Revert "joplin"

This reverts commit 59d3c4dd66.

common/params_keys.h

@@ -632,7 +632,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SafeModeBackup", {PERSISTENT, JSON, "{}", "{}"}},
     {"SetSpeedLimit", {PERSISTENT, BOOL, "0", "0", 1}},
     {"SetSpeedOffset", {PERSISTENT, FLOAT, "0.0", "0.0", 2, SETTINGS_SIMPLE}},
-    {"ShowBrakeStatus", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"ShowCEMStatus", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
     {"ShowCCMStatus", {PERSISTENT, BOOL, "0", "0", 2}},
     {"ShowCPU", {PERSISTENT, BOOL, "0", "0", 3}},

opendbc_repo/opendbc/car/gm/gmcan.py

@@ -349,20 +349,7 @@ def _create_volt_cc_spam_command(CS, actuators, ms_convert, lead_visible):
   deadband_mph = VOLT_CC_LEAD_REQUEST_DEADBAND_MPH if lead_visible else VOLT_CC_FREE_REQUEST_DEADBAND_MPH
   request_deadband = deadband_mph * (CV.MPH_TO_KPH if ms_convert == CV.MS_TO_KPH else 1.0)
 
-  target_setpoint = None
-  v_cruise_kph = float(getattr(CS.out, "vCruise", 0.0))
-  if 0.0 < v_cruise_kph < 255.0:
-    is_metric = ms_convert == CV.MS_TO_KPH
-    target_setpoint = int(round(v_cruise_kph if is_metric else v_cruise_kph * CV.KPH_TO_MPH))
-
-  moving_toward_target = target_setpoint is not None and (
-    (accel > 0.0 and speed_setpoint < target_setpoint) or
-    (accel < 0.0 and speed_setpoint > target_setpoint)
-  )
-  if target_setpoint is not None and accel > 0.0 and speed_setpoint >= target_setpoint:
-    return CruiseButtons.INIT, float("inf")
-
-  if not moving_toward_target and abs(requested_setpoint - speed_setpoint) <= request_deadband:
+  if abs(requested_setpoint - speed_setpoint) <= request_deadband:
     return CruiseButtons.INIT, float("inf")
 
   if accel == 0.0:

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

@@ -947,7 +947,7 @@ class TestGMCarController:
 
     assert len(msgs) == 1
 
-  def test_volt_cc_redneck_does_not_raise_stock_setpoint_above_max(self):
+  def test_volt_cc_redneck_holds_when_pseudo_speed_request_is_within_deadband(self):
     packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
     controller = SimpleNamespace(frame=int(2.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
     cs = SimpleNamespace(
@@ -960,7 +960,7 @@ class TestGMCarController:
       buttons_counter=2,
       out=SimpleNamespace(
         vEgo=100.0 * CV.KPH_TO_MS,
-        cruiseState=SimpleNamespace(speed=100.0 * CV.KPH_TO_MS),
+        cruiseState=SimpleNamespace(speed=99.0 * CV.KPH_TO_MS),
         vCruise=100.0,
       ),
     )
@@ -970,133 +970,33 @@ class TestGMCarController:
     )
 
     assert msgs == []
-    assert controller.apply_speed == 100
-
-  def test_volt_cc_redneck_tracks_max_inside_request_deadband(self):
-    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
-    controller = SimpleNamespace(frame=int(3.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
-    cs = SimpleNamespace(
-      CP=SimpleNamespace(
-        carFingerprint=CAR.CHEVROLET_VOLT_CC,
-        flags=GMFlags.NO_CAMERA.value,
-        networkLocation=structs.CarParams.NetworkLocation.gateway,
-        minEnableSpeed=0.0,
-      ),
-      buttons_counter=2,
-      out=SimpleNamespace(
-        vEgo=52.0 * CV.KPH_TO_MS,
-        cruiseState=SimpleNamespace(speed=52.0 * CV.KPH_TO_MS),
-        vCruise=60.0,
-      ),
-    )
-
-    msgs = gmcan.create_gm_cc_spam_command(
-      packer, controller, cs, SimpleNamespace(accel=0.1), SimpleNamespace(is_metric=True),
-    )
-
-    assert len(msgs) == 1
-    assert controller.apply_speed == 53
-
-  def test_volt_cc_redneck_tracks_max_down_inside_request_deadband(self):
-    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
-    controller = SimpleNamespace(frame=int(3.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
-    cs = SimpleNamespace(
-      CP=SimpleNamespace(
-        carFingerprint=CAR.CHEVROLET_VOLT_CC,
-        flags=GMFlags.NO_CAMERA.value,
-        networkLocation=structs.CarParams.NetworkLocation.gateway,
-        minEnableSpeed=0.0,
-      ),
-      buttons_counter=2,
-      out=SimpleNamespace(
-        vEgo=68.0 * CV.KPH_TO_MS,
-        cruiseState=SimpleNamespace(speed=68.0 * CV.KPH_TO_MS),
-        vCruise=60.0,
-      ),
-    )
-
-    msgs = gmcan.create_gm_cc_spam_command(
-      packer, controller, cs, SimpleNamespace(accel=-0.1), SimpleNamespace(is_metric=True),
-    )
-
-    assert len(msgs) == 1
-    assert controller.apply_speed == 67
-
-  def test_volt_cc_redneck_holds_small_decel_request_at_max(self):
-    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
-    controller = SimpleNamespace(frame=int(3.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
-    cs = SimpleNamespace(
-      CP=SimpleNamespace(
-        carFingerprint=CAR.CHEVROLET_VOLT_CC,
-        flags=GMFlags.NO_CAMERA.value,
-        networkLocation=structs.CarParams.NetworkLocation.gateway,
-        minEnableSpeed=0.0,
-      ),
-      buttons_counter=2,
-      out=SimpleNamespace(
-        vEgo=100.0 * CV.KPH_TO_MS,
-        cruiseState=SimpleNamespace(speed=100.0 * CV.KPH_TO_MS),
-        vCruise=100.0,
-      ),
-    )
-
-    msgs = gmcan.create_gm_cc_spam_command(
-      packer, controller, cs, SimpleNamespace(accel=-0.1), SimpleNamespace(is_metric=True),
-    )
-
-    assert msgs == []
-    assert controller.apply_speed == 100
-
-  def test_volt_cc_redneck_holds_medium_decel_request_at_max_without_lead(self):
-    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
-    controller = SimpleNamespace(frame=int(3.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
-    cs = SimpleNamespace(
-      CP=SimpleNamespace(
-        carFingerprint=CAR.CHEVROLET_VOLT_CC,
-        flags=GMFlags.NO_CAMERA.value,
-        networkLocation=structs.CarParams.NetworkLocation.gateway,
-        minEnableSpeed=0.0,
-      ),
-      buttons_counter=2,
-      out=SimpleNamespace(
-        vEgo=100.0 * CV.KPH_TO_MS,
-        cruiseState=SimpleNamespace(speed=100.0 * CV.KPH_TO_MS),
-        vCruise=100.0,
-      ),
-    )
-
-    msgs = gmcan.create_gm_cc_spam_command(
-      packer, controller, cs, SimpleNamespace(accel=-0.5), SimpleNamespace(is_metric=True), lead_visible=False,
-    )
-
-    assert msgs == []
-    assert controller.apply_speed == 100
-
-  def test_volt_cc_redneck_brakes_for_lead_inside_free_road_deadband(self):
-    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
-    controller = SimpleNamespace(frame=int(3.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
-    cs = SimpleNamespace(
-      CP=SimpleNamespace(
-        carFingerprint=CAR.CHEVROLET_VOLT_CC,
-        flags=GMFlags.NO_CAMERA.value,
-        networkLocation=structs.CarParams.NetworkLocation.gateway,
-        minEnableSpeed=0.0,
-      ),
-      buttons_counter=2,
-      out=SimpleNamespace(
-        vEgo=100.0 * CV.KPH_TO_MS,
-        cruiseState=SimpleNamespace(speed=100.0 * CV.KPH_TO_MS),
-        vCruise=100.0,
-      ),
-    )
-
-    msgs = gmcan.create_gm_cc_spam_command(
-      packer, controller, cs, SimpleNamespace(accel=-0.5), SimpleNamespace(is_metric=True), lead_visible=True,
-    )
-
-    assert len(msgs) == 1
     assert controller.apply_speed == 99
 
+  def test_volt_cc_redneck_uses_smaller_request_deadband_with_lead(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
+    controller = SimpleNamespace(frame=int(2.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
+    cs = SimpleNamespace(
+      CP=SimpleNamespace(
+        carFingerprint=CAR.CHEVROLET_VOLT_CC,
+        flags=GMFlags.NO_CAMERA.value,
+        networkLocation=structs.CarParams.NetworkLocation.gateway,
+        minEnableSpeed=0.0,
+      ),
+      buttons_counter=2,
+      out=SimpleNamespace(
+        vEgo=100.0 * CV.KPH_TO_MS,
+        cruiseState=SimpleNamespace(speed=99.0 * CV.KPH_TO_MS),
+        vCruise=100.0,
+      ),
+    )
+
+    msgs = gmcan.create_gm_cc_spam_command(
+      packer, controller, cs, SimpleNamespace(accel=0.5), SimpleNamespace(is_metric=True), lead_visible=True,
+    )
+
+    assert len(msgs) == 1
+    assert controller.apply_speed == 100
+
   def test_volt_cc_redneck_accelerates_when_pseudo_speed_request_exceeds_deadband(self):
     packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
     controller = SimpleNamespace(frame=int(0.1 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
@@ -1143,7 +1043,7 @@ class TestGMCarController:
       out=SimpleNamespace(
         vEgo=50.7 * CV.KPH_TO_MS,
         cruiseState=SimpleNamespace(speed=49.0 * CV.KPH_TO_MS),
-        vCruise=49.0,
+        vCruise=50.0,
       ),
     )
 

selfdrive/ui/mici/onroad/hud_renderer.py

@@ -8,7 +8,6 @@ from openpilot.selfdrive.ui.onroad.starpilot.rivian_lateral_mode import rivian_l
 from openpilot.selfdrive.ui.mici.onroad.speed_limit_utils import resolve_display_speed_limit_ms
 from openpilot.selfdrive.ui.onroad.starpilot.navigation_card import NavigationCardRenderer
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
-from openpilot.selfdrive.ui.onroad.exp_button import get_wheel_tint
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.utils import draw_circle_gradient_compat
 from openpilot.system.ui.lib.multilang import tr
@@ -195,11 +194,7 @@ class HudRenderer(Widget):
     controls_state = sm['controlsState']
     car_state = sm['carState']
     rivian_lateral_mode.update()
-    self._wheel_tint = get_wheel_tint(
-      getattr(car_state, "brakePressed", False),
-      rivian_lateral_mode.wheel_tint,
-      ui_state.ui_params.get_bool("ShowBrakeStatus"),
-    )
+    self._wheel_tint = rivian_lateral_mode.wheel_tint
 
     v_cruise_cluster = car_state.vCruiseCluster
     set_speed = (

selfdrive/ui/onroad/exp_button.py

@@ -11,13 +11,6 @@ from openpilot.starpilot.common.experimental_state import (
 )
 
 
-BRAKE_WHEEL_COLOR = rl.Color(255, 0, 0, 255)
-
-
-def get_wheel_tint(brake_pressed: bool, mode_tint: rl.Color | None, brake_status_enabled: bool) -> rl.Color | None:
-  return BRAKE_WHEEL_COLOR if brake_status_enabled and brake_pressed else mode_tint
-
-
 class ExpButton(Widget):
   def __init__(self, button_size: int, icon_size: int):
     super().__init__()
@@ -109,13 +102,8 @@ class ExpButton(Widget):
     texture = self._txt_exp if exp_mode else self._txt_wheel
     color = self._white_color
     tint = None
-    wheel_tint = get_wheel_tint(
-      getattr(ui_state.sm["carState"], "brakePressed", False),
-      self.wheel_tint,
-      self._params.get_bool("ShowBrakeStatus"),
-    )
-    if wheel_tint is not None:
-      tint = rl.Color(wheel_tint.r, wheel_tint.g, wheel_tint.b, self._white_color.a)
+    if self.wheel_tint is not None:
+      tint = rl.Color(self.wheel_tint.r, self.wheel_tint.g, self.wheel_tint.b, self._white_color.a)
 
     rl.draw_circle(center_x, center_y, self._rect.width / 2, self._bg_color)
     if tint is not None:

selfdrive/ui/tests/test_aethergauge.py

@@ -41,8 +41,6 @@ from openpilot.selfdrive.ui.onroad.starpilot.aethergauge import (
   _is_lead,
   _is_stop_light,
   _lead_data,
-  _to_display_distance,
-  _to_display_speed,
 )
 from openpilot.starpilot.common.experimental_state import CEStatus
 
@@ -52,7 +50,6 @@ aethergauge.ui_state = mock_ui_state
 @pytest.fixture(autouse=True)
 def reset_ui_state():
   mock_ui_state.sm.reset()
-  mock_ui_state.is_metric = False
   mock_ui_state.conditional_status = CEStatus["OFF"]
   mock_ui_state.starpilot_toggles.update({
     "conditional_experimental_mode": True,
@@ -138,20 +135,6 @@ def test_is_stop_light():
   assert not _is_stop_light()
 
 
-@pytest.mark.parametrize(
-  ("is_metric", "expected_distance", "expected_speed"),
-  [
-    (False, (33, "ft"), (22, "mph")),
-    (True, (10, "m"), (36, "km/h")),
-  ],
-)
-def test_aether_gauge_uses_display_units(is_metric, expected_distance, expected_speed):
-  mock_ui_state.is_metric = is_metric
-
-  assert _to_display_distance(10.0) == expected_distance
-  assert _to_display_speed(10.0) == expected_speed
-
-
 def test_is_curve_speed_follows_csc_activation_without_mode_gate(monkeypatch):
   monkeypatch.setattr(aethergauge, "_csc_state", lambda: {"active": True, "curvature": 0.002})
   assert _is_curve_speed()

selfdrive/ui/tests/test_rivian_lateral_mode.py

@@ -293,32 +293,3 @@ def test_non_mici_wheel_icon_uses_rivian_tint(monkeypatch):
   assert len(draws["textures"]) == 1
   texture_color = draws["textures"][0][-1]
   assert (texture_color.r, texture_color.g, texture_color.b, texture_color.a) == (0x4D, 0x9D, 0xFF, 255)
-
-
-def test_non_mici_wheel_icon_turns_red_when_brakes_are_pressed(monkeypatch):
-  module, draws = load_exp_button(monkeypatch)
-  button = module.ExpButton(192, 144)
-  button.wheel_tint = FakeColor(0x4D, 0x9D, 0xFF, 255)
-  module.ui_state.ui_params.get_bool = lambda key, *args, **kwargs: key == "ShowBrakeStatus"
-  module.ui_state.sm["carState"].brakePressed = True
-  button._update_state()
-
-  button._render(FakeRectangle(0, 0, 192, 192))
-
-  assert len(draws["textures"]) == 1
-  texture_color = draws["textures"][0][-1]
-  assert (texture_color.r, texture_color.g, texture_color.b, texture_color.a) == (255, 0, 0, 255)
-
-
-def test_non_mici_wheel_icon_brake_tint_is_disabled_by_default(monkeypatch):
-  module, draws = load_exp_button(monkeypatch)
-  button = module.ExpButton(192, 144)
-  button.wheel_tint = FakeColor(0x4D, 0x9D, 0xFF, 255)
-  module.ui_state.sm["carState"].brakePressed = True
-  button._update_state()
-
-  button._render(FakeRectangle(0, 0, 192, 192))
-
-  assert len(draws["textures"]) == 1
-  texture_color = draws["textures"][0][-1]
-  assert (texture_color.r, texture_color.g, texture_color.b, texture_color.a) == (0x4D, 0x9D, 0xFF, 255)

starpilot/car/ford/lateral.py

@@ -35,19 +35,9 @@ STEER_DT = CarControllerParams.STEER_STEP * DT_CTRL
 CURVATURE_LOOKAHEAD_MIN = 0.20
 CURVATURE_LOOKAHEAD_MAX = 0.40
 MACH_E_TURN_IN_LOOKAHEAD_EXTRA = 0.80
-MACH_E_LOW_SPEED_TURN_IN_LOOKAHEAD_EXTRA = 1.60
-MACH_E_LOW_SPEED_TURN_IN_START_SPEED = 2.0
-MACH_E_LOW_SPEED_TURN_IN_FULL_SPEED = 3.0
-MACH_E_LOW_SPEED_TURN_IN_MAX_SPEED = 9.0
-MACH_E_LOW_SPEED_TURN_IN_FADE_SPEED = 12.0
 MACH_E_TURN_IN_MIN_CURVATURE = 0.002
 MACH_E_TURN_IN_FULL_CURVATURE = 0.008
 MACH_E_TURN_IN_LAG_CURVATURE = 0.006
-MACH_E_DIRECTION_CHANGE_MIN_SPEED = 9.0
-MACH_E_DIRECTION_CHANGE_MIN_PREVIEW_CURVATURE = 0.0005
-MACH_E_DIRECTION_CHANGE_FULL_PREVIEW_CURVATURE = 0.002
-MACH_E_DIRECTION_CHANGE_MIN_LAG_CURVATURE = 0.0008
-MACH_E_DIRECTION_CHANGE_FULL_LAG_CURVATURE = 0.0015
 FORD_CURVATURE_LOOKAHEAD = {
   CAR.FORD_EXPLORER_MK6: 0.20,
 }
@@ -177,11 +167,10 @@ class FordLateralController:
   def _current_curvature(CS) -> float:
     return -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1)
 
-  def _blend_and_scale(self, desired: float, predicted: float, v_ego: float, current: float = 0.0,
-                       allow_opposite_preview: bool = False) -> tuple[float, int]:
+  def _blend_and_scale(self, desired: float, predicted: float, v_ego: float, current: float = 0.0) -> tuple[float, int]:
     blend = float(np.interp(abs(desired), [0.0, 0.001], [self.curvature_blend_low, self.curvature_blend_high]))
     if self.CP.carFingerprint in FORD_CONSERVATIVE_PREVIEW_CARS:
-      if desired * predicted <= 0.0 and not allow_opposite_preview:
+      if desired * predicted <= 0.0:
         blend = 0.0
       elif current * predicted > 0.0 and abs(current) > abs(desired) and abs(predicted) > abs(desired):
         blend *= abs(desired) / abs(predicted)
@@ -216,37 +205,6 @@ class FordLateralController:
     ))
     return curvature_weight * lag_weight
 
-  @staticmethod
-  def _turn_in_lookahead_extra(v_ego: float) -> float:
-    return float(np.interp(
-      v_ego,
-      [MACH_E_LOW_SPEED_TURN_IN_START_SPEED, MACH_E_LOW_SPEED_TURN_IN_FULL_SPEED,
-       MACH_E_LOW_SPEED_TURN_IN_MAX_SPEED, MACH_E_LOW_SPEED_TURN_IN_FADE_SPEED],
-      [MACH_E_TURN_IN_LOOKAHEAD_EXTRA, MACH_E_LOW_SPEED_TURN_IN_LOOKAHEAD_EXTRA,
-       MACH_E_LOW_SPEED_TURN_IN_LOOKAHEAD_EXTRA, MACH_E_TURN_IN_LOOKAHEAD_EXTRA],
-    ))
-
-  def _direction_change_preview_weight(self, desired: float, preview: float, current: float) -> float:
-    if self.CP.carFingerprint not in FORD_CONSERVATIVE_PREVIEW_CARS:
-      return 0.0
-    if desired * preview >= 0.0 or desired * self.desired_curvature_last <= 0.0:
-      return 0.0
-    if (abs(desired) >= abs(self.desired_curvature_last) or desired * current <= 0.0 or
-        abs(current) <= abs(desired)):
-      return 0.0
-
-    preview_weight = float(np.interp(
-      abs(preview),
-      [MACH_E_DIRECTION_CHANGE_MIN_PREVIEW_CURVATURE, MACH_E_DIRECTION_CHANGE_FULL_PREVIEW_CURVATURE],
-      [0.0, 1.0],
-    ))
-    lag_weight = float(np.interp(
-      abs(current) - abs(desired),
-      [MACH_E_DIRECTION_CHANGE_MIN_LAG_CURVATURE, MACH_E_DIRECTION_CHANGE_FULL_LAG_CURVATURE],
-      [0.0, 1.0],
-    ))
-    return preview_weight * lag_weight
-
   def _manual_turn(self, CC, CS) -> bool:
     if not CC.latActive:
       self.human_turn.reset()
@@ -310,30 +268,13 @@ class FordLateralController:
     lookahead = self._curvature_lookahead()
     predicted = self._predicted_curvature(v_ego, lookahead)
     desired = float(actuators.curvature)
-    allow_opposite_preview = False
     if self.CP.carFingerprint in FORD_CONSERVATIVE_PREVIEW_CARS:
-      direction_change_predicted = self._predicted_curvature(v_ego, lookahead + MACH_E_TURN_IN_LOOKAHEAD_EXTRA)
-      direction_change_weight = 0.0
-      if v_ego > MACH_E_DIRECTION_CHANGE_MIN_SPEED and not CS.out.steeringPressed and not self._lane_change()[0]:
-        direction_change_weight = self._direction_change_preview_weight(desired, direction_change_predicted, current)
-      if direction_change_weight > 0.0:
-        predicted = float(np.interp(direction_change_weight, [0.0, 1.0], [predicted, direction_change_predicted]))
-        allow_opposite_preview = True
-      else:
-        turn_in_predicted = direction_change_predicted
-        turn_in_lookahead_extra = self._turn_in_lookahead_extra(v_ego)
-        if (turn_in_lookahead_extra > MACH_E_TURN_IN_LOOKAHEAD_EXTRA and
-            desired * self.desired_curvature_last >= 0.0 and
-            abs(desired) > abs(self.desired_curvature_last)):
-          low_speed_turn_in_predicted = self._predicted_curvature(v_ego, lookahead + turn_in_lookahead_extra)
-          if (desired * low_speed_turn_in_predicted > 0.0 and
-              abs(low_speed_turn_in_predicted) > abs(turn_in_predicted)):
-            turn_in_predicted = low_speed_turn_in_predicted
-        turn_in_weight = self._turn_in_preview_weight(desired, turn_in_predicted, current)
-        if turn_in_weight > 0.0:
-          turn_in_target = float(np.copysign(max(abs(desired), abs(turn_in_predicted)), desired))
-          predicted = float(np.interp(turn_in_weight, [0.0, 1.0], [predicted, turn_in_target]))
-    requested, precision = self._blend_and_scale(desired, predicted, v_ego, current, allow_opposite_preview)
+      turn_in_predicted = self._predicted_curvature(v_ego, lookahead + MACH_E_TURN_IN_LOOKAHEAD_EXTRA)
+      turn_in_weight = self._turn_in_preview_weight(desired, turn_in_predicted, current)
+      if turn_in_weight > 0.0:
+        turn_in_target = float(np.copysign(max(abs(desired), abs(turn_in_predicted)), desired))
+        predicted = float(np.interp(turn_in_weight, [0.0, 1.0], [predicted, turn_in_target]))
+    requested, precision = self._blend_and_scale(desired, predicted, v_ego, current)
     self.desired_curvature_last = desired
 
     if v_ego > 9.0:

starpilot/car/ford/tests/test_lateral.py

@@ -170,110 +170,6 @@ def test_mach_e_turn_in_preview_is_not_carried_into_unwind(controller):
     desired=0.008, preview=0.009, current=0.004) == 0.0
 
 
-@pytest.mark.parametrize("speed,expected", (
-  (1.0, 0.80),
-  (2.0, 0.80),
-  (2.5, 1.20),
-  (3.0, 1.60),
-  (8.0, 1.60),
-  (9.0, 1.60),
-  (10.5, 1.20),
-  (12.0, 0.80),
-  (15.0, 0.80),
-))
-def test_mach_e_turn_in_lookahead_extra_fades_by_speed(controller, speed, expected):
-  assert controller._turn_in_lookahead_extra(speed) == pytest.approx(expected)
-
-
-@pytest.mark.parametrize("sign", (1.0, -1.0))
-def test_mach_e_direction_change_preview_leads_a_lagging_unwind(controller, sign):
-  controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
-  controller.desired_curvature_last = sign * 0.002
-
-  weight = controller._direction_change_preview_weight(
-    desired=sign * 0.0015, preview=-sign * 0.002, current=sign * 0.003)
-
-  assert weight == pytest.approx(1.0)
-
-
-@pytest.mark.parametrize("desired,preview,current,last", (
-  (0.0015, 0.002, 0.003, 0.002),     # no predicted direction change
-  (0.002, -0.002, 0.003, 0.0015),    # desired curvature is still rising
-  (0.0015, -0.002, -0.001, 0.002),   # vehicle already changed direction
-  (0.0015, -0.002, 0.0022, 0.002),   # measured unwind lag is too small
-))
-def test_mach_e_direction_change_preview_rejects_unrelated_states(
-    controller, desired, preview, current, last):
-  controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
-  controller.desired_curvature_last = last
-
-  assert controller._direction_change_preview_weight(desired, preview, current) == 0.0
-
-
-def test_mach_e_direction_change_preview_can_cross_the_current_desired_path(controller):
-  controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
-
-  requested, _ = controller._blend_and_scale(
-    0.0015, -0.002, 15.0, current=0.003, allow_opposite_preview=True)
-
-  assert requested == pytest.approx(0.0001)
-
-
-def test_mach_e_direction_change_preview_uses_far_path_when_unwind_lags(controller, monkeypatch):
-  controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
-  controller.sm["liveDelay"].lateralDelay = 0.4
-  controller.desired_curvature_last = 0.002
-  blend_inputs = []
-  monkeypatch.setattr(
-    controller, "_predicted_curvature",
-    lambda _v_ego, lookahead: 0.002 if lookahead < 1.0 else -0.002,
-  )
-  monkeypatch.setattr(
-    controller, "_blend_and_scale",
-    lambda desired, predicted, v_ego, current, allow_opposite_preview=False:
-      blend_inputs.append((desired, predicted, v_ego, current, allow_opposite_preview)) or (0.0, 1),
-  )
-
-  controller.update(
-    SimpleNamespace(latActive=True), car_state(speed=15.0, curvature=0.003),
-    SimpleNamespace(curvature=0.0015),
-  )
-
-  assert blend_inputs == [(pytest.approx(0.0015), pytest.approx(-0.002), pytest.approx(15.0),
-                           pytest.approx(0.003), True)]
-
-
-@pytest.mark.parametrize("speed,steering_pressed,lane_change", (
-  (8.0, False, False),
-  (9.0, False, False),
-  (15.0, True, False),
-  (15.0, False, True),
-))
-def test_mach_e_direction_change_preview_is_bypassed_outside_its_operating_state(
-    controller, monkeypatch, speed, steering_pressed, lane_change):
-  controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
-  controller.desired_curvature_last = 0.002
-  monkeypatch.setattr(controller, "_predicted_curvature", lambda _v_ego, lookahead: -0.002)
-  monkeypatch.setattr(controller, "_lane_change", lambda: (lane_change, 2 if lane_change else 0))
-  monkeypatch.setattr(
-    controller, "_direction_change_preview_weight",
-    lambda *_args: pytest.fail("direction-change preview must be bypassed"),
-  )
-
-  controller.update(
-    SimpleNamespace(latActive=True),
-    car_state(speed=speed, curvature=0.003, steering_pressed=steering_pressed),
-    SimpleNamespace(curvature=0.0015),
-  )
-
-
-def test_non_mach_e_direction_change_preview_is_unchanged(controller):
-  controller.desired_curvature_last = 0.002
-
-  assert controller._direction_change_preview_weight(
-    desired=0.0015, preview=-0.002, current=0.003) == 0.0
-
-
 def test_mach_e_turn_in_preview_uses_extra_model_horizon(controller, monkeypatch):
   controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
   controller.sm["liveDelay"].lateralDelay = 0.4
@@ -287,49 +183,9 @@ def test_mach_e_turn_in_preview_uses_extra_model_horizon(controller, monkeypatch
     SimpleNamespace(curvature=0.010),
   )
 
-  assert lookaheads == [pytest.approx(0.4), pytest.approx(1.2), pytest.approx(2.0)]
-
-
-def test_mach_e_turn_in_preview_keeps_existing_horizon_above_fade_speed(controller, monkeypatch):
-  controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
-  controller.sm["liveDelay"].lateralDelay = 0.4
-  controller.desired_curvature_last = 0.007
-  lookaheads = []
-  monkeypatch.setattr(controller, "_predicted_curvature",
-                      lambda _v_ego, lookahead: lookaheads.append(lookahead) or 0.012)
-
-  controller.update(
-    SimpleNamespace(latActive=True), car_state(speed=15.0, curvature=0.002),
-    SimpleNamespace(curvature=0.010),
-  )
-
   assert lookaheads == [pytest.approx(0.4), pytest.approx(1.2)]
 
 
-def test_mach_e_low_speed_turn_in_preview_cannot_weaken_existing_preview(controller, monkeypatch):
-  controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
-  controller.sm["liveDelay"].lateralDelay = 0.4
-  controller.desired_curvature_last = 0.007
-  blend_inputs = []
-
-  def predicted_curvature(_v_ego, lookahead):
-    return {0.4: 0.006, 1.2: 0.010, 2.0: 0.004}[round(lookahead, 1)]
-
-  monkeypatch.setattr(controller, "_predicted_curvature", predicted_curvature)
-  monkeypatch.setattr(
-    controller, "_blend_and_scale",
-    lambda desired, predicted, v_ego, current, allow_opposite_preview=False:
-      blend_inputs.append((desired, predicted)) or (0.0, 1),
-  )
-
-  controller.update(
-    SimpleNamespace(latActive=True), car_state(speed=8.0, curvature=0.002),
-    SimpleNamespace(curvature=0.008),
-  )
-
-  assert blend_inputs == [(pytest.approx(0.008), pytest.approx(0.010))]
-
-
 def test_non_mach_e_does_not_request_extra_model_horizon(controller, monkeypatch):
   controller.sm["liveDelay"].lateralDelay = 0.4
   lookaheads = []

starpilot/common/assets/device_settings_layout.json

@@ -2863,16 +2863,6 @@
         "parent_key": "CustomUI",
         "settings_tier": "simple"
       },
-      {
-        "key": "ShowBrakeStatus",
-        "label": "Show Brake Status",
-        "description": "Tint the on-screen steering-wheel icon red while the car reports that the brake pedal is pressed.",
-        "picker_description": "Tints the on-screen steering-wheel icon red while braking.",
-        "data_type": "bool",
-        "ui_type": "toggle",
-        "galaxy_only": true,
-        "settings_tier": "simple"
-      },
       {
         "key": "ModelUI",
         "label": "Model UI",

starpilot/system/the_galaxy/assets/components/main.css

@@ -187,18 +187,12 @@ body {
 .content {
   color: var(--main-fg);
   flex-grow: 1;
-  margin-left: 0;
+  margin-left: var(--sidebar-width, 250px);
   overflow-y: auto;
   padding-bottom: var(--padding-xl);
   padding-left: var(--padding-lg);
 }
 
-@media only screen and (min-width: 768px) {
-  html.galaxy-sidebar-pinned .content {
-    margin-left: var(--sidebar-width, 250px);
-  }
-}
-
 .embedded #sidebar,
 .embedded #sidebar_shell,
 .embedded #sidebarUnderlay {
@@ -316,7 +310,7 @@ a {
 /* ――― Snackbar wrapper ――― */
 #snackbar_wrapper {
   bottom: var(--snackbar-offset, 30px);
-  left: 0;
+  left: var(--sidebar-width);
   margin: 0 auto;
   position: fixed;
   right: 0;
@@ -324,12 +318,6 @@ a {
   z-index: var(--z-overlay);
 }
 
-@media only screen and (min-width: 768px) {
-  html.galaxy-sidebar-pinned #snackbar_wrapper {
-    left: var(--sidebar-width);
-  }
-}
-
 /* ――― Animations ――― */
 @keyframes fadein {
   from {
@@ -354,7 +342,7 @@ a {
 }
 
 /* ――― Breakpoint overrides ――― */
-@media only screen and (max-width: 767px) {
+@media only screen and (max-width: var(--breakpoint-md)) {
   .content {
     margin-left: 0;
   }
@@ -447,4 +435,4 @@ a {
 ::-webkit-scrollbar-thumb {
   background-color: var(--thumb-color);
   border-radius: var(--border-radius-sm);
-}
+}

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

@@ -251,16 +251,9 @@
 
 .map-wrapper {
   height: 100vh;
-  left: 0;
+  left: var(--sidebar-width);
   position: absolute;
-  width: 100vw;
-}
-
-@media only screen and (min-width: 768px) {
-  html.galaxy-sidebar-pinned .map-wrapper {
-    left: var(--sidebar-width);
-    width: calc(100vw - var(--sidebar-width));
-  }
+  width: calc(100vw - var(--sidebar-width));
 }
 
 .mapboxgl-popup-content {

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

@@ -16,7 +16,7 @@ import { NavKeys } from "/assets/components/navigation/navigation_keys.js?v=app-
 import { RouteRecordings } from "/assets/components/recordings/dashcam_routes.js"
 import { SettingsView } from "/assets/components/settings.js?v=router-cycle-fix-5"
 import { ScreenRecordings } from "/assets/components/recordings/screen_recordings.js"
-import { Sidebar } from "/assets/components/sidebar.js?v=sidebar-pin-2"
+import { Sidebar } from "/assets/components/sidebar.js?v=controllers-nav-1"
 import { SentryMode } from "/assets/components/tools/sentry.js"
 import { SpeedLimits } from "/assets/components/tools/speed_limits.js"
 import { ModelManager } from "/assets/components/tools/model_manager.js?v=20260906a"

starpilot/system/the_galaxy/assets/components/sidebar.css

@@ -1,14 +1,11 @@
 #menu_button {
   align-items: center;
   background-color: var(--main-fg);
-  border: 0;
   border-radius: 50%;
   bottom: var(--border-radius-xl);
-  cursor: pointer;
   display: flex;
   height: 50px;
   justify-content: center;
-  padding: 0;
   position: fixed;
   right: var(--border-radius-xl);
   width: 50px;
@@ -73,12 +70,11 @@
   font-size: var(--border-radius-xl);
   height: 100dvh;
   justify-content: space-between;
-  left: calc(-1 * var(--sidebar-width));
+  left: 0;
   min-width: var(--sidebar-width);
   overflow-y: auto;
   position: fixed;
   top: 0;
-  transition: var(--transition-fast);
   width: var(--sidebar-width);
   z-index: var(--z-sidebar);
 }
@@ -198,29 +194,10 @@
   margin: 0;
 }
 
-.sidebar-pin-button {
-  background: transparent;
-  border: 0;
-  color: var(--text-muted);
-  cursor: pointer;
-  font-size: var(--font-size-lg);
-  margin-left: auto;
-  padding: var(--padding-xs);
-}
-
-.sidebar-pin-button:hover,
-.sidebar-pin-button:focus-visible {
-  color: var(--text-color);
-}
-
 .sidebar.visible {
   left: 0;
 }
 
-.sidebar.pinned {
-  left: 0;
-}
-
 .sidebar_header a:last-of-type {
   color: var(--text-muted);
   font-size: var(--font-size-xs);
@@ -253,13 +230,15 @@
   transform: var(--hover-scale-sm);
 }
 
-@media only screen and (max-width: 767px) {
+@media only screen and (max-width: 768px) and (orientation: portrait) {
   #sidebarUnderlay {
     display: block;
   }
 
   .sidebar {
+    left: calc(-1 * var(--sidebar-width));
     overflow-y: scroll;
+    transition: var(--transition-fast);
   }
 
   .sidebar .menu_section>li>a {
@@ -275,10 +254,34 @@
 
 @media only screen and (min-width: 768px) {
   #menu_button {
-    display: flex;
-  }
-
-  html.galaxy-sidebar-pinned #menu_button {
     display: none;
   }
 }
+
+@media only screen and (max-width: var(--breakpoint-md)) {
+  #sidebarUnderlay {
+    display: block;
+  }
+
+  .sidebar {
+    left: calc(-1 * var(--sidebar-width));
+    overflow-y: scroll;
+    transition: var(--transition-fast);
+  }
+
+  .sidebar .menu_section>li>a {
+    font-size: var(--padding-sm);
+  }
+
+  .sidebar .title {
+    flex-direction: row;
+    font-size: var(--border-radius-xl);
+    margin: 0;
+  }
+}
+
+@media only screen and (min-width: var(--breakpoint-md)) {
+  #menu_button {
+    display: none;
+  }
+}

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

@@ -37,40 +37,6 @@ const MENU_ITEMS = {
 };
 
 let galaxyDeveloperMode = false;
-const SIDEBAR_PINNED_KEY = "galaxySidebarPinned";
-let sidebarPinnedPreference = null;
-
-function defaultSidebarPinned() {
-  try {
-    return window.matchMedia?.("(min-width: 768px)")?.matches ?? window.innerWidth >= 768;
-  } catch {
-    return false;
-  }
-}
-
-function sidebarPinned() {
-  if (sidebarPinnedPreference !== null) return sidebarPinnedPreference;
-  let stored;
-  try {
-    stored = window.localStorage?.getItem(SIDEBAR_PINNED_KEY);
-  } catch {
-    stored = null;
-  }
-  if (stored === "true" || stored === "false") {
-    sidebarPinnedPreference = stored === "true";
-    return sidebarPinnedPreference;
-  }
-  return defaultSidebarPinned();
-}
-
-function setSidebarPinned(pinned) {
-  sidebarPinnedPreference = Boolean(pinned);
-  try {
-    window.localStorage?.setItem(SIDEBAR_PINNED_KEY, String(sidebarPinnedPreference));
-  } catch {
-  }
-  document.documentElement.classList.toggle("galaxy-sidebar-pinned", sidebarPinnedPreference);
-}
 
 function matchesPath(currentPath, link) {
   if (link === "/") return currentPath === "/";
@@ -126,29 +92,14 @@ function bindSidebarHandlers() {
 
   if (!menuButton || !underlay) return;
 
-  const pinButton = document.getElementById("sidebar_pin_button");
-  pinButton?.addEventListener("click", () => {
-    const pinned = !sidebarPinned();
-    setSidebarPinned(pinned);
-    const sidebar = document.getElementById("sidebar");
-    hideSidebar();
-    sidebar?.classList.toggle("pinned", pinned);
-    pinButton.setAttribute("aria-pressed", String(pinned));
-    pinButton.setAttribute("title", pinned ? "Unpin navigation" : "Pin navigation");
-    pinButton.querySelector("i")?.classList.toggle("bi-pin-angle-fill", pinned);
-    pinButton.querySelector("i")?.classList.toggle("bi-pin-angle", !pinned);
-  });
-
-  if (menuButton.dataset.boundClick !== "1") {
-    menuButton.dataset.boundClick = "1";
+  if (!window.__theGalaxySidebarMenuBound) {
+    window.__theGalaxySidebarMenuBound = true;
     menuButton.addEventListener("click", () => {
       const sidebar = document.getElementById("sidebar");
       const currentUnderlay = document.getElementById("sidebarUnderlay");
       if (!sidebar || !currentUnderlay) return;
-      if (sidebar.classList.contains("pinned")) return;
-      const open = sidebar.classList.toggle("visible");
-      currentUnderlay.classList.toggle("hidden", !open);
-      menuButton.setAttribute("aria-expanded", String(open));
+      sidebar.classList.toggle("visible");
+      currentUnderlay.classList.toggle("hidden");
     });
   }
 
@@ -181,25 +132,19 @@ function renderSidebarIntoShell(currentPath) {
   if (!shell) return;
 
   const activePath = currentPath || window.location.pathname;
-  const pinned = sidebarPinned();
   const sectionsMarkup = Object.entries(MENU_ITEMS)
     .map(([section, links]) => buildSectionMarkup(section, links, activePath))
     .join("");
 
   shell.innerHTML = `
     <div id="sidebarUnderlay" class="hidden"></div>
-    <div id="sidebar" class="sidebar${pinned ? " pinned" : ""}">
+    <div id="sidebar" class="sidebar">
       <div>
         <div class="title">
           <img class="logo" src="/assets/images/main_logo.png" alt="Galaxy logo" />
           <div class="title_text sidebar_header">
             <p>Galaxy</p>
           </div>
-          <button id="sidebar_pin_button" class="sidebar-pin-button" type="button"
-                  aria-label="Toggle pinned navigation" aria-pressed="${pinned}"
-                  title="${pinned ? "Unpin navigation" : "Pin navigation"}">
-            <i class="bi ${pinned ? "bi-pin-angle-fill" : "bi-pin-angle"}"></i>
-          </button>
         </div>
         <hr />
         ${sectionsMarkup}
@@ -212,7 +157,6 @@ function renderSidebarIntoShell(currentPath) {
 
 export function Sidebar(currentPath) {
   setTimeout(() => {
-    document.documentElement.classList.toggle("galaxy-sidebar-pinned", sidebarPinned());
     renderSidebarIntoShell(currentPath);
     refreshGalaxyDeveloperMode();
   }, 0);

starpilot/system/the_galaxy/assets/js/utils.js

@@ -67,7 +67,6 @@ export function showSidebar() {
   const html = document.documentElement
   document.getElementById("sidebar")?.classList.add("visible")
   document.getElementById("sidebarUnderlay")?.classList.remove("hidden")
-  document.getElementById("menu_button")?.setAttribute("aria-expanded", "true")
   html.classList.add("no_scroll")
 }
 
@@ -78,7 +77,6 @@ export function hideSidebar() {
   const html = document.documentElement
   document.getElementById("sidebar")?.classList.remove("visible")
   document.getElementById("sidebarUnderlay")?.classList.add("hidden")
-  document.getElementById("menu_button")?.setAttribute("aria-expanded", "false")
   html.classList.remove("no_scroll")
 }
 

starpilot/system/the_galaxy/templates/index.html

@@ -17,14 +17,14 @@
   <link rel="stylesheet" href="/assets/vendor/fonts/fonts.css">
 
   <link rel="stylesheet" href="/assets/components/home/home.css">
-  <link rel="stylesheet" href="/assets/components/main.css?v=sidebar-pin-2">
+  <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=sidebar-pin-2">
+  <link rel="stylesheet" href="/assets/components/navigation/navigation_destination.css?v=nav-search-context-2">
   <link rel="stylesheet" href="/assets/components/navigation/navigation_keys.css?v=app-keys-session-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">
-  <link rel="stylesheet" href="/assets/components/sidebar.css?v=sidebar-pin-2">
+  <link rel="stylesheet" href="/assets/components/sidebar.css">
   <link rel="stylesheet" href="/assets/components/tailscale/tailscale.css">
   <link rel="stylesheet" href="/assets/components/tools/doors.css">
   <link rel="stylesheet" href="/assets/components/tools/error_logs.css">
@@ -81,9 +81,9 @@
 <body>
   <div id="app"></div>
   <!-- Menu button for phone -->
-  <button id="menu_button" type="button" aria-label="Open navigation" aria-controls="sidebar" aria-expanded="false">
+  <div id="menu_button">
     <i class="bi bi-list"></i>
-  </button>
+  </div>
   <!-- Snackbar for messages -->
   <div id="snackbar_wrapper"></div>
 </body>

starpilot/system/the_galaxy/tests/test_device_settings_layout.py

@@ -75,15 +75,6 @@ def test_galaxy_new_ui_is_the_visible_default_choice():
   assert "Galaxy (old)" in galaxy_default["description"]
 
 
-def test_brake_status_toggle_is_galaxy_only():
-  setting = _params_by_section(_layout())["Visual (Display & UI)"]["ShowBrakeStatus"]
-
-  assert _declared_default("ShowBrakeStatus") == "0"
-  assert setting["galaxy_only"] is True
-  assert setting["settings_tier"] == "simple"
-  assert setting["ui_type"] == "toggle"
-
-
 def test_ford_lateral_controls_are_ford_only_and_galaxy_only():
   lateral = _params_by_section(_layout())["Lateral (Steering)"]
   ford_keys = {

starpilot/system/the_galaxy/tests/test_frontend_module_graph.py

@@ -25,9 +25,6 @@ def test_router_and_settings_cache_bust_is_consistent():
 
   assert "/assets/components/settings.js?v=router-cycle-fix-5" in router
   assert "/assets/components/router.js?v=router-cycle-fix-8" in index
-  assert "/assets/components/sidebar.js?v=sidebar-pin-2" in router
-  assert "/assets/components/main.css?v=sidebar-pin-2" in index
-  assert "/assets/components/sidebar.css?v=sidebar-pin-2" in index
 
 
 def test_bluetooth_actions_use_reactive_disabled_bindings():
@@ -111,27 +108,6 @@ def test_bluetooth_and_controllers_sidebar_order():
   controllers = source.index('{ name: "Controllers"')
   assert toggles < bluetooth < sentry < controllers
 
-
-def test_sidebar_pin_state_and_responsive_drawer_are_wired():
-  sidebar = SIDEBAR_PATH.read_text(encoding="utf-8")
-  template = INDEX_PATH.read_text(encoding="utf-8")
-  sidebar_css = (REPO_ROOT / "starpilot/system/the_galaxy/assets/components/sidebar.css").read_text(encoding="utf-8")
-  main_css = (REPO_ROOT / "starpilot/system/the_galaxy/assets/components/main.css").read_text(encoding="utf-8")
-  navigation_css = (REPO_ROOT / "starpilot/system/the_galaxy/assets/components/navigation/navigation_destination.css").read_text(encoding="utf-8")
-
-  assert 'window.localStorage?.getItem(SIDEBAR_PINNED_KEY)' in sidebar
-  assert 'stored === "true"' in sidebar and 'defaultSidebarPinned' in sidebar
-  assert "try {" in sidebar
-  assert 'menuButton.dataset.boundClick !== "1"' in sidebar
-  assert 'class="sidebar-pin-button"' in sidebar
-  assert '<button id="menu_button"' in template
-  assert 'aria-controls="sidebar"' in template
-  assert "@media only screen and (max-width: 767px)" in sidebar_css
-  assert "@media only screen and (min-width: 768px)" in sidebar_css
-  assert "@media only screen and (min-width: var(--breakpoint-md))" not in sidebar_css
-  assert "html.galaxy-sidebar-pinned .content" in main_css
-  assert "html.galaxy-sidebar-pinned .map-wrapper" in navigation_css
-
 def test_model_laboratory_is_wired_into_classic_and_mobile_navigation():
   router = ROUTER_PATH.read_text(encoding="utf-8")
   sidebar = SIDEBAR_PATH.read_text(encoding="utf-8")