From f73af2211d9bb087eac50a83615612cbee67ed6a Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sat, 15 Aug 2026 11:22:14 -0500
Subject: [PATCH] The Saturday Threshold

---
 .../opendbc/car/fw_query_definitions.py       |  1 +
 opendbc_repo/opendbc/car/fw_versions.py       |  6 +++
 .../opendbc/car/subaru/tests/test_subaru.py   | 32 +++++++++++++-
 opendbc_repo/opendbc/car/subaru/values.py     | 16 ++-----
 .../opendbc/car/tests/test_fw_fingerprint.py  |  4 +-
 .../controls/lib/longitudinal_planner.py      |  4 +-
 .../lib/longitudinal_vehicle_tunes.py         |  9 ++++
 .../controls/tests/test_starpilot_vcruise.py  | 24 +++++++++++
 selfdrive/ui/onroad/cameraview.py             | 14 +++++-
 selfdrive/ui/tests/test_camera_frame_order.py |  6 +++
 starpilot/controls/lib/starpilot_vcruise.py   | 43 ++++++++++++++++---
 system/ui/README.md                           |  1 +
 12 files changed, 136 insertions(+), 24 deletions(-)

diff --git a/opendbc_repo/opendbc/car/fw_query_definitions.py b/opendbc_repo/opendbc/car/fw_query_definitions.py
index 5c48fed6a..a43f4bb2c 100644
--- a/opendbc_repo/opendbc/car/fw_query_definitions.py
+++ b/opendbc_repo/opendbc/car/fw_query_definitions.py
@@ -101,6 +101,7 @@ class Request:
 @dataclass
 class FwQueryConfig:
   requests: list[Request]
+  non_tester_present_ecus: list[Ecu] = field(default_factory=list)
   # TODO: make this automatic and remove hardcoded lists, or do fingerprinting with ecus
   # Overrides and removes from essential ecus for specific models and ecus (exact matching)
   non_essential_ecus: dict[Ecu, list[str]] = field(default_factory=dict)
diff --git a/opendbc_repo/opendbc/car/fw_versions.py b/opendbc_repo/opendbc/car/fw_versions.py
index 09d83b527..6e4b2aebf 100644
--- a/opendbc_repo/opendbc/car/fw_versions.py
+++ b/opendbc_repo/opendbc/car/fw_versions.py
@@ -181,6 +181,9 @@ def get_present_ecus(can_recv: CanRecvCallable, can_send: CanSendCallable, set_o
       continue
 
     for ecu_type, addr, sub_addr in config.get_all_ecus(VERSIONS[brand]):
+      if ecu_type in config.non_tester_present_ecus:
+        continue
+
       # Only query ecus in whitelist if whitelist is not empty
       if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus:
         a = (addr, sub_addr, r.bus)
@@ -216,6 +219,9 @@ def get_brand_ecu_matches(ecu_rx_addrs: set[EcuAddrBusType]) -> dict[str, list[b
   # Since we can't know what request an ecu responded to, add matches for all possible rx offsets
   for brand, config, r in REQUESTS:
     for ecu in config.get_all_ecus(VERSIONS[brand]):
+      if ecu[0] in config.non_tester_present_ecus:
+        continue
+
       if len(r.whitelist_ecus) == 0 or ecu[0] in r.whitelist_ecus:
         brand_rx_addrs[brand].add((uds.get_rx_addr_for_tx_addr(ecu[1], r.rx_offset), ecu[2]))
 
diff --git a/opendbc_repo/opendbc/car/subaru/tests/test_subaru.py b/opendbc_repo/opendbc/car/subaru/tests/test_subaru.py
index bc9239454..bc80294a4 100644
--- a/opendbc_repo/opendbc/car/subaru/tests/test_subaru.py
+++ b/opendbc_repo/opendbc/car/subaru/tests/test_subaru.py
@@ -5,14 +5,16 @@ from types import SimpleNamespace
 import pytest
 
 from opendbc.can import CANPacker, CANParser
-from opendbc.car import Bus, structs
+from opendbc.car import Bus, fw_versions, structs
+from opendbc.car.fw_query_definitions import StdQueries
 from opendbc.car.subaru import subarucan
 from opendbc.car.subaru.carcontroller import CarController
 from opendbc.car.subaru.carstate import CarState
 from opendbc.car.subaru.fingerprints import FW_VERSIONS
 from opendbc.car.fw_versions import match_fw_to_car
 from opendbc.car.subaru.interface import CarInterface
-from opendbc.car.subaru.values import CAR, DBC, CanBus, SubaruFlags, SubaruSafetyFlags
+from opendbc.car.subaru.values import CAR, DBC, FW_QUERY_CONFIG, SUBARU_ALT_VERSION_REQUEST, SUBARU_VERSION_REQUEST, CanBus, \
+  SubaruFlags, SubaruSafetyFlags
 from opendbc.car.structs import CarParams
 
 
@@ -66,6 +68,32 @@ def test_preglobal_sng_does_not_send_standstill_keepalive_without_manual_toggle(
 
 
 class TestSubaruFingerprint:
+  def test_eyesight_queries_do_not_change_diagnostic_state(self, monkeypatch):
+    camera_requests = [request for request in FW_QUERY_CONFIG.requests if CarParams.Ecu.fwdCamera in request.whitelist_ecus]
+
+    assert CarParams.Ecu.fwdCamera in FW_QUERY_CONFIG.non_tester_present_ecus
+    assert {tuple(request.request) for request in camera_requests} == {
+      (SUBARU_VERSION_REQUEST,),
+      (SUBARU_ALT_VERSION_REQUEST,),
+    }
+    for request in camera_requests:
+      assert StdQueries.TESTER_PRESENT_REQUEST not in request.request
+      assert StdQueries.DEFAULT_DIAGNOSTIC_REQUEST not in request.request
+
+    queried_ecus = set()
+
+    def collect_queries(_can_recv, _can_send, queries, _responses, timeout):
+      queried_ecus.update(queries)
+      return set()
+
+    monkeypatch.setattr(fw_versions, "REQUESTS", [("subaru", FW_QUERY_CONFIG, request) for request in FW_QUERY_CONFIG.requests])
+    monkeypatch.setattr(fw_versions, "VERSIONS", {"subaru": FW_VERSIONS})
+    monkeypatch.setattr(fw_versions, "get_ecu_addrs", collect_queries)
+    fw_versions.get_present_ecus(lambda **_kwargs: [], lambda _msgs: None, lambda _enabled: None)
+
+    assert queried_ecus
+    assert all(address != 0x787 for address, _subaddress, _bus in queried_ecus)
+
   def test_fw_version_format(self):
     for platform, fws_per_ecu in FW_VERSIONS.items():
       for (ecu, _, _), fws in fws_per_ecu.items():
diff --git a/opendbc_repo/opendbc/car/subaru/values.py b/opendbc_repo/opendbc/car/subaru/values.py
index bb23533d2..ea1192ad5 100644
--- a/opendbc_repo/opendbc/car/subaru/values.py
+++ b/opendbc_repo/opendbc/car/subaru/values.py
@@ -281,12 +281,10 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
+      whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.engine, Ecu.transmission],
       logging=True,
     ),
     # Non-OBD requests
-    # Some Eyesight modules fail on TESTER_PRESENT_REQUEST
-    # TODO: check if this resolves the fingerprinting issue for the 2023 Ascent and other new Subaru cars
     Request(
       [SUBARU_VERSION_REQUEST],
       [SUBARU_VERSION_RESPONSE],
@@ -300,28 +298,22 @@ FW_QUERY_CONFIG = FwQueryConfig(
       bus=0,
       logging=True,
     ),
-    Request(
-      [StdQueries.DEFAULT_DIAGNOSTIC_REQUEST, StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
-      [StdQueries.DEFAULT_DIAGNOSTIC_RESPONSE, StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera],
-      bus=0,
-      logging=True,
-    ),
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
+      whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.engine, Ecu.transmission],
       bus=0,
     ),
     # GEN2 powertrain bus query
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
+      whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.engine, Ecu.transmission],
       bus=1,
       obd_multiplexing=False,
     ),
   ],
+  non_tester_present_ecus=[Ecu.fwdCamera],
   # We don't get the EPS from non-OBD queries on GEN2 cars. Note that we still attempt to match when it exists
   non_essential_ecus={
     Ecu.eps: list(CAR.with_flags(SubaruFlags.GLOBAL_GEN2)),
diff --git a/opendbc_repo/opendbc/car/tests/test_fw_fingerprint.py b/opendbc_repo/opendbc/car/tests/test_fw_fingerprint.py
index 2a8f6dd22..21c494219 100644
--- a/opendbc_repo/opendbc/car/tests/test_fw_fingerprint.py
+++ b/opendbc_repo/opendbc/car/tests/test_fw_fingerprint.py
@@ -265,7 +265,7 @@ class TestFwFingerprintTiming:
         print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
   def test_fw_query_timing(self, subtests, mocker):
-    total_ref_time = {1: 7.4, 2: 8.0}
+    total_ref_time = {1: 7.3, 2: 7.9}
     brand_ref_times = {
       1: {
         'gm': 1.0,
@@ -276,7 +276,7 @@ class TestFwFingerprintTiming:
         'hyundai': 0.65,
         'mazda': 0.1,
         'nissan': 0.8,
-        'subaru': 0.65,
+        'subaru': 0.55,
         'tesla': 0.1,
         'toyota': 0.7,
         'volkswagen': 0.65,
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 08c2958b0..d38f8a04f 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -21,6 +21,7 @@ from openpilot.selfdrive.controls.lib.lead_follow_policy import is_nonurgent_dup
 from openpilot.selfdrive.controls.lib.longitudinal_vehicle_tunes import (
   get_far_follow_output_slew_rates,
   get_follow_prebrake_min_headway,
+  get_force_stop_handoff_distance,
   is_gm_silverado_early_follow_lead,
   is_toyota_rav4_tss2_post_departure_tune,
   get_toyota_sienna_post_departure_restop_cap,
@@ -2177,7 +2178,8 @@ class LongitudinalPlanner:
     # the line parks us short. Below that the existing v_cruise=0 path finishes the stop,
     # since forcingStopLength is decaying to zero and the obstacle would land behind us.
     force_stop_x = None
-    if sm['starpilotPlan'].forcingStop and sm['starpilotPlan'].forcingStopLength > STOP_DISTANCE:
+    force_stop_handoff_m = get_force_stop_handoff_distance(self.CP.carFingerprint)
+    if sm['starpilotPlan'].forcingStop and sm['starpilotPlan'].forcingStopLength > force_stop_handoff_m:
       force_stop_x = float(sm['starpilotPlan'].forcingStopLength) + STOP_DISTANCE
 
     self.mpc.update(sm['radarState'], v_cruise, x, v, a, j,
diff --git a/selfdrive/controls/lib/longitudinal_vehicle_tunes.py b/selfdrive/controls/lib/longitudinal_vehicle_tunes.py
index c83db3bc4..80471ed8d 100644
--- a/selfdrive/controls/lib/longitudinal_vehicle_tunes.py
+++ b/selfdrive/controls/lib/longitudinal_vehicle_tunes.py
@@ -18,6 +18,8 @@ TOYOTA_SIENNA_POST_DEPARTURE_RESTOP_MIN_MODEL_PROB = 0.95
 TOYOTA_SIENNA_POST_DEPARTURE_RESTOP_MAX_LATERAL_OFFSET = 1.75
 TOYOTA_SIENNA_POST_DEPARTURE_RESTOP_MIN_BRAKE = 0.18
 TOYOTA_SIENNA_POST_DEPARTURE_RESTOP_MAX_BRAKE = 0.32
+TOYOTA_CAMRY_TSS2_FORCE_STOP_HANDOFF_M = 4.5
+DEFAULT_FORCE_STOP_HANDOFF_M = 6.0
 
 
 def is_toyota_rav4_tss2_post_departure_tune(CP):
@@ -109,3 +111,10 @@ def get_toyota_sienna_post_departure_restop_cap(CP, lead, v_ego, accel_min,
     TOYOTA_SIENNA_POST_DEPARTURE_RESTOP_MAX_BRAKE,
   ))
   return brake_floor if accel_min >= 0.0 else max(float(accel_min), brake_floor)
+
+
+def get_force_stop_handoff_distance(car_fingerprint):
+  """Return the distance at which force-stop control hands off to MPC."""
+  if str(car_fingerprint) == "TOYOTA_CAMRY_TSS2":
+    return TOYOTA_CAMRY_TSS2_FORCE_STOP_HANDOFF_M
+  return DEFAULT_FORCE_STOP_HANDOFF_M
diff --git a/selfdrive/controls/tests/test_starpilot_vcruise.py b/selfdrive/controls/tests/test_starpilot_vcruise.py
index 8aadc430a..cab80192c 100644
--- a/selfdrive/controls/tests/test_starpilot_vcruise.py
+++ b/selfdrive/controls/tests/test_starpilot_vcruise.py
@@ -13,6 +13,7 @@ from openpilot.starpilot.controls.lib.starpilot_vcruise import (
   get_lead_veto_distance,
   get_slc_lead_drop_relaxed_target,
 )
+from openpilot.selfdrive.controls.lib.longitudinal_vehicle_tunes import get_force_stop_handoff_distance
 from types import SimpleNamespace
 
 
@@ -116,6 +117,11 @@ def test_elantra_gets_lead_veto_margin_before_force_stop():
   assert get_lead_veto_distance(SimpleNamespace(carFingerprint="OTHER_CAR")) == pytest.approx(75.0)
 
 
+def test_camry_tss2_uses_closer_force_stop_handoff():
+  assert get_force_stop_handoff_distance("TOYOTA_CAMRY_TSS2") == pytest.approx(4.5)
+  assert get_force_stop_handoff_distance("TOYOTA_RAV4_TSS2") == pytest.approx(6.0)
+
+
 def test_curve_speed_controller_holds_target_through_brief_detector_dropout():
   planner, vcruise = make_vcruise()
   sm = make_sm(standstill=False)
@@ -478,6 +484,24 @@ def test_force_stop_stays_committed_while_moving_even_if_scene_opens():
   assert vcruise.forcing_stop
 
 
+def test_force_stop_releases_after_cem_light_clears_while_moving():
+  planner, vcruise = make_vcruise(red_light=True, raw_model_stopped=False, forcing_stop=True)
+  sm = make_sm(standstill=False)
+  toggles = make_toggles()
+
+  update_vcruise(vcruise, sm, toggles, now=0.0, v_ego=3.0)
+  assert vcruise.force_stop_from_light
+
+  planner.starpilot_cem.stop_light_detected = False
+  update_vcruise(vcruise, sm, toggles, now=0.25, v_ego=3.0)
+  assert vcruise.forcing_stop
+
+  result = update_vcruise(vcruise, sm, toggles, now=0.75, v_ego=3.0)
+  assert result == pytest.approx(20.0)
+  assert not vcruise.forcing_stop
+  assert not vcruise.force_stop_from_light
+
+
 def test_force_stop_turn_scene_veto_blocks_new_activation():
   _, vcruise = make_vcruise(red_light=False, raw_model_stopped=False, forcing_stop=False)
   sm = make_sm(standstill=False)
diff --git a/selfdrive/ui/onroad/cameraview.py b/selfdrive/ui/onroad/cameraview.py
index b1e7a871d..ac5c52ffa 100644
--- a/selfdrive/ui/onroad/cameraview.py
+++ b/selfdrive/ui/onroad/cameraview.py
@@ -6,7 +6,7 @@ import pyray as rl
 
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import PC, TICI
+from openpilot.system.hardware import HARDWARE, PC, TICI
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.egl import (
   init_egl, is_egl_initialized, finish_gl, create_egl_image, destroy_egl_image,
@@ -17,7 +17,17 @@ from openpilot.selfdrive.ui.ui_state import ui_state
 
 CONNECTION_RETRY_INTERVAL = 0.2  # seconds between connection attempts
 STREAM_DISCOVERY_REFRESH_INTERVAL = 0.5  # seconds between nonblocking stream advertisements
-MICI_FORCE_TEXTURE_CAMERA = os.getenv("MICI_FORCE_TEXTURE_CAMERA", "0") == "1"
+
+
+def _default_force_texture_camera(device_type: str) -> bool:
+  return device_type == "mici"
+
+
+DEVICE_TYPE = HARDWARE.get_device_type()
+MICI_FORCE_TEXTURE_CAMERA = os.getenv(
+  "MICI_FORCE_TEXTURE_CAMERA",
+  "1" if _default_force_texture_camera(DEVICE_TYPE) else "0",
+) == "1"
 # One stale frame can be normal ring-buffer reuse; repeated consecutive regressions demote EGL.
 EGL_REGRESSIVE_FRAME_FALLBACK_THRESHOLD = 3
 
diff --git a/selfdrive/ui/tests/test_camera_frame_order.py b/selfdrive/ui/tests/test_camera_frame_order.py
index e4217ff3b..0e91cb094 100644
--- a/selfdrive/ui/tests/test_camera_frame_order.py
+++ b/selfdrive/ui/tests/test_camera_frame_order.py
@@ -30,6 +30,12 @@ def test_mici_uses_shared_camera_view():
   assert not big_cameraview.CameraView._use_upstream_engaged_color
 
 
+def test_c4_defaults_to_ui_owned_camera_textures():
+  assert big_cameraview._default_force_texture_camera("mici")
+  assert not big_cameraview._default_force_texture_camera("tici")
+  assert not big_cameraview._default_force_texture_camera("tizi")
+
+
 def test_pending_switch_is_cancelled_when_requested_stream_is_current():
   view = _camera_view()
   view._stream_type = big_cameraview.VisionStreamType.VISION_STREAM_ROAD
diff --git a/starpilot/controls/lib/starpilot_vcruise.py b/starpilot/controls/lib/starpilot_vcruise.py
index 1fdf422dc..e92d4b442 100644
--- a/starpilot/controls/lib/starpilot_vcruise.py
+++ b/starpilot/controls/lib/starpilot_vcruise.py
@@ -8,12 +8,14 @@ from openpilot.common.realtime import DT_MDL
 from openpilot.starpilot.common.starpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED
 from openpilot.starpilot.controls.lib.curve_speed_controller import CurveSpeedController, is_manual_speed_control
 from openpilot.starpilot.controls.lib.speed_limit_controller import SpeedLimitController
+from openpilot.selfdrive.controls.lib.longitudinal_vehicle_tunes import get_force_stop_handoff_distance
 
 CSC_MIN_SPEED = CITY_SPEED_LIMIT * CV.MPH_TO_MS
 CSC_CURVE_RELEASE_HOLD_TIME = 0.75
 OVERRIDE_FORCE_STOP_TIMER = 10
 STANDSTILL_FORCE_STOP_CLEAR_TIME = 0.75
 STANDSTILL_FORCE_STOP_LIGHT_HOLD_TIME = 5.0
+FORCE_STOP_LIGHT_CLEAR_TIME = 0.5
 SLC_LEAD_DROP_RELAXATION_MIN_SPEED = 20.0 * CV.MPH_TO_MS
 SLC_LEAD_DROP_RELAXATION_MIN_DISTANCE = 30.0
 SLC_LEAD_DROP_RELAXATION_MIN_HEADWAY = 1.2
@@ -48,7 +50,6 @@ LEAD_VETO_M = 75.0        # m — lead proximity that vetoes Force Stop (kept of
 LEAD_VETO_M_OVERRIDES = {
   "HYUNDAI_ELANTRA_2021": 90.0,
 }
-MPC_HANDOFF_M = 6.0       # m — below this, command 0 and let MPC finish the stop
 FORCE_STOP_APPROACH_DECEL = 0.65  # m/s^2 — speed ceiling before commit. LOWER = more early
                           # braking; don't go under FORCE_STOP_MODEL_APPROACH_DECEL
 ADAS_MAX_MS = 17.88       # 40 mph — cross-street ADAS guard
@@ -166,6 +167,8 @@ class StarPilotVCruise:
     self.standstill_force_stop_clear_since = 0.0
     self.standstill_force_stop_started_at = None
     self.standstill_force_stop_reason = None
+    self.force_stop_from_light = False
+    self.force_stop_light_clear_since = None
     self.controls_enabled_previously = False
     # Kinematic distance estimator. Same attribute also published as
     # starpilotPlan.forcingStopLength, so the existing reader keeps working.
@@ -314,6 +317,9 @@ class StarPilotVCruise:
       self._applied_slc_control_target = 0.0
 
     long_control_active = sm["carControl"].longActive
+    force_stop_handoff_m = get_force_stop_handoff_distance(
+      getattr(starpilot_toggles, "car_model", "")
+    )
 
     raw_stop_seen = bool(
       self.starpilot_planner.starpilot_cem.stop_light_detected
@@ -393,6 +399,13 @@ class StarPilotVCruise:
 
     force_stop_active = cem_path or dash_path
 
+    if cem_path:
+      self.force_stop_from_light = True
+      self.force_stop_light_clear_since = None
+    elif not self.forcing_stop:
+      self.force_stop_from_light = False
+      self.force_stop_light_clear_since = None
+
     # Latch on first dash frame so the CEM pin can fire and we don't release on
     # transient dashboard dropouts. Cleared in the no-force-stop branch below.
     if dash_path:
@@ -463,6 +476,26 @@ class StarPilotVCruise:
     force_stop_enabled |= self.forcing_stop and not sm["carState"].standstill
     force_stop_enabled |= self.standstill_force_stop_hold
 
+    light_stop_cleared = (
+      self.forcing_stop and
+      self.force_stop_from_light and
+      not sm["carState"].standstill and
+      not stop_light_detected and
+      not raw_model_stopped and
+      not dash_active
+    )
+    if light_stop_cleared:
+      if self.force_stop_light_clear_since is None:
+        self.force_stop_light_clear_since = now
+      elif self._elapsed_seconds(now, self.force_stop_light_clear_since) >= FORCE_STOP_LIGHT_CLEAR_TIME:
+        self.forcing_stop = False
+        self.force_stop_from_light = False
+        self.force_stop_light_clear_since = None
+        self.force_stop_timer = 0.0
+        force_stop_enabled = False
+    else:
+      self.force_stop_light_clear_since = None
+
     if self.forcing_stop and standstill and not force_stop_enabled and self.standstill_force_stop_reason != "sign":
       self.override_force_stop_timer = OVERRIDE_FORCE_STOP_TIMER
 
@@ -583,11 +616,11 @@ class StarPilotVCruise:
         # Kinematic profile with user offset. Positive offset shifts the perceived
         # line further down the road -> car rolls further before commanding 0.
         effective_d = self.tracked_model_length + offset_m
-        if effective_d <= MPC_HANDOFF_M:
+        if effective_d <= force_stop_handoff_m:
           v_target = 0.0
         else:
           approach_decel = FORCE_STOP_DASH_APPROACH_DECEL if dash_active else FORCE_STOP_MODEL_APPROACH_DECEL
-          v_target = math.sqrt(2.0 * approach_decel * (effective_d - MPC_HANDOFF_M))
+          v_target = math.sqrt(2.0 * approach_decel * (effective_d - force_stop_handoff_m))
 
         v_cruise = min(v_target, v_cruise)
 
@@ -644,8 +677,8 @@ class StarPilotVCruise:
         if adjacent_stop_d is not None:
           approach_d = min(approach_d, adjacent_stop_d)
         approach_d += offset_m
-        if approach_d > MPC_HANDOFF_M:
-          targets.append(math.sqrt(2.0 * FORCE_STOP_APPROACH_DECEL * (approach_d - MPC_HANDOFF_M)))
+        if approach_d > force_stop_handoff_m:
+          targets.append(math.sqrt(2.0 * FORCE_STOP_APPROACH_DECEL * (approach_d - force_stop_handoff_m)))
 
       v_cruise = min(targets)
 
diff --git a/system/ui/README.md b/system/ui/README.md
index 15594930d..5323dd6ce 100644
--- a/system/ui/README.md
+++ b/system/ui/README.md
@@ -12,6 +12,7 @@ Quick start:
   Set `BURN_IN_PREVENTION=0` to disable it or tune it with `BURN_IN_SHIFT_PIXELS`, `BURN_IN_SHIFT_INTERVAL`, and
   `BURN_IN_SHIFT_TRANSITION_SECONDS`. TICI/TIZI shift the completed frame through the offscreen presentation path;
   MICI uses direct shifting by default. Setting `WHITE_LUMINANCE_CAP` below `1.0` also enables the offscreen presentation path.
+* the C4 UI uses copied camera textures by default to avoid sampling camerad's reusable EGL buffers; set `MICI_FORCE_TEXTURE_CAMERA=0` to re-enable EGL for diagnostics
 * set `MICI_FORCE_RENDER_TEXTURE=1` to force the C4 UI through the offscreen presentation path for diagnostics
 * set `GRID=50` to show a 50-pixel alignment grid overlay
 * set `MAGIC_DEBUG=1` to show every dropped frames (only on device)