AMap / Gaode Keys"
 
     return html`
       <div class="navkeys-group">
-        <div class="navkeys-title">
-          ${title}
-          ${isMapbox ? html`
-            <span class="navkeys-help-icon" @click="${() => state.showMapboxHelp = !state.showMapboxHelp}">
-              <i class="bi bi-question-circle-fill"></i>
-            </span>
-          ` : ""}
-        </div>
-
-        ${kinds.map(kind => {
+        <div class="navkeys-title">
+          ${title}
+          ${isMapbox ? html`
+            <span class="navkeys-help-icon" @click="${() => state.showMapboxHelp = !state.showMapboxHelp}">
+              <i class="bi bi-question-circle-fill"></i>
+            </span>
+          ` : ""}
+        </div>
+        ${isAMap ? html`<div class="navkeys-subtitle">AMap is the Gaode provider, not Google Maps.</div>` : ""}
+
+        ${kinds.map(kind => {
           const keyMeta = meta[kind]
           const label = kind[0].toUpperCase() + kind.slice(1).replace(/[0-9]/, d => " " + d)
 
@@ -296,7 +298,7 @@ export function NavKeys() {
   return html`
     <div class="navkeys-wrapper navkeys-offset-top">
       <div class="navkeys-container">
-        ${renderGroup("AMap Keys", ["amap1", "amap2"])}
+          ${renderGroup("AMap / Gaode Keys", ["amap1", "amap2"])}
         ${renderStatus("amap")}
       </div>
       <div class="navkeys-container">

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

@@ -9,8 +9,8 @@ import { Home } from "/assets/components/home/home.js"
 import { LateralManeuvers } from "/assets/components/tools/lateral_maneuvers.js"
 import { LongitudinalManeuvers } from "/assets/components/tools/longitudinal_maneuvers.js"
 import { MapsManager } from "/assets/components/tools/maps.js"
-import { NavDestination } from "/assets/components/navigation/navigation_destination.js?v=nav-favorites-2"
-import { NavKeys } from "/assets/components/navigation/navigation_keys.js"
+import { NavDestination } from "/assets/components/navigation/navigation_destination.js?v=nav-search-context-1"
+import { NavKeys } from "/assets/components/navigation/navigation_keys.js?v=nav-search-context-1"
 import { RouteRecordings } from "/assets/components/recordings/dashcam_routes.js"
 import { SettingsView } from "/assets/components/settings.js"
 import { ScreenRecordings } from "/assets/components/recordings/screen_recordings.js"

starpilot/system/the_pond/templates/index.html

@@ -19,8 +19,8 @@
   <link rel="stylesheet" href="/assets/components/home/home.css">
   <link rel="stylesheet" href="/assets/components/main.css">
   <link rel="stylesheet" href="/assets/components/modal.css">
-  <link rel="stylesheet" href="/assets/components/navigation/navigation_destination.css?v=nav-favorites-2">
-  <link rel="stylesheet" href="/assets/components/navigation/navigation_keys.css">
+  <link rel="stylesheet" href="/assets/components/navigation/navigation_destination.css?v=nav-search-context-1">
+  <link rel="stylesheet" href="/assets/components/navigation/navigation_keys.css?v=nav-search-context-1">
   <link rel="stylesheet" href="/assets/components/recordings/dashcam_routes.css">
   <link rel="stylesheet" href="/assets/components/recordings/screen_recordings.css">
   <link rel="stylesheet" href="/assets/components/settings.css">

starpilot/system/the_pond/tests/test_dashboard_stats.py

@@ -461,6 +461,7 @@ def test_persistent_personal_records_and_model_usage_survive_empty_routes():
       "distractedMoments": 0,
       "unresponsiveMoments": 0,
       "routeModifiedAt": 100,
+      "analysisComplete": True,
     },
     {
       "name": "route-2",
@@ -472,6 +473,7 @@ def test_persistent_personal_records_and_model_usage_survive_empty_routes():
       "distractedMoments": 1,
       "unresponsiveMoments": 0,
       "routeModifiedAt": 100,
+      "analysisComplete": True,
     },
     {
       "name": "route-3",
@@ -483,6 +485,7 @@ def test_persistent_personal_records_and_model_usage_survive_empty_routes():
       "distractedMoments": 0,
       "unresponsiveMoments": 0,
       "routeModifiedAt": 100,
+      "analysisComplete": True,
     },
   ]
 
@@ -509,6 +512,67 @@ def test_persistent_personal_records_and_model_usage_survive_empty_routes():
   assert restored_records["cleanDriveStreak"]["value"] == "3 drives"
 
 
+def test_model_usage_ignores_pending_route_shells():
+  params = FakeParams({"AvailableModels": "orion,vega", "AvailableModelNames": "Orion,Vega"})
+  drives = [
+    {
+      "name": "route-1",
+      "date": "2026-06-15T08:00:00",
+      "distanceMeters": 10000.0,
+      "duration": 1200,
+      "engagedSeconds": 900.0,
+      "model": "Orion",
+      "routeModifiedAt": 100,
+      "analysisComplete": True,
+    },
+    {
+      "name": "route-2",
+      "date": "2026-06-16T08:00:00",
+      "distanceMeters": 0.0,
+      "duration": 600,
+      "engagedSeconds": 0.0,
+      "model": "Vega",
+      "routeModifiedAt": 100,
+      "analysisComplete": False,
+      "attentionKnown": False,
+    },
+  ]
+
+  persistent = utilities._update_dashboard_persistent_stats(params, drives, wall_now=1000)
+  favorites = utilities._build_favorite_models(params, persistent)
+
+  assert [model["name"] for model in favorites] == ["Orion"]
+  assert favorites[0]["drives"] == 1
+
+
+def test_cpu_temp_reader_uses_hardware_cpu_values(monkeypatch):
+  hardware_module = _simple_module(
+    "openpilot.system.hardware",
+    HARDWARE=SimpleNamespace(
+      get_thermal_config=lambda: SimpleNamespace(
+        get_msg=lambda: {"cpuTempC": [55.1, 56.6], "memoryTempC": 75.0}
+      )
+    ),
+  )
+  monkeypatch.setitem(sys.modules, "openpilot.system.hardware", hardware_module)
+
+  assert utilities._read_cpu_temp_c() == 57
+
+
+def test_cpu_temp_reader_ignores_non_cpu_thermal_zones(tmp_path):
+  cpu_zone = tmp_path / "thermal_zone0"
+  cpu_zone.mkdir()
+  (cpu_zone / "type").write_text("cpu0-silver-usr", encoding="utf-8")
+  (cpu_zone / "temp").write_text("61000", encoding="utf-8")
+
+  pmic_zone = tmp_path / "thermal_zone1"
+  pmic_zone.mkdir()
+  (pmic_zone / "type").write_text("pm8998_tz", encoding="utf-8")
+  (pmic_zone / "temp").write_text("75000", encoding="utf-8")
+
+  assert utilities._read_cpu_temp_c(tmp_path) == 61
+
+
 def test_persistent_loader_accepts_decoded_param_dict():
   params = FakeParams({
     utilities.DASHBOARD_PERSISTENT_STATS_PARAM: {
@@ -587,8 +651,7 @@ def test_lightweight_routes_surface_recent_drives_without_log_analysis(monkeypat
   assert [drive["name"] for drive in dashboard["recentDrives"]] == ["route-new", "route-old"]
   assert dashboard["lastDrive"]["model"] == "Orion"
   assert dashboard["week"]["drives"] == 2
-  assert dashboard["favoriteModels"][0]["name"] == "Orion"
-  assert dashboard["favoriteModels"][0]["drives"] == 2
+  assert dashboard["favoriteModels"] == []
   assert dashboard["analysis"]["pendingRoutes"] == 2
   assert dashboard["analysis"]["batchSize"] == 2
   utilities._invalidate_dashboard_cache()
@@ -948,4 +1011,5 @@ def test_stats_endpoint_keeps_existing_keys_and_adds_dashboard(monkeypatch):
   assert "diskUsage" in payload
   assert "driveStats" in payload
   assert "softwareInfo" in payload
+  assert payload["softwareInfo"]["buildEnvironment"] == "Experimental"
   assert payload["dashboard"]["recentDrives"] == []

starpilot/system/the_pond/the_pond.py

@@ -478,8 +478,8 @@ except TypeError:
   ]
 
 KEYS = {
-  "amap1": ("amap1", "", "AMapKey1", "Amap key #1", 39),
-  "amap2": ("amap2", "", "AMapKey2", "Amap key #2", 39),
+  "amap1": ("amap1", "", "AMapKey1", "AMap / Gaode key #1", 39),
+  "amap2": ("amap2", "", "AMapKey2", "AMap / Gaode key #2", 39),
   "public": ("public", "pk.", "MapboxPublicKey", "Public key", 80),
   "secret": ("secret", "sk.", "MapboxSecretKey", "Secret key", 80),
 }
@@ -5176,18 +5176,16 @@ def setup(app):
     build_metadata = get_build_metadata()
 
     short_branch = build_metadata.channel
-    if build_metadata.release_channel:
-      env = "Release"
-    elif short_branch in ("StarPilot-Development", "StarPilot-Testing"):
-      env = "Testing"
-    elif build_metadata.tested_channel:
-      env = "Staging"
+    if short_branch == "StarPilot":
+      galaxy_label = "Stable"
+    elif short_branch == "Dom":
+      galaxy_label = "Testing"
     else:
-      env = short_branch
+      galaxy_label = "Experimental"
 
     software_info = {
       "branchName": build_metadata.channel,
-      "buildEnvironment": env,
+      "buildEnvironment": galaxy_label,
       "changelogUrl": utilities.get_github_changelog_url(build_metadata.openpilot.git_normalized_origin, build_metadata.channel),
       "commitHash": build_metadata.openpilot.git_commit,
       "commitUrl": utilities.get_github_commit_url(build_metadata.openpilot.git_normalized_origin, build_metadata.openpilot.git_commit),

starpilot/system/the_pond/utilities.py

@@ -1993,6 +1993,8 @@ def _recalculate_persistent_stats(stats):
   model_usage = {}
 
   for _, entry in ordered_routes:
+    if not bool(entry.get("analysisComplete", False)):
+      continue
     model_name = _clean_model_label(entry.get("model", ""))
     model_key = canonical_model_key(entry.get("modelKey", "")) or _model_usage_key(model_name)
     if model_key:
@@ -2140,8 +2142,40 @@ def _read_uptime_seconds():
     return None
 
 
-def _read_cpu_temp_c():
-  thermal_root = Path("/sys/class/thermal")
+def _normalize_temp_c(value):
+  try:
+    raw = float(value)
+  except (TypeError, ValueError):
+    return None
+  if raw > 1000:
+    raw /= 1000.0
+  return raw if 0 < raw < 150 else None
+
+
+def _read_hardware_cpu_temps():
+  try:
+    from openpilot.system.hardware import HARDWARE
+    thermal_config = HARDWARE.get_thermal_config()
+    thermal_msg = thermal_config.get_msg()
+  except Exception:
+    return []
+
+  cpu_temps = thermal_msg.get("cpuTempC", [])
+  if not isinstance(cpu_temps, (list, tuple)):
+    cpu_temps = [cpu_temps]
+  return [
+    temp for temp in (_normalize_temp_c(value) for value in cpu_temps)
+    if temp is not None
+  ]
+
+
+def _read_cpu_temp_c(thermal_root=None):
+  if thermal_root is None:
+    hardware_temps = _read_hardware_cpu_temps()
+    if hardware_temps:
+      return round(max(hardware_temps))
+    thermal_root = Path("/sys/class/thermal")
+
   try:
     zones = sorted(thermal_root.glob("thermal_zone*/temp"))
   except Exception:
@@ -2150,13 +2184,18 @@ def _read_cpu_temp_c():
   values = []
   for temp_path in zones:
     try:
-      raw = float(temp_path.read_text().strip())
+      zone_type = temp_path.with_name("type").read_text(encoding="utf-8").strip().lower()
+    except Exception:
+      zone_type = ""
+    if "cpu" not in zone_type:
+      continue
+    try:
+      raw = temp_path.read_text().strip()
     except Exception:
       continue
-    if raw > 1000:
-      raw /= 1000.0
-    if 0 < raw < 150:
-      values.append(raw)
+    temp = _normalize_temp_c(raw)
+    if temp is not None:
+      values.append(temp)
 
   return round(max(values)) if values else None