User adjustable offsets

This reverts commit 8a9d0e5e6a.

cereal/car.capnp

@@ -530,14 +530,14 @@ struct CarParams {
 
   struct LateralTorqueTuning {
     useSteeringAngle @0 :Bool;
+    kp @1 :Float32;
+    ki @2 :Float32;
+    kd @8 : Float32;
     friction @3 :Float32;
     steeringAngleDeadzoneDeg @5 :Float32;
     latAccelFactor @6 :Float32;
     latAccelOffset @7 :Float32;
-    kpDEPRECATED @1 :Float32;
-    kiDEPRECATED @2 :Float32;
     kfDEPRECATED @4 :Float32;
-    kdDEPRECATED @8 : Float32;
   }
 
   struct LongitudinalPIDTuning {

cereal/custom.capnp

@@ -105,7 +105,7 @@ struct FrogPilotCarParams @0xf35cc4560bbf6ec2 {
   isHDA2 @3 :Bool;
   openpilotLongitudinalControlDisabled @4 :Bool;
   safetyConfigs @5 :List(SafetyConfig);
-
+  canUseSASCM @6 :Bool;
 
   struct SafetyConfig {
     safetyParam @0 :UInt16;

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

@@ -5262,7 +5262,7 @@ 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<166> 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,   5,   0,
@@ -5289,62 +5289,62 @@ static const ::capnp::_::AlignedData<166> b_80366e0e804ecc1d = {
       0,   0,   0,   0,   0,   0,   0,   0,
     240,   0,   0,   0,   3,   0,   1,   0,
     252,   0,   0,   0,   2,   0,   1,   0,
-      5,   0,   0,   0,   1,   0,   0,   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,
-    249,   0,   0,   0, 106,   0,   0,   0,
+    249,   0,   0,   0,  26,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   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,
+    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,   2,   0,   0,   0,
-      0,   0,   1,   0,   2,   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, 106,   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,
-      1,   0,   0,   0,   3,   0,   0,   0,
-      0,   0,   1,   0,   3,   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,  74,   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,
-      7,   0,   0,   0,   4,   0,   0,   0,
-      0,   0,   1,   0,   4,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     17,   1,   0,   0, 106,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     16,   1,   0,   0,   3,   0,   1,   0,
-     28,   1,   0,   0,   2,   0,   1,   0,
-      2,   0,   0,   0,   5,   0,   0,   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,
-     25,   1,   0,   0, 202,   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,
-      3,   0,   0,   0,   6,   0,   0,   0,
-      0,   0,   1,   0,   6,   0,   0,   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,
-      4,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   1,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     49,   1,   0,   0, 122,   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,
-      8,   0,   0,   0,   8,   0,   0,   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,
-     57,   1,   0,   0, 106,   0,   0,   0,
+     49,   1,   0,   0,  26,   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,
+     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,
@@ -5355,8 +5355,7 @@ static const ::capnp::_::AlignedData<166> b_80366e0e804ecc1d = {
       1,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    107, 112,  68,  69,  80,  82,  69,  67,
-     65,  84,  69,  68,   0,   0,   0,   0,
+    107, 112,   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,
@@ -5364,8 +5363,7 @@ static const ::capnp::_::AlignedData<166> 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, 105,  68,  69,  80,  82,  69,  67,
-     65,  84,  69,  68,   0,   0,   0,   0,
+    107, 105,   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,
@@ -5420,8 +5418,7 @@ static const ::capnp::_::AlignedData<166> 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, 100,  68,  69,  80,  82,  69,  67,
-     65,  84,  69,  68,   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,
@@ -5435,7 +5432,7 @@ static const ::capnp::_::AlignedData<166> b_80366e0e804ecc1d = {
 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, 166, nullptr, m_80366e0e804ecc1d,
+  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

cereal/gen/cpp/car.capnp.h

@@ -3134,9 +3134,9 @@ public:
 
   inline bool getUseSteeringAngle() const;
 
-  inline float getKpDEPRECATED() const;
+  inline float getKp() const;
 
-  inline float getKiDEPRECATED() const;
+  inline float getKi() const;
 
   inline float getFriction() const;
 
@@ -3148,7 +3148,7 @@ public:
 
   inline float getLatAccelOffset() const;
 
-  inline float getKdDEPRECATED() const;
+  inline float getKd() const;
 
 private:
   ::capnp::_::StructReader _reader;
@@ -3181,11 +3181,11 @@ public:
   inline bool getUseSteeringAngle();
   inline void setUseSteeringAngle(bool value);
 
-  inline float getKpDEPRECATED();
-  inline void setKpDEPRECATED(float value);
+  inline float getKp();
+  inline void setKp(float value);
 
-  inline float getKiDEPRECATED();
-  inline void setKiDEPRECATED(float value);
+  inline float getKi();
+  inline void setKi(float value);
 
   inline float getFriction();
   inline void setFriction(float value);
@@ -3202,8 +3202,8 @@ public:
   inline float getLatAccelOffset();
   inline void setLatAccelOffset(float value);
 
-  inline float getKdDEPRECATED();
-  inline void setKdDEPRECATED(float value);
+  inline float getKd();
+  inline void setKd(float value);
 
 private:
   ::capnp::_::StructBuilder _builder;
@@ -7754,30 +7754,30 @@ inline void CarParams::LateralTorqueTuning::Builder::setUseSteeringAngle(bool va
       ::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
 }
 
-inline float CarParams::LateralTorqueTuning::Reader::getKpDEPRECATED() const {
+inline float CarParams::LateralTorqueTuning::Reader::getKp() const {
   return _reader.getDataField<float>(
       ::capnp::bounded<1>() * ::capnp::ELEMENTS);
 }
 
-inline float CarParams::LateralTorqueTuning::Builder::getKpDEPRECATED() {
+inline float CarParams::LateralTorqueTuning::Builder::getKp() {
   return _builder.getDataField<float>(
       ::capnp::bounded<1>() * ::capnp::ELEMENTS);
 }
-inline void CarParams::LateralTorqueTuning::Builder::setKpDEPRECATED(float value) {
+inline void CarParams::LateralTorqueTuning::Builder::setKp(float value) {
   _builder.setDataField<float>(
       ::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
 }
 
-inline float CarParams::LateralTorqueTuning::Reader::getKiDEPRECATED() const {
+inline float CarParams::LateralTorqueTuning::Reader::getKi() const {
   return _reader.getDataField<float>(
       ::capnp::bounded<2>() * ::capnp::ELEMENTS);
 }
 
-inline float CarParams::LateralTorqueTuning::Builder::getKiDEPRECATED() {
+inline float CarParams::LateralTorqueTuning::Builder::getKi() {
   return _builder.getDataField<float>(
       ::capnp::bounded<2>() * ::capnp::ELEMENTS);
 }
-inline void CarParams::LateralTorqueTuning::Builder::setKiDEPRECATED(float value) {
+inline void CarParams::LateralTorqueTuning::Builder::setKi(float value) {
   _builder.setDataField<float>(
       ::capnp::bounded<2>() * ::capnp::ELEMENTS, value);
 }
@@ -7852,16 +7852,16 @@ inline void CarParams::LateralTorqueTuning::Builder::setLatAccelOffset(float val
       ::capnp::bounded<7>() * ::capnp::ELEMENTS, value);
 }
 
-inline float CarParams::LateralTorqueTuning::Reader::getKdDEPRECATED() const {
+inline float CarParams::LateralTorqueTuning::Reader::getKd() const {
   return _reader.getDataField<float>(
       ::capnp::bounded<8>() * ::capnp::ELEMENTS);
 }
 
-inline float CarParams::LateralTorqueTuning::Builder::getKdDEPRECATED() {
+inline float CarParams::LateralTorqueTuning::Builder::getKd() {
   return _builder.getDataField<float>(
       ::capnp::bounded<8>() * ::capnp::ELEMENTS);
 }
-inline void CarParams::LateralTorqueTuning::Builder::setKdDEPRECATED(float value) {
+inline void CarParams::LateralTorqueTuning::Builder::setKd(float value) {
   _builder.setDataField<float>(
       ::capnp::bounded<8>() * ::capnp::ELEMENTS, value);
 }

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

@@ -642,7 +642,7 @@ const ::capnp::_::RawSchema s_aedffd8f31e7b55d = {
 };
 #endif  // !CAPNP_LITE
 CAPNP_DEFINE_ENUM(EventName_aedffd8f31e7b55d, aedffd8f31e7b55d);
-static const ::capnp::_::AlignedData<123> 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,
@@ -652,7 +652,7 @@ static const ::capnp::_::AlignedData<123> b_f35cc4560bbf6ec2 = {
      21,   0,   0,   0,   2,   1,   0,   0,
      33,   0,   0,   0,  23,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     45,   0,   0,   0,  87,   1,   0,   0,
+     45,   0,   0,   0, 143,   1,   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,
@@ -664,49 +664,56 @@ static const ::capnp::_::AlignedData<123> b_f35cc4560bbf6ec2 = {
       1,   0,   0,   0, 106,   0,   0,   0,
      83,  97, 102, 101, 116, 121,  67, 111,
     110, 102, 105, 103,   0,   0,   0,   0,
-     24,   0,   0,   0,   3,   0,   4,   0,
+     28,   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,
-    153,   0,   0,   0,  98,   0,   0,   0,
+    181,   0,   0,   0,  98,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    152,   0,   0,   0,   3,   0,   1,   0,
-    164,   0,   0,   0,   2,   0,   1,   0,
+    180,   0,   0,   0,   3,   0,   1,   0,
+    192,   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,
-    161,   0,   0,   0,  90,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    160,   0,   0,   0,   3,   0,   1,   0,
-    172,   0,   0,   0,   2,   0,   1,   0,
-      2,   0,   0,   0,   1,   0,   0,   0,
-      0,   0,   1,   0,   2,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    169,   0,   0,   0,  66,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    164,   0,   0,   0,   3,   0,   1,   0,
-    176,   0,   0,   0,   2,   0,   1,   0,
-      3,   0,   0,   0,   2,   0,   0,   0,
-      0,   0,   1,   0,   3,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    173,   0,   0,   0,  58,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    168,   0,   0,   0,   3,   0,   1,   0,
-    180,   0,   0,   0,   2,   0,   1,   0,
-      4,   0,   0,   0,   3,   0,   0,   0,
-      0,   0,   1,   0,   4,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    177,   0,   0,   0,  42,   1,   0,   0,
+    189,   0,   0,   0,  90,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     188,   0,   0,   0,   3,   0,   1,   0,
     200,   0,   0,   0,   2,   0,   1,   0,
+      2,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   2,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    197,   0,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    192,   0,   0,   0,   3,   0,   1,   0,
+    204,   0,   0,   0,   2,   0,   1,   0,
+      3,   0,   0,   0,   2,   0,   0,   0,
+      0,   0,   1,   0,   3,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    201,   0,   0,   0,  58,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    196,   0,   0,   0,   3,   0,   1,   0,
+    208,   0,   0,   0,   2,   0,   1,   0,
+      4,   0,   0,   0,   3,   0,   0,   0,
+      0,   0,   1,   0,   4,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    205,   0,   0,   0,  42,   1,   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,
       5,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   5,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    197,   0,   0,   0, 114,   0,   0,   0,
+    225,   0,   0,   0, 114,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    196,   0,   0,   0,   3,   0,   1,   0,
-    224,   0,   0,   0,   2,   0,   1,   0,
+    224,   0,   0,   0,   3,   0,   1,   0,
+    252,   0,   0,   0,   2,   0,   1,   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,
@@ -764,6 +771,15 @@ static const ::capnp::_::AlignedData<123> b_f35cc4560bbf6ec2 = {
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      14,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   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, }
 };
@@ -772,11 +788,11 @@ static const ::capnp::_::AlignedData<123> b_f35cc4560bbf6ec2 = {
 static const ::capnp::_::RawSchema* const d_f35cc4560bbf6ec2[] = {
   &s_8d65dd40bad40951,
 };
-static const uint16_t m_f35cc4560bbf6ec2[] = {0, 1, 2, 3, 4, 5};
-static const uint16_t i_f35cc4560bbf6ec2[] = {0, 1, 2, 3, 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, 123, d_f35cc4560bbf6ec2, m_f35cc4560bbf6ec2,
-  1, 6, 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 = {

cereal/gen/cpp/custom.capnp.h

@@ -669,6 +669,8 @@ public:
   inline bool hasSafetyConfigs() const;
   inline  ::capnp::List< ::cereal::FrogPilotCarParams::SafetyConfig,  ::capnp::Kind::STRUCT>::Reader getSafetyConfigs() const;
 
+  inline bool getCanUseSASCM() const;
+
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -719,6 +721,9 @@ 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 bool getCanUseSASCM();
+  inline void setCanUseSASCM(bool value);
+
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -2220,6 +2225,20 @@ inline ::capnp::Orphan< ::capnp::List< ::cereal::FrogPilotCarParams::SafetyConfi
       ::capnp::bounded<0>() * ::capnp::POINTERS));
 }
 
+inline bool FrogPilotCarParams::Reader::getCanUseSASCM() const {
+  return _reader.getDataField<bool>(
+      ::capnp::bounded<4>() * ::capnp::ELEMENTS);
+}
+
+inline bool FrogPilotCarParams::Builder::getCanUseSASCM() {
+  return _builder.getDataField<bool>(
+      ::capnp::bounded<4>() * ::capnp::ELEMENTS);
+}
+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);

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},
 };
 

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/common/frogpilot_variables.py

@@ -13,13 +13,13 @@ 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
 from openpilot.selfdrive.car.toyota.values import ToyotaFlags, ToyotaFrogPilotFlags
 from openpilot.selfdrive.controls.lib.desire_helper import LANE_CHANGE_SPEED_MIN
-from openpilot.selfdrive.controls.lib.latcontrol_torque import KP
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.power_monitoring import VBATT_PAUSE_CHARGING
@@ -33,6 +33,7 @@ params_memory = Params("/dev/shm/params")
 
 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
@@ -95,6 +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"),
@@ -127,9 +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"),
@@ -148,11 +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"),
@@ -191,7 +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"),
@@ -200,7 +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"),
@@ -218,7 +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"),
@@ -229,6 +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"),
@@ -268,6 +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)),
@@ -283,8 +292,10 @@ 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"),
@@ -325,13 +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"),
@@ -355,7 +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"),
@@ -382,6 +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"),
@@ -396,6 +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, ""),
@@ -418,8 +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"),
@@ -437,7 +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]] = [
@@ -557,6 +573,7 @@ class FrogPilotVariables:
     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
@@ -567,7 +584,7 @@ class FrogPilotVariables:
     startAccel = CP.startAccel
     stopAccel = CP.stopAccel
     steerActuatorDelay = CP.steerActuatorDelay
-    steerKp = CP.lateralTuning.pid.kp if CP.lateralTuning.which() == "pid" else KP
+    steerKp = CP.lateralTuning.torque.kp
     steerRatio = CP.steerRatio
     toggle.stoppingDecelRate = CP.stoppingDecelRate
     taco_hacks_allowed = CP.safetyConfigs[0].safetyModel == SafetyModel.hyundaiCanfd
@@ -600,6 +617,7 @@ 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
@@ -608,6 +626,13 @@ class FrogPilotVariables:
     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
@@ -617,6 +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")
@@ -672,28 +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)
@@ -822,13 +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:
@@ -859,7 +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")
@@ -974,5 +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

@@ -87,7 +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:

frogpilot/controls/lib/frogpilot_acceleration.py

@@ -47,14 +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_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(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]))
@@ -75,22 +79,23 @@ 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.acceleration_profile == 2:
-          self.max_accel = get_max_accel_sport(v_ego)
+          self.max_accel = get_max_accel_sport(v_ego, ev_tuning)
         else:
           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)
+        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:

frogpilot/controls/lib/frogpilot_following.py

@@ -1,11 +1,13 @@
 #!/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):
@@ -48,12 +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

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/neural_network_feedforward.py

@@ -13,7 +13,6 @@ 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.latcontrol_torque import KD, KI, KP
 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
@@ -162,7 +161,7 @@ class LatControlNNFF(LatControl):
     self.nnff_loaded = self.lat_torque_nn_model is not None
 
     self.torque_params = CP.lateralTuning.torque
-    self.pid = PIDController(KP, KI, k_d=KD,
+    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

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()
@@ -99,14 +120,14 @@ def get_city_center(latitude, longitude):
 
 def update_branch_commits(now):
   points = []
-  for branch in ["FrogPilot", "FrogPilot-Staging", "FrogPilot-Testing"]:
-    try:
-      response = requests.get(f"https://api.github.com/repos/FrogAi/FrogPilot/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}")
+  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
 
@@ -129,11 +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 "{}")
@@ -161,14 +180,19 @@ def send_stats():
 
     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))
@@ -178,13 +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)))
@@ -193,15 +216,12 @@ 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(now)
     )
 
     all_points = [user_point] + update_branch_commits(now)
 
-    client = InfluxDBClient(org=org_ID, token=token, url=url)
+    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:

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()
@@ -99,13 +130,17 @@ class ModelState:
         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:
@@ -157,7 +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)
@@ -168,33 +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)
 
 
@@ -204,6 +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)
@@ -229,10 +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
@@ -254,7 +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))
@@ -271,9 +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
 
@@ -442,7 +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,
@@ -481,4 +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;
@@ -284,6 +285,7 @@ void FrogPilotSettingsWindow::updateVariables() {
     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();
@@ -295,6 +297,7 @@ void FrogPilotSettingsWindow::updateVariables() {
 
     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");
@@ -319,6 +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);
@@ -391,6 +401,7 @@ void FrogPilotSettingsWindow::updateVariables() {
 
     canUsePedal = FPCP.getCanUsePedal();
     canUseSDSU = FPCP.getCanUseSDSU();
+    canUseSASCM = FPCP.getCanUseSASCM();
     openpilotLongitudinalControlDisabled = FPCP.getOpenpilotLongitudinalControlDisabled();
   }
 

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

@@ -41,6 +41,7 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
     {"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", 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."), ""},
@@ -87,6 +88,9 @@ 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, parent->steerKp * 0.5, parent->steerKp * 1.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerKPButton, false, false);
@@ -216,6 +220,14 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
     }
   });
 
+  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, [parent, this]() {
     if (FrogPilotConfirmationDialog::yesorno(tr("Reset <b>Kp Factor</b> to its default value?"), this)) {
@@ -255,6 +267,7 @@ void FrogPilotLateralPanel::showEvent(QShowEvent *event) {
 
   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)));
@@ -340,7 +353,6 @@ void FrogPilotLateralPanel::updateToggles() {
     }
   }
 
-  bool forcingAutoTune = !parent->hasAutoTune && params.getBool("ForceAutoTune");
   bool forcingAutoTuneOff = parent->hasAutoTune && params.getBool("ForceAutoTuneOff");
   bool forcingTorqueController = !parent->isAngleCar && params.getBool("ForceTorqueController");
   bool usingNNFF = parent->hasNNFFLog && params.getBool("LateralTune") && params.getBool("NNFF");
@@ -401,7 +413,13 @@ void FrogPilotLateralPanel::updateToggles() {
 
     else if (key == "SteerFriction") {
       setVisible &= parent->friction != 0;
-      setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : !forcingAutoTune;
+      setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : true;
+      setVisible &= parent->isTorqueCar || forcingTorqueController;
+      setVisible &= !usingNNFF;
+    }
+
+    else if (key == "SteerOffset") {
+      setVisible &= parent->isGM;
       setVisible &= parent->isTorqueCar || forcingTorqueController;
       setVisible &= !usingNNFF;
     }
@@ -413,14 +431,14 @@ void FrogPilotLateralPanel::updateToggles() {
 
     else if (key == "SteerLatAccel") {
       setVisible &= parent->latAccelFactor != 0;
-      setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : !forcingAutoTune;
+      setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : true;
       setVisible &= parent->isTorqueCar || forcingTorqueController;
       setVisible &= !usingNNFF;
     }
 
     else if (key == "SteerRatio") {
       setVisible &= parent->steerRatio != 0;
-      setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : !forcingAutoTune;
+      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;
 

panda/board/safety/safety_gm.h

@@ -10,14 +10,14 @@ const SteeringLimits GM_STEERING_LIMITS = {
 };
 
 const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
-  .max_gas = 7168,
+  .max_gas = 8191,
   .min_gas = 5500,
   .inactive_gas = 5500,
   .max_brake = 400,
 };
 
 const LongitudinalLimits GM_CAM_LONG_LIMITS = {
-  .max_gas = 7496,
+  .max_gas = 8848,
   .min_gas = 5610,
   .inactive_gas = 5650,
   .max_brake = 400,
@@ -172,6 +172,13 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
       }
     }
 
+    // Cruise check for ACC models with pedal interceptor - block stock ACC
+    if ((addr == 0x1C4) && gm_has_acc && enable_gas_interceptor) {
+      // When pedal interceptor is active on ACC models, ignore stock cruise state
+      // to prevent conflicts between pedal interceptor and stock ACC
+      cruise_engaged_prev = false;
+    }
+
     if (addr == 0xBD) {
       regen_braking = (GET_BYTE(to_push, 0) >> 4) != 0U;
     }
@@ -192,6 +199,12 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
     }
     generic_rx_checks(stock_ecu_detected);
   }
+  // Cruise check for Gen2 Bolt (ASCMActiveCruiseControlStatus on bus 2)
+  int addr = GET_ADDR(to_push);
+  if ((addr == 0x370) && (GET_BUS(to_push) == 2U)) {
+    bool cruise_engaged = (GET_BYTE(to_push, 2) >> 7) != 0U;  // ACCCmdActive
+    cruise_engaged_prev = cruise_engaged;
+  }
 }
 
 static bool gm_tx_hook(const CANPacket_t *to_send) {
@@ -246,6 +259,11 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
     int button = (GET_BYTE(to_send, 5) >> 4) & 0x7U;
 
     bool allowed_btn = (button == GM_BTN_CANCEL) && cruise_engaged_prev;
+    // For ACC cars with pedal interceptor, allow cancel even if cruise_engaged_prev is false
+    // (since we set it to false to prevent conflicts, but still need to cancel cruise)
+    if (gm_hw == GM_CAM && enable_gas_interceptor && button == GM_BTN_CANCEL) {
+      allowed_btn = true;
+    }
     // For standard CC, allow spamming of SET / RESUME
     if (gm_cc_long) {
       allowed_btn |= cruise_engaged_prev && (button == GM_BTN_SET || button == GM_BTN_RESUME || button == GM_BTN_UNPRESS);
@@ -288,9 +306,13 @@ static int gm_fwd_hook(int bus_num, int addr) {
     }
 
     if (bus_num == 2) {
-      // block lkas message and acc messages if gm_cam_long, forward all others
+      // block lkas message and acc messages
+      // Block 0x370 only for experimental long without pedal interceptor
       bool is_lkas_msg = (addr == 0x180);
-      bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB) || (addr == 0x370);
+      bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB);
+      if (gm_cam_long && !enable_gas_interceptor) {
+        is_acc_msg = is_acc_msg || (addr == 0x370);
+      }
       bool block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
       if (!block_msg) {
         bus_fwd = 0;
@@ -322,6 +344,10 @@ static safety_config gm_init(uint16_t param) {
   gm_pedal_long = GET_FLAG(param, GM_PARAM_PEDAL_LONG);
   gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
   gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG) && !gm_cc_long;
+  // Block ACC messages when pedal interceptor is active on ACC models
+  if (gm_hw == GM_CAM && enable_gas_interceptor) {
+    gm_cam_long = true;
+  }
   gm_pcm_cruise = ((gm_hw == GM_CAM) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_long) || (gm_hw == GM_SDGM);
   gm_skip_relay_check = GET_FLAG(param, GM_PARAM_NO_CAMERA);
   gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);

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

@@ -85,6 +85,7 @@ class CarController(CarControllerBase):
     self.regen_paddle_pressed = False
     self.aego = 0.0
     self.regen_paddle_timer = 0
+    self.planner_regen_hold = False
 
 
 
@@ -96,6 +97,7 @@ 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
@@ -111,7 +113,7 @@ 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
@@ -144,6 +146,21 @@ 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
@@ -159,7 +176,7 @@ 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
 
@@ -326,7 +343,7 @@ 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
@@ -390,10 +407,11 @@ 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, frogpilot_toggles))
-          elif 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:
+          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))
@@ -449,7 +467,7 @@ class CarController(CarControllerBase):
       ) and CS.out.cruiseState.enabled:
         if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
           self.last_button_frame = self.frame
-          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
+          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
 
     else:
       # While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.

selfdrive/car/gm/carstate.py

@@ -163,11 +163,11 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint in CC_ONLY_CAR:
       ret.accFaulted = False
       ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
-      # Try ECM first for cars that might have it (like most GMs), fall back to ASCM
+      # Try ASCM first for cars that might have it (like misfingerprinted Bolts), fall back to ECM
       try:
-        ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
-      except:
         ret.cruiseState.enabled = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCmdActive"] != 0
+      except:
+        ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
 
     if self.CP.enableBsm:
       if self.CP.carFingerprint not in SDGM_CAR:

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 +27,30 @@ CAM_MSG = 0x320  # AEBCmd
 ACCELERATOR_POS_MSG = 0xbe
 
 NON_LINEAR_TORQUE_PARAMS = {
-  CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
-  CAR.CHEVROLET_BOLT_CC: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
-  CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
-  CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
+  CAR.CHEVROLET_BOLT_EUV: {
+    "left": [2.6531724862969748, 1.1, 0.1719764879840985, 0.0],
+    "right": [2.8531724862969748, 1.0, 0.1469764879840985, 0.0],
+  },
+  CAR.CHEVROLET_BOLT_CC: {
+    "left": [2.6531724862969748, 1.1, 0.1719764879840985, 0.0],
+    "right": [2.8531724862969748, 1.0, 0.1469764879840985, 0.0],
+  },
+  CAR.GMC_ACADIA: {
+    "left": [4.78003305, 1.0, 0.3122, 0.05591772],
+    "right": [4.78003305, 1.0, 0.3122, 0.05591772],
+  },
+  CAR.CHEVROLET_SILVERADO: {
+    "left": [3.29974374, 1.0, 0.25571356, 0.0465122],
+    "right": [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
@@ -60,7 +76,9 @@ class CarInterface(CarInterfaceBase):
       # This has big effect on the stability about 0 (noise when going straight)
       non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint)
       assert non_linear_torque_params, "The params are not defined"
-      a, b, c, d = non_linear_torque_params
+      # Left is positive
+      side_key = "left" if lateral_acceleration >= 0 else "right"
+      a, b, c, d = non_linear_torque_params[side_key]
       sig_input = a * lateral_acceleration
       sig = np.sign(sig_input) * (1 / (1 + exp(-fabs(sig_input))) - 0.5)
       steer_torque = (sig * b) + (lateral_acceleration * c) + d
@@ -76,20 +94,28 @@ 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 +123,11 @@ 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
@@ -210,6 +241,12 @@ class CarInterface(CarInterfaceBase):
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+      # Bolt-only lateral tuning overrides
+      ret.lateralTuning.torque.kp = 1.03
+      ret.lateralTuning.torque.ki = 1.07
+      ret.lateralTuning.torque.kd = 0.93
+      ret.lateralTuning.torque.kfDEPRECATED = 0.02
+
       if ret.enableGasInterceptor:
         # ACC Bolts use pedal for full longitudinal control, not just sng
         ret.flags |= GMFlags.PEDAL_LONG.value
@@ -265,7 +302,7 @@ 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
@@ -354,8 +391,9 @@ 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

@@ -42,8 +42,8 @@ class CarControllerParams:
     self.MAX_BRAKE = 400  # ~ -4.0 m/s^2 with regen
 
     if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR:
-      self.MAX_GAS = 7496
-      self.MAX_GAS_PLUS = 7496
+      self.MAX_GAS = 8848
+      self.MAX_GAS_PLUS = 8848
       self.MAX_ACC_REGEN = 5610
       self.INACTIVE_REGEN = 5650
       # Camera ACC vehicles have no regen while enabled.
@@ -52,17 +52,17 @@ class CarControllerParams:
       self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
 
     elif CP.carFingerprint in SDGM_CAR:
-      self.MAX_GAS = 7168
-      self.MAX_GAS_PLUS = 7168
-      self.MAX_ACC_REGEN = 5500
-      self.INACTIVE_REGEN = 5500
+      self.MAX_GAS = 7496
+      self.MAX_GAS_PLUS = 7496
+      self.MAX_ACC_REGEN = 5610
+      self.INACTIVE_REGEN = 5650
       max_regen_acceleration = 0.
       self.BRAKE_SWITCH = self.ZERO_GAS
 
     else:
-      self.MAX_GAS = 7168  # Safety limit, not ACC max. Stock ACC >8192 from standstill.
-      self.MAX_GAS_PLUS = 7168 # 8292 uses new bit, possible but not tested. Matches Twilsonco tw-main max
-      self.MAX_ACC_REGEN = 5500  # Max ACC regen is slightly less than max paddle regen
+      self.MAX_GAS = 8191  # Safety limit, not ACC max. Stock ACC >8192 from standstill.
+      self.MAX_GAS_PLUS = 8191 # 8292 uses new bit, possible but not tested. Matches Twilsonco tw-main max
+      self.MAX_ACC_REGEN = 7110  # Max ACC regen is slightly less than max paddle regen
       self.INACTIVE_REGEN = 5500
       # ICE has much less engine braking force compared to regen in EVs,
       # lower threshold removes some braking deadzone
@@ -275,6 +275,8 @@ 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/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 = 0.12
+
+def get_friction_threshold(v_ego):
+  # Interpolate friction threshold
+  from openpilot.common.numpy_fast import interp
+  return interp(v_ego, [1 * CV.MPH_TO_MS, 75 * CV.MPH_TO_MS], [0.12, 0.3])
 
 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')
@@ -147,8 +152,11 @@ 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
@@ -179,6 +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:
@@ -283,6 +292,7 @@ class CarInterfaceBase(ABC):
     ret.vEgoStopping = 0.5
     ret.vEgoStarting = 0.5
     ret.stoppingControl = True
+    ret.longitudinalTuning.kfDEPRECATED = 1.
     ret.longitudinalTuning.kpBP = [0.]
     ret.longitudinalTuning.kpV = [0.]
     ret.longitudinalTuning.kiBP = [0.]
@@ -298,6 +308,9 @@ class CarInterfaceBase(ABC):
 
     tune.init('torque')
     tune.torque.useSteeringAngle = use_steering_angle
+    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/controls/controlsd.py

@@ -199,7 +199,7 @@ class Controls:
 
     self.event_names_to_clear = set()
 
-    self.has_menu = self.CP.carName == "gm" and not (self.CP.flags & GMFlags.NO_CAMERA.value or self.CP.carFingerprint in CC_ONLY_CAR)
+    self.has_menu = self.CP.carName == "gm" and not (self.CP.flags & GMFlags.NO_CAMERA.value)
 
     self.frogpilot_AM = AlertManager()
     self.frogpilot_events = Events(frogpilot=True)
@@ -623,9 +623,31 @@ class Controls:
     # Update Torque Params
     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)
+
+      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)
@@ -773,7 +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

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_pid.py

@@ -1,18 +1,21 @@
 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, 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),
                              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, lat_delay, llk, model_data, frogpilot_toggles):
     pid_log = log.ControlsState.LateralPIDState.new_message()
@@ -28,11 +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.ff_factor * self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
-      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+      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,
@@ -46,4 +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

@@ -3,10 +3,11 @@ import numpy as np
 from collections import deque
 
 from cereal import log
-from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.selfdrive.car.interfaces import FRICTION_THRESHOLD
+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.selfdrive.controls.lib.latcontrol import LatControl
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
+from openpilot.selfdrive.car.gm.values import CAR as GM_CAR
 from openpilot.selfdrive.controls.lib.pid import PIDController
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 
@@ -21,29 +22,62 @@ from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_G
 # 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
-KD = 0.0
+KP = 0.7
+KI = 0.35
+
 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 = [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 = 0
+VERSION = 2
+DEBUG_TORQUE_TUNE = False
+FF_SCALE_BLEND_LAT_ACCEL = 0.05
+DEADZONE_BOOST_LAT_ACCEL = 0.08
+UNWIND_D_DES_THRESHOLD = -1.0
+UNWIND_LAT_ACCEL_NEAR_ZERO = 0.3
+
+BOLT_CARS = (GM_CAR.CHEVROLET_BOLT_EUV, GM_CAR.CHEVROLET_BOLT_CC)
 
 class LatControlTorque(LatControl):
   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([INTERP_SPEEDS, KP_INTERP], KI, KD, rate=1/self.dt)
+    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, rate=1/self.dt)
     self.update_limits()
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
     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 * LP_FILTER_CUTOFF_HZ), self.dt)
+    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)
+    self.debug_counter = 0
+    self.prev_desired_lateral_accel = 0.0
+
+    self.is_bolt = CP.carFingerprint in BOLT_CARS
+    self.torque_ff_scale_pos = 1.0
+    self.torque_ff_scale_neg = 1.0
+    self.torque_deadzone_boost_neg = 0.0
+    self.torque_ki_mult = 1.0
+    if self.is_bolt:
+      self.torque_ff_scale_pos = float(self.torque_params.kp)
+      self.torque_ff_scale_neg = float(self.torque_params.ki)
+      self.torque_ki_mult = float(self.torque_params.kd)
+      self.torque_deadzone_boost_neg = float(getattr(self.torque_params, "kfDEPRECATED", 0.0))
+      if self.torque_ki_mult > 0.0 and self.torque_ki_mult != 1.0:
+        self.pid._k_i = [self.pid._k_i[0], [k * self.torque_ki_mult for k in self.pid._k_i[1]]]
 
   def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
     self.torque_params.latAccelFactor = latAccelFactor
@@ -61,7 +95,15 @@ class LatControlTorque(LatControl):
     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)
+      self.prev_desired_lateral_accel = 0.0
     else:
+      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))
@@ -69,33 +111,51 @@ class LatControlTorque(LatControl):
 
       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]
-      # TODO factor out lateral jerk from error to later replace it with delay independent alternative
       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
-      desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / lat_delay
+      setpoint = expected_lateral_accel + desired_lateral_jerk * lat_delay
+      desired_lateral_accel_rate = (setpoint - self.prev_desired_lateral_accel) / self.dt
+      unwind_detected = (desired_lateral_accel_rate < UNWIND_D_DES_THRESHOLD and
+                         abs(setpoint) < UNWIND_LAT_ACCEL_NEAR_ZERO)
+      self.prev_desired_lateral_accel = setpoint
 
       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
 
-      setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
+      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))
 
       # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
-      pid_log.error = float(error)
+      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
-      # TODO jerk is weighted by lat_delay for legacy reasons, but should be made independent of it
-      ff += get_friction(error, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+      ff_scale = 1.0
+      if self.is_bolt:
+        ff_scale = np.interp(ff, [-FF_SCALE_BLEND_LAT_ACCEL, 0.0, FF_SCALE_BLEND_LAT_ACCEL],
+                             [self.torque_ff_scale_neg, 1.0, self.torque_ff_scale_pos])
+        ff *= ff_scale
+      ff += get_friction(error_with_lsf + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, get_friction_threshold(CS.vEgo), self.torque_params)
+      deadzone_boost_active = False
+      if self.is_bolt and self.torque_deadzone_boost_neg > 0.0 and gravity_adjusted_future_lateral_accel < 0.0:
+        if abs(gravity_adjusted_future_lateral_accel) < DEADZONE_BOOST_LAT_ACCEL:
+          boost_scale = np.interp(abs(gravity_adjusted_future_lateral_accel), [0.0, DEADZONE_BOOST_LAT_ACCEL], [1.0, 0.0])
+          ff -= self.torque_deadzone_boost_neg * boost_scale
+          deadzone_boost_active = True
 
-      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-      output_lataccel = self.pid.update(pid_log.error,
-                                       -measurement_rate,
-                                        feedforward=ff,
-                                        speed=CS.vEgo,
-                                        freeze_integrator=freeze_integrator)
+      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 or unwind_detected)
+      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
@@ -103,11 +163,19 @@ class LatControlTorque(LatControl):
       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) # TODO: log lat accel?
+      pid_log.output = float(-output_torque)  # TODO: log lat 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))
 
+      if DEBUG_TORQUE_TUNE and self.is_bolt:
+        self.debug_counter += 1
+        if self.debug_counter % 50 == 0:
+          print(f"bolt_torque ff_scale={ff_scale:.3f} pos={self.torque_ff_scale_pos:.3f} "
+                f"neg={self.torque_ff_scale_neg:.3f} deadzone_boost_active={deadzone_boost_active}")
+
+    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

@@ -179,6 +179,26 @@ class LongControl:
       else:
         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
 

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
@@ -422,9 +421,6 @@ class LongitudinalMpc:
       scale = float(np.interp(uncertainty, [0.45, 0.60], [1.2, 1.5]))
       speed_jerk *= scale
 
-    if abs(filter_time_factor - prev_filter_time_factor) > 1e-3:
-      cloudlog.error(f"LON_FILTER; filter_time_factor={filter_time_factor:.2f}; uncertainty={uncertainty:.3f}; v_ego={v_ego:.2f} mps; lead_dist={lead_dist:.2f} m; accel_reengage={accel_reengage}")
-
     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]
@@ -627,11 +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

@@ -17,9 +17,9 @@ 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
@@ -111,9 +111,6 @@ class LongitudinalPlanner:
     self.a_desired_trajectory = np.zeros(CONTROL_N)
     self.j_desired_trajectory = np.zeros(CONTROL_N)
     self.solverExecutionTime = 0.0
-    # logging cadence & state
-    self.last_uncert_log_t = 0.0
-    self.prev_uncert_over = False
 
     # ---- Rubberband mitigation state ----
     # Two uncertainty tracks (slow/fast) for asymmetric gating
@@ -138,7 +135,7 @@ class LongitudinalPlanner:
 
   @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:
       """
@@ -344,19 +341,6 @@ class LongitudinalPlanner:
 
     # now_t defined earlier
     over = uncertainty > 1.0
-    # Log on threshold edge or at ~1 Hz
-    if over != self.prev_uncert_over or (now_t - self.last_uncert_log_t) > 1.0:
-      try:
-        cloudlog.error(
-          f"LON_UNCERT; v_ego={v_ego:.2f} mps; desireEntropy={desire_entropy:.3f}; "
-          f"brakeRawMax={(raw_brake_max if 'raw_brake_max' in locals() else -1.0):.3f}; "
-          f"brakeDecayed={(disengage_risk if 'disengage_risk' in locals() else -1.0):.3f}; "
-          f"lam={(lam if 'lam' in locals() else -1.0):.2f}; uncertainty={uncertainty:.3f}; over={over}"
-        )
-      except Exception as e:
-        cloudlog.warning(f"LON_UNCERT log error: {e}")
-      self.prev_uncert_over = over
-      self.last_uncert_log_t = now_t
 
     # Asymmetric accel release with hysteresis + dwell to prevent on/off pulsing
     rise_dwell_s, fall_dwell_s = 0.6, 0.4

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):
@@ -72,7 +73,10 @@ 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 CP.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 CP.lateralTuning.which() == 'torque':
       self.offline_friction = CP.lateralTuning.torque.friction
@@ -104,11 +108,11 @@ class TorqueEstimator(ParameterEstimator):
           cache_CP = msg
         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'])
@@ -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)
 

selfdrive/monitoring/helpers.py

@@ -33,7 +33,7 @@ class DRIVER_MONITOR_SETTINGS:
     self._SG_THRESHOLD = 0.9
     self._BLINK_THRESHOLD = 0.865
 
-    self._EE_THRESH11 = 0.4
+    self._EE_THRESH11 = 0.6
     self._EE_THRESH12 = 15.0
     self._EE_MAX_OFFSET1 = 0.06
     self._EE_MIN_OFFSET1 = 0.025
@@ -44,9 +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

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>

selfdrive/ui/translations/main_zh-CHT.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">選擇</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 的扭力式調整，可在轉彎時讓轉向更平順。&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;模仿人類駕駛的跟車行為&lt;/b&gt;，在後方有更快車輛時縮小間距以更快起步，並動態調整期望跟車距離，以實現更柔順且更高效的制動。</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">重設</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 - 為資深愛好者提供高度自訂的設定</translation>
         <source>comma Pedal Support</source>
         <translation type="gpt-5-generated">comma Pedal 支援</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>

system/manager/manager.py

@@ -92,6 +92,40 @@ def manager_init() -> None:
   params.put_bool("IsTestedBranch", build_metadata.tested_channel)
   params.put_bool("IsReleaseBranch", build_metadata.release_channel)
 
+  # One-time migration to align FrogPilot defaults after install
+  frogpilot_migration_flag_file = "/data/media/0/frogpilot_migrated.flag"
+  if not os.path.exists(frogpilot_migration_flag_file):
+    params.put_bool("NNFF", False)
+    params.put_bool("NNFFLite", False)
+    params.put_bool("AdvancedLateralTune", True)
+    params.put_bool("ForceAutoTuneOff", True)
+    params.put_bool("ForceAutoTune", False)
+
+    params.put_bool("CECurves", False)
+    params.put_bool("CENavigation", False)
+    params.put_bool("ShowCEMStatus", True)
+    params.put_bool("CESlowerLead", True)
+    params.put_bool("CEStoppedLead", True)
+    params.put_int("CEModelStopTime", 8)
+
+    params.put_bool("ReverseCruise", True)
+    params.put_bool("HumanFollowing", False)
+    params.put_bool("HumanAcceleration", False)
+
+    params.put_int("TuningLevel", 3)
+    params.put_bool("TuningLevelConfirmed", True)
+
+    params.put_bool("DeveloperUI", True)
+    params.put_bool("DeveloperWidgets", True)
+    params.put_bool("DeveloperSidebar", False)
+    params.put_bool("LeadInfo", True)
+    params.put_bool("BorderMetrics", True)
+    params.put_bool("ShowSteering", True)
+    params.put_bool("BlindSpotMetrics", True)
+
+    with open(frogpilot_migration_flag_file, "w") as f:
+      f.write("migrated")
+
   # One-time migration for HumanAcceleration and HumanFollowing to off
   migration_flag_file = "/data/media/0/frogpilot_human_toggles_migrated.flag"
   if not os.path.exists(migration_flag_file):
@@ -134,6 +168,18 @@ def manager_init() -> None:
     with open(nnff_migration_flag_file, "w") as f:
       f.write("migrated")
 
+  # One-time migration for lateral tuning/auto-tune preferences
+  lateral_tuning_migration_flag_file = "/data/media/0/frogpilot_lateral_tuning_migrated.flag"
+  if not os.path.exists(lateral_tuning_migration_flag_file):
+    if not params.get_bool("AdvancedLateralTune"):
+      params.put_bool("AdvancedLateralTune", True)
+    if params.get_bool("ForceAutoTune"):
+      params.put_bool("ForceAutoTune", False)
+    if not params.get_bool("ForceAutoTuneOff"):
+      params.put_bool("ForceAutoTuneOff", True)
+    with open(lateral_tuning_migration_flag_file, "w") as f:
+      f.write("migrated")
+
   # set dongle id
   reg_res = register(show_spinner=True)
   if reg_res:

system/sentry.py

@@ -1,5 +1,6 @@
-"""Install exception handler for process crash."""
+import glob
 import os
+import re
 import sentry_sdk
 import traceback
 from datetime import datetime
@@ -9,15 +10,16 @@ from sentry_sdk.integrations.threading import ThreadingIntegration
 from openpilot.common.params import Params
 from openpilot.system.hardware import HARDWARE, PC
 from openpilot.common.swaglog import cloudlog
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.version import get_build_metadata, get_version
 
 from openpilot.frogpilot.common.frogpilot_variables import ERROR_LOGS_PATH, params
 
 class SentryProject(Enum):
   # python project
-  SELFDRIVE = os.environ.get("SENTRY_DSN", "")
+  SELFDRIVE = "https://7305139359a548fcb348ec09497dc389@bugsink.firestar.link/1"
   # native project
-  SELFDRIVE_NATIVE = os.environ.get("SENTRY_DSN", "")
+  SELFDRIVE_NATIVE = "https://7305139359a548fcb348ec09497dc389@bugsink.firestar.link/1"
 
 
 def report_tombstone(fn: str, message: str, contents: str) -> None:
@@ -26,6 +28,12 @@ def report_tombstone(fn: str, message: str, contents: str) -> None:
   with sentry_sdk.configure_scope() as scope:
     scope.set_extra("tombstone_fn", fn)
     scope.set_extra("tombstone", contents)
+
+    # Attach qlog for debugging context
+    qlogs = glob.glob(f"{Paths.log_root()}/*/qlog")
+    if qlogs:
+      scope.add_attachment(path=max(qlogs, key=os.path.getmtime), filename="qlog")
+
     sentry_sdk.capture_message(message=message)
     sentry_sdk.flush()
 
@@ -51,8 +59,14 @@ def capture_exception(*args, crash_log=True, **kwargs) -> None:
   cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1))
 
   try:
-    sentry_sdk.capture_exception(*args, **kwargs)
-    sentry_sdk.flush()  # https://github.com/getsentry/sentry-python/issues/291
+    with sentry_sdk.push_scope() as scope:
+      # Attach qlog for debugging context
+      qlogs = glob.glob(f"{Paths.log_root()}/*/qlog")
+      if qlogs:
+        scope.add_attachment(path=max(qlogs, key=os.path.getmtime), filename="qlog")
+
+      sentry_sdk.capture_exception(*args, **kwargs)
+      sentry_sdk.flush()  # https://github.com/getsentry/sentry-python/issues/291
   except Exception:
     cloudlog.exception("sentry exception")
 
@@ -90,25 +104,15 @@ def save_exception(exc_text: str, crash_log) -> None:
 
 
 def init(project: SentryProject) -> bool:
-  build_metadata = get_build_metadata()
-  FrogPilot = "frogai" in build_metadata.openpilot.git_origin.lower()
-  if not FrogPilot or PC:
+  if PC:
     return False
 
+  build_metadata = get_build_metadata()
   short_branch = build_metadata.channel
 
-  if short_branch in ["COMMA", "HEAD"]:
-    return
-  elif short_branch == "FrogPilot-Development":
-    env = "Development"
-  elif build_metadata.release_channel:
-    env = "Release"
-  elif short_branch == "FrogPilot-Testing":
+  env = short_branch
+  if re.search("test", short_branch, re.IGNORECASE):
     env = "Testing"
-  elif build_metadata.tested_channel:
-    env = "Staging"
-  else:
-    env = short_branch
 
   dongle_id = params.get("DongleId", encoding="utf-8")
   installed = params.get("InstallDate", encoding="utf-8")

system/updated/updated.py

@@ -184,6 +184,39 @@ def finalize_update(params) -> None:
   """Take the current OverlayFS merged view and finalize a copy outside of
   OverlayFS, ready to be swapped-in at BASEDIR. Copy using shutil.copytree"""
 
+  def get_directory_size(path: str) -> int:
+    size = 0
+    for root, _, files in os.walk(path):
+      for name in files:
+        file_path = os.path.join(root, name)
+        if not os.path.islink(file_path):
+          try:
+            size += os.lstat(file_path).st_size
+          except FileNotFoundError:
+            pass
+    return size
+
+  total_size = get_directory_size(OVERLAY_MERGED)
+  copied_size = 0
+
+  def copy_with_progress(src, dst, *, follow_symlinks=True):
+    nonlocal copied_size
+
+    if os.path.islink(src):
+      linkto = os.readlink(src)
+      os.symlink(linkto, dst)
+      return dst
+
+    result = shutil.copy2(src, dst, follow_symlinks=follow_symlinks)
+    try:
+      copied_size += os.lstat(src).st_size
+      if total_size > 0:
+        progress = min(int((copied_size / total_size) * 100), 100)
+        params.put("UpdaterState", f"finalizing update... {progress}%")
+    except FileNotFoundError:
+      pass
+    return result
+
   # Remove the update ready flag and any old updates
   cloudlog.info("creating finalized version of the overlay")
   set_consistent_flag(False)
@@ -191,7 +224,12 @@ def finalize_update(params) -> None:
   # Copy the merged overlay view and set the update ready flag
   if os.path.exists(FINALIZED):
     shutil.rmtree(FINALIZED)
-  shutil.copytree(OVERLAY_MERGED, FINALIZED, symlinks=True)
+  if total_size == 0:
+    shutil.copytree(OVERLAY_MERGED, FINALIZED, symlinks=True)
+  else:
+    params.put("UpdaterState", "finalizing update... 0%")
+    shutil.copytree(OVERLAY_MERGED, FINALIZED, symlinks=True, copy_function=copy_with_progress)
+  params.put("UpdaterState", "finalizing update... 100%")
 
   run(["git", "reset", "--hard"], FINALIZED)
   run(["git", "submodule", "foreach", "--recursive", "git", "reset", "--hard"], FINALIZED)
@@ -377,10 +415,34 @@ class Updater:
     else:
       cloudlog.info(f"up to date on {cur_branch} ({str(cur_commit)[:7]})")
 
+  def _git_fetch_with_progress(self, branch: str) -> str:
+    fetch_cmd = ["git", "fetch", "--progress", "origin", branch]
+    progress = 0
+    output_lines: list[str] = []
+
+    with subprocess.Popen(fetch_cmd, cwd=OVERLAY_MERGED, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, bufsize=1) as proc:
+      assert proc.stdout is not None
+      for line in proc.stdout:
+        output_lines.append(line)
+        matches = re.findall(r"(\d+)%", line)
+        if matches:
+          progress = max(progress, int(matches[-1]))
+          self.params.put("UpdaterState", f"downloading... {progress}%")
+
+      proc.wait()
+
+      if proc.returncode != 0:
+        raise subprocess.CalledProcessError(proc.returncode, fetch_cmd, output=''.join(output_lines))
+
+    if progress < 100:
+      self.params.put("UpdaterState", "downloading... 100%")
+
+    return ''.join(output_lines)
+
   def fetch_update(self) -> None:
     cloudlog.info("attempting git fetch inside staging overlay")
 
-    self.params.put("UpdaterState", "downloading...")
+    self.params.put("UpdaterState", "downloading... 0%")
 
     # TODO: cleanly interrupt this and invalidate old update
     set_consistent_flag(False)
@@ -389,7 +451,7 @@ class Updater:
     setup_git_options(OVERLAY_MERGED)
 
     branch = self.target_branch
-    git_fetch_output = run(["git", "fetch", "origin", branch], OVERLAY_MERGED)
+    git_fetch_output = self._git_fetch_with_progress(branch)
     cloudlog.info("git fetch success: %s", git_fetch_output)
 
     cloudlog.info("git reset in progress")