iPhone FoldGate

starpilot/car/ford/lateral.py

@@ -37,6 +37,14 @@ CURVATURE_LOOKAHEAD_MAX = 0.40
 FORD_CURVATURE_LOOKAHEAD = {
   CAR.FORD_EXPLORER_MK6: 0.20,
 }
+FORD_CONSERVATIVE_PREVIEW_CARS = frozenset({
+  CAR.FORD_MUSTANG_MACH_E_MK1,
+})
+FORD_MANUAL_TURN_LATCH_CARS = frozenset({
+  CAR.FORD_MUSTANG_MACH_E_MK1,
+})
+MANUAL_TURN_ENTRY_ANGLE_DEG = 12.0
+MANUAL_TURN_RECOVERY_SECONDS = 0.25
 
 
 @dataclass(frozen=True)
@@ -101,6 +109,8 @@ class FordLateralController:
     self.curvature_lane_change_factor = 0.85
 
     self.human_turn = HumanTurnDetector()
+    self.manual_turn_latched = False
+    self.manual_turn_recovery_timer = 0.0
     self.curvature_samples = deque(maxlen=max(2, round(0.3 / STEER_DT)))
     self.curvature_last = 0.0
     self._frame = 0
@@ -151,8 +161,13 @@ 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) -> 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:
+        blend = 0.0
+      elif current * predicted > 0.0 and abs(current) > abs(desired) and abs(predicted) > abs(desired):
+        blend *= abs(desired) / abs(predicted)
     requested = predicted * blend + desired * (1.0 - blend)
     lane_change, direction = self._lane_change()
     precision = 1
@@ -166,26 +181,62 @@ class FordLateralController:
   def _manual_turn(self, CC, CS) -> bool:
     if not CC.latActive:
       self.human_turn.reset()
+      self.manual_turn_latched = False
+      self.manual_turn_recovery_timer = 0.0
       return False
-    return self.human_turn.update(
+    detected = self.human_turn.update(
       self.human_turn_enabled, CS.out.steeringPressed, CS.out.steeringAngleDeg)
+    if self.CP.carFingerprint not in FORD_MANUAL_TURN_LATCH_CARS:
+      return detected
+
+    if not self.human_turn_enabled:
+      self.manual_turn_latched = False
+      self.manual_turn_recovery_timer = 0.0
+      return False
+
+    blinker_direction = float(CS.out.rightBlinker) - float(CS.out.leftBlinker)
+    driver_turning_with_signal = (
+      CS.out.steeringPressed and abs(CS.out.steeringAngleDeg) >= MANUAL_TURN_ENTRY_ANGLE_DEG and
+      blinker_direction != 0.0 and not self._lane_change()[0] and
+      CS.out.steeringTorque * blinker_direction < 0.0
+    )
+    if detected or driver_turning_with_signal:
+      self.manual_turn_latched = True
+
+    if not self.manual_turn_latched:
+      self.manual_turn_recovery_timer = 0.0
+      return False
+
+    if CS.out.steeringPressed or blinker_direction != 0.0:
+      self.manual_turn_recovery_timer = 0.0
+    else:
+      self.manual_turn_recovery_timer += STEER_DT
+      if self.manual_turn_recovery_timer + 1e-9 >= MANUAL_TURN_RECOVERY_SECONDS:
+        self.manual_turn_latched = False
+        self.manual_turn_recovery_timer = 0.0
+
+    return self.manual_turn_latched
 
   def update(self, CC, CS, actuators) -> FordLateralResult:
     current = self._current_curvature(CS)
     if not CC.latActive:
       self.human_turn.reset()
+      self.manual_turn_latched = False
+      self.manual_turn_recovery_timer = 0.0
       self.curvature_samples.clear()
       self.curvature_last = 0.0
       return FordLateralResult()
 
-    if self._manual_turn(CC, CS) or CS.out.vEgoRaw < 0.1:
+    manual_turn = self._manual_turn(CC, CS)
+    if manual_turn or CS.out.vEgoRaw < 0.1:
       self.curvature_samples.clear()
       self.curvature_last = 0.0
-      return FordLateralResult(active=True)
+      return FordLateralResult(active=not (
+        manual_turn and self.CP.carFingerprint in FORD_MANUAL_TURN_LATCH_CARS))
 
     v_ego = float(CS.out.vEgoRaw)
     predicted = self._predicted_curvature(v_ego, self._curvature_lookahead())
-    requested, precision = self._blend_and_scale(float(actuators.curvature), predicted, v_ego)
+    requested, precision = self._blend_and_scale(float(actuators.curvature), predicted, v_ego, current)
 
     if v_ego > 9.0:
       requested = float(np.clip(requested, current - CarControllerParams.CURVATURE_ERROR,

starpilot/car/ford/tests/test_lateral.py

@@ -32,12 +32,16 @@ def controller(monkeypatch):
   return controller
 
 
-def car_state(speed=15.0, curvature=0.0, steering_pressed=False, steering_angle=0.0):
+def car_state(speed=15.0, curvature=0.0, steering_pressed=False, steering_angle=0.0,
+              steering_torque=0.0, left_blinker=False, right_blinker=False):
   return SimpleNamespace(out=SimpleNamespace(
     vEgoRaw=speed,
     yawRate=-curvature * speed,
     steeringPressed=steering_pressed,
     steeringAngleDeg=steering_angle,
+    steeringTorque=steering_torque,
+    leftBlinker=left_blinker,
+    rightBlinker=right_blinker,
   ))
 
 
@@ -114,6 +118,36 @@ def test_curvature_strategy_uses_learned_lookahead(controller, monkeypatch):
   assert lookaheads == [pytest.approx(0.38)]
 
 
+def test_mach_e_preview_does_not_override_opposite_current_path(controller):
+  controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
+
+  requested, _ = controller._blend_and_scale(-0.0001, 0.002, 20.0)
+
+  assert requested == pytest.approx(-0.0001)
+
+
+def test_mach_e_preview_is_reduced_when_ahead_of_current_path(controller):
+  controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
+
+  requested, _ = controller._blend_and_scale(0.0005, 0.002, 20.0, current=0.0015)
+
+  assert requested == pytest.approx(0.00065)
+
+
+def test_mach_e_preview_remains_available_on_curve_entry(controller):
+  controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
+
+  requested, _ = controller._blend_and_scale(0.0005, 0.002, 20.0, current=0.0002)
+
+  assert requested == pytest.approx(0.0011)
+
+
+def test_non_mach_e_preview_blend_is_unchanged(controller):
+  requested, _ = controller._blend_and_scale(-0.0001, 0.002, 20.0, current=0.0015)
+
+  assert requested == pytest.approx(0.00074)
+
+
 def test_lane_change_accepts_capnp_enum_wrappers(controller):
   controller.model = SimpleNamespace(meta=SimpleNamespace(
     laneChangeState=SimpleNamespace(raw=2),
@@ -146,3 +180,87 @@ def test_curvature_manual_turn_keeps_session_active_with_neutral_command(control
 
   assert result.active
   assert result.curvature == 0.0
+
+
+def test_mach_e_signaled_manual_turn_yields_until_inputs_settle(controller):
+  controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
+  controller.human_turn_enabled = True
+  CC = SimpleNamespace(latActive=True)
+  actuators = SimpleNamespace(curvature=0.006)
+
+  result = controller.update(CC, car_state(
+    steering_pressed=True, steering_angle=-15.0, steering_torque=-2.0,
+    right_blinker=True), actuators)
+  assert not result.active
+  assert result.curvature == 0.0
+
+  result = controller.update(CC, car_state(
+    steering_pressed=True, steering_angle=5.0, steering_torque=2.0,
+    right_blinker=True), actuators)
+  assert not result.active
+
+  for _ in range(4):
+    result = controller.update(CC, car_state(), actuators)
+    assert not result.active
+
+  result = controller.update(CC, car_state(), actuators)
+  assert result.active
+  assert result.curvature > 0.0
+
+
+def test_mach_e_opposite_blinker_correction_does_not_start_manual_turn(controller):
+  controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
+
+  result = controller.update(
+    SimpleNamespace(latActive=True),
+    car_state(steering_pressed=True, steering_angle=-15.0, steering_torque=2.0,
+              right_blinker=True),
+    SimpleNamespace(curvature=0.001),
+  )
+
+  assert result.active
+
+
+def test_mach_e_lane_change_nudge_does_not_start_manual_turn(controller):
+  controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
+  controller.model = SimpleNamespace(
+    orientationRate=SimpleNamespace(z=[0.0] * 33),
+    meta=SimpleNamespace(
+      laneChangeState=SimpleNamespace(raw=2),
+      laneChangeDirection=SimpleNamespace(raw=2),
+    ),
+  )
+
+  result = controller.update(
+    SimpleNamespace(latActive=True),
+    car_state(steering_pressed=True, steering_angle=-15.0, steering_torque=-2.0,
+              right_blinker=True),
+    SimpleNamespace(curvature=0.001),
+  )
+
+  assert result.active
+
+
+def test_mach_e_small_blinker_nudge_does_not_start_manual_turn(controller):
+  controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
+
+  result = controller.update(
+    SimpleNamespace(latActive=True),
+    car_state(steering_pressed=True, steering_angle=-5.0, steering_torque=-2.0,
+              right_blinker=True),
+    SimpleNamespace(curvature=0.001),
+  )
+
+  assert result.active
+
+
+def test_mach_e_manual_turn_latch_resets_with_lateral_control(controller):
+  controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
+  actuators = SimpleNamespace(curvature=0.001)
+  turning = car_state(
+    steering_pressed=True, steering_angle=-15.0, steering_torque=-2.0,
+    right_blinker=True)
+
+  assert not controller.update(SimpleNamespace(latActive=True), turning, actuators).active
+  assert not controller.update(SimpleNamespace(latActive=False), turning, actuators).active
+  assert controller.update(SimpleNamespace(latActive=True), car_state(), actuators).active

starpilot/common/starpilot_variables.py

@@ -16,7 +16,7 @@ from cereal import car, custom, log
 from opendbc.car import gen_empty_fingerprint
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.chrysler.values import JEEPS as CHRYSLER_JEEPS
-from opendbc.car.gm.values import CAR as GM_CAR, EV_CAR as GM_EV_CAR, GMFlags
+from opendbc.car.gm.values import CAR as GM_CAR, EV_CAR as GM_EV_CAR, GM_AUTO_HOLD_CARS, GMFlags
 from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR, EV_CAR as HYUNDAI_EV_CAR, HyundaiFlags, HyundaiStarPilotSafetyFlags
 from opendbc.car.interfaces import TORQUE_SUBSTITUTE_PATH, CarInterfaceBase, GearShifter
 from opendbc.car.mock.values import CAR as MOCK
@@ -1406,7 +1406,7 @@ class StarPilotVariables:
 
     screen_management = self.get_value("ScreenManagement")
     toggle.screen_brightness = max(self.get_value("ScreenBrightness", cast=float, condition=screen_management), 1)
-    toggle.screen_brightness_onroad = self.get_value("ScreenBrightnessOnroad", cast=float, condition=(screen_management and not toggle.force_onroad), min=1)
+    toggle.screen_brightness_onroad = self.get_value("ScreenBrightnessOnroad", cast=float, condition=(screen_management and not toggle.force_onroad), min=0)
     toggle.screen_recorder = self.get_value("ScreenRecorder", condition=screen_management) or toggle.debug_mode
     toggle.screen_timeout = self.get_value("ScreenTimeout", cast=float, condition=screen_management)
     toggle.screen_timeout_onroad = self.get_value("ScreenTimeoutOnroad", cast=float, condition=screen_management)
@@ -1600,9 +1600,9 @@ class StarPilotVariables:
     )
     toggle.remote_start_boots_comma = self.get_value("RemoteStartBootsComma", condition=toggle.car_make == "gm")
 
-    gm_auto_hold_supported = toggle.car_model in LEGACY_VOLT_STOCK_ACC_CARS
+    gm_auto_hold_supported = toggle.car_model in GM_AUTO_HOLD_CARS
     toggle.gm_auto_hold = self.get_value("GMAutoHold", condition=gm_auto_hold_supported)
-    toggle.volt_one_pedal_mode = self.get_value("VoltOnePedalMode", condition=gm_auto_hold_supported)
+    toggle.volt_one_pedal_mode = self.get_value("VoltOnePedalMode", condition=toggle.car_model in LEGACY_VOLT_STOCK_ACC_CARS)
 
     toggle.volt_sng = self.get_value("VoltSNG", condition=toggle.car_model in LEGACY_VOLT_STOCK_ACC_CARS)
 

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

@@ -34,7 +34,7 @@ const VEHICLE_SETTING_MAKES = {
   RemoteStartBootsComma: GM_MAKES,
   HKGRemoteStartBootsComma: HKG_MAKES,
   VoltSNG: ["Chevrolet", "Holden"],
-  GMAutoHold: ["Chevrolet", "Holden"],
+  GMAutoHold: ["Buick", "Chevrolet", "Holden"],
   VoltOnePedalMode: ["Chevrolet", "Holden"],
   RemapCancelToDistance: ["Chevrolet", "Holden"],
   JeepBrakeHold: ["Jeep"],
@@ -490,7 +490,7 @@ function numericBounds(param) {
     return { min: 1, max: 101, step: 1 }
   }
   if (param.key === "ScreenBrightnessOnroad") {
-    return { min: 1, max: 101, step: 1 }
+    return { min: 0, max: 101, step: 1 }
   }
 
   if (param.key === "LaneCenterOffset") {

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

@@ -62,7 +62,7 @@ const VEHICLE_SETTING_MAKES = {
   RemoteStartBootsComma: ["Buick", "Cadillac", "Chevrolet", "GMC", "Holden"],
   HKGRemoteStartBootsComma: ["Genesis", "Hyundai", "Kia"],
   VoltSNG: ["Chevrolet", "Holden"],
-  GMAutoHold: ["Chevrolet", "Holden"],
+  GMAutoHold: ["Buick", "Chevrolet", "Holden"],
   VoltOnePedalMode: ["Chevrolet", "Holden"],
   RemapCancelToDistance: ["Chevrolet", "Holden"],
   JeepBrakeHold: ["Jeep"],
@@ -140,9 +140,12 @@ export function numericBounds(param, values = {}) {
     const n = Number(value)
     return Number.isFinite(n) ? n : null
   }
-  if (param.key === "ScreenBrightness" || param.key === "ScreenBrightnessOnroad") {
+  if (param.key === "ScreenBrightness") {
     return { min: 1, max: 101, step: 1 }
   }
+  if (param.key === "ScreenBrightnessOnroad") {
+    return { min: 0, max: 101, step: 1 }
+  }
   if (param.key === "LaneCenterOffset") {
     return { min: -0.3, max: 0.3, step: 0.01 }
   }

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

@@ -26,6 +26,7 @@ export const SystemTools = {
       fastStatus: null,
       checkedForUpdates: false,
       busy: "",
+      autoUpdateBusy: false,
       profiles: [],
       profileBusy: "",
     }
@@ -77,6 +78,7 @@ export const SystemTools = {
         const status = await api.getUpdateFastStatus()
         if (!status) throw new Error("Update status unavailable")
         this.fastStatus = status
+        this.isOnroad = !!status.isOnroad
       } catch (e) {
         this.fastStatus = null
         if (throwOnError) throw e
@@ -195,6 +197,21 @@ export const SystemTools = {
         this.busy = ""
       }
     },
+    async setAutomaticUpdates(enabled) {
+      if (this.autoUpdateBusy || this.isOnroad || this.fastStatus?.running || !this.fastStatus) return
+      const previous = !!this.fastStatus.automaticUpdates
+      this.autoUpdateBusy = true
+      this.fastStatus = { ...this.fastStatus, automaticUpdates: !!enabled }
+      try {
+        const payload = await api.updateParam({ key: "AutomaticUpdates", value: !!enabled, label: "Automatic Updates" })
+        showSnackbar(payload?.message || `Automatic updates ${enabled ? "enabled" : "disabled"}.`)
+      } catch (e) {
+        this.fastStatus = { ...this.fastStatus, automaticUpdates: previous }
+        showSnackbar(e?.message || "Failed to update Automatic Updates.", "error")
+      } finally {
+        this.autoUpdateBusy = false
+      }
+    },
     async applyFastUpdate() {
       if (this.busy || this.isOnroad) return
       if (this.fastStatus?.running) { showSnackbar("Fast update is already running."); return }
@@ -301,6 +318,22 @@ export const SystemTools = {
               </div>
             </div>
 
+            <div class="gx-card" style="margin-bottom:12px;">
+              <div class="gx-row" style="border-top:none;">
+                <div class="gx-row__info">
+                  <span class="gx-row__label">Automatically Install Updates</span>
+                  <span class="gx-row__desc">Install updates automatically while parked with an active internet connection.</span>
+                </div>
+                <label class="gx-switch">
+                  <input type="checkbox" :checked="!!fastStatus?.automaticUpdates"
+                    :disabled="!fastStatus || isOnroad || autoUpdateBusy || !!fastStatus?.running"
+                    @change="setAutomaticUpdates($event.target.checked)" />
+                  <span class="gx-switch__track"></span>
+                  <span class="gx-switch__thumb"></span>
+                </label>
+              </div>
+            </div>
+
             <div class="gx-card" style="margin-bottom:12px;">
               <div class="gx-section__header"><i class="bi bi-git-branch"></i><span class="gx-section__title">Switch Branch</span></div>
               <div style="padding: var(--sp-3);">

starpilot/system/the_galaxy/tests/test_ui_vue_frontend.py

@@ -80,6 +80,14 @@ def test_ui_ports_developer_mode_gating():
   assert "isAdvancedHiddenByDeveloperMode" in params
 
 
+def test_ui_exposes_gm_auto_hold_to_buick():
+  params = _read("js/params.js")
+  device_settings = (REPO_ROOT / "starpilot/system/the_galaxy/assets/components/tools/device_settings.js").read_text(encoding="utf-8")
+
+  assert 'GMAutoHold: ["Buick", "Chevrolet", "Holden"]' in params
+  assert 'GMAutoHold: ["Buick", "Chevrolet", "Holden"]' in device_settings
+
+
 def test_ui_restores_hierarchical_sub_toggle_rendering():
   # Children must nest under parents via the recursive SettingTree, gated on
   # the parent being enabled AND expanded (classic renderSettingTree contract).
@@ -509,6 +517,10 @@ def test_ui_mobile_polish_regressions():
   assert "checkedForUpdates && !!this.fastStatus?.updateAvailable" in system
   assert "gx-update-progress__fill" in system
   assert "linear-gradient(90deg, #5ec8c8 0%, #8b6cc5 100%)" in css
+  assert "Automatically Install Updates" in system
+  assert 'key: "AutomaticUpdates"' in system
+  assert "!!fastStatus?.automaticUpdates" in system
+  assert "isOnroad || autoUpdateBusy || !!fastStatus?.running" in system
 
   bluetooth = _read("js/components/BluetoothPanel.js")
   assert "methods: {\n    address," in bluetooth