Add a StarPilot vehicle toggle that selects alternate Panda firmware for Hyundai/Kia/Genesis CAN-FD EVs. The firmware keeps the HKG CAN bus active while Panda is in power save and treats the app climate-active frame, bus 1 address 0x384 with byte 3 nonzero, as a Panda boot wake source without publishing it as CAN ignition.
Wire the toggle through StarPilot vehicle settings, Galaxy device settings, parameter definitions, and pandad firmware selection. Disabling the toggle selects the default Panda firmware again.
Tested on a Kia EV9 and 2023 Kia EV6. EV9 remote climate active used 0x384 byte 3 equal to 0x01; EV6 remote climate active used 0x0a. Both stopped/off states observed byte 3 equal to 0x00. Toggle-off negative testing on EV9 saw the remote climate frame on CAN but pandaStates.ignitionCan stayed false. Toggle-on testing verified the active Panda signature matched panda_h7_hkg_remote.bin.signed. Follow-up testing changed the HKG path to wake-only after remote climate caused partial-car fingerprinting and Dashcam Mode; wake-only firmware was built, flashed, and verified on both devices.
F1 — Toggle cache (starpilot_annotated_camera.h + .cc): Added 25 typed cached members; all 32 starpilot_toggles.value() calls in paint code replaced with the cached versions. All reads happen once at the top of updateState() per frame. The only surviving raw call is in mousePressEvent (intentional — touch is rare, not paint-path).
F2 — HUD gradient hoist (selfdrive/ui/qt/onroad/hud.cc): Header gradient is now a static const built once via lambda, no allocation per frame.
Build, flash, and verify that toggling compass, simple_mode, radar_tracks etc. from settings still take effect live without a restart.
D2 — update() in starpilot_onroad.cc now only fires when at least one overlay (showBlindspot, showSignal, showSteering, showFPS) is active. ~30–60 wasted repaints/sec eliminated when all overlays are off.
E4 — Holiday theme check reordered so current_holiday_theme != "stock" (cheapest) is first. Default is stock, so the rest of the chain never evaluates on a normal non-holiday drive.
E7 — paintSteeringTorqueBorder no longer rebuilds the QLinearGradient and computes lighter(120)/setAlpha/5 setColorAt calls every frame. The gradient is now built once in resizeEvent and reused. The per-frame work is now just the two geometry calculations and fillRect.
E5/E6/E8 — Audited clean: all remaining params_memory.put calls are event-driven (button presses, random events), no hot-path logging exists in the UI code, and all QTimers are event-driven or single-shot offroad dialogs.
Force Stop 2.0 — Smoother deceleration curve. On cars with the ADAS stop-sign signal, stops are even more confident; cars without dashboard stop sign signal will also benefit from a new deceleration curve and MPC handoff.
Toggle off = stock behavior.
firestar5683