User adjustable offsets

This reverts commit 833bea5bcd.

cereal/car.capnp

@@ -532,11 +532,12 @@ struct CarParams {
     useSteeringAngle @0 :Bool;
     kp @1 :Float32;
     ki @2 :Float32;
+    kd @8 : Float32;
     friction @3 :Float32;
-    kf @4 :Float32;
     steeringAngleDeadzoneDeg @5 :Float32;
     latAccelFactor @6 :Float32;
     latAccelOffset @7 :Float32;
+    kfDEPRECATED @4 :Float32;
   }
 
   struct LongitudinalPIDTuning {
@@ -544,7 +545,7 @@ struct CarParams {
     kpV @1 :List(Float32);
     kiBP @2 :List(Float32);
     kiV @3 :List(Float32);
-    kf @6 :Float32;
+    kfDEPRECATED @6 :Float32;
     deadzoneBP @4 :List(Float32);
     deadzoneV @5 :List(Float32);
   }

cereal/custom.capnp

@@ -105,11 +105,7 @@ struct FrogPilotCarParams @0xf35cc4560bbf6ec2 {
   isHDA2 @3 :Bool;
   openpilotLongitudinalControlDisabled @4 :Bool;
   safetyConfigs @5 :List(SafetyConfig);
-
-  lateralTuning :union {
-    pid @6 :Car.CarParams.LateralPIDTuning;
-    torque @7 :Car.CarParams.LateralTorqueTuning;
-  }
+  canUseSASCM @6 :Bool;
 
   struct SafetyConfig {
     safetyParam @0 :UInt16;
@@ -193,34 +189,35 @@ struct FrogPilotPlan @0xa1680744031fdb2d {
   cscTraining @4 :Bool;
   dangerJerk @5 :Float32;
   desiredFollowDistance @6 :Int64;
-  experimentalMode @7 :Bool;
-  forcingStop @8 :Bool;
-  forcingStopLength @9 :Float32;
-  frogpilotEvents @10 :List(FrogPilotCarEvent);
-  increasedStoppedDistance @11 :Float32;
-  lateralCheck @12 :Bool;
-  laneWidthLeft @13 :Float32;
-  laneWidthRight @14 :Float32;
-  maxAcceleration @15 :Float32;
-  minAcceleration @16 :Float32;
-  redLight @17 :Bool;
-  roadCurvature @18 :Float32;
-  slcMapSpeedLimit @19 :Float32;
-  slcMapboxSpeedLimit @20 :Float32;
-  slcNextSpeedLimit @21 :Float32;
-  slcOverriddenSpeed @22 :Float32;
-  slcSpeedLimit @23 :Float32;
-  slcSpeedLimitOffset @24 :Float32;
-  slcSpeedLimitSource @25 :Text;
-  speedJerk @26 :Float32;
-  speedJerkStock @27 :Float32;
-  speedLimitChanged @28 :Bool;
-  tFollow @29 :Float32;
-  themeUpdated @30 :Bool;
-  togglesUpdated @31 :Bool;
-  trackingLead @32 :Bool;
-  unconfirmedSlcSpeedLimit @33 :Float32;
-  vCruise @34 :Float32;
+  disableThrottle @7 :Bool;
+  experimentalMode @8 :Bool;
+  forcingStop @9 :Bool;
+  forcingStopLength @10 :Float32;
+  frogpilotEvents @11 :List(FrogPilotCarEvent);
+  increasedStoppedDistance @12 :Float32;
+  lateralCheck @13 :Bool;
+  laneWidthLeft @14 :Float32;
+  laneWidthRight @15 :Float32;
+  maxAcceleration @16 :Float32;
+  minAcceleration @17 :Float32;
+  redLight @18 :Bool;
+  roadCurvature @19 :Float32;
+  slcMapSpeedLimit @20 :Float32;
+  slcMapboxSpeedLimit @21 :Float32;
+  slcNextSpeedLimit @22 :Float32;
+  slcOverriddenSpeed @23 :Float32;
+  slcSpeedLimit @24 :Float32;
+  slcSpeedLimitOffset @25 :Float32;
+  slcSpeedLimitSource @26 :Text;
+  speedJerk @27 :Float32;
+  speedJerkStock @28 :Float32;
+  speedLimitChanged @29 :Bool;
+  tFollow @30 :Float32;
+  themeUpdated @31 :Bool;
+  togglesUpdated @32 :Bool;
+  trackingLead @33 :Bool;
+  unconfirmedSlcSpeedLimit @34 :Float32;
+  vCruise @35 :Float32;
 }
 
 struct FrogPilotRadarState @0xcb9fd56c7057593a {

cereal/gen/cpp/car.capnp.c++

@@ -5262,17 +5262,17 @@ const ::capnp::_::RawSchema s_9622723fcbd14c2e = {
   0, 5, i_9622723fcbd14c2e, nullptr, nullptr, { &s_9622723fcbd14c2e, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<147> b_80366e0e804ecc1d = {
+static const ::capnp::_::AlignedData<163> b_80366e0e804ecc1d = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
      29, 204,  78, 128,  14, 110,  54, 128,
-     20,   0,   0,   0,   1,   0,   4,   0,
+     20,   0,   0,   0,   1,   0,   5,   0,
     218, 169, 170, 144,  36,  55, 105, 140,
       0,   0,   7,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      21,   0,   0,   0,  66,   1,   0,   0,
      37,   0,   0,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     33,   0,   0,   0, 199,   1,   0,   0,
+     33,   0,   0,   0, 255,   1,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      99,  97, 114,  46,  99,  97, 112, 110,
@@ -5281,63 +5281,70 @@ static const ::capnp::_::AlignedData<147> b_80366e0e804ecc1d = {
     114,  97, 108,  84, 111, 114, 113, 117,
     101,  84, 117, 110, 105, 110, 103,   0,
       0,   0,   0,   0,   1,   0,   1,   0,
-     32,   0,   0,   0,   3,   0,   4,   0,
+     36,   0,   0,   0,   3,   0,   4,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    209,   0,   0,   0, 138,   0,   0,   0,
+    237,   0,   0,   0, 138,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    212,   0,   0,   0,   3,   0,   1,   0,
-    224,   0,   0,   0,   2,   0,   1,   0,
+    240,   0,   0,   0,   3,   0,   1,   0,
+    252,   0,   0,   0,   2,   0,   1,   0,
       1,   0,   0,   0,   1,   0,   0,   0,
       0,   0,   1,   0,   1,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    221,   0,   0,   0,  26,   0,   0,   0,
+    249,   0,   0,   0,  26,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    216,   0,   0,   0,   3,   0,   1,   0,
-    228,   0,   0,   0,   2,   0,   1,   0,
+    244,   0,   0,   0,   3,   0,   1,   0,
+      0,   1,   0,   0,   2,   0,   1,   0,
       2,   0,   0,   0,   2,   0,   0,   0,
       0,   0,   1,   0,   2,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    225,   0,   0,   0,  26,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    220,   0,   0,   0,   3,   0,   1,   0,
-    232,   0,   0,   0,   2,   0,   1,   0,
-      3,   0,   0,   0,   3,   0,   0,   0,
-      0,   0,   1,   0,   3,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    229,   0,   0,   0,  74,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    228,   0,   0,   0,   3,   0,   1,   0,
-    240,   0,   0,   0,   2,   0,   1,   0,
-      4,   0,   0,   0,   4,   0,   0,   0,
-      0,   0,   1,   0,   4,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    237,   0,   0,   0,  26,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    232,   0,   0,   0,   3,   0,   1,   0,
-    244,   0,   0,   0,   2,   0,   1,   0,
-      5,   0,   0,   0,   5,   0,   0,   0,
-      0,   0,   1,   0,   5,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    241,   0,   0,   0, 202,   0,   0,   0,
+    253,   0,   0,   0,  26,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     248,   0,   0,   0,   3,   0,   1,   0,
       4,   1,   0,   0,   2,   0,   1,   0,
-      6,   0,   0,   0,   6,   0,   0,   0,
-      0,   0,   1,   0,   6,   0,   0,   0,
+      4,   0,   0,   0,   3,   0,   0,   0,
+      0,   0,   1,   0,   3,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-      1,   1,   0,   0, 122,   0,   0,   0,
+      1,   1,   0,   0,  74,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   1,   0,   0,   3,   0,   1,   0,
      12,   1,   0,   0,   2,   0,   1,   0,
-      7,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   1,   0,   7,   0,   0,   0,
+      8,   0,   0,   0,   4,   0,   0,   0,
+      0,   0,   1,   0,   4,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-      9,   1,   0,   0, 122,   0,   0,   0,
+      9,   1,   0,   0, 106,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       8,   1,   0,   0,   3,   0,   1,   0,
      20,   1,   0,   0,   2,   0,   1,   0,
+      5,   0,   0,   0,   5,   0,   0,   0,
+      0,   0,   1,   0,   5,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     17,   1,   0,   0, 202,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     24,   1,   0,   0,   3,   0,   1,   0,
+     36,   1,   0,   0,   2,   0,   1,   0,
+      6,   0,   0,   0,   6,   0,   0,   0,
+      0,   0,   1,   0,   6,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     33,   1,   0,   0, 122,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     32,   1,   0,   0,   3,   0,   1,   0,
+     44,   1,   0,   0,   2,   0,   1,   0,
+      7,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   1,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     41,   1,   0,   0, 122,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     40,   1,   0,   0,   3,   0,   1,   0,
+     52,   1,   0,   0,   2,   0,   1,   0,
+      3,   0,   0,   0,   8,   0,   0,   0,
+      0,   0,   1,   0,   8,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     49,   1,   0,   0,  26,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     44,   1,   0,   0,   3,   0,   1,   0,
+     56,   1,   0,   0,   2,   0,   1,   0,
     117, 115, 101,  83, 116, 101, 101, 114,
     105, 110, 103,  65, 110, 103, 108, 101,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -5373,7 +5380,8 @@ static const ::capnp::_::AlignedData<147> b_80366e0e804ecc1d = {
      10,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    107, 102,   0,   0,   0,   0,   0,   0,
+    107, 102,  68,  69,  80,  82,  69,  67,
+     65,  84,  69,  68,   0,   0,   0,   0,
      10,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -5403,6 +5411,14 @@ static const ::capnp::_::AlignedData<147> b_80366e0e804ecc1d = {
       0,   0,   0,   0,   0,   0,   0,   0,
     108,  97, 116,  65,  99,  99, 101, 108,
      79, 102, 102, 115, 101, 116,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    107, 100,   0,   0,   0,   0,   0,   0,
      10,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -5413,14 +5429,14 @@ static const ::capnp::_::AlignedData<147> b_80366e0e804ecc1d = {
 };
 ::capnp::word const* const bp_80366e0e804ecc1d = b_80366e0e804ecc1d.words;
 #if !CAPNP_LITE
-static const uint16_t m_80366e0e804ecc1d[] = {3, 4, 2, 1, 6, 7, 5, 0};
-static const uint16_t i_80366e0e804ecc1d[] = {0, 1, 2, 3, 4, 5, 6, 7};
+static const uint16_t m_80366e0e804ecc1d[] = {3, 8, 4, 2, 1, 6, 7, 5, 0};
+static const uint16_t i_80366e0e804ecc1d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8};
 const ::capnp::_::RawSchema s_80366e0e804ecc1d = {
-  0x80366e0e804ecc1d, b_80366e0e804ecc1d.words, 147, nullptr, m_80366e0e804ecc1d,
-  0, 8, i_80366e0e804ecc1d, nullptr, nullptr, { &s_80366e0e804ecc1d, nullptr, nullptr, 0, 0, nullptr }, false
+  0x80366e0e804ecc1d, b_80366e0e804ecc1d.words, 163, nullptr, m_80366e0e804ecc1d,
+  0, 9, i_80366e0e804ecc1d, nullptr, nullptr, { &s_80366e0e804ecc1d, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<151> b_c342cefc303e9b8e = {
+static const ::capnp::_::AlignedData<152> b_c342cefc303e9b8e = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
     142, 155,  62,  48, 252, 206,  66, 195,
      20,   0,   0,   0,   1,   0,   1,   0,
@@ -5486,10 +5502,10 @@ static const ::capnp::_::AlignedData<151> b_c342cefc303e9b8e = {
       4,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   6,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     53,   1,   0,   0,  26,   0,   0,   0,
+     53,   1,   0,   0, 106,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     48,   1,   0,   0,   3,   0,   1,   0,
-     60,   1,   0,   0,   2,   0,   1,   0,
+     52,   1,   0,   0,   3,   0,   1,   0,
+     64,   1,   0,   0,   2,   0,   1,   0,
     107, 112,  66,  80,   0,   0,   0,   0,
      14,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -5564,7 +5580,8 @@ static const ::capnp::_::AlignedData<151> b_c342cefc303e9b8e = {
      14,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    107, 102,   0,   0,   0,   0,   0,   0,
+    107, 102,  68,  69,  80,  82,  69,  67,
+     65,  84,  69,  68,   0,   0,   0,   0,
      10,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -5578,7 +5595,7 @@ static const ::capnp::_::AlignedData<151> b_c342cefc303e9b8e = {
 static const uint16_t m_c342cefc303e9b8e[] = {4, 5, 6, 2, 3, 0, 1};
 static const uint16_t i_c342cefc303e9b8e[] = {0, 1, 2, 3, 4, 5, 6};
 const ::capnp::_::RawSchema s_c342cefc303e9b8e = {
-  0xc342cefc303e9b8e, b_c342cefc303e9b8e.words, 151, nullptr, m_c342cefc303e9b8e,
+  0xc342cefc303e9b8e, b_c342cefc303e9b8e.words, 152, nullptr, m_c342cefc303e9b8e,
   0, 7, i_c342cefc303e9b8e, nullptr, nullptr, { &s_c342cefc303e9b8e, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE

cereal/gen/cpp/car.capnp.h

@@ -626,7 +626,7 @@ struct CarParams::LateralTorqueTuning {
   class Pipeline;
 
   struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(80366e0e804ecc1d, 4, 0)
+    CAPNP_DECLARE_STRUCT_HEADER(80366e0e804ecc1d, 5, 0)
     #if !CAPNP_LITE
     static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
     #endif  // !CAPNP_LITE
@@ -3140,7 +3140,7 @@ public:
 
   inline float getFriction() const;
 
-  inline float getKf() const;
+  inline float getKfDEPRECATED() const;
 
   inline float getSteeringAngleDeadzoneDeg() const;
 
@@ -3148,6 +3148,8 @@ public:
 
   inline float getLatAccelOffset() const;
 
+  inline float getKd() const;
+
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -3188,8 +3190,8 @@ public:
   inline float getFriction();
   inline void setFriction(float value);
 
-  inline float getKf();
-  inline void setKf(float value);
+  inline float getKfDEPRECATED();
+  inline void setKfDEPRECATED(float value);
 
   inline float getSteeringAngleDeadzoneDeg();
   inline void setSteeringAngleDeadzoneDeg(float value);
@@ -3200,6 +3202,9 @@ public:
   inline float getLatAccelOffset();
   inline void setLatAccelOffset(float value);
 
+  inline float getKd();
+  inline void setKd(float value);
+
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -3261,7 +3266,7 @@ public:
   inline bool hasDeadzoneV() const;
   inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader getDeadzoneV() const;
 
-  inline float getKf() const;
+  inline float getKfDEPRECATED() const;
 
 private:
   ::capnp::_::StructReader _reader;
@@ -3339,8 +3344,8 @@ public:
   inline void adoptDeadzoneV(::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>&& value);
   inline ::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>> disownDeadzoneV();
 
-  inline float getKf();
-  inline void setKf(float value);
+  inline float getKfDEPRECATED();
+  inline void setKfDEPRECATED(float value);
 
 private:
   ::capnp::_::StructBuilder _builder;
@@ -7791,16 +7796,16 @@ inline void CarParams::LateralTorqueTuning::Builder::setFriction(float value) {
       ::capnp::bounded<3>() * ::capnp::ELEMENTS, value);
 }
 
-inline float CarParams::LateralTorqueTuning::Reader::getKf() const {
+inline float CarParams::LateralTorqueTuning::Reader::getKfDEPRECATED() const {
   return _reader.getDataField<float>(
       ::capnp::bounded<4>() * ::capnp::ELEMENTS);
 }
 
-inline float CarParams::LateralTorqueTuning::Builder::getKf() {
+inline float CarParams::LateralTorqueTuning::Builder::getKfDEPRECATED() {
   return _builder.getDataField<float>(
       ::capnp::bounded<4>() * ::capnp::ELEMENTS);
 }
-inline void CarParams::LateralTorqueTuning::Builder::setKf(float value) {
+inline void CarParams::LateralTorqueTuning::Builder::setKfDEPRECATED(float value) {
   _builder.setDataField<float>(
       ::capnp::bounded<4>() * ::capnp::ELEMENTS, value);
 }
@@ -7847,6 +7852,20 @@ inline void CarParams::LateralTorqueTuning::Builder::setLatAccelOffset(float val
       ::capnp::bounded<7>() * ::capnp::ELEMENTS, value);
 }
 
+inline float CarParams::LateralTorqueTuning::Reader::getKd() const {
+  return _reader.getDataField<float>(
+      ::capnp::bounded<8>() * ::capnp::ELEMENTS);
+}
+
+inline float CarParams::LateralTorqueTuning::Builder::getKd() {
+  return _builder.getDataField<float>(
+      ::capnp::bounded<8>() * ::capnp::ELEMENTS);
+}
+inline void CarParams::LateralTorqueTuning::Builder::setKd(float value) {
+  _builder.setDataField<float>(
+      ::capnp::bounded<8>() * ::capnp::ELEMENTS, value);
+}
+
 inline bool CarParams::LongitudinalPIDTuning::Reader::hasKpBP() const {
   return !_reader.getPointerField(
       ::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
@@ -8075,16 +8094,16 @@ inline ::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>> CarPara
       ::capnp::bounded<5>() * ::capnp::POINTERS));
 }
 
-inline float CarParams::LongitudinalPIDTuning::Reader::getKf() const {
+inline float CarParams::LongitudinalPIDTuning::Reader::getKfDEPRECATED() const {
   return _reader.getDataField<float>(
       ::capnp::bounded<0>() * ::capnp::ELEMENTS);
 }
 
-inline float CarParams::LongitudinalPIDTuning::Builder::getKf() {
+inline float CarParams::LongitudinalPIDTuning::Builder::getKfDEPRECATED() {
   return _builder.getDataField<float>(
       ::capnp::bounded<0>() * ::capnp::ELEMENTS);
 }
-inline void CarParams::LongitudinalPIDTuning::Builder::setKf(float value) {
+inline void CarParams::LongitudinalPIDTuning::Builder::setKfDEPRECATED(float value) {
   _builder.setDataField<float>(
       ::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
 }

cereal/gen/cpp/custom.capnp.c++

@@ -642,12 +642,12 @@ const ::capnp::_::RawSchema s_aedffd8f31e7b55d = {
 };
 #endif  // !CAPNP_LITE
 CAPNP_DEFINE_ENUM(EventName_aedffd8f31e7b55d, aedffd8f31e7b55d);
-static const ::capnp::_::AlignedData<132> b_f35cc4560bbf6ec2 = {
+static const ::capnp::_::AlignedData<139> b_f35cc4560bbf6ec2 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
     194, 110, 191,  11,  86, 196,  92, 243,
      13,   0,   0,   0,   1,   0,   1,   0,
      89,  10,  85,  29, 102, 186,  38, 181,
-      2,   0,   7,   0,   0,   0,   0,   0,
+      1,   0,   7,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      21,   0,   0,   0,   2,   1,   0,   0,
      33,   0,   0,   0,  23,   0,   0,   0,
@@ -707,13 +707,13 @@ static const ::capnp::_::AlignedData<132> b_f35cc4560bbf6ec2 = {
       0,   0,   0,   0,   0,   0,   0,   0,
     224,   0,   0,   0,   3,   0,   1,   0,
     252,   0,   0,   0,   2,   0,   1,   0,
-      6,   0,   0,   0,   0,   0,   0,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-     73, 118, 234, 203, 210,  73, 201, 252,
-    249,   0,   0,   0, 114,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
+      6,   0,   0,   0,   4,   0,   0,   0,
+      0,   0,   1,   0,   6,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
+    249,   0,   0,   0,  98,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
+    248,   0,   0,   0,   3,   0,   1,   0,
+      4,   1,   0,   0,   2,   0,   1,   0,
      99,  97, 110,  85, 115, 101,  80, 101,
     100,  97, 108,   0,   0,   0,   0,   0,
       1,   0,   0,   0,   0,   0,   0,   0,
@@ -773,20 +773,26 @@ static const ::capnp::_::AlignedData<132> b_f35cc4560bbf6ec2 = {
      14,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    108,  97, 116, 101, 114,  97, 108,  84,
-    117, 110, 105, 110, 103,   0,   0,   0, }
+     99,  97, 110,  85, 115, 101,  83,  65,
+     83,  67,  77,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0, }
 };
 ::capnp::word const* const bp_f35cc4560bbf6ec2 = b_f35cc4560bbf6ec2.words;
 #if !CAPNP_LITE
 static const ::capnp::_::RawSchema* const d_f35cc4560bbf6ec2[] = {
   &s_8d65dd40bad40951,
-  &s_fcc949d2cbea7649,
 };
-static const uint16_t m_f35cc4560bbf6ec2[] = {0, 1, 2, 3, 6, 4, 5};
+static const uint16_t m_f35cc4560bbf6ec2[] = {0, 6, 1, 2, 3, 4, 5};
 static const uint16_t i_f35cc4560bbf6ec2[] = {0, 1, 2, 3, 4, 5, 6};
 const ::capnp::_::RawSchema s_f35cc4560bbf6ec2 = {
-  0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 132, d_f35cc4560bbf6ec2, m_f35cc4560bbf6ec2,
-  2, 7, i_f35cc4560bbf6ec2, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false
+  0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 139, d_f35cc4560bbf6ec2, m_f35cc4560bbf6ec2,
+  1, 7, i_f35cc4560bbf6ec2, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<36> b_8d65dd40bad40951 = {
@@ -836,71 +842,6 @@ const ::capnp::_::RawSchema s_8d65dd40bad40951 = {
   0, 1, i_8d65dd40bad40951, nullptr, nullptr, { &s_8d65dd40bad40951, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<49> b_fcc949d2cbea7649 = {
-  {   0,   0,   0,   0,   5,   0,   6,   0,
-     73, 118, 234, 203, 210,  73, 201, 252,
-     32,   0,   0,   0,   1,   0,   1,   0,
-    194, 110, 191,  11,  86, 196,  92, 243,
-      2,   0,   7,   0,   1,   0,   2,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 114,   1,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     33,   0,   0,   0, 119,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  70, 114, 111,
-    103,  80, 105, 108, 111, 116,  67,  97,
-    114,  80,  97, 114,  97, 109, 115,  46,
-    108,  97, 116, 101, 114,  97, 108,  84,
-    117, 110, 105, 110, 103,   0,   0,   0,
-      8,   0,   0,   0,   3,   0,   4,   0,
-      0,   0, 255, 255,   1,   0,   0,   0,
-      0,   0,   1,   0,   6,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     41,   0,   0,   0,  34,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     36,   0,   0,   0,   3,   0,   1,   0,
-     48,   0,   0,   0,   2,   0,   1,   0,
-      1,   0, 254, 255,   1,   0,   0,   0,
-      0,   0,   1,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     45,   0,   0,   0,  58,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     40,   0,   0,   0,   3,   0,   1,   0,
-     52,   0,   0,   0,   2,   0,   1,   0,
-    112, 105, 100,   0,   0,   0,   0,   0,
-     16,   0,   0,   0,   0,   0,   0,   0,
-     46,  76, 209, 203,  63, 114,  34, 150,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     16,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    116, 111, 114, 113, 117, 101,   0,   0,
-     16,   0,   0,   0,   0,   0,   0,   0,
-     29, 204,  78, 128,  14, 110,  54, 128,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     16,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0, }
-};
-::capnp::word const* const bp_fcc949d2cbea7649 = b_fcc949d2cbea7649.words;
-#if !CAPNP_LITE
-static const ::capnp::_::RawSchema* const d_fcc949d2cbea7649[] = {
-  &s_80366e0e804ecc1d,
-  &s_9622723fcbd14c2e,
-  &s_f35cc4560bbf6ec2,
-};
-static const uint16_t m_fcc949d2cbea7649[] = {0, 1};
-static const uint16_t i_fcc949d2cbea7649[] = {0, 1};
-const ::capnp::_::RawSchema s_fcc949d2cbea7649 = {
-  0xfcc949d2cbea7649, b_fcc949d2cbea7649.words, 49, d_fcc949d2cbea7649, m_fcc949d2cbea7649,
-  3, 2, i_fcc949d2cbea7649, nullptr, nullptr, { &s_fcc949d2cbea7649, nullptr, nullptr, 0, 0, nullptr }, false
-};
-#endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<268> b_da96579883444c35 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
      53,  76,  68, 131, 152,  87, 150, 218,
@@ -1739,7 +1680,7 @@ const ::capnp::_::RawSchema s_f416ec09499d9d19 = {
   0, 3, i_f416ec09499d9d19, nullptr, nullptr, { &s_f416ec09499d9d19, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<597> b_a1680744031fdb2d = {
+static const ::capnp::_::AlignedData<613> b_a1680744031fdb2d = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
      45, 219,  31,   3,  68,   7, 104, 161,
      13,   0,   0,   0,   1,   0,  13,   0,
@@ -1749,7 +1690,7 @@ static const ::capnp::_::AlignedData<597> b_a1680744031fdb2d = {
      21,   0,   0,   0, 218,   0,   0,   0,
      33,   0,   0,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     29,   0,   0,   0, 175,   7,   0,   0,
+     29,   0,   0,   0, 231,   7,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      99, 117, 115, 116, 111, 109,  46,  99,
@@ -1757,252 +1698,259 @@ static const ::capnp::_::AlignedData<597> b_a1680744031fdb2d = {
     103,  80, 105, 108, 111, 116,  80, 108,
      97, 110,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   1,   0,   1,   0,
-    140,   0,   0,   0,   3,   0,   4,   0,
+    144,   0,   0,   0,   3,   0,   4,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    197,   3,   0,   0, 138,   0,   0,   0,
+    225,   3,   0,   0, 138,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    200,   3,   0,   0,   3,   0,   1,   0,
-    212,   3,   0,   0,   2,   0,   1,   0,
+    228,   3,   0,   0,   3,   0,   1,   0,
+    240,   3,   0,   0,   2,   0,   1,   0,
       1,   0,   0,   0,   1,   0,   0,   0,
       0,   0,   1,   0,   1,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    209,   3,   0,   0, 178,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    212,   3,   0,   0,   3,   0,   1,   0,
-    224,   3,   0,   0,   2,   0,   1,   0,
-      2,   0,   0,   0,  64,   0,   0,   0,
-      0,   0,   1,   0,   2,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    221,   3,   0,   0, 162,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    224,   3,   0,   0,   3,   0,   1,   0,
-    236,   3,   0,   0,   2,   0,   1,   0,
-      3,   0,   0,   0,   3,   0,   0,   0,
-      0,   0,   1,   0,   3,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    233,   3,   0,   0,  74,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    232,   3,   0,   0,   3,   0,   1,   0,
-    244,   3,   0,   0,   2,   0,   1,   0,
-      4,   0,   0,   0,  65,   0,   0,   0,
-      0,   0,   1,   0,   4,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    241,   3,   0,   0,  98,   0,   0,   0,
+    237,   3,   0,   0, 178,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     240,   3,   0,   0,   3,   0,   1,   0,
     252,   3,   0,   0,   2,   0,   1,   0,
-      5,   0,   0,   0,   4,   0,   0,   0,
-      0,   0,   1,   0,   5,   0,   0,   0,
+      2,   0,   0,   0,  64,   0,   0,   0,
+      0,   0,   1,   0,   2,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    249,   3,   0,   0,  90,   0,   0,   0,
+    249,   3,   0,   0, 162,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    248,   3,   0,   0,   3,   0,   1,   0,
-      4,   4,   0,   0,   2,   0,   1,   0,
-      6,   0,   0,   0,   3,   0,   0,   0,
-      0,   0,   1,   0,   6,   0,   0,   0,
+    252,   3,   0,   0,   3,   0,   1,   0,
+      8,   4,   0,   0,   2,   0,   1,   0,
+      3,   0,   0,   0,   3,   0,   0,   0,
+      0,   0,   1,   0,   3,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-      1,   4,   0,   0, 178,   0,   0,   0,
+      5,   4,   0,   0,  74,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       4,   4,   0,   0,   3,   0,   1,   0,
      16,   4,   0,   0,   2,   0,   1,   0,
+      4,   0,   0,   0,  65,   0,   0,   0,
+      0,   0,   1,   0,   4,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     13,   4,   0,   0,  98,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     12,   4,   0,   0,   3,   0,   1,   0,
+     24,   4,   0,   0,   2,   0,   1,   0,
+      5,   0,   0,   0,   4,   0,   0,   0,
+      0,   0,   1,   0,   5,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   4,   0,   0,  90,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     20,   4,   0,   0,   3,   0,   1,   0,
+     32,   4,   0,   0,   2,   0,   1,   0,
+      6,   0,   0,   0,   3,   0,   0,   0,
+      0,   0,   1,   0,   6,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     29,   4,   0,   0, 178,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     32,   4,   0,   0,   3,   0,   1,   0,
+     44,   4,   0,   0,   2,   0,   1,   0,
       7,   0,   0,   0,  66,   0,   0,   0,
       0,   0,   1,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     13,   4,   0,   0, 138,   0,   0,   0,
+     41,   4,   0,   0, 130,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     16,   4,   0,   0,   3,   0,   1,   0,
-     28,   4,   0,   0,   2,   0,   1,   0,
+     40,   4,   0,   0,   3,   0,   1,   0,
+     52,   4,   0,   0,   2,   0,   1,   0,
       8,   0,   0,   0,  67,   0,   0,   0,
       0,   0,   1,   0,   8,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     25,   4,   0,   0,  98,   0,   0,   0,
+     49,   4,   0,   0, 138,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     24,   4,   0,   0,   3,   0,   1,   0,
-     36,   4,   0,   0,   2,   0,   1,   0,
-      9,   0,   0,   0,   5,   0,   0,   0,
+     52,   4,   0,   0,   3,   0,   1,   0,
+     64,   4,   0,   0,   2,   0,   1,   0,
+      9,   0,   0,   0,  68,   0,   0,   0,
       0,   0,   1,   0,   9,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     33,   4,   0,   0, 146,   0,   0,   0,
+     61,   4,   0,   0,  98,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     36,   4,   0,   0,   3,   0,   1,   0,
-     48,   4,   0,   0,   2,   0,   1,   0,
-     10,   0,   0,   0,   0,   0,   0,   0,
+     60,   4,   0,   0,   3,   0,   1,   0,
+     72,   4,   0,   0,   2,   0,   1,   0,
+     10,   0,   0,   0,   5,   0,   0,   0,
       0,   0,   1,   0,  10,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     45,   4,   0,   0, 130,   0,   0,   0,
+     69,   4,   0,   0, 146,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     44,   4,   0,   0,   3,   0,   1,   0,
-     72,   4,   0,   0,   2,   0,   1,   0,
-     11,   0,   0,   0,   8,   0,   0,   0,
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       0,   0,   1,   0,  11,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
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       0,   0,   0,   0,   0,   0,   0,   0,
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       0,   0,   0,   0,   0,   0,   0,   0,
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       0,   0,   0,   0,   0,   0,   0,   0,
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       0,   0,   0,   0,   0,   0,   0,   0,
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       0,   0,   0,   0,   0,   0,   0,   0,
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       0,   0,   0,   0,   0,   0,   0,   0,
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       0,   0,   0,   0,   0,   0,   0,   0,
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       0,   0,   0,   0,   0,   0,   0,   0,
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       0,   0,   0,   0,   0,   0,   0,   0,
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-    120,   4,   0,   0,   2,   0,   1,   0,
-     16,   0,   0,   0,  12,   0,   0,   0,
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       0,   0,   1,   0,  16,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    117,   4,   0,   0, 130,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    116,   4,   0,   0,   3,   0,   1,   0,
-    128,   4,   0,   0,   2,   0,   1,   0,
-     17,   0,   0,   0,  69,   0,   0,   0,
-      0,   0,   1,   0,  17,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    125,   4,   0,   0,  74,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    124,   4,   0,   0,   3,   0,   1,   0,
-    136,   4,   0,   0,   2,   0,   1,   0,
-     18,   0,   0,   0,  13,   0,   0,   0,
-      0,   0,   1,   0,  18,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    133,   4,   0,   0, 114,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    132,   4,   0,   0,   3,   0,   1,   0,
-    144,   4,   0,   0,   2,   0,   1,   0,
-     19,   0,   0,   0,  14,   0,   0,   0,
-      0,   0,   1,   0,  19,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    141,   4,   0,   0, 138,   0,   0,   0,
+    145,   4,   0,   0, 130,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     144,   4,   0,   0,   3,   0,   1,   0,
     156,   4,   0,   0,   2,   0,   1,   0,
-     20,   0,   0,   0,  15,   0,   0,   0,
-      0,   0,   1,   0,  20,   0,   0,   0,
+     17,   0,   0,   0,  12,   0,   0,   0,
+      0,   0,   1,   0,  17,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    153,   4,   0,   0, 162,   0,   0,   0,
+    153,   4,   0,   0, 130,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    156,   4,   0,   0,   3,   0,   1,   0,
-    168,   4,   0,   0,   2,   0,   1,   0,
-     21,   0,   0,   0,  16,   0,   0,   0,
-      0,   0,   1,   0,  21,   0,   0,   0,
+    152,   4,   0,   0,   3,   0,   1,   0,
+    164,   4,   0,   0,   2,   0,   1,   0,
+     18,   0,   0,   0,  70,   0,   0,   0,
+      0,   0,   1,   0,  18,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    165,   4,   0,   0, 146,   0,   0,   0,
+    161,   4,   0,   0,  74,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    160,   4,   0,   0,   3,   0,   1,   0,
+    172,   4,   0,   0,   2,   0,   1,   0,
+     19,   0,   0,   0,  13,   0,   0,   0,
+      0,   0,   1,   0,  19,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    169,   4,   0,   0, 114,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     168,   4,   0,   0,   3,   0,   1,   0,
     180,   4,   0,   0,   2,   0,   1,   0,
-     22,   0,   0,   0,  17,   0,   0,   0,
-      0,   0,   1,   0,  22,   0,   0,   0,
+     20,   0,   0,   0,  14,   0,   0,   0,
+      0,   0,   1,   0,  20,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    177,   4,   0,   0, 154,   0,   0,   0,
+    177,   4,   0,   0, 138,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     180,   4,   0,   0,   3,   0,   1,   0,
     192,   4,   0,   0,   2,   0,   1,   0,
-     23,   0,   0,   0,  18,   0,   0,   0,
+     21,   0,   0,   0,  15,   0,   0,   0,
+      0,   0,   1,   0,  21,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    189,   4,   0,   0, 162,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    192,   4,   0,   0,   3,   0,   1,   0,
+    204,   4,   0,   0,   2,   0,   1,   0,
+     22,   0,   0,   0,  16,   0,   0,   0,
+      0,   0,   1,   0,  22,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    201,   4,   0,   0, 146,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    204,   4,   0,   0,   3,   0,   1,   0,
+    216,   4,   0,   0,   2,   0,   1,   0,
+     23,   0,   0,   0,  17,   0,   0,   0,
       0,   0,   1,   0,  23,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    189,   4,   0,   0, 114,   0,   0,   0,
+    213,   4,   0,   0, 154,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    188,   4,   0,   0,   3,   0,   1,   0,
-    200,   4,   0,   0,   2,   0,   1,   0,
-     24,   0,   0,   0,  19,   0,   0,   0,
+    216,   4,   0,   0,   3,   0,   1,   0,
+    228,   4,   0,   0,   2,   0,   1,   0,
+     24,   0,   0,   0,  18,   0,   0,   0,
       0,   0,   1,   0,  24,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    197,   4,   0,   0, 162,   0,   0,   0,
+    225,   4,   0,   0, 114,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    200,   4,   0,   0,   3,   0,   1,   0,
-    212,   4,   0,   0,   2,   0,   1,   0,
-     25,   0,   0,   0,   1,   0,   0,   0,
+    224,   4,   0,   0,   3,   0,   1,   0,
+    236,   4,   0,   0,   2,   0,   1,   0,
+     25,   0,   0,   0,  19,   0,   0,   0,
       0,   0,   1,   0,  25,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    209,   4,   0,   0, 162,   0,   0,   0,
+    233,   4,   0,   0, 162,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    212,   4,   0,   0,   3,   0,   1,   0,
-    224,   4,   0,   0,   2,   0,   1,   0,
-     26,   0,   0,   0,  20,   0,   0,   0,
+    236,   4,   0,   0,   3,   0,   1,   0,
+    248,   4,   0,   0,   2,   0,   1,   0,
+     26,   0,   0,   0,   1,   0,   0,   0,
       0,   0,   1,   0,  26,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    221,   4,   0,   0,  82,   0,   0,   0,
+    245,   4,   0,   0, 162,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    220,   4,   0,   0,   3,   0,   1,   0,
-    232,   4,   0,   0,   2,   0,   1,   0,
-     27,   0,   0,   0,  21,   0,   0,   0,
+    248,   4,   0,   0,   3,   0,   1,   0,
+      4,   5,   0,   0,   2,   0,   1,   0,
+     27,   0,   0,   0,  20,   0,   0,   0,
       0,   0,   1,   0,  27,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    229,   4,   0,   0, 122,   0,   0,   0,
+      1,   5,   0,   0,  82,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    228,   4,   0,   0,   3,   0,   1,   0,
-    240,   4,   0,   0,   2,   0,   1,   0,
-     28,   0,   0,   0,  70,   0,   0,   0,
+      0,   5,   0,   0,   3,   0,   1,   0,
+     12,   5,   0,   0,   2,   0,   1,   0,
+     28,   0,   0,   0,  21,   0,   0,   0,
       0,   0,   1,   0,  28,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    237,   4,   0,   0, 146,   0,   0,   0,
+      9,   5,   0,   0, 122,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    240,   4,   0,   0,   3,   0,   1,   0,
-    252,   4,   0,   0,   2,   0,   1,   0,
-     29,   0,   0,   0,  22,   0,   0,   0,
+      8,   5,   0,   0,   3,   0,   1,   0,
+     20,   5,   0,   0,   2,   0,   1,   0,
+     29,   0,   0,   0,  71,   0,   0,   0,
       0,   0,   1,   0,  29,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    249,   4,   0,   0,  66,   0,   0,   0,
+     17,   5,   0,   0, 146,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    244,   4,   0,   0,   3,   0,   1,   0,
-      0,   5,   0,   0,   2,   0,   1,   0,
-     30,   0,   0,   0,  71,   0,   0,   0,
+     20,   5,   0,   0,   3,   0,   1,   0,
+     32,   5,   0,   0,   2,   0,   1,   0,
+     30,   0,   0,   0,  22,   0,   0,   0,
       0,   0,   1,   0,  30,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    253,   4,   0,   0, 106,   0,   0,   0,
+     29,   5,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    252,   4,   0,   0,   3,   0,   1,   0,
-      8,   5,   0,   0,   2,   0,   1,   0,
+     24,   5,   0,   0,   3,   0,   1,   0,
+     36,   5,   0,   0,   2,   0,   1,   0,
      31,   0,   0,   0,  72,   0,   0,   0,
       0,   0,   1,   0,  31,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-      5,   5,   0,   0, 122,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      4,   5,   0,   0,   3,   0,   1,   0,
-     16,   5,   0,   0,   2,   0,   1,   0,
-     32,   0,   0,   0,  73,   0,   0,   0,
-      0,   0,   1,   0,  32,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     13,   5,   0,   0, 106,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     12,   5,   0,   0,   3,   0,   1,   0,
-     24,   5,   0,   0,   2,   0,   1,   0,
-     33,   0,   0,   0,  23,   0,   0,   0,
-      0,   0,   1,   0,  33,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     21,   5,   0,   0, 202,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     28,   5,   0,   0,   3,   0,   1,   0,
-     40,   5,   0,   0,   2,   0,   1,   0,
-     34,   0,   0,   0,  24,   0,   0,   0,
-      0,   0,   1,   0,  34,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     37,   5,   0,   0,  66,   0,   0,   0,
+     33,   5,   0,   0, 106,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      32,   5,   0,   0,   3,   0,   1,   0,
      44,   5,   0,   0,   2,   0,   1,   0,
+     32,   0,   0,   0,  73,   0,   0,   0,
+      0,   0,   1,   0,  32,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     41,   5,   0,   0, 122,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     40,   5,   0,   0,   3,   0,   1,   0,
+     52,   5,   0,   0,   2,   0,   1,   0,
+     33,   0,   0,   0,  74,   0,   0,   0,
+      0,   0,   1,   0,  33,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     49,   5,   0,   0, 106,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     48,   5,   0,   0,   3,   0,   1,   0,
+     60,   5,   0,   0,   2,   0,   1,   0,
+     34,   0,   0,   0,  23,   0,   0,   0,
+      0,   0,   1,   0,  34,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     57,   5,   0,   0, 202,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     64,   5,   0,   0,   3,   0,   1,   0,
+     76,   5,   0,   0,   2,   0,   1,   0,
+     35,   0,   0,   0,  24,   0,   0,   0,
+      0,   0,   1,   0,  35,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     73,   5,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     68,   5,   0,   0,   3,   0,   1,   0,
+     80,   5,   0,   0,   2,   0,   1,   0,
      97,  99,  99, 101, 108, 101, 114,  97,
     116, 105, 111, 110,  74, 101, 114, 107,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -2070,6 +2018,15 @@ static const ::capnp::_::AlignedData<597> b_a1680744031fdb2d = {
       5,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
+    100, 105, 115,  97,  98, 108, 101,  84,
+    104, 114, 111, 116, 116, 108, 101,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
     101, 120, 112, 101, 114, 105, 109, 101,
     110, 116,  97, 108,  77, 111, 100, 101,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -2343,11 +2300,11 @@ static const ::capnp::_::AlignedData<597> b_a1680744031fdb2d = {
 static const ::capnp::_::RawSchema* const d_a1680744031fdb2d[] = {
   &s_81c2f05a394cf4af,
 };
-static const uint16_t m_a1680744031fdb2d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 13, 14, 12, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34};
-static const uint16_t i_a1680744031fdb2d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34};
+static const uint16_t m_a1680744031fdb2d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 14, 15, 13, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35};
+static const uint16_t i_a1680744031fdb2d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35};
 const ::capnp::_::RawSchema s_a1680744031fdb2d = {
-  0xa1680744031fdb2d, b_a1680744031fdb2d.words, 597, d_a1680744031fdb2d, m_a1680744031fdb2d,
-  1, 35, i_a1680744031fdb2d, nullptr, nullptr, { &s_a1680744031fdb2d, nullptr, nullptr, 0, 0, nullptr }, false
+  0xa1680744031fdb2d, b_a1680744031fdb2d.words, 613, d_a1680744031fdb2d, m_a1680744031fdb2d,
+  1, 36, i_a1680744031fdb2d, nullptr, nullptr, { &s_a1680744031fdb2d, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<55> b_cb9fd56c7057593a = {
@@ -2761,18 +2718,6 @@ constexpr ::capnp::_::RawSchema const* FrogPilotCarParams::SafetyConfig::_capnpP
 #endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
-// FrogPilotCarParams::LateralTuning
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t FrogPilotCarParams::LateralTuning::_capnpPrivate::dataWordSize;
-constexpr uint16_t FrogPilotCarParams::LateralTuning::_capnpPrivate::pointerCount;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#if !CAPNP_LITE
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind FrogPilotCarParams::LateralTuning::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* FrogPilotCarParams::LateralTuning::_capnpPrivate::schema;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#endif  // !CAPNP_LITE
-
 // FrogPilotCarState
 #if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t FrogPilotCarState::_capnpPrivate::dataWordSize;

cereal/gen/cpp/custom.capnp.h

@@ -84,7 +84,6 @@ enum class EventName_aedffd8f31e7b55d: uint16_t {
 CAPNP_DECLARE_ENUM(EventName, aedffd8f31e7b55d);
 CAPNP_DECLARE_SCHEMA(f35cc4560bbf6ec2);
 CAPNP_DECLARE_SCHEMA(8d65dd40bad40951);
-CAPNP_DECLARE_SCHEMA(fcc949d2cbea7649);
 CAPNP_DECLARE_SCHEMA(da96579883444c35);
 CAPNP_DECLARE_SCHEMA(ccb4d6b0dc102d40);
 CAPNP_DECLARE_SCHEMA(8033e8e60d6a0edb);
@@ -185,10 +184,9 @@ struct FrogPilotCarParams {
   class Builder;
   class Pipeline;
   struct SafetyConfig;
-  struct LateralTuning;
 
   struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(f35cc4560bbf6ec2, 1, 2)
+    CAPNP_DECLARE_STRUCT_HEADER(f35cc4560bbf6ec2, 1, 1)
     #if !CAPNP_LITE
     static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
     #endif  // !CAPNP_LITE
@@ -210,25 +208,6 @@ struct FrogPilotCarParams::SafetyConfig {
   };
 };
 
-struct FrogPilotCarParams::LateralTuning {
-  LateralTuning() = delete;
-
-  class Reader;
-  class Builder;
-  class Pipeline;
-  enum Which: uint16_t {
-    PID,
-    TORQUE,
-  };
-
-  struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(fcc949d2cbea7649, 1, 2)
-    #if !CAPNP_LITE
-    static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
-    #endif  // !CAPNP_LITE
-  };
-};
-
 struct FrogPilotCarState {
   FrogPilotCarState() = delete;
 
@@ -690,7 +669,7 @@ public:
   inline bool hasSafetyConfigs() const;
   inline  ::capnp::List< ::cereal::FrogPilotCarParams::SafetyConfig,  ::capnp::Kind::STRUCT>::Reader getSafetyConfigs() const;
 
-  inline typename LateralTuning::Reader getLateralTuning() const;
+  inline bool getCanUseSASCM() const;
 
 private:
   ::capnp::_::StructReader _reader;
@@ -742,8 +721,8 @@ public:
   inline void adoptSafetyConfigs(::capnp::Orphan< ::capnp::List< ::cereal::FrogPilotCarParams::SafetyConfig,  ::capnp::Kind::STRUCT>>&& value);
   inline ::capnp::Orphan< ::capnp::List< ::cereal::FrogPilotCarParams::SafetyConfig,  ::capnp::Kind::STRUCT>> disownSafetyConfigs();
 
-  inline typename LateralTuning::Builder getLateralTuning();
-  inline typename LateralTuning::Builder initLateralTuning();
+  inline bool getCanUseSASCM();
+  inline void setCanUseSASCM(bool value);
 
 private:
   ::capnp::_::StructBuilder _builder;
@@ -763,7 +742,6 @@ public:
   inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
       : _typeless(kj::mv(typeless)) {}
 
-  inline typename LateralTuning::Pipeline getLateralTuning();
 private:
   ::capnp::AnyPointer::Pipeline _typeless;
   friend class ::capnp::PipelineHook;
@@ -848,103 +826,6 @@ private:
 };
 #endif  // !CAPNP_LITE
 
-class FrogPilotCarParams::LateralTuning::Reader {
-public:
-  typedef LateralTuning Reads;
-
-  Reader() = default;
-  inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
-
-  inline ::capnp::MessageSize totalSize() const {
-    return _reader.totalSize().asPublic();
-  }
-
-#if !CAPNP_LITE
-  inline ::kj::StringTree toString() const {
-    return ::capnp::_::structString(_reader, *_capnpPrivate::brand());
-  }
-#endif  // !CAPNP_LITE
-
-  inline Which which() const;
-  inline bool isPid() const;
-  inline bool hasPid() const;
-  inline  ::cereal::CarParams::LateralPIDTuning::Reader getPid() const;
-
-  inline bool isTorque() const;
-  inline bool hasTorque() const;
-  inline  ::cereal::CarParams::LateralTorqueTuning::Reader getTorque() const;
-
-private:
-  ::capnp::_::StructReader _reader;
-  template <typename, ::capnp::Kind>
-  friend struct ::capnp::ToDynamic_;
-  template <typename, ::capnp::Kind>
-  friend struct ::capnp::_::PointerHelpers;
-  template <typename, ::capnp::Kind>
-  friend struct ::capnp::List;
-  friend class ::capnp::MessageBuilder;
-  friend class ::capnp::Orphanage;
-};
-
-class FrogPilotCarParams::LateralTuning::Builder {
-public:
-  typedef LateralTuning Builds;
-
-  Builder() = delete;  // Deleted to discourage incorrect usage.
-                       // You can explicitly initialize to nullptr instead.
-  inline Builder(decltype(nullptr)) {}
-  inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
-  inline operator Reader() const { return Reader(_builder.asReader()); }
-  inline Reader asReader() const { return *this; }
-
-  inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
-#if !CAPNP_LITE
-  inline ::kj::StringTree toString() const { return asReader().toString(); }
-#endif  // !CAPNP_LITE
-
-  inline Which which();
-  inline bool isPid();
-  inline bool hasPid();
-  inline  ::cereal::CarParams::LateralPIDTuning::Builder getPid();
-  inline void setPid( ::cereal::CarParams::LateralPIDTuning::Reader value);
-  inline  ::cereal::CarParams::LateralPIDTuning::Builder initPid();
-  inline void adoptPid(::capnp::Orphan< ::cereal::CarParams::LateralPIDTuning>&& value);
-  inline ::capnp::Orphan< ::cereal::CarParams::LateralPIDTuning> disownPid();
-
-  inline bool isTorque();
-  inline bool hasTorque();
-  inline  ::cereal::CarParams::LateralTorqueTuning::Builder getTorque();
-  inline void setTorque( ::cereal::CarParams::LateralTorqueTuning::Reader value);
-  inline  ::cereal::CarParams::LateralTorqueTuning::Builder initTorque();
-  inline void adoptTorque(::capnp::Orphan< ::cereal::CarParams::LateralTorqueTuning>&& value);
-  inline ::capnp::Orphan< ::cereal::CarParams::LateralTorqueTuning> disownTorque();
-
-private:
-  ::capnp::_::StructBuilder _builder;
-  template <typename, ::capnp::Kind>
-  friend struct ::capnp::ToDynamic_;
-  friend class ::capnp::Orphanage;
-  template <typename, ::capnp::Kind>
-  friend struct ::capnp::_::PointerHelpers;
-};
-
-#if !CAPNP_LITE
-class FrogPilotCarParams::LateralTuning::Pipeline {
-public:
-  typedef LateralTuning Pipelines;
-
-  inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
-  inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
-      : _typeless(kj::mv(typeless)) {}
-
-private:
-  ::capnp::AnyPointer::Pipeline _typeless;
-  friend class ::capnp::PipelineHook;
-  template <typename, ::capnp::Kind>
-  friend struct ::capnp::ToDynamic_;
-};
-#endif  // !CAPNP_LITE
-
 class FrogPilotCarState::Reader {
 public:
   typedef FrogPilotCarState Reads;
@@ -1557,6 +1438,8 @@ public:
 
   inline  ::int64_t getDesiredFollowDistance() const;
 
+  inline bool getDisableThrottle() const;
+
   inline bool getExperimentalMode() const;
 
   inline bool getForcingStop() const;
@@ -1664,6 +1547,9 @@ public:
   inline  ::int64_t getDesiredFollowDistance();
   inline void setDesiredFollowDistance( ::int64_t value);
 
+  inline bool getDisableThrottle();
+  inline void setDisableThrottle(bool value);
+
   inline bool getExperimentalMode();
   inline void setExperimentalMode(bool value);
 
@@ -2339,22 +2225,20 @@ inline ::capnp::Orphan< ::capnp::List< ::cereal::FrogPilotCarParams::SafetyConfi
       ::capnp::bounded<0>() * ::capnp::POINTERS));
 }
 
-inline typename FrogPilotCarParams::LateralTuning::Reader FrogPilotCarParams::Reader::getLateralTuning() const {
-  return typename FrogPilotCarParams::LateralTuning::Reader(_reader);
+inline bool FrogPilotCarParams::Reader::getCanUseSASCM() const {
+  return _reader.getDataField<bool>(
+      ::capnp::bounded<4>() * ::capnp::ELEMENTS);
 }
-inline typename FrogPilotCarParams::LateralTuning::Builder FrogPilotCarParams::Builder::getLateralTuning() {
-  return typename FrogPilotCarParams::LateralTuning::Builder(_builder);
+
+inline bool FrogPilotCarParams::Builder::getCanUseSASCM() {
+  return _builder.getDataField<bool>(
+      ::capnp::bounded<4>() * ::capnp::ELEMENTS);
 }
-#if !CAPNP_LITE
-inline typename FrogPilotCarParams::LateralTuning::Pipeline FrogPilotCarParams::Pipeline::getLateralTuning() {
-  return typename FrogPilotCarParams::LateralTuning::Pipeline(_typeless.noop());
-}
-#endif  // !CAPNP_LITE
-inline typename FrogPilotCarParams::LateralTuning::Builder FrogPilotCarParams::Builder::initLateralTuning() {
-  _builder.setDataField< ::uint16_t>(::capnp::bounded<1>() * ::capnp::ELEMENTS, 0);
-  _builder.getPointerField(::capnp::bounded<1>() * ::capnp::POINTERS).clear();
-  return typename FrogPilotCarParams::LateralTuning::Builder(_builder);
+inline void FrogPilotCarParams::Builder::setCanUseSASCM(bool value) {
+  _builder.setDataField<bool>(
+      ::capnp::bounded<4>() * ::capnp::ELEMENTS, value);
 }
+
 inline  ::uint16_t FrogPilotCarParams::SafetyConfig::Reader::getSafetyParam() const {
   return _reader.getDataField< ::uint16_t>(
       ::capnp::bounded<0>() * ::capnp::ELEMENTS);
@@ -2369,123 +2253,6 @@ inline void FrogPilotCarParams::SafetyConfig::Builder::setSafetyParam( ::uint16_
       ::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
 }
 
-inline  ::cereal::FrogPilotCarParams::LateralTuning::Which FrogPilotCarParams::LateralTuning::Reader::which() const {
-  return _reader.getDataField<Which>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
-}
-inline  ::cereal::FrogPilotCarParams::LateralTuning::Which FrogPilotCarParams::LateralTuning::Builder::which() {
-  return _builder.getDataField<Which>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
-}
-
-inline bool FrogPilotCarParams::LateralTuning::Reader::isPid() const {
-  return which() == FrogPilotCarParams::LateralTuning::PID;
-}
-inline bool FrogPilotCarParams::LateralTuning::Builder::isPid() {
-  return which() == FrogPilotCarParams::LateralTuning::PID;
-}
-inline bool FrogPilotCarParams::LateralTuning::Reader::hasPid() const {
-  if (which() != FrogPilotCarParams::LateralTuning::PID) return false;
-  return !_reader.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS).isNull();
-}
-inline bool FrogPilotCarParams::LateralTuning::Builder::hasPid() {
-  if (which() != FrogPilotCarParams::LateralTuning::PID) return false;
-  return !_builder.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS).isNull();
-}
-inline  ::cereal::CarParams::LateralPIDTuning::Reader FrogPilotCarParams::LateralTuning::Reader::getPid() const {
-  KJ_IREQUIRE((which() == FrogPilotCarParams::LateralTuning::PID),
-              "Must check which() before get()ing a union member.");
-  return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralPIDTuning>::get(_reader.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS));
-}
-inline  ::cereal::CarParams::LateralPIDTuning::Builder FrogPilotCarParams::LateralTuning::Builder::getPid() {
-  KJ_IREQUIRE((which() == FrogPilotCarParams::LateralTuning::PID),
-              "Must check which() before get()ing a union member.");
-  return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralPIDTuning>::get(_builder.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS));
-}
-inline void FrogPilotCarParams::LateralTuning::Builder::setPid( ::cereal::CarParams::LateralPIDTuning::Reader value) {
-  _builder.setDataField<FrogPilotCarParams::LateralTuning::Which>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS, FrogPilotCarParams::LateralTuning::PID);
-  ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralPIDTuning>::set(_builder.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS), value);
-}
-inline  ::cereal::CarParams::LateralPIDTuning::Builder FrogPilotCarParams::LateralTuning::Builder::initPid() {
-  _builder.setDataField<FrogPilotCarParams::LateralTuning::Which>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS, FrogPilotCarParams::LateralTuning::PID);
-  return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralPIDTuning>::init(_builder.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS));
-}
-inline void FrogPilotCarParams::LateralTuning::Builder::adoptPid(
-    ::capnp::Orphan< ::cereal::CarParams::LateralPIDTuning>&& value) {
-  _builder.setDataField<FrogPilotCarParams::LateralTuning::Which>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS, FrogPilotCarParams::LateralTuning::PID);
-  ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralPIDTuning>::adopt(_builder.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value));
-}
-inline ::capnp::Orphan< ::cereal::CarParams::LateralPIDTuning> FrogPilotCarParams::LateralTuning::Builder::disownPid() {
-  KJ_IREQUIRE((which() == FrogPilotCarParams::LateralTuning::PID),
-              "Must check which() before get()ing a union member.");
-  return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralPIDTuning>::disown(_builder.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS));
-}
-
-inline bool FrogPilotCarParams::LateralTuning::Reader::isTorque() const {
-  return which() == FrogPilotCarParams::LateralTuning::TORQUE;
-}
-inline bool FrogPilotCarParams::LateralTuning::Builder::isTorque() {
-  return which() == FrogPilotCarParams::LateralTuning::TORQUE;
-}
-inline bool FrogPilotCarParams::LateralTuning::Reader::hasTorque() const {
-  if (which() != FrogPilotCarParams::LateralTuning::TORQUE) return false;
-  return !_reader.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS).isNull();
-}
-inline bool FrogPilotCarParams::LateralTuning::Builder::hasTorque() {
-  if (which() != FrogPilotCarParams::LateralTuning::TORQUE) return false;
-  return !_builder.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS).isNull();
-}
-inline  ::cereal::CarParams::LateralTorqueTuning::Reader FrogPilotCarParams::LateralTuning::Reader::getTorque() const {
-  KJ_IREQUIRE((which() == FrogPilotCarParams::LateralTuning::TORQUE),
-              "Must check which() before get()ing a union member.");
-  return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralTorqueTuning>::get(_reader.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS));
-}
-inline  ::cereal::CarParams::LateralTorqueTuning::Builder FrogPilotCarParams::LateralTuning::Builder::getTorque() {
-  KJ_IREQUIRE((which() == FrogPilotCarParams::LateralTuning::TORQUE),
-              "Must check which() before get()ing a union member.");
-  return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralTorqueTuning>::get(_builder.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS));
-}
-inline void FrogPilotCarParams::LateralTuning::Builder::setTorque( ::cereal::CarParams::LateralTorqueTuning::Reader value) {
-  _builder.setDataField<FrogPilotCarParams::LateralTuning::Which>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS, FrogPilotCarParams::LateralTuning::TORQUE);
-  ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralTorqueTuning>::set(_builder.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS), value);
-}
-inline  ::cereal::CarParams::LateralTorqueTuning::Builder FrogPilotCarParams::LateralTuning::Builder::initTorque() {
-  _builder.setDataField<FrogPilotCarParams::LateralTuning::Which>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS, FrogPilotCarParams::LateralTuning::TORQUE);
-  return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralTorqueTuning>::init(_builder.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS));
-}
-inline void FrogPilotCarParams::LateralTuning::Builder::adoptTorque(
-    ::capnp::Orphan< ::cereal::CarParams::LateralTorqueTuning>&& value) {
-  _builder.setDataField<FrogPilotCarParams::LateralTuning::Which>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS, FrogPilotCarParams::LateralTuning::TORQUE);
-  ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralTorqueTuning>::adopt(_builder.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value));
-}
-inline ::capnp::Orphan< ::cereal::CarParams::LateralTorqueTuning> FrogPilotCarParams::LateralTuning::Builder::disownTorque() {
-  KJ_IREQUIRE((which() == FrogPilotCarParams::LateralTuning::TORQUE),
-              "Must check which() before get()ing a union member.");
-  return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralTorqueTuning>::disown(_builder.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS));
-}
-
 inline bool FrogPilotCarState::Reader::getAccelPressed() const {
   return _reader.getDataField<bool>(
       ::capnp::bounded<0>() * ::capnp::ELEMENTS);
@@ -3036,34 +2803,48 @@ inline void FrogPilotPlan::Builder::setDesiredFollowDistance( ::int64_t value) {
       ::capnp::bounded<3>() * ::capnp::ELEMENTS, value);
 }
 
-inline bool FrogPilotPlan::Reader::getExperimentalMode() const {
+inline bool FrogPilotPlan::Reader::getDisableThrottle() const {
   return _reader.getDataField<bool>(
       ::capnp::bounded<66>() * ::capnp::ELEMENTS);
 }
 
-inline bool FrogPilotPlan::Builder::getExperimentalMode() {
+inline bool FrogPilotPlan::Builder::getDisableThrottle() {
   return _builder.getDataField<bool>(
       ::capnp::bounded<66>() * ::capnp::ELEMENTS);
 }
-inline void FrogPilotPlan::Builder::setExperimentalMode(bool value) {
+inline void FrogPilotPlan::Builder::setDisableThrottle(bool value) {
   _builder.setDataField<bool>(
       ::capnp::bounded<66>() * ::capnp::ELEMENTS, value);
 }
 
-inline bool FrogPilotPlan::Reader::getForcingStop() const {
+inline bool FrogPilotPlan::Reader::getExperimentalMode() const {
   return _reader.getDataField<bool>(
       ::capnp::bounded<67>() * ::capnp::ELEMENTS);
 }
 
-inline bool FrogPilotPlan::Builder::getForcingStop() {
+inline bool FrogPilotPlan::Builder::getExperimentalMode() {
   return _builder.getDataField<bool>(
       ::capnp::bounded<67>() * ::capnp::ELEMENTS);
 }
-inline void FrogPilotPlan::Builder::setForcingStop(bool value) {
+inline void FrogPilotPlan::Builder::setExperimentalMode(bool value) {
   _builder.setDataField<bool>(
       ::capnp::bounded<67>() * ::capnp::ELEMENTS, value);
 }
 
+inline bool FrogPilotPlan::Reader::getForcingStop() const {
+  return _reader.getDataField<bool>(
+      ::capnp::bounded<68>() * ::capnp::ELEMENTS);
+}
+
+inline bool FrogPilotPlan::Builder::getForcingStop() {
+  return _builder.getDataField<bool>(
+      ::capnp::bounded<68>() * ::capnp::ELEMENTS);
+}
+inline void FrogPilotPlan::Builder::setForcingStop(bool value) {
+  _builder.setDataField<bool>(
+      ::capnp::bounded<68>() * ::capnp::ELEMENTS, value);
+}
+
 inline float FrogPilotPlan::Reader::getForcingStopLength() const {
   return _reader.getDataField<float>(
       ::capnp::bounded<5>() * ::capnp::ELEMENTS);
@@ -3128,16 +2909,16 @@ inline void FrogPilotPlan::Builder::setIncreasedStoppedDistance(float value) {
 
 inline bool FrogPilotPlan::Reader::getLateralCheck() const {
   return _reader.getDataField<bool>(
-      ::capnp::bounded<68>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<69>() * ::capnp::ELEMENTS);
 }
 
 inline bool FrogPilotPlan::Builder::getLateralCheck() {
   return _builder.getDataField<bool>(
-      ::capnp::bounded<68>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<69>() * ::capnp::ELEMENTS);
 }
 inline void FrogPilotPlan::Builder::setLateralCheck(bool value) {
   _builder.setDataField<bool>(
-      ::capnp::bounded<68>() * ::capnp::ELEMENTS, value);
+      ::capnp::bounded<69>() * ::capnp::ELEMENTS, value);
 }
 
 inline float FrogPilotPlan::Reader::getLaneWidthLeft() const {
@@ -3198,16 +2979,16 @@ inline void FrogPilotPlan::Builder::setMinAcceleration(float value) {
 
 inline bool FrogPilotPlan::Reader::getRedLight() const {
   return _reader.getDataField<bool>(
-      ::capnp::bounded<69>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<70>() * ::capnp::ELEMENTS);
 }
 
 inline bool FrogPilotPlan::Builder::getRedLight() {
   return _builder.getDataField<bool>(
-      ::capnp::bounded<69>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<70>() * ::capnp::ELEMENTS);
 }
 inline void FrogPilotPlan::Builder::setRedLight(bool value) {
   _builder.setDataField<bool>(
-      ::capnp::bounded<69>() * ::capnp::ELEMENTS, value);
+      ::capnp::bounded<70>() * ::capnp::ELEMENTS, value);
 }
 
 inline float FrogPilotPlan::Reader::getRoadCurvature() const {
@@ -3372,16 +3153,16 @@ inline void FrogPilotPlan::Builder::setSpeedJerkStock(float value) {
 
 inline bool FrogPilotPlan::Reader::getSpeedLimitChanged() const {
   return _reader.getDataField<bool>(
-      ::capnp::bounded<70>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<71>() * ::capnp::ELEMENTS);
 }
 
 inline bool FrogPilotPlan::Builder::getSpeedLimitChanged() {
   return _builder.getDataField<bool>(
-      ::capnp::bounded<70>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<71>() * ::capnp::ELEMENTS);
 }
 inline void FrogPilotPlan::Builder::setSpeedLimitChanged(bool value) {
   _builder.setDataField<bool>(
-      ::capnp::bounded<70>() * ::capnp::ELEMENTS, value);
+      ::capnp::bounded<71>() * ::capnp::ELEMENTS, value);
 }
 
 inline float FrogPilotPlan::Reader::getTFollow() const {
@@ -3400,46 +3181,46 @@ inline void FrogPilotPlan::Builder::setTFollow(float value) {
 
 inline bool FrogPilotPlan::Reader::getThemeUpdated() const {
   return _reader.getDataField<bool>(
-      ::capnp::bounded<71>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<72>() * ::capnp::ELEMENTS);
 }
 
 inline bool FrogPilotPlan::Builder::getThemeUpdated() {
   return _builder.getDataField<bool>(
-      ::capnp::bounded<71>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<72>() * ::capnp::ELEMENTS);
 }
 inline void FrogPilotPlan::Builder::setThemeUpdated(bool value) {
-  _builder.setDataField<bool>(
-      ::capnp::bounded<71>() * ::capnp::ELEMENTS, value);
-}
-
-inline bool FrogPilotPlan::Reader::getTogglesUpdated() const {
-  return _reader.getDataField<bool>(
-      ::capnp::bounded<72>() * ::capnp::ELEMENTS);
-}
-
-inline bool FrogPilotPlan::Builder::getTogglesUpdated() {
-  return _builder.getDataField<bool>(
-      ::capnp::bounded<72>() * ::capnp::ELEMENTS);
-}
-inline void FrogPilotPlan::Builder::setTogglesUpdated(bool value) {
   _builder.setDataField<bool>(
       ::capnp::bounded<72>() * ::capnp::ELEMENTS, value);
 }
 
-inline bool FrogPilotPlan::Reader::getTrackingLead() const {
+inline bool FrogPilotPlan::Reader::getTogglesUpdated() const {
   return _reader.getDataField<bool>(
       ::capnp::bounded<73>() * ::capnp::ELEMENTS);
 }
 
-inline bool FrogPilotPlan::Builder::getTrackingLead() {
+inline bool FrogPilotPlan::Builder::getTogglesUpdated() {
   return _builder.getDataField<bool>(
       ::capnp::bounded<73>() * ::capnp::ELEMENTS);
 }
-inline void FrogPilotPlan::Builder::setTrackingLead(bool value) {
+inline void FrogPilotPlan::Builder::setTogglesUpdated(bool value) {
   _builder.setDataField<bool>(
       ::capnp::bounded<73>() * ::capnp::ELEMENTS, value);
 }
 
+inline bool FrogPilotPlan::Reader::getTrackingLead() const {
+  return _reader.getDataField<bool>(
+      ::capnp::bounded<74>() * ::capnp::ELEMENTS);
+}
+
+inline bool FrogPilotPlan::Builder::getTrackingLead() {
+  return _builder.getDataField<bool>(
+      ::capnp::bounded<74>() * ::capnp::ELEMENTS);
+}
+inline void FrogPilotPlan::Builder::setTrackingLead(bool value) {
+  _builder.setDataField<bool>(
+      ::capnp::bounded<74>() * ::capnp::ELEMENTS, value);
+}
+
 inline float FrogPilotPlan::Reader::getUnconfirmedSlcSpeedLimit() const {
   return _reader.getDataField<float>(
       ::capnp::bounded<23>() * ::capnp::ELEMENTS);

cereal/gen/cpp/log.capnp.c++

@@ -9336,17 +9336,17 @@ const ::capnp::_::RawSchema s_f28c5dc9e09375e3 = {
   0, 10, i_f28c5dc9e09375e3, nullptr, nullptr, { &s_f28c5dc9e09375e3, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<191> b_e774a050cbf689a4 = {
+static const ::capnp::_::AlignedData<223> b_e774a050cbf689a4 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
     164, 137, 246, 203,  80, 160, 116, 231,
-     24,   0,   0,   0,   1,   0,   5,   0,
+     24,   0,   0,   0,   1,   0,   6,   0,
     241, 171,   1,  54, 197, 105, 255, 151,
       0,   0,   7,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      21,   0,   0,   0,  90,   1,   0,   0,
      41,   0,   0,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     37,   0,   0,   0, 111,   2,   0,   0,
+     37,   0,   0,   0, 223,   2,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     108, 111, 103,  46,  99,  97, 112, 110,
@@ -9356,84 +9356,98 @@ static const ::capnp::_::AlignedData<191> b_e774a050cbf689a4 = {
     111, 114, 113, 117, 101,  83, 116,  97,
     116, 101,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   1,   0,   1,   0,
-     44,   0,   0,   0,   3,   0,   4,   0,
+     52,   0,   0,   0,   3,   0,   4,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     37,   1,   0,   0,  58,   0,   0,   0,
+     93,   1,   0,   0,  58,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     32,   1,   0,   0,   3,   0,   1,   0,
-     44,   1,   0,   0,   2,   0,   1,   0,
+     88,   1,   0,   0,   3,   0,   1,   0,
+    100,   1,   0,   0,   2,   0,   1,   0,
       1,   0,   0,   0,   1,   0,   0,   0,
       0,   0,   1,   0,   1,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     41,   1,   0,   0,  50,   0,   0,   0,
+     97,   1,   0,   0,  50,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     36,   1,   0,   0,   3,   0,   1,   0,
-     48,   1,   0,   0,   2,   0,   1,   0,
+     92,   1,   0,   0,   3,   0,   1,   0,
+    104,   1,   0,   0,   2,   0,   1,   0,
       3,   0,   0,   0,   2,   0,   0,   0,
       0,   0,   1,   0,   2,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     45,   1,   0,   0,  18,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     40,   1,   0,   0,   3,   0,   1,   0,
-     52,   1,   0,   0,   2,   0,   1,   0,
-      4,   0,   0,   0,   3,   0,   0,   0,
-      0,   0,   1,   0,   3,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     49,   1,   0,   0,  18,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     44,   1,   0,   0,   3,   0,   1,   0,
-     56,   1,   0,   0,   2,   0,   1,   0,
-      5,   0,   0,   0,   4,   0,   0,   0,
-      0,   0,   1,   0,   4,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     53,   1,   0,   0,  18,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     48,   1,   0,   0,   3,   0,   1,   0,
-     60,   1,   0,   0,   2,   0,   1,   0,
-      6,   0,   0,   0,   5,   0,   0,   0,
-      0,   0,   1,   0,   5,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     57,   1,   0,   0,  18,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     52,   1,   0,   0,   3,   0,   1,   0,
-     64,   1,   0,   0,   2,   0,   1,   0,
-      7,   0,   0,   0,   6,   0,   0,   0,
-      0,   0,   1,   0,   6,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     61,   1,   0,   0,  58,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     56,   1,   0,   0,   3,   0,   1,   0,
-     68,   1,   0,   0,   2,   0,   1,   0,
-      8,   0,   0,   0,   1,   0,   0,   0,
-      0,   0,   1,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     65,   1,   0,   0,  82,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     64,   1,   0,   0,   3,   0,   1,   0,
-     76,   1,   0,   0,   2,   0,   1,   0,
-      2,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   1,   0,   8,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     73,   1,   0,   0,  82,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     72,   1,   0,   0,   3,   0,   1,   0,
-     84,   1,   0,   0,   2,   0,   1,   0,
-      9,   0,   0,   0,   8,   0,   0,   0,
-      0,   0,   1,   0,   9,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     81,   1,   0,   0, 154,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     84,   1,   0,   0,   3,   0,   1,   0,
-     96,   1,   0,   0,   2,   0,   1,   0,
-     10,   0,   0,   0,   9,   0,   0,   0,
-      0,   0,   1,   0,  10,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     93,   1,   0,   0, 162,   0,   0,   0,
+    101,   1,   0,   0,  18,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      96,   1,   0,   0,   3,   0,   1,   0,
     108,   1,   0,   0,   2,   0,   1,   0,
+      4,   0,   0,   0,   3,   0,   0,   0,
+      0,   0,   1,   0,   3,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    105,   1,   0,   0,  18,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    100,   1,   0,   0,   3,   0,   1,   0,
+    112,   1,   0,   0,   2,   0,   1,   0,
+      5,   0,   0,   0,   4,   0,   0,   0,
+      0,   0,   1,   0,   4,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    109,   1,   0,   0,  18,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    104,   1,   0,   0,   3,   0,   1,   0,
+    116,   1,   0,   0,   2,   0,   1,   0,
+      6,   0,   0,   0,   5,   0,   0,   0,
+      0,   0,   1,   0,   5,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    113,   1,   0,   0,  18,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    108,   1,   0,   0,   3,   0,   1,   0,
+    120,   1,   0,   0,   2,   0,   1,   0,
+      7,   0,   0,   0,   6,   0,   0,   0,
+      0,   0,   1,   0,   6,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    117,   1,   0,   0,  58,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    112,   1,   0,   0,   3,   0,   1,   0,
+    124,   1,   0,   0,   2,   0,   1,   0,
+      8,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    121,   1,   0,   0,  82,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    120,   1,   0,   0,   3,   0,   1,   0,
+    132,   1,   0,   0,   2,   0,   1,   0,
+      2,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   1,   0,   8,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    129,   1,   0,   0,  82,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    128,   1,   0,   0,   3,   0,   1,   0,
+    140,   1,   0,   0,   2,   0,   1,   0,
+      9,   0,   0,   0,   8,   0,   0,   0,
+      0,   0,   1,   0,   9,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    137,   1,   0,   0, 154,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    140,   1,   0,   0,   3,   0,   1,   0,
+    152,   1,   0,   0,   2,   0,   1,   0,
+     10,   0,   0,   0,   9,   0,   0,   0,
+      0,   0,   1,   0,  10,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    149,   1,   0,   0, 162,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    152,   1,   0,   0,   3,   0,   1,   0,
+    164,   1,   0,   0,   2,   0,   1,   0,
+     11,   0,   0,   0,  10,   0,   0,   0,
+      0,   0,   1,   0,  11,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    161,   1,   0,   0, 154,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    164,   1,   0,   0,   3,   0,   1,   0,
+    176,   1,   0,   0,   2,   0,   1,   0,
+     12,   0,   0,   0,  11,   0,   0,   0,
+      0,   0,   1,   0,  12,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    173,   1,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    168,   1,   0,   0,   3,   0,   1,   0,
+    180,   1,   0,   0,   2,   0,   1,   0,
      97,  99, 116, 105, 118, 101,   0,   0,
       1,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -9526,16 +9540,34 @@ static const ::capnp::_::AlignedData<191> b_e774a050cbf689a4 = {
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    100, 101, 115, 105, 114, 101, 100,  76,
+     97, 116, 101, 114,  97, 108,  74, 101,
+    114, 107,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    118, 101, 114, 115, 105, 111, 110,   0,
+      4,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      4,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0, }
 };
 ::capnp::word const* const bp_e774a050cbf689a4 = b_e774a050cbf689a4.words;
 #if !CAPNP_LITE
-static const uint16_t m_e774a050cbf689a4[] = {0, 9, 4, 10, 1, 8, 5, 3, 6, 2, 7};
-static const uint16_t i_e774a050cbf689a4[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10};
+static const uint16_t m_e774a050cbf689a4[] = {0, 9, 4, 10, 11, 1, 8, 5, 3, 6, 2, 7, 12};
+static const uint16_t i_e774a050cbf689a4[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12};
 const ::capnp::_::RawSchema s_e774a050cbf689a4 = {
-  0xe774a050cbf689a4, b_e774a050cbf689a4.words, 191, nullptr, m_e774a050cbf689a4,
-  0, 11, i_e774a050cbf689a4, nullptr, nullptr, { &s_e774a050cbf689a4, nullptr, nullptr, 0, 0, nullptr }, false
+  0xe774a050cbf689a4, b_e774a050cbf689a4.words, 223, nullptr, m_e774a050cbf689a4,
+  0, 13, i_e774a050cbf689a4, nullptr, nullptr, { &s_e774a050cbf689a4, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<130> b_9024e2d790c82ade = {

cereal/gen/cpp/log.capnp.h

@@ -1076,7 +1076,7 @@ struct ControlsState::LateralTorqueState {
   class Pipeline;
 
   struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(e774a050cbf689a4, 5, 0)
+    CAPNP_DECLARE_STRUCT_HEADER(e774a050cbf689a4, 6, 0)
     #if !CAPNP_LITE
     static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
     #endif  // !CAPNP_LITE
@@ -7531,6 +7531,10 @@ public:
 
   inline float getDesiredLateralAccel() const;
 
+  inline float getDesiredLateralJerk() const;
+
+  inline  ::int32_t getVersion() const;
+
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -7592,6 +7596,12 @@ public:
   inline float getDesiredLateralAccel();
   inline void setDesiredLateralAccel(float value);
 
+  inline float getDesiredLateralJerk();
+  inline void setDesiredLateralJerk(float value);
+
+  inline  ::int32_t getVersion();
+  inline void setVersion( ::int32_t value);
+
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -30064,6 +30074,34 @@ inline void ControlsState::LateralTorqueState::Builder::setDesiredLateralAccel(f
       ::capnp::bounded<9>() * ::capnp::ELEMENTS, value);
 }
 
+inline float ControlsState::LateralTorqueState::Reader::getDesiredLateralJerk() const {
+  return _reader.getDataField<float>(
+      ::capnp::bounded<10>() * ::capnp::ELEMENTS);
+}
+
+inline float ControlsState::LateralTorqueState::Builder::getDesiredLateralJerk() {
+  return _builder.getDataField<float>(
+      ::capnp::bounded<10>() * ::capnp::ELEMENTS);
+}
+inline void ControlsState::LateralTorqueState::Builder::setDesiredLateralJerk(float value) {
+  _builder.setDataField<float>(
+      ::capnp::bounded<10>() * ::capnp::ELEMENTS, value);
+}
+
+inline  ::int32_t ControlsState::LateralTorqueState::Reader::getVersion() const {
+  return _reader.getDataField< ::int32_t>(
+      ::capnp::bounded<11>() * ::capnp::ELEMENTS);
+}
+
+inline  ::int32_t ControlsState::LateralTorqueState::Builder::getVersion() {
+  return _builder.getDataField< ::int32_t>(
+      ::capnp::bounded<11>() * ::capnp::ELEMENTS);
+}
+inline void ControlsState::LateralTorqueState::Builder::setVersion( ::int32_t value) {
+  _builder.setDataField< ::int32_t>(
+      ::capnp::bounded<11>() * ::capnp::ELEMENTS, value);
+}
+
 inline bool ControlsState::LateralLQRState::Reader::getActive() const {
   return _reader.getDataField<bool>(
       ::capnp::bounded<0>() * ::capnp::ELEMENTS);

cereal/log.capnp

@@ -795,6 +795,8 @@ struct ControlsState @0x97ff69c53601abf1 {
     saturated @7 :Bool;
     actualLateralAccel @9 :Float32;
     desiredLateralAccel @10 :Float32;
+    desiredLateralJerk @11 :Float32;
+    version @12 :Int32;
    }
 
   struct LateralLQRState {

common/params.cc

@@ -224,6 +224,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"AdvancedLateralTune", PERSISTENT},
     {"AdvancedLongitudinalTune", PERSISTENT},
     {"AggressiveFollow", PERSISTENT},
+    {"AggressiveFollowHigh", PERSISTENT},
     {"AggressiveJerkAcceleration", PERSISTENT},
     {"AggressiveJerkDanger", PERSISTENT},
     {"AggressiveJerkDeceleration", PERSISTENT},
@@ -321,6 +322,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DynamicPedalsOnUI", PERSISTENT},
     {"EngageVolume", PERSISTENT},
     {"ExperimentalGMTune", PERSISTENT},
+    {"EVTuning", PERSISTENT},
     {"Fahrenheit", PERSISTENT},
     {"FavoriteDestinations", PERSISTENT | DONT_LOG},
     {"FlashPanda", CLEAR_ON_MANAGER_START},
@@ -346,6 +348,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"FrogsGoMoosTweak", PERSISTENT},
     {"FullMap", PERSISTENT},
     {"GasRegenCmd", PERSISTENT},
+    {"GMPedalLongitudinal", PERSISTENT},
     {"GoatScream", PERSISTENT},
     {"GreenLightAlert", PERSISTENT},
     {"HideAlerts", PERSISTENT},
@@ -406,6 +409,10 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ModelToDownload", CLEAR_ON_MANAGER_START},
     {"ModelUI", PERSISTENT},
     {"ModelVersions", PERSISTENT},
+    {"ModelReleasedDates", PERSISTENT},
+    {"CommunityFavorites", PERSISTENT},
+    {"UserFavorites", PERSISTENT},
+    {"SortModelsByDate", PERSISTENT},
     {"NavigationUI", PERSISTENT},
     {"NextMapSpeedLimit", CLEAR_ON_MANAGER_START},
     {"NewLongAPI", PERSISTENT},
@@ -451,6 +458,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RandomThemes", PERSISTENT},
     {"RefuseVolume", PERSISTENT},
     {"RelaxedFollow", PERSISTENT},
+    {"RelaxedFollowHigh", PERSISTENT},
     {"RelaxedJerkAcceleration", PERSISTENT},
     {"RelaxedJerkDanger", PERSISTENT},
     {"RelaxedJerkDeceleration", PERSISTENT},
@@ -510,6 +518,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SpeedLimitsFiltered", PERSISTENT | DONT_LOG},
     {"SpeedLimitSources", PERSISTENT},
     {"StandardFollow", PERSISTENT},
+    {"StandardFollowHigh", PERSISTENT},
     {"StandardJerkAcceleration", PERSISTENT},
     {"StandardJerkDanger", PERSISTENT},
     {"StandardJerkDeceleration", PERSISTENT},
@@ -526,6 +535,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SteerDelayStock", PERSISTENT},
     {"SteerFriction", PERSISTENT},
     {"SteerFrictionStock", PERSISTENT},
+    {"SteerOffset", PERSISTENT},
+    {"SteerOffsetStock", PERSISTENT},
     {"SteerLatAccel", PERSISTENT},
     {"SteerLatAccelStock", PERSISTENT},
     {"SteerKP", PERSISTENT},
@@ -540,6 +551,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"StoppedTimer", PERSISTENT},
     {"TacoTune", PERSISTENT},
     {"TacoTuneHacks", PERSISTENT},
+    {"TrailerLoad", PERSISTENT},
     {"TestAlert", CLEAR_ON_MANAGER_START},
     {"TetheringEnabled", PERSISTENT},
     {"ThemeDownloadProgress", CLEAR_ON_MANAGER_START},
@@ -579,6 +591,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"WheelIcon", PERSISTENT},
     {"WheelSpeed", PERSISTENT},
     {"StopDistance", PERSISTENT},
+    {"RecoveryPower", PERSISTENT},
     {"WheelToDownload", CLEAR_ON_MANAGER_START},
 };
 

common/realtime.py

@@ -6,6 +6,7 @@ from collections import deque
 
 from setproctitle import getproctitle
 
+from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware import PC
 
 
@@ -34,7 +35,17 @@ def set_realtime_priority(level: int) -> None:
 
 def set_core_affinity(cores: list[int]) -> None:
   if not PC:
-    os.sched_setaffinity(0, cores)
+    for attempt in range(3):  # Retry up to 3 times
+      try:
+        os.sched_setaffinity(0, cores)
+        return
+      except OSError as e:
+        if e.errno == 22:  # EINVAL
+          time.sleep(0.1)  # Brief delay before retry
+        else:
+          raise  # Re-raise other errors
+    # If all retries fail, log and continue without affinity
+    cloudlog.error(f"Failed to set core affinity after retries: {cores}")
 
 
 def config_realtime_process(cores: int | list[int], priority: int) -> None:

frogpilot/assets/download_functions.py

@@ -88,7 +88,7 @@ def handle_error(destination, error_message, error, download_param, progress_par
   if destination:
     delete_file(destination)
 
-  if progress_param and "404" not in error_message:
+  if params_memory and progress_param and "404" not in error_message:
     print(f"Error occurred: {error}")
     params_memory.put(progress_param, error_message)
     params_memory.remove(download_param)

frogpilot/assets/model_manager.py

@@ -107,7 +107,7 @@ class ModelManager:
       self.downloading_model = False
       return
 
-    if model_version in ("v8", "v9", "v10", "v11"):
+    if model_version in ("v8", "v9", "v10", "v11", "v12"):
       # Download all PKL and metadata files for multi-file tinygrad models (v8 and v9)
       filenames = [
           f"{model_to_download}_driving_policy_tinygrad.pkl",
@@ -115,6 +115,11 @@ class ModelManager:
           f"{model_to_download}_driving_policy_metadata.pkl",
           f"{model_to_download}_driving_vision_metadata.pkl",
       ]
+      if model_version == "v12":
+        filenames += [
+          f"{model_to_download}_driving_off_policy_tinygrad.pkl",
+          f"{model_to_download}_driving_off_policy_metadata.pkl",
+        ]
       for filename in filenames:
         model_path = MODELS_PATH / filename
         model_url = f"{repo_url}/Models/{filename}"
@@ -208,13 +213,18 @@ class ModelManager:
       except Exception:
         model_version = None
 
-      if model_version in ("v8", "v9", "v10", "v11"):
+      if model_version in ("v8", "v9", "v10", "v11", "v12"):
         v8_v9_files = [
           f"{model}_driving_policy_tinygrad.pkl",
           f"{model}_driving_vision_tinygrad.pkl",
           f"{model}_driving_policy_metadata.pkl",
           f"{model}_driving_vision_metadata.pkl",
         ]
+        if model_version == "v12":
+          v8_v9_files += [
+            f"{model}_driving_off_policy_tinygrad.pkl",
+            f"{model}_driving_off_policy_metadata.pkl",
+          ]
         if all((MODELS_PATH / f).is_file() for f in v8_v9_files):
           downloaded_models.add(model)
       elif model_version == "v7":
@@ -259,13 +269,18 @@ class ModelManager:
       except Exception:
         model_version = None
 
-      if model_version in ("v8", "v9", "v10", "v11"):
+      if model_version in ("v8", "v9", "v10", "v11", "v12"):
         v8_v9_files = [
           f"{model}_driving_policy_tinygrad.pkl",
           f"{model}_driving_vision_tinygrad.pkl",
           f"{model}_driving_policy_metadata.pkl",
           f"{model}_driving_vision_metadata.pkl",
         ]
+        if model_version == "v12":
+          v8_v9_files += [
+            f"{model}_driving_off_policy_tinygrad.pkl",
+            f"{model}_driving_off_policy_metadata.pkl",
+          ]
         for filename in v8_v9_files:
           path = MODELS_PATH / filename
           expected_size = model_sizes.get(filename.rsplit(".", 1)[0])
@@ -296,7 +311,10 @@ class ModelManager:
       params.put("AvailableModels", ",".join(self.available_models))
       params.put("AvailableModelNames", ",".join([model["name"] for model in model_info]))
       params.put("AvailableModelSeries", ",".join(self.model_series))
+      params.put("CommunityFavorites", ",".join([model["id"] for model in model_info if model.get("community_favorite", False)]))
+      params.put("ModelReleasedDates", ",".join([model.get("released", "2023-01-01") for model in model_info]))
       params.put("ModelVersions", ",".join(self.model_versions))
+      params.put("CommunityFavorites", ",".join([model["id"] for model in model_info if model.get("community_favorite", False)]))
       params.put("AvailableModelSeries", ",".join(self.model_series))
       print("Models list updated successfully")
 
@@ -375,13 +393,18 @@ class ModelManager:
           handle_error(None, "Download cancelled...", "Download cancelled...", MODEL_DOWNLOAD_ALL_PARAM, DOWNLOAD_PROGRESS_PARAM, params_memory)
           return
 
-        if model_version in ("v8", "v9", "v10", "v11"):
+        if model_version in ("v8", "v9", "v10", "v11", "v12"):
           required_files = [
               f"{model}_driving_policy_tinygrad.pkl",
               f"{model}_driving_vision_tinygrad.pkl",
               f"{model}_driving_policy_metadata.pkl",
               f"{model}_driving_vision_metadata.pkl",
           ]
+          if model_version == "v12":
+            required_files += [
+              f"{model}_driving_off_policy_tinygrad.pkl",
+              f"{model}_driving_off_policy_metadata.pkl",
+            ]
           missing = [f for f in required_files if not (MODELS_PATH / f).is_file()]
           if missing:
             print(f"Tinygrad model {model} is missing files. Preparing to download...")

frogpilot/assets/nnff_models/CHEVROLET_BOLT_EUV.json

@@ -0,0 +1 @@
+{"input_std":[[9.281861],[1.8477924],[0.7977224],[0.047467366],[1.7969038],[1.8168812],[1.8351218],[1.785757],[1.7335743],[1.6658221],[1.5893887],[0.047346078],[0.0473731],[0.047383286],[0.047291175],[0.047300573],[0.04712479],[0.046799928]],"model_test_loss":0.027355343103408813,"input_size":18,"current_date_and_time":"2023-08-05_05-11-44","input_mean":[[21.655252],[-0.07694559],[-0.006081294],[-0.007598456],[-0.07309746],[-0.075890236],[-0.07804942],[-0.076106496],[-0.07184982],[-0.06528668],[-0.060404416],[-0.0077262702],[-0.0077046235],[-0.0076850485],[-0.007687444],[-0.007708868],[-0.0077959923],[-0.008017422]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.35776415],[-0.126288],[0.007988413],[0.03850029],[-0.056796823],[0.0072075897],[0.17376427]],"dense_1_W":[[0.010538558,6.7293744,-0.007391298,-1.035045,-0.47446147,1.0940393,0.08225446,-0.5795131,0.573115,1.82923,-0.16999252,0.8818023,0.03560901,-0.9470653,-1.042151,1.1532398,1.9009485,-1.2265956],[0.009010456,-1.3618345,0.039026346,0.22943486,-0.6669799,-0.768271,-0.16828564,-0.13406865,0.19760236,-0.18953702,-0.019137766,0.1468623,0.26367718,0.4732375,0.73679143,0.62450147,0.30198866,-0.93340015],[-0.044318866,2.2138615,9.620889,-0.66480356,-0.06849887,-0.038568456,-0.30580127,-0.088089585,0.31187677,0.5968372,-1.1462088,0.13234706,0.29166338,-0.69978577,-0.01790655,-0.097928315,-0.56950736,0.7560642],[1.3758256,0.8700429,-0.24295154,0.20832618,-0.7735097,1.0379355,-0.60753095,-0.5457418,-1.0892137,-0.6708325,0.24982774,0.09251328,0.08596103,-0.58034134,-0.3046114,-0.19754426,0.006461508,0.5989185],[0.06314328,-2.492993,-0.28200585,0.49902886,0.8513198,-0.5704965,1.0960953,-0.08426956,-0.76074624,0.10669376,0.02775254,-0.42194095,-0.34657434,-0.10863868,0.17019278,0.0963825,-0.10169116,0.21243806],[0.007984091,-1.9276509,-0.0013926353,0.04057924,1.4438432,1.3440262,-2.506722,1.700801,0.72410774,0.13471895,-0.18753268,0.7303607,0.018133093,-0.71643597,0.07050904,-0.30161944,0.085108586,0.061202843],[0.9413167,-0.9954305,-0.19510143,-0.4711845,-0.12398665,-0.45175523,1.0616771,0.28550953,-0.55543137,-0.21576759,-0.2364377,-0.012782618,-0.050565187,0.257694,-0.20975965,0.00022543047,-0.08760746,0.4983852]],"activation":"σ"},{"dense_2_W":[[-0.71804935,0.017023304,-0.099854074,-0.3262651,-0.402829,-0.12073083,0.13537839],[-0.44002575,-0.1071093,-0.58886194,-0.17319413,-0.21134079,0.23135148,0.0006880979],[-0.55711204,-0.8693639,-0.6443761,-0.7382846,0.18980889,-0.6082511,-0.63103676],[0.11338112,-0.5327033,0.2856197,0.32239884,-0.72682667,0.5302305,-0.45094746],[-0.35197002,-0.14440043,-0.025249843,-0.48697743,0.3340018,-0.25992322,0.0050561456],[0.34757507,0.15670523,-0.14263277,0.50704384,-0.020171141,0.6408679,-0.3074123],[0.40258837,-0.59363264,0.35948923,-0.060853776,-0.0072541097,0.89743376,-0.49789146],[-0.63476,0.29580453,0.1689314,-0.5061521,0.24901053,-0.23218995,0.57968193],[-0.66173035,0.50861925,-0.5845035,-0.6602214,0.8341883,-0.31437424,0.8046359],[0.038493533,0.15464582,-0.04848341,-0.57820857,-0.25891733,-0.47527292,0.21441916],[-0.15464531,-0.07454202,-0.8215851,-0.12614948,-0.5924209,0.00017916794,0.24154592],[0.6091424,-0.112086505,0.1144111,-0.31035227,-0.9237534,0.041003596,-0.3542808],[0.2989792,-0.23780549,0.116059326,-0.6056522,0.5499526,-0.9001413,0.5200723]],"activation":"σ","dense_2_b":[[-0.2638964],[-0.24607328],[-0.15493082],[-0.0071187904],[-0.23515384],[-0.09098133],[-0.034066215],[0.03609036],[-0.03842933],[-0.042302527],[-0.2439947],[-0.16342077],[-0.01030317]]},{"dense_3_W":[[0.45771673,-0.2084603,0.3570187,0.35835707,0.13684571,-0.582958,0.29889587,0.43543494,0.11841301,-0.26185623,-0.4988437,0.5752996,-0.28057483],[-0.19594137,0.050280698,-0.29057446,-0.2829161,-0.16987291,-0.21278952,-0.59946907,0.21295123,0.7040468,0.53549695,-0.52553934,-0.19560973,0.6233473],[-0.19091003,0.08669418,-0.5792192,0.57799137,-0.36263424,0.6037143,0.27898273,-0.30951327,-0.3572644,0.46720102,-0.5403428,0.32415462,-0.60570025]],"activation":"identity","dense_3_b":[[-0.0047377176],[0.023170695],[-0.021546118]]},{"dense_4_W":[[-0.12453941,-1.006034,0.96776205]],"dense_4_b":[[-0.02351544]],"activation":"identity"}]}

frogpilot/assets/theme_manager.py

@@ -98,7 +98,7 @@ class ThemeManager:
 
     repo_url = get_repository_url()
     if not repo_url:
-      handle_error(None, "GitHub and GitLab are offline...", "Repository unavailable", asset_param, DOWNLOAD_PROGRESS_PARAM)
+      handle_error(None, "GitHub and GitLab are offline...", "Repository unavailable", asset_param, DOWNLOAD_PROGRESS_PARAM, params_memory)
       self.downloading_theme = False
       return
 
@@ -122,16 +122,16 @@ class ThemeManager:
       delete_file(theme_path)
 
       print(f"Downloading theme from GitHub: {theme_name}")
-      download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, asset_param, self.session)
+      download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, asset_param, params_memory)
 
       if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM):
         delete_file(theme_path)
-        handle_error(None, "Download cancelled...", "Download cancelled...", asset_param, DOWNLOAD_PROGRESS_PARAM)
+        handle_error(None, "Download cancelled...", "Download cancelled...", asset_param, DOWNLOAD_PROGRESS_PARAM, params_memory)
 
         self.downloading_theme = False
         return
 
-      if verify_download(theme_path, theme_url, self.session):
+      if verify_download(theme_path, theme_url):
         print(f"Theme {theme_name} downloaded and verified successfully from GitHub!")
         self.update_theme_size(theme_component, theme_name, theme_path.stat().st_size)
 
@@ -149,7 +149,7 @@ class ThemeManager:
       elif self.handle_verification_failure(extension, theme_component, theme_name, asset_param, theme_path, download_path, frogpilot_toggles):
         return
 
-    handle_error(download_path, "Download failed...", "Download failed...", asset_param, DOWNLOAD_PROGRESS_PARAM)
+    handle_error(download_path, "Download failed...", "Download failed...", asset_param, DOWNLOAD_PROGRESS_PARAM, params_memory)
     self.downloading_theme = False
 
   def fetch_assets(self, repo_url, frogpilot_toggles):
@@ -332,9 +332,9 @@ class ThemeManager:
 
     theme_url = download_link + extension
     print(f"Downloading theme from GitLab: {theme_name}")
-    download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, asset_param, self.session)
+    download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, asset_param, params_memory)
 
-    if verify_download(theme_path, theme_url, self.session):
+    if verify_download(theme_path, theme_url):
       print(f"Theme {theme_name} downloaded and verified successfully from GitLab!")
       self.update_theme_size(theme_component, theme_name, theme_path.stat().st_size)
 
@@ -350,7 +350,7 @@ class ThemeManager:
       self.update_themes(frogpilot_toggles)
       return True
 
-    handle_error(None, "Download failed...", "Download failed...", asset_param, DOWNLOAD_PROGRESS_PARAM)
+    handle_error(None, "Download failed...", "Download failed...", asset_param, DOWNLOAD_PROGRESS_PARAM, params_memory)
     self.downloading_theme = False
     return False
 

frogpilot/common/frogpilot_utilities.py

@@ -296,12 +296,12 @@ def update_openpilot():
   if params.get("UpdaterState", encoding="utf-8") != "idle":
     return
 
-  while params.get_bool("IsOnroad") or params_memory.get_bool("UpdateSpeedLimits") or running_threads.get("lock_doors", threading.Thread()).is_alive():
-    time.sleep(60)
-
   if not update_available():
     return
 
+  while params.get_bool("IsOnroad") or params_memory.get_bool("UpdateSpeedLimits") or running_threads.get("lock_doors", threading.Thread()).is_alive():
+    time.sleep(60)
+
   while True:
     if not update_available():
       break

frogpilot/common/frogpilot_variables.py

@@ -13,7 +13,8 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
 from openpilot.selfdrive.car import gen_empty_fingerprint
 from openpilot.selfdrive.car.car_helpers import interfaces
-from openpilot.selfdrive.car.gm.values import GMFlags
+from openpilot.selfdrive.car.gm.values import EV_CAR as GM_EV_CAR, GMFlags
+from openpilot.selfdrive.car.hyundai.values import EV_CAR as HYUNDAI_EV_CAR
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.mock.interface import CarInterface
 from openpilot.selfdrive.car.mock.values import CAR as MOCK
@@ -29,11 +30,10 @@ params = Params()
 params_cache = Params("/cache/params")
 params_default = Params("/dev/shm/params_default")
 params_memory = Params("/dev/shm/params")
-params_tracking = Params("/cache/tracking")
-params_tracking = Params("/cache/tracking")
 
 GearShifter = car.CarState.GearShifter
 SafetyModel = car.CarParams.SafetyModel
+TransmissionType = car.CarParams.TransmissionType
 
 CITY_SPEED_LIMIT = 25                     # 55mph is typically the minimum speed for highways
 CRUISING_SPEED = 5                        # Roughly the speed cars go when not touching the gas while in drive
@@ -75,7 +75,7 @@ MAPD_PATH = Path("/data/media/0/osm/mapd")
 MAPS_PATH = Path("/data/media/0/osm/offline")
 NNFF_MODELS_PATH = Path(BASEDIR) / "frogpilot/assets/nnff_models"
 
-DEFAULT_MODEL = "firehose"
+DEFAULT_MODEL = "bd2"
 DEFAULT_MODEL_NAME = "Firehose (Default) 👀📡"
 DEFAULT_MODEL_VERSION = "v11"
 
@@ -96,6 +96,8 @@ EXCLUDED_KEYS = {
 }
 
 TINYGRAD_FILES = [
+  ("driving_off_policy_metadata.pkl", "off-policy metadata"),
+  ("driving_off_policy_tinygrad.pkl", "off-policy model"),
   ("driving_policy_metadata.pkl", "policy metadata"),
   ("driving_policy_tinygrad.pkl", "policy model"),
   ("driving_vision_metadata.pkl", "vision metadata"),
@@ -128,9 +130,11 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("AdjacentPath", "0", 3, "0"),
   ("AdjacentPathMetrics", "0", 3, "0"),
   ("AdvancedCustomUI", "0", 2, "0"),
-  ("AdvancedLateralTune", "0", 2, "0"),
+  ("AdvancedLateralTune", "1", 2, "0"),
   ("AdvancedLongitudinalTune", "0", 3, "0"),
+  ("EVTuning", "", 3, "0"),
   ("AggressiveFollow", "1.25", 2, "1.25"),
+  ("AggressiveFollowHigh", "1.25", 2, "1.25"),
   ("AggressiveJerkAcceleration", "50", 3, "50"),
   ("AggressiveJerkDanger", "100", 3, "100"),
   ("AggressiveJerkDeceleration", "50", 3, "50"),
@@ -149,11 +153,13 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("AvailableModelNames", "", 1, ""),
   ("AvailableModelSeries", "", 1, ""),
   ("AvailableModels", "", 1, ""),
+  ("CommunityFavorites", "", 1, ""),
+  ("UserFavorites", "", 0, ""),
   ("BigMap", "0", 2, "0"),
   ("BlacklistedModels", "", 2, ""),
   ("BlindSpotMetrics", "1", 3, "0"),
   ("BlindSpotPath", "1", 1, "0"),
-  ("BorderMetrics", "0", 3, "0"),
+  ("BorderMetrics", "1", 3, "0"),
   ("CalibratedLateralAcceleration", str(DEFAULT_LATERAL_ACCELERATION), 2, str(DEFAULT_LATERAL_ACCELERATION)),
   ("CalibrationProgress", "0", 3, "0"),
   ("CameraView", "3", 2, "0"),
@@ -165,16 +171,16 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("CECurvesLead", "0", 1, "0"),
   ("CELead", "0", 1, "0"),
   ("CEModelStopTime", str(PLANNER_TIME - 2), 2, "0"),
-  ("CENavigation", "1", 2, "0"),
+  ("CENavigation", "0", 2, "0"),
   ("CENavigationIntersections", "1", 2, "0"),
   ("CENavigationLead", "1", 2, "0"),
   ("CENavigationTurns", "1", 2, "0"),
   ("CESignalSpeed", "55", 2, "0"),
   ("CESignalLaneDetection", "1", 2, "0"),
-  ("CESlowerLead", "0", 1, "0"),
+  ("CESlowerLead", "1", 1, "0"),
   ("CESpeed", "0", 1, "0"),
   ("CESpeedLead", "0", 1, "0"),
-  ("CEStoppedLead", "0", 1, "0"),
+  ("CEStoppedLead", "1", 1, "0"),
   ("ClusterOffset", "1.015", 2, "1.015"),
   ("Compass", "0", 1, "0"),
   ("ConditionalExperimental", "1", 1, "0"),
@@ -192,7 +198,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("CustomUI", "1", 1, "0"),
   ("DecelerationProfile", "1", 2, "0"),
   ("DeveloperMetrics", "1", 3, "0"),
-  ("DeveloperSidebar", "1", 3, "0"),
+  ("DeveloperSidebar", "0", 3, "0"),
   ("DeveloperSidebarMetric1", "1", 3, "0"),
   ("DeveloperSidebarMetric2", "2", 3, "0"),
   ("DeveloperSidebarMetric3", "3", 3, "0"),
@@ -201,7 +207,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("DeveloperSidebarMetric6", "6", 3, "0"),
   ("DeveloperSidebarMetric7", "7", 3, "0"),
   ("DeveloperWidgets", "1", 3, "0"),
-  ("DeveloperUI", "0", 3, "0"),
+  ("DeveloperUI", "1", 3, "0"),
   ("DeviceManagement", "1", 1, "0"),
   ("DeviceShutdown", "9", 1, "33"),
   ("DisableOnroadUploads", "0", 2, "0"),
@@ -219,7 +225,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("Fahrenheit", "0", 3, "0"),
   ("FavoriteDestinations", "", 0, ""),
   ("ForceAutoTune", "0", 2, "0"),
-  ("ForceAutoTuneOff", "0", 2, "0"),
+  ("ForceAutoTuneOff", "1", 2, "0"),
   ("ForceFingerprint", "0", 2, "0"),
   ("ForceMPHDashboard", "0", 2, "0"),
   ("ForceStops", "0", 2, "0"),
@@ -230,6 +236,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("FrogsGoMoosTweak", "1", 2, "0"),
   ("FullMap", "0", 2, "0"),
   ("GasRegenCmd", "1", 2, "0"),
+  ("GMPedalLongitudinal", "1", 2, "1"),
   ("GithubSshKeys", "", 0, ""),
   ("GithubUsername", "", 0, ""),
   ("GoatScream", "0", 1, "0"),
@@ -269,6 +276,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("LongitudinalActuatorDelay", "", 3, ""),
   ("LongitudinalActuatorDelayStock", "", 3, ""),
   ("LongitudinalTune", "1", 0, "0"),
+  ("TrailerLoad", "0", 2, "0"),
   ("LongPitch", "1", 2, "0"),
   ("LoudBlindspotAlert", "0", 0, "0"),
   ("LowVoltageShutdown", str(VBATT_PAUSE_CHARGING), 2, str(VBATT_PAUSE_CHARGING)),
@@ -284,14 +292,16 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("Model", DEFAULT_MODEL, 1, DEFAULT_MODEL),
   ("ModelDrivesAndScores", "", 2, ""),
   ("ModelRandomizer", "0", 2, "0"),
+  ("ModelReleasedDates", "", 1, ""),
   ("ModelUI", "1", 2, "0"),
   ("ModelVersions", "", 2, ""),
+  ("SortModelsByDate", "0", 2, "0"),
   ("NavigationUI", "1", 1, "0"),
   ("NavSettingLeftSide", "0", 0, "0"),
   ("NavSettingTime24h", "0", 0, "0"),
   ("NewLongAPI", "0", 2, "1"),
-  ("NNFF", "1", 2, "0"),
-  ("NNFFLite", "1", 2, "0"),
+  ("NNFF", "0", 2, "0"),
+  ("NNFFLite", "0", 2, "0"),
   ("NoLogging", "0", 2, "0"),
   ("NoUploads", "0", 2, "0"),
   ("NudgelessLaneChange", "0", 0, "0"),
@@ -326,13 +336,14 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("RecordFront", "0", 0, "0"),
   ("RefuseVolume", "101", 2, "101"),
   ("RelaxedFollow", "1.75", 2, "1.75"),
+  ("RelaxedFollowHigh", "1.75", 2, "1.75"),
   ("RelaxedJerkAcceleration", "50", 3, "50"),
   ("RelaxedJerkDanger", "100", 3, "100"),
   ("RelaxedJerkDeceleration", "50", 3, "50"),
   ("RelaxedJerkSpeed", "50", 3, "50"),
   ("RelaxedJerkSpeedDecrease", "50", 3, "50"),
   ("RelaxedPersonalityProfile", "1", 2, "0"),
-  ("ReverseCruise", "0", 1, "0"),
+  ("ReverseCruise", "1", 1, "0"),
   ("RoadEdgesWidth", "2", 2, "2"),
   ("RoadNameUI", "1", 2, "0"),
   ("RotatingWheel", "1", 1, "0"),
@@ -356,7 +367,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("ShownToggleDescriptions", "", 0, ""),
   ("ShowSLCOffset", "1", 0, "0"),
   ("ShowSpeedLimits", "1", 1, "0"),
-  ("ShowSteering", "0", 3, "0"),
+  ("ShowSteering", "1", 3, "0"),
   ("ShowStoppingPoint", "0", 2, "0"),
   ("ShowStoppingPointMetrics", "0", 2, "0"),
   ("ShowStorageLeft", "0", 3, "0"),
@@ -383,6 +394,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("StartupMessageBottom", "Human-tested, frog-approved 🐸", 0, "Always keep hands on wheel and eyes on road"),
   ("StartupMessageTop", "Hop in and buckle up!", 0, "Be ready to take over at any time"),
   ("StandardFollow", "1.45", 2, "1.45"),
+  ("StandardFollowHigh", "1.45", 2, "1.45"),
   ("StandardJerkAcceleration", "50", 3, "50"),
   ("StandardJerkDanger", "100", 3, "100"),
   ("StandardJerkDeceleration", "50", 3, "50"),
@@ -397,6 +409,8 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("SteerDelayStock", "", 3, ""),
   ("SteerFriction", "", 3, ""),
   ("SteerFrictionStock", "", 3, ""),
+  ("SteerOffset", "", 3, ""),
+  ("SteerOffsetStock", "", 3, ""),
   ("SteerKP", "", 3, ""),
   ("SteerKPStock", "", 3, ""),
   ("SteerLatAccel", "", 3, ""),
@@ -419,8 +433,8 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("TrafficJerkSpeed", "50", 3, "50"),
   ("TrafficJerkSpeedDecrease", "50", 3, "50"),
   ("TrafficPersonalityProfile", "1", 2, "0"),
-  ("TuningLevel", "0", 0, "0"),
-  ("TuningLevelConfirmed", "0", 0, "0"),
+  ("TuningLevel", "3", 0, "0"),
+  ("TuningLevelConfirmed", "1", 0, "0"),
   ("TurnDesires", "0", 2, "0"),
   ("UnlimitedLength", "1", 2, "0"),
   ("UnlockDoors", "1", 0, "0"),
@@ -438,7 +452,8 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("WarningSoftVolume", "101", 2, "101"),
   ("WheelIcon", "frog", 0, "stock"),
   ("WheelSpeed", "0", 2, "0"),
-  ("StopDistance", "6", 3, "6")
+  ("StopDistance", "6", 3, "6"),
+  ("RecoveryPower", "1.0", 2, "1.0")
 ]
 
 misc_tuning_levels: list[tuple[str, str | bytes, int, str]] = [
@@ -533,6 +548,10 @@ class FrogPilotVariables:
       safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
       CP.safetyConfigs = [safety_config]
 
+    is_torque_car = CP.lateralTuning.which() == "torque"
+    if not is_torque_car:
+      CarInterfaceBase.configure_torque_tune(MOCK.MOCK, CP.lateralTuning)
+
     fpmsg_bytes = params.get("FrogPilotCarParams" if started else "FrogPilotCarParamsPersistent", block=started)
     if fpmsg_bytes:
       with custom.FrogPilotCarParams.from_bytes(fpmsg_bytes) as fpcp_reader:
@@ -541,34 +560,31 @@ class FrogPilotVariables:
       CarInterface, _, _ = interfaces[MOCK.MOCK]
       FPCP = CarInterface.get_frogpilot_params(MOCK.MOCK, gen_empty_fingerprint(), [], CP, toggle)
 
-    is_torque_car = FPCP.lateralTuning.which() == "torque"
-    if not is_torque_car:
-      CarInterfaceBase.configure_torque_tune(MOCK.MOCK, FPCP.lateralTuning)
-
 
     toggle.always_on_lateral_set = bool(CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL)
     toggle.car_make = CP.carName
     toggle.car_model = CP.carFingerprint
     toggle.disable_openpilot_long = params.get_bool("DisableOpenpilotLongitudinal") if tuning_level >= level["DisableOpenpilotLongitudinal"] else default.get_bool("DisableOpenpilotLongitudinal")
-    friction = FPCP.lateralTuning.torque.friction
-    has_auto_tune = toggle.car_make in {"hyundai", "toyota"} and FPCP.lateralTuning.which() == "torque"
+    friction = CP.lateralTuning.torque.friction
+    has_auto_tune = toggle.car_make in {"hyundai", "toyota"} and CP.lateralTuning.which() == "torque"
     has_bsm = CP.enableBsm
     toggle.has_cc_long = toggle.car_make == "gm" and bool(CP.flags & GMFlags.CC_LONG.value)
     has_nnff = nnff_supported(toggle.car_model)
     toggle.has_pedal = CP.enableGasInterceptor
     has_radar = not CP.radarUnavailable
     toggle.has_sdsu = toggle.car_make == "toyota" and bool(CP.flags & ToyotaFlags.SMART_DSU.value)
+    toggle.has_sascm = toggle.car_make == "gm" and bool(CP.flags & GMFlags.SASCM.value)
     has_sng = CP.autoResumeSng
     toggle.has_zss = toggle.car_make == "toyota" and bool(FPCP.fpFlags & ToyotaFrogPilotFlags.ZSS.value)
     is_angle_car = CP.steerControlType == car.CarParams.SteerControlType.angle
-    latAccelFactor = FPCP.lateralTuning.torque.latAccelFactor
+    latAccelFactor = CP.lateralTuning.torque.latAccelFactor
     longitudinalActuatorDelay = CP.longitudinalActuatorDelay
     toggle.openpilot_longitudinal = CP.openpilotLongitudinalControl and not toggle.disable_openpilot_long
     pcm_cruise = CP.pcmCruise
     startAccel = CP.startAccel
     stopAccel = CP.stopAccel
     steerActuatorDelay = CP.steerActuatorDelay
-    steerKp = FPCP.lateralTuning.torque.kp
+    steerKp = CP.lateralTuning.torque.kp
     steerRatio = CP.steerRatio
     toggle.stoppingDecelRate = CP.stoppingDecelRate
     taco_hacks_allowed = CP.safetyConfigs[0].safetyModel == SafetyModel.hyundaiCanfd
@@ -601,14 +617,22 @@ class FrogPilotVariables:
     toggle.steerActuatorDelay = np.clip(params.get_float("SteerDelay"), 0.01, 1.0) if advanced_lateral_tuning and tuning_level >= level["SteerDelay"] else steerActuatorDelay
     toggle.use_custom_steerActuatorDelay = bool(round(toggle.steerActuatorDelay, 2) != round(steerActuatorDelay, 2))
     toggle.friction = np.clip(params.get_float("SteerFriction"), 0, 0.5) if advanced_lateral_tuning and tuning_level >= level["SteerFriction"] else friction
+    toggle.steer_offset = np.clip(params.get_float("SteerOffset"), -0.2, 0.2) if advanced_lateral_tuning and tuning_level >= level["SteerOffset"] and toggle.car_make == "gm" else 0.0
     toggle.use_custom_friction = bool(round(toggle.friction, 2) != round(friction, 2)) and is_torque_car and not toggle.force_auto_tune or toggle.force_auto_tune_off
     toggle.steerKp = [[0], [np.clip(params.get_float("SteerKP"), steerKp * 0.5, steerKp * 1.5) if advanced_lateral_tuning and is_torque_car and tuning_level >= level["SteerKP"] else steerKp]]
-    toggle.latAccelFactor = np.clip(params.get_float("SteerLatAccel"), latAccelFactor * 0.75, latAccelFactor * 1.25) if advanced_lateral_tuning and tuning_level >= level["SteerLatAccel"] else latAccelFactor
+    toggle.latAccelFactor = np.clip(params.get_float("SteerLatAccel"), latAccelFactor * 0.5, latAccelFactor * 1.25) if advanced_lateral_tuning and tuning_level >= level["SteerLatAccel"] else latAccelFactor
     toggle.use_custom_latAccelFactor = bool(round(toggle.latAccelFactor, 2) != round(latAccelFactor, 2)) and is_torque_car and not toggle.force_auto_tune or toggle.force_auto_tune_off
-    toggle.steerRatio = np.clip(params.get_float("SteerRatio"), steerRatio * 0.5, steerRatio * 1.5) if advanced_lateral_tuning and tuning_level >= level["SteerRatio"] else steerRatio
+    toggle.steerRatio = np.clip(params.get_float("SteerRatio"), steerRatio * 0.25, steerRatio * 1.5) if advanced_lateral_tuning and tuning_level >= level["SteerRatio"] else steerRatio
     toggle.use_custom_steerRatio = bool(round(toggle.steerRatio, 2) != round(steerRatio, 2)) and not toggle.force_auto_tune or toggle.force_auto_tune_off
 
     advanced_longitudinal_tuning = params.get_bool("AdvancedLongitudinalTune") if tuning_level >= level["AdvancedLongitudinalTune"] else default.get_bool("AdvancedLongitudinalTune")
+    ev_vehicle = toggle.car_make == "gm" and toggle.car_model != "CHEVROLET_VOLT" and CP.carFingerprint in GM_EV_CAR or toggle.car_make == "hyundai" and CP.carFingerprint in HYUNDAI_EV_CAR
+    ev_vehicle |= CP.transmissionType == TransmissionType.direct
+
+    if params.get("EVTuning") == b"":
+      params.put_bool("EVTuning", ev_vehicle)
+
+    toggle.ev_tuning = params.get_bool("EVTuning") if advanced_longitudinal_tuning and tuning_level >= level["EVTuning"] else ev_vehicle
     toggle.longitudinalActuatorDelay = np.clip(params.get_float("LongitudinalActuatorDelay"), 0, 1) if advanced_longitudinal_tuning and tuning_level >= level["LongitudinalActuatorDelay"] else longitudinalActuatorDelay
     toggle.startAccel = np.clip(params.get_float("StartAccel"), 0, 4) if advanced_longitudinal_tuning and tuning_level >= level["StartAccel"] else startAccel
     toggle.stopAccel = np.clip(params.get_float("StopAccel"), -4, 0) if advanced_longitudinal_tuning and tuning_level >= level["StopAccel"] else stopAccel
@@ -618,6 +642,8 @@ class FrogPilotVariables:
 
     toggle.stop_distance = params.get_float("StopDistance") if advanced_longitudinal_tuning and tuning_level >= level["StopDistance"] else 6.0
 
+    toggle.recovery_power = np.clip(params.get_float("RecoveryPower"), 0.5, 2.0) if advanced_longitudinal_tuning and tuning_level >= level["RecoveryPower"] else 1.0
+
     toggle.alert_volume_controller = params.get_bool("AlertVolumeControl") if tuning_level >= level["AlertVolumeControl"] else default.get_bool("AlertVolumeControl")
     toggle.disengage_volume = params.get_int("DisengageVolume") if toggle.alert_volume_controller and tuning_level >= level["DisengageVolume"] else default.get_int("DisengageVolume")
     toggle.engage_volume = params.get_int("EngageVolume") if toggle.alert_volume_controller and tuning_level >= level["EngageVolume"] else default.get_int("EngageVolume")
@@ -633,7 +659,7 @@ class FrogPilotVariables:
     toggle.always_on_lateral_main = toggle.always_on_lateral_set and not toggle.use_lkas_for_aol and (params.get_bool("AlwaysOnLateralMain") if tuning_level >= level["AlwaysOnLateralMain"] else default.get_bool("AlwaysOnLateralMain"))
     toggle.always_on_lateral_pause_speed = params.get_int("PauseAOLOnBrake") if toggle.always_on_lateral_set and tuning_level >= level["PauseAOLOnBrake"] else default.get_int("PauseAOLOnBrake")
 
-    toggle.automatic_updates = (params.get_bool("AutomaticUpdates") if tuning_level >= level["AutomaticUpdates"] and (self.release_branch or self.vetting_branch) else default.get_bool("AutomaticUpdates")) and not BACKUP_PATH.is_file()
+    toggle.automatic_updates = (params.get_bool("AutomaticUpdates") if tuning_level >= level["AutomaticUpdates"] else default.get_bool("AutomaticUpdates")) and not BACKUP_PATH.is_file()
 
     toggle.car_model = params.get("CarModel", encoding="utf-8") or toggle.car_model
 
@@ -673,28 +699,31 @@ class FrogPilotVariables:
     toggle.aggressive_jerk_danger = np.clip(params.get_int("AggressiveJerkDanger") / 100, 0.25, 2) if aggressive_profile and tuning_level >= level["AggressiveJerkDanger"] else default.get_int("AggressiveJerkDanger") / 100
     toggle.aggressive_jerk_speed = np.clip(params.get_int("AggressiveJerkSpeed") / 100, 0.25, 2) if aggressive_profile and tuning_level >= level["AggressiveJerkSpeed"] else default.get_int("AggressiveJerkSpeed") / 100
     toggle.aggressive_jerk_speed_decrease = np.clip(params.get_int("AggressiveJerkSpeedDecrease") / 100, 0.25, 2) if aggressive_profile and tuning_level >= level["AggressiveJerkSpeedDecrease"] else default.get_int("AggressiveJerkSpeedDecrease") / 100
-    toggle.aggressive_follow = np.clip(params.get_float("AggressiveFollow"), 1, MAX_T_FOLLOW) if aggressive_profile and tuning_level >= level["AggressiveFollow"] else default.get_float("AggressiveFollow")
+    toggle.aggressive_follow = [np.clip(params.get_float("AggressiveFollow"), 1, MAX_T_FOLLOW) if aggressive_profile and tuning_level >= level["AggressiveFollow"] else default.get_float("AggressiveFollow"),
+                                np.clip(params.get_float("AggressiveFollowHigh"), 1, MAX_T_FOLLOW) if aggressive_profile and tuning_level >= level["AggressiveFollowHigh"] else default.get_float("AggressiveFollowHigh")]
     standard_profile = toggle.custom_personalities and (params.get_bool("StandardPersonalityProfile") if tuning_level >= level["StandardPersonalityProfile"] else default.get_bool("StandardPersonalityProfile"))
     toggle.standard_jerk_acceleration = np.clip(params.get_int("StandardJerkAcceleration") / 100, 0.25, 2) if standard_profile and tuning_level >= level["StandardJerkAcceleration"] else default.get_int("StandardJerkAcceleration") / 100
     toggle.standard_jerk_deceleration = np.clip(params.get_int("StandardJerkDeceleration") / 100, 0.25, 2) if standard_profile and tuning_level >= level["StandardJerkDeceleration"] else default.get_int("StandardJerkDeceleration") / 100
     toggle.standard_jerk_danger = np.clip(params.get_int("StandardJerkDanger") / 100, 0.25, 2) if standard_profile and tuning_level >= level["StandardJerkDanger"] else default.get_int("StandardJerkDanger") / 100
     toggle.standard_jerk_speed = np.clip(params.get_int("StandardJerkSpeed") / 100, 0.25, 2) if standard_profile and tuning_level >= level["StandardJerkSpeed"] else default.get_int("StandardJerkSpeed") / 100
     toggle.standard_jerk_speed_decrease = np.clip(params.get_int("StandardJerkSpeedDecrease") / 100, 0.25, 2) if standard_profile and tuning_level >= level["StandardJerkSpeedDecrease"] else default.get_int("StandardJerkSpeedDecrease") / 100
-    toggle.standard_follow = np.clip(params.get_float("StandardFollow"), 1, MAX_T_FOLLOW) if standard_profile and tuning_level >= level["StandardFollow"] else default.get_float("StandardFollow")
+    toggle.standard_follow = [np.clip(params.get_float("StandardFollow"), 1, MAX_T_FOLLOW) if standard_profile and tuning_level >= level["StandardFollow"] else default.get_float("StandardFollow"),
+                              np.clip(params.get_float("StandardFollowHigh"), 1, MAX_T_FOLLOW) if standard_profile and tuning_level >= level["StandardFollowHigh"] else default.get_float("StandardFollowHigh")]
     relaxed_profile = toggle.custom_personalities and (params.get_bool("RelaxedPersonalityProfile") if tuning_level >= level["RelaxedPersonalityProfile"] else default.get_bool("RelaxedPersonalityProfile"))
     toggle.relaxed_jerk_acceleration = np.clip(params.get_int("RelaxedJerkAcceleration") / 100, 0.25, 2) if relaxed_profile and tuning_level >= level["RelaxedJerkAcceleration"] else default.get_int("RelaxedJerkAcceleration") / 100
     toggle.relaxed_jerk_deceleration = np.clip(params.get_int("RelaxedJerkDeceleration") / 100, 0.25, 2) if relaxed_profile and tuning_level >= level["RelaxedJerkDeceleration"] else default.get_int("RelaxedJerkDeceleration") / 100
     toggle.relaxed_jerk_danger = np.clip(params.get_int("RelaxedJerkDanger") / 100, 0.25, 2) if relaxed_profile and tuning_level >= level["RelaxedJerkDanger"] else default.get_int("RelaxedJerkDanger") / 100
     toggle.relaxed_jerk_speed = np.clip(params.get_int("RelaxedJerkSpeed") / 100, 0.25, 2) if relaxed_profile and tuning_level >= level["RelaxedJerkSpeed"] else default.get_int("RelaxedJerkSpeed") / 100
     toggle.relaxed_jerk_speed_decrease = np.clip(params.get_int("RelaxedJerkSpeedDecrease") / 100, 0.25, 2) if relaxed_profile and tuning_level >= level["RelaxedJerkSpeedDecrease"] else default.get_int("RelaxedJerkSpeedDecrease") / 100
-    toggle.relaxed_follow = np.clip(params.get_float("RelaxedFollow"), 1, MAX_T_FOLLOW) if relaxed_profile and tuning_level >= level["RelaxedFollow"] else default.get_float("RelaxedFollow")
+    toggle.relaxed_follow = [np.clip(params.get_float("RelaxedFollow"), 1, MAX_T_FOLLOW) if relaxed_profile and tuning_level >= level["RelaxedFollow"] else default.get_float("RelaxedFollow"),
+                             np.clip(params.get_float("RelaxedFollowHigh"), 1, MAX_T_FOLLOW) if relaxed_profile and tuning_level >= level["RelaxedFollowHigh"] else default.get_float("RelaxedFollowHigh")]
     traffic_profile = toggle.custom_personalities and (params.get_bool("TrafficPersonalityProfile") if tuning_level >= level["TrafficPersonalityProfile"] else default.get_bool("TrafficPersonalityProfile"))
     toggle.traffic_mode_jerk_acceleration = [np.clip(params.get_int("TrafficJerkAcceleration") / 100, 0.25, 2) if traffic_profile and tuning_level >= level["TrafficJerkAcceleration"] else default.get_int("TrafficJerkAcceleration") / 100, toggle.aggressive_jerk_acceleration]
     toggle.traffic_mode_jerk_deceleration = [np.clip(params.get_int("TrafficJerkDeceleration") / 100, 0.25, 2) if traffic_profile and tuning_level >= level["TrafficJerkDeceleration"] else default.get_int("TrafficJerkDeceleration") / 100, toggle.aggressive_jerk_deceleration]
     toggle.traffic_mode_jerk_danger = [np.clip(params.get_int("TrafficJerkDanger") / 100, 0.25, 2) if traffic_profile and tuning_level >= level["TrafficJerkDanger"] else default.get_int("TrafficJerkDanger") / 100, toggle.aggressive_jerk_danger]
     toggle.traffic_mode_jerk_speed = [np.clip(params.get_int("TrafficJerkSpeed") / 100, 0.25, 2) if traffic_profile and tuning_level >= level["TrafficJerkSpeed"] else default.get_int("TrafficJerkSpeed") / 100, toggle.aggressive_jerk_speed]
     toggle.traffic_mode_jerk_speed_decrease = [np.clip(params.get_int("TrafficJerkSpeedDecrease") / 100, 0.25, 2) if traffic_profile and tuning_level >= level["TrafficJerkSpeedDecrease"] else default.get_int("TrafficJerkSpeedDecrease") / 100, toggle.aggressive_jerk_speed_decrease]
-    toggle.traffic_mode_follow = [np.clip(params.get_float("TrafficFollow"), 0.5, MAX_T_FOLLOW) if traffic_profile and tuning_level >= level["TrafficFollow"] else default.get_float("TrafficFollow"), toggle.aggressive_follow]
+    toggle.traffic_mode_follow = [np.clip(params.get_float("TrafficFollow"), 0.5, MAX_T_FOLLOW) if traffic_profile and tuning_level >= level["TrafficFollow"] else default.get_float("TrafficFollow"), toggle.aggressive_follow[0]]
 
     custom_ui = params.get_bool("CustomUI") if tuning_level >= level["CustomUI"] else default.get_bool("CustomUI")
     toggle.acceleration_path = toggle.openpilot_longitudinal and (custom_ui and (params.get_bool("AccelerationPath") if tuning_level >= level["AccelerationPath"] else default.get_bool("AccelerationPath")) or toggle.debug_mode)
@@ -823,13 +852,17 @@ class FrogPilotVariables:
     toggle.human_following = longitudinal_tuning and (params.get_bool("HumanFollowing") if tuning_level >= level["HumanFollowing"] else default.get_bool("HumanFollowing"))
     toggle.lead_detection_probability = np.clip(params.get_int("LeadDetectionThreshold") / 100, 0.25, 0.50) if longitudinal_tuning and tuning_level >= level["LeadDetectionThreshold"] else default.get_int("LeadDetectionThreshold") / 100
     toggle.max_desired_acceleration = np.clip(params.get_float("MaxDesiredAcceleration"), 0.1, 4.0) if longitudinal_tuning and tuning_level >= level["MaxDesiredAcceleration"] else default.get_float("MaxDesiredAcceleration")
+    toggle.trailer_load_kg = (np.clip(params.get_int("TrailerLoad"), 0, 15000) if longitudinal_tuning and tuning_level >= level["TrailerLoad"] else default.get_int("TrailerLoad")) * CV.LB_TO_KG
     toggle.taco_tune = longitudinal_tuning and (params.get_bool("TacoTune") if tuning_level >= level["TacoTune"] else default.get_bool("TacoTune"))
 
     toggle.available_models = params.get("AvailableModels", encoding="utf-8") or ""
     toggle.available_model_names = params.get("AvailableModelNames", encoding="utf-8") or ""
     toggle.available_model_series = params.get("AvailableModelSeries", encoding="utf-8") or ""
+    toggle.community_favorites = params.get("CommunityFavorites", encoding="utf-8") or ""
+    toggle.model_released_dates = params.get("ModelReleasedDates", encoding="utf-8") or ""
     toggle.model_versions = params.get("ModelVersions", encoding="utf-8") or ""
-    toggle.available_model_series = params.get("AvailableModelSeries", encoding="utf-8") or ""
+    toggle.sort_models_by_date = params.get_bool("SortModelsByDate") if tuning_level >= level["SortModelsByDate"] else default.get_bool("SortModelsByDate")
+    toggle.user_favorites = params.get("UserFavorites", encoding="utf-8") or ""
     downloaded_models = [model for model in toggle.available_models.split(",") if any(MODELS_PATH.glob(f"{model}*"))]
     toggle.model_randomizer = downloaded_models and (params.get_bool("ModelRandomizer") if tuning_level >= level["ModelRandomizer"] else default.get_bool("ModelRandomizer"))
     if toggle.available_models and toggle.available_model_names and downloaded_models and toggle.model_versions:
@@ -860,7 +893,7 @@ class FrogPilotVariables:
         toggle.model_version = DEFAULT_MODEL_VERSION
     toggle.classic_longitudinal = toggle.model_version in {"v1", "v2", "v3", "v4"}
     toggle.classic_model = toggle.model_version in {"v1", "v2", "v3", "v4"}
-    toggle.tinygrad_model = toggle.model_version in {"v8", "v9", "v10", "v11"}
+    toggle.tinygrad_model = toggle.model_version in {"v8", "v9", "v10", "v11", "v12"}
     toggle.tomb_raider = toggle.model == "space-lab"
 
     toggle.model_ui = params.get_bool("ModelUI") if tuning_level >= level["ModelUI"] else default.get_bool("ModelUI")
@@ -975,5 +1008,7 @@ class FrogPilotVariables:
 
     toggle.volt_sng = toggle.car_model == "CHEVROLET_VOLT" and (params.get_bool("VoltSNG") if tuning_level >= level["VoltSNG"] else default.get_bool("VoltSNG"))
 
+    toggle.gm_pedal_longitudinal = params.get_bool("GMPedalLongitudinal") if tuning_level >= level["GMPedalLongitudinal"] else default.get_bool("GMPedalLongitudinal")
+
     params_memory.put("FrogPilotToggles", json.dumps(toggle.__dict__))
     params_memory.remove("FrogPilotTogglesUpdated")

frogpilot/controls/frogpilot_planner.py

@@ -9,7 +9,7 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
-from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import A_CHANGE_COST, DANGER_ZONE_COST, J_EGO_COST
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import A_CHANGE_COST, COMFORT_BRAKE, DANGER_ZONE_COST, J_EGO_COST
 
 from openpilot.frogpilot.common.frogpilot_utilities import calculate_lane_width, calculate_road_curvature
 from openpilot.frogpilot.common.frogpilot_variables import CRUISING_SPEED, MINIMUM_LATERAL_ACCELERATION, PLANNER_TIME, THRESHOLD, params, params_memory
@@ -65,6 +65,8 @@ class FrogPilotPlanner:
       self.cem.curve_detected = False
       self.cem.stop_sign_and_light(v_ego, sm, PLANNER_TIME - 2)
 
+
+
     self.driving_in_curve = abs(self.lateral_acceleration) >= MINIMUM_LATERAL_ACCELERATION
 
     self.frogpilot_events.update(v_cruise, sm, frogpilot_toggles)
@@ -85,7 +87,7 @@ class FrogPilotPlanner:
 
       params_memory.remove("LastGPSPosition")
 
-    self.lateral_acceleration = v_ego**2 * (sm["carState"].steeringAngleDeg - sm["liveParameters"].angleOffsetDeg) * CV.DEG_TO_RAD / (self.CP.steerRatio * self.CP.wheelbase)
+    self.lateral_acceleration = v_ego**2 * sm["controlsState"].curvature
 
     check_lane_width = frogpilot_toggles.adjacent_paths or frogpilot_toggles.adjacent_path_metrics or frogpilot_toggles.blind_spot_path or frogpilot_toggles.lane_detection
     if check_lane_width and v_ego >= frogpilot_toggles.minimum_lane_change_speed:
@@ -140,6 +142,8 @@ class FrogPilotPlanner:
 
     frogpilotPlan.desiredFollowDistance = self.frogpilot_following.desired_follow_distance
 
+    frogpilotPlan.disableThrottle = self.frogpilot_following.disable_throttle
+
     frogpilotPlan.experimentalMode = self.cem.experimental_mode or self.frogpilot_vcruise.slc.experimental_mode
 
     frogpilotPlan.forcingStop = self.frogpilot_vcruise.forcing_stop

frogpilot/controls/lib/frogpilot_acceleration.py

@@ -8,36 +8,36 @@ def cubic_interp(x, xp, fp):
          return fp[0]
      elif x >= xp[-1]:
          return fp[-1]
- 
+
      # Find interval
      i = np.searchsorted(xp, x) - 1
      i = max(0, min(i, len(xp)-2))  # clamp the index
- 
+
      # Normalized position
      t = (x - xp[i]) / float(xp[i+1] - xp[i])
- 
+
      # Hermite cubic formula
      return fp[i]*(1 - 3*t**2 + 2*t**3) + fp[i+1]*(3*t**2 - 2*t**3)
- 
+
 def akima_interp(x, xp, fp):
      """Akima-inspired interpolation with reduced overshoot characteristics."""
      if x <= xp[0]:
          return fp[0]
      elif x >= xp[-1]:
          return fp[-1]
- 
+
      i = np.searchsorted(xp, x) - 1
      i = max(0, min(i, len(xp)-2))  # clamp the index
- 
+
      t = (x - xp[i]) / float(xp[i+1] - xp[i])
- 
+
      # Quintic polynomial to reduce overshoot
      t2 = t*t
      t4 = t2*t2
      t3 = t2*t
      return (fp[i]*(1 - 10*t3 + 15*t4 - 6*t3*t2)
              + fp[i+1]*(10*t3 - 15*t4 + 6*t3*t2))
- 
+
 from openpilot.selfdrive.controls.lib.longitudinal_planner import A_CRUISE_MIN, get_max_accel
 
 from openpilot.frogpilot.common.frogpilot_variables import CITY_SPEED_LIMIT
@@ -47,18 +47,18 @@ A_CRUISE_MIN_SPORT = A_CRUISE_MIN * 2
 
                        # MPH = [0.0,  11,  22,  34,  45,  56,  89]
 A_CRUISE_MAX_BP_CUSTOM =       [0.0,  5., 10., 15., 20., 25., 40.]
-A_CRUISE_MAX_VALS_ECO =        [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
-A_CRUISE_MAX_VALS_SPORT =      [1.5, 1.5, 1.25, 1.5, 1.5, 1.5, 2.0]
-A_CRUISE_MAX_VALS_SPORT_PLUS = [2.5, 2.5, 3.0, 2.5, 2.5, 2.5, 2.5]
+A_CRUISE_MAX_VALS_ECO_EV =     [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
+A_CRUISE_MAX_VALS_SPORT_EV =   [1.25, 1.25, 1.25, 1.25, 1.5, 1.5, 2.0]
+A_CRUISE_MAX_VALS_ECO_GAS =    [2.0, 1.5, 1.0, 0.8, 0.6, 0.4, 0.2]
+A_CRUISE_MAX_VALS_SPORT_GAS =  [3.0, 2.5, 2.0, 1.5, 1.0, 0.8, 0.6]
 
-def get_max_accel_eco(v_ego):
-  return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_ECO))
+def get_max_accel_eco(v_ego, ev_tuning=True):
+  cruise_vals = A_CRUISE_MAX_VALS_ECO_EV if ev_tuning else A_CRUISE_MAX_VALS_ECO_GAS
+  return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, cruise_vals))
 
-def get_max_accel_sport(v_ego):
-  return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT))
-
-def get_max_accel_sport_plus(v_ego):
-  return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT_PLUS))
+def get_max_accel_sport(v_ego, ev_tuning=True):
+  cruise_vals = A_CRUISE_MAX_VALS_SPORT_EV if ev_tuning else A_CRUISE_MAX_VALS_SPORT_GAS
+  return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, cruise_vals))
 
 def get_max_accel_low_speeds(max_accel, v_cruise):
   return float(akima_interp(v_cruise, [0., CITY_SPEED_LIMIT / 2, CITY_SPEED_LIMIT], [max_accel / 4, max_accel / 2, max_accel]))
@@ -79,24 +79,25 @@ class FrogPilotAcceleration:
   def update(self, v_ego, sm, frogpilot_toggles):
     eco_gear = sm["frogpilotCarState"].ecoGear
     sport_gear = sm["frogpilotCarState"].sportGear
+    ev_tuning = frogpilot_toggles.ev_tuning
 
     if sm["frogpilotCarState"].trafficModeEnabled:
       self.max_accel = get_max_accel(v_ego)
     elif frogpilot_toggles.map_acceleration and (eco_gear or sport_gear):
       if eco_gear:
-        self.max_accel = get_max_accel_eco(v_ego)
+        self.max_accel = get_max_accel_eco(v_ego, ev_tuning)
       else:
-        if frogpilot_toggles.sport_plus:
-          self.max_accel = get_max_accel_sport_plus(v_ego)
+        if frogpilot_toggles.acceleration_profile == 2:
+          self.max_accel = get_max_accel_sport(v_ego, ev_tuning)
         else:
-          self.max_accel = get_max_accel_sport(v_ego)
+          self.max_accel = get_max_allowed_accel(v_ego)
     else:
       if frogpilot_toggles.acceleration_profile == 1:
-        self.max_accel = get_max_accel_eco(v_ego)
+        self.max_accel = get_max_accel_eco(v_ego, ev_tuning)
       elif frogpilot_toggles.acceleration_profile == 2:
-        self.max_accel = get_max_accel_sport(v_ego)
-      elif frogpilot_toggles.sport_plus:
-        self.max_accel = get_max_accel_sport_plus(v_ego)
+        self.max_accel = get_max_accel_sport(v_ego, ev_tuning)
+      elif frogpilot_toggles.acceleration_profile == 3:
+        self.max_accel = get_max_allowed_accel(v_ego)
       else:
         self.max_accel = get_max_accel(v_ego)
 

frogpilot/controls/lib/frogpilot_following.py

@@ -1,16 +1,19 @@
 #!/usr/bin/env python3
 import numpy as np
 
+from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import COMFORT_BRAKE, desired_follow_distance, get_jerk_factor, get_T_FOLLOW
 
 from openpilot.frogpilot.common.frogpilot_variables import CITY_SPEED_LIMIT
 
 TRAFFIC_MODE_BP = [0., CITY_SPEED_LIMIT]
+PERSONALITY_BP = [20. * CV.KPH_TO_MS, 90. * CV.KPH_TO_MS]
 
 class FrogPilotFollowing:
   def __init__(self, FrogPilotPlanner):
     self.frogpilot_planner = FrogPilotPlanner
 
+    self.disable_throttle = False
     self.following_lead = False
     self.slower_lead = False
 
@@ -47,12 +50,16 @@ class FrogPilotFollowing:
           frogpilot_toggles.custom_personalities, sm["controlsState"].personality
         )
 
-      self.t_follow = get_T_FOLLOW(
+      t_follow_param = get_T_FOLLOW(
         frogpilot_toggles.aggressive_follow,
         frogpilot_toggles.standard_follow,
         frogpilot_toggles.relaxed_follow,
         frogpilot_toggles.custom_personalities, sm["controlsState"].personality
       )
+      if isinstance(t_follow_param, list):
+        self.t_follow = float(np.interp(v_ego, PERSONALITY_BP, t_follow_param))
+      else:
+        self.t_follow = float(t_follow_param)
     else:
       self.base_acceleration_jerk = 0
       self.base_danger_jerk = 0
@@ -63,7 +70,12 @@ class FrogPilotFollowing:
     self.danger_jerk = self.base_danger_jerk
     self.speed_jerk = self.base_speed_jerk
 
-    self.following_lead = self.frogpilot_planner.tracking_lead and self.frogpilot_planner.lead_one.dRel < (self.t_follow + 1) * v_ego
+    self.following_lead = self.frogpilot_planner.tracking_lead and self.frogpilot_planner.lead_one.dRel < (self.t_follow * 2) * v_ego
+
+
+    self.disable_throttle = self.frogpilot_planner.tracking_lead and not self.following_lead
+    self.disable_throttle &= self.frogpilot_planner.lead_one.dRel + 6.0 < (self.t_follow * 2 * 2) * v_ego
+    self.disable_throttle &= self.frogpilot_planner.lead_one.vLead < v_ego * 0.75
 
     if sm["controlsState"].enabled and self.frogpilot_planner.tracking_lead:
       self.update_follow_values(self.frogpilot_planner.lead_one.dRel, v_ego, self.frogpilot_planner.lead_one.vLead, frogpilot_toggles)

frogpilot/controls/lib/frogpilot_tracking.py

@@ -51,7 +51,7 @@ class FrogPilotTracking:
     self.sound = FrogPilotAudibleAlert.none
     self.state = State.disabled
 
-    self.model_name = clean_model_name(dict(zip(frogpilot_toggles.available_models.split(","), frogpilot_toggles.available_model_names.split(",")))[frogpilot_toggles.model])
+    self.model_name = clean_model_name(frogpilot_toggles.model_name)
 
   def update(self, now, time_validated, sm, frogpilot_toggles):
     v_cruise = min(sm["controlsState"].vCruiseCluster, V_CRUISE_MAX) * CV.KPH_TO_MS

frogpilot/controls/lib/frogpilot_vcruise.py

@@ -18,6 +18,7 @@ class FrogPilotVCruise:
     self.override_force_stop = False
 
     self.override_force_stop_timer = 0
+    self.force_stop_timer = 0.0
 
   def update(self, gps_position, now, time_validated, v_cruise, v_ego, sm, frogpilot_toggles):
     force_stop = self.frogpilot_planner.cem.stop_light_detected and sm["controlsState"].enabled and frogpilot_toggles.force_stops
@@ -58,16 +59,6 @@ class FrogPilotVCruise:
 
       self.csc_target = v_cruise
 
-    # Mike's extended lead linear braking
-    if self.frogpilot_planner.lead_one.vLead < v_ego > CRUISING_SPEED and sm["controlsState"].enabled and self.frogpilot_planner.tracking_lead and frogpilot_toggles.human_following:
-      if not self.frogpilot_planner.frogpilot_following.following_lead:
-        decel_rate = (v_ego - self.frogpilot_planner.lead_one.vLead)**2 / self.frogpilot_planner.lead_one.dRel
-        self.braking_target = max(v_ego - (decel_rate * DT_MDL), self.frogpilot_planner.lead_one.vLead + CRUISING_SPEED)
-      else:
-        self.braking_target = v_cruise
-    else:
-      self.braking_target = v_cruise
-
     # Pfeiferj's Speed Limit Controller
     self.slc.frogpilot_toggles = frogpilot_toggles
 
@@ -97,7 +88,7 @@ class FrogPilotVCruise:
 
       self.tracked_model_length = self.frogpilot_planner.model_length
 
-      targets = [self.braking_target, self.csc_target, v_cruise]
+      targets = [self.csc_target, v_cruise]
       if frogpilot_toggles.speed_limit_controller:
         targets.append(max(self.slc.overridden_speed, self.slc_target + self.slc_offset) - v_ego_diff)
 

frogpilot/controls/lib/neural_network_feedforward.py

@@ -1,17 +1,20 @@
 #!/usr/bin/env python3
-# Twilsonco's Lateral Neural Network Feedforward
-from collections import deque
-from difflib import SequenceMatcher
-from typing import NamedTuple
-
+# Twilsonco's Lateral Neural Network Feedforward Controller
 import json
 import math
 import numpy as np
 import os
 
+from collections import deque
+from difflib import SequenceMatcher
+from cereal import log
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.numpy_fast import interp
+from openpilot.common.params import Params
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
+from openpilot.selfdrive.controls.lib.latcontrol import LatControl
+from openpilot.selfdrive.controls.lib.pid import PIDController
+from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
 from openpilot.frogpilot.common.frogpilot_variables import NNFF_MODELS_PATH, get_nnff_model_files, params
@@ -31,8 +34,7 @@ from openpilot.frogpilot.common.frogpilot_variables import NNFF_MODELS_PATH, get
 ACTIVATION_FUNCTION_NAMES = {'σ': 'sigmoid'}
 
 LOW_SPEED_X = [0, 10, 20, 30]
-LOW_SPEED_Y = [15, 13, 10, 5]
-LOW_SPEED_Y_NN = [12, 3, 1, 0]
+LOW_SPEED_Y = [12, 3, 1, 0]
 
 LAT_PLAN_MIN_IDX = 5
 
@@ -126,7 +128,7 @@ def get_nn_model_path(car, eps_firmware) -> str | None:
   def find_valid_model(*queries):
     for query in queries:
       path, score = best_model_path(query)
-      if path and car in path and score >= 0.9:
+      if path and score >= 0.9:
         return path
     return None
 
@@ -152,21 +154,18 @@ def sign(x):
 def similarity(s1: str, s2: str) -> float:
   return SequenceMatcher(None, s1, s2).ratio()
 
-class LatControlInputs(NamedTuple):
-  lateral_acceleration: float
-  roll_compensation: float
-  vego: float
-  aego: float
-
-class NeuralNetworkFeedforward:
-  def __init__(self, CP, LatControlTorque):
-    self.lat_control_torque = LatControlTorque
-
+class LatControlNNFF(LatControl):
+  def __init__(self, CP, CI, dt):
+    super().__init__(CP, CI, dt)
     self.lat_torque_nn_model = get_nn_model(CP.carFingerprint, str(next((fw.fwVersion for fw in CP.carFw if fw.ecu == "eps"), "")).replace("\\", ""))
+    self.nnff_loaded = self.lat_torque_nn_model is not None
 
-    self.torque_from_lateral_accel = self.lat_control_torque.torque_from_lateral_accel
-
-    self.use_steering_angle = self.lat_control_torque.torque_params.useSteeringAngle
+    self.torque_params = CP.lateralTuning.torque
+    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
+                             pos_limit=self.steer_max, neg_limit=-self.steer_max)
+    self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
+    self.use_steering_angle = self.torque_params.useSteeringAngle
+    self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
 
     # Instantaneous lateral jerk changes very rapidly, making it not useful on its own,
     # however, we can "look ahead" to the future planned lateral jerk in order to gauge
@@ -184,7 +183,6 @@ class NeuralNetworkFeedforward:
     self.lat_jerk_friction_factor = 0.4
 
     # precompute time differences between ModelConstants.T_IDXS
-    self.lateral_delay = CP.steerActuatorDelay
     self.t_diffs = np.diff(ModelConstants.T_IDXS)
 
     self.pitch = FirstOrderFilter(0.0, 0.5, 0.01)
@@ -196,7 +194,7 @@ class NeuralNetworkFeedforward:
 
     # setup future time offsets
     self.future_times = [0.3, 0.6, 1.0, 1.5]  # seconds in the future
-    self.nn_future_times = [time + self.lateral_delay for time in self.future_times]
+    self.nn_future_times = [time + CP.steerActuatorDelay for time in self.future_times]
 
     # setup past time offsets
     self.past_times = [-0.3, -0.2, -0.1]
@@ -207,97 +205,150 @@ class NeuralNetworkFeedforward:
     self.roll_deque = deque(maxlen=history_check_frames[0])
 
   def update_live_delay(self, lateral_delay):
-    self.lateral_delay = lateral_delay
-
-    self.nn_future_times = [time + self.lateral_delay for time in self.future_times]
+    self.nn_future_times = [time + lateral_delay for time in self.future_times]
     self.past_future_len = len(self.past_times) + len(self.nn_future_times)
 
-  def compute_nnff(self, CS, VM, actual_lateral_accel, desired_lateral_accel, gravity_adjusted_lateral_accel, lateral_accel_deadzone, llk, measurement, model_data, params, pid_log, roll_compensation, setpoint, frogpilot_toggles):
-    if self.use_steering_angle:
-      actual_curvature_rate = -VM.calc_curvature(math.radians(CS.steeringRateDeg), CS.vEgo, 0.0)
-      actual_lateral_jerk = actual_curvature_rate * CS.vEgo ** 2
+  def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
+    self.torque_params.latAccelFactor = latAccelFactor
+    self.torque_params.latAccelOffset = latAccelOffset
+    self.torque_params.friction = friction
+
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, llk, model_data, frogpilot_toggles):
+    pid_log = log.ControlsState.LateralTorqueState.new_message()
+    if not active:
+      output_torque = 0.0
+      pid_log.active = False
     else:
-      actual_lateral_jerk = 0.0
+      actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
+      roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
+      if self.use_steering_angle:
+        actual_curvature = actual_curvature_vm
+        curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
+      else:
+        actual_curvature_llk = llk.angularVelocityCalibrated.value[2] / CS.vEgo
+        actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_llk])
+        curvature_deadzone = 0.0
+      desired_lateral_accel = desired_curvature * CS.vEgo ** 2
 
-    model_good = model_data is not None and len(model_data.orientation.x) >= CONTROL_N
+      # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
+      # desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2
+      actual_lateral_accel = actual_curvature * CS.vEgo ** 2
+      lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
 
-    if model_good:
-      # prepare "look-ahead" desired lateral jerk
-      lookahead = interp(CS.vEgo, self.friction_look_ahead_bp, self.friction_look_ahead_v)
-      friction_upper_idx = next((idxs for idxs, value in enumerate(ModelConstants.T_IDXS) if value > lookahead), 16)
+      low_speed_factor = interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2
+      setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
+      measurement = actual_lateral_accel + low_speed_factor * actual_curvature
+      gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation
+      if self.nnff_loaded and frogpilot_toggles.nnff or frogpilot_toggles.nnff_lite:
+        if self.use_steering_angle:
+          actual_curvature_rate = -VM.calc_curvature(math.radians(CS.steeringRateDeg), CS.vEgo, 0.0)
+          actual_lateral_jerk = actual_curvature_rate * CS.vEgo ** 2
+        else:
+          actual_lateral_jerk = 0.0
 
-      predicted_lateral_jerk = get_predicted_lateral_jerk(model_data.acceleration.y, self.t_diffs)
-      desired_lateral_jerk = (interp(self.lateral_delay, ModelConstants.T_IDXS, model_data.acceleration.y) - desired_lateral_accel) / self.lateral_delay
+        model_good = model_data is not None and len(model_data.orientation.x) >= CONTROL_N
 
-      lookahead_lateral_jerk = get_lookahead_value(predicted_lateral_jerk[LAT_PLAN_MIN_IDX:friction_upper_idx], desired_lateral_jerk)
+        if model_good:
+          # prepare "look-ahead" desired lateral jerk
+          lookahead = interp(CS.vEgo, self.friction_look_ahead_bp, self.friction_look_ahead_v)
+          friction_upper_idx = next((idxs for idxs, value in enumerate(ModelConstants.T_IDXS) if value > lookahead), 16)
 
-      if not self.use_steering_angle or lookahead_lateral_jerk == 0.0:
-        lookahead_lateral_jerk = 0.0
-        actual_lateral_jerk = 0.0
-        self.lat_accel_friction_factor = 1.0
+          predicted_lateral_jerk = get_predicted_lateral_jerk(model_data.acceleration.y, self.t_diffs)
+          desired_lateral_jerk = (interp(lat_delay, ModelConstants.T_IDXS, model_data.acceleration.y) - desired_lateral_accel) / lat_delay
 
-      lateral_jerk_setpoint = self.lat_jerk_friction_factor * lookahead_lateral_jerk
-      lateral_jerk_measurement = self.lat_jerk_friction_factor * actual_lateral_jerk
-    else:
-      lateral_jerk_setpoint = 0
-      lateral_jerk_measurement = 0
-      lookahead_lateral_jerk = 0
+          lookahead_lateral_jerk = get_lookahead_value(predicted_lateral_jerk[LAT_PLAN_MIN_IDX:friction_upper_idx], desired_lateral_jerk)
 
-    if self.lat_control_torque.nnff_loaded and model_good and frogpilot_toggles.nnff:
-      # update past data
-      pitch = 0
-      roll = params.roll
-      if len(llk.calibratedOrientationNED.value) > 1:
-        pitch = self.pitch.update(llk.calibratedOrientationNED.value[1])
-        roll = roll_pitch_adjust(roll, pitch)
+          if not self.use_steering_angle or lookahead_lateral_jerk == 0.0:
+            lookahead_lateral_jerk = 0.0
+            actual_lateral_jerk = 0.0
+            self.lat_accel_friction_factor = 1.0
 
-      self.roll_deque.append(roll)
-      self.lateral_accel_desired_deque.append(desired_lateral_accel)
+          lateral_jerk_setpoint = self.lat_jerk_friction_factor * lookahead_lateral_jerk
+          lateral_jerk_measurement = self.lat_jerk_friction_factor * actual_lateral_jerk
+        else:
+          lateral_jerk_setpoint = 0
+          lateral_jerk_measurement = 0
+          lookahead_lateral_jerk = 0
 
-      # prepare past and future values
-      # adjust future times to account for longitudinal acceleration
-      adjusted_future_times = [time + 0.5 * CS.aEgo * (time / max(CS.vEgo, 1.0)) for time in self.nn_future_times]
-      past_rolls = [self.roll_deque[min(len(self.roll_deque)-1, offset)] for offset in self.history_frame_offsets]
-      future_rolls = [roll_pitch_adjust(interp(time, ModelConstants.T_IDXS, model_data.orientation.x) + roll, interp(time, ModelConstants.T_IDXS, model_data.orientation.y) + pitch) for time in adjusted_future_times]
+        if self.nnff_loaded and model_good and frogpilot_toggles.nnff:
+          # update past data
+          pitch = 0
+          roll = params.roll
+          if len(llk.calibratedOrientationNED.value) > 1:
+            pitch = self.pitch.update(llk.calibratedOrientationNED.value[1])
+            roll = roll_pitch_adjust(roll, pitch)
 
-      past_lateral_accels_desired = [self.lateral_accel_desired_deque[min(len(self.lateral_accel_desired_deque)-1, offset)] for offset in self.history_frame_offsets]
-      future_lateral_accels = [interp(time, ModelConstants.T_IDXS[:CONTROL_N], model_data.acceleration.y) for time in adjusted_future_times]
+          self.roll_deque.append(roll)
+          self.lateral_accel_desired_deque.append(desired_lateral_accel)
 
-      base_input = [CS.vEgo, roll]
-      nnff_common = past_rolls + future_rolls
+          # prepare past and future values
+          # adjust future times to account for longitudinal acceleration
+          adjusted_future_times = [time + 0.5 * CS.aEgo * (time / max(CS.vEgo, 1.0)) for time in self.nn_future_times]
+          past_rolls = [self.roll_deque[min(len(self.roll_deque)-1, offset)] for offset in self.history_frame_offsets]
+          future_rolls = [roll_pitch_adjust(interp(time, ModelConstants.T_IDXS, model_data.orientation.x) + roll, interp(time, ModelConstants.T_IDXS, model_data.orientation.y) + pitch) for time in adjusted_future_times]
 
-      # compute NNFF error response
-      nnff_setpoint_input = base_input[:1] + [setpoint, lateral_jerk_setpoint] + base_input[1:] + [setpoint] * self.past_future_len + nnff_common
-      nnff_measurement_input = base_input[:1] + [measurement, lateral_jerk_measurement] + base_input[1:] + [measurement] * self.past_future_len + nnff_common
+          past_lateral_accels_desired = [self.lateral_accel_desired_deque[min(len(self.lateral_accel_desired_deque)-1, offset)] for offset in self.history_frame_offsets]
+          future_lateral_accels = [interp(time, ModelConstants.T_IDXS[:CONTROL_N], model_data.acceleration.y) for time in adjusted_future_times]
 
-      torque_from_setpoint = self.lat_torque_nn_model.evaluate(nnff_setpoint_input)
-      torque_from_measurement = self.lat_torque_nn_model.evaluate(nnff_measurement_input)
+          base_input = [CS.vEgo, roll]
+          nnff_common = past_rolls + future_rolls
 
-      pid_log.error = torque_from_setpoint - torque_from_measurement
+          # compute NNFF error response
+          nnff_setpoint_input = base_input[:1] + [setpoint, lateral_jerk_setpoint] + base_input[1:] + [setpoint] * self.past_future_len + nnff_common
+          nnff_measurement_input = base_input[:1] + [measurement, lateral_jerk_measurement] + base_input[1:] + [measurement] * self.past_future_len + nnff_common
 
-      error_blend = interp(abs(desired_lateral_accel), [1.0, 2.0], [0.0, 1.0])
-      if error_blend > 0.0:  # blend in stronger error response when in high lat accel
-        torque_from_error = self.lat_torque_nn_model.evaluate([CS.vEgo, setpoint - measurement, lateral_jerk_setpoint - lateral_jerk_measurement, 0.0])
-        if sign(pid_log.error) == sign(torque_from_error) and abs(pid_log.error) < abs(torque_from_error):
-          pid_log.error = pid_log.error * (1.0 - error_blend) + torque_from_error * error_blend
+          torque_from_setpoint = self.lat_torque_nn_model.evaluate(nnff_setpoint_input)
+          torque_from_measurement = self.lat_torque_nn_model.evaluate(nnff_measurement_input)
 
-      # compute feedforward (same as nn setpoint output)
-      error = setpoint - measurement
-      friction_input = self.lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk
-      nn_input = [CS.vEgo, desired_lateral_accel, friction_input, roll] + past_lateral_accels_desired + future_lateral_accels + nnff_common
-      ff = self.lat_torque_nn_model.evaluate(nn_input)
+          pid_log.error = torque_from_setpoint - torque_from_measurement
 
-      # apply friction override for cars with low NN friction response
-      if self.nn_friction_override:
-        pid_log.error += self.torque_from_lateral_accel(0.0, self.lat_control_torque.torque_params)
-    else:
-      torque_from_measurement = self.torque_from_lateral_accel(measurement, self.lat_control_torque.torque_params)
-      torque_from_setpoint = self.torque_from_lateral_accel(setpoint, self.lat_control_torque.torque_params)
+          error_blend = interp(abs(desired_lateral_accel), [1.0, 2.0], [0.0, 1.0])
+          if error_blend > 0.0:  # blend in stronger error response when in high lat accel
+            torque_from_error = self.lat_torque_nn_model.evaluate([CS.vEgo, setpoint - measurement, lateral_jerk_setpoint - lateral_jerk_measurement, 0.0])
+            if sign(pid_log.error) == sign(torque_from_error) and abs(pid_log.error) < abs(torque_from_error):
+              pid_log.error = pid_log.error * (1.0 - error_blend) + torque_from_error * error_blend
 
-      pid_log.error = float(torque_from_setpoint - torque_from_measurement)
+          # compute feedforward (same as nn setpoint output)
+          error = setpoint - measurement
+          friction_input = self.lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk
+          nn_input = [CS.vEgo, desired_lateral_accel, friction_input, roll] + past_lateral_accels_desired + future_lateral_accels + nnff_common
+          ff = self.lat_torque_nn_model.evaluate(nn_input)
 
-      error = desired_lateral_accel - actual_lateral_accel
-      friction_input = self.lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk
-      ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.lat_control_torque.torque_params)
+          # apply friction override for cars with low NN friction response
+          if self.nn_friction_override:
+            pid_log.error += self.torque_from_lateral_accel(0.0, self.torque_params)
+        else:
+          torque_from_measurement = self.torque_from_lateral_accel(measurement, self.torque_params)
+          torque_from_setpoint = self.torque_from_lateral_accel(setpoint, self.torque_params)
 
-    return pid_log, ff
+          pid_log.error = float(torque_from_setpoint - torque_from_measurement)
+
+          error = desired_lateral_accel - actual_lateral_accel
+          friction_input = self.lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk
+          ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params)
+      else:
+        torque_from_measurement = self.torque_from_lateral_accel(measurement, self.torque_params)
+        torque_from_setpoint = self.torque_from_lateral_accel(setpoint, self.torque_params)
+
+        pid_log.error = float(torque_from_setpoint - torque_from_measurement)
+
+        ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params)
+
+      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+      output_torque = self.pid.update(pid_log.error,
+                                      feedforward=ff,
+                                      speed=CS.vEgo,
+                                      freeze_integrator=freeze_integrator)
+
+      pid_log.active = True
+      pid_log.p = float(self.pid.p)
+      pid_log.i = float(self.pid.i)
+      pid_log.d = float(self.pid.d)
+      pid_log.f = float(self.pid.f)
+      pid_log.output = float(-output_torque)
+      pid_log.actualLateralAccel = float(actual_lateral_accel)
+      pid_log.desiredLateralAccel = float(desired_lateral_accel)
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
+
+    # TODO left is positive in this convention
+    return -output_torque, 0.0, pid_log

frogpilot/system/frogpilot_stats.py

@@ -20,6 +20,30 @@ from openpilot.frogpilot.common.frogpilot_variables import get_frogpilot_toggles
 
 BASE_URL = "https://nominatim.openstreetmap.org"
 MINIMUM_POPULATION = 100_000
+SEARCH_RADIUS_DEGREES = 1.45
+
+def get_population_value(population_str):
+  if population_str is None:
+    return None
+  try:
+    return int(str(population_str).replace(",", "").split(";")[0].strip())
+  except Exception:
+    return None
+
+def search_nearby_major_cities(lat, lon, session, state_name, country_name):
+  viewbox = f"{lon - SEARCH_RADIUS_DEGREES},{lat + SEARCH_RADIUS_DEGREES},{lon + SEARCH_RADIUS_DEGREES},{lat - SEARCH_RADIUS_DEGREES}"
+  cities = (session.get(f"{BASE_URL}/search", params={
+    "addressdetails": 1, "bounded": 1, "extratags": 1, "format": "jsonv2", "limit": 20, "q": "city", "viewbox": viewbox
+  }, timeout=10).json() or [])
+
+  qualifying = [c for c in cities if (get_population_value((c.get("extratags") or {}).get("population")) or 0) >= MINIMUM_POPULATION]
+  if not qualifying:
+    return None
+
+  nearest = min(qualifying, key=lambda c: (float(c["lat"]) - lat) ** 2 + (float(c["lon"]) - lon) ** 2)
+  addr = nearest.get("address") or {}
+  return float(nearest["lat"]), float(nearest["lon"]), addr.get("city") or addr.get("town") or nearest.get("display_name", "").split(",")[0], state_name, country_name
+
 
 def get_city_center(latitude, longitude):
   try:
@@ -44,14 +68,7 @@ def get_city_center(latitude, longitude):
 
         if data:
           tags = data[0]
-          population = (tags.get("extratags") or {}).get("population")
-
-          population_value = None
-          if population is not None:
-            try:
-              population_value = int(str(population).replace(",", "").split(";")[0].strip())
-            except Exception:
-              population_value = None
+          population_value = get_population_value((tags.get("extratags") or {}).get("population"))
 
           if population_value is not None and population_value >= MINIMUM_POPULATION:
             latitude_value = float(tags["lat"])
@@ -62,6 +79,10 @@ def get_city_center(latitude, longitude):
 
             return latitude_value, longitude_value, city_label, state_name, country_name
 
+      nearby_result = search_nearby_major_cities(latitude, longitude, session, state_name, country_name)
+      if nearby_result:
+        return nearby_result
+
       query = f"{state_name} state capital" if country_code == "us" else f"capital of {state_name}, {country_name}"
       response = session.get(f"{BASE_URL}/search", params={"addressdetails": 1, "extratags": 1, "format": "jsonv2", "limit": 5, "q": query}, timeout=10)
       response.raise_for_status()
@@ -97,6 +118,19 @@ def get_city_center(latitude, longitude):
     print(f"Falling back to (0, 0) for {latitude}, {longitude}")
     return float(0.0), float(0.0), "N/A", "N/A", "N/A"
 
+def update_branch_commits(now):
+  points = []
+  branch = get_build_metadata().channel  # Current running branch
+  try:
+    response = requests.get(f"https://api.github.com/repos/firestar5683/StarPilot/commits/{branch}")
+    response.raise_for_status()
+    sha = response.json()["sha"]
+    points.append(Point("branch_commits").field("commit", sha).tag("branch", branch).time(now))
+  except Exception as e:
+    print(f"Failed to fetch commit for {branch}: {e}")
+
+  return points
+
 def is_up_to_date(build_metadata):
   remote_commit = run_cmd(["git", "ls-remote", "origin", build_metadata.channel], f"Fetched remote commit", "Failed to fetch remote commit", report=False)
 
@@ -116,11 +150,9 @@ def send_stats():
     if frogpilot_toggles.car_make == "mock":
       return
 
-    bucket = os.environ.get("STATS_BUCKET", "")
-    org_ID = os.environ.get("STATS_ORG_ID", "")
-    token = os.environ.get("STATS_TOKEN", "")
-    url = os.environ.get("STATS_URL", "")
-
+    bucket = "StarPilot"
+    org_ID = "StarPilot"
+    url = "https://stats.firestar.link"
     frogpilot_stats = json.loads(params.get("FrogPilotStats") or "{}")
 
     location = json.loads(params.get("LastGPSPosition") or "{}")
@@ -144,15 +176,23 @@ def send_stats():
 
     selected_theme = random.choice([item for item, count in most_common if count == max_count]).replace("-user_created", "").replace("_", " ")
 
-    point = (Point("user_stats")
+    now = datetime.now(timezone.utc)
+
+    user_point = (
+      Point("user_stats")
+      .tag("car_make", "GM" if frogpilot_toggles.car_make == "gm" else frogpilot_toggles.car_make.title())
+      .tag("car_model", frogpilot_toggles.car_model)
+      .tag("city", city)
+      .tag("country", country)
+      .tag("device", HARDWARE.get_device_type())
+      .tag("driving_model", clean_model_name(frogpilot_toggles.model_name))
+      .tag("state", state)
+      .tag("theme", selected_theme.title())
+      .tag("branch", build_metadata.channel)
+      .tag("dongle_id", params.get("FrogPilotDongleId", encoding="utf-8"))
+
       .field("blocked_user", frogpilot_toggles.block_user)
-      .field("car_make", "GM" if frogpilot_toggles.car_make == "gm" else frogpilot_toggles.car_make.title())
-      .field("car_model", frogpilot_toggles.car_model)
-      .field("city", city)
-      .field("country", country)
       .field("current_months_kilometers", int(frogpilot_stats.get("CurrentMonthsKilometers", 0)))
-      .field("device", HARDWARE.get_device_type())
-      .field("driving_model", clean_model_name(frogpilot_toggles.model_name))
       .field("event", 1)
       .field("frogpilot_drives", int(frogpilot_stats.get("FrogPilotDrives", 0)))
       .field("frogpilot_hours", float(frogpilot_stats.get("FrogPilotSeconds", 0)) / (60 * 60))
@@ -162,13 +202,12 @@ def send_stats():
       .field("has_openpilot_longitudinal", frogpilot_toggles.openpilot_longitudinal)
       .field("has_pedal", frogpilot_toggles.has_pedal)
       .field("has_sdsu", frogpilot_toggles.has_sdsu)
+      .field("has_sascm", frogpilot_toggles.has_sascm)
       .field("has_zss", frogpilot_toggles.has_zss)
       .field("latitude", latitude)
       .field("longitude", longitude)
       .field("rainbow_path", frogpilot_toggles.rainbow_path)
       .field("random_events", frogpilot_toggles.random_events)
-      .field("state", state)
-      .field("theme", selected_theme.title())
       .field("total_aol_seconds", float(frogpilot_stats.get("AOLTime", 0)))
       .field("total_lateral_seconds", float(frogpilot_stats.get("LateralTime", 0)))
       .field("total_longitudinal_seconds", float(frogpilot_stats.get("LongitudinalTime", 0)))
@@ -177,13 +216,13 @@ def send_stats():
       .field("up_to_date", is_up_to_date(build_metadata))
       .field("using_stock_acc", not (frogpilot_toggles.has_cc_long or frogpilot_toggles.openpilot_longitudinal))
 
-      .tag("branch", build_metadata.channel)
-      .tag("dongle_id", params.get("FrogPilotDongleId", encoding="utf-8"))
-
-      .time(datetime.now(timezone.utc))
+      .time(now)
     )
 
-    InfluxDBClient(org=org_ID, token=token, url=url).write_api(write_options=SYNCHRONOUS).write(bucket=bucket, org=org_ID, record=point)
+    all_points = [user_point] + update_branch_commits(now)
+
+    client = InfluxDBClient(org=org_ID, token=org_ID, url=url)
+    client.write_api(write_options=SYNCHRONOUS).write(bucket=bucket, org=org_ID, record=all_points)
     print("Successfully sent FrogPilot stats!")
   except Exception as exception:
     print(f"Failed to send FrogPilot stats: {exception}")

frogpilot/tinygrad_modeld/fill_model_msg.py

@@ -11,16 +11,15 @@ ConfidenceClass = log.ModelDataV2.ConfidenceClass
 
 # Return curvature for lateral action. If the model outputs desired_curvature and we're not in mlsim mode,
 # use it directly; otherwise derive from the plan using yaw and yaw-rate.
-def get_curvature_from_output(output: dict, v_ego: float, lat_action_t: float, mlsim: bool) -> float:
+def get_curvature_from_output(output: dict, plan: np.ndarray, v_ego: float, lat_action_t: float, mlsim: bool) -> float:
   if not mlsim:
     desired = output.get('desired_curvature')
     if desired is not None:
       return float(desired[0, 0])
 
-  plan_out = output['plan'][0]
   # Use yaw (index 2) and yaw_rate (index 2)
-  theta = plan_out[:, Plan.T_FROM_CURRENT_EULER][:, 2]
-  theta_dot = plan_out[:, Plan.ORIENTATION_RATE][:, 2]
+  theta = plan[:, Plan.T_FROM_CURRENT_EULER][:, 2]
+  theta_dot = plan[:, Plan.ORIENTATION_RATE][:, 2]
   return float(get_curvature_from_plan(theta, theta_dot, ModelConstants.T_IDXS, v_ego, lat_action_t))
 
 

frogpilot/tinygrad_modeld/parse_model_outputs.py

@@ -97,12 +97,12 @@ class Parser:
         self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
                        out_shape=(ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH))
     if 'plan' in outs:
-      if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH:
-        self.parse_mdn('plan', outs, in_N=0, out_N=0,
-                       out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
-      else:
-        self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
-                       out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
+      plan_mhp = outs['plan'].shape[1] != 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH
+      plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
+      self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N,
+                     out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
+      if 'planplus' in outs:
+        self.parse_mdn('planplus', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
     if 'lane_lines' in outs:
       self.parse_mdn('lane_lines', outs, in_N=0, out_N=0,
                      out_shape=(ModelConstants.NUM_LANE_LINES, ModelConstants.IDX_N, ModelConstants.LANE_LINES_WIDTH))

frogpilot/tinygrad_modeld/tinygrad_modeld.py

@@ -35,14 +35,17 @@ PROCESS_NAME = "frogpilot.tinygrad_modeld.tinygrad_modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
 
-LAT_SMOOTH_SECONDS = 0.1
+LAT_SMOOTH_SECONDS = 0.0
 LONG_SMOOTH_SECONDS = 0.3
 MIN_LAT_CONTROL_SPEED = 0.3
 
 
 def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
-                          lat_action_t: float, long_action_t: float, v_ego: float, mlsim: bool, is_v9: bool) -> log.ModelDataV2.Action:
+                          lat_action_t: float, long_action_t: float, v_ego: float, mlsim: bool, is_v9: bool, frogpilot_toggles) -> log.ModelDataV2.Action:
     plan = model_output['plan'][0]
+    if 'planplus' in model_output:
+      plan = plan + frogpilot_toggles.recovery_power*model_output['planplus'][0]
+      cloudlog.error(f"planplus applied: shape {model_output['planplus'].shape}, RECOVERY_POWER {frogpilot_toggles.recovery_power}")
     desired_accel, should_stop = get_accel_from_plan_tomb_raider(plan[:,Plan.VELOCITY][:,0],
                                                                  plan[:,Plan.ACCELERATION][:,0],
                                                                  ModelConstants.T_IDXS,
@@ -56,7 +59,7 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
       else:
         desired_curvature = prev_action.desiredCurvature
     else:
-      desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, mlsim=mlsim)
+      desired_curvature = get_curvature_from_output(model_output, plan, v_ego, lat_action_t, mlsim=mlsim)
     if v_ego > MIN_LAT_CONTROL_SPEED:
       desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
     else:
@@ -81,6 +84,34 @@ class ModelState:
   output: np.ndarray
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
+  def _build_policy_inputs(self, input_shapes: dict[str, tuple[int, ...]]) -> tuple[dict[str, np.ndarray], str | None]:
+    numpy_inputs: dict[str, np.ndarray] = {}
+
+    # Always-supported inputs (if model expects them)
+    desire_key_init = next((k for k in input_shapes if k.startswith('desire')), None)
+    if desire_key_init:
+      numpy_inputs[desire_key_init] = np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32)
+    if 'traffic_convention' in input_shapes:
+      numpy_inputs['traffic_convention'] = np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32)
+    if 'features_buffer' in input_shapes:
+      numpy_inputs['features_buffer'] = np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32)
+
+    # Optional inputs for non-v11 (and some v10/v9 variants)
+    # Lateral control params
+    if 'lateral_control_params' in input_shapes:
+      numpy_inputs['lateral_control_params'] = np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32)
+
+    # Previous desired curvature: handle both singular and plural key names across model versions
+    prev_desired_curv_key = None
+    if 'prev_desired_curv' in input_shapes:
+      prev_desired_curv_key = 'prev_desired_curv'
+      numpy_inputs['prev_desired_curv'] = np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
+    elif 'prev_desired_curvs' in input_shapes:
+      prev_desired_curv_key = 'prev_desired_curvs'
+      numpy_inputs['prev_desired_curvs'] = np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
+
+    return numpy_inputs, prev_desired_curv_key
+
   def __init__(self, context: CLContext):
     # Dynamically build paths based on current model ID
     params = Params()
@@ -94,10 +125,22 @@ class ModelState:
       cloudlog.warning(f"ModelVersion parameter not available: {e}")
 
     model_dir = MODELS_PATH
-    VISION_PKL_PATH = model_dir / f"{model_id}_driving_vision_tinygrad.pkl"
-    POLICY_PKL_PATH = model_dir / f"{model_id}_driving_policy_tinygrad.pkl"
-    VISION_METADATA_PATH = model_dir / f"{model_id}_driving_vision_metadata.pkl"
-    POLICY_METADATA_PATH = model_dir / f"{model_id}_driving_policy_metadata.pkl"
+    # For the default "bd2" model, use built-in files from the models directory
+    if model_id == "bd2":
+        models_dir = Path(__file__).parent / "models"
+        VISION_PKL_PATH = models_dir / "driving_vision_tinygrad.pkl"
+        POLICY_PKL_PATH = models_dir / "driving_policy_tinygrad.pkl"
+        OFF_POLICY_PKL_PATH = models_dir / "driving_off_policy_tinygrad.pkl"
+        VISION_METADATA_PATH = models_dir / "driving_vision_metadata.pkl"
+        POLICY_METADATA_PATH = models_dir / "driving_policy_metadata.pkl"
+        OFF_POLICY_METADATA_PATH = models_dir / "driving_off_policy_metadata.pkl"
+    else:
+        VISION_PKL_PATH = model_dir / f"{model_id}_driving_vision_tinygrad.pkl"
+        POLICY_PKL_PATH = model_dir / f"{model_id}_driving_policy_tinygrad.pkl"
+        OFF_POLICY_PKL_PATH = model_dir / f"{model_id}_driving_off_policy_tinygrad.pkl"
+        VISION_METADATA_PATH = model_dir / f"{model_id}_driving_vision_metadata.pkl"
+        POLICY_METADATA_PATH = model_dir / f"{model_id}_driving_policy_metadata.pkl"
+        OFF_POLICY_METADATA_PATH = model_dir / f"{model_id}_driving_off_policy_metadata.pkl"
 
     # If ModelVersion is not set or not available, try to determine it from available model data
     if not model_version:
@@ -149,7 +192,7 @@ class ModelState:
     self.policy_generation = model_version or "v8"
     self.is_v11 = (self.policy_generation == "v11")
     self.is_v9 = (self.policy_generation == "v9")
-    self.mlsim = (self.policy_generation in ("v8", "v10", "v11"))
+    self.mlsim = (self.policy_generation in ("v8", "v10", "v11", "v12"))
 
     self.frames = {name: DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP) for name in self.vision_input_names}
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
@@ -160,33 +203,50 @@ class ModelState:
 
 
     # policy inputs (built dynamically to support all generations)
-    self.numpy_inputs = {}
+    self.numpy_inputs, self.prev_desired_curv_key = self._build_policy_inputs(self.policy_input_shapes)
 
-    # Always-supported inputs (if model expects them)
-    desire_key_init = next((k for k in self.policy_input_shapes if k.startswith('desire')), None)
-    if desire_key_init:
-      self.numpy_inputs[desire_key_init] = np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32)
-    if 'traffic_convention' in self.policy_input_shapes:
-      self.numpy_inputs['traffic_convention'] = np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32)
-    if 'features_buffer' in self.policy_input_shapes:
-      self.numpy_inputs['features_buffer'] = np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32)
+    # Off-policy model (optional)
+    self.off_policy_enabled = False
+    self.off_policy_input_shapes: dict[str, tuple[int, ...]] = {}
+    self.off_policy_output_slices: dict[str, slice] = {}
+    self.off_policy_numpy_inputs: dict[str, np.ndarray] = {}
+    self.off_policy_prev_desired_curv_key: str | None = None
+    self.off_policy_desire_key: str | None = None
+    self.off_policy_inputs: dict[str, Tensor] | None = None
+    self.off_policy_output: np.ndarray | None = None
 
-    # Optional inputs for non-v11 (and some v10/v9 variants)
-    # Lateral control params
-    if 'lateral_control_params' in self.policy_input_shapes:
-      self.numpy_inputs['lateral_control_params'] = np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32)
+    off_policy_metadata = None
+    if self.policy_generation == "v12" or OFF_POLICY_METADATA_PATH.is_file() or OFF_POLICY_PKL_PATH.is_file():
+      try:
+        with open(OFF_POLICY_METADATA_PATH, 'rb') as f:
+          off_policy_metadata = pickle.load(f)
+      except FileNotFoundError:
+        cloudlog.error(f"Missing metadata {OFF_POLICY_METADATA_PATH}, downloading...")
+        from openpilot.frogpilot.assets.model_manager import ModelManager
+        ModelManager().download_model(model_id)
+        try:
+          with open(OFF_POLICY_METADATA_PATH, 'rb') as f:
+            off_policy_metadata = pickle.load(f)
+        except FileNotFoundError:
+          cloudlog.warning(f"Off-policy metadata still missing: {OFF_POLICY_METADATA_PATH}")
 
-    # Previous desired curvature: handle both singular and plural key names across model versions
-    self.prev_desired_curv_key = None
-    if 'prev_desired_curv' in self.policy_input_shapes:
-      self.prev_desired_curv_key = 'prev_desired_curv'
-      self.numpy_inputs['prev_desired_curv'] = np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
-    elif 'prev_desired_curvs' in self.policy_input_shapes:
-      self.prev_desired_curv_key = 'prev_desired_curvs'
-      self.numpy_inputs['prev_desired_curvs'] = np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
+    if off_policy_metadata is not None:
+      self.off_policy_input_shapes = off_policy_metadata['input_shapes']
+      self.off_policy_output_slices = off_policy_metadata['output_slices']
+      off_policy_output_size = off_policy_metadata['output_shapes']['outputs'][1]
+      self.off_policy_numpy_inputs, self.off_policy_prev_desired_curv_key = self._build_policy_inputs(self.off_policy_input_shapes)
+      self.off_policy_desire_key = next((k for k in self.off_policy_numpy_inputs if k.startswith('desire')), None)
+      self.off_policy_inputs = {k: Tensor(v, device='NPY').realize() for k, v in self.off_policy_numpy_inputs.items()}
+      self.off_policy_output = np.zeros(off_policy_output_size, dtype=np.float32)
+      try:
+        with open(OFF_POLICY_PKL_PATH, "rb") as f:
+          self.off_policy_run = pickle.load(f)
+        self.off_policy_enabled = True
+      except FileNotFoundError:
+        cloudlog.warning(f"Missing off-policy model {OFF_POLICY_PKL_PATH}, skipping off-policy")
 
-    # Optional temporal buffer for previous desired curvature (allocate only if the policy expects it)
-    if getattr(self, 'prev_desired_curv_key', None) is not None:
+    # Optional temporal buffer for previous desired curvature (allocate only if any model expects it)
+    if self.prev_desired_curv_key is not None or self.off_policy_prev_desired_curv_key is not None:
       self.full_prev_desired_curv = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
 
 
@@ -196,6 +256,7 @@ class ModelState:
     self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
     self.policy_output = np.zeros(policy_output_size, dtype=np.float32)
     self.parser = Parser()
+    self.off_policy_parser = Parser(ignore_missing=True)
 
     with open(VISION_PKL_PATH, "rb") as f:
       self.vision_run = pickle.load(f)
@@ -221,10 +282,18 @@ class ModelState:
     self.full_desire[0,:-1] = self.full_desire[0,1:]
     self.full_desire[0,-1] = new_desire
     self.numpy_inputs[self.desire_key][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2)
+    if self.off_policy_enabled and self.off_policy_desire_key is not None:
+      self.off_policy_numpy_inputs[self.off_policy_desire_key][:] = self.numpy_inputs[self.desire_key]
+
+    if 'traffic_convention' in self.numpy_inputs:
+      self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
+    if self.off_policy_enabled and 'traffic_convention' in self.off_policy_numpy_inputs:
+      self.off_policy_numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
 
-    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
     if 'lateral_control_params' in self.numpy_inputs:
       self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
+    if self.off_policy_enabled and 'lateral_control_params' in self.off_policy_numpy_inputs:
+      self.off_policy_numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
 
     if prepare_only:
       return None
@@ -246,7 +315,10 @@ class ModelState:
 
     self.full_features_buffer[0,:-1] = self.full_features_buffer[0,1:]
     self.full_features_buffer[0,-1] = vision_outputs_dict['hidden_state'][0, :]
-    self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
+    if 'features_buffer' in self.numpy_inputs:
+      self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
+    if self.off_policy_enabled and 'features_buffer' in self.off_policy_numpy_inputs:
+      self.off_policy_numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
 
     self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
     policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
@@ -263,9 +335,24 @@ class ModelState:
         else:
           self.numpy_inputs[self.prev_desired_curv_key][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
 
+      if self.off_policy_enabled and self.off_policy_prev_desired_curv_key is not None:
+        if self.is_v9:
+          self.off_policy_numpy_inputs[self.off_policy_prev_desired_curv_key][:] = 0 * self.full_prev_desired_curv[0, self.temporal_idxs]
+        else:
+          self.off_policy_numpy_inputs[self.off_policy_prev_desired_curv_key][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
+
     combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
+    if self.off_policy_enabled:
+      self.off_policy_output = self.off_policy_run(**self.off_policy_inputs).contiguous().realize().uop.base.buffer.numpy()
+      off_policy_outputs_dict = self.off_policy_parser.parse_policy_outputs(
+        self.slice_outputs(self.off_policy_output, self.off_policy_output_slices)
+      )
+      combined_outputs_dict.update(off_policy_outputs_dict)
     if SEND_RAW_PRED:
-      combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
+      raw_pred = [self.vision_output.copy(), self.policy_output.copy()]
+      if self.off_policy_enabled and self.off_policy_output is not None:
+        raw_pred.append(self.off_policy_output.copy())
+      combined_outputs_dict['raw_pred'] = np.concatenate(raw_pred)
 
     return combined_outputs_dict
 
@@ -434,7 +521,7 @@ def main(demo=False):
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
 
-      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego, model.mlsim, model.is_v9)
+      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego, model.mlsim, model.is_v9, frogpilot_toggles)
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
@@ -473,4 +560,4 @@ if __name__ == "__main__":
     cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
   except Exception:
     sentry.capture_exception()
-    raise
+    raise

frogpilot/ui/qt/offroad/expandable_multi_option_dialog.cc

@@ -1,19 +1,74 @@
 #include "frogpilot/ui/qt/offroad/expandable_multi_option_dialog.h"
 
 #include <QPushButton>
-#include <QButtonGroup>
 #include <QVBoxLayout>
 #include <QHBoxLayout>
 #include <QLabel>
 #include <QScrollBar>
 #include <QTimer>
+#include <QHBoxLayout>
+#include <QSpacerItem>
+#include <QLayout>
+#include <QLayoutItem>
+#include <QGridLayout>
+#include <QPoint>
+#include <QSize>
+#include <QSizePolicy>
+#include <QSet>
+#include <QVector>
+#include <QSignalBlocker>
+#include <QScroller>
+#include <QPointer>
+#include <QObject>
+
+#include <algorithm>
 
 #include "selfdrive/ui/qt/widgets/scrollview.h"
 
 ExpandableMultiOptionDialog::ExpandableMultiOptionDialog(const QString &prompt_text,
-                                                         const QMap<QString, QStringList> &seriesToModels,
-                                                         const QString &current, QWidget *parent)
-  : DialogBase(parent), seriesToModels(seriesToModels) {
+                                                           const QMap<QString, QStringList> &seriesToModels,
+                                                           const QString &current, QWidget *parent,
+                                                           const QStringList &userFavorites,
+                                                           const QStringList &communityFavorites,
+                                                           const QMap<QString, QString> &modelReleasedDates,
+                                                           const QMap<QString, QString> &modelFileToNameMap,
+                                                           const QString &initialSortMode)
+  : DialogBase(parent), seriesToModels(seriesToModels), currentSortMode(initialSortMode.isEmpty() ? QString("alphabetical") : initialSortMode),
+    userFavorites(userFavorites), communityFavorites(communityFavorites), modelReleasedDates(modelReleasedDates),
+    modelFileToNameMap(modelFileToNameMap), currentSelection(current) {
+
+  baseSeriesToModels = seriesToModels;
+
+  for (auto it = this->modelFileToNameMap.constBegin(); it != this->modelFileToNameMap.constEnd(); ++it) {
+    modelNameToFileMap.insert(it.value(), it.key());
+  }
+
+  for (auto it = seriesToModels.constBegin(); it != seriesToModels.constEnd(); ++it) {
+    const QStringList &models = it.value();
+    for (const QString &modelName : models) {
+      if (modelName.isEmpty() || modelNameToFileMap.contains(modelName)) {
+        continue;
+      }
+      this->modelFileToNameMap.insert(modelName, modelName);
+      modelNameToFileMap.insert(modelName, modelName);
+    }
+  }
+
+  currentSelectionKey = modelNameToFileMap.value(currentSelection);
+  if (!currentSelectionKey.isEmpty()) {
+    selectionKey = currentSelectionKey;
+    selection = this->modelFileToNameMap.value(currentSelectionKey, currentSelection);
+    currentSelection = selection;
+  } else {
+    selectionKey.clear();
+    selection.clear();
+    currentSelection.clear();
+  }
+
+  if (currentSortMode != "alphabetical" && currentSortMode != "date" &&
+      currentSortMode != "favorites" && currentSortMode != "date_oldest") {
+    currentSortMode = "alphabetical";
+  }
 
   QFrame *container = new QFrame(this);
   container->setStyleSheet(R"(
@@ -50,6 +105,43 @@ ExpandableMultiOptionDialog::ExpandableMultiOptionDialog(const QString &prompt_t
       padding-left: 80px;
     }
     QPushButton.series-header:hover { background-color: #404040; }
+    QPushButton.favorite-button {
+      background-color: transparent;
+      border: none;
+      font-size: 60px;
+      padding: 0px;
+      margin: 0px;
+      min-width: 80px;
+      max-width: 80px;
+    }
+    QPushButton.favorite-button:hover { background-color: #404040; }
+    QComboBox {
+      background-color: #4F4F4F;
+      border: 2px solid transparent;
+      border-radius: 10px;
+      padding: 10px;
+      font-size: 50px;
+      color: white;
+      min-width: 200px;
+    }
+    QComboBox:hover { background-color: #5A5A5A; }
+    QComboBox::drop-down {
+      border: none;
+      width: 50px;
+    }
+    QComboBox::down-arrow {
+      image: url("../../frogpilot/assets/toggle_icons/icon_dropdown.png");
+      width: 30px;
+      height: 30px;
+    }
+    QComboBox QAbstractItemView {
+      background-color: #4F4F4F;
+      border: 2px solid #FFFFFF;
+      border-radius: 10px;
+      color: white;
+      selection-background-color: #465BEA;
+      font-size: 50px;
+    }
   )");
 
   QVBoxLayout *main_layout = new QVBoxLayout(container);
@@ -60,85 +152,103 @@ ExpandableMultiOptionDialog::ExpandableMultiOptionDialog(const QString &prompt_t
   main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
   main_layout->addSpacing(25);
 
-  QWidget *listWidget = new QWidget(this);
-  QVBoxLayout *listLayout = new QVBoxLayout(listWidget);
-  listLayout->setSpacing(10);
+  // Sort controls - simple cycling button
+  QHBoxLayout *sortLayout = new QHBoxLayout();
+  sortLayout->setContentsMargins(0, 0, 0, 0);
+  sortLayout->setSpacing(20);
+  sortLayout->addStretch(); // Push to the right
 
-  QButtonGroup *group = new QButtonGroup(listWidget);
-  group->setExclusive(true);
+  QLabel *sortLabel = new QLabel(tr("Sort by:"), this);
+  sortLabel->setStyleSheet("font-size: 50px; color: white;");
+  sortLayout->addWidget(sortLabel);
 
-  QPushButton *confirm_btn = new QPushButton(tr("Select"));
-  confirm_btn->setObjectName("confirm_btn");
-  confirm_btn->setEnabled(false);
-
-  ScrollView *scroll_view = new ScrollView(listWidget, this);
-  scroll_view->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded);
-
-  // Create series headers and their expandable content
-  for (const QString &series : seriesToModels.keys()) {
-    // Series header button
-    QPushButton *seriesHeader = new QPushButton("▶ " + series);
-    seriesHeader->setProperty("class", "series-header");
-    seriesHeader->setCheckable(false);
-    seriesExpanded[series] = false;
-
-    QObject::connect(seriesHeader, &QPushButton::clicked, [this, series, seriesHeader, scroll_view]() {
-      toggleSeries(series, seriesHeader, scroll_view);
-    });
-
-    listLayout->addWidget(seriesHeader);
-
-    // Container for series models (initially hidden)
-    QWidget *seriesContainer = new QWidget();
-    QVBoxLayout *seriesLayout = new QVBoxLayout(seriesContainer);
-    seriesLayout->setContentsMargins(20, 0, 0, 0);
-    seriesLayout->setSpacing(10);
-    seriesContainer->hide();
-
-    // Add models for this series
-    for (const QString &model : seriesToModels[series]) {
-      QPushButton *modelButton = new QPushButton(model);
-      modelButton->setCheckable(true);
-      modelButton->setChecked(model == current);
-      modelButton->setProperty("class", "model-option");
-
-      QObject::connect(modelButton, &QPushButton::toggled, [=](bool checked) mutable {
-        if (checked) {
-          selection = model;
-          confirm_btn->setEnabled(true);
-          // Manually apply selected style
-          modelButton->setStyleSheet("QPushButton {"
-            "background-color: #465BEA;"
-            "border: 3px solid #FFFFFF;"
-            "color: white;"
-            "font-weight: 500;"
-            "height: 135;"
-            "padding: 0px 50px;"
-            "text-align: left;"
-            "font-size: 55px;"
-            "border-radius: 10px;"
-            "}");
-        } else {
-          if (selection == model) {
-            confirm_btn->setEnabled(false);
-          }
-          // Reset to default style
-          modelButton->setStyleSheet("");
-        }
-      });
-
-      group->addButton(modelButton);
-      seriesLayout->addWidget(modelButton);
+  QPushButton *sortButton = new QPushButton(tr("Alphabetical"), this);
+  sortButton->setStyleSheet(R"(
+    QPushButton {
+      background-color: #4F4F4F;
+      border: 2px solid transparent;
+      border-radius: 10px;
+      padding: 10px 20px;
+      font-size: 50px;
+      color: white;
+      min-width: 250px;
+      text-align: center;
     }
+    QPushButton:hover { background-color: #5A5A5A; }
+  )");
 
-    seriesWidgets[series] = seriesContainer;
-    listLayout->addWidget(seriesContainer);
+  // Set initial button text based on sort mode
+  if (currentSortMode == "date") {
+    sortButton->setText(tr("Date (Newest)"));
+  } else if (currentSortMode == "date_oldest") {
+    sortButton->setText(tr("Date (Oldest)"));
+  } else if (currentSortMode == "favorites") {
+    sortButton->setText(tr("Favorites First"));
+  } else {
+    sortButton->setText(tr("Alphabetical"));
   }
 
-  // Add stretch to keep buttons spaced correctly
-  listLayout->addStretch(1);
+  QWidget *sortWidget = new QWidget(container);
+  sortWidget->setLayout(sortLayout);
+  sortWidget->setSizePolicy(QSizePolicy::Maximum, QSizePolicy::Maximum);
+  sortLayout->setSizeConstraint(QLayout::SetFixedSize);
+  sortWidget->setStyleSheet("background: transparent;");
 
-  main_layout->addWidget(scroll_view);
+  sortLayout->addWidget(sortButton);
+
+  auto updateSortOverlayGeometry = [sortWidget, sortLayout]() {
+    if (!sortWidget) return;
+    const QSize hint = sortLayout->sizeHint();
+    sortWidget->setFixedSize(hint);
+  };
+  updateSortOverlayGeometry();
+
+  QObject::connect(sortButton, &QPushButton::clicked, [this, sortButton, updateSortOverlayGeometry]() {
+    if (currentSortMode == "alphabetical") {
+      currentSortMode = "date";
+      sortButton->setText(tr("Date (Newest)"));
+    } else if (currentSortMode == "date") {
+      currentSortMode = "date_oldest";
+      sortButton->setText(tr("Date (Oldest)"));
+    } else if (currentSortMode == "date_oldest") {
+      currentSortMode = "favorites";
+      sortButton->setText(tr("Favorites First"));
+    } else {
+      currentSortMode = "alphabetical";
+      sortButton->setText(tr("Alphabetical"));
+    }
+    updateSortOverlayGeometry();
+    updateSorting();
+  });
+
+  listWidgetContainer = new QWidget(this);
+  listLayout = new QVBoxLayout(listWidgetContainer);
+  listLayout->setSpacing(10);
+  listLayout->setContentsMargins(0, 0, 0, 0);
+
+  confirmButton = new QPushButton(tr("Select"));
+  confirmButton->setObjectName("confirm_btn");
+  confirmButton->setEnabled(!selectionKey.isEmpty());
+
+  scrollView = new ScrollView(listWidgetContainer, this);
+  scrollView->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded);
+  if (scrollView->viewport()) {
+    scrollView->viewport()->setAttribute(Qt::WA_AcceptTouchEvents, true);
+  }
+
+  QWidget *listContainer = new QWidget(container);
+  QGridLayout *overlayLayout = new QGridLayout(listContainer);
+  overlayLayout->setContentsMargins(0, 0, 0, 0);
+  overlayLayout->setSpacing(0);
+  overlayLayout->addWidget(scrollView, 0, 0);
+  overlayLayout->setRowStretch(0, 1);
+  overlayLayout->setColumnStretch(0, 1);
+  overlayLayout->addWidget(sortWidget, 0, 0, Qt::AlignRight | Qt::AlignTop);
+
+  // Create series headers and their expandable content
+  rebuildModelList(seriesToModels.keys(), seriesToModels);
+
+  main_layout->addWidget(listContainer);
   main_layout->addSpacing(35);
 
   // Cancel + confirm buttons
@@ -148,18 +258,25 @@ ExpandableMultiOptionDialog::ExpandableMultiOptionDialog(const QString &prompt_t
 
   QPushButton *cancel_btn = new QPushButton(tr("Cancel"));
   QObject::connect(cancel_btn, &QPushButton::clicked, this, &ConfirmationDialog::reject);
-  QObject::connect(confirm_btn, &QPushButton::clicked, this, &ConfirmationDialog::accept);
+  QObject::connect(confirmButton, &QPushButton::clicked, this, &ConfirmationDialog::accept);
   blayout->addWidget(cancel_btn);
-  blayout->addWidget(confirm_btn);
+  blayout->addWidget(confirmButton);
 
   QVBoxLayout *outer_layout = new QVBoxLayout(this);
   outer_layout->setContentsMargins(50, 50, 50, 50);
   outer_layout->addWidget(container);
+
+  // Initial sorting
+  updateSorting();
 }
 
-void ExpandableMultiOptionDialog::toggleSeries(const QString &series, QPushButton *headerButton, ScrollView *scrollView) {
+void ExpandableMultiOptionDialog::toggleSeries(const QString &series, QPushButton *headerButton) {
+  if (!headerButton) return;
+
+  QWidget *container = seriesWidgets.value(series, nullptr);
+  if (!container) return;
+
   bool expanded = seriesExpanded[series];
-  QWidget *container = seriesWidgets[series];
   QString seriesName = series;
 
   if (expanded) {
@@ -171,21 +288,18 @@ void ExpandableMultiOptionDialog::toggleSeries(const QString &series, QPushButto
     seriesExpanded[series] = true;
     headerButton->setText("▼ " + seriesName);
 
-    // Auto-scroll to show expanded content
+    // Auto-scroll to place the series at the top of the viewport when expanded
     if (scrollView) {
-      QTimer::singleShot(50, [container, scrollView]() {
-        QRect containerRect = container->geometry();
-        QScrollBar *vScrollBar = scrollView->verticalScrollBar();
-        if (vScrollBar) {
-          int currentValue = vScrollBar->value();
-          int containerBottom = containerRect.bottom();
-          int viewportHeight = scrollView->viewport()->height();
-
-          // If container extends beyond viewport, scroll to show it
-          if (containerBottom > currentValue + viewportHeight) {
-            int targetValue = containerBottom - viewportHeight + 50; // Add some padding
-            vScrollBar->setValue(targetValue);
-          }
+      QPointer<QPushButton> headerPtr(headerButton);
+      QPointer<ScrollView> scrollPtr(scrollView);
+      QTimer::singleShot(50, [headerPtr, scrollPtr]() {
+        if (!scrollPtr || !headerPtr) return;
+        QWidget *contents = scrollPtr->widget();
+        if (!contents) return;
+        if (QScrollBar *vScrollBar = scrollPtr->verticalScrollBar()) {
+          QPoint headerTop = headerPtr->mapTo(contents, QPoint(0, 0));
+          int targetValue = qMax(headerTop.y() - 20, 0);
+          vScrollBar->setValue(targetValue);
         }
       });
     }
@@ -196,11 +310,457 @@ void ExpandableMultiOptionDialog::toggleSeries(const QString &series, QPushButto
 }
 
 QString ExpandableMultiOptionDialog::getSelection(const QString &prompt_text,
-                                                  const QMap<QString, QStringList> &seriesToModels,
-                                                  const QString &current, QWidget *parent) {
-  ExpandableMultiOptionDialog d = ExpandableMultiOptionDialog(prompt_text, seriesToModels, current, parent);
+                                                    const QMap<QString, QStringList> &seriesToModels,
+                                                    const QString &current, QWidget *parent,
+                                                    const QStringList &userFavorites,
+                                                    const QStringList &communityFavorites,
+                                                    const QMap<QString, QString> &modelReleasedDates,
+                                                    const QMap<QString, QString> &modelFileToNameMap,
+                                                    const QString &initialSortMode) {
+  ExpandableMultiOptionDialog d(prompt_text, seriesToModels, current, parent,
+                                 userFavorites, communityFavorites, modelReleasedDates, modelFileToNameMap, initialSortMode);
   if (d.exec()) {
     return d.selection;
   }
   return "";
-}
+}
+
+QStringList ExpandableMultiOptionDialog::getUserFavorites() const {
+  QStringList filteredFavorites;
+  for (const QString &fav : userFavorites) {
+    if (modelFileToNameMap.contains(fav) && !filteredFavorites.contains(fav)) {
+      filteredFavorites.append(fav);
+    }
+  }
+  return filteredFavorites;
+}
+
+void ExpandableMultiOptionDialog::stopActiveScroll() {
+  if (!scrollView) {
+    return;
+  }
+
+  if (QScroller *scroller = QScroller::scroller(scrollView->viewport())) {
+    if (scroller->state() == QScroller::Scrolling) {
+      scroller->stop();
+    }
+  }
+}
+
+void ExpandableMultiOptionDialog::stopActiveScrollForInteraction() {
+  if (!scrollView) {
+    return;
+  }
+
+  if (QScroller *scroller = QScroller::scroller(scrollView->viewport())) {
+    const QScroller::State state = scroller->state();
+    if (state == QScroller::Scrolling || state == QScroller::Dragging || state == QScroller::Pressed) {
+      scroller->stop();
+    }
+  }
+}
+
+void ExpandableMultiOptionDialog::createModelButton(const QString &modelKey, const QString &modelName, const QString &displayName,
+                                                    QVBoxLayout *layout) {
+  QString effectiveKey = modelKey.isEmpty() ? modelName : modelKey;
+  if (effectiveKey.isEmpty()) {
+    return;
+  }
+
+  if (!modelFileToNameMap.contains(effectiveKey)) {
+    const QString storedName = !modelName.isEmpty() ? modelName : displayName;
+    modelFileToNameMap.insert(effectiveKey, storedName);
+  }
+
+  if (!modelName.isEmpty()) {
+    modelNameToFileMap.insert(modelName, effectiveKey);
+  }
+
+  QWidget *modelWidget = new QWidget();
+  QHBoxLayout *modelLayout = new QHBoxLayout(modelWidget);
+  modelLayout->setContentsMargins(0, 0, 0, 0);
+  modelLayout->setSpacing(10);
+
+  // Star button
+  QPushButton *starButton = new QPushButton();
+  starButton->setProperty("class", "favorite-button");
+  starButton->setCheckable(true);
+  starButton->setCursor(Qt::PointingHandCursor);
+  starButton->setFocusPolicy(Qt::NoFocus);
+
+  // Check if this model is a favorite
+  bool isCommunityFav = communityFavorites.contains(effectiveKey);
+  bool isUserFav = userFavorites.contains(effectiveKey);
+  bool isFavorite = isCommunityFav || isUserFav;
+
+  starButton->setChecked(isFavorite);
+  starButton->setText(isFavorite ? QString::fromUtf16(u"\u2665") : QString::fromUtf16(u"\u2661"));
+
+  QObject::connect(starButton, &QPushButton::clicked, [this, effectiveKey]() {
+    stopActiveScrollForInteraction();
+    toggleFavorite(effectiveKey);
+  });
+
+  favoriteButtons[effectiveKey].append(starButton);
+  modelLayout->addWidget(starButton);
+
+  // Model button
+  QPushButton *modelButton = new QPushButton(displayName);
+  modelButton->setCheckable(true);
+  modelButton->setProperty("class", "model-option");
+  modelButton->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
+  modelButton->setCursor(Qt::PointingHandCursor);
+  modelButton->setFocusPolicy(Qt::NoFocus);
+  modelButton->setProperty("modelKey", effectiveKey);
+  modelButton->setProperty("modelName", modelName);
+
+  modelButtons[effectiveKey].append(modelButton);
+  if (selectionKey == effectiveKey && currentSelectionButton.isNull()) {
+    currentSelectionButton = modelButton;
+  }
+  modelLayout->addWidget(modelButton);
+
+  const QString resolvedSelection = modelFileToNameMap.value(effectiveKey, !modelName.isEmpty() ? modelName : displayName);
+
+  QObject::connect(modelButton, &QPushButton::clicked, this, [this, effectiveKey, modelButton, resolvedSelection]() {
+    stopActiveScrollForInteraction();
+    selectionKey = effectiveKey;
+    currentSelectionKey = effectiveKey;
+    selection = resolvedSelection;
+    currentSelection = resolvedSelection;
+    currentSelectionButton = modelButton;
+    if (confirmButton) {
+      confirmButton->setEnabled(true);
+    }
+
+    updateButtonStyles();
+  });
+
+  layout->addWidget(modelWidget);
+}
+
+void ExpandableMultiOptionDialog::toggleFavorite(const QString &modelKey) {
+  // Update local state
+  if (modelKey.isEmpty()) {
+    return;
+  }
+
+  if (userFavorites.contains(modelKey)) {
+    userFavorites.removeAll(modelKey);
+  } else {
+    userFavorites.append(modelKey);
+  }
+
+  updateSorting();
+}
+
+void ExpandableMultiOptionDialog::updateSorting() {
+  const QString favoritesSeriesName = QStringLiteral("♥ Favorites");
+  QMap<QString, QStringList> newSeriesToModels;
+  QStringList orderedSeries;
+  QSet<QString> validSeries;
+  QSet<QString> favoriteModelKeys;
+  QSet<QString> availableModelKeys;
+  displayOverrides.clear();
+
+  const bool sortByDate = (currentSortMode == "date" || currentSortMode == "date_oldest");
+  const bool sortDateNewestFirst = (currentSortMode == "date");
+
+  for (auto it = baseSeriesToModels.constBegin(); it != baseSeriesToModels.constEnd(); ++it) {
+    const QStringList &models = it.value();
+    for (const QString &modelName : models) {
+      const QString modelKey = modelNameToFileMap.value(modelName, modelName);
+      if (!modelKey.isEmpty()) {
+        availableModelKeys.insert(modelKey);
+      }
+    }
+  }
+
+  if (currentSortMode == "favorites") {
+    QStringList favoritesList;
+
+    for (const QString &modelKey : communityFavorites) {
+      if (availableModelKeys.contains(modelKey)) {
+        const QString modelName = modelFileToNameMap.value(modelKey);
+        favoritesList.append(modelName);
+        favoriteModelKeys.insert(modelKey);
+        displayOverrides.insert(modelKey, tr("%1 (Community Fav)").arg(modelName));
+      }
+    }
+
+    for (const QString &modelKey : userFavorites) {
+      if (availableModelKeys.contains(modelKey) && !favoriteModelKeys.contains(modelKey)) {
+        favoritesList.append(modelFileToNameMap.value(modelKey));
+        favoriteModelKeys.insert(modelKey);
+      }
+    }
+
+    if (!favoritesList.isEmpty()) {
+      std::sort(favoritesList.begin(), favoritesList.end());
+      newSeriesToModels.insert(favoritesSeriesName, favoritesList);
+      orderedSeries.append(favoritesSeriesName);
+      validSeries.insert(favoritesSeriesName);
+      seriesExpanded.insert(favoritesSeriesName, true);
+    } else {
+      seriesExpanded.remove(favoritesSeriesName);
+    }
+  } else {
+    seriesExpanded.remove(favoritesSeriesName);
+  }
+
+  struct SeriesInfo {
+    QString name;
+    QStringList models;
+    QString newestDate;
+    QString oldestDate;
+  };
+
+  QVector<SeriesInfo> seriesInfos;
+
+  for (auto it = baseSeriesToModels.constBegin(); it != baseSeriesToModels.constEnd(); ++it) {
+    QString series = it.key();
+    QStringList models = it.value();
+
+    if (sortByDate) {
+      std::sort(models.begin(), models.end(), [this, sortDateNewestFirst](const QString &a, const QString &b) {
+        QString keyA = modelNameToFileMap.value(a, a);
+        QString keyB = modelNameToFileMap.value(b, b);
+        QString dateA = modelReleasedDates.value(keyA, QStringLiteral("1970-01-01"));
+        QString dateB = modelReleasedDates.value(keyB, QStringLiteral("1970-01-01"));
+        if (dateA == dateB) {
+          return a < b;
+        }
+        return sortDateNewestFirst ? (dateA > dateB) : (dateA < dateB);
+      });
+    } else {
+      std::sort(models.begin(), models.end());
+    }
+
+    if (currentSortMode == "favorites" && !favoriteModelKeys.isEmpty()) {
+      QStringList filteredModels;
+      for (const QString &modelName : models) {
+        QString key = modelNameToFileMap.value(modelName, modelName);
+        if (!favoriteModelKeys.contains(key)) {
+          filteredModels.append(modelName);
+        }
+      }
+      models = filteredModels;
+    }
+
+    if (models.isEmpty()) {
+      continue;
+    }
+
+    QString newestDate = QStringLiteral("1970-01-01");
+    QString oldestDate = QStringLiteral("1970-01-01");
+    bool hasDate = false;
+    for (const QString &modelName : models) {
+      const QString key = modelNameToFileMap.value(modelName, modelName);
+      const QString date = modelReleasedDates.value(key, QStringLiteral("1970-01-01"));
+      if (!hasDate) {
+        newestDate = date;
+        oldestDate = date;
+        hasDate = true;
+      } else {
+        if (date > newestDate) {
+          newestDate = date;
+        }
+        if (date < oldestDate) {
+          oldestDate = date;
+        }
+      }
+    }
+
+    if (!hasDate) {
+      oldestDate = QStringLiteral("1970-01-01");
+    }
+
+    seriesInfos.push_back({series, models, newestDate, oldestDate});
+    newSeriesToModels.insert(series, models);
+  }
+
+  if (sortByDate) {
+    std::sort(seriesInfos.begin(), seriesInfos.end(), [sortDateNewestFirst](const SeriesInfo &a, const SeriesInfo &b) {
+      if (sortDateNewestFirst) {
+        if (a.newestDate == b.newestDate) {
+          return a.name < b.name;
+        }
+        return a.newestDate > b.newestDate;
+      } else {
+        if (a.oldestDate == b.oldestDate) {
+          return a.name < b.name;
+        }
+        return a.oldestDate < b.oldestDate;
+      }
+    });
+  } else {
+    std::sort(seriesInfos.begin(), seriesInfos.end(), [](const SeriesInfo &a, const SeriesInfo &b) {
+      return a.name < b.name;
+    });
+  }
+
+  for (const SeriesInfo &info : seriesInfos) {
+    orderedSeries.append(info.name);
+    validSeries.insert(info.name);
+  }
+
+  for (auto it = seriesExpanded.begin(); it != seriesExpanded.end(); ) {
+    if (!validSeries.contains(it.key())) {
+      it = seriesExpanded.erase(it);
+    } else {
+      ++it;
+    }
+  }
+
+  rebuildModelList(orderedSeries, newSeriesToModels);
+  refreshFavoriteIcons();
+}
+
+void ExpandableMultiOptionDialog::rebuildModelList(const QStringList &orderedSeries, const QMap<QString, QStringList> &newSeriesToModels) {
+  if (!listLayout) return;
+
+  stopActiveScroll();
+
+  while (QLayoutItem *item = listLayout->takeAt(0)) {
+    if (QWidget *w = item->widget()) {
+      delete w;
+    } else if (QLayout *layout = item->layout()) {
+      delete layout;
+    }
+    delete item;
+  }
+
+  seriesWidgets.clear();
+  modelButtons.clear();
+  favoriteButtons.clear();
+  currentSelectionButton = nullptr;
+
+  for (const QString &series : orderedSeries) {
+    const QStringList models = newSeriesToModels.value(series);
+    if (models.isEmpty()) {
+      continue;
+    }
+
+    QPushButton *seriesHeader = new QPushButton("▶ " + series);
+    seriesHeader->setProperty("class", "series-header");
+    seriesHeader->setCheckable(false);
+
+    bool expanded = seriesExpanded.value(series, false);
+    seriesExpanded.insert(series, expanded);
+
+    QObject::connect(seriesHeader, &QPushButton::clicked, [this, series, seriesHeader]() {
+      toggleSeries(series, seriesHeader);
+    });
+
+    QWidget *seriesContainer = new QWidget();
+    QVBoxLayout *seriesLayout = new QVBoxLayout(seriesContainer);
+    seriesLayout->setContentsMargins(20, 0, 0, 0);
+    seriesLayout->setSpacing(10);
+
+    for (const QString &modelName : models) {
+      QString modelKey = modelNameToFileMap.value(modelName, modelName);
+      if (!modelFileToNameMap.contains(modelKey)) {
+        modelFileToNameMap.insert(modelKey, modelName);
+      }
+      QString displayName = displayOverrides.value(modelKey, modelName);
+      createModelButton(modelKey, modelName, displayName, seriesLayout);
+    }
+
+    if (expanded) {
+      seriesContainer->show();
+      seriesHeader->setText("▼ " + series);
+    } else {
+      seriesContainer->hide();
+      seriesHeader->setText("▶ " + series);
+    }
+
+    seriesWidgets.insert(series, seriesContainer);
+
+    listLayout->addWidget(seriesHeader);
+    listLayout->addWidget(seriesContainer);
+  }
+
+  listLayout->addStretch(1);
+
+  seriesToModels = newSeriesToModels;
+
+  listWidgetContainer->updateGeometry();
+  listWidgetContainer->adjustSize();
+  if (scrollView && scrollView->widget()) {
+    scrollView->widget()->updateGeometry();
+    scrollView->widget()->adjustSize();
+  }
+
+  updateButtonStyles();
+}
+
+void ExpandableMultiOptionDialog::refreshFavoriteIcons() {
+  for (auto it = favoriteButtons.begin(); it != favoriteButtons.end(); ++it) {
+    const QString &modelKey = it.key();
+    const QList<QPushButton*> &buttons = it.value();
+    bool isCommunityFav = communityFavorites.contains(modelKey);
+    bool isUserFav = userFavorites.contains(modelKey);
+    bool isFavorite = isCommunityFav || isUserFav;
+
+    for (QPushButton *button : buttons) {
+      if (!button) continue;
+      button->setChecked(isFavorite);
+      button->setText(isFavorite ? QString::fromUtf16(u"\u2665") : QString::fromUtf16(u"\u2661"));
+    }
+  }
+
+  if (confirmButton && !selectionKey.isEmpty()) {
+    confirmButton->setEnabled(true);
+  }
+
+  updateButtonStyles();
+}
+
+void ExpandableMultiOptionDialog::updateButtonStyles() {
+  const QString selectedKey = selectionKey;
+  const QString selectedStyle = QStringLiteral(
+      "QPushButton {"
+      "background-color: #465BEA;"
+      "border: 3px solid #FFFFFF;"
+      "color: white;"
+      "font-weight: 500;"
+      "height: 135;"
+      "padding: 0px 50px;"
+      "text-align: left;"
+      "font-size: 55px;"
+      "border-radius: 10px;"
+      "}");
+
+  if (selectedKey.isEmpty()) {
+    currentSelectionButton = nullptr;
+  }
+
+  QPushButton *explicitButton = currentSelectionButton.data();
+  if (explicitButton && explicitButton->property("modelKey").toString() != selectedKey) {
+    explicitButton = nullptr;
+  }
+
+  for (auto it = modelButtons.begin(); it != modelButtons.end(); ++it) {
+    const QString &modelKey = it.key();
+    const QList<QPushButton*> &buttons = it.value();
+    const bool keyMatches = (!selectedKey.isEmpty() && modelKey == selectedKey);
+    bool activatedForKey = false;
+
+    for (QPushButton *button : buttons) {
+      if (!button) continue;
+
+      bool isActive = false;
+      if (explicitButton) {
+        isActive = (button == explicitButton);
+      } else if (keyMatches && !activatedForKey) {
+        isActive = true;
+        activatedForKey = true;
+        currentSelectionButton = button;
+      }
+
+      QSignalBlocker blocker(button);
+      button->setChecked(isActive);
+      button->setStyleSheet(isActive ? selectedStyle : QString());
+    }
+  }
+}

frogpilot/ui/qt/offroad/expandable_multi_option_dialog.h

@@ -6,23 +6,71 @@
 #include <QWidget>
 #include <QMap>
 #include <QList>
+#include <QPointer>
+#include <QComboBox>
+#include <QMenu>
 
 #include "selfdrive/ui/qt/widgets/input.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
 
+class QPushButton;
 class ExpandableMultiOptionDialog : public DialogBase {
   Q_OBJECT
 
 public:
   explicit ExpandableMultiOptionDialog(const QString &prompt_text, const QMap<QString, QStringList> &seriesToModels,
-                                       const QString &current, QWidget *parent);
+                                         const QString &current, QWidget *parent,
+                                         const QStringList &userFavorites = QStringList(),
+                                         const QStringList &communityFavorites = QStringList(),
+                                         const QMap<QString, QString> &modelReleasedDates = QMap<QString, QString>(),
+                                         const QMap<QString, QString> &modelFileToNameMap = QMap<QString, QString>(),
+                                         const QString &initialSortMode = "alphabetical");
   static QString getSelection(const QString &prompt_text, const QMap<QString, QStringList> &seriesToModels,
-                              const QString &current, QWidget *parent);
+                                const QString &current, QWidget *parent,
+                                const QStringList &userFavorites = QStringList(),
+                                const QStringList &communityFavorites = QStringList(),
+                                const QMap<QString, QString> &modelReleasedDates = QMap<QString, QString>(),
+                                const QMap<QString, QString> &modelFileToNameMap = QMap<QString, QString>(),
+                                const QString &initialSortMode = QString());
   QString selection;
 
+  QString getCurrentSortMode() const { return currentSortMode; }
+  QStringList getUserFavorites() const;
+
 private:
-  void toggleSeries(const QString &series, QPushButton *headerButton, ScrollView *scrollView);
+  void toggleSeries(const QString &series, QPushButton *headerButton);
+  void toggleFavorite(const QString &modelKey);
+  void updateSorting();
+  void rebuildModelList(const QStringList &orderedSeries, const QMap<QString, QStringList> &newSeriesToModels);
+  void createModelButton(const QString &modelKey, const QString &modelName, const QString &displayName,
+                         QVBoxLayout *layout);
+  void refreshFavoriteIcons();
+  void updateButtonStyles();
+  void stopActiveScroll();
+  void stopActiveScrollForInteraction();
+
   QMap<QString, QStringList> seriesToModels;
+  QMap<QString, QStringList> baseSeriesToModels;
   QMap<QString, QWidget*> seriesWidgets;
   QMap<QString, bool> seriesExpanded;
-};
+  QMap<QString, QList<QPushButton*>> modelButtons;
+  QMap<QString, QList<QPushButton*>> favoriteButtons;
+
+  QStringList userFavorites;
+  QStringList communityFavorites;
+  QMap<QString, QString> modelReleasedDates;
+  QMap<QString, QString> modelFileToNameMap;
+  QMap<QString, QString> modelNameToFileMap;
+  QMap<QString, QString> displayOverrides;
+
+  QString currentSortMode;
+  QString currentSelection;
+  QString currentSelectionKey;
+  QString selectionKey;
+
+  ScrollView *scrollView = nullptr;
+  QVBoxLayout *listLayout = nullptr;
+  QPushButton *confirmButton = nullptr;
+  QWidget *listWidgetContainer = nullptr;
+  QPointer<QPushButton> currentSelectionButton;
+};

frogpilot/ui/qt/offroad/frogpilot_settings.cc

@@ -269,6 +269,7 @@ void FrogPilotSettingsWindow::updateVariables() {
     hasPedal = CP.getEnableGasInterceptor();
     hasRadar = !CP.getRadarUnavailable();
     hasSDSU = frogpilot_toggles.value("has_sdsu").toBool();
+    hasSASCM = frogpilot_toggles.value("has_sascm").toBool();
     hasSNG = hasOpenpilotLongitudinal && CP.getAutoResumeSng();
     hasZSS = frogpilot_toggles.value("has_zss").toBool();
     isAngleCar = CP.getSteerControlType() == cereal::CarParams::SteerControlType::ANGLE;
@@ -277,20 +278,26 @@ void FrogPilotSettingsWindow::updateVariables() {
     isHKG = carMake == "hyundai";
     isHKGCanFd = isHKG && safetyModel == cereal::CarParams::SafetyModel::HYUNDAI_CANFD;
     isSubaru = carMake == "subaru";
+    isTorqueCar = CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::TORQUE;
     isToyota = carMake == "toyota";
     isTSK = CP.getSecOcRequired();
     isVolt = carFingerprint == "CHEVROLET_VOLT";
     longitudinalActuatorDelay = CP.getLongitudinalActuatorDelay();
     startAccel = CP.getStartAccel();
     steerActuatorDelay = CP.getSteerActuatorDelay();
+    steerOffset = 0.0f;
+    steerKp = CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::PID ? CP.getLateralTuning().getPid().getKpV()[0] : 0.6;
     steerRatio = CP.getSteerRatio();
     stopAccel = CP.getStopAccel();
     stoppingDecelRate = CP.getStoppingDecelRate();
     vEgoStarting = CP.getVEgoStarting();
     vEgoStopping = CP.getVEgoStopping();
+    friction = CP.getLateralTuning().getTorque().getFriction();
+    latAccelFactor = CP.getLateralTuning().getTorque().getLatAccelFactor();
 
     float currentDelayStock = params.getFloat("SteerDelayStock");
     float currentFrictionStock = params.getFloat("SteerFrictionStock");
+    float currentSteerOffsetStock = params.getFloat("SteerOffsetStock");
     float currentKPStock = params.getFloat("SteerKPStock");
     float currentLatAccelStock = params.getFloat("SteerLatAccelStock");
     float currentLongDelayStock = params.getFloat("LongitudinalActuatorDelayStock");
@@ -315,6 +322,13 @@ void FrogPilotSettingsWindow::updateVariables() {
       params.putFloat("SteerFrictionStock", friction);
     }
 
+    if (currentSteerOffsetStock != steerOffset) {
+      if (params.getFloat("SteerOffset") == currentSteerOffsetStock) {
+        params.putFloat("SteerOffset", steerOffset);
+      }
+      params.putFloat("SteerOffsetStock", steerOffset);
+    }
+
     if (currentKPStock != steerKp && steerKp != 0) {
       if (params.getFloat("SteerKP") == currentKPStock || currentKPStock == 0) {
         params.putFloat("SteerKP", steerKp);
@@ -387,12 +401,18 @@ void FrogPilotSettingsWindow::updateVariables() {
 
     canUsePedal = FPCP.getCanUsePedal();
     canUseSDSU = FPCP.getCanUseSDSU();
-    friction = FPCP.getLateralTuning().getTorque().getFriction();
-    hasAutoTune = (carMake == "hyundai" || carMake == "toyota") && FPCP.getLateralTuning().which() == cereal::FrogPilotCarParams::LateralTuning::TORQUE;
-    isTorqueCar = FPCP.getLateralTuning().which() == cereal::FrogPilotCarParams::LateralTuning::TORQUE;
-    latAccelFactor = FPCP.getLateralTuning().getTorque().getLatAccelFactor();
+    canUseSASCM = FPCP.getCanUseSASCM();
     openpilotLongitudinalControlDisabled = FPCP.getOpenpilotLongitudinalControlDisabled();
-    steerKp = FPCP.getLateralTuning().getTorque().getKp();
+  }
+
+  std::string liveTorqueParameters = params.get("LiveTorqueParameters");
+  if (!liveTorqueParameters.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader reader(aligned_buf.align(liveTorqueParameters.data(), liveTorqueParameters.size()));
+    cereal::Event::Reader event = reader.getRoot<cereal::Event>();
+    cereal::LiveTorqueParametersData::Reader LTP = event.getLiveTorqueParameters();
+
+    hasAutoTune = LTP.getUseParams();
   }
 
   isC3 = util::read_file("/sys/firmware/devicetree/base/model").find("tici") != std::string::npos;

frogpilot/ui/qt/offroad/frogpilot_settings.h

@@ -13,6 +13,7 @@ public:
 
   bool canUsePedal = false;
   bool canUseSDSU = false;
+  bool canUseSASCM = false;
   bool forceOpenDescriptions = false;
   bool hasAutoTune = true;
   bool hasBSM = true;
@@ -24,6 +25,7 @@ public:
   bool hasPedal = false;
   bool hasRadar = true;
   bool hasSDSU = false;
+  bool hasSASCM = false;
   bool hasSNG = false;
   bool hasZSS = false;
   bool isAngleCar = false;
@@ -45,6 +47,7 @@ public:
   float longitudinalActuatorDelay;
   float startAccel;
   float steerActuatorDelay;
+  float steerOffset;
   float steerKp;
   float steerRatio;
   float stopAccel;

frogpilot/ui/qt/offroad/lateral_settings.cc

@@ -39,11 +39,12 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
 
   const std::vector<std::tuple<QString, QString, QString, QString>> lateralToggles {
     {"AdvancedLateralTune", tr("Advanced Lateral Tuning"), tr("<b>Advanced steering control changes to fine-tune how openpilot drives.</b>"), "../../frogpilot/assets/toggle_icons/icon_advanced_lateral_tune.png"},
-    {"SteerDelay", steerActuatorDelay != 0 ? QString(tr("Actuator Delay (Default: %1)")).arg(QString::number(steerActuatorDelay, 'f', 2)) : tr("Actuator Delay"), tr("<b>The time between openpilot's steering command and the vehicle's response.</b> Increase if the vehicle reacts late; decrease if it feels jumpy. Auto-learned by default."), ""},
-    {"SteerFriction", friction != 0 ? QString(tr("Friction (Default: %1)")).arg(QString::number(friction, 'f', 2)) : tr("Friction"), tr("<b>Compensates for steering friction.</b> Increase if the wheel sticks near center; decrease if it jitters. Auto-learned by default."), ""},
-    {"SteerKP", steerKp != 0 ? QString(tr("Kp Factor (Default: %1)")).arg(QString::number(steerKp, 'f', 2)) : tr("Kp Factor"), tr("<b>How strongly openpilot corrects lane position.</b> Higher is tighter but twitchier; lower is smoother but slower. Auto-learned by default."), ""},
-    {"SteerLatAccel", latAccelFactor != 0 ? QString(tr("Lateral Acceleration (Default: %1)")).arg(QString::number(latAccelFactor, 'f', 2)) : tr("Lateral Acceleration"), tr("<b>Maps steering torque to turning response.</b> Increase for sharper turns; decrease for gentler steering. Auto-learned by default."), ""},
-    {"SteerRatio", steerRatio != 0 ? QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(steerRatio, 'f', 2)) : tr("Steer Ratio"), tr("<b>The relationship between steering wheel rotation and road wheel angle.</b> Increase if steering feels too quick or twitchy; decrease if it feels too slow or weak. Auto-learned by default."), ""},
+    {"SteerDelay", parent->steerActuatorDelay != 0 ? QString(tr("Actuator Delay (Default: %1)")).arg(QString::number(parent->steerActuatorDelay, 'f', 2)) : tr("Actuator Delay"), tr("<b>The time between openpilot's steering command and the vehicle's response.</b> Increase if the vehicle reacts late; decrease if it feels jumpy. Auto-learned by default."), ""},
+    {"SteerFriction", parent->friction != 0 ? QString(tr("Friction (Default: %1)")).arg(QString::number(parent->friction, 'f', 2)) : tr("Friction"), tr("<b>Compensates for steering friction.</b> Increase if the wheel sticks near center; decrease if it jitters. Auto-learned by default."), ""},
+    {"SteerOffset", parent->steerOffset != 0 ? QString(tr("Steer Offset (Default: %1)")).arg(QString::number(parent->steerOffset, 'f', 3)) : tr("Steer Offset"), tr("<b>Offsets steering torque to help compensate for alignment or tire issues.</b> More negative pulls the car right; more positive pulls it left. Most users should not need to touch this."), ""},
+    {"SteerKP", parent->steerKp != 0 ? QString(tr("Kp Factor (Default: %1)")).arg(QString::number(parent->steerKp, 'f', 2)) : tr("Kp Factor"), tr("<b>How strongly openpilot corrects lane position.</b> Higher is tighter but twitchier; lower is smoother but slower. Auto-learned by default."), ""},
+    {"SteerLatAccel", parent->latAccelFactor != 0 ? QString(tr("Lateral Acceleration (Default: %1)")).arg(QString::number(parent->latAccelFactor, 'f', 2)) : tr("Lateral Acceleration"), tr("<b>Maps steering torque to turning response.</b> Increase for sharper turns; decrease for gentler steering. Auto-learned by default."), ""},
+    {"SteerRatio", parent->steerRatio != 0 ? QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(parent->steerRatio, 'f', 2)) : tr("Steer Ratio"), tr("<b>The relationship between steering wheel rotation and road wheel angle.</b> Increase if steering feels too quick or twitchy; decrease if it feels too slow or weak. Auto-learned by default."), ""},
     {"ForceAutoTune", tr("Force Auto-Tune On"), tr("<b>Force-enable openpilot's live auto-tuning for \"Friction\" and \"Lateral Acceleration\".</b>"), ""},
     {"ForceAutoTuneOff", tr("Force Auto-Tune Off"), tr("<b>Force-disable openpilot's live auto-tuning for \"Friction\" and \"Lateral Acceleration\" and use the set value instead.</b>"), ""},
     {"ForceTorqueController", tr("Force Torque Controller"), tr("<b>Use torque-based steering control instead of angle-based control for smoother lane keeping, especially in curves.</b>"), ""},
@@ -87,15 +88,18 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
     } else if (param == "SteerFriction") {
       std::vector<QString> steerFrictionButton{"Reset"};
       lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0, 0.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerFrictionButton, false, false);
+    } else if (param == "SteerOffset") {
+      std::vector<QString> steerOffsetButton{"Reset"};
+      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, -0.2, 0.2, QString(), std::map<float, QString>(), 0.005, false, {}, steerOffsetButton, false, false);
     } else if (param == "SteerKP") {
       std::vector<QString> steerKPButton{"Reset"};
-      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, steerKp * 0.5, steerKp * 1.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerKPButton, false, false);
+      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->steerKp * 0.5, parent->steerKp * 1.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerKPButton, false, false);
     } else if (param == "SteerLatAccel") {
       std::vector<QString> steerLatAccelButton{"Reset"};
-      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, latAccelFactor * 0.75, latAccelFactor * 1.25, QString(), std::map<float, QString>(), 0.01, false, {}, steerLatAccelButton, false, false);
+      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->latAccelFactor * 0.5, parent->latAccelFactor * 1.25, QString(), std::map<float, QString>(), 0.01, false, {}, steerLatAccelButton, false, false);
     } else if (param == "SteerRatio") {
       std::vector<QString> steerRatioButton{"Reset"};
-      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, steerRatio * 0.5, steerRatio * 1.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerRatioButton, false, false);
+      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->steerRatio * 0.25, parent->steerRatio * 1.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerRatioButton, false, false);
 
     } else if (param == "AlwaysOnLateral") {
       FrogPilotManageControl *aolToggle = new FrogPilotManageControl(param, title, desc, icon);
@@ -191,12 +195,6 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
           if (FrogPilotConfirmationDialog::toggleReboot(this)) {
             Hardware::reboot();
           }
-        } else if (key == "NNFF" || key == "NNFFLite") {
-          if (!isTorqueCar) {
-            if (FrogPilotConfirmationDialog::toggleReboot(this)) {
-              Hardware::reboot();
-            }
-          }
         } else if (key != "AlwaysOnLateral") {
           if (FrogPilotConfirmationDialog::toggleReboot(this)) {
             Hardware::reboot();
@@ -207,41 +205,49 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
   }
 
   steerDelayToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerDelay"]);
-  QObject::connect(steerDelayToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() {
+  QObject::connect(steerDelayToggle, &FrogPilotParamValueButtonControl::buttonClicked, [parent, this]() {
     if (FrogPilotConfirmationDialog::yesorno(tr("Reset <b>Actuator Delay</b> to its default value?"), this)) {
-      params.putFloat("SteerDelay", steerActuatorDelay);
+      params.putFloat("SteerDelay", parent->steerActuatorDelay);
       steerDelayToggle->refresh();
     }
   });
 
   steerFrictionToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerFriction"]);
-  QObject::connect(steerFrictionToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() {
+  QObject::connect(steerFrictionToggle, &FrogPilotParamValueButtonControl::buttonClicked, [parent, this]() {
     if (FrogPilotConfirmationDialog::yesorno(tr("Reset <b>Friction</b> to its default value?"), this)) {
-      params.putFloat("SteerFriction", friction);
+      params.putFloat("SteerFriction", parent->friction);
       steerFrictionToggle->refresh();
     }
   });
 
+  steerOffsetToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerOffset"]);
+  QObject::connect(steerOffsetToggle, &FrogPilotParamValueButtonControl::buttonClicked, [parent, this]() {
+    if (FrogPilotConfirmationDialog::yesorno(tr("Reset <b>Steer Offset</b> to its default value?"), this)) {
+      params.putFloat("SteerOffset", parent->steerOffset);
+      steerOffsetToggle->refresh();
+    }
+  });
+
   steerKPToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerKP"]);
-  QObject::connect(steerKPToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() {
+  QObject::connect(steerKPToggle, &FrogPilotParamValueButtonControl::buttonClicked, [parent, this]() {
     if (FrogPilotConfirmationDialog::yesorno(tr("Reset <b>Kp Factor</b> to its default value?"), this)) {
-      params.putFloat("SteerKP", steerKp);
+      params.putFloat("SteerKP", parent->steerKp);
       steerKPToggle->refresh();
     }
   });
 
   steerLatAccelToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerLatAccel"]);
-  QObject::connect(steerLatAccelToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() {
+  QObject::connect(steerLatAccelToggle, &FrogPilotParamValueButtonControl::buttonClicked, [parent, this]() {
     if (FrogPilotConfirmationDialog::yesorno(tr("Reset <b>Lateral Accel</b> to its default value?"), this)) {
-      params.putFloat("SteerLatAccel", latAccelFactor);
+      params.putFloat("SteerLatAccel", parent->latAccelFactor);
       steerLatAccelToggle->refresh();
     }
   });
 
   steerRatioToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerRatio"]);
-  QObject::connect(steerRatioToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() {
+  QObject::connect(steerRatioToggle, &FrogPilotParamValueButtonControl::buttonClicked, [parent, this]() {
     if (FrogPilotConfirmationDialog::yesorno(tr("Reset <b>Steer Ratio</b> to its default value?"), this)) {
-      params.putFloat("SteerRatio", steerRatio);
+      params.putFloat("SteerRatio", parent->steerRatio);
       steerRatioToggle->refresh();
     }
   });
@@ -258,27 +264,16 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
 
 void FrogPilotLateralPanel::showEvent(QShowEvent *event) {
   frogpilotToggleLevels = parent->frogpilotToggleLevels;
-  friction = parent->friction;
-  hasAutoTune = parent->hasAutoTune;
-  hasNNFFLog = parent->hasNNFFLog;
-  hasOpenpilotLongitudinal = parent->hasOpenpilotLongitudinal;
-  isAngleCar = parent->isAngleCar;
-  isHKGCanFd = parent->isHKGCanFd;
-  isTorqueCar = parent->isTorqueCar;
-  latAccelFactor = parent->latAccelFactor;
-  steerActuatorDelay = parent->steerActuatorDelay;
-  steerKp = parent->steerKp;
-  steerRatio = parent->steerRatio;
-  tuningLevel = parent->tuningLevel;
 
-  steerDelayToggle->setTitle(QString(tr("Actuator Delay (Default: %1)")).arg(QString::number(steerActuatorDelay, 'f', 2)));
-  steerFrictionToggle->setTitle(QString(tr("Friction (Default: %1)")).arg(QString::number(friction, 'f', 2)));
-  steerKPToggle->setTitle(QString(tr("Kp Factor (Default: %1)")).arg(QString::number(steerKp, 'f', 2)));
-  steerKPToggle->updateControl(steerKp * 0.5, steerKp * 1.5);
-  steerLatAccelToggle->setTitle(QString(tr("Lateral Accel (Default: %1)")).arg(QString::number(latAccelFactor, 'f', 2)));
-  steerLatAccelToggle->updateControl(latAccelFactor * 0.75, latAccelFactor * 1.25);
-  steerRatioToggle->setTitle(QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(steerRatio, 'f', 2)));
-  steerRatioToggle->updateControl(steerRatio * 0.5, steerRatio * 1.5);
+  steerDelayToggle->setTitle(QString(tr("Actuator Delay (Default: %1)")).arg(QString::number(parent->steerActuatorDelay, 'f', 2)));
+  steerFrictionToggle->setTitle(QString(tr("Friction (Default: %1)")).arg(QString::number(parent->friction, 'f', 2)));
+  steerOffsetToggle->setTitle(QString(tr("Steer Offset (Default: %1)")).arg(QString::number(parent->steerOffset, 'f', 3)));
+  steerKPToggle->setTitle(QString(tr("Kp Factor (Default: %1)")).arg(QString::number(parent->steerKp, 'f', 2)));
+  steerKPToggle->updateControl(parent->steerKp * 0.5, parent->steerKp * 1.5);
+  steerLatAccelToggle->setTitle(QString(tr("Lateral Accel (Default: %1)")).arg(QString::number(parent->latAccelFactor, 'f', 2)));
+  steerLatAccelToggle->updateControl(parent->latAccelFactor * 0.5, parent->latAccelFactor * 1.25);
+  steerRatioToggle->setTitle(QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(parent->steerRatio, 'f', 2)));
+  steerRatioToggle->updateControl(parent->steerRatio * 0.25, parent->steerRatio * 1.5);
 
   updateToggles();
 }
@@ -358,41 +353,40 @@ void FrogPilotLateralPanel::updateToggles() {
     }
   }
 
-  bool forcingAutoTune = !hasAutoTune && params.getBool("ForceAutoTune");
-  bool forcingAutoTuneOff = hasAutoTune && params.getBool("ForceAutoTuneOff");
-  bool forcingTorqueController = !isAngleCar && params.getBool("ForceTorqueController");
-  bool usingNNFF = hasNNFFLog && params.getBool("LateralTune") && params.getBool("NNFF");
+  bool forcingAutoTuneOff = parent->hasAutoTune && params.getBool("ForceAutoTuneOff");
+  bool forcingTorqueController = !parent->isAngleCar && params.getBool("ForceTorqueController");
+  bool usingNNFF = parent->hasNNFFLog && params.getBool("LateralTune") && params.getBool("NNFF");
 
   for (auto &[key, toggle] : toggles) {
     if (parentKeys.contains(key)) {
       continue;
     }
 
-    bool setVisible = tuningLevel >= frogpilotToggleLevels[key].toDouble();
+    bool setVisible = parent->tuningLevel >= frogpilotToggleLevels[key].toDouble();
 
     if (key == "AlwaysOnLateralLKAS") {
-      setVisible &= isHKGCanFd;
-      setVisible &= !hasOpenpilotLongitudinal;
+      setVisible &= parent->isHKGCanFd;
+      setVisible &= !parent->hasOpenpilotLongitudinal;
     }
 
     else if (key == "AlwaysOnLateralMain") {
-      setVisible &= !isHKGCanFd;
-      setVisible |= hasOpenpilotLongitudinal;
+      setVisible &= !parent->isHKGCanFd;
+      setVisible |= parent->hasOpenpilotLongitudinal;
     }
 
     else if (key == "ForceAutoTune") {
-      setVisible &= !hasAutoTune;
-      setVisible &= !isAngleCar;
-      setVisible &= isTorqueCar || forcingTorqueController;
+      setVisible &= !parent->hasAutoTune;
+      setVisible &= !parent->isAngleCar;
+      setVisible &= parent->isTorqueCar || forcingTorqueController;
     }
 
     else if (key == "ForceAutoTuneOff") {
-      setVisible &= hasAutoTune;
+      setVisible &= parent->hasAutoTune;
     }
 
     else if (key == "ForceTorqueController") {
-      setVisible &= !isAngleCar;
-      setVisible &= !isTorqueCar;
+      setVisible &= !parent->isAngleCar;
+      setVisible &= !parent->isTorqueCar;
     }
 
     else if (key == "LaneChangeTime") {
@@ -404,42 +398,47 @@ void FrogPilotLateralPanel::updateToggles() {
     }
 
     else if (key == "NNFF") {
-      setVisible &= hasNNFFLog;
-      setVisible &= !isAngleCar;
+      setVisible &= parent->hasNNFFLog;
+      setVisible &= !parent->isAngleCar;
     }
 
     else if (key == "NNFFLite") {
       setVisible &= !usingNNFF;
-      setVisible &= !isAngleCar;
+      setVisible &= !parent->isAngleCar;
     }
 
     else if (key == "SteerDelay") {
-      setVisible &= steerActuatorDelay != 0;
+      setVisible &= parent->steerActuatorDelay != 0;
     }
 
     else if (key == "SteerFriction") {
-      setVisible &= friction != 0;
-      setVisible &= hasAutoTune ? forcingAutoTuneOff : !forcingAutoTune;
-      setVisible &= isTorqueCar || forcingTorqueController;
+      setVisible &= parent->friction != 0;
+      setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : true;
+      setVisible &= parent->isTorqueCar || forcingTorqueController;
+      setVisible &= !usingNNFF;
+    }
+
+    else if (key == "SteerOffset") {
+      setVisible &= parent->isGM;
+      setVisible &= parent->isTorqueCar || forcingTorqueController;
       setVisible &= !usingNNFF;
     }
 
     else if (key == "SteerKP") {
-      setVisible &= steerKp != 0;
-      setVisible &= hasAutoTune ? forcingAutoTuneOff : !forcingAutoTune;
-      setVisible &= isTorqueCar || forcingTorqueController;
+      setVisible &= parent->steerKp != 0;
+      setVisible &= !parent->isAngleCar;
     }
 
     else if (key == "SteerLatAccel") {
-      setVisible &= latAccelFactor != 0;
-      setVisible &= hasAutoTune ? forcingAutoTuneOff : !forcingAutoTune;
-      setVisible &= isTorqueCar || forcingTorqueController;
+      setVisible &= parent->latAccelFactor != 0;
+      setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : true;
+      setVisible &= parent->isTorqueCar || forcingTorqueController;
       setVisible &= !usingNNFF;
     }
 
     else if (key == "SteerRatio") {
-      setVisible &= steerRatio != 0;
-      setVisible &= hasAutoTune ? forcingAutoTuneOff : !forcingAutoTune;
+      setVisible &= parent->steerRatio != 0;
+      setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : true;
     }
 
     toggle->setVisible(setVisible);

frogpilot/ui/qt/offroad/lateral_settings.h

@@ -31,6 +31,7 @@ private:
   float friction;
   float latAccelFactor;
   float steerActuatorDelay;
+  float steerOffset;
   float steerKp;
   float steerRatio;
 
@@ -38,7 +39,7 @@ private:
 
   std::map<QString, AbstractControl*> toggles;
 
-  QSet<QString> advancedLateralTuneKeys = {"ForceAutoTune", "ForceAutoTuneOff", "ForceTorqueController", "SteerDelay", "SteerFriction", "SteerLatAccel", "SteerKP", "SteerRatio"};
+  QSet<QString> advancedLateralTuneKeys = {"ForceAutoTune", "ForceAutoTuneOff", "ForceTorqueController", "SteerDelay", "SteerFriction", "SteerOffset", "SteerLatAccel", "SteerKP", "SteerRatio"};
   QSet<QString> aolKeys = {"AlwaysOnLateralLKAS", "AlwaysOnLateralMain", "PauseAOLOnBrake"};
   QSet<QString> laneChangeKeys = {"LaneChangeTime", "LaneDetectionWidth", "MinimumLaneChangeSpeed", "NudgelessLaneChange", "OneLaneChange"};
   QSet<QString> lateralTuneKeys = {"NNFF", "NNFFLite", "TurnDesires"};
@@ -48,6 +49,7 @@ private:
 
   FrogPilotParamValueButtonControl *steerDelayToggle;
   FrogPilotParamValueButtonControl *steerFrictionToggle;
+  FrogPilotParamValueButtonControl *steerOffsetToggle;
   FrogPilotParamValueButtonControl *steerLatAccelToggle;
   FrogPilotParamValueButtonControl *steerKPToggle;
   FrogPilotParamValueButtonControl *steerRatioToggle;

frogpilot/ui/qt/offroad/longitudinal_settings.h

@@ -40,19 +40,19 @@ private:
 
   std::map<QString, AbstractControl*> toggles;
 
-  QSet<QString> advancedLongitudinalTuneKeys = {"LongitudinalActuatorDelay", "StartAccel", "StopAccel", "StoppingDecelRate", "VEgoStarting", "VEgoStopping"};
-  QSet<QString> aggressivePersonalityKeys = {"AggressiveFollow", "AggressiveJerkAcceleration", "AggressiveJerkDeceleration", "AggressiveJerkDanger", "AggressiveJerkSpeed", "AggressiveJerkSpeedDecrease", "ResetAggressivePersonality"};
+  QSet<QString> advancedLongitudinalTuneKeys = {"EVTuning", "LongitudinalActuatorDelay", "StartAccel", "StopAccel", "StoppingDecelRate", "VEgoStarting", "VEgoStopping"};
+  QSet<QString> aggressivePersonalityKeys = {"AggressiveFollow", "AggressiveFollowHigh", "AggressiveJerkAcceleration", "AggressiveJerkDeceleration", "AggressiveJerkDanger", "AggressiveJerkSpeed", "AggressiveJerkSpeedDecrease", "ResetAggressivePersonality"};
   QSet<QString> conditionalExperimentalKeys = {"CESpeed", "CESpeedLead", "CECurves", "CELead", "CEModelStopTime", "CENavigation", "CESignalSpeed", "ShowCEMStatus"};
   QSet<QString> curveSpeedKeys = {"CalibratedLateralAcceleration", "CalibrationProgress", "ResetCurveData", "ShowCSCStatus"};
   QSet<QString> customDrivingPersonalityKeys = {"AggressivePersonalityProfile", "RelaxedPersonalityProfile", "StandardPersonalityProfile", "TrafficPersonalityProfile"};
-  QSet<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "HumanAcceleration", "HumanFollowing", "LeadDetectionThreshold", "MaxDesiredAcceleration", "TacoTune"};
+  QSet<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "HumanAcceleration", "HumanFollowing", "LeadDetectionThreshold", "MaxDesiredAcceleration", "TrailerLoad", "TacoTune"};
   QSet<QString> qolKeys = {"CustomCruise", "CustomCruiseLong", "ForceStops", "IncreasedStoppedDistance", "MapGears", "ReverseCruise", "SetSpeedOffset"};
-  QSet<QString> relaxedPersonalityKeys = {"RelaxedFollow", "RelaxedJerkAcceleration", "RelaxedJerkDeceleration", "RelaxedJerkDanger", "RelaxedJerkSpeed", "RelaxedJerkSpeedDecrease", "ResetRelaxedPersonality"};
+  QSet<QString> relaxedPersonalityKeys = {"RelaxedFollow", "RelaxedFollowHigh", "RelaxedJerkAcceleration", "RelaxedJerkDeceleration", "RelaxedJerkDanger", "RelaxedJerkSpeed", "RelaxedJerkSpeedDecrease", "ResetRelaxedPersonality"};
   QSet<QString> speedLimitControllerKeys = {"SLCOffsets", "SLCFallback", "SLCOverride", "SLCPriority", "SLCQOL", "SLCVisuals"};
   QSet<QString> speedLimitControllerOffsetsKeys = {"Offset1", "Offset2", "Offset3", "Offset4", "Offset5", "Offset6", "Offset7"};
   QSet<QString> speedLimitControllerQOLKeys = {"ForceMPHDashboard", "SetSpeedLimit", "SLCConfirmation", "SLCLookaheadHigher", "SLCLookaheadLower", "SLCMapboxFiller"};
   QSet<QString> speedLimitControllerVisualKeys = {"ShowSLCOffset", "SpeedLimitSources"};
-  QSet<QString> standardPersonalityKeys = {"StandardFollow", "StandardJerkAcceleration", "StandardJerkDeceleration", "StandardJerkDanger", "StandardJerkSpeed", "StandardJerkSpeedDecrease", "ResetStandardPersonality"};
+  QSet<QString> standardPersonalityKeys = {"StandardFollow", "StandardFollowHigh", "StandardJerkAcceleration", "StandardJerkDeceleration", "StandardJerkDanger", "StandardJerkSpeed", "StandardJerkSpeedDecrease", "ResetStandardPersonality"};
   QSet<QString> trafficPersonalityKeys = {"TrafficFollow", "TrafficJerkAcceleration", "TrafficJerkDeceleration", "TrafficJerkDanger", "TrafficJerkSpeed", "TrafficJerkSpeedDecrease", "ResetTrafficPersonality"};
 
   QSet<QString> parentKeys;

frogpilot/ui/qt/offroad/model_settings.cc

@@ -1,10 +1,13 @@
 #include "frogpilot/ui/qt/offroad/model_settings.h"
 #include "frogpilot/ui/qt/offroad/expandable_multi_option_dialog.h"
 #include <QFile>
+#include <QFileInfo>
 #include <QJsonDocument>
 #include <QJsonObject>
 #include <QDoubleSpinBox>
 #include <QPushButton>
+#include <QDialog>
+#include <algorithm>
 
 FrogPilotModelPanel::FrogPilotModelPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) {
   QStackedLayout *modelLayout = new QStackedLayout();
@@ -27,12 +30,14 @@ FrogPilotModelPanel::FrogPilotModelPanel(FrogPilotSettingsWindow *parent) : Frog
     {"DeleteModel", tr("Delete Driving Models"), tr("Delete driving models from the device."), ""},
     {"DownloadModel", tr("Download Driving Models"), tr("Download driving models to the device."), ""},
     {"ModelRandomizer", tr("Model Randomizer"), tr("Driving models are chosen at random each drive and feedback prompts are used to find the model that best suits your needs."), ""},
+    {"RecoveryPower", tr("Recovery Power"), tr("Adjust the strength of planplus lane recovery corrections (0.5 to 2.0)."), ""},
     {"StopDistance", tr("Stop Distance"), tr("Adjust the model's stopping distance in meters (minimum 4 for safety). Most users prefer 6."), ""},
     {"ManageBlacklistedModels", tr("Manage Model Blacklist"), tr("Add or remove models from the <b>Model Randomizer</b>'s blacklist list."), ""},
     {"ManageScores", tr("Manage Model Ratings"), tr("Reset or view the saved ratings for the driving models."), ""},
     {"SelectModel", tr("Select Driving Model"), tr("Select the active driving model."), ""},
   };
 
+  FrogPilotParamValueButtonControl *recoveryPowerToggle = nullptr;
   FrogPilotParamValueButtonControl *stopDistanceToggle = nullptr;
 
   for (const auto &[param, title, desc, icon] : modelToggles) {
@@ -41,56 +46,72 @@ FrogPilotModelPanel::FrogPilotModelPanel(FrogPilotSettingsWindow *parent) : Frog
     if (param == "DeleteModel") {
       deleteModelButton = new FrogPilotButtonsControl(title, desc, icon, {tr("DELETE"), tr("DELETE ALL")});
       QObject::connect(deleteModelButton, &FrogPilotButtonsControl::buttonClicked, [this](int id) {
-        QStringList deletableModels;
-        for (const QString &file : modelDir.entryList(QDir::Files)) {
-          QString base = QFileInfo(file).baseName();
-          for (const QString &modelKey : modelFileToNameMapProcessed.keys()) {
-            if (base.startsWith(modelKey)) {
-              QString modelName = modelFileToNameMapProcessed.value(modelKey);
-              if (!deletableModels.contains(modelName)) {
-                deletableModels.append(modelName);
-              }
-            }
-          }
+        QMap<QString, QString> deletableModelsMap = getDeletableModelDisplayNames();
+        noModelsDownloaded = deletableModelsMap.isEmpty();
+
+        if (noModelsDownloaded) {
+          return;
         }
-        deletableModels.removeAll(processModelName(currentModel));
-        deletableModels.removeAll(modelFileToNameMapProcessed.value(QString::fromStdString(params_default.get("Model"))));
-        deletableModels.removeAll("Space Lab");
-        noModelsDownloaded = deletableModels.isEmpty();
 
         if (id == 0) {
-          // Group deletable models by series
+          // Group deletable models by series and keep a lookup for selected names
           QMap<QString, QStringList> deletableSeriesToModels;
-          for (const QString &modelName : deletableModels) {
-            QString modelKey = modelFileToNameMapProcessed.key(modelName);
-            QString series = modelSeriesMap.value(modelKey, "Custom Series");
-            deletableSeriesToModels[series].append(modelName);
+          QMap<QString, QString> displayNameToKey;
+          QMap<QString, QString> deletableFileToNameMap;
+          for (auto it = deletableModelsMap.constBegin(); it != deletableModelsMap.constEnd(); ++it) {
+            const QString &modelKey = it.key();
+            const QString &displayName = it.value();
+            QString series = modelSeriesMap.value(modelKey, tr("Custom Series"));
+            deletableSeriesToModels[series].append(displayName);
+            displayNameToKey.insert(displayName, modelKey);
+            deletableFileToNameMap.insert(modelKey, displayName);
           }
 
           // Sort models within each series
           for (QString &series : deletableSeriesToModels.keys()) {
-            deletableSeriesToModels[series].sort();
+            QStringList &models = deletableSeriesToModels[series];
+            models.removeDuplicates();
+            std::sort(models.begin(), models.end());
           }
 
-          QString modelToDelete = ExpandableMultiOptionDialog::getSelection(tr("Select a driving model to delete"), deletableSeriesToModels, "", this);
-          if (!modelToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the \"%1\" model?").arg(modelToDelete), tr("Delete"), this)) {
-            QString modelFile = modelFileToNameMapProcessed.key(modelToDelete);
-            for (const QString &file : modelDir.entryList(QDir::Files)) {
-              QString base = QFileInfo(file).baseName();
-              if (base.startsWith(modelFile)) {
-                QFile::remove(modelDir.filePath(file));
+          QString savedSortMode = QString::fromStdString(params.get("ModelSortMode"));
+          if (savedSortMode.isEmpty()) savedSortMode = "alphabetical";
+
+          QString modelToDelete = ExpandableMultiOptionDialog::getSelection(tr("Select a driving model to delete"), deletableSeriesToModels, "", this,
+                                                                           QStringList(), QStringList(), QMap<QString, QString>(),
+                                                                           deletableFileToNameMap, savedSortMode);
+          if (!modelToDelete.isEmpty()) {
+            QString modelKey = displayNameToKey.value(modelToDelete);
+            if (modelKey.isEmpty()) {
+              QString processedName = processModelName(modelToDelete);
+              for (auto it = deletableModelsMap.constBegin(); it != deletableModelsMap.constEnd(); ++it) {
+                if (processModelName(it.value()) == processedName) {
+                  modelKey = it.key();
+                  break;
+                }
               }
             }
 
-            allModelsDownloaded = false;
+            if (!modelKey.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the \"%1\" model?").arg(modelToDelete), tr("Delete"), this)) {
+              for (const QString &file : modelDir.entryList(QDir::Files)) {
+                QString base = QFileInfo(file).baseName();
+                if (base.startsWith(modelKey)) {
+                  QFile::remove(modelDir.filePath(file));
+                }
+              }
+
+              allModelsDownloaded = false;
+              noModelsDownloaded = getDeletableModelDisplayNames().isEmpty();
+              deleteModelButton->setEnabled(!(allModelsDownloading || modelDownloading || noModelsDownloaded));
+            }
           }
         } else if (id == 1) {
           if (ConfirmationDialog::confirm(tr("Are you sure you want to delete all of your downloaded driving models?"), tr("Delete"), this)) {
+            const QList<QString> deletableKeys = deletableModelsMap.keys();
             for (const QString &file : modelDir.entryList(QDir::Files)) {
               QString base = QFileInfo(file).baseName();
-              for (const QString &modelKey : modelFileToNameMapProcessed.keys()) {
-                QString modelName = modelFileToNameMapProcessed.value(modelKey);
-                if (deletableModels.contains(modelName) && base.startsWith(modelKey)) {
+              for (const QString &modelKey : deletableKeys) {
+                if (base.startsWith(modelKey)) {
                   QFile::remove(modelDir.filePath(file));
                   break;
                 }
@@ -99,6 +120,7 @@ FrogPilotModelPanel::FrogPilotModelPanel(FrogPilotSettingsWindow *parent) : Frog
 
             allModelsDownloaded = false;
             noModelsDownloaded = true;
+            deleteModelButton->setEnabled(false);
           }
         }
       });
@@ -106,66 +128,70 @@ FrogPilotModelPanel::FrogPilotModelPanel(FrogPilotSettingsWindow *parent) : Frog
     } else if (param == "DownloadModel") {
       downloadModelButton = new FrogPilotButtonsControl(title, desc, icon, {tr("DOWNLOAD"), tr("DOWNLOAD ALL")});
       QObject::connect(downloadModelButton, &FrogPilotButtonsControl::buttonClicked, [this](int id) {
-        auto isInstalled = [this](const QString &key) {
-          bool has_thneed = false;
-          bool has_policy_meta = false;
-          bool has_policy_tg = false;
-          bool has_vision_meta = false;
-          bool has_vision_tg = false;
-
-          for (const QString &file : modelDir.entryList(QDir::Files)) {
-            QFileInfo fi(modelDir.filePath(file));
-            const QString base = fi.baseName();
-            const QString ext = fi.suffix();
-            if (!(base.startsWith(key) || base.startsWith(key + "_"))) continue;
-
-            if (ext == "thneed") {
-              // Classic model (WD-40 etc.)
-              has_thneed = true;
-            } else if (ext == "pkl") {
-              // TinyGrad bundle uses these four exact suffixes
-              if (base.contains("_driving_policy_metadata"))       has_policy_meta  = true;
-              else if (base.contains("_driving_policy_tinygrad"))  has_policy_tg    = true;
-              else if (base.contains("_driving_vision_metadata"))  has_vision_meta  = true;
-              else if (base.contains("_driving_vision_tinygrad"))  has_vision_tg    = true;
-            }
-          }
-
-          // Classic models: any matching .thneed counts as installed
-          if (has_thneed) return true;
-          // TinyGrad models: require all four policy/vision files to be present
-          return has_policy_meta && has_policy_tg && has_vision_meta && has_vision_tg;
-        };
         if (id == 0) {
           if (modelDownloading) {
             params_memory.putBool("CancelModelDownload", true);
 
             cancellingDownload = true;
-          } else {
-            QStringList downloadableModels = availableModelNames;
-            for (const QString &modelKey : modelFileToNameMap.keys()) {
-              QString modelName = modelFileToNameMap.value(modelKey);
-              if (isInstalled(modelKey)) {
-                downloadableModels.removeAll(modelName);
-              }
-            }
-            downloadableModels.removeAll("Space Lab 👀📡");
-            allModelsDownloaded = downloadableModels.isEmpty();
+        } else {
+          QMap<QString, QStringList> downloadableSeriesToModels;
+          QStringList downloadableModelNames;
 
-            // Group downloadable models by series
-            QMap<QString, QStringList> downloadableSeriesToModels;
-            for (const QString &modelName : downloadableModels) {
-              QString modelKey = modelFileToNameMap.key(modelName);
-              QString series = modelSeriesMap.value(modelKey, "Custom Series");
-              downloadableSeriesToModels[series].append(modelName);
+          for (auto it = modelFileToNameMap.constBegin(); it != modelFileToNameMap.constEnd(); ++it) {
+            const QString &modelKey = it.key();
+            const QString &modelName = it.value();
+            if (modelName.isEmpty() || isModelInstalled(modelKey)) {
+              continue;
             }
 
-            // Sort models within each series
-            for (QString &series : downloadableSeriesToModels.keys()) {
-              downloadableSeriesToModels[series].sort();
+            QString series = modelSeriesMap.value(modelKey, tr("Custom Series"));
+            downloadableSeriesToModels[series].append(modelName);
+            if (!downloadableModelNames.contains(modelName)) {
+              downloadableModelNames.append(modelName);
             }
+          }
 
-            QString modelToDownload = ExpandableMultiOptionDialog::getSelection(tr("Select a driving model to download"), downloadableSeriesToModels, "", this);
+          allModelsDownloaded = downloadableModelNames.isEmpty();
+          if (allModelsDownloaded) {
+            return;
+          }
+
+          for (QString &series : downloadableSeriesToModels.keys()) {
+            QStringList &models = downloadableSeriesToModels[series];
+            models.removeDuplicates();
+            std::sort(models.begin(), models.end());
+          }
+
+          QStringList userFavorites = QString::fromStdString(params.get("UserFavorites")).split(",");
+          userFavorites.removeAll("");
+
+          QStringList communityFavorites = QString::fromStdString(params.get("CommunityFavorites")).split(",");
+          communityFavorites.removeAll("");
+
+          QString savedSortMode = QString::fromStdString(params.get("ModelSortMode"));
+          if (savedSortMode.isEmpty()) savedSortMode = "alphabetical";
+
+          ExpandableMultiOptionDialog dialog(
+              tr("Select a driving model to download"),
+              downloadableSeriesToModels,
+              "",
+              this,
+              userFavorites,
+              communityFavorites,
+              modelReleasedDates,
+              modelFileToNameMap,
+              savedSortMode);
+
+          int dialogResult = dialog.exec();
+
+          QString sortMode = dialog.getCurrentSortMode();
+          QStringList newUserFavs = dialog.getUserFavorites();
+          params.put("ModelSortMode", sortMode.toStdString());
+          params.put("UserFavorites", newUserFavs.join(",").toStdString());
+          userFavorites = newUserFavs;
+
+          if (dialogResult == QDialog::Accepted) {
+            QString modelToDownload = dialog.selection;
             if (!modelToDownload.isEmpty()) {
               QString modelKey = modelFileToNameMap.key(modelToDownload);
               params_memory.put("ModelToDownload", modelKey.toStdString());
@@ -182,15 +208,16 @@ FrogPilotModelPanel::FrogPilotModelPanel(FrogPilotSettingsWindow *parent) : Frog
                   }
                 }
               }
-              params_memory.put("ModelDownloadProgress", "Downloading...");
+                params_memory.put("ModelDownloadProgress", "Downloading...");
 
-              downloadModelButton->setText(0, tr("CANCEL"));
+                downloadModelButton->setText(0, tr("CANCEL"));
 
-              downloadModelButton->setValue("Downloading...");
+                downloadModelButton->setValue("Downloading...");
 
-              downloadModelButton->setVisibleButton(1, false);
+                downloadModelButton->setVisibleButton(1, false);
 
-              modelDownloading = true;
+                modelDownloading = true;
+              }
             }
           }
         } else if (id == 1) {
@@ -308,57 +335,32 @@ FrogPilotModelPanel::FrogPilotModelPanel(FrogPilotSettingsWindow *parent) : Frog
     } else if (param == "SelectModel") {
       selectModelButton = new ButtonControl(title, tr("SELECT"), desc);
       QObject::connect(selectModelButton, &ButtonControl::clicked, [this]() {
-        auto isInstalled = [this](const QString &key) {
-          bool has_thneed = false;
-          bool has_policy_meta = false;
-          bool has_policy_tg = false;
-          bool has_vision_meta = false;
-          bool has_vision_tg = false;
+        // Group models by series for the enhanced dialog
+        QMap<QString, QStringList> seriesToModels;
+        QMap<QString, QString> installedModelFileToNameMap;
+        QMap<QString, QString> installedReleasedDates;
 
-          for (const QString &file : modelDir.entryList(QDir::Files)) {
-            QFileInfo fi(modelDir.filePath(file));
-            const QString base = fi.baseName();
-            const QString ext = fi.suffix();
-            if (!(base.startsWith(key) || base.startsWith(key + "_"))) continue;
-
-            if (ext == "thneed") {
-              // Classic model (WD-40 etc.)
-              has_thneed = true;
-            } else if (ext == "pkl") {
-              // TinyGrad bundle uses these four exact suffixes
-              if (base.contains("_driving_policy_metadata"))       has_policy_meta  = true;
-              else if (base.contains("_driving_policy_tinygrad"))  has_policy_tg    = true;
-              else if (base.contains("_driving_vision_metadata"))  has_vision_meta  = true;
-              else if (base.contains("_driving_vision_tinygrad"))  has_vision_tg    = true;
-            }
+        // Add all available models by series
+        for (const QString &modelKey : modelFileToNameMap.keys()) {
+          if (!isModelInstalled(modelKey)) {
+            continue;
           }
 
-          // Classic models: any matching .thneed counts as installed
-          if (has_thneed) return true;
-          // TinyGrad models: require all four policy/vision files to be present
-          return has_policy_meta && has_policy_tg && has_vision_meta && has_vision_tg;
-        };
-        // Group models by series
-        QMap<QString, QStringList> seriesToModels;
-        for (const QString &modelKey : modelFileToNameMap.keys()) {
           QString modelName = modelFileToNameMap.value(modelKey);
           if (modelName.contains("(Default)")) {
             continue;
           }
 
-          if (isInstalled(modelKey)) {
-            QString series = modelSeriesMap.value(modelKey, "Dom Forgot To Label Me");
-            seriesToModels[series].append(modelName);
+          installedModelFileToNameMap.insert(modelKey, modelName);
+          if (modelReleasedDates.contains(modelKey)) {
+            installedReleasedDates.insert(modelKey, modelReleasedDates.value(modelKey));
           }
+
+          QString series = modelSeriesMap.value(modelKey, "Custom Series");
+          seriesToModels[series].append(modelName);
         }
 
-        // Add Space Lab to Custom Series
-        QString spaceLabName = modelFileToNameMap.value("space-lab");
-        if (isInstalled("space-lab")) {
-          seriesToModels["Custom Series"].append(spaceLabName);
-        }
-
-        // Sort models within each series
+        // Sort models alphabetically within each series
         for (QString &series : seriesToModels.keys()) {
           seriesToModels[series].sort();
         }
@@ -371,54 +373,70 @@ FrogPilotModelPanel::FrogPilotModelPanel(FrogPilotSettingsWindow *parent) : Frog
           seriesToModels[defaultSeries].prepend(defaultModelName);
         }
 
-        QString modelToSelect = ExpandableMultiOptionDialog::getSelection(tr("Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC"), seriesToModels, currentModel, this);
-        if (!modelToSelect.isEmpty()) {
-          currentModel = modelToSelect;
+        // Prepare favorites and dates for the enhanced dialog
+        QStringList userFavs = QString::fromStdString(params.get("UserFavorites")).split(",");
+        userFavs.removeAll("");
 
-          params.put("Model", modelFileToNameMap.key(modelToSelect).toStdString());
-          // Sync ModelVersion with the selected model if known
-          {
-            QString modelKey = modelFileToNameMap.key(modelToSelect);
-            QFile vf("/data/models/.model_versions.json");
-            if (vf.open(QIODevice::ReadOnly)) {
-              auto doc = QJsonDocument::fromJson(vf.readAll());
-              if (doc.isObject()) {
-                auto obj = doc.object();
-                if (obj.contains(modelKey)) {
-                  params.put("ModelVersion", obj.value(modelKey).toString().toStdString());
+        QStringList communityFavs = QString::fromStdString(params.get("CommunityFavorites")).split(",");
+        communityFavs.removeAll("");
+
+        // Create dialog instance to access sort mode and favorites after selection
+        QString savedSortMode = QString::fromStdString(params.get("ModelSortMode"));
+        if (savedSortMode.isEmpty()) savedSortMode = "alphabetical";
+
+        ExpandableMultiOptionDialog dialog(tr("Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC"),
+                                          seriesToModels, currentModel, this,
+                                          userFavs, communityFavs, installedReleasedDates, installedModelFileToNameMap, savedSortMode);
+
+        int dialogResult = dialog.exec();
+
+        // Persist sort mode and user favorites even if no selection was made
+        QString sortMode = dialog.getCurrentSortMode();
+        QStringList newUserFavs = dialog.getUserFavorites();
+        params.put("ModelSortMode", sortMode.toStdString());
+        params.put("UserFavorites", newUserFavs.join(",").toStdString());
+
+        if (dialogResult == QDialog::Accepted) {
+          QString modelToSelect = dialog.selection;
+          if (!modelToSelect.isEmpty()) {
+            currentModel = modelToSelect;
+
+            params.put("Model", modelFileToNameMap.key(modelToSelect).toStdString());
+            // Sync ModelVersion with the selected model if known
+            {
+              QString modelKey = modelFileToNameMap.key(modelToSelect);
+              QFile vf("/data/models/.model_versions.json");
+              if (vf.open(QIODevice::ReadOnly)) {
+                auto doc = QJsonDocument::fromJson(vf.readAll());
+                if (doc.isObject()) {
+                  auto obj = doc.object();
+                  if (obj.contains(modelKey)) {
+                    params.put("ModelVersion", obj.value(modelKey).toString().toStdString());
+                  }
                 }
               }
             }
-          }
 
-          updateFrogPilotToggles();
+            updateFrogPilotToggles();
 
-          if (started) {
-            if (FrogPilotConfirmationDialog::toggleReboot(this)) {
-              Hardware::reboot();
-            }
-          }
-          selectModelButton->setValue(modelToSelect);
-
-          QStringList deletableModels;
-          for (const QString &file : modelDir.entryList(QDir::Files)) {
-            QString base = QFileInfo(file).baseName();
-            for (const QString &modelKey : modelFileToNameMapProcessed.keys()) {
-              if (base.startsWith(modelKey)) {
-                QString modelName = modelFileToNameMapProcessed.value(modelKey);
-                if (!deletableModels.contains(modelName)) {
-                  deletableModels.append(modelName);
-                }
+            if (started) {
+              if (FrogPilotConfirmationDialog::toggleReboot(this)) {
+                Hardware::reboot();
               }
             }
+            selectModelButton->setValue(modelToSelect);
+
+            noModelsDownloaded = getDeletableModelDisplayNames().isEmpty();
+            deleteModelButton->setEnabled(!(allModelsDownloading || modelDownloading || noModelsDownloaded));
           }
-          deletableModels.removeAll(processModelName(currentModel));
-          deletableModels.removeAll(modelFileToNameMapProcessed.value(QString::fromStdString(params_default.get("Model"))));
-          noModelsDownloaded = deletableModels.isEmpty();
         }
       });
       modelToggle = selectModelButton;
 
+    } else if (param == "RecoveryPower") {
+      std::vector<QString> recoveryPowerButton{"Reset"};
+      modelToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0.5, 2.0, QString(), std::map<float, QString>(), 0.1, false, {}, recoveryPowerButton, false, false);
+      recoveryPowerToggle = static_cast<FrogPilotParamValueButtonControl*>(modelToggle);
     } else if (param == "StopDistance") {
       std::vector<QString> stopDistanceButton{"Reset"};
       modelToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 4.0, 10.0, QString(), std::map<float, QString>(), 0.1, false, {}, stopDistanceButton, false, false);
@@ -451,6 +469,16 @@ FrogPilotModelPanel::FrogPilotModelPanel(FrogPilotSettingsWindow *parent) : Frog
     }
   });
 
+  if (recoveryPowerToggle) {
+    QObject::connect(recoveryPowerToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this, recoveryPowerToggle]() {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to reset your <b>Recovery Power</b> to the default of 1.0?"), tr("Reset"), this)) {
+        params.putFloat("RecoveryPower", 1.0);
+        recoveryPowerToggle->refresh();
+        updateFrogPilotToggles();
+      }
+    });
+  }
+
   if (stopDistanceToggle) {
     QObject::connect(stopDistanceToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this, stopDistanceToggle]() {
       if (ConfirmationDialog::confirm(tr("Are you sure you want to reset your <b>Stop Distance</b> to the default of 6 meters?"), tr("Reset"), this)) {
@@ -465,6 +493,96 @@ FrogPilotModelPanel::FrogPilotModelPanel(FrogPilotSettingsWindow *parent) : Frog
   QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotModelPanel::updateState);
 }
 
+bool FrogPilotModelPanel::isModelInstalled(const QString &key) const {
+  if (key.isEmpty()) {
+    return false;
+  }
+
+  bool has_thneed = false;
+  bool has_policy_meta = false;
+  bool has_policy_tg = false;
+  bool has_vision_meta = false;
+  bool has_vision_tg = false;
+  bool has_off_policy_meta = false;
+  bool has_off_policy_tg = false;
+  bool foundAny = false;
+
+  for (const QString &file : modelDir.entryList(QDir::Files)) {
+    QFileInfo fi(modelDir.filePath(file));
+    const QString base = fi.baseName();
+    const QString ext = fi.suffix();
+
+    if (!(base.startsWith(key) || base.startsWith(key + "_"))) continue;
+
+    foundAny = true;
+
+    if (ext == "thneed") {
+      has_thneed = true;
+    } else if (ext == "pkl") {
+      if (base.contains("_driving_policy_metadata")) {
+        has_policy_meta = true;
+      } else if (base.contains("_driving_policy_tinygrad")) {
+        has_policy_tg = true;
+      } else if (base.contains("_driving_off_policy_metadata")) {
+        has_off_policy_meta = true;
+      } else if (base.contains("_driving_off_policy_tinygrad")) {
+        has_off_policy_tg = true;
+      } else if (base.contains("_driving_vision_metadata")) {
+        has_vision_meta = true;
+      } else if (base.contains("_driving_vision_tinygrad")) {
+        has_vision_tg = true;
+      }
+    }
+  }
+
+  if (has_thneed) {
+    return true;
+  }
+
+  if (has_policy_meta && has_policy_tg && has_vision_meta && has_vision_tg) {
+    if (has_off_policy_meta || has_off_policy_tg) {
+      return has_off_policy_meta && has_off_policy_tg;
+    }
+    return true;
+  }
+
+  return foundAny;
+}
+
+QMap<QString, QString> FrogPilotModelPanel::getDeletableModelDisplayNames() {
+  QMap<QString, QString> deletable;
+
+  QString defaultModelKey = QString::fromStdString(params_default.get("Model"));
+  QString defaultModelName = modelFileToNameMap.value(defaultModelKey);
+  QString processedDefault = processModelName(defaultModelName);
+  QString processedCurrent = processModelName(currentModel);
+
+  for (auto it = modelFileToNameMap.constBegin(); it != modelFileToNameMap.constEnd(); ++it) {
+    const QString &modelKey = it.key();
+    const QString &displayName = it.value();
+    if (displayName.isEmpty()) {
+      continue;
+    }
+
+    if (!isModelInstalled(modelKey)) {
+      continue;
+    }
+
+    QString processedName = processModelName(displayName);
+    if (!processedCurrent.isEmpty() && processedName == processedCurrent) {
+      continue;
+    }
+
+    if (!processedDefault.isEmpty() && processedName == processedDefault) {
+      continue;
+    }
+
+    deletable.insert(modelKey, displayName);
+  }
+
+  return deletable;
+}
+
 void FrogPilotModelPanel::showEvent(QShowEvent *event) {
   FrogPilotUIState &fs = *frogpilotUIState();
   UIState &s = *uiState();
@@ -478,6 +596,9 @@ void FrogPilotModelPanel::showEvent(QShowEvent *event) {
   QStringList availableModels = QString::fromStdString(params.get("AvailableModels")).split(",");
   availableModelNames = QString::fromStdString(params.get("AvailableModelNames")).split(",");
   availableModelSeries = QString::fromStdString(params.get("AvailableModelSeries")).split(",");
+  QStringList releasedDatesParam = QString::fromStdString(params.get("ModelReleasedDates")).split(",");
+  QStringList communityFavsParam = QString::fromStdString(params.get("CommunityFavorites")).split(",");
+  QStringList userFavsParam = QString::fromStdString(params.get("UserFavorites")).split(",");
 
   // Build a simple model->version map for quick lookups elsewhere
   {
@@ -497,78 +618,54 @@ void FrogPilotModelPanel::showEvent(QShowEvent *event) {
   modelFileToNameMap.clear();
   modelFileToNameMapProcessed.clear();
   modelSeriesMap.clear();
-  int size = qMin(qMin(availableModels.size(), availableModelNames.size()), availableModelSeries.size());
+  modelReleasedDates.clear();
+  int size = qMin(availableModels.size(), availableModelNames.size());
   for (int i = 0; i < size; ++i) {
-    modelFileToNameMap.insert(availableModels[i], availableModelNames[i]);
-    modelFileToNameMapProcessed.insert(availableModels[i], processModelName(availableModelNames[i]));
-    modelSeriesMap.insert(availableModels[i], availableModelSeries[i]);
-  }
-  modelFileToNameMap.insert("space-lab", "Space Lab 👀📡");
-  modelFileToNameMapProcessed.insert("space-lab", "Space Lab");
-  modelSeriesMap.insert("space-lab", "Dom Forgot To Label Me");
-
-  auto isInstalled = [this](const QString &key) {
-    bool has_thneed = false;
-    bool has_policy_meta = false;
-    bool has_policy_tg = false;
-    bool has_vision_meta = false;
-    bool has_vision_tg = false;
-
-    for (const QString &file : modelDir.entryList(QDir::Files)) {
-      QFileInfo fi(modelDir.filePath(file));
-      const QString base = fi.baseName();
-      const QString ext = fi.suffix();
-      if (!(base.startsWith(key) || base.startsWith(key + "_"))) continue;
-
-      if (ext == "thneed") {
-        // Classic model (WD-40 etc.)
-        has_thneed = true;
-      } else if (ext == "pkl") {
-        // TinyGrad bundle uses these four exact suffixes
-        if (base.contains("_driving_policy_metadata"))       has_policy_meta  = true;
-        else if (base.contains("_driving_policy_tinygrad"))  has_policy_tg    = true;
-        else if (base.contains("_driving_vision_metadata"))  has_vision_meta  = true;
-        else if (base.contains("_driving_vision_tinygrad"))  has_vision_tg    = true;
-      }
+    const QString modelKey = availableModels[i].trimmed();
+    const QString modelName = availableModelNames[i].trimmed();
+    if (modelKey.isEmpty() || modelName.isEmpty()) {
+      continue;
     }
 
-    // Classic models: any matching .thneed counts as installed
-    if (has_thneed) return true;
-    // TinyGrad models: require all four policy/vision files to be present
-    return has_policy_meta && has_policy_tg && has_vision_meta && has_vision_tg;
-  };
-  QStringList downloadableModels = availableModelNames;
-  for (const QString &modelKey : modelFileToNameMap.keys()) {
-    QString modelName = modelFileToNameMap.value(modelKey);
-    if (isInstalled(modelKey)) {
-      downloadableModels.removeAll(modelName);
+    QString series;
+    if (i < availableModelSeries.size()) {
+      series = availableModelSeries[i].trimmed();
+    }
+    if (series.isEmpty()) {
+      series = tr("Custom Series");
     }
-  }
-  allModelsDownloaded = downloadableModels.isEmpty();
 
-  QStringList deletableModels;
-  for (const QString &file : modelDir.entryList(QDir::Files)) {
-    QString base = QFileInfo(file).baseName();
-    for (const QString &modelKey : modelFileToNameMapProcessed.keys()) {
-      if (base.startsWith(modelKey)) {
-        QString modelName = modelFileToNameMapProcessed.value(modelKey);
-        if (!deletableModels.contains(modelName)) {
-          deletableModels.append(modelName);
-        }
+    modelFileToNameMap.insert(modelKey, modelName);
+    modelFileToNameMapProcessed.insert(modelKey, processModelName(modelName));
+    modelSeriesMap.insert(modelKey, series);
+
+    if (i < releasedDatesParam.size()) {
+      const QString released = releasedDatesParam[i].trimmed();
+      if (!released.isEmpty()) {
+        this->modelReleasedDates.insert(modelKey, released);
       }
     }
   }
-  deletableModels.removeAll(processModelName(currentModel));
-  deletableModels.removeAll(modelFileToNameMapProcessed.value(QString::fromStdString(params_default.get("Model"))));
-  noModelsDownloaded = deletableModels.isEmpty();
+  allModelsDownloaded = true;
+  for (auto it = modelFileToNameMap.constBegin(); it != modelFileToNameMap.constEnd(); ++it) {
+    if (it.value().isEmpty()) {
+      continue;
+    }
+    if (!isModelInstalled(it.key())) {
+      allModelsDownloaded = false;
+      break;
+    }
+  }
 
   QString modelKey = QString::fromStdString(params.get("Model"));
-  if (!isInstalled(modelKey)) {
+  if (!isModelInstalled(modelKey)) {
     modelKey = QString::fromStdString(params_default.get("Model"));
   }
   currentModel = modelFileToNameMap.value(modelKey);
   selectModelButton->setValue(currentModel);
 
+  noModelsDownloaded = getDeletableModelDisplayNames().isEmpty();
+
   bool parked = !s.scene.started || fs.frogpilot_scene.parked || fs.frogpilot_toggles.value("frogs_go_moo").toBool();
 
   deleteModelButton->setEnabled(!(allModelsDownloading || modelDownloading || noModelsDownloaded));
@@ -666,10 +763,10 @@ void FrogPilotModelPanel::updateToggles() {
 
     if (key == "ManageBlacklistedModels" || key == "ManageScores") {
       setVisible &= params.getBool("ModelRandomizer");
-    }
-
-    else if (key == "SelectModel") {
+    } else if (key == "SelectModel") {
       setVisible &= !params.getBool("ModelRandomizer");
+    } else if (key == "RecoveryPower") {
+      setVisible &= (tuningLevel == 3); // Only visible in developer tuning level
     } else if (key == "StopDistance") {
       setVisible &= (tuningLevel == 3); // Only visible in developer tuning level
     }

frogpilot/ui/qt/offroad/model_settings.h

@@ -20,6 +20,8 @@ private:
   void updateModelLabels(FrogPilotListWidget *labelsList);
   void updateState(const UIState &s, const FrogPilotUIState &fs);
   void updateToggles();
+  bool isModelInstalled(const QString &key) const;
+  QMap<QString, QString> getDeletableModelDisplayNames();
 
   bool allModelsDownloaded;
   bool allModelsDownloading;
@@ -55,10 +57,12 @@ private:
 
   QMap<QString, QString> modelFileToNameMap;
   QMap<QString, QString> modelFileToNameMapProcessed;
+  QMap<QString, QString> modelReleasedDates;
   QMap<QString, QString> modelSeriesMap;
 
   QString currentModel;
 
+
   QStringList availableModelNames;
   QStringList availableModelSeries;
 };

frogpilot/ui/qt/offroad/vehicle_settings.cc

@@ -168,6 +168,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent)
   std::vector<std::tuple<QString, QString, QString, QString>> vehicleToggles {
     {"GMToggles", tr("General Motors Settings"), tr("<b>FrogPilot features for General Motors vehicles.</b>"), ""},
     {"ExperimentalGMTune", tr("FrogsGoMoo's Experimental Tune"), tr("<b>Experimental GM tune by FrogsGoMoo</b> that attempts to smoothen stopping and takeoff control. Use at your own risk!"), ""},
+    {"GMPedalLongitudinal", tr("Use Pedal for Longitudinal Control"), tr("<b>Use the pedal interceptor for longitudinal control</b> instead of camera ACC/Redneck when available."), ""},
     {"LongPitch", tr("Smooth Pedal Response on Hills"), tr("<b>Smoothen acceleration and braking</b> when driving downhill/uphill."), ""},
     {"VoltSNG", tr("Stop-and-Go Hack"), tr("<b>Force stop-and-go</b> on the 2017 Chevy Volt."), ""},
 
@@ -188,6 +189,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent)
     {"PedalSupport", tr("comma Pedal Support"), tr("<b>Does your vehicle support the \"comma pedal\"?</b>"), ""},
     {"OpenpilotLongitudinal", tr("openpilot Longitudinal Support"), tr("<b>Can openpilot control the vehicle's acceleration and braking?</b>"), ""},
     {"RadarSupport", tr("Radar Support"), tr("<b>Does openpilot use the vehicle's radar data</b> alongside the device's camera for tracking lead vehicles?"), ""},
+    {"SASCMSupport", tr("SASCM Support"), tr("<b>Does your vehicle support \"SASCMs\"?</b>"), ""},
     {"SDSUSupport", tr("SDSU Support"), tr("<b>Does your vehicle support \"SDSUs\"?</b>"), ""},
     {"SNGSupport", tr("Stop-and-Go Support"), tr("<b>Does your vehicle support stop-and-go driving?</b>"), ""}
   };
@@ -341,6 +343,7 @@ void FrogPilotVehiclesPanel::showEvent(QShowEvent *event) {
 
   QStringList detected;
   if (hasPedal) detected << "comma Pedal";
+  if (parent->hasSASCM) detected << "SASCM";
   if (parent->hasSDSU) detected << "SDSU";
   if (parent->hasZSS) detected << "ZSS";
   static_cast<LabelControl*>(toggles["HardwareDetected"])->setText(detected.isEmpty() ? tr("None") : detected.join(", "));
@@ -349,6 +352,7 @@ void FrogPilotVehiclesPanel::showEvent(QShowEvent *event) {
   static_cast<LabelControl*>(toggles["OpenpilotLongitudinal"])->setText(hasOpenpilotLongitudinal ? tr("Yes") : tr("No"));
   static_cast<LabelControl*>(toggles["PedalSupport"])->setText(parent->canUsePedal ? tr("Yes") : tr("No"));
   static_cast<LabelControl*>(toggles["RadarSupport"])->setText(parent->hasRadar ? tr("Yes") : tr("No"));
+  static_cast<LabelControl*>(toggles["SASCMSupport"])->setText(parent->canUseSASCM ? tr("Yes") : tr("No"));
   static_cast<LabelControl*>(toggles["SDSUSupport"])->setText(parent->canUseSDSU ? tr("Yes") : tr("No"));
   static_cast<LabelControl*>(toggles["SNGSupport"])->setText(hasSNG ? tr("Yes") : tr("No"));
 
@@ -403,6 +407,10 @@ void FrogPilotVehiclesPanel::updateToggles() {
       setVisible &= isHKGCanFd;
     }
 
+    else if (key == "GMPedalLongitudinal") {
+      setVisible &= hasPedal;
+    }
+
     else if (key == "VoltSNG") {
       setVisible &= isVolt && !hasSNG;
     }

frogpilot/ui/qt/offroad/vehicle_settings.h

@@ -36,11 +36,11 @@ private:
 
   std::map<QString, AbstractControl*> toggles;
 
-  QSet<QString> gmKeys = {"ExperimentalGMTune", "LongPitch", "VoltSNG"};
+  QSet<QString> gmKeys = {"ExperimentalGMTune", "GMPedalLongitudinal", "LongPitch", "VoltSNG"};
   QSet<QString> hkgKeys = {"NewLongAPI", "TacoTuneHacks"};
   QSet<QString> longitudinalKeys = {"ExperimentalGMTune", "FrogsGoMoosTweak", "LongPitch", "NewLongAPI", "SNGHack", "VoltSNG"};
   QSet<QString> toyotaKeys = {"ClusterOffset", "FrogsGoMoosTweak", "LockDoorsTimer", "SNGHack", "ToyotaDoors"};
-  QSet<QString> vehicleInfoKeys = {"BlindSpotSupport", "HardwareDetected", "OpenpilotLongitudinal", "PedalSupport", "RadarSupport", "SDSUSupport", "SNGSupport"};
+  QSet<QString> vehicleInfoKeys = {"BlindSpotSupport", "HardwareDetected", "OpenpilotLongitudinal", "PedalSupport", "RadarSupport", "SASCMSupport", "SDSUSupport", "SNGSupport"};
 
   QSet<QString> parentKeys;
 

launch_chffrplus.sh

@@ -8,7 +8,114 @@ source "$BASEDIR/launch_env.sh"
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 
+ # --- BEGIN: auto-fix persist from squashfs -> ext4 (one-time, preserves identity) ---
+function persist_convert_if_needed {
+  LOG="/tmp/persist_fix.log"
+  {
+    echo "[persist-fix] ----- start $(date) -----"
+
+    # Guard: if we've already converted on this device, skip
+    if [ -f /data/.persist_converted ] || [ -f /persist/.converted_to_ext4 ]; then
+      echo "[persist-fix] Marker exists; skipping."
+      return 0
+    fi
+
+    # Discover persist device
+    DEV="$(blkid -t LABEL=persist -o device 2>/dev/null || true)"
+    if [ -z "$DEV" ] && [ -e /dev/disk/by-partlabel/persist ]; then
+      DEV="$(realpath /dev/disk/by-partlabel/persist)"
+    fi
+    if [ -z "$DEV" ]; then
+      # Fallback commonly used path
+      if lsblk -no PATH,LABEL | grep -E "persist$" >/dev/null 2>&1; then
+        DEV="$(lsblk -no PATH,LABEL | awk '$2=="persist"{print $1; exit}')"
+      else
+        DEV="/dev/sda2"
+      fi
+    fi
+    echo "[persist-fix] Using device: ${DEV}"
+
+    # Detect device filesystem type
+    FSTYPE="$(blkid -o value -s TYPE "$DEV" 2>/dev/null || true)"
+    echo "[persist-fix] Detected $DEV fstype='$FSTYPE'"
+    UNSQS="$DIR/third_party/bin/unsquashfs"
+
+    # Detect current /persist mount status & fstype
+    CUR_MNT_TYPE="$(mount | awk '$3==\"/persist\"{print $5}' | head -n1)"
+    if mountpoint -q /persist; then
+      echo "[persist-fix] /persist currently mounted as type='${CUR_MNT_TYPE}'"
+    else
+      echo "[persist-fix] /persist is not a mountpoint (empty dir)."
+    fi
+
+    # Only proceed on NEW devices: either /persist is not mounted OR is squashfs,
+    # AND the underlying persist partition is squashfs (factory RO image).
+    if { ! mountpoint -q /persist || [ "${CUR_MNT_TYPE}" = "squashfs" ]; } && [ "${FSTYPE}" = "squashfs" ]; then
+      echo "[persist-fix] NEW device detected (squashfs persist). Converting to ext4."
+
+      # Stream identity files using unsquashfs -cat directly
+      for f in id_rsa id_rsa.pub color_cal dongle_id; do
+        if sudo "$UNSQS" -cat "$DEV" "comma/$f" > "/data/$f" 2>/dev/null; then
+          echo "[persist-fix] Preserved $f"
+        else
+          echo "[persist-fix] $f not found in squashfs (ok, may not exist)."
+        fi
+      done
+
+      # (Optional) raw backup of the original partition image (once)
+      if [ ! -f /data/persist_backup.img ]; then
+        echo "[persist-fix] Creating raw backup of ${DEV} to /data/persist_backup.img"
+        sudo dd if="$DEV" of=/data/persist_backup.img bs=1M status=none || true
+        sync
+      fi
+
+      # Reformat persist as ext4 and label it
+      echo "[persist-fix] Formatting ${DEV} as ext4..."
+      if ! sudo mkfs.ext4 -F "$DEV"; then
+        echo "[persist-fix][ERROR] mkfs.ext4 failed on ${DEV}. Aborting."
+        return 0
+      fi
+      sudo e2label "$DEV" persist || true
+
+      # Mount the new ext4 persist RW
+      if ! sudo mount -t ext4 -o rw,discard "$DEV" /persist; then
+        echo "[persist-fix][ERROR] Failed to mount new ext4 persist. Aborting."
+        return 0
+      fi
+
+      # Recreate expected structure and restore identity
+      sudo mkdir -p /persist/{comma,params,tracking}
+      sudo chmod 755 /persist /persist/{comma,params,tracking}
+      for f in id_rsa id_rsa.pub color_cal dongle_id; do
+        if [ -f "/data/$f" ]; then
+          sudo cp -p "/data/$f" "/persist/comma/$f"
+        fi
+      done
+      if [ -f /persist/comma/id_rsa ]; then sudo chmod 600 /persist/comma/id_rsa; fi
+      sudo chown -R comma:comma /persist/ /persist/comma /persist/params /persist/tracking || true
+      sudo touch /persist/tracking/.lock
+
+      # Seed minimal params (only if not present)
+      [ -f /persist/params/HasAcceptedTerms ] || echo -n 1 | sudo tee /persist/params/HasAcceptedTerms >/dev/null
+      [ -f /persist/params/AlwaysOnDM ]      || echo -n 1 | sudo tee /persist/params/AlwaysOnDM      >/dev/null
+
+      # Mark complete so we don't run again; reboot once
+      echo "ext4" | sudo tee /persist/.converted_to_ext4 >/dev/null
+      sudo touch /data/.persist_converted
+      sync
+      echo "[persist-fix] Conversion complete. Rebooting once to finalize..."
+      sudo reboot
+    else
+      echo "[persist-fix] Device is not NEW/squashfs (persist already ext4 or mounted). Skipping."
+    fi
+
+    echo "[persist-fix] ----- end $(date) -----"
+  } >>"$LOG" 2>&1
+}
+# --- END: auto-fix persist from squashfs -> ext4 ---
+
 function agnos_init {
+  persist_convert_if_needed
   # TODO: move this to agnos
   sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
 

panda/board/safety/safety_gm.h

@@ -1,11 +1,11 @@
 const SteeringLimits GM_STEERING_LIMITS = {
-  .max_steer = 300,
-  .max_rate_up = 10,
-  .max_rate_down = 15,
-  .driver_torque_allowance = 65,
-  .driver_torque_factor = 4,
-  .max_rt_delta = 128,
-  .max_rt_interval = 250000,
+  .max_steer = 450,
+  .max_rate_up = 15,
+  .max_rate_down = 34,
+  .driver_torque_allowance = 78,
+  .driver_torque_factor = 6,
+  .max_rt_delta = 345,
+  .max_rt_interval = 200000,
   .type = TorqueDriverLimited,
 };
 

panda/python/__init__.py

@@ -804,7 +804,8 @@ class Panda:
   # The panda will NAK CAN writes when there is CAN congestion.
   # libusb will try to send it again, with a max timeout.
   # Timeout is in ms. If set to 0, the timeout is infinite.
-  CAN_SEND_TIMEOUT_MS = 10
+  CAN_SEND_TIMEOUT_MS = 5
+  CAN_MAX_RETRIES = 3
 
   def can_reset_communications(self):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xc0, 0, 0, b'')
@@ -812,18 +813,18 @@ class Panda:
   @ensure_can_packet_version
   def can_send_many(self, arr, timeout=CAN_SEND_TIMEOUT_MS):
     snds = pack_can_buffer(arr)
-    while True:
-      try:
-        for tx in snds:
-          while True:
-            bs = self._handle.bulkWrite(3, tx, timeout=timeout)
-            tx = tx[bs:]
-            if len(tx) == 0:
-              break
-            logging.error("CAN: PARTIAL SEND MANY, RETRYING")
-        break
-      except (usb1.USBErrorIO, usb1.USBErrorOverflow):
-        logging.error("CAN: BAD SEND MANY, RETRYING")
+    for tx in snds:
+      retries = 0
+      while len(tx) > 0:
+        bs = self._handle.bulkWrite(3, tx, timeout=timeout)
+        if bs == 0:
+          retries += 1
+          if retries > self.CAN_MAX_RETRIES:
+            logging.warning("CAN send: no progress after retries, dropping")
+            break
+        else:
+          retries = 0
+        tx = tx[bs:]
 
   def can_send(self, addr, dat, bus, timeout=CAN_SEND_TIMEOUT_MS):
     self.can_send_many([[addr, None, dat, bus]], timeout=timeout)
@@ -831,13 +832,16 @@ class Panda:
   @ensure_can_packet_version
   def can_recv(self):
     dat = bytearray()
-    while True:
+    for _ in range(self.CAN_MAX_RETRIES):
       try:
         dat = self._handle.bulkRead(1, 16384) # Max receive batch size + 2 extra reserve frames
         break
       except (usb1.USBErrorIO, usb1.USBErrorOverflow):
         logging.error("CAN: BAD RECV, RETRYING")
-        time.sleep(0.1)
+        time.sleep(0.01)
+    else:
+      logging.error("CAN: recv failed after retries")
+      return []
     msgs, self.can_rx_overflow_buffer = unpack_can_buffer(self.can_rx_overflow_buffer + dat)
     return msgs
 

panda/python/spi.py

@@ -27,7 +27,10 @@ NACK = 0x1F
 CHECKSUM_START = 0xAB
 
 MIN_ACK_TIMEOUT_MS = 100
+MAX_ACK_TIMEOUT_MS = 500  # like C++ SPI_ACK_TIMEOUT
+DEFAULT_TIMEOUT_MS = 500  # default when timeout=0
 MAX_XFER_RETRY_COUNT = 5
+MAX_TIMEOUT_RETRIES = 5  # like C++
 
 XFER_SIZE = 0x40*31
 
@@ -152,6 +155,8 @@ class PandaSpiHandle(BaseHandle):
     return cksum
 
   def _wait_for_ack(self, spi, ack_val: int, timeout: int, tx: int, length: int = 1) -> bytes:
+    # Original behavior preserved - timeout=0 means wait forever within this function
+    # The caller (_transfer) handles the overall timeout
     timeout_s = max(MIN_ACK_TIMEOUT_MS, timeout) * 1e-3
 
     start = time.monotonic()
@@ -225,10 +230,15 @@ class PandaSpiHandle(BaseHandle):
     logging.debug("starting transfer: endpoint=%d, max_rx_len=%d", endpoint, max_rx_len)
     logging.debug("==============================================")
 
+    # Fix timeout=0 infinite loop: default to DEFAULT_TIMEOUT_MS
+    if timeout == 0:
+      timeout = DEFAULT_TIMEOUT_MS
+
     n = 0
     start_time = time.monotonic()
     exc = PandaSpiException()
-    while (timeout == 0) or (time.monotonic() - start_time) < timeout*1e-3:
+    # Use the timeout for the overall loop, matching original behavior but with timeout=0 fixed
+    while (time.monotonic() - start_time) < timeout * 1e-3:
       n += 1
       logging.debug("\ntry #%d", n)
       with self.dev.acquire() as spi:
@@ -238,6 +248,7 @@ class PandaSpiHandle(BaseHandle):
           exc = e
           logging.debug("SPI transfer failed, retrying", exc_info=True)
 
+    logging.error("SPI transfer failed after %d tries, %.2fms", n, (time.monotonic() - start_time) * 1000)
     raise exc
 
   def get_protocol_version(self) -> bytes:

selfdrive/car/gm/carcontroller.py

@@ -76,6 +76,7 @@ class CarController(CarControllerBase):
     self.regen_paddle_pressed = False
     self.aego = 0.0
     self.regen_paddle_timer = 0
+    self.planner_regen_hold = False
 
 
 
@@ -87,6 +88,7 @@ class CarController(CarControllerBase):
 
   def calc_pedal_command(self, accel: float, long_active: bool, car_velocity) -> Tuple[float, bool]:
     if not long_active:
+      self.planner_regen_hold = False
       return 0., False
 
     # Regen paddle hysteresis (frame-based): hold 10 frames, with decrement dead-zone
@@ -102,7 +104,7 @@ class CarController(CarControllerBase):
 
     # Base paddle press hysteresis
     self.regen_paddle_pressed = self.regen_paddle_timer >= 10  # 10 frames
-    press_regen_paddle = self.regen_paddle_pressed
+    press_regen_paddle = self.regen_paddle_pressed or self.planner_regen_hold
 
 
     # Regen gain ratios from bin-averaged 60–0 deceleration sweep; Calculates stronger decel from paddle
@@ -135,6 +137,21 @@ class CarController(CarControllerBase):
     actuators = CC.actuators
     accel = brake_accel = actuators.accel
     press_regen_paddle = False
+
+    # Planner-driven regen hold: gate by car support and OP long active, use commanded accel thresholds
+    if (self.CP.enableGasInterceptor and self.CP.carFingerprint in CC_REGEN_PADDLE_CAR
+        and self.CP.openpilotLongitudinalControl and CC.longActive):
+      # Match original hysteresis intent: vehicle can usually stop without paddle up to ~1.0 m/s^2
+      # Use the same thresholds as the aEgo-based hysteresis, but on commanded accel for preemption
+      planner_press_threshold = -0.7
+      planner_release_threshold = -0.3
+      if accel <= planner_press_threshold:
+        self.planner_regen_hold = True
+      elif accel >= planner_release_threshold:
+        self.planner_regen_hold = False
+    else:
+      self.planner_regen_hold = False
+
     hud_control = CC.hudControl
     hud_alert = hud_control.visualAlert
     hud_v_cruise = hud_control.setSpeed
@@ -150,7 +167,7 @@ class CarController(CarControllerBase):
       self.CP.openpilotLongitudinalControl and
       CC.longActive and
       self.CP.enableGasInterceptor and
-      self.regen_paddle_timer >= 10  # raw hysteresis-only (10 frames)
+      (self.regen_paddle_timer >= 10 or self.planner_regen_hold)  # hysteresis or planner hint
     )
     regen_active = raw_regen_active
 
@@ -304,6 +321,9 @@ class CarController(CarControllerBase):
       else:
         apply_steer = 0
 
+      if (self.CP.flags & GMFlags.CC_LONG.value) and CC.enabled and not CS.out.cruiseState.enabled: # Send 0 so Panda doesn't error
+        apply_steer = 0
+
       # shift previous steer timestamp
       self.prev_steer_ts_ns = self.last_steer_ts_ns
       self.last_steer_ts_ns = now_nanos
@@ -314,7 +334,7 @@ class CarController(CarControllerBase):
 
     # Update regen_active state and last_regen_paddle_pressed for next loop
     self.last_regen_active = regen_active
-    self.last_regen_paddle_pressed = self.regen_paddle_pressed
+    self.last_regen_paddle_pressed = self.regen_paddle_pressed or self.planner_regen_hold
 
     if paddle_sends:
       interval_ns = self.last_steer_ts_ns - self.prev_steer_ts_ns
@@ -369,9 +389,12 @@ class CarController(CarControllerBase):
         idx = (self.frame // 4) % 4
 
         if self.CP.flags & GMFlags.CC_LONG.value:
-          if CC.longActive and CS.out.vEgo > self.CP.minEnableSpeed:
+          if CC.longActive and CS.out.cruiseState.enabled and CS.out.vEgo > self.CP.minEnableSpeed:
             # Using extend instead of append since the message is only sent intermittently
-            can_sends.extend(gmcan.create_gm_cc_spam_command(self.packer_pt, self, CS, actuators))
+            can_sends.extend(gmcan.create_gm_cc_spam_command(self.packer_pt, self, CS, actuators, frogpilot_toggles))
+          elif (CS.out.cruiseState.enabled and CC.enabled and self.frame % 52 == 0 and
+                CS.cruise_buttons == CruiseButtons.UNPRESS and CS.out.gasPressed and CS.out.cruiseState.speed < CS.out.vEgo < hud_v_cruise):
+            can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.DECEL_SET))
         if self.CP.enableGasInterceptor:
           can_sends.append(create_gas_interceptor_command(self.packer_pt, interceptor_gas_cmd, idx))
         if self.CP.carFingerprint not in CC_ONLY_CAR:

selfdrive/car/gm/gmcan.py

@@ -205,44 +205,41 @@ def create_regen_paddle_command(packer, bus, press_regen_paddle):
   }
   return packer.make_can_msg("EBCMRegenPaddle", bus, values)
 
-def create_gm_cc_spam_command(packer, controller, CS, actuators):
-  if controller.params_.get_bool("IsMetric"):
-    _CV = CV.MS_TO_KPH
-    RATE_UP_MAX = 0.04
-    RATE_DOWN_MAX = 0.04
-  else:
-    _CV = CV.MS_TO_MPH
-    RATE_UP_MAX = 0.2
-    RATE_DOWN_MAX = 0.2
-
-  accel = actuators.accel * _CV  # m/s/s to mph/s
-  speedSetPoint = int(round(CS.out.cruiseState.speed * _CV))
+def create_gm_cc_spam_command(packer, controller, CS, actuators, frogpilot_toggles):
+  accel = actuators.accel
+  Vego = CS.out.vEgo
 
   cruiseBtn = CruiseButtons.INIT
-  if speedSetPoint == CS.CP.minEnableSpeed and accel < -1:
+  if abs(accel) <= 0.15:
+    rate = 1
+  else:
+    rate = 0.2
+
+  MS_CONVERT = CV.MS_TO_KPH if frogpilot_toggles.is_metric else CV.MS_TO_MPH
+
+  speedSetPoint = int(round(CS.out.cruiseState.speed * MS_CONVERT))
+
+  if accel > 0:
+    DesiredSetPoint = int(round((Vego * 1.01 + 3 * accel) * MS_CONVERT)) # 1.01 factor to match cluster speed better
+  else: # accel <= 0
+    DesiredSetPoint = int(round((Vego * 1.01 + 3 * accel) * MS_CONVERT))
+
+  if CS.CP.minEnableSpeed - (DesiredSetPoint /  MS_CONVERT) > 3.25:
     cruiseBtn = CruiseButtons.CANCEL
     controller.apply_speed = 0
-    rate = 0.04
-  elif accel < 0:
+  elif DesiredSetPoint < speedSetPoint and speedSetPoint > CS.CP.minEnableSpeed * MS_CONVERT + 1:
     cruiseBtn = CruiseButtons.DECEL_SET
-    if speedSetPoint > (CS.out.vEgo * _CV) + 3.0:  # If accel is changing directions, bring set speed to current speed as fast as possible
-      rate = RATE_DOWN_MAX
-    else:
-      rate = max(-1 / accel, RATE_DOWN_MAX)
     controller.apply_speed = speedSetPoint - 1
-  elif accel > 0:
+  elif DesiredSetPoint > speedSetPoint:
     cruiseBtn = CruiseButtons.RES_ACCEL
-    if speedSetPoint < (CS.out.vEgo * _CV) - 3.0:
-      rate = RATE_UP_MAX
-    else:
-      rate = max(1 / accel, RATE_UP_MAX)
     controller.apply_speed = speedSetPoint + 1
   else:
+    cruiseBtn = CruiseButtons.INIT
     controller.apply_speed = speedSetPoint
-    rate = float('inf')
 
   # Check rlogs closely - our message shouldn't show up on the pt bus for us
   # Or bus 2, since we're forwarding... but I think it does
+  # TODO: Cleanup the timing - normal is every 30ms...
   if (cruiseBtn != CruiseButtons.INIT) and ((controller.frame - controller.last_button_frame) * DT_CTRL > rate):
     controller.last_button_frame = controller.frame
     idx = (CS.buttons_counter + 1) % 4  # Need to predict the next idx for '22-23 EUV

selfdrive/car/gm/interface.py

@@ -8,7 +8,7 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
 from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR
-from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LateralAccelFromTorqueCallbackType
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LateralAccelFromTorqueCallbackType, get_friction_threshold
 from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
 ButtonType = car.CarState.ButtonEvent.Type
@@ -27,14 +27,18 @@ CAM_MSG = 0x320  # AEBCmd
 ACCELERATOR_POS_MSG = 0xbe
 
 NON_LINEAR_TORQUE_PARAMS = {
-  CAR.CHEVROLET_BOLT_EUV: [2.15, 1.0, 0.21, -0.04],
-  CAR.CHEVROLET_BOLT_CC: [2.15, 1.0, 0.21, -0.04],
+  CAR.CHEVROLET_BOLT_EUV: [2.15, 1.0, 0.21, 0.0],
+  CAR.CHEVROLET_BOLT_CC: [2.15, 1.0, 0.21, 0.0],
   CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
   CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
 }
 
 
 class CarInterface(CarInterfaceBase):
+  def __init__(self, CP, FPCP, CarController, CarState):
+    super().__init__(CP, FPCP, CarController, CarState)
+    self.steer_offset = 0.0
+
   @staticmethod
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
     return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
@@ -76,20 +80,28 @@ class CarInterface(CarInterfaceBase):
       torque_values, lataccel_values = self.get_lataccel_torque_siglin()
 
       def torque_from_lateral_accel_siglin(lateral_acceleration: float, torque_params: car.CarParams.LateralTorqueTuning):
-        return np.interp(lateral_acceleration, lataccel_values, torque_values)
+        return float(np.interp(lateral_acceleration, lataccel_values, torque_values) + self.steer_offset)
       return torque_from_lateral_accel_siglin
     else:
-      return self.torque_from_lateral_accel_linear
+      def torque_from_lateral_accel_linear(lateral_acceleration: float, torque_params: car.CarParams.LateralTorqueTuning):
+        return self.torque_from_lateral_accel_linear(lateral_acceleration, torque_params) + self.steer_offset
+      return torque_from_lateral_accel_linear
 
   def lateral_accel_from_torque(self) -> LateralAccelFromTorqueCallbackType:
     if self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
       torque_values, lataccel_values = self.get_lataccel_torque_siglin()
 
       def lateral_accel_from_torque_siglin(torque: float, torque_params: car.CarParams.LateralTorqueTuning):
-        return np.interp(torque, torque_values, lataccel_values)
+        return np.interp(torque - self.steer_offset, torque_values, lataccel_values)
       return lateral_accel_from_torque_siglin
     else:
-      return self.lateral_accel_from_torque_linear
+      def lateral_accel_from_torque_linear(torque: float, torque_params: car.CarParams.LateralTorqueTuning):
+        return self.lateral_accel_from_torque_linear(torque - self.steer_offset, torque_params)
+      return lateral_accel_from_torque_linear
+
+  def update(self, c: car.CarControl, can_strings: list[bytes], frogpilot_toggles) -> car.CarState:
+    self.steer_offset = float(getattr(frogpilot_toggles, "steer_offset", 0.0))
+    return super().update(c, can_strings, frogpilot_toggles)
 
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, frogpilot_toggles):
@@ -97,6 +109,11 @@ class CarInterface(CarInterfaceBase):
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
     ret.autoResumeSng = False
     ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
+
+    # Detect Beartech SASCM allows openpilot longitudinal control on SDGM and ASCM_INT vehicles
+    if 0x2FF in fingerprint[0]:
+      ret.flags |= GMFlags.SASCM.value
+
     if PEDAL_MSG in fingerprint[0]:
       ret.enableGasInterceptor = True
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_GAS_INTERCEPTOR
@@ -165,6 +182,8 @@ class CarInterface(CarInterfaceBase):
     ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
     ret.lateralTuning.pid.kf = 0.00004   # full torque for 20 deg at 80mph means 0.00007818594
     ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
+    ret.longitudinalTuning.deadzoneBP = [0.]
+    ret.longitudinalTuning.deadzoneV  = [0.]
 
     ret.steerLimitTimer = 0.4
     ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
@@ -205,7 +224,6 @@ class CarInterface(CarInterfaceBase):
     elif candidate in (CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_BOLT_CC):
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-      ret.lateralTuning.torque.kp = 0.8
 
       if ret.enableGasInterceptor:
         # ACC Bolts use pedal for full longitudinal control, not just sng
@@ -262,7 +280,7 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.CHEVROLET_TRAX:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    if ret.enableGasInterceptor:
+    if ret.enableGasInterceptor and frogpilot_toggles.gm_pedal_longitudinal:
       ret.networkLocation = NetworkLocation.fwdCamera
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
       ret.minEnableSpeed = -1
@@ -277,7 +295,7 @@ class CarInterface(CarInterfaceBase):
         # Note: Low speed, stop and go not tested. Should be fairly smooth on highway
         ret.longitudinalTuning.kiBP = [0., 3., 6., 35.]
         ret.longitudinalTuning.kiV = [0.125, 0.175, 0.225, 0.33]
-        ret.longitudinalTuning.kf = 0.25
+        ret.longitudinalTuning.kfDEPRECATED = 0.25
         ret.stoppingDecelRate = 0.8
       else:  # Pedal used for SNG, ACC for longitudinal control otherwise
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
@@ -296,9 +314,9 @@ class CarInterface(CarInterfaceBase):
 
       if not ret.enableGasInterceptor and candidate in CC_ONLY_CAR: #redneck tuning
         ret.longitudinalTuning.kpBP = [10.7, 10.8, 28.]  # 10.7 m/s == 24 mph
-        ret.longitudinalTuning.kpV = [0., 20., 20.]  # set lower end to 0 since we can't drive below that speed
-        ret.longitudinalTuning.deadzoneBP = [0.]
-        ret.longitudinalTuning.deadzoneV = [0.56]  # == 2 km/h/s, 1.25 mph/s
+        ret.longitudinalTuning.kpV = [0., 5., 2.]  # set lower end to 0 since we can't drive below that speed
+        ret.longitudinalTuning.deadzoneBP = [0., 1.]
+        ret.longitudinalTuning.deadzoneV = [0.9, 0.9]  # == 2 km/h/s, 1.25 mph/s
         ret.longitudinalActuatorDelay = 1.  # TODO: measure this
         ret.longitudinalTuning.kiBP = [0.]
         ret.longitudinalTuning.kiV = [0.1]
@@ -351,8 +369,9 @@ class CarInterface(CarInterfaceBase):
     if ret.vEgo < self.CP.minSteerSpeed:
       events.add(EventName.belowSteerSpeed)
 
-    if (self.CP.flags & GMFlags.CC_LONG.value) and ret.vEgo < self.CP.minEnableSpeed and ret.cruiseState.enabled:
-      events.add(EventName.speedTooLow)
+    if (self.CP.flags & GMFlags.CC_LONG.value) and ret.vEgo < self.CP.minEnableSpeed:
+      if ret.cruiseState.enabled or self.CS.out.cruiseState.enabled:
+        events.add(EventName.speedTooLow)
 
     if (self.CP.flags & GMFlags.PEDAL_LONG.value) and \
       self.CP.transmissionType == TransmissionType.direct and \

selfdrive/car/gm/values.py

@@ -258,6 +258,8 @@ class GMFlags(IntFlag):
   CC_LONG = 2
   NO_CAMERA = 4
   NO_ACCELERATOR_POS_MSG = 8
+  FORCE_BRAKE_C9 = 16
+  SASCM = 32
 
 
 # In a Data Module, an identifier is a string used to recognize an object,

selfdrive/car/honda/carcontroller.py

@@ -1,3 +1,4 @@
+import math
 from collections import namedtuple
 
 from cereal import car
@@ -5,10 +6,12 @@ from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import create_gas_interceptor_command
+from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.controls.lib.drive_helpers import rate_limit
+from openpilot.selfdrive.controls.lib.pid import PIDController
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -125,6 +128,10 @@ class CarController(CarControllerBase):
     self.gas = 0.0
     self.brake = 0.0
     self.last_steer = 0.0
+    self.pitch = 0.0
+    self.gasonly_pid = PIDController(k_p=([0,], [0,]),
+                                      k_i=([0., 5., 35.], [1.2, 0.8, 0.5]),
+                                      rate=1 / DT_CTRL / 2)
 
   def update(self, CC, CS, now_nanos, frogpilot_toggles):
     actuators = CC.actuators
@@ -133,6 +140,9 @@ class CarController(CarControllerBase):
     hud_v_cruise = hud_control.setSpeed / conversion if hud_control.speedVisible else 255
     pcm_cancel_cmd = CC.cruiseControl.cancel
 
+    if len(CC.orientationNED) == 3:
+      self.pitch = CC.orientationNED[1]
+
     if CC.longActive:
       accel = actuators.accel
       gas, brake = compute_gas_brake(actuators.accel, CS.out.vEgo, self.CP.carFingerprint)
@@ -173,8 +183,11 @@ class CarController(CarControllerBase):
                                                       CS.CP.openpilotLongitudinalControl))
 
     # wind brake from air resistance decel at high speed
-    wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])
+    wind_brake_ms2 = interp(CS.out.vEgo, [0.0, 13.4, 22.4, 31.3, 40.2], [0.000, 0.049, 0.136, 0.267, 0.441]) # in m/s2 units
+    hill_brake = math.sin(self.pitch) * ACCELERATION_DUE_TO_GRAVITY
+
     # all of this is only relevant for HONDA NIDEC
+    wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15]) # not in m/s2 units
     max_accel = interp(CS.out.vEgo, self.params.NIDEC_MAX_ACCEL_BP, self.params.NIDEC_MAX_ACCEL_V)
     # TODO this 1.44 is just to maintain previous behavior
     pcm_speed_BP = [-wind_brake,
@@ -217,12 +230,25 @@ class CarController(CarControllerBase):
 
         if self.CP.carFingerprint in HONDA_BOSCH:
           self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX)
-          self.gas = interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V)
+
+          if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
+            gas_pedal_force = self.accel # radarless does not need a pid
+          elif (actuators.longControlState == LongCtrlState.pid) and not CS.out.gasPressed: # perform a gas-only pid
+            gas_error = self.accel - CS.out.aEgo
+            self.gasonly_pid.neg_limit = self.params.BOSCH_ACCEL_MIN
+            self.gasonly_pid.pos_limit = self.params.BOSCH_ACCEL_MAX
+            gas_pedal_force = self.gasonly_pid.update(gas_error, speed=CS.out.vEgo, feedforward=self.accel)
+            gas_pedal_force += wind_brake_ms2 + hill_brake
+          else:
+            gas_pedal_force = self.accel
+            self.gasonly_pid.reset()
+            gas_pedal_force += wind_brake_ms2 + hill_brake
+          self.gas = interp(gas_pedal_force, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V)
 
           stopping = actuators.longControlState == LongCtrlState.stopping
           self.stopping_counter = self.stopping_counter + 1 if stopping else 0
           can_sends.extend(hondacan.create_acc_commands(self.packer, self.CAN, CC.enabled, CC.longActive, self.accel, self.gas,
-                                                        self.stopping_counter, self.CP.carFingerprint))
+                                                        self.stopping_counter, self.CP.carFingerprint, accel + wind_brake_ms2 + hill_brake))
         else:
           apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
           apply_brake = int(clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1))

selfdrive/car/interfaces.py

@@ -37,7 +37,12 @@ EventName = car.CarEvent.EventName
 MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
 ACCEL_MAX = 2.0
 ACCEL_MIN = -3.5
-FRICTION_THRESHOLD = 0.3
+FRICTION_THRESHOLD = 0.09
+
+def get_friction_threshold(v_ego):
+  # Interpolate friction threshold from 0.09 at 50 mph to 0.15 at 75 mph
+  from openpilot.common.numpy_fast import interp
+  return interp(v_ego, [1 * CV.MPH_TO_MS, 75 * CV.MPH_TO_MS], [0.12, 0.25])
 
 TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.toml')
 TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.toml')
@@ -147,14 +152,22 @@ class CarInterfaceBase(ABC):
 
     ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, frogpilot_toggles)
 
+    trailer_load_kg = getattr(frogpilot_toggles, "trailer_load_kg", 0)
+
     # Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload
     if not ret.notCar:
+      ret.mass = ret.mass + trailer_load_kg
       ret.mass = ret.mass + STD_CARGO_KG
 
     # Set params dependent on values set by the car interface
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, ret.tireStiffnessFactor)
 
+    # FrogPilot variables
+    toggles_to_check = ("force_torque_controller", "nnff", "nnff_lite")
+    if ret.steerControlType != car.CarParams.SteerControlType.angle and any(getattr(frogpilot_toggles, toggle, False) for toggle in toggles_to_check):
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     return ret
 
   @classmethod
@@ -174,6 +187,7 @@ class CarInterfaceBase(ABC):
 
       elif platform in GMCAR:
         fp_ret.canUsePedal = True
+        fp_ret.canUseSASCM = True
 
       elif platform in HondaCAR:
         if candidate == HondaCAR.HONDA_CLARITY:
@@ -217,14 +231,6 @@ class CarInterfaceBase(ABC):
         fp_ret.canUsePedal = not CP.autoResumeSng
         fp_ret.canUseSDSU = not CP.enableDsu and candidate not in UNSUPPORTED_DSU_CAR and candidate not in TSS2_CAR
 
-      if CP.steerControlType != car.CarParams.SteerControlType.angle:
-        if CP.lateralTuning.which() == "pid" and (frogpilot_toggles.force_torque_controller or frogpilot_toggles.nnff or frogpilot_toggles.nnff_lite):
-          CarInterfaceBase.configure_torque_tune(candidate, fp_ret.lateralTuning)
-        elif CP.lateralTuning.which() == "torque":
-          CarInterfaceBase.configure_torque_tune(candidate, fp_ret.lateralTuning)
-        else:
-          fp_ret.lateralTuning.init("pid")
-
       fp_ret.openpilotLongitudinalControlDisabled = frogpilot_toggles.disable_openpilot_long
 
     return fp_ret
@@ -286,7 +292,7 @@ class CarInterfaceBase(ABC):
     ret.vEgoStopping = 0.5
     ret.vEgoStarting = 0.5
     ret.stoppingControl = True
-    ret.longitudinalTuning.kf = 1.
+    ret.longitudinalTuning.kfDEPRECATED = 1.
     ret.longitudinalTuning.kpBP = [0.]
     ret.longitudinalTuning.kpV = [0.]
     ret.longitudinalTuning.kiBP = [0.]
@@ -302,9 +308,9 @@ class CarInterfaceBase(ABC):
 
     tune.init('torque')
     tune.torque.useSteeringAngle = use_steering_angle
-    tune.torque.kf = 1.0
-    tune.torque.kp = 1.0
+    tune.torque.kp = 0.6
     tune.torque.ki = 0.3
+    tune.torque.kd = 0.0
     tune.torque.friction = params['FRICTION']
     tune.torque.latAccelFactor = params['LAT_ACCEL_FACTOR']
     tune.torque.latAccelOffset = 0.0

selfdrive/car/torque_data/override.toml

@@ -43,7 +43,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CADILLAC_ESCALADE" = [1.899999976158142, 1.842270016670227, 0.1120000034570694]
 "CADILLAC_ESCALADE_ESV_2019" = [1.15, 1.3, 0.2]
 "CADILLAC_XT4" = [1.45, 1.6, 0.2]
-"CHEVROLET_BOLT_EUV" = [2.0, 2.0, 0.05]
+"CHEVROLET_BOLT_EUV" = [2.0, 2.0, 0.09]
 "CHEVROLET_MALIBU_CC" = [1.85, 1.85, 0.075]
 "CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112]
 "CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16]

selfdrive/car/toyota/carcontroller.py

@@ -53,7 +53,7 @@ def get_long_tune(CP, params):
   kiBP = [2., 5.]
   kiV = [0.5, 0.25]
 
-  return PIDController(0.0, (kiBP, kiV), k_f=1.0,
+  return PIDController(0.0, (kiBP, kiV),
                        pos_limit=params.ACCEL_MAX, neg_limit=params.ACCEL_MIN,
                        rate=1 / (DT_CTRL * 3))
 

selfdrive/controls/controlsd.py

@@ -29,10 +29,12 @@ from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, S
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
+from openpilot.frogpilot.tinygrad_modeld.tinygrad_modeld import LAT_SMOOTH_SECONDS
 
 from openpilot.system.hardware import HARDWARE
 
 from openpilot.frogpilot.common.frogpilot_variables import get_frogpilot_toggles, params_memory
+from openpilot.frogpilot.controls.lib.neural_network_feedforward import LatControlNNFF
 
 SOFT_DISABLE_TIME = 3  # seconds
 LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
@@ -135,11 +137,11 @@ class Controls:
 
     self.LaC: LatControl
     if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
-      self.LaC = LatControlAngle(self.CP, self.CI)
-    elif self.FPCP.lateralTuning.which() == 'pid':
-      self.LaC = LatControlPID(self.CP, self.CI)
-    elif self.FPCP.lateralTuning.which() == 'torque':
-      self.LaC = LatControlTorque(self.CP, self.FPCP, self.CI)
+      self.LaC = LatControlAngle(self.CP, self.CI, DT_CTRL)
+    elif self.CP.lateralTuning.which() == 'pid':
+      self.LaC = LatControlPID(self.CP, self.CI, DT_CTRL)
+    elif self.CP.lateralTuning.which() == 'torque':
+      self.LaC = LatControlTorque(self.CP, self.CI, DT_CTRL)
 
     self.initialized = False
     self.state = State.disabled
@@ -204,6 +206,12 @@ class Controls:
 
     self.frogpilot_toggles = get_frogpilot_toggles()
 
+    if self.CP.lateralTuning.which() == "torque" and (self.frogpilot_toggles.nnff or self.frogpilot_toggles.nnff_lite):
+      self.LaC = LatControlNNFF(self.CP, self.CI, DT_CTRL)
+
+
+    self.frogpilot_toggles.is_metric = self.is_metric
+
   def set_initial_state(self):
     if REPLAY:
       controls_state = self.params.get("ReplayControlsState")
@@ -613,14 +621,36 @@ class Controls:
     self.curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll)
 
     # Update Torque Params
-    if self.FPCP.lateralTuning.which() == 'torque':
+    if self.CP.lateralTuning.which() == 'torque':
       torque_params = self.sm['liveTorqueParameters']
-      if self.sm.all_checks(['liveTorqueParameters']) and (torque_params.useParams or self.frogpilot_toggles.force_auto_tune):
-        self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
-                                           torque_params.frictionCoefficientFiltered)
 
-      if self.sm.updated['liveDelay'] and (self.frogpilot_toggles.nnff or self.frogpilot_toggles.nnff_lite):
-        self.LaC.nnff.update_live_delay(self.sm['liveDelay'].lateralDelay)
+      allow_lat_accel_learning = self.CP.carName in ['toyota', 'hyundai']
+      allow_friction_learning = (allow_lat_accel_learning or self.CP.carName in ['gm'])
+      use_live_params = self.sm.all_checks(['liveTorqueParameters']) and (torque_params.useParams or self.frogpilot_toggles.force_auto_tune)
+
+      # Defaults pulled from manual tuning values
+      lat_accel_factor = self.params.get_float("SteerLatAccel")
+      friction = self.params.get_float("SteerFriction")
+      lat_accel_offset = self.CP.lateralTuning.torque.latAccelOffset
+
+      # Apply user overrides first
+      if self.frogpilot_toggles.use_custom_latAccelFactor:
+        lat_accel_factor = self.frogpilot_toggles.latAccelFactor
+      if self.frogpilot_toggles.use_custom_friction:
+        friction = self.frogpilot_toggles.friction
+
+      # Layer in live values only for parameters the platform allows to learn and only when not overridden
+      if use_live_params:
+        if allow_lat_accel_learning and not self.frogpilot_toggles.use_custom_latAccelFactor:
+          lat_accel_factor = torque_params.latAccelFactorFiltered
+          lat_accel_offset = torque_params.latAccelOffsetFiltered
+        if allow_friction_learning and not self.frogpilot_toggles.use_custom_friction:
+          friction = torque_params.frictionCoefficientFiltered
+
+      self.LaC.update_live_torque_params(lat_accel_factor, lat_accel_offset, friction)
+
+      if self.sm.updated['liveDelay'] and hasattr(self.LaC, "update_live_delay"):
+        self.LaC.update_live_delay(self.sm['liveDelay'].lateralDelay)
 
     long_plan = self.sm['longitudinalPlan']
     model_v2 = self.sm['modelV2']
@@ -671,11 +701,12 @@ class Controls:
       # Reset desired curvature to current to avoid violating the limits on engage
       new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
       self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll)
+      lat_delay = self.sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
 
       actuators.curvature = self.desired_curvature
       steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
                                                          self.steer_limited_by_safety, self.desired_curvature,
-                                                         curvature_limited,
+                                                         curvature_limited, lat_delay,
                                                          self.sm['liveLocationKalman'],
                                                          self.sm['modelV2'],
                                                          self.frogpilot_toggles)
@@ -715,8 +746,8 @@ class Controls:
       desired_lateral_accel = model_v2.action.desiredCurvature * (clipped_speed**2)
       undershooting = abs(desired_lateral_accel) / abs(1e-3 + actual_lateral_accel) > 1.2
       turning = abs(desired_lateral_accel) > 1.0
-      # TODO: lac.saturated includes speed and other checks, should be pulled out
-      if undershooting and turning and lac_log.saturated:
+      commanded_torque_at_max = abs(lac_log.output) > 0.99
+      if undershooting and turning and (lac_log.saturated or commanded_torque_at_max):
         if self.frogpilot_toggles.goat_scream_alert:
           self.frogpilot_events.add(FrogPilotEventName.goatSteerSaturated)
         else:
@@ -764,7 +795,7 @@ class Controls:
     if self.frogpilot_toggles.conditional_experimental_mode or self.frogpilot_toggles.slc_fallback_experimental_mode:
       self.experimental_mode = self.sm['frogpilotPlan'].experimentalMode
 
-    if hasattr(self.LaC, "pid"):
+    if hasattr(self.LaC, "pid") and self.CP.lateralTuning.which() != "pid":
       self.LaC.pid._k_p = self.frogpilot_toggles.steerKp
 
     # Update FrogPilot variables
@@ -888,7 +919,7 @@ class Controls:
     controlsState.experimentalMode = self.experimental_mode
     controlsState.personality = self.personality
 
-    lat_tuning = self.FPCP.lateralTuning.which()
+    lat_tuning = self.CP.lateralTuning.which()
     if self.joystick_mode:
       controlsState.lateralControlState.debugState = lac_log
     elif self.CP.steerControlType == car.CarParams.SteerControlType.angle:

selfdrive/controls/lib/drive_helpers.py

@@ -189,7 +189,7 @@ def smooth_value(val, prev_val, tau, dt=DT_MDL):
   alpha = 1 - np.exp(-dt/tau) if tau > 0 else 1
   return alpha * val + (1 - alpha) * prev_val
 
-def clip_curvature(v_ego, prev_curvature, new_curvature, roll):
+def clip_curvature(v_ego, prev_curvature, new_curvature, roll) -> tuple[float, bool]:
   # This function respects ISO lateral jerk and acceleration limits + a max curvature
   v_ego = max(v_ego, MIN_SPEED)
   max_curvature_rate = MAX_LATERAL_JERK / (v_ego ** 2)  # inexact calculation, check https://github.com/commaai/openpilot/pull/24755

selfdrive/controls/lib/events.py

@@ -982,7 +982,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       "",
       AlertStatus.normal, AlertSize.full,
       Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
-    ET.USER_DISABLE: ImmediateDisableAlert("Reverse Gear"),
+    ET.USER_DISABLE: ImmediateDisableAlert("Wrong Gear"),
     ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
   },
 

selfdrive/controls/lib/latcontrol.py

@@ -1,33 +1,31 @@
 import numpy as np
 from abc import abstractmethod, ABC
 
-from openpilot.common.realtime import DT_CTRL
-
 MIN_LATERAL_CONTROL_SPEED = 0.3  # m/s
 
 
 class LatControl(ABC):
-  def __init__(self, CP, CI):
-    self.sat_count_rate = 1.0 * DT_CTRL
+  def __init__(self, CP, CI, dt):
+    self.dt = dt
     self.sat_limit = CP.steerLimitTimer
-    self.sat_count = 0.
+    self.sat_time = 0.
     self.sat_check_min_speed = 10.
 
     # we define the steer torque scale as [-1.0...1.0]
     self.steer_max = 1.0
 
   @abstractmethod
-  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, llk, model_data, frogpilot_toggles):
+  def update(self, active: bool, CS, VM, params, steer_limited_by_safety: bool, desired_curvature: float, curvature_limited: bool, lat_delay: float, llk, model_data, frogpilot_toggles):
     pass
 
   def reset(self):
-    self.sat_count = 0.
+    self.sat_time = 0.
 
   def _check_saturation(self, saturated, CS, steer_limited_by_safety, curvature_limited):
     # Saturated only if control output is not being limited by car torque/angle rate limits
     if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_safety and not CS.steeringPressed:
-      self.sat_count += self.sat_count_rate
+      self.sat_time += self.dt
     else:
-      self.sat_count -= self.sat_count_rate
-    self.sat_count = np.clip(self.sat_count, 0.0, self.sat_limit)
-    return self.sat_count > (self.sat_limit - 1e-3)
+      self.sat_time -= self.dt
+    self.sat_time = np.clip(self.sat_time, 0.0, self.sat_limit)
+    return self.sat_time > (self.sat_limit - 1e-3)

selfdrive/controls/lib/latcontrol_angle.py

@@ -8,12 +8,12 @@ STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
 
 
 class LatControlAngle(LatControl):
-  def __init__(self, CP, CI):
-    super().__init__(CP, CI)
+  def __init__(self, CP, CI, dt):
+    super().__init__(CP, CI, dt)
     self.sat_check_min_speed = 5.
     self.use_steer_limited_by_safety = CP.carName == "tesla"
 
-  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, llk, model_data, frogpilot_toggles):
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, llk, model_data, frogpilot_toggles):
     angle_log = log.ControlsState.LateralAngleState.new_message()
 
     if not active:

selfdrive/controls/lib/latcontrol_pid.py

@@ -1,19 +1,23 @@
 import math
 
 from cereal import log
-from openpilot.selfdrive.controls.lib.latcontrol import LatControl
+from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
 from openpilot.selfdrive.controls.lib.pid import PIDController
 
 
 class LatControlPID(LatControl):
-  def __init__(self, CP, CI):
-    super().__init__(CP, CI)
+  def __init__(self, CP, CI, dt):
+    super().__init__(CP, CI, dt)
+    self.steer_release_i_decay = 0.8
+    self.prev_steering_pressed = False
     self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
                              (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
-                             k_f=CP.lateralTuning.pid.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
+                             pos_limit=self.steer_max, neg_limit=-self.steer_max)
+    self.ff_factor = CP.lateralTuning.pid.kf
     self.get_steer_feedforward = CI.get_steer_feedforward_function()
+    self.low_speed_reset_threshold = max(CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED)
 
-  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, llk, model_data, frogpilot_toggles):
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, llk, model_data, frogpilot_toggles):
     pid_log = log.ControlsState.LateralPIDState.new_message()
     pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     pid_log.steeringRateDeg = float(CS.steeringRateDeg)
@@ -27,11 +31,17 @@ class LatControlPID(LatControl):
     if not active:
       output_torque = 0.0
       pid_log.active = False
+      self.pid.reset()
 
     else:
+      if self.prev_steering_pressed and not CS.steeringPressed:
+        self.pid.i *= self.steer_release_i_decay
+
       # offset does not contribute to resistive torque
-      ff = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
-      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+      ff = self.ff_factor * self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
+      if CS.vEgo < self.low_speed_reset_threshold:
+        self.pid.reset()
+      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < self.low_speed_reset_threshold
 
       output_torque = self.pid.update(error,
                                 feedforward=ff,
@@ -45,4 +55,6 @@ class LatControlPID(LatControl):
       pid_log.output = float(output_torque)
       pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
 
+    self.prev_steering_pressed = CS.steeringPressed
+
     return output_torque, angle_steers_des, pid_log

selfdrive/controls/lib/latcontrol_torque.py

@@ -1,45 +1,60 @@
 import math
 import numpy as np
+from collections import deque
 
 from cereal import log
-from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
-from openpilot.selfdrive.car.interfaces import FRICTION_THRESHOLD
-from openpilot.selfdrive.controls.lib.latcontrol import LatControl
+from openpilot.selfdrive.car.interfaces import FRICTION_THRESHOLD, get_friction_threshold
+from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED, get_friction
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
 from openpilot.selfdrive.controls.lib.pid import PIDController
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 
-from openpilot.frogpilot.controls.lib.neural_network_feedforward import LOW_SPEED_Y_NN, NeuralNetworkFeedforward
-
 # At higher speeds (25+mph) we can assume:
 # Lateral acceleration achieved by a specific car correlates to
 # torque applied to the steering rack. It does not correlate to
 # wheel slip, or to speed.
 
 # This controller applies torque to achieve desired lateral
-# accelerations. To compensate for the low speed effects we
-# use a LOW_SPEED_FACTOR in the error. Additionally, there is
-# friction in the steering wheel that needs to be overcome to
-# move it at all, this is compensated for too.
+# accelerations. To compensate for the low speed effects the
+# proportional gain is increased at low speeds by the PID controller.
+# Additionally, there is friction in the steering wheel that needs
+# to be overcome to move it at all, this is compensated for too.
+
+KP = 0.6
+KI = 0.3
+
+INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
+KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
 
 LOW_SPEED_X = [0, 10, 20, 30]
-LOW_SPEED_Y = [15, 13, 10, 5]
+LOW_SPEED_Y = [12, 10.5, 8, 5]
+MAX_LAT_JERK_UP = 2.5            # m/s^3
 
+LP_FILTER_CUTOFF_HZ = 1.2
+JERK_LOOKAHEAD_SECONDS = 0.19
+JERK_GAIN = 0.22
+LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
+VERSION = 2
 
 class LatControlTorque(LatControl):
-  def __init__(self, CP, FPCP, CI):
-    super().__init__(CP, CI)
-    self.torque_params = FPCP.lateralTuning.torque
+  def __init__(self, CP, CI, dt):
+    super().__init__(CP, CI, dt)
+    self.steer_release_i_decay = 0.8
+    self.prev_steering_pressed = False
+    self.torque_params = CP.lateralTuning.torque
     self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
     self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
-    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
-                             k_f=self.torque_params.kf)
+    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, rate=1/self.dt)
     self.update_limits()
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
-
-    # FrogPilot variables
-    self.nnff = NeuralNetworkFeedforward(CP, self)
-
-    self.nnff_loaded = self.nnff.lat_torque_nn_model != None
+    self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
+    self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
+    self.lookahead_frames = int(JERK_LOOKAHEAD_SECONDS / self.dt)
+    self.jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
+    self.previous_measurement = 0.0
+    self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * (MAX_LAT_JERK_UP - 0.5)), self.dt)
+    self.low_speed_reset_threshold = max(CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED)
 
   def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
     self.torque_params.latAccelFactor = latAccelFactor
@@ -51,50 +66,57 @@ class LatControlTorque(LatControl):
     self.pid.set_limits(self.lateral_accel_from_torque(self.steer_max, self.torque_params),
                         self.lateral_accel_from_torque(-self.steer_max, self.torque_params))
 
-  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, llk, model_data, frogpilot_toggles):
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, llk, model_data, frogpilot_toggles):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
+    pid_log.version = VERSION
     if not active:
       output_torque = 0.0
       pid_log.active = False
+      self.pid.reset()
+      self.previous_measurement = 0.0
+      self.measurement_rate_filter.x = 0.0
+      self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
     else:
-      actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
+      if self.prev_steering_pressed and not CS.steeringPressed:
+        self.pid.i *= self.steer_release_i_decay
+
+      measured_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
       roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
       curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
-
-      desired_lateral_accel = desired_curvature * CS.vEgo ** 2
-      actual_lateral_accel = actual_curvature * CS.vEgo ** 2
       lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
 
-      low_speed_factor = np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y_NN if frogpilot_toggles.nnff else LOW_SPEED_Y)**2
-      setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
-      measurement = actual_lateral_accel + low_speed_factor * actual_curvature
-      gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation
+      delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len))
+      expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
+      future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
+      self.lat_accel_request_buffer.append(future_desired_lateral_accel)
+      raw_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / max(lat_delay, self.dt)
+      raw_lateral_jerk = np.clip(raw_lateral_jerk, -MAX_LAT_JERK_UP, MAX_LAT_JERK_UP)
+      desired_lateral_jerk = np.clip(self.jerk_filter.update(raw_lateral_jerk), -MAX_LAT_JERK_UP, MAX_LAT_JERK_UP)
+      gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
+      setpoint = expected_lateral_accel + desired_lateral_jerk * lat_delay
 
-      if self.nnff_loaded and frogpilot_toggles.nnff or frogpilot_toggles.nnff_lite:
-        pid_log, ff = self.nnff.compute_nnff(
-          CS, VM, actual_lateral_accel, desired_lateral_accel, gravity_adjusted_lateral_accel, lateral_accel_deadzone,
-          llk, measurement, model_data, params, pid_log, roll_compensation, setpoint, frogpilot_toggles
-        )
+      measurement = measured_curvature * CS.vEgo ** 2
+      measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
+      measurement_rate = np.clip(measurement_rate, -MAX_LAT_JERK_UP, MAX_LAT_JERK_UP)
+      self.previous_measurement = measurement
 
-        freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-        output_torque = self.pid.update(pid_log.error,
-                                        feedforward=ff,
-                                        speed=CS.vEgo,
-                                        freeze_integrator=freeze_integrator)
-      else:
-        # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
-        pid_log.error = float(setpoint - measurement)
-        ff = gravity_adjusted_lateral_accel
-        # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
-        ff -= self.torque_params.latAccelOffset
-        ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+      low_speed_factor = (np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y) / max(CS.vEgo, MIN_SPEED)) ** 2
+      current_kp = np.interp(CS.vEgo, self.pid._k_p[0], self.pid._k_p[1])
+      error = setpoint - measurement
+      error_with_lsf = error * (1 + low_speed_factor / max(current_kp, 1e-3))
 
-        freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-        output_lataccel = self.pid.update(pid_log.error,
-                                        feedforward=ff,
-                                        speed=CS.vEgo,
-                                        freeze_integrator=freeze_integrator)
-        output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
+      # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
+      pid_log.error = float(error_with_lsf)
+      ff = gravity_adjusted_future_lateral_accel
+      # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
+      ff -= self.torque_params.latAccelOffset
+      ff += get_friction(error_with_lsf + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, get_friction_threshold(CS.vEgo), self.torque_params)
+
+      if CS.vEgo < self.low_speed_reset_threshold:
+        self.pid.reset()
+      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < self.low_speed_reset_threshold
+      output_lataccel = self.pid.update(pid_log.error, error_rate=-measurement_rate, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator)
+      output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
 
       pid_log.active = True
       pid_log.p = float(self.pid.p)
@@ -102,9 +124,12 @@ class LatControlTorque(LatControl):
       pid_log.d = float(self.pid.d)
       pid_log.f = float(self.pid.f)
       pid_log.output = float(-output_torque)  # TODO: log lat accel?
-      pid_log.actualLateralAccel = float(actual_lateral_accel)
-      pid_log.desiredLateralAccel = float(desired_lateral_accel)
+      pid_log.actualLateralAccel = float(measurement)
+      pid_log.desiredLateralAccel = float(setpoint)
+      pid_log.desiredLateralJerk = float(desired_lateral_jerk)
       pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
 
+    self.prev_steering_pressed = CS.steeringPressed
+
     # TODO left is positive in this convention
     return -output_torque, 0.0, pid_log

selfdrive/controls/lib/longcontrol.py

@@ -92,10 +92,13 @@ class LongControl:
     self.CP = CP
     self.long_control_state = LongCtrlState.off
     self.experimental_mode = False
+    pos_p_limit = 0.0 # if params("NoPositivePResponse") else None # put parameter-based control here
     self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
                              (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
-                             k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL,
-                             pos_p_limit=None)
+                             rate=1 / DT_CTRL, pos_p_limit=pos_p_limit)
+    # Preserve legacy behaviour when no feedforward gain is provided (default of 0.0)
+    kf = getattr(CP.longitudinalTuning, 'kfDEPRECATED', 0.0)
+    self.feedforward_gain = kf if kf != 0.0 else 1.0
     self.v_pid = 0.0
     self._mode_setup()
     self.last_output_accel = 0.0
@@ -104,7 +107,7 @@ class LongControl:
 
   def update_mpc_mode(self, experimental_mode):
     new_mode = 'blended' if experimental_mode else 'acc'
-   
+
     if self.transitioning and self.prev_mode == 'blended' and self.current_mode == 'acc':
       self.mode_transition_timer = 0.0
 
@@ -158,9 +161,10 @@ class LongControl:
     else:  # LongCtrlState.pid
       error = a_target - CS.aEgo
       self.update_mpc_mode(self.experimental_mode)
-      raw_output_accel = self.pid.update(error, speed=CS.vEgo, feedforward=a_target)
+      feedforward = a_target * self.feedforward_gain
+      raw_output_accel = self.pid.update(error, speed=CS.vEgo, feedforward=feedforward)
+
 
-     
       if self.transitioning and self.prev_mode == 'acc' and self.current_mode == 'blended':
         if raw_output_accel < 0 and raw_output_accel < self.last_output_accel:
           progress = min(1.0, self.mode_transition_timer / self.mode_transition_duration)
@@ -171,9 +175,29 @@ class LongControl:
           blend_factor = 1.0 - (1.0 - progress) * (1.0 - urgency_smooth)
           output_accel = self.last_output_accel + (raw_output_accel - self.last_output_accel) * blend_factor
         else:
-          output_accel = raw_output_accel 
+          output_accel = raw_output_accel
       else:
-        output_accel = raw_output_accel 
+        output_accel = raw_output_accel
+
+    if self.long_control_state == LongCtrlState.pid:
+      # Smooth acceleration and deceleration with urgency-based rate limiting
+      base_rate = 1.0
+      
+      if output_accel < self.last_output_accel:  # Deceleration requested
+          decel_needed = self.last_output_accel - output_accel
+          # Use a safe default for ACCEL_MIN if not available, to prevent division by zero
+          max_decel = abs(CarControllerParams.ACCEL_MIN) if CarControllerParams.ACCEL_MIN != 0 else 4.0
+          urgency = min(1.0, decel_needed / max_decel)
+          
+          # Adjust rate based on urgency (1.0 m/s^3 for low urgency, up to 4.0 m/s^3 for high urgency)
+          max_rate = 1.0 + 3.0 * urgency
+      else:
+          max_rate = base_rate  # Acceleration is always smooth
+      
+      max_accel_change = max_rate * DT_CTRL
+      output_accel = clip(output_accel,
+                          self.last_output_accel - max_accel_change,
+                          self.last_output_accel + max_accel_change)
 
     self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
     return self.last_output_accel
@@ -235,8 +259,9 @@ class LongControl:
 
       error = self.v_pid - CS.vEgo
       error_deadzone = apply_deadzone(error, deadzone)
+      feedforward = a_target * self.feedforward_gain
       output_accel = self.pid.update(error_deadzone, speed=CS.vEgo,
-                                     feedforward=a_target,
+                                     feedforward=feedforward,
                                      freeze_integrator=freeze_integrator)
 
     self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1])

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -5,7 +5,6 @@ import numpy as np
 from cereal import log
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.realtime import DT_MDL
-from openpilot.common.swaglog import cloudlog
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.conversions import Conversions as CV
 # WARNING: imports outside of constants will not trigger a rebuild
@@ -302,6 +301,9 @@ class LongitudinalMpc:
     self.current_filter_time = LEAD_FILTER_TIME_LOW
     self.lead_a_filter = FirstOrderFilter(0.0, self.current_filter_time, self.dt)
     self.lead_v_filter = FirstOrderFilter(0.0, self.current_filter_time, self.dt)
+    # Slew-limited filter factor to avoid abrupt 0.50↔1.00 jumps
+    self.filter_time_factor = 1.0
+    self.slew_per_sec = 1.0
     # Instance variables to avoid global modifications
     self.current_x_ego_cost = X_EGO_OBSTACLE_COSTS[0]
     self.current_j_ego_cost = J_EGO_COSTS[0]
@@ -357,7 +359,9 @@ class LongitudinalMpc:
     for i in range(N):
       self.solver.cost_set(i, 'Zl', Zl)
 
-  def set_weights(self, acceleration_jerk=1.0, danger_jerk=1.0, speed_jerk=1.0, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard, v_ego=0.0, lead_dist=50.0):
+  def set_weights(self, acceleration_jerk=1.0, danger_jerk=1.0, speed_jerk=1.0, prev_accel_constraint=True,
+                  personality=log.LongitudinalPersonality.standard, v_ego=0.0, lead_dist=50.0,
+                  uncertainty=0.0, accel_reengage=False, panic_bypass=False):
     # Update parameters based on current speed with interpolation for smooth scaling
     speed_mph = v_ego * CV.MS_TO_MPH  # Convert m/s to mph
 
@@ -371,10 +375,10 @@ class LongitudinalMpc:
     self.current_dist_adapt = get_speed_based_param(speed_mph, dist_adapt_array)
 
     # Update filter time constants with interp and recreate filters if needed
-    if speed_mph < 35:
+    if speed_mph < 47:
         self.current_filter_time = 0.0
     else:
-        self.current_filter_time = interp(speed_mph, [35, 45], [0.0, LEAD_FILTER_TIME_HIGH])
+        self.current_filter_time = interp(speed_mph, [47, 65], [0.0, LEAD_FILTER_TIME_HIGH])
     if abs(self.current_filter_time - getattr(self, 'prev_filter_time', 0)) > 0.1:  # Only update if significant change
       # Recreate filters with new time constant while preserving current values
       current_a = self.lead_a_filter.x if hasattr(self.lead_a_filter, 'x') else 0.0
@@ -389,6 +393,34 @@ class LongitudinalMpc:
     danger_jerk *= dist_factor
     speed_jerk *= dist_factor
 
+    # Scene complexity adjustment based on model uncertainty
+    prev_filter_time_factor = getattr(self, 'prev_filter_time_factor', 1.0)
+    # Target factor from uncertainty
+    if uncertainty <= 0.45:
+      tgt_factor = 1.0
+    elif uncertainty >= 0.70:
+      tgt_factor = 0.0
+    else:
+      tgt_factor = float(np.interp(uncertainty, [0.45, 0.70], [1.0, 0.30]))
+
+    if accel_reengage:
+      tgt_factor = min(tgt_factor, 0.5)
+
+    # Hard bypass of smoothing when approaching fast or magnitude trips
+    if panic_bypass:
+      tgt_factor = 0.0
+
+    # Slew-limit changes to avoid step-wise filter jumps
+    max_step = self.slew_per_sec * self.dt
+    delta = np.clip(tgt_factor - self.filter_time_factor, -max_step, max_step)
+    self.filter_time_factor += float(delta)
+    filter_time_factor = float(self.filter_time_factor)
+
+    # When uncertainty is moderately elevated, allow accel but cap jerk by increasing jerk cost
+    if 0.45 <= uncertainty < 0.60:
+      scale = float(np.interp(uncertainty, [0.45, 0.60], [1.2, 1.5]))
+      speed_jerk *= scale
+
     if self.mode == 'acc':
       a_change_cost = acceleration_jerk if prev_accel_constraint else 0
       cost_weights = [self.current_x_ego_cost, X_EGO_COST, V_EGO_COST, A_EGO_COST, a_change_cost, speed_jerk]
@@ -401,6 +433,15 @@ class LongitudinalMpc:
       raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner cost set')
     self.set_cost_weights(cost_weights, constraint_cost_weights)
 
+    # Adjust filter time constants for complex scenes
+    if abs(filter_time_factor - getattr(self, 'prev_filter_time_factor', 1.0)) > 0.05:
+      current_a = self.lead_a_filter.x if hasattr(self.lead_a_filter, 'x') else 0.0
+      current_v = self.lead_v_filter.x if hasattr(self.lead_v_filter, 'x') else 0.0
+      new_filter_time = self.current_filter_time * filter_time_factor
+      self.lead_a_filter = FirstOrderFilter(current_a, new_filter_time, self.dt)
+      self.lead_v_filter = FirstOrderFilter(current_v, new_filter_time, self.dt)
+      self.prev_filter_time_factor = filter_time_factor
+
   def set_cur_state(self, v, a):
     v_prev = self.x0[1]
     self.x0[1] = v
@@ -582,11 +623,7 @@ class LongitudinalMpc:
 
     self.prev_a = np.interp(T_IDXS + self.dt, T_IDXS, self.a_solution)
 
-    t = time.monotonic()
     if self.solution_status != 0:
-      if t > self.last_cloudlog_t + 5.0:
-        self.last_cloudlog_t = t
-        cloudlog.warning(f"Long mpc reset, solution_status: {self.solution_status}")
       self.reset()
       # reset = 1
     # print(f"long_mpc timings: total internal {self.solve_time:.2e}, external: {(time.monotonic() - t0):.2e} qp {self.time_qp_solution:.2e}, \

selfdrive/controls/lib/longitudinal_planner.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import math
 import numpy as np
+import time
 from openpilot.common.numpy_fast import clip, interp
 
 import cereal.messaging as messaging
@@ -16,13 +17,17 @@ from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_UNSET, CONTR
 from openpilot.common.swaglog import cloudlog
 
 LON_MPC_STEP = 0.2  # first step is 0.2s
-A_CRUISE_MIN = -1.2
-A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
-A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
+A_CRUISE_MIN = -1.0
+A_CRUISE_MAX_BP = [0.0, 5., 10., 15., 20., 25., 40.]
+A_CRUISE_MAX_VALS = [1.125, 1.125, 1.125, 1.125, 1.25, 1.25, 1.5]
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 ALLOW_THROTTLE_THRESHOLD = 0.5
 MIN_ALLOW_THROTTLE_SPEED = 2.5
 
+# Uncertainty-based filter disable thresholds
+UNCERT_SLOPE_TRIG = 0.12  # per second
+UNCERT_MAG_TRIG = 0.50
+
 # Lookup table for turns
 _A_TOTAL_MAX_V = [1.7, 3.2]
 _A_TOTAL_MAX_BP = [20., 40.]
@@ -107,9 +112,30 @@ class LongitudinalPlanner:
     self.j_desired_trajectory = np.zeros(CONTROL_N)
     self.solverExecutionTime = 0.0
 
+    # ---- Rubberband mitigation state ----
+    # Two uncertainty tracks (slow/fast) for asymmetric gating
+    self.uncert_slow = FirstOrderFilter(0.0, 1.6, self.dt)  # ~lam=0.6
+    self.uncert_fast = FirstOrderFilter(0.0, 0.9, self.dt)  # faster cool-down for accel decisions
+    # Lead stability tracking
+    self.prev_lead_dist = None
+    self.last_big_brake_t = 0.0
+    self.stable_lead = False
+    # Temporary accel nudge window
+    self.accel_nudge_until = 0.0
+
+    # Hysteresis gate + dwell for accel re-engage and smoothed lead distance
+    self.accel_gate = False
+    self._t_arm = 0.0
+    self._t_disarm = 0.0
+    self.lead_dist_f = None
+
+    # Uncertainty slope tracking
+    self._uncert_last = 0.0
+    self._uncert_last_t = None
+
   @property
   def mlsim(self):
-      return self.generation in ("v8", "v10", "v11")
+      return self.generation in ("v8", "v10", "v11", "v12")
 
   def get_mpc_mode(self) -> str:
       """
@@ -199,6 +225,7 @@ class LongitudinalPlanner:
     x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error, v_ego, frogpilot_toggles.taco_tune)
     # Don't clip at low speeds since throttle_prob doesn't account for creep
     self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
+    self.allow_throttle &= not sm['frogpilotPlan'].disableThrottle
 
     if not self.allow_throttle:
       clipped_accel_coast = max(accel_coast, accel_limits_turns[0])
@@ -215,8 +242,145 @@ class LongitudinalPlanner:
     self.lead_two = sm['radarState'].leadTwo
 
     lead_dist = self.lead_one.dRel if self.lead_one.status else 50.0
-    self.mpc.set_weights(sm['frogpilotPlan'].accelerationJerk, sm['frogpilotPlan'].dangerJerk, sm['frogpilotPlan'].speedJerk, prev_accel_constraint,
-                         personality=sm['controlsState'].personality, v_ego=v_ego, lead_dist=lead_dist)
+
+    # Smooth lead distance (EMA) to avoid chatter in thresholds
+    alpha = max(0.02, min(0.15, 0.05 + 0.002 * v_ego))
+    if self.lead_dist_f is None:
+      self.lead_dist_f = float(lead_dist)
+    else:
+      self.lead_dist_f += alpha * (float(lead_dist) - self.lead_dist_f)
+
+    # Lead stability estimation and recent-brake timer
+    now_t = time.monotonic()
+    # relative speed (ego - lead) positive when closing
+    v_rel = (v_ego - self.lead_one.vLead) if self.lead_one.status else 0.0
+    if self.prev_lead_dist is None:
+      d_rel_dot = 0.0
+    else:
+      d_rel_dot = (lead_dist - self.prev_lead_dist) / max(self.dt, 1e-3)
+    self.prev_lead_dist = lead_dist
+
+    # Remember time of last non-trivial model brake risk
+    if 'raw_brake_max' in locals() and raw_brake_max is not None and raw_brake_max > 0.02:
+      self.last_big_brake_t = now_t
+
+    # Stable lead heuristic (short window, cheap to compute)
+    recently_braked = (now_t - self.last_big_brake_t) < 0.7
+    self.stable_lead = (
+      self.lead_one.status and
+      abs(v_rel) < 0.5 and
+      abs(d_rel_dot) < 0.5 and
+      not recently_braked
+    )
+
+    # Calculate scene uncertainty from model desire prediction entropy and disengage predictions
+    uncertainty = 0.0
+    if hasattr(sm['modelV2'], 'meta'):
+      # Desire prediction entropy (maneuver uncertainty), normalized to [0, 1]
+      desire_entropy = 0.0
+      if hasattr(sm['modelV2'].meta, 'desirePrediction'):
+        desire_probs = sm['modelV2'].meta.desirePrediction
+        if len(desire_probs) > 1:
+          probs = np.asarray(desire_probs, dtype=float)
+          total = float(np.sum(probs))
+          if total > 1e-6:
+            p = probs / total
+            entropy = -np.sum(p * np.log(p + 1e-10))
+            max_entropy = np.log(len(p))
+            desire_entropy = float(entropy / max(max_entropy, 1e-6))  # normalized entropy in [0,1]
+          else:
+            desire_entropy = 0.0  # guard against all-zero vector
+
+      # Disengage prediction risk (intervention likelihood)
+      disengage_risk = 0.0
+      raw_brake_max = -1.0
+      lam = -1.0
+      if hasattr(sm['modelV2'].meta, 'disengagePredictions'):
+        # Use brake press probabilities as primary risk indicator
+        brake_probs = sm['modelV2'].meta.disengagePredictions.brakePressProbs
+        if len(brake_probs) > 0:
+          # Exponentially decayed max over the full horizon
+          probs = np.asarray(brake_probs, dtype=float)
+          # Clip tiny brake blips so they don't inflate uncertainty
+          if float(np.max(probs)) < 0.015:
+            probs = probs * 0.5
+          raw_brake_max = float(np.max(probs))
+          # Time vector assuming model horizon step = DT_MDL
+          t = np.arange(len(probs), dtype=float) * DT_MDL
+          lam = 0.6  # decay rate per second (tunable: 0.5–0.9 typical)
+          weights = np.exp(-lam * t)
+          disengage_risk = float(np.max(probs * weights))
+
+      # Combined uncertainty metric (range roughly 0..2), with dual-track filtering
+      raw_uncertainty = desire_entropy + disengage_risk
+      # Update filters
+      self.uncert_slow.update(raw_uncertainty)
+      self.uncert_fast.update(raw_uncertainty)
+      # Use a more permissive track for accel decisions
+      uncertainty = self.uncert_slow.x
+    uncertainty_accel = min(self.uncert_slow.x, self.uncert_fast.x)
+
+    # --- Slope-based panic bypass ---
+    if self._uncert_last_t is None:
+      uncert_slope = 0.0
+    else:
+      dt_u = max(1e-3, now_t - self._uncert_last_t)
+      uncert_slope = (uncertainty - self._uncert_last) / dt_u
+    self._uncert_last = uncertainty
+    self._uncert_last_t = now_t
+
+    closing_fast = (self.lead_one.status and (v_ego - self.lead_one.vLead) > 0.5)
+    # Trigger if either slope is high or magnitude is high; require a valid lead and closing
+    panic_bypass = closing_fast and (uncert_slope > UNCERT_SLOPE_TRIG or uncertainty >= UNCERT_MAG_TRIG)
+
+    if panic_bypass:
+      try:
+        cloudlog.error(f"LON_SLOPE; slope={uncert_slope:.3f}/s; uncertainty={uncertainty:.3f}; v_ego={v_ego:.2f}; v_rel={(v_ego - self.lead_one.vLead) if self.lead_one.status else 0.0:.2f}; lead_dist={self.lead_dist_f if self.lead_dist_f is not None else -1:.2f}; trigger=True")
+      except Exception:
+        pass
+
+    # now_t defined earlier
+    over = uncertainty > 1.0
+
+    # Asymmetric accel release with hysteresis + dwell to prevent on/off pulsing
+    rise_dwell_s, fall_dwell_s = 0.6, 0.4
+    good = (
+      (self.a_desired > 0.0) and
+      self.stable_lead and
+      (uncertainty <= 0.425) and
+      (desire_entropy < 0.41)
+    )
+
+    # dwell timers for robust gating
+    if good and not self.accel_gate:
+      if now_t - self._t_arm >= rise_dwell_s:
+        self.accel_gate = True
+    else:
+      self._t_arm = now_t
+
+    if (not good) and self.accel_gate:
+      if now_t - self._t_disarm >= fall_dwell_s:
+        self.accel_gate = False
+    else:
+      self._t_disarm = now_t
+
+    if self.accel_gate:
+      # Ensure some positive headroom for MPC to exit coasting
+      accel_limits_turns[1] = max(accel_limits_turns[1], 0.2)
+      # Short self-canceling nudge to unstick (applied post-MPC)
+      if now_t > self.accel_nudge_until:
+        self.accel_nudge_until = now_t + 0.45
+
+    self.mpc.set_weights(sm['frogpilotPlan'].accelerationJerk,
+                         sm['frogpilotPlan'].dangerJerk,
+                         sm['frogpilotPlan'].speedJerk,
+                         prev_accel_constraint,
+                         personality=sm['controlsState'].personality,
+                         v_ego=v_ego,
+                         lead_dist=self.lead_dist_f if self.lead_dist_f is not None else lead_dist,
+                         uncertainty=uncertainty,
+                         accel_reengage=self.accel_gate,
+                         panic_bypass=panic_bypass)
     self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
     # After deciding the MPC mode via get_mpc_mode(), ensure MPC uses that mode when not mlsim
@@ -249,6 +413,27 @@ class LongitudinalPlanner:
     self.a_desired = float(interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
     self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
 
+    # Anticipatory pre-brake to avoid "coming in hot" when closing on a lead
+    if self.lead_one.status:
+      rel_v = max(0.0, v_ego - self.lead_one.vLead)
+      # dynamic time headway adds a small buffer when uncertainty is elevated
+      base_th = 1.6
+      th = base_th + 0.6 * max(0.0, uncertainty - 0.42)
+      desired_gap = th * v_ego
+      if (self.lead_dist_f is not None and self.lead_dist_f < desired_gap and rel_v > 0.5):
+        k_rel, k_unc = 0.04, 0.20
+        pre_brake = k_rel * rel_v + k_unc * max(0.0, uncertainty - 0.42)
+        pre_brake = min(pre_brake, 0.06)
+        self.a_desired = float(self.a_desired - pre_brake)
+
+    # Apply tiny feed-forward nudge when released and safe
+    if now_t < self.accel_nudge_until and self.a_desired > -0.1:
+      self.a_desired = float(min(self.a_desired + 0.12, get_max_accel(v_ego)))
+
+    # Small deadzone around zero accel to kill micro-dithers
+    if -0.05 < self.a_desired < 0.05:
+      self.a_desired = 0.0
+
   def publish(self, classic_model, tinygrad_model, sm, pm, frogpilot_toggles):
     plan_send = messaging.new_message('longitudinalPlan')
 

selfdrive/controls/lib/pid.py

@@ -1,17 +1,11 @@
 import numpy as np
 from numbers import Number
 
-from openpilot.common.numpy_fast import clip, interp
-
-
 class PIDController:
-  def __init__(self, k_p, k_i, k_f=0., k_d=0.,
-              pos_limit=1e308, neg_limit=-1e308, rate=100,
-              pos_p_limit=None, neg_p_limit=None):
+  def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100, pos_p_limit=None, neg_p_limit=None):
     self._k_p = k_p
     self._k_i = k_i
     self._k_d = k_d
-    self.k_f = k_f   # feedforward gain
     if isinstance(self._k_p, Number):
       self._k_p = [[0], [self._k_p]]
     if isinstance(self._k_i, Number):
@@ -19,37 +13,24 @@ class PIDController:
     if isinstance(self._k_d, Number):
       self._k_d = [[0], [self._k_d]]
 
-    self.pos_limit = pos_limit
-    self.neg_limit = neg_limit
+    self.set_limits(pos_limit, neg_limit)
 
-    self.pos_p_limit = pos_p_limit
-    self.neg_p_limit = neg_p_limit
-
-    self.i_unwind_rate = 0.3 / rate
-    self.i_rate = 1.0 / rate
+    self.i_dt = 1.0 / rate
     self.speed = 0.0
 
     self.reset()
 
   @property
   def k_p(self):
-    return interp(self.speed, self._k_p[0], self._k_p[1])
+    return np.interp(self.speed, self._k_p[0], self._k_p[1])
 
   @property
   def k_i(self):
-    return interp(self.speed, self._k_i[0], self._k_i[1])
+    return np.interp(self.speed, self._k_i[0], self._k_i[1])
 
   @property
   def k_d(self):
-    return interp(self.speed, self._k_d[0], self._k_d[1])
-
-  @property
-  def error_integral(self):
-    return self.i/self.k_i
-
-  def set_limits(self, pos_limit, neg_limit):
-    self.pos_limit = pos_limit
-    self.neg_limit = neg_limit
+    return np.interp(self.speed, self._k_d[0], self._k_d[1])
 
   def reset(self):
     self.p = 0.0
@@ -58,29 +39,25 @@ class PIDController:
     self.f = 0.0
     self.control = 0
 
-  def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0., freeze_integrator=False):
+  def set_limits(self, pos_limit, neg_limit):
+    self.pos_limit = pos_limit
+    self.neg_limit = neg_limit
+
+  def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
     self.speed = speed
+    self.p = self.k_p * float(error)
+    self.d = self.k_d * error_rate
+    self.f = feedforward
 
-    self.p = float(error) * self.k_p
-    if self.pos_p_limit is not None and self.p > self.pos_p_limit:
-      self.p = self.pos_p_limit
-    elif self.neg_p_limit is not None and self.p < self.neg_p_limit:
-      self.p = self.neg_p_limit
-    self.f = feedforward * self.k_f
-    self.d = error_rate * self.k_d
+    if not freeze_integrator:
+      i = self.i + self.k_i * self.i_dt * error
 
-    if override:
-      self.i -= self.i_unwind_rate * float(np.sign(self.i))
-    else:
-      if not freeze_integrator:
-        self.i = self.i + error * self.k_i * self.i_rate
-
-        # Clip i to prevent exceeding control limits
-        control_no_i = self.p + self.d + self.f
-        control_no_i = clip(control_no_i, self.neg_limit, self.pos_limit)
-        self.i = clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
+      # Don't allow windup if already clipping
+      test_control = self.p + i + self.d + self.f
+      i_upperbound = self.i if test_control > self.pos_limit else self.pos_limit
+      i_lowerbound = self.i if test_control < self.neg_limit else self.neg_limit
+      self.i = np.clip(i, i_lowerbound, i_upperbound)
 
     control = self.p + self.i + self.d + self.f
-
-    self.control = clip(control, self.neg_limit, self.pos_limit)
+    self.control = np.clip(control, self.neg_limit, self.pos_limit)
     return self.control

selfdrive/controls/radard.py

@@ -16,6 +16,7 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.common.simple_kalman import KF1D
 
 from openpilot.frogpilot.common.frogpilot_variables import THRESHOLD, get_frogpilot_toggles
+from openpilot.selfdrive.controls.controlsd import LaneChangeDirection, LaneChangeState
 
 # Default lead acceleration decay set to 50% at 1s
 _LEAD_ACCEL_TAU = 0.6
@@ -149,7 +150,15 @@ def laplacian_pdf(x: float, mu: float, b: float):
   return math.exp(-abs(x-mu)/b)
 
 
-def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks: dict[int, Track]):
+def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, model_data: capnp._DynamicStructReader, tracks: dict[int, Track], frogpilot_toggles: SimpleNamespace):
+  if model_data.meta.laneChangeState == LaneChangeState.laneChangeStarting and frogpilot_toggles.human_lane_changes:
+    direction = model_data.meta.laneChangeDirection
+
+    if direction == LaneChangeDirection.left:
+      tracks = {k: v for k, v in tracks.items() if v.yRel > 0}
+    elif direction == LaneChangeDirection.right:
+      tracks = {k: v for k, v in tracks.items() if v.yRel < 0}
+
   offset_vision_dist = lead.x[0] - RADAR_TO_CAMERA
 
   def prob(c):
@@ -194,11 +203,11 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
 
 def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader,
              model_v_ego: float, model_data: capnp._DynamicStructReader, standstill: bool,
-             frogpilot_toggles: SimpleNamespace, frogpilotPlan: capnp._DynamicStructReader,
+             frogpilotPlan: capnp._DynamicStructReader, frogpilot_toggles: SimpleNamespace,
              low_speed_override: bool = True) -> dict[str, Any]:
   # Determine leads, this is where the essential logic happens
   if len(tracks) > 0 and ready and lead_msg.prob > frogpilot_toggles.lead_detection_probability:
-    track = match_vision_to_track(v_ego, lead_msg, tracks)
+    track = match_vision_to_track(v_ego, lead_msg, model_data, tracks, frogpilot_toggles)
   else:
     track = None
 
@@ -315,8 +324,8 @@ class RadarD:
       model_v_ego = self.v_ego
     leads_v3 = sm['modelV2'].leadsV3
     if len(leads_v3) > 1:
-      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, sm['modelV2'], sm['carState'].standstill, self.frogpilot_toggles, sm['frogpilotPlan'], low_speed_override=True)
-      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, sm['modelV2'], sm['carState'].standstill, self.frogpilot_toggles, sm['frogpilotPlan'], low_speed_override=False)
+      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, sm['modelV2'], sm['carState'].standstill, sm['frogpilotPlan'], self.frogpilot_toggles, low_speed_override=True)
+      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, sm['modelV2'], sm['carState'].standstill, sm['frogpilotPlan'], self.frogpilot_toggles, low_speed_override=False)
 
     if self.frogpilot_toggles.adjacent_lead_tracking and self.ready:
       self.frogpilot_radar_state.leadLeft = get_adjacent_lead(self.tracks, sm['carState'].standstill, sm['modelV2'], left=True)

selfdrive/locationd/paramsd.py

@@ -135,7 +135,7 @@ def main():
     CP = msg
   cloudlog.info("paramsd got CarParams")
 
-  min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio
+  min_sr, max_sr = 0.25 * CP.steerRatio, 2.0 * CP.steerRatio
 
   params = params_reader.get("LiveParameters")
 
@@ -187,8 +187,6 @@ def main():
   # FrogPilot variables
   frogpilot_toggles = get_frogpilot_toggles()
 
-  with custom.FrogPilotCarParams.from_bytes(params_reader.get("FrogPilotCarParams", block=True)) as msg:
-    FPCP = msg
 
   while True:
     sm.update()
@@ -240,7 +238,7 @@ def main():
         0.2 <= liveParameters.stiffnessFactor <= 5.0,
         min_sr <= liveParameters.steerRatio <= max_sr,
       ))
-      if CP.carFingerprint == "RAM_HD" or CP.carName == "subaru" and FPCP.lateralTuning.which() == "torque":
+      if CP.carFingerprint == "RAM_HD" or CP.carName == "subaru" and CP.lateralTuning.which() == "torque":
         liveParameters.valid = True
       liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item())
       liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item())

selfdrive/locationd/torqued.py

@@ -34,7 +34,8 @@ MIN_BUCKET_POINTS = np.array([100, 300, 500, 500, 500, 500, 300, 100])
 MIN_ENGAGE_BUFFER = 2  # secs
 
 VERSION = 1  # bump this to invalidate old parameter caches
-ALLOWED_CARS = ['toyota', 'hyundai']
+FULL_AUTO_CARS = ['toyota', 'hyundai']
+FRICTION_ONLY_CARS = ['gm']
 
 
 def slope2rot(slope):
@@ -52,7 +53,7 @@ class TorqueBuckets(PointBuckets):
 
 
 class TorqueEstimator(ParameterEstimator):
-  def __init__(self, CP, FPCP, decimated=False):
+  def __init__(self, CP, decimated=False):
     self.hist_len = int(HISTORY / DT_MDL)
     self.lag = 0.0
     if decimated:
@@ -72,11 +73,14 @@ class TorqueEstimator(ParameterEstimator):
     self.offline_friction = 0.0
     self.offline_latAccelFactor = 0.0
     self.resets = 0.0
-    self.use_params = CP.carName in ALLOWED_CARS and FPCP.lateralTuning.which() == 'torque'
+    self.allow_lat_accel_learning = CP.carName in FULL_AUTO_CARS and CP.lateralTuning.which() == 'torque'
+    self.allow_friction_learning = (self.allow_lat_accel_learning or CP.carName in FRICTION_ONLY_CARS) \
+                                   and CP.lateralTuning.which() == 'torque'
+    self.use_params = self.allow_friction_learning
 
-    if FPCP.lateralTuning.which() == 'torque':
-      self.offline_friction = FPCP.lateralTuning.torque.friction
-      self.offline_latAccelFactor = FPCP.lateralTuning.torque.latAccelFactor
+    if CP.lateralTuning.which() == 'torque':
+      self.offline_friction = CP.lateralTuning.torque.friction
+      self.offline_latAccelFactor = CP.lateralTuning.torque.latAccelFactor
 
     self.reset()
 
@@ -102,13 +106,13 @@ class TorqueEstimator(ParameterEstimator):
           cache_ltp = log_evt.liveTorqueParameters
         with car.CarParams.from_bytes(params_cache) as msg:
           cache_CP = msg
-        if self.get_restore_key(cache_CP, FPCP, cache_ltp.version) == self.get_restore_key(CP, FPCP, VERSION):
+        if self.get_restore_key(cache_CP, cache_ltp.version) == self.get_restore_key(CP, VERSION):
           if cache_ltp.liveValid:
-            initial_params = {
-              'latAccelFactor': cache_ltp.latAccelFactorFiltered,
-              'latAccelOffset': cache_ltp.latAccelOffsetFiltered,
-              'frictionCoefficient': cache_ltp.frictionCoefficientFiltered
-            }
+            if self.allow_lat_accel_learning:
+              initial_params['latAccelFactor'] = cache_ltp.latAccelFactorFiltered
+              initial_params['latAccelOffset'] = cache_ltp.latAccelOffsetFiltered
+            if self.allow_friction_learning:
+              initial_params['frictionCoefficient'] = cache_ltp.frictionCoefficientFiltered
           initial_params['points'] = cache_ltp.points
           self.decay = cache_ltp.decay
           self.filtered_points.load_points(initial_params['points'])
@@ -121,12 +125,12 @@ class TorqueEstimator(ParameterEstimator):
     for param in initial_params:
       self.filtered_params[param] = FirstOrderFilter(initial_params[param], self.decay, DT_MDL)
 
-  def get_restore_key(self, CP, FPCP, version):
+  def get_restore_key(self, CP, version):
     a, b = None, None
-    if FPCP.lateralTuning.which() == 'torque':
-      a = FPCP.lateralTuning.torque.friction
-      b = FPCP.lateralTuning.torque.latAccelFactor
-    return (CP.carFingerprint, FPCP.lateralTuning.which(), a, b, version)
+    if CP.lateralTuning.which() == 'torque':
+      a = CP.lateralTuning.torque.friction
+      b = CP.lateralTuning.torque.latAccelFactor
+    return (CP.carFingerprint, CP.lateralTuning.which(), a, b, version)
 
   def reset(self):
     self.resets += 1.0
@@ -155,6 +159,10 @@ class TorqueEstimator(ParameterEstimator):
   def update_params(self, params):
     self.decay = min(self.decay + DT_MDL, MAX_FILTER_DECAY)
     for param, value in params.items():
+      if param.startswith('latAccel') and not self.allow_lat_accel_learning:
+        continue
+      if param == 'frictionCoefficient' and not self.allow_friction_learning:
+        continue
       self.filtered_params[param].update(value)
       self.filtered_params[param].update_alpha(self.decay)
 
@@ -227,14 +235,14 @@ def main(demo=False):
   sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveLocationKalman', 'liveDelay', 'frogpilotPlan'], poll='liveLocationKalman')
 
   params = Params()
-  with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP, custom.FrogPilotCarParams.from_bytes(params.get("FrogPilotCarParams", block=True)) as FPCP:
-    estimator = TorqueEstimator(CP, FPCP)
+  with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP:
+    estimator = TorqueEstimator(CP)
 
   # FrogPilot variables
   frogpilot_toggles = get_frogpilot_toggles()
 
   if not frogpilot_toggles.liveValid:
-    estimator = TorqueEstimator(CP, FPCP, decimated=True)
+    estimator = TorqueEstimator(CP, decimated=True)
 
   while True:
     sm.update()

selfdrive/monitoring/helpers.py

@@ -33,12 +33,10 @@ class DRIVER_MONITOR_SETTINGS:
     self._SG_THRESHOLD = 0.9
     self._BLINK_THRESHOLD = 0.865
 
-    self._EE_THRESH11 = 0.25
-    self._EE_THRESH12 = 7.5
+    self._EE_THRESH11 = 0.6
+    self._EE_THRESH12 = 15.0
     self._EE_MAX_OFFSET1 = 0.06
     self._EE_MIN_OFFSET1 = 0.025
-    self._EE_THRESH21 = 0.01
-    self._EE_THRESH22 = 0.35
 
     self._POSE_PITCH_THRESHOLD = 0.3133
     self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
@@ -46,9 +44,9 @@ class DRIVER_MONITOR_SETTINGS:
     self._POSE_YAW_THRESHOLD = 0.4020
     self._POSE_YAW_THRESHOLD_SLACK = 0.5042
     self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
-    self._PITCH_NATURAL_OFFSET = 0.029 # initial value before offset is learned
+    self._PITCH_NATURAL_OFFSET = 0.011 # initial value before offset is learned
     self._PITCH_NATURAL_THRESHOLD = 0.449
-    self._YAW_NATURAL_OFFSET = 0.097 # initial value before offset is learned
+    self._YAW_NATURAL_OFFSET = 0.075 # initial value before offset is learned
     self._PITCH_MAX_OFFSET = 0.124
     self._PITCH_MIN_OFFSET = -0.0881
     self._YAW_MAX_OFFSET = 0.289
@@ -57,7 +55,7 @@ class DRIVER_MONITOR_SETTINGS:
     self._POSESTD_THRESHOLD = 0.3
     self._HI_STD_FALLBACK_TIME = int(10  / self._DT_DMON)  # fall back to wheel touch if model is uncertain for 10s
     self._DISTRACTED_FILTER_TS = 0.25  # 0.6Hz
-    self._ALWAYS_ON_ALERT_MIN_SPEED = 7
+    self._ALWAYS_ON_ALERT_MIN_SPEED = 11
 
     self._POSE_CALIB_MIN_SPEED = 13  # 30 mph
     self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON)  # valid data counts before calibration completes, 1min cumulative
@@ -136,11 +134,8 @@ class DriverMonitoring:
     self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
     self.blink = DriverBlink()
     self.eev1 = 0.
-    self.eev2 = 1.
     self.ee1_offseter = RunningStatFilter(max_trackable=self.settings._POSE_OFFSET_MAX_COUNT)
-    self.ee2_offseter = RunningStatFilter(max_trackable=self.settings._POSE_OFFSET_MAX_COUNT)
     self.ee1_calibrated = False
-    self.ee2_calibrated = False
 
     self.always_on = always_on
     self.distracted_types = []
@@ -258,7 +253,7 @@ class DriverMonitoring:
     driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData
     if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition,
                                     driver_data.faceOrientationStd, driver_data.facePositionStd,
-                                    driver_data.readyProb, driver_data.notReadyProb)):
+                                    driver_data.notReadyProb)):
       return
 
     self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD
@@ -275,7 +270,6 @@ class DriverMonitoring:
     self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
                                                                   * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
     self.eev1 = driver_data.notReadyProb[0]
-    self.eev2 = driver_data.readyProb[0]
 
     self.distracted_types = self._get_distracted_types()
     self.driver_distracted = (DistractedType.DISTRACTED_E2E in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types
@@ -289,12 +283,10 @@ class DriverMonitoring:
       self.pose.pitch_offseter.push_and_update(self.pose.pitch)
       self.pose.yaw_offseter.push_and_update(self.pose.yaw)
       self.ee1_offseter.push_and_update(self.eev1)
-      self.ee2_offseter.push_and_update(self.eev2)
 
     self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \
                                        self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
     self.ee1_calibrated = self.ee1_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
-    self.ee2_calibrated = self.ee2_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
 
     self.is_model_uncertain = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME
     self._set_timers(self.face_detected and not self.is_model_uncertain)

selfdrive/monitoring/test_monitoring.py

@@ -24,8 +24,6 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
   ds.leftDriverData.rightBlinkProb = 1. * distracted
   ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
   ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
-  # TODO: test both separately when e2e is used
-  ds.leftDriverData.readyProb = [0., 0., 0., 0.]
   ds.leftDriverData.notReadyProb = [0., 0.]
   return ds
 

selfdrive/ui/qt/offroad/software_settings.cc

@@ -32,7 +32,6 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
   // automatic updates toggle
   ParamControl *automaticUpdatesToggle = new ParamControl("AutomaticUpdates", tr("Automatically Update FrogPilot"),
                                                        tr("FrogPilot will automatically update itself and it's assets when you're offroad and have an active internet connection."), "");
-  automaticUpdatesToggle->setVisible(params.getBool("IsReleaseBranch"));
   addItem(automaticUpdatesToggle);
 
   // download update btn

selfdrive/ui/translations/main_ar.ts

@@ -433,6 +433,26 @@
 </context>
 <context>
     <name>ExpandableMultiOptionDialog</name>
+    <message>
+        <source>Sort by:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Alphabetical</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Newest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Oldest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Favorites First</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Select</source>
         <translation type="unfinished">اختيار</translation>
@@ -441,6 +461,10 @@
         <source>Cancel</source>
         <translation type="unfinished">إلغاء</translation>
     </message>
+    <message>
+        <source>%1 (Community Fav)</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ExperimentalModeButton</name>
@@ -1175,6 +1199,22 @@
         <source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
         <translation type="gpt-5-generated">&lt;b&gt;تعديلات Twilsonco المعتمدة على العزم لتنعيم التوجيه في المنعطفات.&lt;/b&gt;</translation>
     </message>
+    <message>
+        <source>Steer Offset (Default: %1)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steer Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotLongitudinalPanel</name>
@@ -2086,6 +2126,42 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;سلوك متابعة يحاكي السائقين البشر&lt;/b&gt; عبر تقليل الفجوات خلف المركبات الأسرع لانطلاق أسرع وضبط مسافة المتابعة المطلوبة ديناميكياً لكبح ألطف وأكثر كفاءة.</translation>
     </message>
+    <message>
+        <source>EV Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Trailer Load</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Increase the vehicle mass to account for towing.&lt;/b&gt; Adjust in 500 lb steps up to 15,000 lbs to fine-tune gas and brake behavior when pulling a trailer.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> lbs</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>
@@ -2503,6 +2579,14 @@
         <source>Driving models are chosen at random each drive and feedback prompts are used to find the model that best suits your needs.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Recovery Power</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the strength of planplus lane recovery corrections (0.5 to 2.0).</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Stop Distance</source>
         <translation type="unfinished"></translation>
@@ -2523,6 +2607,10 @@
         <source>Select the active driving model.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Custom Series</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>There are no more models to blacklist! The only available model is "%1"!</source>
         <translation type="unfinished"></translation>
@@ -2552,13 +2640,17 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <source>Are you sure you want to reset your &lt;b&gt;Recovery Power&lt;/b&gt; to the default of 1.0?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Reset</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotModelReview</name>
@@ -3714,6 +3806,22 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
         <source>comma Pedal Support</source>
         <translation type="gpt-5-generated">دعم comma Pedal</translation>
     </message>
+    <message>
+        <source>Use Pedal for Longitudinal Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SASCM Support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>

selfdrive/ui/translations/main_caveman.ts

@@ -434,6 +434,26 @@
 </context>
 <context>
     <name>ExpandableMultiOptionDialog</name>
+    <message>
+        <source>Sort by:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Alphabetical</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Newest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Oldest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Favorites First</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Select</source>
         <translation type="unfinished">Pick</translation>
@@ -442,6 +462,10 @@
         <source>Cancel</source>
         <translation type="unfinished">Stop</translation>
     </message>
+    <message>
+        <source>%1 (Community Fav)</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ExperimentalModeButton</name>
@@ -1176,6 +1200,22 @@
         <source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
         <translation type="gpt-5-generated">&lt;b&gt;Twilsonco make torque tweak. Steering smooth in curve.&lt;/b&gt;</translation>
     </message>
+    <message>
+        <source>Steer Offset (Default: %1)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steer Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotLongitudinalPanel</name>
@@ -2088,6 +2128,42 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;Make car follow like human&lt;/b&gt;. Close gap behind fast car for quick takeoff. Change follow distance on the fly for soft, smart brake.</translation>
     </message>
+    <message>
+        <source>EV Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Trailer Load</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Increase the vehicle mass to account for towing.&lt;/b&gt; Adjust in 500 lb steps up to 15,000 lbs to fine-tune gas and brake behavior when pulling a trailer.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> lbs</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>
@@ -2505,6 +2581,14 @@
         <source>Driving models are chosen at random each drive and feedback prompts are used to find the model that best suits your needs.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Recovery Power</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the strength of planplus lane recovery corrections (0.5 to 2.0).</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Stop Distance</source>
         <translation type="unfinished"></translation>
@@ -2525,6 +2609,10 @@
         <source>Select the active driving model.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Custom Series</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>There are no more models to blacklist! The only available model is "%1"!</source>
         <translation type="unfinished"></translation>
@@ -2554,13 +2642,17 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <source>Are you sure you want to reset your &lt;b&gt;Recovery Power&lt;/b&gt; to the default of 1.0?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Reset</source>
         <translation type="unfinished">Reset</translation>
     </message>
+    <message>
+        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotModelReview</name>
@@ -3718,6 +3810,22 @@ Developer - Many custom setting for seasoned enthusiast</translation>
         <source>comma Pedal Support</source>
         <translation type="gpt-5-generated">comma Pedal Help</translation>
     </message>
+    <message>
+        <source>Use Pedal for Longitudinal Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SASCM Support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>

selfdrive/ui/translations/main_de.ts

@@ -433,6 +433,26 @@
 </context>
 <context>
     <name>ExpandableMultiOptionDialog</name>
+    <message>
+        <source>Sort by:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Alphabetical</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Newest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Oldest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Favorites First</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Select</source>
         <translation type="unfinished">Auswählen</translation>
@@ -441,6 +461,10 @@
         <source>Cancel</source>
         <translation type="unfinished">Abbrechen</translation>
     </message>
+    <message>
+        <source>%1 (Community Fav)</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ExperimentalModeButton</name>
@@ -1175,6 +1199,22 @@
         <source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
         <translation type="gpt-5-generated">&lt;b&gt;Twilsoncos drehmomentbasierte Anpassungen zur Glättung der Lenkung in Kurven.&lt;/b&gt;</translation>
     </message>
+    <message>
+        <source>Steer Offset (Default: %1)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steer Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotLongitudinalPanel</name>
@@ -2086,6 +2126,42 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;Dem Fahrverhalten menschlicher Fahrer nachempfunden&lt;/b&gt;, indem Lücken hinter schnelleren Fahrzeugen geschlossen werden, um schneller anzufahren, und der gewünschte Folgeabstand dynamisch angepasst wird, um sanfteres und effizienteres Bremsen zu ermöglichen.</translation>
     </message>
+    <message>
+        <source>EV Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Trailer Load</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Increase the vehicle mass to account for towing.&lt;/b&gt; Adjust in 500 lb steps up to 15,000 lbs to fine-tune gas and brake behavior when pulling a trailer.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> lbs</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>
@@ -2503,6 +2579,14 @@
         <source>Driving models are chosen at random each drive and feedback prompts are used to find the model that best suits your needs.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Recovery Power</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the strength of planplus lane recovery corrections (0.5 to 2.0).</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Stop Distance</source>
         <translation type="unfinished"></translation>
@@ -2523,6 +2607,10 @@
         <source>Select the active driving model.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Custom Series</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>There are no more models to blacklist! The only available model is "%1"!</source>
         <translation type="unfinished"></translation>
@@ -2552,13 +2640,17 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <source>Are you sure you want to reset your &lt;b&gt;Recovery Power&lt;/b&gt; to the default of 1.0?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Reset</source>
         <translation type="unfinished">Zurücksetzen</translation>
     </message>
+    <message>
+        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotModelReview</name>
@@ -3714,6 +3806,22 @@ Entwickler – Hochgradig anpassbare Einstellungen für versierte Enthusiasten</
         <source>comma Pedal Support</source>
         <translation type="gpt-5-generated">Unterstützung für comma Pedal</translation>
     </message>
+    <message>
+        <source>Use Pedal for Longitudinal Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SASCM Support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>

selfdrive/ui/translations/main_duck.ts

@@ -433,6 +433,26 @@
 </context>
 <context>
     <name>ExpandableMultiOptionDialog</name>
+    <message>
+        <source>Sort by:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Alphabetical</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Newest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Oldest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Favorites First</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Select</source>
         <translation type="unfinished">Quack-select!</translation>
@@ -441,6 +461,10 @@
         <source>Cancel</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>%1 (Community Fav)</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ExperimentalModeButton</name>
@@ -1177,6 +1201,22 @@
         <source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
         <translation type="gpt-5-generated">&lt;b&gt;Quack! Twilsonco’s torque tweaks to smooth out steering in curves, waddle-waddle.&lt;/b&gt;</translation>
     </message>
+    <message>
+        <source>Steer Offset (Default: %1)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steer Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotLongitudinalPanel</name>
@@ -2088,6 +2128,42 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;Quack! Mimic human drivers&lt;/b&gt; by waddling up to close gaps behind faster cars for zippy takeoffs, and duckily tweak the following distance for smoother, more efficient braking.</translation>
     </message>
+    <message>
+        <source>EV Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Trailer Load</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Increase the vehicle mass to account for towing.&lt;/b&gt; Adjust in 500 lb steps up to 15,000 lbs to fine-tune gas and brake behavior when pulling a trailer.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> lbs</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>
@@ -2505,6 +2581,14 @@
         <source>Driving models are chosen at random each drive and feedback prompts are used to find the model that best suits your needs.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Recovery Power</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the strength of planplus lane recovery corrections (0.5 to 2.0).</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Stop Distance</source>
         <translation type="unfinished"></translation>
@@ -2525,6 +2609,10 @@
         <source>Select the active driving model.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Custom Series</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>There are no more models to blacklist! The only available model is "%1"!</source>
         <translation type="unfinished"></translation>
@@ -2554,13 +2642,17 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <source>Are you sure you want to reset your &lt;b&gt;Recovery Power&lt;/b&gt; to the default of 1.0?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Reset</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotModelReview</name>
@@ -3716,6 +3808,22 @@ Developer - Ultra-custom settings for seasoned duckthusiasts</translation>
         <source>comma Pedal Support</source>
         <translation type="gpt-5-generated">Quack! comma Pedal Support, waddle on!</translation>
     </message>
+    <message>
+        <source>Use Pedal for Longitudinal Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SASCM Support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>

selfdrive/ui/translations/main_es.ts

@@ -433,6 +433,26 @@
 </context>
 <context>
     <name>ExpandableMultiOptionDialog</name>
+    <message>
+        <source>Sort by:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Alphabetical</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Newest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Oldest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Favorites First</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Select</source>
         <translation type="unfinished">Seleccione</translation>
@@ -441,6 +461,10 @@
         <source>Cancel</source>
         <translation type="unfinished">Cancelar</translation>
     </message>
+    <message>
+        <source>%1 (Community Fav)</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ExperimentalModeButton</name>
@@ -1175,6 +1199,22 @@
         <source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
         <translation type="gpt-5-generated">&lt;b&gt;Ajustes basados en par de Twilsonco para suavizar la dirección en curvas.&lt;/b&gt;</translation>
     </message>
+    <message>
+        <source>Steer Offset (Default: %1)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steer Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotLongitudinalPanel</name>
@@ -2086,6 +2126,42 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;Comportamiento de seguimiento que imita a los conductores humanos&lt;/b&gt; cerrando huecos detrás de vehículos más rápidos para salidas más rápidas y ajustando dinámicamente la distancia de seguimiento deseada para un frenado más suave y eficiente.</translation>
     </message>
+    <message>
+        <source>EV Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Trailer Load</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Increase the vehicle mass to account for towing.&lt;/b&gt; Adjust in 500 lb steps up to 15,000 lbs to fine-tune gas and brake behavior when pulling a trailer.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> lbs</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>
@@ -2503,6 +2579,14 @@
         <source>Driving models are chosen at random each drive and feedback prompts are used to find the model that best suits your needs.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Recovery Power</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the strength of planplus lane recovery corrections (0.5 to 2.0).</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Stop Distance</source>
         <translation type="unfinished"></translation>
@@ -2523,6 +2607,10 @@
         <source>Select the active driving model.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Custom Series</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>There are no more models to blacklist! The only available model is "%1"!</source>
         <translation type="unfinished"></translation>
@@ -2552,13 +2640,17 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <source>Are you sure you want to reset your &lt;b&gt;Recovery Power&lt;/b&gt; to the default of 1.0?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Reset</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotModelReview</name>
@@ -3713,6 +3805,22 @@ Desarrollador: configuración altamente personalizable para entusiastas veterano
         <source>comma Pedal Support</source>
         <translation type="gpt-5-generated">Compatibilidad con comma Pedal</translation>
     </message>
+    <message>
+        <source>Use Pedal for Longitudinal Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SASCM Support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>

selfdrive/ui/translations/main_fr.ts

@@ -433,6 +433,26 @@
 </context>
 <context>
     <name>ExpandableMultiOptionDialog</name>
+    <message>
+        <source>Sort by:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Alphabetical</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Newest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Oldest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Favorites First</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Select</source>
         <translation type="unfinished">Sélectionner</translation>
@@ -441,6 +461,10 @@
         <source>Cancel</source>
         <translation type="unfinished">Annuler</translation>
     </message>
+    <message>
+        <source>%1 (Community Fav)</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ExperimentalModeButton</name>
@@ -1175,6 +1199,22 @@
         <source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
         <translation type="gpt-5-generated">&lt;b&gt;Ajustements basés sur le couple de Twilsonco pour adoucir la direction dans les virages.&lt;/b&gt;</translation>
     </message>
+    <message>
+        <source>Steer Offset (Default: %1)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steer Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotLongitudinalPanel</name>
@@ -2086,6 +2126,42 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;Un comportement de suivi qui imite les conducteurs humains&lt;/b&gt; en réduisant les écarts derrière les véhicules plus rapides pour des départs plus rapides et en ajustant dynamiquement la distance de suivi souhaitée pour un freinage plus doux et plus efficace.</translation>
     </message>
+    <message>
+        <source>EV Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Trailer Load</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Increase the vehicle mass to account for towing.&lt;/b&gt; Adjust in 500 lb steps up to 15,000 lbs to fine-tune gas and brake behavior when pulling a trailer.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> lbs</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>
@@ -2503,6 +2579,14 @@
         <source>Driving models are chosen at random each drive and feedback prompts are used to find the model that best suits your needs.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Recovery Power</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the strength of planplus lane recovery corrections (0.5 to 2.0).</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Stop Distance</source>
         <translation type="unfinished"></translation>
@@ -2523,6 +2607,10 @@
         <source>Select the active driving model.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Custom Series</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>There are no more models to blacklist! The only available model is "%1"!</source>
         <translation type="unfinished"></translation>
@@ -2552,13 +2640,17 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <source>Are you sure you want to reset your &lt;b&gt;Recovery Power&lt;/b&gt; to the default of 1.0?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Reset</source>
         <translation type="unfinished">Réinitialiser</translation>
     </message>
+    <message>
+        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotModelReview</name>
@@ -3713,6 +3805,22 @@ Développeur – Paramètres hautement personnalisables pour passionnés chevron
         <source>comma Pedal Support</source>
         <translation type="gpt-5-generated">Prise en charge de comma Pedal</translation>
     </message>
+    <message>
+        <source>Use Pedal for Longitudinal Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SASCM Support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>

selfdrive/ui/translations/main_frog.ts

@@ -433,6 +433,26 @@
 </context>
 <context>
     <name>ExpandableMultiOptionDialog</name>
+    <message>
+        <source>Sort by:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Alphabetical</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Newest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Oldest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Favorites First</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Select</source>
         <translation type="unfinished">Ribbit! Pick it, croak!</translation>
@@ -441,6 +461,10 @@
         <source>Cancel</source>
         <translation type="unfinished">Ribbit! Cancel croak!</translation>
     </message>
+    <message>
+        <source>%1 (Community Fav)</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ExperimentalModeButton</name>
@@ -1175,6 +1199,22 @@
         <source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
         <translation type="gpt-5-generated">&lt;b&gt;Ribbit! Twilsonco’s torque tweaks smooth steering through curves, croak.&lt;/b&gt;</translation>
     </message>
+    <message>
+        <source>Steer Offset (Default: %1)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steer Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotLongitudinalPanel</name>
@@ -2086,6 +2126,42 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;Croaky follow like humans&lt;/b&gt;, ribbit! Hop to close gaps behind faster cars for quick takeoffs, and croak-adjust the follow distance for gentler, thriftier braking.</translation>
     </message>
+    <message>
+        <source>EV Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Trailer Load</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Increase the vehicle mass to account for towing.&lt;/b&gt; Adjust in 500 lb steps up to 15,000 lbs to fine-tune gas and brake behavior when pulling a trailer.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> lbs</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>
@@ -2503,6 +2579,14 @@
         <source>Driving models are chosen at random each drive and feedback prompts are used to find the model that best suits your needs.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Recovery Power</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the strength of planplus lane recovery corrections (0.5 to 2.0).</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Stop Distance</source>
         <translation type="unfinished"></translation>
@@ -2523,6 +2607,10 @@
         <source>Select the active driving model.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Custom Series</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>There are no more models to blacklist! The only available model is "%1"!</source>
         <translation type="unfinished"></translation>
@@ -2552,13 +2640,17 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <source>Are you sure you want to reset your &lt;b&gt;Recovery Power&lt;/b&gt; to the default of 1.0?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Reset</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotModelReview</name>
@@ -3714,6 +3806,22 @@ Developer - Highly customizable settings for seasoned swamp pros</translation>
         <source>comma Pedal Support</source>
         <translation type="gpt-5-generated">Ribbit! comma Pedal Support croak!</translation>
     </message>
+    <message>
+        <source>Use Pedal for Longitudinal Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SASCM Support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>

selfdrive/ui/translations/main_ja.ts

@@ -433,6 +433,26 @@
 </context>
 <context>
     <name>ExpandableMultiOptionDialog</name>
+    <message>
+        <source>Sort by:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Alphabetical</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Newest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Oldest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Favorites First</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Select</source>
         <translation type="unfinished">選択</translation>
@@ -441,6 +461,10 @@
         <source>Cancel</source>
         <translation type="unfinished">キャンセル</translation>
     </message>
+    <message>
+        <source>%1 (Community Fav)</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ExperimentalModeButton</name>
@@ -1175,6 +1199,22 @@
         <source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
         <translation type="gpt-5-generated">&lt;b&gt;カーブでのステアリングを滑らかにするためのTwilsoncoのトルクベース調整。&lt;/b&gt;</translation>
     </message>
+    <message>
+        <source>Steer Offset (Default: %1)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steer Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotLongitudinalPanel</name>
@@ -2086,6 +2126,42 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;人間のドライバーを模倣する追従挙動&lt;/b&gt;。より速い車両の後方で車間を詰めて発進を素早くし、望ましい追従距離を動的に調整して、より穏やかで効率的な減速を実現します。</translation>
     </message>
+    <message>
+        <source>EV Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Trailer Load</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Increase the vehicle mass to account for towing.&lt;/b&gt; Adjust in 500 lb steps up to 15,000 lbs to fine-tune gas and brake behavior when pulling a trailer.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> lbs</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>
@@ -2503,6 +2579,14 @@
         <source>Driving models are chosen at random each drive and feedback prompts are used to find the model that best suits your needs.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Recovery Power</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the strength of planplus lane recovery corrections (0.5 to 2.0).</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Stop Distance</source>
         <translation type="unfinished"></translation>
@@ -2523,6 +2607,10 @@
         <source>Select the active driving model.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Custom Series</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>There are no more models to blacklist! The only available model is "%1"!</source>
         <translation type="unfinished"></translation>
@@ -2552,13 +2640,17 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <source>Are you sure you want to reset your &lt;b&gt;Recovery Power&lt;/b&gt; to the default of 1.0?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Reset</source>
         <translation type="unfinished">リセット</translation>
     </message>
+    <message>
+        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotModelReview</name>
@@ -3712,6 +3804,22 @@ Developer - こだわりのある上級者向けの高度にカスタマイズ
         <source>comma Pedal Support</source>
         <translation type="gpt-5-generated">comma Pedal 対応</translation>
     </message>
+    <message>
+        <source>Use Pedal for Longitudinal Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SASCM Support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>

selfdrive/ui/translations/main_ko.ts

@@ -433,6 +433,26 @@
 </context>
 <context>
     <name>ExpandableMultiOptionDialog</name>
+    <message>
+        <source>Sort by:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Alphabetical</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Newest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Oldest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Favorites First</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Select</source>
         <translation type="unfinished">선택</translation>
@@ -441,6 +461,10 @@
         <source>Cancel</source>
         <translation type="unfinished">취소</translation>
     </message>
+    <message>
+        <source>%1 (Community Fav)</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ExperimentalModeButton</name>
@@ -1175,6 +1199,22 @@
         <source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
         <translation type="gpt-5-generated">&lt;b&gt;커브에서 조향을 부드럽게 하기 위한 Twilsonco의 토크 기반 조정.&lt;/b&gt;</translation>
     </message>
+    <message>
+        <source>Steer Offset (Default: %1)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steer Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotLongitudinalPanel</name>
@@ -2086,6 +2126,42 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;사람 운전자와 유사한 추종 동작&lt;/b&gt;으로, 더 빠른 차량 뒤 간격을 좁혀 신속한 출발을 돕고 원하는 추종 거리를 동적으로 조절해 더욱 부드럽고 효율적인 제동을 수행합니다.</translation>
     </message>
+    <message>
+        <source>EV Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Trailer Load</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Increase the vehicle mass to account for towing.&lt;/b&gt; Adjust in 500 lb steps up to 15,000 lbs to fine-tune gas and brake behavior when pulling a trailer.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> lbs</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>
@@ -2503,6 +2579,14 @@
         <source>Driving models are chosen at random each drive and feedback prompts are used to find the model that best suits your needs.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Recovery Power</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the strength of planplus lane recovery corrections (0.5 to 2.0).</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Stop Distance</source>
         <translation type="unfinished"></translation>
@@ -2523,6 +2607,10 @@
         <source>Select the active driving model.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Custom Series</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>There are no more models to blacklist! The only available model is "%1"!</source>
         <translation type="unfinished"></translation>
@@ -2552,13 +2640,17 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <source>Are you sure you want to reset your &lt;b&gt;Recovery Power&lt;/b&gt; to the default of 1.0?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Reset</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotModelReview</name>
@@ -3713,6 +3805,22 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
         <source>comma Pedal Support</source>
         <translation type="gpt-5-generated">comma Pedal 지원</translation>
     </message>
+    <message>
+        <source>Use Pedal for Longitudinal Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SASCM Support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>

selfdrive/ui/translations/main_pirate.ts

@@ -433,6 +433,26 @@
 </context>
 <context>
     <name>ExpandableMultiOptionDialog</name>
+    <message>
+        <source>Sort by:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Alphabetical</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Newest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Oldest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Favorites First</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Select</source>
         <translation type="unfinished">Be pickin'</translation>
@@ -441,6 +461,10 @@
         <source>Cancel</source>
         <translation type="unfinished">Belay</translation>
     </message>
+    <message>
+        <source>%1 (Community Fav)</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ExperimentalModeButton</name>
@@ -1175,6 +1199,22 @@
         <source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
         <translation type="gpt-5-generated">&lt;b&gt;Twilsonco’s torque-based tweaks t’ smooth out steerin’ in curves, arr!&lt;/b&gt;</translation>
     </message>
+    <message>
+        <source>Steer Offset (Default: %1)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steer Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotLongitudinalPanel</name>
@@ -2086,6 +2126,42 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;Behavin’ like real hands at the wheel&lt;/b&gt; by closin’ gaps astern o’ swifter wagons fer quicker shove-offs, an’ smartly trimmin’ the wanted followin’ distance fer gentler, more shipshape brak’n.</translation>
     </message>
+    <message>
+        <source>EV Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Trailer Load</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Increase the vehicle mass to account for towing.&lt;/b&gt; Adjust in 500 lb steps up to 15,000 lbs to fine-tune gas and brake behavior when pulling a trailer.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> lbs</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>
@@ -2503,6 +2579,14 @@
         <source>Driving models are chosen at random each drive and feedback prompts are used to find the model that best suits your needs.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Recovery Power</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the strength of planplus lane recovery corrections (0.5 to 2.0).</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Stop Distance</source>
         <translation type="unfinished"></translation>
@@ -2523,6 +2607,10 @@
         <source>Select the active driving model.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Custom Series</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>There are no more models to blacklist! The only available model is "%1"!</source>
         <translation type="unfinished"></translation>
@@ -2552,13 +2640,17 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <source>Are you sure you want to reset your &lt;b&gt;Recovery Power&lt;/b&gt; to the default of 1.0?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Reset</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotModelReview</name>
@@ -3714,6 +3806,22 @@ Developer - Highly customizable riggin’s fer seasoned enthusiasts</translation
         <source>comma Pedal Support</source>
         <translation type="gpt-5-generated">comma Pedal Support, arrr</translation>
     </message>
+    <message>
+        <source>Use Pedal for Longitudinal Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SASCM Support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>

selfdrive/ui/translations/main_pt-BR.ts

@@ -433,6 +433,26 @@
 </context>
 <context>
     <name>ExpandableMultiOptionDialog</name>
+    <message>
+        <source>Sort by:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Alphabetical</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Newest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Oldest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Favorites First</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Select</source>
         <translation type="unfinished">Selecione</translation>
@@ -441,6 +461,10 @@
         <source>Cancel</source>
         <translation type="unfinished">Cancelar</translation>
     </message>
+    <message>
+        <source>%1 (Community Fav)</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ExperimentalModeButton</name>
@@ -1175,6 +1199,22 @@
         <source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
         <translation type="gpt-5-generated">&lt;b&gt;Ajustes baseados em torque do Twilsonco para suavizar a direção em curvas.&lt;/b&gt;</translation>
     </message>
+    <message>
+        <source>Steer Offset (Default: %1)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steer Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotLongitudinalPanel</name>
@@ -2086,6 +2126,42 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;Comportamento de acompanhamento que imita motoristas humanos&lt;/b&gt; ao fechar lacunas atrás de veículos mais rápidos para arrancadas mais rápidas e ajustar dinamicamente a distância de seguimento desejada para frenagens mais suaves e eficientes.</translation>
     </message>
+    <message>
+        <source>EV Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Trailer Load</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Increase the vehicle mass to account for towing.&lt;/b&gt; Adjust in 500 lb steps up to 15,000 lbs to fine-tune gas and brake behavior when pulling a trailer.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> lbs</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>
@@ -2503,6 +2579,14 @@
         <source>Driving models are chosen at random each drive and feedback prompts are used to find the model that best suits your needs.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Recovery Power</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the strength of planplus lane recovery corrections (0.5 to 2.0).</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Stop Distance</source>
         <translation type="unfinished"></translation>
@@ -2523,6 +2607,10 @@
         <source>Select the active driving model.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Custom Series</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>There are no more models to blacklist! The only available model is "%1"!</source>
         <translation type="unfinished"></translation>
@@ -2552,13 +2640,17 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <source>Are you sure you want to reset your &lt;b&gt;Recovery Power&lt;/b&gt; to the default of 1.0?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Reset</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotModelReview</name>
@@ -3714,6 +3806,22 @@ Desenvolvedor - Configurações altamente personalizáveis para entusiastas expe
         <source>comma Pedal Support</source>
         <translation type="gpt-5-generated">Compatibilidade com comma Pedal</translation>
     </message>
+    <message>
+        <source>Use Pedal for Longitudinal Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SASCM Support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>

selfdrive/ui/translations/main_shakespearean.ts

@@ -433,6 +433,26 @@
 </context>
 <context>
     <name>ExpandableMultiOptionDialog</name>
+    <message>
+        <source>Sort by:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Alphabetical</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Newest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Oldest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Favorites First</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Select</source>
         <translation type="unfinished">Select</translation>
@@ -441,6 +461,10 @@
         <source>Cancel</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>%1 (Community Fav)</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ExperimentalModeButton</name>
@@ -1179,6 +1203,22 @@
         <source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
         <translation type="gpt-5-generated">&lt;b&gt;Twilsonco’s torque-wrought tweaks to make steering flow smoother ’midst the curves.&lt;/b&gt;</translation>
     </message>
+    <message>
+        <source>Steer Offset (Default: %1)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steer Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotLongitudinalPanel</name>
@@ -2092,6 +2132,42 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;Following comportment that doth mirror mortal coachmen&lt;/b&gt; by narrowing gaps behind swifter chariots for hastier set-offs and by dynamically tuning the desired following distance for gentler, more thrifty braking.</translation>
     </message>
+    <message>
+        <source>EV Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Trailer Load</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Increase the vehicle mass to account for towing.&lt;/b&gt; Adjust in 500 lb steps up to 15,000 lbs to fine-tune gas and brake behavior when pulling a trailer.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> lbs</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>
@@ -2509,6 +2585,14 @@
         <source>Driving models are chosen at random each drive and feedback prompts are used to find the model that best suits your needs.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Recovery Power</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the strength of planplus lane recovery corrections (0.5 to 2.0).</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Stop Distance</source>
         <translation type="unfinished"></translation>
@@ -2529,6 +2613,10 @@
         <source>Select the active driving model.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Custom Series</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>There are no more models to blacklist! The only available model is "%1"!</source>
         <translation type="unfinished"></translation>
@@ -2558,13 +2646,17 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <source>Are you sure you want to reset your &lt;b&gt;Recovery Power&lt;/b&gt; to the default of 1.0?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Reset</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotModelReview</name>
@@ -3724,6 +3816,22 @@ Developer - Most customizable settings for well-tried enthusiasts</translation>
         <source>comma Pedal Support</source>
         <translation type="gpt-5-generated">comma Pedal Support</translation>
     </message>
+    <message>
+        <source>Use Pedal for Longitudinal Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SASCM Support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>

selfdrive/ui/translations/main_th.ts

@@ -433,6 +433,26 @@
 </context>
 <context>
     <name>ExpandableMultiOptionDialog</name>
+    <message>
+        <source>Sort by:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Alphabetical</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Newest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Oldest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Favorites First</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Select</source>
         <translation type="unfinished">เลือก</translation>
@@ -441,6 +461,10 @@
         <source>Cancel</source>
         <translation type="unfinished">ยกเลิก</translation>
     </message>
+    <message>
+        <source>%1 (Community Fav)</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ExperimentalModeButton</name>
@@ -1175,6 +1199,22 @@
         <source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
         <translation type="gpt-5-generated">&lt;b&gt;การปรับตามแรงบิดของ Twilsonco เพื่อทำให้การบังคับเลี้ยวในโค้งนุ่มนวลขึ้น&lt;/b&gt;</translation>
     </message>
+    <message>
+        <source>Steer Offset (Default: %1)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steer Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotLongitudinalPanel</name>
@@ -2086,6 +2126,42 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;พฤติกรรมการตามที่เลียนแบบผู้ขับขี่มนุษย์&lt;/b&gt; โดยปิดช่องว่างด้านหลังรถที่เร็วกว่าเพื่อออกตัวได้เร็วขึ้น และปรับระยะห่างที่ต้องการแบบไดนามิกเพื่อการเบรกที่นุ่มนวลและมีประสิทธิภาพมากขึ้น</translation>
     </message>
+    <message>
+        <source>EV Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Trailer Load</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Increase the vehicle mass to account for towing.&lt;/b&gt; Adjust in 500 lb steps up to 15,000 lbs to fine-tune gas and brake behavior when pulling a trailer.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> lbs</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>
@@ -2503,6 +2579,14 @@
         <source>Driving models are chosen at random each drive and feedback prompts are used to find the model that best suits your needs.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Recovery Power</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the strength of planplus lane recovery corrections (0.5 to 2.0).</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Stop Distance</source>
         <translation type="unfinished"></translation>
@@ -2523,6 +2607,10 @@
         <source>Select the active driving model.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Custom Series</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>There are no more models to blacklist! The only available model is "%1"!</source>
         <translation type="unfinished"></translation>
@@ -2552,13 +2640,17 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <source>Are you sure you want to reset your &lt;b&gt;Recovery Power&lt;/b&gt; to the default of 1.0?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Reset</source>
         <translation type="unfinished">รีเซ็ต</translation>
     </message>
+    <message>
+        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotModelReview</name>
@@ -3714,6 +3806,22 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
         <source>comma Pedal Support</source>
         <translation type="gpt-5-generated">รองรับ comma Pedal</translation>
     </message>
+    <message>
+        <source>Use Pedal for Longitudinal Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SASCM Support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>

selfdrive/ui/translations/main_tr.ts

@@ -433,6 +433,26 @@
 </context>
 <context>
     <name>ExpandableMultiOptionDialog</name>
+    <message>
+        <source>Sort by:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Alphabetical</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Newest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Oldest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Favorites First</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Select</source>
         <translation type="unfinished">Seç</translation>
@@ -441,6 +461,10 @@
         <source>Cancel</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>%1 (Community Fav)</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ExperimentalModeButton</name>
@@ -1175,6 +1199,22 @@
         <source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
         <translation type="gpt-5-generated">&lt;b&gt;Virajlarda direksiyonu yumuşatmak için Twilsonco’nun torka dayalı ayarlamaları.&lt;/b&gt;</translation>
     </message>
+    <message>
+        <source>Steer Offset (Default: %1)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steer Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotLongitudinalPanel</name>
@@ -2086,6 +2126,42 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;İnsan sürücüleri taklit eden takip davranışı&lt;/b&gt;: Daha hızlı araçların arkasındaki boşlukları kapatarak daha hızlı kalkışlar ve daha yumuşak, daha verimli frenleme için istenen takip mesafesini dinamik olarak ayarlama.</translation>
     </message>
+    <message>
+        <source>EV Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Trailer Load</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Increase the vehicle mass to account for towing.&lt;/b&gt; Adjust in 500 lb steps up to 15,000 lbs to fine-tune gas and brake behavior when pulling a trailer.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> lbs</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>
@@ -2503,6 +2579,14 @@
         <source>Driving models are chosen at random each drive and feedback prompts are used to find the model that best suits your needs.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Recovery Power</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the strength of planplus lane recovery corrections (0.5 to 2.0).</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Stop Distance</source>
         <translation type="unfinished"></translation>
@@ -2523,6 +2607,10 @@
         <source>Select the active driving model.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Custom Series</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>There are no more models to blacklist! The only available model is "%1"!</source>
         <translation type="unfinished"></translation>
@@ -2552,13 +2640,17 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <source>Are you sure you want to reset your &lt;b&gt;Recovery Power&lt;/b&gt; to the default of 1.0?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Reset</source>
         <translation type="unfinished">Sıfırla</translation>
     </message>
+    <message>
+        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotModelReview</name>
@@ -3713,6 +3805,22 @@ Geliştirici - Tecrübeli meraklılar için yüksek özelleştirilebilir ayarlar
         <source>comma Pedal Support</source>
         <translation type="gpt-5-generated">comma Pedal Desteği</translation>
     </message>
+    <message>
+        <source>Use Pedal for Longitudinal Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SASCM Support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -433,6 +433,26 @@
 </context>
 <context>
     <name>ExpandableMultiOptionDialog</name>
+    <message>
+        <source>Sort by:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Alphabetical</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Newest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Date (Oldest)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Favorites First</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Select</source>
         <translation type="unfinished">选择</translation>
@@ -441,6 +461,10 @@
         <source>Cancel</source>
         <translation type="unfinished">取消</translation>
     </message>
+    <message>
+        <source>%1 (Community Fav)</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ExperimentalModeButton</name>
@@ -1175,6 +1199,22 @@
         <source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
         <translation type="gpt-5-generated">&lt;b&gt;Twilsonco 基于扭矩的调整，用于在弯道中平滑转向。&lt;/b&gt;</translation>
     </message>
+    <message>
+        <source>Steer Offset (Default: %1)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steer Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotLongitudinalPanel</name>
@@ -2086,6 +2126,42 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;模仿人类驾驶员的跟车行为&lt;/b&gt;，通过在更快车辆后方缩小车距以更快起步，并动态调整期望跟车距离，以实现更平顺、更高效的制动。</translation>
     </message>
+    <message>
+        <source>EV Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Trailer Load</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Increase the vehicle mass to account for towing.&lt;/b&gt; Adjust in 500 lb steps up to 15,000 lbs to fine-tune gas and brake behavior when pulling a trailer.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> lbs</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>
@@ -2503,6 +2579,14 @@
         <source>Driving models are chosen at random each drive and feedback prompts are used to find the model that best suits your needs.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Recovery Power</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the strength of planplus lane recovery corrections (0.5 to 2.0).</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Stop Distance</source>
         <translation type="unfinished"></translation>
@@ -2523,6 +2607,10 @@
         <source>Select the active driving model.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Custom Series</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>There are no more models to blacklist! The only available model is "%1"!</source>
         <translation type="unfinished"></translation>
@@ -2552,13 +2640,17 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <source>Are you sure you want to reset your &lt;b&gt;Recovery Power&lt;/b&gt; to the default of 1.0?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Reset</source>
         <translation type="unfinished">重置</translation>
     </message>
+    <message>
+        <source>Are you sure you want to reset your &lt;b&gt;Stop Distance&lt;/b&gt; to the default of 6 meters?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotModelReview</name>
@@ -3714,6 +3806,22 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
         <source>comma Pedal Support</source>
         <translation type="gpt-5-generated">comma Pedal 支持</translation>
     </message>
+    <message>
+        <source>Use Pedal for Longitudinal Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SASCM Support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>