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.
firestar5683