Implement TripleDipper GPS fallback

common/gps.py

@@ -1,8 +1,25 @@
+from __future__ import annotations
+
+from cereal import car
 from openpilot.common.params import Params
 
 
-def get_gps_location_service(params: Params) -> str:
-  if params.get_bool("UbloxAvailable") or params.get_bool("CarGpsAvailable"):
+def gm_car_params_present(params: Params, CP: car.CarParams | None = None) -> bool:
+  if CP is not None and getattr(CP, "brand", None):
+    return CP.brand == "gm"
+  try:
+    raw_car_params = params.get("CarParams")
+    if raw_car_params is None:
+      return False
+    with car.CarParams.from_bytes(raw_car_params) as parsed_cp:
+      return parsed_cp.brand == "gm"
+  except Exception:
+    return False
+
+
+def get_gps_location_service(params: Params, CP: car.CarParams | None = None) -> str:
+  # GM arbitrates device/PPS/OnStar through gpsLocationExternal.
+  if gm_car_params_present(params, CP) or params.get_bool("UbloxAvailable") or params.get_bool("CarGpsAvailable"):
     return "gpsLocationExternal"
   else:
     return "gpsLocation"

common/params_keys.h

@@ -18,7 +18,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"BootCount", {PERSISTENT, INT}},
     {"BluetoothAudioAddress", {PERSISTENT, STRING}},
     {"BluetoothAudioTestActive", {CLEAR_ON_MANAGER_START | DONT_LOG, BOOL}},
-    {"BluetoothDisconnectControllersOffroad", {PERSISTENT, BOOL, "0"}},
     {"BluetoothEnabled", {PERSISTENT, BOOL, "0"}},
     {"CalibrationParams", {PERSISTENT, BYTES}},
     {"CameraDebugExpGain", {CLEAR_ON_MANAGER_START, STRING}},

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -852,6 +852,7 @@ class CarController(CarControllerBase):
       CAR.CHEVROLET_VOLT_CC,
       CAR.CHEVROLET_MALIBU_CC,
       CAR.CHEVROLET_MALIBU_HYBRID_CC,
+      CAR.BUICK_LACROSSE,
     }
 
     if (self.CP.enableGasInterceptorDEPRECATED and self.CP.carFingerprint in CC_REGEN_PADDLE_CAR and

opendbc_repo/opendbc/car/gm/carstate.py

@@ -1,5 +1,7 @@
 import copy
 import math
+from datetime import UTC, datetime, timedelta
+from collections.abc import Mapping
 from cereal import custom
 from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, create_button_events, structs
@@ -8,12 +10,10 @@ from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gps import get_car_gps_config
 from opendbc.car.interfaces import CarStateBase
 from opendbc.car.gm.values import (
-  ALT_ACCS,
   ASCM_INT,
   CAMERA_ACC_CAR,
   CAR,
   CC_ONLY_CAR,
-  CC_REGEN_PADDLE_CAR,
   DBC,
   AccState,
   CanBus,
@@ -38,6 +38,112 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D
 HARD_BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise}
 NORMAL_CRUISE_BUTTONS = (CruiseButtons.RES_ACCEL, CruiseButtons.DECEL_SET)
 
+# Optional ~10 Hz CT6 PPS GPS messages on the powertrain bus.
+PPS_GPS_MESSAGES = (
+  "PPS_ElevHdSpd_FO",
+  "PPS_PosLat_FO",
+  "PPS_PosLong_FO",
+  "PPS_Time_FO",
+  "PPS_QualMetrics_FO",
+)
+# PPS_SigAcqTime_FO is omitted: its validity bit stays 1 even during valid fixes.
+
+
+def pps_checksum_ok(data: bytes) -> bool:
+  """Validate the 11-bit checksum used by the observed PPS frames."""
+  if len(data) < 2:
+    return False
+  received = ((data[-2] & 0x07) << 8) | data[-1]
+  expected = sum(data[:-2]) + (data[-2] >> 3) + 0x4C
+  return (expected & 0x7FF) == received
+
+
+def decode_gm_pps_gps(values: Mapping[str, Mapping[str, float]], raw: Mapping[str, bytes],
+                      timestamp_nanos: int) -> dict | None:
+  """Decode one coherent PPS bundle into the existing car-GPS sample shape."""
+  if any(not pps_checksum_ok(raw.get(name, b"")) for name in PPS_GPS_MESSAGES):
+    return None
+
+  try:
+    pos_lat = values["PPS_PosLat_FO"]
+    pos_long = values["PPS_PosLong_FO"]
+    timestamp_values = values["PPS_Time_FO"]
+    quality = values["PPS_QualMetrics_FO"]
+    if (int(pos_lat.get("PPSLatV", 1)) != 0 or
+        int(pos_long.get("PPSLongV", 1)) != 0 or
+        int(quality.get("PPS2DAbsPosErrEstmtV", 1)) != 0 or
+        int(quality.get("PPSMdV", 1)) != 0 or
+        int(quality.get("PPSPstnDilPrcsV", 1)) != 0 or
+        int(timestamp_values.get("PPSTmdayV", 1)) != 0 or
+        int(timestamp_values.get("PPSCldrDayV", 1)) != 0 or
+        int(timestamp_values.get("PPSCldrYrV", 1)) != 0):
+      return None
+    # Reject mode 6 (dead reckoning only without GNSS).
+    if int(quality["PPSMd"]) == 6:
+      return None
+
+    latitude = float(pos_lat["PPSLat"]) / 3_600_000.0
+    longitude = float(pos_long["PPSLong"]) / 3_600_000.0
+    if not (math.isfinite(latitude) and math.isfinite(longitude) and
+            -90.0 <= latitude <= 90.0 and -180.0 <= longitude <= 180.0 and
+            (latitude != 0.0 or longitude != 0.0)):
+      return None
+
+    year = int(timestamp_values["PPSCldrYr"])
+    day_of_year = int(timestamp_values["PPSCldrDay"])
+    millis_of_day = int(timestamp_values["PPSTmday"])
+    if not 2014 <= year <= 2141 or day_of_year < 1 or not 0 <= millis_of_day < 86_400_000:
+      return None
+    timestamp = datetime(year, 1, 1, tzinfo=UTC) + timedelta(days=day_of_year - 1, milliseconds=millis_of_day)
+    if timestamp.year != year:
+      return None
+
+    elev = values["PPS_ElevHdSpd_FO"]
+    speed = float(elev["PPSVel"]) * CV.KPH_TO_MS
+    if int(elev.get("PPSVelV", 1)) != 0 or not math.isfinite(speed) or not 0.0 <= speed <= 200.0:
+      speed = 0.0
+    heading = float(elev["PPSHedng"])
+    if (int(elev.get("PPSHedngV", 1)) != 0 or
+        not math.isfinite(heading) or not 0.0 <= heading < 360.0):
+      heading = 0.0
+
+    altitude = float(elev["PPSElvtn"]) / 100.0
+    if int(elev.get("PPSElvtnV", 1)) != 0 or not math.isfinite(altitude):
+      altitude = 0.0
+
+    horizontal_accuracy = float(quality["PPS2DAbsPosErrEstmt"])
+    if not math.isfinite(horizontal_accuracy) or horizontal_accuracy < 0.0:
+      horizontal_accuracy = 0.0
+
+    vertical_accuracy = float(quality["PPS3DAbsPosErrEstmt"])
+    if int(quality.get("PPS3DAbsPosErrEstmtV", 1)) != 0 or not math.isfinite(vertical_accuracy) or vertical_accuracy < 0.0:
+      vertical_accuracy = 0.0
+
+    bearing_accuracy = float(quality["PPSAbsHdngErrEstmt"])
+    if int(quality.get("PPSAbsHdngErrEstmtV", 1)) != 0 or not math.isfinite(bearing_accuracy) or bearing_accuracy < 0.0:
+      bearing_accuracy = 180.0
+  except (KeyError, TypeError, ValueError, OverflowError, AttributeError):
+    return None
+
+  heading_rad = math.radians(heading)
+  return {
+    "timestamp_nanos": timestamp_nanos,
+    "latitude": latitude,
+    "longitude": longitude,
+    "altitude": altitude,
+    "speed": speed,
+    "bearingDeg": heading,
+    "horizontalAccuracy": horizontal_accuracy,
+    "unixTimestampMillis": round(timestamp.timestamp() * 1000),
+    "verticalAccuracy": vertical_accuracy,
+    "bearingAccuracyDeg": bearing_accuracy,
+    # Velocity error units are undocumented in DBC; omit conversion.
+    "speedAccuracy": 0.0,
+    "hasFix": True,
+    "satelliteCount": 0,
+    "vNED": [speed * math.cos(heading_rad), speed * math.sin(heading_rad), 0.0],
+  }
+
 
 def get_hard_cruise_buttons(steering_button_msg: dict) -> int:
   return steering_button_msg.get("ACCButtonsHard", CruiseButtons.INIT)
@@ -109,11 +215,15 @@ class CarState(CarStateBase):
     self.car_gps_config = get_car_gps_config(CP)
     self.car_gps_supported = self.car_gps_config is not None
     self.car_gps = None
+    self.onstar_gps = None
     self._car_gps_timestamp_nanos = 0
     self._prev_gps_lat = None
     self._prev_gps_lon = None
     self._last_gps_bearing = None
 
+    self.pps_gps = None
+    self._pps_gps_timestamp_nanos = 0
+
   def _update_car_gps(self, cp, v_ego: float = 0.0) -> None:
     if self.car_gps_config is None:
       return
@@ -148,12 +258,47 @@ class CarState(CarStateBase):
       else:
         self._prev_gps_lat = self._prev_gps_lon = None
 
+      self.onstar_gps = gps
       self.car_gps = gps
       self._car_gps_timestamp_nanos = timestamp_nanos
 
-  def get_car_gps(self):
+  def _update_pps_gps(self, cp) -> None:
+    """Decode a complete, checksum-valid PPS burst when one is available."""
+    timestamps = [max(cp.ts_nanos[name].values(), default=0) for name in PPS_GPS_MESSAGES]
+    if not all(timestamps):
+      return
+
+    timestamp_nanos = max(timestamps)
+    if timestamp_nanos <= self._pps_gps_timestamp_nanos:
+      return
+    if timestamp_nanos - min(timestamps) > 100_000_000:
+      return
+
+    vl = cp.vl
+    try:
+      first_id = int(vl["PPS_ElevHdSpd_FO"]["PPSElvHedngSpdBrstID"])
+      if not (first_id == int(vl["PPS_PosLat_FO"]["PPSLatBrstID"]) ==
+              int(vl["PPS_PosLong_FO"]["PPSLongBrstID"]) ==
+              int(vl["PPS_Time_FO"]["PPSTmBrstID"]) ==
+              int(vl["PPS_QualMetrics_FO"]["PPSPosQltyMtcBrstID"])):
+        return
+    except (KeyError, ValueError, TypeError, OverflowError):
+      return
+
+    values = {name: cp.vl[name] for name in PPS_GPS_MESSAGES}
+    raw = {name: cp.vl_raw[name] for name in PPS_GPS_MESSAGES}
+    self.pps_gps = decode_gm_pps_gps(values, raw, timestamp_nanos)
+    self._pps_gps_timestamp_nanos = timestamp_nanos
+
+  def get_car_gps(self) -> dict | None:
     return self.car_gps
 
+  def get_car_gps_sources(self) -> dict[str, dict | None]:
+    return {
+      "pps": self.pps_gps,
+      "onstar": self.onstar_gps,
+    }
+
   def update_button_enable(self, buttonEvents: list[structs.CarState.ButtonEvent]):
     if not self.CP.pcmCruise:
       for b in buttonEvents:
@@ -239,6 +384,9 @@ class CarState(CarStateBase):
                      abs(pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"]) <= STANDSTILL_THRESHOLD
 
     self._update_car_gps(pt_cp, ret.vEgo)
+    pps_cp = can_parsers.get(Bus.adas)
+    if pps_cp is not None:
+      self._update_pps_gps(pps_cp)
 
     if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
       ret.gearShifter = self.parse_gear_shifter("T")
@@ -588,8 +736,16 @@ class CarState(CarStateBase):
       ("ASCMLKASteeringCmd", 0),
     ]
 
-    return {
+    parsers = {
       Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CanBus.POWERTRAIN),
       Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, CanBus.CAMERA),
       Bus.loopback: CANParser(DBC[CP.carFingerprint][Bus.pt], loopback_messages, CanBus.LOOPBACK),
     }
+    if getattr(CP, "brand", None) == "gm":
+      # Optional CT6 PPS parser on Bus.adas; non-PPS vehicles remain CAN-valid.
+      parsers[Bus.adas] = CANParser(
+        "cadillac_ct6_object",
+        [(name, 0) for name in PPS_GPS_MESSAGES],
+        CanBus.POWERTRAIN,
+      )
+    return parsers

opendbc_repo/opendbc/car/gm/interface.py

@@ -408,7 +408,7 @@ class CarInterface(CarInterfaceBase):
     ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
 
     ret.steerLimitTimer = 0.4
-    ret.radarTimeStepDEPRECATED = 0.15 if candidate == CAR.BUICK_LACROSSE else 0.0667
+    ret.radarTimeStepDEPRECATED = 0.0667  # GM radar runs at 15Hz instead of the standard 20Hz
     ret.longitudinalActuatorDelay = 0.5  # large delay to initially start braking
 
     if candidate in (
@@ -440,7 +440,7 @@ class CarInterface(CarInterfaceBase):
     elif candidate in (CAR.BUICK_LACROSSE, CAR.BUICK_LACROSSE_ASCM, CAR.BUICK_LACROSSE_ASCM_19US):
       CarInterfaceBase.configure_torque_tune(CAR.BUICK_LACROSSE, ret.lateralTuning)
       if candidate == CAR.BUICK_LACROSSE_ASCM_19US:
-        ret.minSteerSpeed = 28 * CV.MPH_TO_MS
+        ret.minSteerSpeed = 27 * CV.MPH_TO_MS
 
     elif candidate == CAR.CADILLAC_ESCALADE:
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm

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

@@ -1,5 +1,6 @@
 import pytest
 import numpy as np
+from datetime import UTC, datetime
 from types import SimpleNamespace
 from parameterized import parameterized
 
@@ -8,7 +9,14 @@ from opendbc.can import CANPacker, CANParser
 from opendbc.car import Bus, DT_CTRL, structs
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.gm import gmcan
-from opendbc.car.gm.carstate import CarState as GMCarState, get_hard_cruise_buttons, update_auto_hold_drive_timers
+from opendbc.car.gm.carstate import (
+  CarState as GMCarState,
+  PPS_GPS_MESSAGES,
+  decode_gm_pps_gps,
+  get_hard_cruise_buttons,
+  pps_checksum_ok,
+  update_auto_hold_drive_timers,
+)
 from opendbc.car.gm.carcontroller import (
   VisualAlert,
   get_acc_dashboard_always_one,
@@ -95,6 +103,146 @@ class TestBoltGps:
     assert gps["verticalAccuracy"] == 10.0
     assert gps["speedAccuracy"] == 0.5
 
+
+class TestPpsGps:
+  _frames = [
+    (0x260, bytes.fromhex("10ddac000d831277"), 0),
+    (0x261, bytes.fromhex("08386fce09ca"), 0),
+    (0x262, bytes.fromhex("6d98820341de"), 0),
+    (0x264, bytes.fromhex("0018f90578b5eaac"), 0),
+    (0x265, bytes.fromhex("1a0000800a0258fd"), 0),
+  ]
+
+  def test_observed_bundle_checksum_and_conversion(self):
+    parser = CANParser("cadillac_ct6_object", [(name, 0) for name in PPS_GPS_MESSAGES], 0)
+    parser.update([(1_000_000_000, self._frames)])
+
+    assert all(pps_checksum_ok(parser.vl_raw[name]) for name in PPS_GPS_MESSAGES)
+    gps = decode_gm_pps_gps(
+      {name: parser.vl[name] for name in PPS_GPS_MESSAGES},
+      {name: parser.vl_raw[name] for name in PPS_GPS_MESSAGES},
+      1_000_000_000,
+    )
+    assert gps is not None
+    assert gps["hasFix"]
+    assert gps["latitude"] == pytest.approx(38.3101, abs=1e-4)
+    assert gps["longitude"] == pytest.approx(-85.7701, abs=1e-4)
+    assert gps["altitude"] == pytest.approx(106.9)
+    assert gps["bearingDeg"] == pytest.approx(56.748)
+    assert gps["horizontalAccuracy"] == pytest.approx(1.0)
+    assert gps["unixTimestampMillis"] == 1788655668655
+
+  @pytest.fixture
+  def bundle(self):
+    parser = CANParser("cadillac_ct6_object", [(name, 0) for name in PPS_GPS_MESSAGES], 0)
+    parser.update([(1_000_000_000, self._frames)])
+    return ({name: dict(parser.vl[name]) for name in PPS_GPS_MESSAGES},
+            {name: parser.vl_raw[name] for name in PPS_GPS_MESSAGES})
+
+  @pytest.mark.parametrize("year,day,date", [
+    (2025, 1, "2025-01-01"), (2025, 365, "2025-12-31"), (2025, 366, None),
+    (2024, 366, "2024-12-31"), (2024, 367, None), (2025, 0, None),
+  ])
+  def test_one_based_day_of_year(self, bundle, year, day, date):
+    values, raw = bundle
+    values["PPS_Time_FO"].update(PPSCldrYr=year, PPSCldrDay=day, PPSTmday=1234)
+    gps = decode_gm_pps_gps(values, raw, 1_000_000_000)
+    if date is None:
+      assert gps is None
+    else:
+      expected = int(datetime.fromisoformat(date).replace(tzinfo=UTC).timestamp() * 1000) + 1234
+      assert gps["unixTimestampMillis"] == expected
+
+  @pytest.mark.parametrize("bad_data", [b"", b"\x01"])
+  def test_checksum_short_input(self, bad_data):
+    assert not pps_checksum_ok(bad_data)
+
+  @pytest.mark.parametrize("lat,lon,valid", [(0.0, 10.0 * 3_600_000, True), (10.0 * 3_600_000, 0.0, True), (0.0, 0.0, False)])
+  def test_coordinate_axes(self, bundle, lat, lon, valid):
+    values, raw = bundle
+    values["PPS_PosLat_FO"]["PPSLat"] = lat
+    values["PPS_PosLong_FO"]["PPSLong"] = lon
+    gps = decode_gm_pps_gps(values, raw, 1_000_000_000)
+    if valid:
+      assert gps is not None
+      assert gps["hasFix"]
+    else:
+      assert gps is None
+
+  def test_get_car_gps_sources_shape(self):
+    cs = GMCarState.__new__(GMCarState)
+    cs.pps_gps = {"hasFix": True}
+    cs.onstar_gps = None
+    sources = cs.get_car_gps_sources()
+    assert sources == {"pps": {"hasFix": True}, "onstar": None}
+
+  @pytest.mark.parametrize("message,signal,value", [
+    ("PPS_PosLat_FO", "PPSLatV", 1),
+    ("PPS_PosLong_FO", "PPSLongV", 1),
+    ("PPS_QualMetrics_FO", "PPS2DAbsPosErrEstmtV", 1),
+    ("PPS_PosLat_FO", "PPSLat", float("nan")),
+    ("PPS_PosLong_FO", "PPSLong", 181 * 3_600_000),
+    ("PPS_QualMetrics_FO", "PPSMd", 6),
+    ("PPS_Time_FO", "PPSTmdayV", 1),
+  ])
+  def test_unusable_position_rejected(self, bundle, message, signal, value):
+    values, raw = bundle
+    values[message][signal] = value
+    assert decode_gm_pps_gps(values, raw, 1_000_000_000) is None
+
+  @pytest.mark.parametrize("invalidity", ["checksum", "position-validity"])
+  def test_burst_cache_and_explicit_invalidation(self, invalidity):
+    parser = CANParser("cadillac_ct6_object", [(name, 0) for name in PPS_GPS_MESSAGES], 0)
+    cs = GMCarState.__new__(GMCarState)
+    cs.pps_gps = None
+    cs._pps_gps_timestamp_nanos = 0
+    parser.update([(1_000_000_000, self._frames[:-1])])
+    cs._update_pps_gps(parser)
+    assert cs.pps_gps is None  # Incomplete startup burst.
+    parser.update([(1_000_000_000, self._frames[-1:])])
+    cs._update_pps_gps(parser)
+    good = cs.pps_gps
+    assert good is not None
+    # No complete new burst: keep its original timestamp for freshness.
+    parser.update([(2_000_000_000, self._frames[:1])])
+    cs._update_pps_gps(parser)
+    assert cs.pps_gps is good
+    parser.update([(2_100_000_000, self._frames)])
+    parser.vl["PPS_PosLat_FO"]["PPSLatBrstID"] = int(parser.vl["PPS_PosLat_FO"]["PPSLatBrstID"]) ^ 1
+    cs._update_pps_gps(parser)
+    assert cs.pps_gps is good  # A mismatched burst must not refresh the fix.
+    bad_frames = ([(addr, data[:-1] + bytes([data[-1] ^ 1]), bus) for addr, data, bus in self._frames]
+                  if invalidity == "checksum" else self._frames)
+    parser.update([(3_000_000_000, bad_frames)])
+    if invalidity == "position-validity":
+      parser.vl["PPS_PosLat_FO"]["PPSLatV"] = 1
+    cs._update_pps_gps(parser)
+    assert cs.pps_gps is None
+    parser.update([(4_000_000_000, self._frames)])
+    cs._update_pps_gps(parser)
+    assert cs.pps_gps is not None
+
+  @pytest.mark.parametrize("speed_bad,heading_bad,elevation_bad,vertical_bad,bearing_bad", [
+    (0, 0, 0, 0, 0), (1, 0, 0, 0, 0), (0, 1, 0, 0, 0), (0, 0, 1, 0, 0),
+    (0, 0, 0, 1, 0), (0, 0, 0, 0, 1), (1, 1, 1, 1, 1),
+  ], ids=["valid", "speed", "heading", "elevation", "vertical-accuracy", "bearing-accuracy", "all-invalid"])
+  def test_optional_field_fallbacks(self, bundle, speed_bad, heading_bad, elevation_bad, vertical_bad, bearing_bad):
+    values, raw = bundle
+    values["PPS_ElevHdSpd_FO"].update(PPSVel=36, PPSVelV=speed_bad, PPSHedng=90, PPSHedngV=heading_bad,
+                                     PPSElvtn=12345, PPSElvtnV=elevation_bad)
+    values["PPS_QualMetrics_FO"].update(PPS2DAbsPosErrEstmt=3.2, PPS3DAbsPosErrEstmt=4.5, PPS3DAbsPosErrEstmtV=vertical_bad,
+                                        PPSAbsHdngErrEstmt=6.0, PPSAbsHdngErrEstmtV=bearing_bad)
+    gps = decode_gm_pps_gps(values, raw, 1_000_000_000)
+    assert gps is not None
+    assert gps["hasFix"]
+    assert gps["speed"] == pytest.approx(0.0 if speed_bad else 10.0)
+    assert gps["bearingDeg"] == (0 if heading_bad else 90)
+    assert gps["altitude"] == pytest.approx(0.0 if elevation_bad else 123.45)
+    assert gps["vNED"] == pytest.approx([gps["speed"], 0, 0] if heading_bad else [0, gps["speed"], 0])
+    assert gps["horizontalAccuracy"] == pytest.approx(3.2)
+    assert gps["verticalAccuracy"] == pytest.approx(0.0 if vertical_bad else 4.5)
+    assert gps["bearingAccuracyDeg"] == pytest.approx(180.0 if bearing_bad else 6.0)
+
   def test_bolt_gps_heading_and_speed_derivation(self):
     cp = SimpleNamespace(
       brand="gm",
@@ -205,33 +353,6 @@ class TestBoltGps:
 
 
 class TestGMInterface:
-  def test_lacrosse_obd_and_ascm_integrations_remain_separate(self):
-    obd_params = interfaces[CAR.BUICK_LACROSSE].get_params(
-      CAR.BUICK_LACROSSE,
-      _empty_fingerprint(),
-      [],
-      alpha_long=False,
-      is_release=False,
-      docs=False,
-      starpilot_toggles=_test_starpilot_toggles(),
-    )
-    ascm_params = interfaces[CAR.BUICK_LACROSSE_ASCM].get_params(
-      CAR.BUICK_LACROSSE_ASCM,
-      _empty_fingerprint(),
-      [],
-      alpha_long=False,
-      is_release=False,
-      docs=False,
-      starpilot_toggles=_test_starpilot_toggles(),
-    )
-
-    assert obd_params.networkLocation == structs.CarParams.NetworkLocation.gateway
-    assert obd_params.openpilotLongitudinalControl
-    assert obd_params.radarTimeStepDEPRECATED == pytest.approx(0.15)
-    assert ascm_params.networkLocation == structs.CarParams.NetworkLocation.fwdCamera
-    assert not ascm_params.openpilotLongitudinalControl
-    assert ascm_params.radarTimeStepDEPRECATED == pytest.approx(0.0667)
-
   @parameterized.expand([
     CAR.CHEVROLET_BOLT_CC_2017,
     CAR.CHEVROLET_BOLT_CC_2018_2021,
@@ -318,14 +439,6 @@ class TestGMInterface:
 
     assert car_params.minSteerSpeed == pytest.approx(7 * CV.MPH_TO_MS)
 
-  def test_lacrosse_2019_ascm_min_steer_speed_is_28_mph(self):
-    car_model = CAR.BUICK_LACROSSE_ASCM_19US
-    CarInterface = interfaces[car_model]
-    car_params = CarInterface.get_params(car_model, _empty_fingerprint(), [], alpha_long=False, is_release=False, docs=False,
-                                         starpilot_toggles=_test_starpilot_toggles())
-
-    assert car_params.minSteerSpeed == pytest.approx(28 * CV.MPH_TO_MS)
-
   @parameterized.expand([
     ("interceptor", True),
     ("ascm_int", False),

opendbc_repo/opendbc/car/gps.py

@@ -6,8 +6,10 @@ from collections.abc import Callable, Mapping
 from typing import Any
 
 from opendbc.car.common.conversions import Conversions as CV
+from opendbc.can.dbc import DBC as DBC_FILE
+from opendbc.car import Bus
 from opendbc.car.ford.values import CAR as FORD_CAR
-from opendbc.car.gm.values import CAR as GM_CAR
+from opendbc.car.gm.values import CAR as GM_CAR, DBC as GM_DBC
 
 
 CarGpsSample = dict[str, Any]
@@ -158,8 +160,25 @@ CAR_GPS_CONFIGS: dict[str, CarGpsConfig] = {
 
 
 def get_car_gps_config(CP) -> CarGpsConfig | None:
+  cp_brand = getattr(CP, "brand", None)
   config = CAR_GPS_CONFIGS.get(CP.carFingerprint)
-  return config if config is not None and config.brand == CP.brand else None
+  if config is not None and config.brand == cp_brand:
+    return config
+
+  # Enable OnStar GPS for GM cars whose powertrain DBC defines it.
+  if cp_brand == "gm":
+    try:
+      dbc_name = GM_DBC[CP.carFingerprint][Bus.pt]
+      if "TCICOnStarGPSPosition" in DBC_FILE(dbc_name).name_to_msg:
+        return CarGpsConfig(
+          brand="gm",
+          messages=CHEVROLET_BOLT_GPS_MESSAGES,
+          decoder=parse_chevrolet_bolt_can_gps,
+        )
+    except (KeyError, OSError, TypeError, RuntimeError):
+      pass
+
+  return None
 
 
 def car_gps_available(CP) -> bool:

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -860,9 +860,7 @@ class CarController(CarControllerBase):
 
     lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
     longitudinal_active = bool(self.long_active_ecu and getattr(CC, "longActive", False))
-    lfa_status_cars = (CAR.HYUNDAI_IONIQ_6, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN)
-    lfa_longitudinal_active = self.CP.openpilotLongitudinalControl \
-      if self.CP.carFingerprint in lfa_status_cars else longitudinal_active
+    lfa_longitudinal_active = longitudinal_active if self.CP.carFingerprint == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN else self.CP.openpilotLongitudinalControl
     lka_steering_long = lka_steering and lfa_longitudinal_active
     ccnc_non_hda2 = self.CP.flags & HyundaiFlags.CCNC and not lka_steering
     use_egmp_dynamic_long_tuning = egmp_dynamic_longitudinal_tuning(self.CP) and self.long_active_ecu and \
@@ -892,8 +890,7 @@ class CarController(CarControllerBase):
     if angle_lkas_alt:
       steering_msg_active = bool(steering_msg_active and drive_gear)
     angle_lkas_alt_standstill_handoff = bool(getattr(CS.out, "standstill", False) and not CC.latActive)
-    forward_stock_lkas = (self.CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR or
-                          self.CP.carFingerprint == CAR.KIA_SPORTAGE_HEV_2026) and angle_lkas_alt and (
+    forward_stock_lkas = self.CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR and angle_lkas_alt and (
       angle_lkas_alt_standstill_handoff or not (drive_gear and (CC.latActive or CC.enabled))
     )
     preserve_stock_lfa_status = preserve_stock_canfd_lfa_status(self.CP.carFingerprint)

opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py

@@ -2484,11 +2484,10 @@ class TestHyundaiFingerprint:
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN
     CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING)
-    CP.openpilotLongitudinalControl = True
+    CP.openpilotLongitudinalControl = False
 
     controller = CarController(DBC[CP.carFingerprint], CP)
     controller.frame = 1
-    controller.long_active_ecu = True
     can_bus = CanBus(CP)
     parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS", 0)], can_bus.ACAN)
     stock_lkas = {
@@ -2530,6 +2529,7 @@ class TestHyundaiFingerprint:
     assert parser.vl["LKAS"]["STEER_MODE"] == 0
     assert parser.vl["LKAS"]["NEW_SIGNAL_2"] == 0
 
+    CP.openpilotLongitudinalControl = True
     lfa_parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LFA", 0)], can_bus.ECAN)
     lfa_msgs = hyundaicanfd.create_steering_messages(controller.packer, CP, can_bus, True, True, 0, 0.0)
     assert [(controller.packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in lfa_msgs] == [("LFA", can_bus.ECAN), ("LKAS", can_bus.ACAN)]
@@ -2537,12 +2537,13 @@ class TestHyundaiFingerprint:
     assert lfa_parser.can_valid
     assert lfa_parser.vl["LFA"]["DAMP_FACTOR"] == 100
 
+    controller.long_active_ecu = True
     cc.longActive = False
     inactive_msgs = controller.create_canfd_msgs(0, True, 0.44, 0.0, 0.0, 0.0, False,
                                                  cc.hudControl, cs, cc, get_test_toggles(), lka_icon=2, lfa_icon=2)
     steering_names = [(controller.packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in inactive_msgs
                       if controller.packer.dbc.addr_to_msg[addr].name in ("LFA", "LKAS")]
-    assert steering_names == [("LFA", can_bus.ECAN), ("LKAS", can_bus.ACAN)]
+    assert steering_names == [("LKAS", can_bus.ACAN)]
 
     controller.frame = 1
     cc.longActive = True
@@ -2707,7 +2708,7 @@ class TestHyundaiFingerprint:
     assert len([msg for msg in msgs if msg[0] == 0x110]) == expected_lkas_msgs
 
   @pytest.mark.parametrize("standstill", [False, True])
-  def test_sportage_angle_lkas_alt_forwards_stock_status_when_inactive(self, standstill):
+  def test_sportage_angle_lkas_alt_keeps_inactive_status_in_drive(self, standstill):
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.KIA_SPORTAGE_HEV_2026
     CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.HYBRID | HyundaiFlags.CANFD_ANGLE_STEERING |
@@ -2715,16 +2716,60 @@ class TestHyundaiFingerprint:
     CP.openpilotLongitudinalControl = False
 
     controller = CarController(DBC[CP.carFingerprint], CP)
+    can_bus = CanBus(CP)
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS_ALT", 0)], can_bus.ACAN)
+    stock_lkas = {
+      "CHECKSUM": 1234,
+      "COUNTER": 42,
+      "LKA_OptUsmSta": 2,
+      "LKA_MODE": 2,
+      "LKA_RcgSta": 3,
+      "LKA_AVAILABLE": 3,
+      "LKA_LHLnWrnSta": 3,
+      "LKA_RHLnWrnSta": 3,
+      "LKA_WARNING": 1,
+      "LKA_HndsoffSnd": 1,
+      "LKA_StrSnd": 1,
+      "LKA_SysIndReq": 4,
+      "LKA_ICON": 2,
+      "FCA_SYSWARN": 1,
+      "StrTqReqVal": 17,
+      "TORQUE_REQUEST": 17,
+      "ActToiSta": 3,
+      "STEER_REQ": 1,
+      "ToiFltSta": 3,
+      "LFA_BUTTON": 1,
+      "LKA_SysWrn": 15,
+      "LKA_ASSIST": 1,
+      "Damping_Gain": 0,
+      "STEER_MODE": 5,
+      "NEW_SIGNAL_2": 0,
+      "LKAS_ANGLE_ACTIVE": 2,
+      "LKA_UsmMod": 3,
+      "HAS_LANE_SAFETY": 1,
+      "ADAS_StrAnglReqVal": 12.3,
+      "ADAS_ACIAnglTqRedcGainVal": 0.42,
+      "DAMP_FACTOR": 0,
+    }
     cc = SimpleNamespace(enabled=False, latActive=False,
                          actuators=SimpleNamespace(longControlState=LongCtrlState.off),
                          leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace())
-    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg={},
+    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg=stock_lkas,
                          out=SimpleNamespace(standstill=standstill, steeringAngleDeg=0.0,
                                              gearShifter=structs.CarState.GearShifter.drive))
 
     msgs = controller.create_canfd_msgs(0, False, 0.0, 0.0, 0.0, 0.0, False, cc.hudControl, cs, cc,
                                         get_test_toggles(), lka_icon=1, lfa_icon=1)
-    assert not [msg for msg in msgs if msg[0] in (0x110, 0x12A)]
+    lkas_msgs = [msg for msg in msgs if msg[0] == 0x110]
+    assert len(lkas_msgs) == 1
+
+    parser.update([(1, lkas_msgs)])
+    assert parser.can_valid
+    assert parser.vl["LKAS_ALT"]["LKA_StrSnd"] == 2
+    assert parser.vl["LKAS_ALT"]["LKA_SysIndReq"] == 1
+    assert parser.vl["LKAS_ALT"]["LKA_RcgSta"] == 0
+    assert parser.vl["LKAS_ALT"]["LKA_AVAILABLE"] == 0
+    assert parser.vl["LKAS_ALT"]["LKAS_ANGLE_ACTIVE"] == 1
 
   def test_ev9_inactive_angle_steering_does_not_suppress_stock_lfa(self):
     CP = CarParams.new_message()

scripts/host_tool_runner.sh

@@ -284,14 +284,27 @@ ensure_host_python_extensions() {
 }
 
 sync_host_generated_headers() {
-  if ! command -v capnpc >/dev/null 2>&1; then
+  local capnp_bin=""
+  local candidate=""
+  for candidate in "${HOST_VENV}"/lib/python*/site-packages/capnproto/install/bin; do
+    if [[ -x "${candidate}/capnpc" ]]; then
+      capnp_bin="${candidate}"
+      break
+    fi
+  done
+
+  local capnpc_cmd="capnpc"
+  if [[ -n "${capnp_bin}" ]]; then
+    capnpc_cmd="${capnp_bin}/capnpc"
+    export PATH="${capnp_bin}:${PATH}"
+  elif ! command -v capnpc >/dev/null 2>&1; then
     return
   fi
 
   (
     cd "${WORK_DIR}"
     mkdir -p cereal/gen/cpp
-    capnpc --src-prefix=cereal \
+    "${capnpc_cmd}" --src-prefix=cereal \
       cereal/log.capnp \
       cereal/car.capnp \
       cereal/legacy.capnp \

scripts/model_compiler.py

@@ -69,6 +69,10 @@ def build_compile_env(*, supercombo: bool = False) -> dict[str, str]:
       int(str(env.get(key)), 0)
     except (TypeError, ValueError):
       env[key] = default
+  if supercombo:
+    # Unified supercombo artifacts must use upstream compile defaults. The
+    # legacy QCOM tuning causes a reproducible HCQ timeline failure here.
+    env.pop("QCOM_PRIORITY", None)
   return env
 
 

selfdrive/car/card.py

@@ -43,6 +43,8 @@ REDNECK_DECREASE_LOOKAHEAD_POINTS = 10
 SLC_SOURCE_NONE = "None"
 EventName = log.OnroadEvent.EventName
 
+GM_GPS_SOURCES = (("device", 2.0), ("pps", 1.0), ("onstar", 2.5))
+
 # forward
 carlog.addHandler(ForwardingHandler(cloudlog))
 
@@ -76,6 +78,22 @@ def can_comm_callbacks(logcan: messaging.SubSocket, sendcan: messaging.PubSocket
   return can_recv, can_send
 
 
+def _gps_sample_is_healthy(sample: dict) -> bool:
+  if not sample.get("hasFix", False):
+    return False
+  try:
+    latitude = float(sample["latitude"])
+    longitude = float(sample["longitude"])
+    return (math.isfinite(latitude) and math.isfinite(longitude) and
+            -90.0 <= latitude <= 90.0 and -180.0 <= longitude <= 180.0 and
+            (latitude != 0.0 or longitude != 0.0) and
+            math.isfinite(float(sample["altitude"])) and
+            math.isfinite(float(sample["speed"])) and
+            math.isfinite(float(sample["bearingDeg"])))
+  except (KeyError, TypeError, ValueError):
+    return False
+
+
 class Car:
   CI: CarInterfaceBase
   RI: RadarInterfaceBase
@@ -85,7 +103,9 @@ class Car:
 
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
-    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents', 'radarState', 'longitudinalPlan'])
+    self.sm = messaging.SubMaster([
+      'pandaStates', 'carControl', 'onroadEvents', 'radarState', 'longitudinalPlan', 'gpsLocation',
+    ])
     self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'])
     self.gps_pm = None
 
@@ -93,6 +113,8 @@ class Car:
     self._last_car_gps_timestamp_nanos = 0
     self._last_car_gps_received_monotonic = 0.0
     self._last_car_gps_publish_monotonic = 0.0
+    self._gm_gps = dict.fromkeys(source for source, _ in GM_GPS_SOURCES)
+    self._gm_gps_had_fix = False
 
     self.CC_prev = car.CarControl.new_message()
     self.CS_prev = car.CarState.new_message()
@@ -141,8 +163,9 @@ class Car:
       self.RI = RI
 
     car_gps_supported = bool(getattr(self.CI.CS, 'car_gps_supported', False))
+    self.gm_gps_supported = self.CP.brand == "gm"
     self.params.put_bool("CarGpsAvailable", car_gps_supported)
-    if car_gps_supported:
+    if car_gps_supported or self.gm_gps_supported:
       self.gps_pm = messaging.PubMaster(['gpsLocationExternal'])
 
     aol_available = always_on_lateral_available(self.CP)
@@ -349,39 +372,80 @@ class Car:
     FPCS = self.starpilot_card.update(CS, FPCS, self.sm, self.starpilot_toggles)
     return CS, RD, FPCS
 
+  def _publish_gm_gps(self, now: float) -> None:
+    if self.sm.updated.get("gpsLocation", False):
+      self._gm_gps["device"] = (self.sm["gpsLocation"].to_dict(), now) if self.sm.valid["gpsLocation"] else None
+
+    for source, sample in self.CI.CS.get_car_gps_sources().items():
+      previous = self._gm_gps[source]
+      if sample is None:
+        self._gm_gps[source] = None
+      elif previous is None or sample["timestamp_nanos"] > previous[0]["timestamp_nanos"]:
+        self._gm_gps[source] = (sample.copy(), now)
+
+    # Device > PPS > OnStar, with each source's own freshness window.
+    selected = None
+    for source, timeout in GM_GPS_SOURCES:
+      candidate = self._gm_gps[source]
+      if candidate is not None and now - candidate[1] <= timeout and _gps_sample_is_healthy(candidate[0]):
+        selected = candidate[0]
+        break
+
+    if selected is None:
+      if not self._gm_gps_had_fix:
+        return
+    elif self._gm_gps_had_fix and (now - self._last_car_gps_publish_monotonic < 0.2):
+      return
+
+    gps_send = messaging.new_message('gpsLocationExternal', valid=selected is not None)
+    if selected is not None:
+      gps_send.gpsLocationExternal = {key: value for key, value in selected.items() if key != "timestamp_nanos"}
+      if source != "device":
+        gps_send.gpsLocationExternal.source = "car"
+    else:
+      # Clear subscribers' cached fix once, then let the service become stale.
+      gps_send.gpsLocationExternal.hasFix = False
+    assert self.gps_pm is not None
+    self.gps_pm.send('gpsLocationExternal', gps_send)
+    self._gm_gps_had_fix = selected is not None
+    self._last_car_gps_publish_monotonic = now
+
   def state_publish(self, CS: car.CarState, RD: structs.RadarDataT | None, FPCS: custom.StarPilotCarState):
     """carState and carParams publish loop"""
 
-    get_car_gps = getattr(self.CI.CS, 'get_car_gps', None)
-    car_gps = get_car_gps() if get_car_gps is not None else None
     now = time.monotonic()
-    if car_gps is not None and car_gps['timestamp_nanos'] > self._last_car_gps_timestamp_nanos:
-      self._last_car_gps_timestamp_nanos = car_gps['timestamp_nanos']
-      self._last_car_gps_received_monotonic = now
+    if self.gm_gps_supported:
+      self._publish_gm_gps(now)
+    else:
+      get_car_gps = getattr(self.CI.CS, 'get_car_gps', None)
+      car_gps = get_car_gps() if get_car_gps is not None else None
+      if car_gps is not None and car_gps['timestamp_nanos'] > self._last_car_gps_timestamp_nanos:
+        self._last_car_gps_timestamp_nanos = car_gps['timestamp_nanos']
+        self._last_car_gps_received_monotonic = now
 
-    if car_gps is not None and self._last_car_gps_received_monotonic > 0.0 and \
-        now - self._last_car_gps_received_monotonic <= 2.5 and \
-        now - self._last_car_gps_publish_monotonic >= 0.2:
-      gps_send = messaging.new_message('gpsLocationExternal', valid=True)
-      gps = gps_send.gpsLocationExternal
-      gps.flags = 0
-      gps.latitude = car_gps['latitude']
-      gps.longitude = car_gps['longitude']
-      gps.altitude = car_gps['altitude']
-      gps.speed = car_gps['speed']
-      gps.bearingDeg = car_gps['bearingDeg']
-      gps.horizontalAccuracy = car_gps['horizontalAccuracy']
-      gps.unixTimestampMillis = car_gps['unixTimestampMillis']
-      gps.source = log.GpsLocationData.SensorSource.car
-      gps.vNED = car_gps['vNED']
-      gps.verticalAccuracy = car_gps['verticalAccuracy']
-      gps.bearingAccuracyDeg = car_gps['bearingAccuracyDeg']
-      gps.speedAccuracy = car_gps['speedAccuracy']
-      gps.hasFix = car_gps['hasFix']
-      gps.satelliteCount = car_gps['satelliteCount']
-      assert self.gps_pm is not None
-      self.gps_pm.send('gpsLocationExternal', gps_send)
-      self._last_car_gps_publish_monotonic = now
+      if car_gps is not None and self._last_car_gps_received_monotonic > 0.0 and \
+          now - self._last_car_gps_received_monotonic <= 2.5 and \
+          now - self._last_car_gps_publish_monotonic >= 0.2:
+        gps_send = messaging.new_message('gpsLocationExternal', valid=True)
+        gps = gps_send.gpsLocationExternal
+        gps.flags = 0
+        gps.latitude = car_gps['latitude']
+        gps.longitude = car_gps['longitude']
+        gps.altitude = car_gps['altitude']
+        gps.speed = car_gps['speed']
+        gps.bearingDeg = car_gps['bearingDeg']
+        gps.horizontalAccuracy = car_gps['horizontalAccuracy']
+        gps.unixTimestampMillis = car_gps['unixTimestampMillis']
+        gps.source = log.GpsLocationData.SensorSource.car
+        gps.vNED = car_gps['vNED']
+        gps.verticalAccuracy = car_gps['verticalAccuracy']
+        gps.bearingAccuracyDeg = car_gps['bearingAccuracyDeg']
+        gps.speedAccuracy = car_gps['speedAccuracy']
+        gps.hasFix = car_gps['hasFix']
+        gps.satelliteCount = car_gps['satelliteCount']
+        assert self.gps_pm is not None
+        self.gps_pm.send('gpsLocationExternal', gps_send)
+        self._last_car_gps_publish_monotonic = now
 
     # carParams - logged every 50 seconds (> 1 per segment)
     if self.sm.frame % int(50. / DT_CTRL) == 0:

selfdrive/car/cruise.py

@@ -214,7 +214,7 @@ class VCruiseHelper:
 
     engage_floor_kph = max(V_CRUISE_MIN, 7.0 * CV.MPH_TO_KPH)
     resume_pressed = any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents)
-    remembered_resume = resume_prev_button and self._uses_software_cruise()
+    remembered_resume = resume_prev_button and (self.gm_cc_only or self.redneck_non_pcm)
 
     if self.v_cruise_initialized and (resume_pressed or remembered_resume):
       self.v_cruise_kph = self.v_cruise_kph_last

selfdrive/car/tests/test_cruise_speed.py

@@ -313,22 +313,6 @@ class TestVCruiseHelper:
         assert V_CRUISE_MIN <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
         assert self.v_cruise_helper.v_cruise_initialized
 
-  def test_resume_keeps_previous_software_cruise_speed(self):
-    engage_cs = car.CarState(vEgo=75 * CV.MPH_TO_MS)
-    self.v_cruise_helper.initialize_v_cruise(engage_cs, experimental_mode=False, resume_prev_button=False,
-                                             starpilot_toggles=self.starpilot_toggles)
-
-    disabled_cs = car.CarState(cruiseState={"available": True})
-    self.v_cruise_helper.update_v_cruise(disabled_cs, enabled=False, is_metric=False,
-                                         speed_limit_changed=False, starpilot_toggles=self.starpilot_toggles)
-
-    resume_cs = car.CarState(vEgo=22 * CV.MPH_TO_MS)
-    self.v_cruise_helper.initialize_v_cruise(resume_cs, experimental_mode=False, resume_prev_button=True,
-                                             starpilot_toggles=self.starpilot_toggles)
-
-    assert self.v_cruise_helper.v_cruise_kph == pytest.approx(75 * CV.MPH_TO_KPH)
-    assert self.v_cruise_helper.v_cruise_cluster_kph == pytest.approx(75 * CV.MPH_TO_KPH)
-
   def test_initialize_v_cruise_matches_speed_limit(self):
     self.reset_cruise_speed_state()
     self.starpilot_toggles.set_speed_limit = True

selfdrive/car/tests/test_gm_gps.py

@@ -0,0 +1,169 @@
+from types import SimpleNamespace
+
+import pytest
+
+from cereal import messaging
+from openpilot.selfdrive.car.card import Car, GM_GPS_SOURCES
+
+
+def sample():
+  gps = messaging.new_message("gpsLocation", valid=True).gpsLocation
+  gps.hasFix = True
+  gps.latitude = 38.3
+  gps.longitude = -85.7
+  gps.source = "ublox"
+  return dict(gps.to_dict(), timestamp_nanos=1)
+
+
+@pytest.fixture
+def selector():
+  card = Car.__new__(Car)
+  card._gm_gps = dict.fromkeys(source for source, _ in GM_GPS_SOURCES)
+  card._gm_gps_had_fix = False
+  card._last_car_gps_publish_monotonic = 0.0
+  card.gps_pm = SimpleNamespace(sent=[])
+  card.gps_pm.send = lambda service, message: card.gps_pm.sent.append((service, message))
+  card.sm = SimpleNamespace(updated={"gpsLocation": False})
+  card.CI = SimpleNamespace(CS=SimpleNamespace(get_car_gps_sources=dict))
+  return card
+
+
+@pytest.mark.parametrize("states,winner", [
+  (("good", None, None), "device"),
+  (("bad", "good", None), "pps"),
+  (("stale", "good", None), "pps"),
+  (("bad", "bad", "good"), "onstar"),
+  (("good", "good", "good"), "device"),
+  (("bad", "stale", None), None),
+  (("stale", "stale", "good"), "onstar"),
+  (("bad", "bad", "bad"), None),
+  (("stale", "stale", "stale"), None),
+])
+def test_priority(selector, states, winner):
+  for index, ((source, timeout), state) in enumerate(zip(GM_GPS_SOURCES, states, strict=True)):
+    if state is not None:
+      fix = sample() | {"latitude": 38.0 + index, "hasFix": state != "bad"}
+      selector._gm_gps[source] = (fix, 10.0 - timeout - 0.01 if state == "stale" else 10.0)
+  selector._publish_gm_gps(10.0)
+  if winner is None:
+    assert not selector.gps_pm.sent
+  else:
+    assert selector.gps_pm.sent[-1][1].gpsLocationExternal.latitude == selector._gm_gps[winner][0]["latitude"]
+
+
+@pytest.mark.parametrize("source,timeout", [("device", 2.0), ("pps", 1.0), ("onstar", 2.5)])
+def test_freshness_and_recovery(selector, source, timeout):
+  selector._gm_gps[source] = (sample(), 10.0)
+  selector._publish_gm_gps(10.0 + timeout)
+  assert selector.gps_pm.sent[-1][1].valid
+  selector._publish_gm_gps(10.01 + timeout)
+  assert not selector.gps_pm.sent[-1][1].valid
+  selector._gm_gps[source] = (sample(), 20.0)
+  selector._publish_gm_gps(20.0)
+  assert selector.gps_pm.sent[-1][1].valid
+
+
+@pytest.mark.parametrize("source", ["device", "pps"])
+def test_upward_recovery(selector, source):
+  selector._gm_gps["onstar"] = (sample() | {"latitude": 40.0}, 10.0)
+  selector._publish_gm_gps(10.0)
+  assert selector.gps_pm.sent[-1][1].gpsLocationExternal.latitude == 40.0
+  selector._gm_gps[source] = (sample(), 10.21)
+  selector._publish_gm_gps(10.21)
+  assert selector.gps_pm.sent[-1][1].gpsLocationExternal.latitude == 38.3
+
+
+@pytest.mark.parametrize("changes,expected", [
+  ({"latitude": float("nan")}, False), ({"longitude": float("inf")}, False),
+  ({"latitude": 91}, False), ({"longitude": -181}, False), ({"longitude": 181}, False),
+  ({"latitude": 0, "longitude": 0}, False), ({"speed": float("nan")}, False),
+  ({"latitude": 0, "longitude": 10}, True), ({"latitude": 10, "longitude": 0}, True),
+  ({"horizontalAccuracy": 500.0}, True),
+])
+def test_health(selector, changes, expected):
+  selector._gm_gps = {source: (sample() | {"latitude": 40.0}, 10.0) for source, _ in GM_GPS_SOURCES}
+  selector._gm_gps["device"] = (sample() | changes, 10.0)
+  selector._publish_gm_gps(10.0)
+  gps = selector.gps_pm.sent[-1][1].gpsLocationExternal
+  assert gps.latitude == (selector._gm_gps["device"][0]["latitude"] if expected else 40.0)
+  assert gps.source == ("ublox" if expected else "car")
+
+
+@pytest.mark.parametrize("source", [source for source, _ in GM_GPS_SOURCES])
+def test_selected_fix_fields_are_preserved(selector, source):
+  fix = sample() | {"altitude": 123.0, "speed": 10.0, "vNED": [0.0, 10.0, 0.0], "bearingDeg": 90.0,
+                    "horizontalAccuracy": 3.0, "verticalAccuracy": 5.0, "bearingAccuracyDeg": 2.0}
+  if source == "device":
+    selector._gm_gps[source] = (fix, 10.0)
+  else:
+    selector.CI.CS.get_car_gps_sources = lambda: {source: fix}
+  selector._publish_gm_gps(10.0)
+  service, message = selector.gps_pm.sent[-1]
+  assert service == "gpsLocationExternal"
+  assert message.valid
+  expected = {key: value for key, value in fix.items() if key != "timestamp_nanos"}
+  expected["source"] = "ublox" if source == "device" else "car"
+  assert message.gpsLocationExternal.to_dict() == expected
+
+
+@pytest.mark.parametrize("source", ["pps", "onstar"])
+def test_can_cache_freshness_and_explicit_invalidation(selector, source):
+  sources = {"pps": sample(), "onstar": sample() | {"latitude": 40.0}}
+  selector.CI.CS.get_car_gps_sources = lambda: sources
+  selector._publish_gm_gps(10.0)
+  for timestamp in (1, 0):
+    sources[source] = sources[source] | {"timestamp_nanos": timestamp}
+    selector._publish_gm_gps(10.5)
+    assert selector._gm_gps[source][1] == 10.0
+  sources[source] = sources[source] | {"timestamp_nanos": 2}
+  selector._publish_gm_gps(10.6)
+  assert selector._gm_gps[source][1] == 10.6
+  sources[source] = None
+  selector._publish_gm_gps(10.9)
+  assert selector._gm_gps[source] is None
+  assert selector.gps_pm.sent[-1][1].gpsLocationExternal.latitude == (40.0 if source == "pps" else 38.3)
+
+
+def test_no_source_publication_transition(selector):
+  selector._publish_gm_gps(10.0)
+  assert not selector.gps_pm.sent
+  selector._gm_gps["device"] = (sample(), 10.0)
+  selector._publish_gm_gps(10.0)
+  valid = selector.gps_pm.sent[-1][1]
+  assert valid.valid and valid.gpsLocationExternal.hasFix
+  assert valid.gpsLocationExternal.latitude == 38.3
+  selector._publish_gm_gps(10.1)
+  assert len(selector.gps_pm.sent) == 1
+  selector._publish_gm_gps(12.1)
+  invalid = selector.gps_pm.sent[-1][1]
+  assert not invalid.valid and not invalid.gpsLocationExternal.hasFix
+  for now in (12.12, 12.13, 12.14):
+    selector._publish_gm_gps(now)
+  assert len(selector.gps_pm.sent) == 2
+  selector._gm_gps["device"] = (sample(), 12.15)
+  selector._publish_gm_gps(12.15)  # Recovery bypasses the 200 ms healthy cadence.
+  assert len(selector.gps_pm.sent) == 3
+  assert selector.gps_pm.sent[-1][1].gpsLocationExternal.hasFix
+  for now in (15.0, 20.0, 30.0):
+    selector._publish_gm_gps(now)
+  assert len(selector.gps_pm.sent) == 4  # One more loss marker, then sustained silence.
+
+
+def test_device_updates_honor_event_validity(selector):
+  message = messaging.new_message("gpsLocation", valid=True)
+  message.gpsLocation = {key: value for key, value in sample().items() if key != "timestamp_nanos"}
+  class DeviceMessages(dict):
+    updated = {"gpsLocation": True}
+    valid = {"gpsLocation": True}
+  selector.sm = DeviceMessages(gpsLocation=message.gpsLocation)
+  selector._publish_gm_gps(10.0)
+  assert selector.gps_pm.sent[-1][1].valid
+  selector.sm.updated["gpsLocation"] = False
+  selector._publish_gm_gps(10.05)
+  assert selector._gm_gps["device"][1] == 10.0
+  selector.sm.updated["gpsLocation"] = True
+  selector.sm.valid["gpsLocation"] = False
+  selector._publish_gm_gps(10.1)
+  assert selector._gm_gps["device"] is None
+  assert len(selector.gps_pm.sent) == 2  # Loss bypasses the healthy cadence too.
+  assert not selector.gps_pm.sent[-1][1].gpsLocationExternal.hasFix

selfdrive/controls/lib/latcontrol_vehicle_tunes.py

@@ -275,7 +275,7 @@ GENESIS_G70_FRICTION_JERK_DEADZONE_LAT = 0.30
 GENESIS_G70_FRICTION_JERK_DEADZONE_LAT_WIDTH = 0.08
 GENESIS_G70_FRICTION_JERK_DEADZONE_SPEED = 12.0
 GENESIS_G70_FRICTION_JERK_DEADZONE_SPEED_WIDTH = 3.5
-GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_MAX = 0.22
+GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_MAX = 0.16
 GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_SPEED = 35.0 * CV.MPH_TO_MS
 GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_SPEED_WIDTH = 8.0 * CV.MPH_TO_MS
 GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_LAT = 0.35
@@ -284,7 +284,7 @@ GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_LAT_CUTOFF = 1.25
 GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_LAT_CUTOFF_WIDTH = 0.25
 GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_JERK = 0.20
 GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_JERK_WIDTH = 0.12
-GENESIS_G70_CENTER_OUTPUT_TAPER_MAX = 0.26
+GENESIS_G70_CENTER_OUTPUT_TAPER_MAX = 0.22
 GENESIS_G70_CENTER_OUTPUT_TAPER_LAT = 0.30
 GENESIS_G70_CENTER_OUTPUT_TAPER_LAT_WIDTH = 0.10
 GENESIS_G70_CENTER_OUTPUT_TAPER_SPEED = 18.0

selfdrive/controls/lib/longitudinal_planner.py

@@ -397,27 +397,6 @@ def get_vehicle_min_accel(CP, v_ego):
   return float(ACCEL_MIN)
 
 
-def get_far_lead_coast_cap(lead, v_ego, desired_gap, output_a_target):
-  if lead is None or not bool(getattr(lead, "status", False)):
-    return float(output_a_target)
-
-  v_ego = float(v_ego)
-  lead_distance = float(getattr(lead, "dRel", float("inf")))
-  lead_speed = float(getattr(lead, "vLead", v_ego))
-  closing_speed = v_ego - lead_speed
-  if (
-    v_ego <= 10.0 or
-    closing_speed <= 0.5 or
-    lead_distance < FAR_LEAD_COAST_MIN_DISTANCE or
-    lead_distance <= float(desired_gap) + FAR_LEAD_COAST_MIN_GAP_MARGIN or
-    lead_distance / max(closing_speed, 0.1) < FAR_LEAD_COAST_MIN_TTC or
-    max(0.0, -float(getattr(lead, "aLeadK", 0.0))) > FAR_LEAD_COAST_MAX_LEAD_BRAKE
-  ):
-    return float(output_a_target)
-
-  return max(float(output_a_target), -FAR_LEAD_COAST_MAX_DECEL)
-
-
 # Restored planner constants retained by CEM, stop, and departure paths.
 A_CRUISE_MIN = -1.0
 # The stop distance runs ~9 m long through the mid-approach, which leaves the obstacle slack
@@ -454,11 +433,6 @@ VEHICLE_FAR_FOLLOW_SLEW_MIN_DISTANCE_TIME = 1.35
 VEHICLE_FAR_FOLLOW_SLEW_MIN_HEADWAY = 1.35
 VEHICLE_FAR_FOLLOW_SLEW_MIN_TTC = 8.0
 VEHICLE_FAR_FOLLOW_SLEW_MAX_LATERAL_OFFSET = 1.5
-FAR_LEAD_COAST_MIN_DISTANCE = 45.0
-FAR_LEAD_COAST_MIN_TTC = 8.0
-FAR_LEAD_COAST_MIN_GAP_MARGIN = 6.0
-FAR_LEAD_COAST_MAX_LEAD_BRAKE = 0.35
-FAR_LEAD_COAST_MAX_DECEL = 0.20
 RADAR_DEPART_CONFLICT_MAX_EGO_SPEED = 1.6
 RADAR_DEPART_CONFLICT_MIN_RADAR_LATERAL = 1.5
 RADAR_DEPART_CONFLICT_MAX_RADAR_DISTANCE = 18.0
@@ -3095,28 +3069,6 @@ class LongitudinalPlanner:
       panic_bypass,
     )
 
-    far_lead_coast_allowed = (
-      not experimental_mode and
-      comfort_lead is not None and
-      desired_gap is not None and
-      not output_should_stop and
-      not vision_low_speed_stop_active and
-      not close_lead_caps and
-      not panic_bypass and
-      not depart_safety_veto and
-      inside_gap_closing_cap is None and
-      not bool(getattr(sm['starpilotPlan'], 'forcingStop', False)) and
-      not bool(getattr(sm['starpilotPlan'], 'redLight', False)) and
-      not bool(getattr(sm['starpilotPlan'], 'stopSignConfirmed', False))
-    )
-    if far_lead_coast_allowed:
-      output_a_target = get_far_lead_coast_cap(
-        comfort_lead,
-        scene_v_ego,
-        desired_gap,
-        output_a_target,
-      )
-
     if radar_gap_settle_active:
       output_a_target = RADAR_STANDSTILL_GAP_SETTLE_ACCEL
       output_should_stop = False

selfdrive/controls/radard.py

@@ -7,7 +7,6 @@ from typing import Any
 
 import capnp
 from cereal import messaging, log, car, custom
-from cereal.services import SERVICE_LIST
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process
@@ -43,11 +42,6 @@ def is_bosch_a_radar_car(CP) -> bool:
   return CP.brand == "honda" and CP.carFingerprint in HONDA_BOSCH_A and not CP.radarUnavailable
 
 
-def has_slow_radar_tracks(CP) -> bool:
-  radar_ts = float(getattr(CP, "radarTimeStepDEPRECATED", DT_MDL) or DT_MDL)
-  return not CP.radarUnavailable and radar_ts > 2.0 / SERVICE_LIST["liveTracks"].frequency
-
-
 # Adjacent-lane stopped-vehicle detector, used as a stop-line hint on red-light
 # approaches. The qualifier is the DECELERATION HISTORY, not the current speed: roadside
 # furniture and curb-parked cars never show a moving -> stopped transition, so testing
@@ -642,9 +636,8 @@ def main() -> None:
   cloudlog.info("radard got CarParams")
 
   # *** setup messaging
-  ignore_avg_freq = ['liveTracks'] if has_slow_radar_tracks(CP) else None
   sm = messaging.SubMaster(['modelV2', 'carState', 'liveTracks'], poll='modelV2',
-                           ignore_avg_freq=ignore_avg_freq, ignore_valid=['starpilotPlan'])
+                           ignore_valid=['starpilotPlan'])
   pm = messaging.PubMaster(['radarState'])
 
   radar_ts = float(getattr(CP, "radarTimeStepDEPRECATED", DT_MDL) or DT_MDL)

selfdrive/controls/tests/test_leads.py

@@ -14,7 +14,6 @@ from openpilot.selfdrive.controls.radard import (
   RadarD,
   g90_low_speed_radar_lead_sane,
   g90_radar_lead_lateral_sane,
-  has_slow_radar_tracks,
   is_bosch_a_radar_car,
   match_vision_to_track,
 )
@@ -97,15 +96,6 @@ class TestLeads:
     assert bosch_a.lead_prob_filters[0].dt == pytest.approx(DT_MDL)
     assert bosch_a.kalman_params.A[0][1] == pytest.approx(HONDA_BOSCH_A_RADAR_TS)
 
-  def test_slow_radar_frequency_relaxation_is_scoped(self):
-    slow_radar = SimpleNamespace(radarTimeStepDEPRECATED=0.15, radarUnavailable=False)
-    normal_radar = SimpleNamespace(radarTimeStepDEPRECATED=0.1, radarUnavailable=False)
-    unavailable_radar = SimpleNamespace(radarTimeStepDEPRECATED=0.15, radarUnavailable=True)
-
-    assert has_slow_radar_tracks(slow_radar)
-    assert not has_slow_radar_tracks(normal_radar)
-    assert not has_slow_radar_tracks(unavailable_radar)
-
   @pytest.mark.skipif(platform.system() == "Darwin", reason="SocketEventHandle requires eventfd")
   def test_radar_fault(self):
     # if there's no radar-related can traffic, radard should either not respond or respond with an error

selfdrive/controls/tests/test_longitudinal_planner.py

@@ -18,13 +18,7 @@ from opendbc.car.toyota.values import CAR as TOYOTA_CAR
 import openpilot.selfdrive.controls.lib.longitudinal_planner as longitudinal_planner_module
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
-from openpilot.selfdrive.controls.lib.longitudinal_planner import (
-  LongitudinalPlanner,
-  get_coast_accel,
-  get_far_lead_coast_cap,
-  get_vehicle_min_accel,
-  should_publish_planner_fcw,
-)
+from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner, get_coast_accel, get_vehicle_min_accel, should_publish_planner_fcw
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import (
   LongitudinalMpc,
   build_model_lead_trajectory,
@@ -316,24 +310,6 @@ def test_mpc_panic_bypass_immediately_removes_duplicate_vision_filter():
   assert mpc.lead_v_filter.x == pytest.approx(10.0)
 
 
-def test_far_lead_coast_cap_delays_nonurgent_deceleration():
-  lead = make_lead(status=True, d_rel=128.0, v_lead=16.7, a_lead=0.2, radar=True)
-
-  assert get_far_lead_coast_cap(lead, 26.6, 115.0, -0.43) == pytest.approx(-0.20)
-  assert get_far_lead_coast_cap(lead, 26.6, 115.0, 0.10) == pytest.approx(0.10)
-
-
-@pytest.mark.parametrize("d_rel,v_lead,a_lead,desired_gap", [
-  (50.0, 20.0, 0.2, 45.0),  # only a small gap remains
-  (128.0, 8.0, 0.2, 115.0),  # urgent closing time
-  (128.0, 16.7, -0.5, 115.0),  # the lead is braking materially
-])
-def test_far_lead_coast_cap_preserves_urgent_or_close_deceleration(d_rel, v_lead, a_lead, desired_gap):
-  lead = make_lead(status=True, d_rel=d_rel, v_lead=v_lead, a_lead=a_lead, radar=True)
-
-  assert get_far_lead_coast_cap(lead, 26.6, desired_gap, -0.43) == pytest.approx(-0.43)
-
-
 def test_hrv_far_follow_output_slew_damps_only_continuous_safe_follow():
   v_ego = 24.0
   CP = CarInterface.get_non_essential_params(CAR.HONDA_HRV_3G)

selfdrive/controls/tests/test_starpilot_planner.py

@@ -37,7 +37,7 @@ def make_toggles(**overrides):
 
 def test_force_stop_jerk_scale_is_platform_specific():
   assert get_force_stop_jerk_scale(SimpleNamespace(carFingerprint="HYUNDAI_ELANTRA_2021")) == 0.80
-  assert get_force_stop_jerk_scale(SimpleNamespace(carFingerprint="OTHER_CAR")) == 0.32
+  assert get_force_stop_jerk_scale(SimpleNamespace(carFingerprint="OTHER_CAR")) == 0.20
 
 
 def test_lead_follow_jerk_scale_is_platform_specific():
@@ -255,3 +255,18 @@ def test_untracked_vision_lead_still_uses_strict_entry_gate():
     assert not planner.update_lead_status(16.8)
   finally:
     planner.shutdown()
+
+
+def test_gps_location_service_updates_on_carparams(monkeypatch):
+  planner = make_planner(monkeypatch)
+  try:
+    sm = make_sm(planner, frame=1, v_ego=20.0, left_blinker=False)
+    sm.updated = {"carParams": True}
+    sm["carParams"] = SimpleNamespace(brand="gm")
+    sm["gpsLocationExternal"] = SimpleNamespace(latitude=2.0, longitude=2.0, bearingDeg=45.0, hasFix=True)
+    planner.update(0.0, False, sm, make_toggles())
+    assert planner.gps_location_service == "gpsLocationExternal"
+    assert planner.gps_position["latitude"] == 2.0
+  finally:
+    planner.shutdown()
+

starpilot/common/assets/device_settings_layout.json

@@ -201,8 +201,6 @@
         "min": 0.0,
         "max": 99.0,
         "step": 1.0,
-        "unit_type": "vehicle_speed",
-        "metric_max": 150.0,
         "parent_key": "LaneChanges",
         "settings_tier": "simple"
       },
@@ -341,8 +339,6 @@
         "min": 0.0,
         "max": 99.0,
         "step": 1.0,
-        "unit_type": "vehicle_speed",
-        "metric_max": 150.0,
         "parent_key": "QOLLateral",
         "settings_tier": "simple"
       },
@@ -1020,8 +1016,6 @@
         "min": 0.0,
         "max": 99.0,
         "step": 1.0,
-        "unit_type": "vehicle_speed",
-        "metric_max": 150.0,
         "parent_key": "ConditionalExperimental",
         "settings_tier": "simple"
       },
@@ -1034,8 +1028,6 @@
         "min": 0.0,
         "max": 99.0,
         "step": 1.0,
-        "unit_type": "vehicle_speed",
-        "metric_max": 150.0,
         "parent_key": "ConditionalExperimental",
         "settings_tier": "simple"
       },
@@ -1121,8 +1113,6 @@
         "min": 0.0,
         "max": 99.0,
         "step": 1.0,
-        "unit_type": "vehicle_speed",
-        "metric_max": 150.0,
         "parent_key": "ConditionalExperimental",
         "settings_tier": "simple"
       },
@@ -1700,10 +1690,6 @@
         "ui_type": "numeric",
         "min": 1.0,
         "max": 99.0,
-        "step": 1.0,
-        "precision": 0,
-        "unit_type": "vehicle_speed",
-        "metric_max": 150.0,
         "parent_key": "QOLLongitudinal",
         "settings_tier": "simple"
       },
@@ -1715,10 +1701,6 @@
         "ui_type": "numeric",
         "min": 1.0,
         "max": 99.0,
-        "step": 1.0,
-        "precision": 0,
-        "unit_type": "vehicle_speed",
-        "metric_max": 150.0,
         "parent_key": "QOLLongitudinal",
         "settings_tier": "simple"
       },
@@ -1792,10 +1774,6 @@
         "ui_type": "numeric",
         "min": 0.0,
         "max": 99.0,
-        "step": 1.0,
-        "precision": 0,
-        "unit_type": "vehicle_speed",
-        "metric_max": 150.0,
         "parent_key": "QOLLongitudinal",
         "settings_tier": "simple"
       },
@@ -1809,8 +1787,6 @@
         "max": 30.0,
         "step": 0.5,
         "precision": 1,
-        "unit_type": "vehicle_speed",
-        "imperial_max": 15.0,
         "parent_key": "QOLLongitudinal",
         "settings_tier": "advanced"
       },
@@ -2247,12 +2223,6 @@
         "ui_type": "numeric",
         "min": -99.0,
         "max": 99.0,
-        "step": 1.0,
-        "precision": 0,
-        "unit_type": "vehicle_speed",
-        "metric_min": -150.0,
-        "metric_max": 150.0,
-        "unit_range_index": 0,
         "parent_key": "SpeedLimitController",
         "settings_tier": "advanced"
       },
@@ -2264,12 +2234,6 @@
         "ui_type": "numeric",
         "min": -99.0,
         "max": 99.0,
-        "step": 1.0,
-        "precision": 0,
-        "unit_type": "vehicle_speed",
-        "metric_min": -150.0,
-        "metric_max": 150.0,
-        "unit_range_index": 1,
         "parent_key": "SpeedLimitController",
         "settings_tier": "advanced"
       },
@@ -2281,12 +2245,6 @@
         "ui_type": "numeric",
         "min": -99.0,
         "max": 99.0,
-        "step": 1.0,
-        "precision": 0,
-        "unit_type": "vehicle_speed",
-        "metric_min": -150.0,
-        "metric_max": 150.0,
-        "unit_range_index": 2,
         "parent_key": "SpeedLimitController",
         "settings_tier": "advanced"
       },
@@ -2298,12 +2256,6 @@
         "ui_type": "numeric",
         "min": -99.0,
         "max": 99.0,
-        "step": 1.0,
-        "precision": 0,
-        "unit_type": "vehicle_speed",
-        "metric_min": -150.0,
-        "metric_max": 150.0,
-        "unit_range_index": 3,
         "parent_key": "SpeedLimitController",
         "settings_tier": "advanced"
       },
@@ -2315,12 +2267,6 @@
         "ui_type": "numeric",
         "min": -99.0,
         "max": 99.0,
-        "step": 1.0,
-        "precision": 0,
-        "unit_type": "vehicle_speed",
-        "metric_min": -150.0,
-        "metric_max": 150.0,
-        "unit_range_index": 4,
         "parent_key": "SpeedLimitController",
         "settings_tier": "advanced"
       },
@@ -2332,12 +2278,6 @@
         "ui_type": "numeric",
         "min": -99.0,
         "max": 99.0,
-        "step": 1.0,
-        "precision": 0,
-        "unit_type": "vehicle_speed",
-        "metric_min": -150.0,
-        "metric_max": 150.0,
-        "unit_range_index": 5,
         "parent_key": "SpeedLimitController",
         "settings_tier": "advanced"
       },
@@ -2349,12 +2289,6 @@
         "ui_type": "numeric",
         "min": -99.0,
         "max": 99.0,
-        "step": 1.0,
-        "precision": 0,
-        "unit_type": "vehicle_speed",
-        "metric_min": -150.0,
-        "metric_max": 150.0,
-        "unit_range_index": 6,
         "parent_key": "SpeedLimitController",
         "settings_tier": "advanced"
       },
@@ -2407,8 +2341,6 @@
         "min": 0.0,
         "max": 99.0,
         "step": 1.0,
-        "unit_type": "vehicle_speed",
-        "metric_max": 150.0,
         "parent_key": "ConditionalChill",
         "settings_tier": "advanced"
       },
@@ -2421,8 +2353,6 @@
         "min": 0.0,
         "max": 99.0,
         "step": 1.0,
-        "unit_type": "vehicle_speed",
-        "metric_max": 150.0,
         "parent_key": "ConditionalChill",
         "settings_tier": "advanced"
       },
@@ -2455,8 +2385,6 @@
         "min": 0.0,
         "max": 15.0,
         "step": 1.0,
-        "unit_type": "vehicle_speed",
-        "metric_max": 30.0,
         "parent_key": "ConditionalChill",
         "settings_tier": "advanced"
       },
@@ -2526,7 +2454,6 @@
         "min": 5,
         "max": 80,
         "step": 5,
-        "unit_type": "vehicle_speed",
         "parent_key": "VisionSpeedLimitLowLimitFilter",
         "settings_tier": "advanced"
       },
@@ -4891,7 +4818,6 @@
         "min": 0.0,
         "max": 99.0,
         "step": 1.0,
-        "unit_type": "vehicle_speed",
         "parent_key": "GalaxyDeveloperMode",
         "settings_tier": "advanced"
       },

starpilot/controls/starpilot_planner.py

@@ -126,6 +126,10 @@ class StarPilotPlanner:
       v_cruise_kph += starpilot_toggles.set_speed_offset
     v_cruise = v_cruise_kph * CV.KPH_TO_MS
     v_ego = max(sm["carState"].vEgo, 0)
+    updated = getattr(sm, "updated", None)
+    if updated is not None and updated.get("carParams", False):
+      cp = sm["carParams"] if "carParams" in sm else None
+      self.gps_location_service = get_gps_location_service(self.params, cp)
 
     gps_location = sm[self.gps_location_service]
     self.gps_position = {

starpilot/starpilot_process.py

@@ -310,6 +310,9 @@ def starpilot_thread():
   while True:
     sm.update()
 
+    if sm.updated["carParams"]:
+      gps_location_service = get_gps_location_service(params, sm["carParams"])
+
     now = datetime.datetime.now(datetime.timezone.utc)
     monotonic_now = time.monotonic()
 

starpilot/system/bluetooth/daemon.py

@@ -20,7 +20,6 @@ AUDIO_TEST_HOLD_TIME = 3.0
 RECONNECT_INTERVAL_SECONDS = 15.0
 RECONNECT_MAX_BACKOFF_SECONDS = 300.0
 MANUAL_DISCONNECT_SUPPRESSION_SECONDS = 300.0
-CONTROLLER_OFFROAD_DISCONNECT_DELAY_SECONDS = 120.0
 
 
 class BluetoothController:
@@ -37,9 +36,6 @@ class BluetoothController:
     self._last_reconnect = 0.0
     self._reconnect_backoff: dict[str, tuple[int, float]] = {}
     self._manual_disconnect_until: dict[str, float] = {}
-    self._offroad_since: float | None = None
-    self._policy_disconnected: set[str] = set()
-    self._policy_disconnect_retry_after: dict[str, float] = {}
     self._scan_deadline = 0.0
     self._audio_test_deadline = 0.0
     self._sleep = sleep
@@ -276,65 +272,17 @@ class BluetoothController:
       self._client().stop_discovery()
       self._scan_deadline = 0.0
 
-  def _maintain_controller_offroad_policy(self, status: dict[str, Any], now: float) -> bool:
-    if not status["offroad"]:
-      self._offroad_since = None
-      if self._policy_disconnected:
-        for address in self._policy_disconnected:
-          self._reconnect_backoff.pop(address, None)
-        self._policy_disconnected.clear()
-        self._policy_disconnect_retry_after.clear()
-        self._last_reconnect = 0.0
-      return False
-
-    if self._offroad_since is None:
-      self._offroad_since = now
-
-    if not self.params.get_bool("BluetoothDisconnectControllersOffroad"):
-      if self._policy_disconnected:
-        self._policy_disconnected.clear()
-        self._policy_disconnect_retry_after.clear()
-        self._last_reconnect = 0.0
-      return False
-
-    if now - self._offroad_since < CONTROLLER_OFFROAD_DISCONNECT_DELAY_SECONDS:
-      return False
-
-    for device in status["devices"]:
-      if not device.get("paired") or not device.get("controller") or not device.get("connected"):
-        continue
-      address = str(device["address"]).upper()
-      if now < self._policy_disconnect_retry_after.get(address, 0.0):
-        continue
-      self._policy_disconnected.add(address)
-      self._policy_disconnect_retry_after[address] = now + RECONNECT_INTERVAL_SECONDS
-      try:
-        with self._lock:
-          self._client().disconnect(address)
-      except RuntimeError as error:
-        if "notconnected" not in str(error).replace(" ", "").lower():
-          self._policy_disconnected.discard(address)
-          self._policy_disconnect_retry_after.pop(address, None)
-          cloudlog.warning(f"Bluetooth offroad controller disconnect failed for {address}: {error}")
-      except Exception as error:
-        self._policy_disconnected.discard(address)
-        self._policy_disconnect_retry_after.pop(address, None)
-        cloudlog.warning(f"Bluetooth offroad controller disconnect failed for {address}: {error}")
-    return True
-
   def maintain_connections(self) -> None:
     while True:
       time.sleep(2)
-      now = time.monotonic()
       if not self.params.get_bool("BluetoothEnabled"):
-        self._maintain_controller_offroad_policy({"offroad": self._offroad(), "devices": []}, now)
         continue
       try:
         status = self.status()
         if not status["available"] or not status["powered"]:
           continue
+        now = time.monotonic()
         self._maintain_scan(status, now)
-        suspend_controller_reconnect = self._maintain_controller_offroad_policy(status, now)
         if self._pairing_address or now - self._last_reconnect < RECONNECT_INTERVAL_SECONDS:
           continue
         self._last_reconnect = now
@@ -350,8 +298,6 @@ class BluetoothController:
             self._reconnect_backoff.pop(address, None)
         for device in candidates:
           if device["audio"] or device["controller"]:
-            if suspend_controller_reconnect and device["controller"]:
-              continue
             address = device["address"].upper()
             if now < self._manual_disconnect_until.get(address, 0.0):
               continue

starpilot/system/bluetooth/tests/test_bluetooth.py

@@ -432,48 +432,6 @@ def test_scan_stops_after_timeout():
   assert not client.discovering and controller._scan_deadline == 0.0
 
 
-def test_controller_offroad_disconnect_policy_is_opt_in_and_delayed():
-  params = FakeParams(IsOffroad=True, BluetoothEnabled=True, BluetoothDisconnectControllersOffroad=False)
-  client = FakeBlueZ()
-  controller = BluetoothController(params, lambda: client, FakeRadio())
-  controller._bluez = client
-  controller_status = {
-    "offroad": True,
-    "devices": [
-      {**client.device, "name": "Controller", "audio": False, "controller": True, "connected": True},
-      {**client.device, "address": "AA:BB:CC:DD:EE:FF", "audio": True, "controller": False, "connected": True},
-    ],
-  }
-
-  assert not controller._maintain_controller_offroad_policy(controller_status, 100.0)
-  params.put_bool("BluetoothDisconnectControllersOffroad", True)
-  assert not controller._maintain_controller_offroad_policy(controller_status, 219.9)
-  assert client.actions == []
-
-  assert controller._maintain_controller_offroad_policy(controller_status, 220.0)
-  assert client.actions == [("disconnect", client.device["address"])]
-  assert client.device["address"].upper() in controller._policy_disconnected
-  assert controller._maintain_controller_offroad_policy(controller_status, 221.0)
-  assert client.actions == [("disconnect", client.device["address"])]
-
-
-def test_controller_offroad_disconnect_policy_reconnects_onroad():
-  params = FakeParams(IsOffroad=True, BluetoothEnabled=True, BluetoothDisconnectControllersOffroad=True)
-  controller = BluetoothController(params, FakeBlueZ, FakeRadio())
-  address = "00:11:22:33:44:55"
-  controller._offroad_since = 100.0
-  controller._policy_disconnected.add(address)
-  controller._reconnect_backoff[address] = (3, 500.0)
-  controller._last_reconnect = 210.0
-
-  assert not controller._maintain_controller_offroad_policy({"offroad": False, "devices": []}, 220.0)
-  assert controller._offroad_since is None
-  assert controller._policy_disconnected == set()
-  assert controller._policy_disconnect_retry_after == {}
-  assert address not in controller._reconnect_backoff
-  assert controller._last_reconnect == 0.0
-
-
 def test_pair_keeps_discovery_until_pair_starts():
   params = FakeParams(IsOffroad=True, BluetoothEnabled=True)
   client = FakeBlueZ()

starpilot/system/speed_limit_filler.py

@@ -55,7 +55,10 @@ class MapSpeedLogger:
 
     self.gps_location_service = get_gps_location_service(self.params)
 
-    self.sm = messaging.SubMaster(["deviceState", "starpilotCarState", "starpilotPlan", self.gps_location_service, "mapdOut", "modelV2"])
+    self.sm = messaging.SubMaster([
+      "carParams", "deviceState", "starpilotCarState", "starpilotPlan", "gpsLocation", "gpsLocationExternal",
+      "mapdOut", "modelV2",
+    ])
 
   @property
   def can_make_overpass_request(self):
@@ -252,6 +255,8 @@ class MapSpeedLogger:
     return relevant_segments
 
   def log_speed_limit(self):
+    if self.sm.updated["carParams"]:
+      self.gps_location_service = get_gps_location_service(self.params, self.sm["carParams"])
     if not self.sm.updated[self.gps_location_service]:
       return
 

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

@@ -3,7 +3,7 @@ import { createBrowserHistory, createRouter } from "/assets/vendor/remix-router-
 import { hideSidebar } from "/assets/js/utils.js"
 import { DeviceSettings } from "/assets/components/tools/device_settings.js?v=favorite-c4-hint-1"
 import { Bluetooth } from "/assets/components/tools/bluetooth.js?v=bluetooth-live-15"
-import { WheelControls } from "/assets/components/tools/wheel_controls.js?v=controllers-3"
+import { WheelControls } from "/assets/components/tools/wheel_controls.js?v=controllers-2"
 import { DoorControl } from "/assets/components/tools/doors.js"
 import { ErrorLogs } from "/assets/components/tools/error_logs.js"
 import { VehicleFeatures } from "/assets/components/tools/vehicle_features.js"

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

@@ -342,24 +342,6 @@
   margin-bottom: var(--margin-sm);
 }
 
-.ds-unit-note {
-  align-items: center;
-  background: var(--input-bg);
-  border: var(--border-style-main);
-  border-radius: var(--border-radius-base);
-  color: var(--text-muted);
-  display: flex;
-  font-size: var(--font-size-sm);
-  gap: var(--gap-sm);
-  margin-bottom: var(--margin-base);
-  padding: var(--padding-sm) var(--padding-base);
-}
-
-.ds-unit-note i,
-.ds-unit-note strong {
-  color: var(--main-fg);
-}
-
 /* ――― Empty Filter State ――― */
 .ds-empty {
   color: var(--text-muted);

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

@@ -1,5 +1,4 @@
 import { html, reactive } from "/assets/vendor/arrow-core.js"
-import { formatNumericParamValue, resolveVehicleUnitParam, vehicleSpeedUnit } from "/assets/mobile/js/params.js"
 
 const endpointOptionsCache = {}
 const endpointOptionsInflight = {}
@@ -449,6 +448,40 @@ async function fetchLayoutAndParams() {
   scheduleSyncInputs()
 }
 
+function formatSliderValue(val, stepStr, precisionInt, key) {
+  if (val === null || val === undefined) return "--"
+  const v = parseFloat(val)
+  if (Number.isNaN(v)) return val
+
+  if (key === "SwitchbackModeCooldown") {
+    if (v === 0) return "Off"
+    return v === 1 ? "1 min" : `${v} min`
+  }
+
+  if (key === "DeviceShutdown") {
+    return v === 1 ? "1 hour" : `${v} hours`
+  }
+
+  const volumeKeys = [
+    "BelowSteerSpeedVolume", "DisengageVolume", "EngageVolume", "PromptVolume",
+    "PromptDistractedVolume", "RefuseVolume",
+    "WarningImmediateVolume", "WarningSoftVolume",
+  ]
+  if (key && volumeKeys.includes(key)) {
+    if (v === 0) return "Muted"
+    if (v === 101) return "Auto"
+    return `${v}%`
+  }
+
+  if (precisionInt !== undefined && precisionInt !== null) {
+    return Number(v.toFixed(precisionInt)).toString()
+  }
+
+  if (!stepStr || !stepStr.includes(".")) return Math.round(v).toString()
+  const dec = stepStr.split(".")[1].length
+  return Number(v.toFixed(dec)).toString()
+}
+
 function formatReadoutValue(p) {
   const raw = state.values[p.key]
   const v = parseFloat(raw)
@@ -472,7 +505,6 @@ function formatStepValue(step, precision) {
 }
 
 function numericBounds(param) {
-  param = resolveVehicleUnitParam(param, state.values)
   const defaultBounds = {
     min: param.min !== undefined ? param.min : (param.data_type === "float" ? 0.0 : 0),
     max: param.max !== undefined ? param.max : (param.data_type === "float" ? 100.0 : 100),
@@ -920,7 +952,13 @@ function syncNumericDisplay(param, rawValue) {
   const displayEl = document.getElementById(`ds-display-${param.key}`)
   if (!displayEl) return
 
-  displayEl.textContent = formatNumericParamValue(param, rawValue, state.values)
+  const bounds = numericBounds(param)
+  displayEl.textContent = formatSliderValue(
+    rawValue,
+    String(bounds.step),
+    param.precision,
+    param.key,
+  )
 }
 
 async function updateNumericParam(param, numericValue, options = {}) {
@@ -1273,9 +1311,10 @@ function matchesFilter(p) {
   if (!state.filter) return true
   if (isGroupParam(p)) return false
   const q = state.filter.toLowerCase()
-  const displayParam = resolveVehicleUnitParam(p, state.values)
-  return [displayParam.label, displayParam.key, displayParam.description, displayParam.unit, displayParam.unit_search_terms]
-    .some(value => String(value || "").toLowerCase().includes(q))
+  const label = String(p.label || "").toLowerCase()
+  const key = String(p.key || "").toLowerCase()
+  const description = String(p.description || "").toLowerCase()
+  return label.includes(q) || key.includes(q) || description.includes(q)
 }
 
 function clearSearchFilter() {
@@ -1337,7 +1376,8 @@ function formatFlmValue(param, value) {
   if (value === undefined || value === null) return "not set"
   if (param.data_type === "bool") return value ? "On" : "Off"
   if (param.ui_type === "numeric") {
-    return formatNumericParamValue(param, value, state.values)
+    const bounds = numericBounds(param)
+    return formatSliderValue(value, String(bounds.step), param.precision, param.key)
   }
   return String(value)
 }
@@ -1522,8 +1562,6 @@ function renderSettingRow(p) {
     return ""
   }
 
-  p = resolveVehicleUnitParam(p, state.values)
-
   const isNumeric = p.ui_type === "numeric"
   const isSlider = isNumeric && p.control === "slider"
   const isText = p.ui_type === "text"
@@ -1566,8 +1604,8 @@ function renderSettingRow(p) {
           @input="${(event) => previewSliderParam(p, event.currentTarget.value)}"
           @change="${(event) => commitSliderParam(p, event.currentTarget.value)}" />
         <div class="ds-slider-scale">
-          <span>${formatNumericParamValue(p, numericBounds(p).min, state.values)}</span>
-          <span>${formatNumericParamValue(p, numericBounds(p).max, state.values)}</span>
+          <span>${formatSliderValue(numericBounds(p).min, String(numericBounds(p).step), p.precision, p.key)}</span>
+          <span>${formatSliderValue(numericBounds(p).max, String(numericBounds(p).step), p.precision, p.key)}</span>
         </div>
         <button
           class="ds-reset-btn"
@@ -1593,10 +1631,10 @@ function renderSettingRow(p) {
       const updating = isNumericUpdating(p.key)
       const defaultNumeric = resolveDefaultNumericValue(p, bounds)
       const defaultLabel = defaultNumeric !== null
-        ? formatNumericParamValue(p, defaultNumeric, state.values)
+        ? formatSliderValue(defaultNumeric, String(bounds.step), p.precision, p.key)
         : "N/A"
       const canReset = !updating && defaultNumeric !== null && Math.abs(defaultNumeric - currentNumeric) > epsilon
-      const stepLabel = p.key === "DeviceShutdown" ? "1 hour" : `${formatStepValue(bounds.step, precision)}${p.unit || ""}`
+      const stepLabel = p.key === "DeviceShutdown" ? "1 hour" : formatStepValue(bounds.step, precision)
       return html`
             <div class="ds-stepper">
               <button
@@ -1604,7 +1642,7 @@ function renderSettingRow(p) {
                 disabled="${() => isLocked() || isNumericUpdating(p.key) || !canStepNumericParam(p, -1)}"
                 @click="${() => stepNumericParam(p, -1)}">-</button>
               <div class="ds-stepper-meta">
-                <span>${formatNumericParamValue(p, bounds.min, state.values)} to ${formatNumericParamValue(p, bounds.max, state.values)}</span>
+                <span>${formatSliderValue(bounds.min, String(bounds.step), p.precision, p.key)} to ${formatSliderValue(bounds.max, String(bounds.step), p.precision, p.key)}</span>
                 <span class="ds-step-value">Step: ${stepLabel} per click</span>
                 <span class="ds-default-value">Default: ${defaultLabel}</span>
                 <div class="ds-manual-row">
@@ -1752,7 +1790,8 @@ function renderSettingRow(p) {
             if (isColor) return formatColorDisplayValue(p)
             if (isReadout) return formatReadoutValue(p)
             const currentValue = state.sliderPreviewValues[p.key] ?? state.values[p.key]
-            return currentValue !== undefined ? formatNumericParamValue(p, currentValue, state.values) : ".."
+            const bounds = numericBounds(p)
+            return currentValue !== undefined ? formatSliderValue(currentValue, String(bounds.step), p.precision, p.key) : ".."
           }}</span>` : ""}
       </div>
 
@@ -1818,11 +1857,6 @@ export function DeviceSettings({ params }) {
     <div class="ds-wrapper">
       <h2>Toggles</h2>
 
-      <div class="ds-unit-note">
-        <i class="bi bi-speedometer2"></i>
-        <span>Vehicle-unit speed settings use <strong>${() => vehicleSpeedUnit(state.values)}</strong> and follow the comma's <em>Use Metric System</em> toggle. Each control shows its adjustment step.</span>
-      </div>
-
       <div class="ds-search-row">
         <input
           class="ds-search"

starpilot/system/the_galaxy/assets/components/tools/wheel_controls.css

@@ -37,44 +37,13 @@
 .wheelCard,
 .wheelNotice,
 .wheelError,
-.wheelDeviceSummary,
-.wheelPolicy {
+.wheelDeviceSummary {
   background: var(--sidebar-bg);
   border: 1px solid var(--sidebar-border-color);
   border-radius: var(--border-radius-lg);
   padding: 16px;
 }
 
-.wheelPolicy {
-  display: flex;
-  align-items: center;
-  justify-content: space-between;
-  gap: 20px;
-  cursor: pointer;
-}
-
-.wheelPolicy span,
-.wheelPolicy small {
-  display: block;
-}
-
-.wheelPolicy small {
-  margin-top: 5px;
-  opacity: 0.68;
-}
-
-.wheelPolicy input {
-  width: 22px;
-  height: 22px;
-  flex: 0 0 auto;
-  accent-color: #8b6cc5;
-}
-
-.wheelPolicy:has(input:disabled) {
-  cursor: not-allowed;
-  opacity: 0.6;
-}
-
 .wheelSlotGrid,
 .wheelControllerGrid,
 .wheelMappings {

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

@@ -11,7 +11,6 @@ const state = reactive({
   slots: [],
   controllerSlots: [],
   controllerOptions: [],
-  disconnectControllersOffroad: false,
   speedUnit: "mph",
   speedMinimum: 5,
   speedMaximum: 90,
@@ -38,7 +37,6 @@ async function refresh() {
     state.slots = Array.isArray(payload.slots) ? payload.slots : []
     state.controllerSlots = Array.isArray(payload.controller_slots) ? payload.controller_slots : []
     state.controllerOptions = Array.isArray(payload.controller_options) ? payload.controller_options : []
-    state.disconnectControllersOffroad = !!payload.disconnect_controllers_offroad
     state.speedUnit = typeof payload.speed_unit === "string" ? payload.speed_unit : "mph"
     state.speedMinimum = Number(payload.speed_minimum || 5)
     state.speedMaximum = Number(payload.speed_maximum || 90)
@@ -267,16 +265,6 @@ export function WheelControls() {
       ${() => !state.loading && !state.available && state.mappings.length ? html`<div class="wheelNotice">The wheel control service is starting.</div>` : ""}
       ${() => state.testing ? testPanel() : ""}
 
-      <label class="wheelPolicy">
-        <span>
-          <strong>Disconnect controllers when offroad</strong>
-          <small>After two minutes offroad, paired controllers disconnect to save battery and reconnect when the car starts. Bluetooth and audio-only devices stay connected.</small>
-        </span>
-        <input type="checkbox" checked="${() => state.disconnectControllersOffroad}"
-               disabled="${() => !state.offroad || !!state.busy}"
-               @change="${event => request("offroad-disconnect", { enabled: event.currentTarget.checked })}" />
-      </label>
-
       <div class="wheelDeviceSummary">
         <div class="wheelDeviceHeading">
           <strong>Connected input devices</strong>

starpilot/system/the_galaxy/assets/mobile/css/material.css

@@ -592,24 +592,6 @@ ul { list-style: none; margin: 0; padding: 0; }
   transition: transform var(--motion-fast), box-shadow var(--motion-fast);
 }
 
-.gx-unit-note {
-  align-items: center;
-  background: var(--primary-container);
-  border: 1px solid var(--primary);
-  border-radius: var(--radius-md);
-  color: var(--on-primary-container);
-  display: flex;
-  font-size: var(--fs-sm);
-  gap: var(--sp-2);
-  margin: 0 0 var(--sp-4);
-  padding: var(--sp-3) var(--sp-4);
-}
-
-.gx-unit-note i {
-  color: var(--primary);
-  font-size: 1.2rem;
-}
-
 [data-theme="light"] .gx-card {
   border: 1px solid rgba(120, 73, 232, 0.22);
 }
@@ -767,13 +749,6 @@ ul { list-style: none; margin: 0; padding: 0; }
 .gx-slider-row .gx-row__value { text-align: left; min-width: 0; }
 .gx-slider-row .gx-slider-reset { align-self: flex-end; }
 
-.gx-slider-meta {
-  color: var(--text-muted);
-  display: flex;
-  font-size: var(--fs-xs);
-  justify-content: space-between;
-}
-
 input[type="range"].gx-slider {
   -webkit-appearance: none;
   appearance: none;
@@ -1522,4 +1497,4 @@ input[type="color"].gx-color {
   .gx-menu-btn { display: inline-flex; }
   .gx-back-btn { display: none; }
   .gx-content { padding-bottom: var(--sp-6); }
-}
+}

starpilot/system/the_galaxy/assets/mobile/js/components/GalaxyToggleCard.js

@@ -1,8 +1,8 @@
 import { api, showSnackbar } from "../api.js"
 import {
-  coerceValueByType, formatNumericParamValue, formatReadoutValue, getColorDefault,
+  coerceValueByType, formatSliderValue, formatReadoutValue, getColorDefault,
   normalizeHexColor, numericBounds, numericEpsilon, snapNumericToBoundsAndStep,
-  resolveVehicleUnitParam, stepPrecision,
+  stepPrecision,
 } from "../params.js"
 import { FavoritesEditor } from "./FavoritesEditor.js"
 
@@ -12,7 +12,6 @@ export const GalaxyToggleCard = {
   props: {
     param: { type: Object, required: true },
     value: { default: undefined },
-    values: { type: Object, default: () => ({}) },
     locked: { type: Boolean, default: false },
     manageable: { type: Boolean, default: false },
     manageOpen: { type: Boolean, default: false },
@@ -29,9 +28,8 @@ export const GalaxyToggleCard = {
     }
   },
   computed: {
-    displayParam() { return resolveVehicleUnitParam(this.param, this.values) },
-    bounds() { return numericBounds(this.displayParam, this.values) },
-    precision() { return stepPrecision(this.bounds.step, this.displayParam.precision) },
+    bounds() { return numericBounds(this.param, {}) },
+    precision() { return stepPrecision(this.bounds.step, this.param.precision) },
     epsilon() { return numericEpsilon(this.precision) },
     isSlider() { return this.isNumeric },
     isNumeric() { return this.param.ui_type === "numeric" },
@@ -40,17 +38,11 @@ export const GalaxyToggleCard = {
     currentValue() { return this.preview !== undefined ? this.preview : this.value },
     displayValue() {
       if (this.isColor) return normalizeHexColor(this.value) ? normalizeHexColor(this.value).toUpperCase() : "Stock"
-      if (this.isReadout) return formatReadoutValue(this.displayParam, this.value)
-      return this.value !== undefined && this.value !== null ? formatNumericParamValue(this.displayParam, this.value, this.values) : ".."
+      if (this.isReadout) return formatReadoutValue(this.param, this.value)
+      return this.value !== undefined && this.value !== null ? formatSliderValue(this.value, String(this.bounds.step), this.param.precision, this.param.key) : ".."
     },
     sliderDisplay() {
-      return this.value !== undefined ? formatNumericParamValue(this.displayParam, this.currentValue, this.values) : ".."
-    },
-    sliderRangeDisplay() {
-      return `${formatNumericParamValue(this.displayParam, this.bounds.min, this.values)} to ${formatNumericParamValue(this.displayParam, this.bounds.max, this.values)}`
-    },
-    sliderStepDisplay() {
-      return formatNumericParamValue(this.displayParam, this.bounds.step, this.values)
+      return this.value !== undefined ? formatSliderValue(this.currentValue, String(this.bounds.step), this.param.precision, this.param.key) : ".."
     },
     isColor() { return this.param.ui_type === "color" },
     isAction() { return this.param.ui_type === "action" },
@@ -175,10 +167,10 @@ export const GalaxyToggleCard = {
     <div>
       <div class="gx-row" :class="{ disabled: locked, 'gx-row--favorites': isFavorites, 'gx-row--stack': isSlider || isSelect }">
         <div class="gx-row__info">
-          <span class="gx-row__label">{{ displayParam.label }}
-            <span v-if="displayParam.settings_tier === 'advanced'" class="gx-chip gx-chip--advanced">Advanced</span>
+          <span class="gx-row__label">{{ param.label }}
+            <span v-if="param.settings_tier === 'advanced'" class="gx-chip gx-chip--advanced">Advanced</span>
           </span>
-          <span v-if="displayParam.description" class="gx-row__desc">{{ displayParam.description }}</span>
+          <span v-if="param.description" class="gx-row__desc">{{ param.description }}</span>
           <div v-if="locked" class="gx-row__desc"><strong>Locked:</strong> This setting can only be changed while parked.</div>
         </div>
 
@@ -198,10 +190,6 @@ export const GalaxyToggleCard = {
             :value="currentValue" :disabled="locked || updating"
             @input="onSliderInput" @change="onSliderCommit" @blur="onSliderBlur"
             @touchstart="beginInteract" @mousedown="beginInteract" @keydown="beginInteract" />
-          <div v-if="displayParam.unit_type" class="gx-slider-meta">
-            <span>{{ sliderRangeDisplay }}</span>
-            <span>Step: {{ sliderStepDisplay }}</span>
-          </div>
           <button class="gx-slider-reset" :disabled="locked || updating" @click="resetToDefault">Default</button>
         </div>
 

starpilot/system/the_galaxy/assets/mobile/js/components/ParamSections.js

@@ -1,5 +1,5 @@
 import { api } from "../api.js"
-import { isSettingVisible, resolveVehicleUnitParam, slugifySectionName, applyParamChange } from "../params.js"
+import { isSettingVisible, slugifySectionName, applyParamChange } from "../params.js"
 import { SettingTree } from "./SettingTree.js"
 import { GalaxySection } from "./GalaxySection.js"
 
@@ -35,9 +35,7 @@ export const ParamSections = {
     matches(p) {
       if (!this.search) return true
       const q = this.search.toLowerCase()
-      const displayParam = resolveVehicleUnitParam(p, this.values)
-      return [displayParam.label, displayParam.key, displayParam.description, displayParam.unit, displayParam.unit_search_terms]
-        .some((v) => String(v || "").toLowerCase().includes(q))
+      return [p.label, p.key, p.description].some((v) => String(v || "").toLowerCase().includes(q))
     },
     async load() {
       try {

starpilot/system/the_galaxy/assets/mobile/js/components/SettingTree.js

@@ -30,7 +30,7 @@ export const SettingTree = {
   template: `
     <template v-for="p in children" :key="p.key">
       <div class="gx-tree-node" :class="{ 'gx-tree-node--child': depth > 0 }" :style="'--gx-depth:' + depth">
-        <GalaxyToggleCard :param="p" :value="values[p.key]" :values="values" :locked="lockReason(p) !== ''"
+        <GalaxyToggleCard :param="p" :value="values[p.key]" :locked="lockReason(p) !== ''"
           :manageable="manageable(p)" :manage-open="manageOpen(p)"
           @change="$emit('change', $event)" @manage="$emit('manage', $event)" />
       </div>

starpilot/system/the_galaxy/assets/mobile/js/components/WheelControls.js

@@ -12,7 +12,6 @@ export const WheelControls = {
       loading: true, busy: "", available: false, offroad: false, learning: false,
       devices: [], mappings: [], slots: [], controllerSlots: [], controllerOptions: [],
       joystickDevice: "", learningSlot: null, remainingSeconds: 0, testing: false,
-      disconnectControllersOffroad: false,
       lastTested: null, speedUnit: "mph", speedMinimum: 0, speedMaximum: 0, error: "",
     }
   },
@@ -30,7 +29,6 @@ export const WheelControls = {
         this.slots = Array.isArray(p.slots) ? p.slots : []
         this.controllerSlots = Array.isArray(p.controller_slots) ? p.controller_slots : []
         this.controllerOptions = Array.isArray(p.controller_options) ? p.controller_options : []
-        this.disconnectControllersOffroad = !!p.disconnect_controllers_offroad
         this.joystickDevice = typeof p.joystick_device === "string" ? p.joystick_device : ""
         this.learningSlot = Number.isInteger(p.learning_slot) ? p.learning_slot : null
         this.remainingSeconds = Number.isFinite(Number(p.remaining_seconds)) ? Number(p.remaining_seconds) : 0
@@ -101,18 +99,6 @@ export const WheelControls = {
           <button type="button" class="gx-btn" :disabled="disabled() || !mappings.length" @click="request(testing ? 'test-stop' : 'test')">{{ testing ? 'Stop Testing' : 'Test Buttons' }}</button>
           <button type="button" class="gx-btn gx-btn--danger" :disabled="disabled() || !mappings.length" @click="request('clear')">Clear All</button>
         </div>
-        <div class="gx-row" style="margin-bottom:12px;">
-          <div class="gx-row__info">
-            <span class="gx-row__label">Disconnect controllers when offroad</span>
-            <span class="gx-row__desc">After two minutes offroad, paired controllers disconnect to save battery and reconnect when the car starts. Bluetooth and audio-only devices stay connected.</span>
-          </div>
-          <label class="gx-switch">
-            <input type="checkbox" :checked="disconnectControllersOffroad" :disabled="disabled()"
-              @change="request('offroad-disconnect', { enabled: $event.target.checked })" />
-            <span class="gx-switch__track"></span>
-            <span class="gx-switch__thumb"></span>
-          </label>
-        </div>
         <div v-if="testing && lastTested" style="margin-bottom:12px;">
           <span class="gx-chip" :style="lastTested.mapped ? 'background:var(--success);' : 'background:var(--error);'">{{ lastTested.mapped ? 'Successful' : 'Not mapped' }}</span>
           <p style="color:var(--text-muted); margin-top:6px;">{{ lastTested.event_name || ('Button ' + lastTested.event_code) }} on {{ lastTested.device_name || 'External input' }} {{ lastTested.mapped ? 'is mapped to slot ' + lastTested.slot : 'has no mapping' }}.</p>

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

@@ -1,45 +1,4 @@
 export const GALAXY_DEVELOPER_MODE_KEY = "GalaxyDeveloperMode"
-export const VEHICLE_SPEED_UNIT_TYPE = "vehicle_speed"
-
-const SPEED_OFFSET_RANGES = {
-  imperial: ["0–24", "25–34", "35–44", "45–54", "55–64", "65–74", "75–99"],
-  metric: ["0–29", "30–49", "50–59", "60–79", "80–99", "100–119", "120–140"],
-}
-
-export function usesMetricUnits(values = {}) {
-  const value = values?.IsMetric
-  if (value === true || value === 1) return true
-  return ["1", "true", "yes", "on"].includes(String(value ?? "").trim().toLowerCase())
-}
-
-export function vehicleSpeedUnit(values = {}) {
-  return usesMetricUnits(values) ? "km/h" : "mph"
-}
-
-export function resolveVehicleUnitParam(param, values = {}) {
-  if (!param || param.unit_type !== VEHICLE_SPEED_UNIT_TYPE) return param
-
-  const metric = usesMetricUnits(values)
-  const mode = metric ? "metric" : "imperial"
-  const resolved = {
-    ...param,
-    unit: ` ${vehicleSpeedUnit(values)}`,
-    unit_search_terms: "metric imperial mph km/h vehicle speed units",
-  }
-  for (const field of ["min", "max", "step", "precision"]) {
-    const override = param[`${mode}_${field}`]
-    if (override !== undefined && override !== null) resolved[field] = override
-  }
-
-  if (Number.isInteger(param.unit_range_index)) {
-    const range = SPEED_OFFSET_RANGES[mode][param.unit_range_index]
-    if (range) {
-      resolved.label = `Speed Offset (${range} ${vehicleSpeedUnit(values)})`
-      resolved.description = `How much to offset posted speed limits between ${range} ${vehicleSpeedUnit(values)}.`
-    }
-  }
-  return resolved
-}
 
 const HIDDEN_SETTING_KEYS = new Set(["HumanAcceleration"])
 const RADAR_REQUIRED_KEYS = new Set(["HumanLaneChanges", "RadarTakeoffs"])
@@ -129,8 +88,7 @@ export function countAdvancedHiddenByDeveloperMode(layout, values) {
   return count
 }
 
-export function numericBounds(param, values = {}) {
-  param = resolveVehicleUnitParam(param, values)
+export function numericBounds(param, values) {
   const defaultBounds = {
     min: param.min !== undefined ? param.min : (param.data_type === "float" ? 0.0 : 0),
     max: param.max !== undefined ? param.max : (param.data_type === "float" ? 100.0 : 100),
@@ -236,13 +194,6 @@ export function formatSliderValue(val, stepStr, precisionInt, key) {
   return Number(v.toFixed(dec)).toString()
 }
 
-export function formatNumericParamValue(param, value, values = {}) {
-  const resolved = resolveVehicleUnitParam(param, values)
-  const bounds = numericBounds(resolved, values)
-  const formatted = formatSliderValue(value, String(bounds.step), resolved.precision, resolved.key)
-  return resolved.unit && formatted !== "--" ? `${formatted}${resolved.unit}` : formatted
-}
-
 export function formatReadoutValue(p, value) {
   const raw = value
   const parsed = parseFloat(raw)

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

@@ -2,7 +2,7 @@ import { api, showSnackbar } from "../api.js"
 import { navigate, store } from "../store.js"
 import {
   applyParamChange, countAdvancedHiddenByDeveloperMode, GALAXY_DEVELOPER_MODE_KEY, isSettingVisible,
-  resolveVehicleUnitParam, slugifySectionName, vehicleSpeedUnit,
+  slugifySectionName,
 } from "../params.js"
 import { SettingTree } from "../components/SettingTree.js"
 import { GalaxyToggleCard } from "../components/GalaxyToggleCard.js"
@@ -39,7 +39,6 @@ export const Settings = {
       return this.sections.find((s) => s.slug === this.activeSectionSlug) || this.sections[0]
     },
     hiddenAdvancedCount() { return countAdvancedHiddenByDeveloperMode(this.layout, this.values) },
-    speedUnit() { return vehicleSpeedUnit(this.values) },
     searchActive() { return !!this.searchTerm },
     searchTerm: {
       get() { return store.search },
@@ -83,9 +82,7 @@ export const Settings = {
     matchesFilter(p) {
       if (!this.searchTerm) return true
       const q = this.searchTerm.toLowerCase()
-      const displayParam = resolveVehicleUnitParam(p, this.values)
-      return [displayParam.label, displayParam.key, displayParam.description, displayParam.unit, displayParam.unit_search_terms]
-        .some((v) => String(v || "").toLowerCase().includes(q))
+      return [p.label, p.key, p.description].some((v) => String(v || "").toLowerCase().includes(q))
     },
     selectSection(slug) {
       if (slug !== this.activeSectionSlug) navigate("/settings/" + slug)
@@ -120,11 +117,6 @@ export const Settings = {
     <div>
       <h2 style="margin-top:0;">Toggles</h2>
 
-      <div class="gx-unit-note">
-        <i class="bi bi-speedometer2"></i>
-        <span>Vehicle-unit speed settings use <strong>{{ speedUnit }}</strong> and follow the comma's <em>Use Metric System</em> toggle. Each control shows its adjustment step.</span>
-      </div>
-
       <DevModeBanner :hidden-count="hiddenAdvancedCount" :dev-mode-on="devModeOn" />
 
       <div v-if="loading" class="gx-loading">Loading configuration...</div>
@@ -140,7 +132,7 @@ export const Settings = {
           <template v-for="section in searchResults" :key="section.slug">
             <GalaxySection :title="section.name + ' (' + section.matches.length + ')'" :icon="section.icon || 'bi-search'" :default-open="false">
               <template v-for="p in section.matches" :key="p.key">
-                <GalaxyToggleCard :param="p" :value="values[p.key]" :values="values" :locked="lockReason(p) !== ''"
+                <GalaxyToggleCard :param="p" :value="values[p.key]" :locked="lockReason(p) !== ''"
                   @change="onParamChange" />
               </template>
             </GalaxySection>

starpilot/system/the_galaxy/assets/mobile/manifest.json

@@ -1,6 +1,6 @@
 {
-  "name": "Galaxy",
-  "short_name": "Galaxy",
+  "name": "Big Dipper",
+  "short_name": "Big Dipper",
   "description": "Control and configure your openpilot device from anywhere.",
   "icons": [
     { "src": "/assets/images/android-chrome-192x192.png", "sizes": "192x192", "type": "image/png", "purpose": "any maskable" },
@@ -8,6 +8,7 @@
     { "src": "/assets/images/apple-touch-icon.png", "sizes": "180x180", "type": "image/png" }
   ],
   "id": "46bf2df73deba8e1512c35de",
+  "start_url": "/mobile/",
   "scope": "/",
   "background_color": "#06060f",
   "theme_color": "#8b6cc5",

starpilot/system/the_galaxy/templates/index.html

@@ -42,7 +42,7 @@
   <link rel="stylesheet" href="/assets/components/tools/update_manager.css">
   <link rel="stylesheet" href="/assets/components/tools/device_settings.css?v=favorite-actions-1">
   <link rel="stylesheet" href="/assets/components/tools/bluetooth.css?v=bluetooth-6">
-  <link rel="stylesheet" href="/assets/components/tools/wheel_controls.css?v=controllers-3">
+  <link rel="stylesheet" href="/assets/components/tools/wheel_controls.css?v=controllers-2">
   <link rel="stylesheet" href="/assets/components/tools/galaxy.css">
   <link rel="stylesheet" href="/assets/components/tools/sentry.css">
   <link rel="stylesheet" href="/assets/components/tools/longitudinal_maneuvers.css">
@@ -51,7 +51,7 @@
   <link rel="stylesheet" href="/assets/components/tools/tsk_manager.css">
 
   <script type="module">
-    import("/assets/components/router.js?v=router-cycle-fix-8").catch((err) => {
+    import("/assets/components/router.js?v=router-cycle-fix-7").catch((err) => {
       console.error("[the_galaxy] bootstrap failed", err);
       const target = document.getElementById("app") || document.body;
       const pre = document.createElement("pre");

starpilot/system/the_galaxy/tests/test_device_settings_frontend.py

@@ -46,18 +46,6 @@ def test_device_settings_uses_the_params_api_and_layout_json():
   assert 'fetch("/assets/components/tools/device_settings_layout.json?v=settings-tier-1"' in source
 
 
-def test_device_settings_speed_units_follow_the_vehicle():
-  source = _device_settings()
-
-  assert 'from "/assets/mobile/js/params.js"' in source
-  assert "resolveVehicleUnitParam" in source
-  assert "formatNumericParamValue" in source
-  assert "vehicleSpeedUnit(state.values)" in source
-  assert "unit_search_terms" in source
-  assert "Use Metric System" in source
-  assert "per click" in source
-
-
 def test_lane_center_offset_can_step_below_zero():
   source = _device_settings()
 

starpilot/system/the_galaxy/tests/test_device_settings_layout.py

@@ -107,41 +107,6 @@ def test_device_shutdown_uses_literal_hours():
   assert device_shutdown["step"] == 1
 
 
-def test_speed_settings_follow_vehicle_units_with_one_unit_steps():
-  sections = _params_by_section(_layout())
-  speed_keys = {
-    "MinimumLaneChangeSpeed", "PauseLateralSpeed",
-    "CESpeed", "CESpeedLead", "CESignalSpeed",
-    "CustomCruise", "CustomCruiseLong", "SetSpeedOffset", "PulseGlideSpeedDelta",
-    "Offset1", "Offset2", "Offset3", "Offset4", "Offset5", "Offset6", "Offset7",
-    "CCMSpeed", "CCMSpeedLead", "CCMSetSpeedMargin",
-    "VisionSpeedLimitLowLimitThreshold", "TurnSteeringLimitMuteSpeed",
-  }
-  params = {
-    param["key"]: param
-    for section in sections.values()
-    for param in section.values()
-    if param["key"] in speed_keys
-  }
-
-  assert params.keys() == speed_keys
-  assert all(param["unit_type"] == "vehicle_speed" for param in params.values())
-
-  one_unit_keys = speed_keys - {"PulseGlideSpeedDelta", "VisionSpeedLimitLowLimitThreshold"}
-  assert all(params[key]["step"] == 1 for key in one_unit_keys)
-  assert params["PulseGlideSpeedDelta"]["step"] == 0.5
-  assert params["VisionSpeedLimitLowLimitThreshold"]["step"] == 5
-
-  for index in range(7):
-    offset = params[f"Offset{index + 1}"]
-    assert offset["unit_range_index"] == index
-    assert (offset["metric_min"], offset["metric_max"]) == (-150, 150)
-
-  assert params["CustomCruise"]["metric_max"] == 150
-  assert params["CCMSetSpeedMargin"]["metric_max"] == 30
-  assert params["PulseGlideSpeedDelta"]["imperial_max"] == 15
-
-
 def test_curve_speed_controller_no_lead_toggle_is_nested_under_csc():
   csc_no_lead = _params_by_section(_layout())["Longitudinal (Speed & Following)"]["CurveSpeedControllerNoLead"]
 

starpilot/system/the_galaxy/tests/test_frontend_module_graph.py

@@ -7,7 +7,6 @@ ROUTER_PATH = REPO_ROOT / "starpilot/system/the_galaxy/assets/components/router.
 INDEX_PATH = REPO_ROOT / "starpilot/system/the_galaxy/templates/index.html"
 BLUETOOTH_PATH = REPO_ROOT / "starpilot/system/the_galaxy/assets/components/tools/bluetooth.js"
 CONTROLLERS_PATH = REPO_ROOT / "starpilot/system/the_galaxy/assets/components/tools/wheel_controls.js"
-MOBILE_CONTROLLERS_PATH = REPO_ROOT / "starpilot/system/the_galaxy/assets/mobile/js/components/WheelControls.js"
 SIDEBAR_PATH = REPO_ROOT / "starpilot/system/the_galaxy/assets/components/sidebar.js"
 MODEL_LAB_PATH = REPO_ROOT / "starpilot/system/the_galaxy/assets/components/tools/model_laboratory.js"
 
@@ -24,7 +23,7 @@ def test_router_and_settings_cache_bust_is_consistent():
   index = INDEX_PATH.read_text(encoding="utf-8")
 
   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/router.js?v=router-cycle-fix-7" in index
 
 
 def test_bluetooth_actions_use_reactive_disabled_bindings():
@@ -77,16 +76,6 @@ def test_controller_joystick_mode_requires_explicit_device_selection():
   assert 'request("joystick", { device_id: device.device_id, enabled: !selected() })' in source
 
 
-def test_controller_offroad_disconnect_is_opt_in():
-  source = CONTROLLERS_PATH.read_text(encoding="utf-8")
-  mobile_source = MOBILE_CONTROLLERS_PATH.read_text(encoding="utf-8")
-
-  for frontend in (source, mobile_source):
-    assert "Disconnect controllers when offroad" in frontend
-    assert "After two minutes offroad" in frontend
-    assert "offroad-disconnect" in frontend
-
-
 def test_controller_page_has_ten_controller_only_action_slots():
   source = CONTROLLERS_PATH.read_text(encoding="utf-8")
 

starpilot/system/the_galaxy/tests/test_navigation_params.py

@@ -231,25 +231,6 @@ def test_wheel_controls_status_includes_favorite_slots(monkeypatch):
     "__starpilot_controller_action__:disengage_openpilot",
   }
   assert response.get_json()["speed_unit"] == "mph"
-  assert response.get_json()["disconnect_controllers_offroad"] is False
-
-
-def test_wheel_controls_configures_offroad_controller_disconnect(monkeypatch):
-  client, fake_params = _params_client(monkeypatch, {"IsOffroad": True}, "mici")
-
-  response = client.post("/api/wheel-controls/offroad-disconnect", json={"enabled": True})
-
-  assert response.status_code == 200
-  assert fake_params.get_bool("BluetoothDisconnectControllersOffroad")
-
-
-def test_wheel_controls_offroad_controller_disconnect_requires_offroad(monkeypatch):
-  client, fake_params = _params_client(monkeypatch, {"IsOffroad": False}, "mici")
-
-  response = client.post("/api/wheel-controls/offroad-disconnect", json={"enabled": True})
-
-  assert response.status_code == 409
-  assert not fake_params.get_bool("BluetoothDisconnectControllersOffroad")
 
 
 def test_wheel_controls_configures_a_controller_only_action(monkeypatch):

starpilot/system/the_galaxy/tests/test_sentry_push_and_routing.py

@@ -62,26 +62,6 @@ def test_slug_middleware_service_worker_and_headers(client):
     assert response_direct.headers.get("Service-Worker-Allowed") == "/"
 
 
-def test_mobile_manifest_embeds_device_slug_for_fresh_app_login(client):
-  galaxy_dir = the_galaxy._get_galaxy_dir()
-  galaxy_dir.mkdir(parents=True, exist_ok=True)
-  (galaxy_dir / "glxyslug").write_text("df70390ca648d7c3")
-
-  response = client.get("/assets/mobile/manifest.json")
-
-  assert response.status_code == 200
-  assert response.mimetype == "application/manifest+json"
-  assert response.get_json()["start_url"] == "https://galaxy.firestar.link/df70390ca648d7c3"
-  assert "no-store" in response.headers.get("Cache-Control", "")
-
-
-def test_mobile_manifest_falls_back_to_local_mobile_route_without_slug(client):
-  response = client.get("/assets/mobile/manifest.json")
-
-  assert response.status_code == 200
-  assert response.get_json()["start_url"] == "/mobile/"
-
-
 def test_404_api_returns_json_not_html(client):
   # Non-existent API route without slug
   res1 = client.get("/api/nonexistent")

starpilot/system/the_galaxy/tests/test_ui_vue_frontend.py

@@ -190,23 +190,6 @@ def test_ui_numeric_toggles_are_sliders_with_default():
   assert 'title="Set to zero"' not in card
 
 
-def test_ui_speed_units_follow_the_vehicle():
-  params = _read("js/params.js")
-  card = _read("js/components/GalaxyToggleCard.js")
-  tree = _read("js/components/SettingTree.js")
-  settings = _read("js/views/Settings.js")
-
-  assert "resolveVehicleUnitParam" in params
-  assert "formatNumericParamValue" in params
-  assert "unit_search_terms" in params and "unit_search_terms" in settings
-  assert "IsMetric" in params
-  assert ':values="values"' in tree
-  assert "displayParam" in card and "formatNumericParamValue" in card
-  assert "sliderStepDisplay" in card and "Step:" in card
-  assert ':values="values"' in settings
-  assert "Use Metric System" in settings
-
-
 def test_ui_centralizes_api_and_uses_composables():
   api = _read("js/api.js")
   composables = _read("js/composables.js")
@@ -360,7 +343,7 @@ def test_ui_manifest_is_valid_pwa_manifest():
   assert manifest["display"] == "standalone"
   assert manifest["name"]
   assert manifest["icons"]
-  assert "start_url" not in manifest
+  assert manifest["start_url"] == "/mobile/"
 
 
 def test_ui_ported_classic_tools_native_no_embed():
@@ -522,23 +505,6 @@ assert(P.countAdvancedHiddenByDeveloperMode([sec], { GalaxyDeveloperMode: true }
 const slider = { key: "DeviceShutdown", data_type: "int", min: 1, max: 30, step: 1 }
 assert(P.snapNumericToBoundsAndStep(17.9, P.numericBounds(slider, {}), 0) === 18, "snap")
 assert(P.formatSliderValue(6, "1", 0, "DeviceShutdown") === "6 hours", "format")
-const speed = {
-  key: "Offset2", data_type: "float", unit_type: "vehicle_speed",
-  min: -99, max: 99, step: 1, precision: 0,
-  metric_min: -150, metric_max: 150, unit_range_index: 1,
-}
-const imperialSpeed = P.resolveVehicleUnitParam(speed, { IsMetric: false })
-assert(imperialSpeed.unit === " mph", "imperial unit")
-assert(imperialSpeed.label === "Speed Offset (25–34 mph)", "imperial offset band")
-assert(P.formatNumericParamValue(speed, 3, { IsMetric: false }) === "3 mph", "imperial value")
-const metricSpeed = P.resolveVehicleUnitParam(speed, { IsMetric: true })
-assert(metricSpeed.unit === " km/h", "metric unit")
-assert(metricSpeed.label === "Speed Offset (30–49 km/h)", "metric offset band")
-assert(metricSpeed.unit_search_terms.includes("metric"), "metric settings are searchable")
-assert(P.numericBounds(speed, { IsMetric: true }).max === 150, "metric bounds")
-assert(P.numericBounds(speed, { IsMetric: true }).step === 1, "one km/h per step")
-assert(P.formatNumericParamValue(speed, 3, { IsMetric: true }) === "3 km/h", "metric value")
-assert(P.usesMetricUnits({ IsMetric: "1" }) === true, "serialized metric bool")
 const laneOffset = { key: "LaneCenterOffset", data_type: "float", min: 0, max: 0.3, step: 0.01 }
 const laneBounds = P.numericBounds(laneOffset, {})
 assert(laneBounds.min === -0.3, "lane offset keeps signed lower bound")

starpilot/system/the_galaxy/the_galaxy.py

@@ -5015,7 +5015,6 @@ def setup(app):
       "/assets/components/settings.js",
       "/assets/components/home/home.js",
       "/assets/components/home/home.css",
-      "/assets/mobile/js/params.js",
       "/assets/components/tools/device_settings.js",
       "/assets/components/tools/device_settings.css",
       "/assets/components/tools/device_settings_layout.json",
@@ -5182,7 +5181,6 @@ def setup(app):
     status["slots"] = slots
     status["controller_slots"] = controller_slots
     status["controller_options"] = controller_options
-    status["disconnect_controllers_offroad"] = params.get_bool("BluetoothDisconnectControllersOffroad")
     is_metric = params.get_bool("IsMetric")
     speed_minimum, speed_maximum = controller_speed_bounds(is_metric)
     status["speed_unit"] = "km/h" if is_metric else "mph"
@@ -5192,16 +5190,13 @@ def setup(app):
 
   @app.route("/api/wheel-controls/<operation>", methods=["POST"])
   def wheel_controls_operation(operation):
-    if operation not in {"action", "learn", "cancel", "delete", "clear", "test", "test-stop", "joystick", "offroad-disconnect"}:
+    if operation not in {"action", "learn", "cancel", "delete", "clear", "test", "test-stop", "joystick"}:
       return jsonify({"error": "Unknown wheel control operation."}), 404
     if not params.get_bool("IsOffroad"):
       return jsonify({"error": "Wheel controls can only be configured offroad."}), 409
 
     data = request.get_json(silent=True) or {}
     try:
-      if operation == "offroad-disconnect":
-        params.put_bool("BluetoothDisconnectControllersOffroad", bool(data.get("enabled", False)))
-        return jsonify({"message": "Offroad controller disconnect updated."}), 200
       if operation == "action":
         slot_index = int(data.get("slot", -1))
         key = str(data.get("key") or "").strip()
@@ -5301,27 +5296,6 @@ def setup(app):
       return "Settings catalog not found", 404
     return send_file(str(SETTINGS_CATALOG_PATH), mimetype="application/json")
 
-  @app.route("/assets/mobile/manifest.json", methods=["GET"])
-  def mobile_manifest():
-    manifest_path = Path(app.static_folder) / "mobile" / "manifest.json"
-    if not manifest_path.is_file():
-      return jsonify({"error": "Big Dipper manifest not found"}), 404
-
-    try:
-      manifest_data = json.loads(manifest_path.read_text(encoding="utf-8"))
-    except (OSError, ValueError, json.JSONDecodeError):
-      return jsonify({"error": "Big Dipper manifest is invalid"}), 500
-
-    slug = _read_galaxy_text(_get_galaxy_dir() / "glxyslug")
-    if re.fullmatch(r"[A-Za-z0-9]{16}", slug):
-      manifest_data["start_url"] = f"https://galaxy.firestar.link/{slug}"
-    else:
-      manifest_data["start_url"] = "/mobile/"
-
-    response = jsonify(manifest_data)
-    response.mimetype = "application/manifest+json"
-    return _no_store_response(response)
-
   @app.route("/manifest.json", methods=["GET"])
   @app.route("/assets/manifest.json", methods=["GET"])
   def manifest():

system/manager/process_config.py

@@ -1,3 +1,5 @@
+from __future__ import annotations
+
 import os
 import operator
 import platform
@@ -6,6 +8,7 @@ import sys
 from types import SimpleNamespace
 
 from cereal import car
+from openpilot.common.gps import gm_car_params_present
 from openpilot.common.params import Params
 from opendbc.car.gps import car_gps_available
 from openpilot.system.hardware import HARDWARE, PC, TICI
@@ -36,9 +39,12 @@ def update_car_gps_param(params: Params) -> bool | None:
   car_params = params.get("CarParams")
   if car_params is None:
     return None
+  try:
+    with car.CarParams.from_bytes(car_params) as parsed_cp:
+      available = car_gps_available(parsed_cp)
+  except Exception:
+    return None
 
-  with car.CarParams.from_bytes(car_params) as CP:
-    available = car_gps_available(CP)
   if available != params.get_bool("CarGpsAvailable"):
     params.put_bool("CarGpsAvailable", available)
   return available
@@ -48,7 +54,9 @@ def ublox(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: S
   use_ublox = ublox_available()
   if use_ublox != params.get_bool("UbloxAvailable"):
     params.put_bool("UbloxAvailable", use_ublox)
-  return started and use_ublox and car_gps is False
+  is_gm = gm_car_params_present(params)
+  # On GM, card arbitrates u-blox and CAN GPS; wait for CarParams.
+  return started and use_ublox and car_gps is not None and (not car_gps or is_gm)
 
 def joystick(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
   return started and params.get_bool("JoystickDebugMode")

system/manager/test/test_process_config.py

@@ -4,6 +4,7 @@ import pytest
 
 from cereal import car
 from opendbc.car.ford.values import CAR as FORD_CAR
+from opendbc.car.gm.values import CAR as GM_CAR
 import openpilot.system.manager.process_config as process_config
 from openpilot.system.manager.process_config import (
   allow_uploads,
@@ -152,25 +153,33 @@ class GpsParams:
     self.values[key] = value
 
 
-def test_ublox_waits_for_current_carparams(monkeypatch):
-  monkeypatch.setattr("openpilot.system.manager.process_config.ublox_available", lambda: True)
-  params = GpsParams()
+@pytest.mark.parametrize("brand,fingerprint,persisted,live_brand,expected,car_gps", [
+  ("gm", "", False, "gm", False, False),
+  ("mock", "", False, "mock", False, False),
+  ("ford", "", False, "ford", False, False),
+  ("gm", GM_CAR.CHEVROLET_BOLT_CC_2018_2021, False, "gm", False, False),
+  ("gm", GM_CAR.CHEVROLET_BOLT_CC_2018_2021, True, "gm", True, True),
+  ("gm", GM_CAR.CHEVROLET_BOLT_CC_2018_2021, True, "", True, True),
+  ("gm", "unknown GM", True, "gm", True, False),
+  ("mock", "mock", True, "", True, False),
+  ("ford", FORD_CAR.FORD_MUSTANG_MACH_E_MK1, True, "", False, True),
+  ("gm", "", "corrupt", "", False, False),
+], ids=["missing-gm", "missing-mock", "missing-ford", "stale-live-cp", "persisted-gm",
+        "empty-live-cp", "unknown-gm", "non-car-gps", "vehicle-gps", "corrupt-cp"])
+def test_ublox_startup(monkeypatch, brand, fingerprint, persisted, live_brand, expected, car_gps):
+  monkeypatch.setattr(process_config, "ublox_available", lambda: True)
+  current = car.CarParams.new_message(brand=brand, carFingerprint=fingerprint)
+  params = GpsParams(current if persisted is True else None)
+  if persisted == "corrupt":
+    params.values["CarParams"] = b"invalid_corrupt_data"
+  live_cp = car.CarParams.new_message(brand=live_brand, carFingerprint=fingerprint if live_brand else "")
 
-  assert not ublox(True, params, car.CarParams.new_message(), SimpleNamespace())
+  assert ublox(True, params, live_cp, SimpleNamespace()) is expected
   assert params.get_bool("UbloxAvailable")
-
-
-@pytest.mark.parametrize("car_gps,expected", [(False, True), (True, False)])
-def test_ublox_has_single_external_gps_publisher(monkeypatch, car_gps, expected):
-  monkeypatch.setattr("openpilot.system.manager.process_config.ublox_available", lambda: True)
-  CP = car.CarParams.new_message()
-  if car_gps:
-    CP.brand = "ford"
-    CP.carFingerprint = FORD_CAR.FORD_MUSTANG_MACH_E_MK1
-  else:
-    CP.brand = "mock"
-    CP.carFingerprint = "mock"
-  params = GpsParams(CP)
-
-  assert ublox(True, params, car.CarParams.new_message(), SimpleNamespace()) is expected
   assert params.get_bool("CarGpsAvailable") is car_gps
+  assert not ublox(False, params, live_cp, SimpleNamespace())
+  if persisted is False and fingerprint:
+    params.values["CarParams"] = current.to_bytes()
+    assert ublox(True, params, live_cp, SimpleNamespace())  # Same stale live CP, now with current persisted CP.
+  monkeypatch.setattr(process_config, "ublox_available", lambda: False)
+  assert not ublox(True, params, live_cp, SimpleNamespace())

system/timed.py

@@ -63,7 +63,8 @@ def main() -> NoReturn:
   gps_location_service = get_gps_location_service(params)
 
   pm = messaging.PubMaster(['clocks'])
-  sm = messaging.SubMaster([gps_location_service])
+  # Subscribe to both services to support dynamic GM GPS routing.
+  sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
 
   # StarPilot variables
   tf = TimezoneFinder() if TimezoneFinder is not None else None
@@ -75,6 +76,7 @@ def main() -> NoReturn:
 
   while True:
     sm.update(1000)
+    gps_location_service = get_gps_location_service(params)
 
     msg = messaging.new_message('clocks')
     msg.valid = system_time_valid()

system/ubloxd/tests/test_gps_routing.py

@@ -0,0 +1,30 @@
+from types import SimpleNamespace
+
+import pytest
+
+from cereal import car, messaging
+from openpilot.system.ubloxd import ubloxd
+
+
+@pytest.mark.parametrize("brand,service", [("gm", "gpsLocation"), ("mock", "gpsLocationExternal")])
+def test_main_routes_every_parsed_fix(monkeypatch, brand, service):
+  cp = car.CarParams.new_message(brand=brand)
+  monkeypatch.setattr(ubloxd, "Params", lambda: SimpleNamespace(get=lambda key: cp.to_bytes()))
+  sent = []
+  pm = SimpleNamespace(send=lambda service, message: sent.append((service, message)))
+  monkeypatch.setattr(messaging, "PubMaster", lambda services: pm)
+  monkeypatch.setattr(messaging, "sub_sock", lambda *args, **kwargs: None)
+  # Several fixes in one receive cycle must all reach the publisher.
+  incoming = iter([SimpleNamespace(ubloxRaw=b"", logMonoTime=1)])
+  monkeypatch.setattr(messaging, "recv_one", lambda sock: next(incoming))
+  parser = ubloxd.UbloxMsgParser(service)
+  fixes = [messaging.new_message(service, valid=True) for _ in range(5)]
+  monkeypatch.setattr(parser.framer, "add_data", lambda *args: range(5))
+  monkeypatch.setattr(parser, "parse_frame", lambda index: (parser.gps_service, fixes[index]))
+  def make_parser(actual_service):
+    assert actual_service == service
+    return parser
+  monkeypatch.setattr(ubloxd, "UbloxMsgParser", make_parser)
+  with pytest.raises(StopIteration):
+    ubloxd.main()
+  assert sent == [(service, fix) for fix in fixes]

system/ubloxd/ubloxd.py

@@ -6,8 +6,11 @@ import numpy as np
 from collections import defaultdict
 from dataclasses import dataclass
 
+from cereal import car
 from cereal import log
 from cereal import messaging
+from openpilot.common.gps import gm_car_params_present
+from openpilot.common.params import Params
 from openpilot.system.ubloxd.generated.ubx import Ubx
 from openpilot.system.ubloxd.generated.gps import Gps
 from openpilot.system.ubloxd.generated.glonass import Glonass
@@ -103,7 +106,8 @@ class UbloxMsgParser:
     11: 64, 12: 128, 13: 256, 14: 512, 15: 1024,
   }
 
-  def __init__(self) -> None:
+  def __init__(self, gps_service: str = 'gpsLocationExternal') -> None:
+    self.gps_service = gps_service
     self.framer = UbxFramer()
     self.caches = EphemerisCaches(
       gps_subframes=defaultdict(dict),
@@ -159,10 +163,10 @@ class UbloxMsgParser:
       return self._gen_nav_sat(body)
     return None
 
-  # NAV-PVT -> gpsLocationExternal
+  # NAV-PVT -> the selected canonical GPS service
   def _gen_nav_pvt(self, msg: Ubx.NavPvt) -> tuple[str, capnp.lib.capnp._DynamicStructBuilder]:
-    dat = messaging.new_message('gpsLocationExternal', valid=True)
-    gps = dat.gpsLocationExternal
+    dat = messaging.new_message(self.gps_service, valid=True)
+    gps = getattr(dat, self.gps_service)
     gps.source = log.GpsLocationData.SensorSource.ublox
     gps.flags = msg.flags
     gps.hasFix = (msg.flags % 2) == 1
@@ -191,7 +195,7 @@ class UbloxMsgParser:
     gps.verticalAccuracy = msg.v_acc * 1e-03
     gps.speedAccuracy = msg.s_acc * 1e-03
     gps.bearingAccuracyDeg = msg.head_acc * 1e-05
-    return ('gpsLocationExternal', dat)
+    return (self.gps_service, dat)
 
   # RXM-SFRBX dispatch to GPS or GLONASS ephemeris
   def _gen_rxm_sfrbx(self, msg) -> tuple[str, capnp.lib.capnp._DynamicStructBuilder] | None:
@@ -493,8 +497,11 @@ class UbloxMsgParser:
 
 
 def main():
-  parser = UbloxMsgParser()
-  pm = messaging.PubMaster(['ubloxGnss', 'gpsLocationExternal'])
+  params = Params()
+  gps_service = 'gpsLocation' if gm_car_params_present(params) else 'gpsLocationExternal'
+
+  parser = UbloxMsgParser(gps_service)
+  pm = messaging.PubMaster(['ubloxGnss', gps_service])
   sock = messaging.sub_sock('ubloxRaw', timeout=100, conflate=False)
 
   while True: