uno mas lil dip

common/params_keys.h

@@ -18,6 +18,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"BootCount", {PERSISTENT, INT}},
     {"BluetoothAudioAddress", {PERSISTENT, STRING}},
     {"BluetoothAudioTestActive", {CLEAR_ON_MANAGER_START | DONT_LOG, BOOL}},
+    {"BluetoothDisconnectControllersOffroad", {PERSISTENT, BOOL, "0"}},
     {"BluetoothEnabled", {PERSISTENT, BOOL, "0"}},
     {"CalibrationParams", {PERSISTENT, BYTES}},
     {"CameraDebugExpGain", {CLEAR_ON_MANAGER_START, STRING}},
@@ -316,7 +317,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DeveloperSidebarMetric7", {PERSISTENT, INT, "7", "0", 3}},
     {"DeveloperUI", {PERSISTENT, BOOL, "0", "0", 3}},
     {"GalaxyDeveloperMode", {PERSISTENT | DONT_LOG, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
-    {"GalaxyMobileDefault", {PERSISTENT | DONT_LOG, BOOL, "0", "0", 0, SETTINGS_ADVANCED}},
+    {"GalaxyMobileDefault", {PERSISTENT | DONT_LOG, BOOL, "1", "1", 0, SETTINGS_SIMPLE}},
     {"DeveloperWidgets", {PERSISTENT, BOOL, "1", "0", 3}},
     {"DeviceManagement", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
     {"DeviceShutdown", {PERSISTENT, INT, "6", "6", 1, SETTINGS_SIMPLE}},
@@ -463,7 +464,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LeadDepartingAlert", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
     {"LeadDetectionThreshold", {PERSISTENT, INT, "35", "50", 3}},
     {"LeadIndicator", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
-    {"LeadInfo", {PERSISTENT, BOOL, "1", "0", 3}},
+    {"LeadInfo", {PERSISTENT, BOOL, "0", "0", 3}},
     {"LKASButtonControl", {PERSISTENT, INT, "5", "0", 2, SETTINGS_SIMPLE}},
     {"LockDoors", {PERSISTENT, BOOL, "1", "0", 0}},
     {"LockDoorsTimer", {PERSISTENT, INT, "0", "0", 0}},
@@ -608,6 +609,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"RelaxedJerkDeceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
     {"RelaxedJerkSpeed", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
     {"RelaxedJerkSpeedDecrease", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
+    {"ReverseCruise", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
     {"RivianAngleControl", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"RivianAngleSaturated", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL, "0", "0"}},
     {"RivianToiRecoveryFailed", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL, "0", "0"}},

opendbc_repo/opendbc/car/gm/carcontroller.py

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

opendbc_repo/opendbc/car/gm/interface.py

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

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

@@ -205,6 +205,33 @@ class TestBoltGps:
 
 
 class TestGMInterface:
+  def test_lacrosse_obd_and_ascm_integrations_remain_separate(self):
+    obd_params = interfaces[CAR.BUICK_LACROSSE].get_params(
+      CAR.BUICK_LACROSSE,
+      _empty_fingerprint(),
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=_test_starpilot_toggles(),
+    )
+    ascm_params = interfaces[CAR.BUICK_LACROSSE_ASCM].get_params(
+      CAR.BUICK_LACROSSE_ASCM,
+      _empty_fingerprint(),
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=_test_starpilot_toggles(),
+    )
+
+    assert obd_params.networkLocation == structs.CarParams.NetworkLocation.gateway
+    assert obd_params.openpilotLongitudinalControl
+    assert obd_params.radarTimeStepDEPRECATED == pytest.approx(0.15)
+    assert ascm_params.networkLocation == structs.CarParams.NetworkLocation.fwdCamera
+    assert not ascm_params.openpilotLongitudinalControl
+    assert ascm_params.radarTimeStepDEPRECATED == pytest.approx(0.0667)
+
   @parameterized.expand([
     CAR.CHEVROLET_BOLT_CC_2017,
     CAR.CHEVROLET_BOLT_CC_2018_2021,
@@ -291,6 +318,14 @@ class TestGMInterface:
 
     assert car_params.minSteerSpeed == pytest.approx(7 * CV.MPH_TO_MS)
 
+  def test_lacrosse_2019_ascm_min_steer_speed_is_28_mph(self):
+    car_model = CAR.BUICK_LACROSSE_ASCM_19US
+    CarInterface = interfaces[car_model]
+    car_params = CarInterface.get_params(car_model, _empty_fingerprint(), [], alpha_long=False, is_release=False, docs=False,
+                                         starpilot_toggles=_test_starpilot_toggles())
+
+    assert car_params.minSteerSpeed == pytest.approx(28 * CV.MPH_TO_MS)
+
   @parameterized.expand([
     ("interceptor", True),
     ("ascm_int", False),

opendbc_repo/opendbc/car/hyundai/carcontroller.py

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

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

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

opendbc_repo/opendbc/car/subaru/carcontroller.py

@@ -77,7 +77,7 @@ class CarController(CarControllerBase):
     self.angle_bus = CanBus.angle_for_cp(CP)
     self.status_bus = CanBus.camera if CP.flags & SubaruFlags.D_PLATFORM_CAMERA else CanBus.main
 
-    if CP.flags & SubaruFlags.LKAS_ANGLE:
+    if CP.flags & SubaruFlags.LKAS_ANGLE and CP.carFingerprint != CAR.SUBARU_OUTBACK_2023:
       self.VM = VehicleModel(get_safety_CP())
 
     self.prev_close_distance = 0
@@ -332,7 +332,7 @@ class CarController(CarControllerBase):
         self.apply_steer_last = CS.out.steeringAngleDeg
 
       steer_target = self._angle_reclaim_target(CC.actuators.steeringAngleDeg) if lkas_active else CC.actuators.steeringAngleDeg
-      if self.CP.carFingerprint == CAR.SUBARU_ASCENT_2023:
+      if self.CP.carFingerprint in (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023):
         apply_steer = apply_std_steer_angle_limits(
           steer_target,
           self.apply_steer_last,

opendbc_repo/opendbc/car/subaru/interface.py

@@ -42,7 +42,7 @@ class CarInterface(CarInterfaceBase):
         ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.D_PLATFORM_CAMERA.value
       if candidate in SUBARU_STOP_START_CARS:
         ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.STOP_START_BUTTON.value
-      if candidate in (CAR.SUBARU_LEGACY_2025, CAR.SUBARU_ASCENT_2023):
+      if candidate in (CAR.SUBARU_LEGACY_2025, CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023):
         ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.FIXED_ANGLE_LIMITS.value
 
     ret.steerLimitTimer = 0.4

opendbc_repo/opendbc/car/subaru/tests/test_subaru.py

@@ -244,7 +244,7 @@ def test_outback_2023_uses_d_platform_bus_layout():
   assert CP.flags & SubaruFlags.D_PLATFORM
   assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.D_PLATFORM
   assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.STOP_START_BUTTON
-  assert not (CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.LEGACY_2025_ANGLE_LIMITS)
+  assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.FIXED_ANGLE_LIMITS
   assert CanBus.main_for_cp(CP) == CanBus.alt
   assert CanBus.angle_for_cp(CP) == CanBus.main
   assert parsers[Bus.pt].bus == CanBus.alt
@@ -622,8 +622,9 @@ def test_angle_controller_blocks_low_speed_mads_engagement():
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
 
 
-def test_ascent_angle_controller_uses_fixed_angle_rate_limits():
+@pytest.mark.parametrize("platform", (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023))
-  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
+def test_angle_controller_uses_fixed_angle_rate_limits(platform):
+  CP = CarInterface.get_non_essential_params(platform)
   controller = CarController({}, CP)
   CC = SimpleNamespace(enabled=True, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=-14.88))
   CS = SimpleNamespace(out=SimpleNamespace(

opendbc_repo/opendbc/safety/tests/test_subaru.py

@@ -417,6 +417,18 @@ class TestSubaruDPlatformAngleSafety(TestSubaruStockLongitudinalSafetyBase, Test
     return self.packer.make_can_msg_safety("Steering_2", SUBARU_MAIN_BUS, {"Steering_Angle": angle})
 
 
+class TestSubaruDPlatformFixedAngleSafety(TestSubaruDPlatformAngleSafety):
+  FLAGS = SubaruSafetyFlags.GEN2 | SubaruSafetyFlags.LKAS_ANGLE | SubaruSafetyFlags.D_PLATFORM | \
+    SubaruSafetyFlags.FIXED_ANGLE_LIMITS
+  STEER_ANGLE_MAX = 545
+  ANGLE_RATE_BP = [0., 5., 35.]
+  ANGLE_RATE_UP = [5., .8, .15]
+  ANGLE_RATE_DOWN = [5., .8, .15]
+
+  def test_rt_limits(self):
+    raise unittest.SkipTest("Breakpoint angle limits do not enforce a real-time message frequency")
+
+
 class TestSubaruDPlatformStopStartSafety(TestSubaruDPlatformAngleSafety):
   FLAGS = SubaruSafetyFlags.GEN2 | SubaruSafetyFlags.LKAS_ANGLE | SubaruSafetyFlags.D_PLATFORM | \
     SubaruSafetyFlags.STOP_START_BUTTON

scripts/host_tool_runner.sh

@@ -284,19 +284,22 @@ ensure_host_python_extensions() {
 }
 
 sync_host_generated_headers() {
-  if ! command -v capnpc >/dev/null 2>&1; then
+  local capnpc="${ROOT_DIR}/.venv/bin/capnpc"
+  local capnpc_cpp
+  capnpc_cpp="$(find "${ROOT_DIR}/.venv/lib" -path '*/capnproto/install/bin/capnpc-c++' -type f -print -quit)"
+  if [[ ! -x "${capnpc}" || ! -x "${capnpc_cpp}" ]]; then
     return
   fi
 
   (
     cd "${WORK_DIR}"
     mkdir -p cereal/gen/cpp
-    capnpc --src-prefix=cereal \
+    "${capnpc}" --src-prefix=cereal \
       cereal/log.capnp \
       cereal/car.capnp \
       cereal/legacy.capnp \
       cereal/custom.capnp \
-      -o c++:cereal/gen/cpp/
+      -o "${capnpc_cpp}:cereal/gen/cpp/"
   )
 }
 

scripts/model_compiler.py

@@ -69,10 +69,6 @@ def build_compile_env(*, supercombo: bool = False) -> dict[str, str]:
       int(str(env.get(key)), 0)
     except (TypeError, ValueError):
       env[key] = default
-  if supercombo:
-    # Unified supercombo artifacts must use upstream compile defaults. The
-    # legacy QCOM tuning causes a reproducible HCQ timeline failure here.
-    env.pop("QCOM_PRIORITY", None)
   return env
 
 
@@ -88,9 +84,14 @@ def wait_for_external_gpu() -> None:
 
 
 def external_gpu_compile_command(command: list[str]) -> list[str]:
-  """Pin USB-GPU compilation to AGNOS' isolated CPU without changing host builds."""
+  """Pin USB-GPU compilation when AGNOS exposes the isolated CPU."""
   if sys.platform == "linux" and platform.machine() == "aarch64":
-    return ["taskset", "-c", "7", *command]
+    try:
+      available_cpus = os.sched_getaffinity(0)
+      if 7 in available_cpus:
+        return ["taskset", "-c", "7", *command]
+    except (AttributeError, OSError):
+      pass
   return command
 
 

selfdrive/car/cruise.py

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

selfdrive/car/tests/test_cruise_speed.py

@@ -313,6 +313,22 @@ class TestVCruiseHelper:
         assert V_CRUISE_MIN <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
         assert self.v_cruise_helper.v_cruise_initialized
 
+  def test_resume_keeps_previous_software_cruise_speed(self):
+    engage_cs = car.CarState(vEgo=75 * CV.MPH_TO_MS)
+    self.v_cruise_helper.initialize_v_cruise(engage_cs, experimental_mode=False, resume_prev_button=False,
+                                             starpilot_toggles=self.starpilot_toggles)
+
+    disabled_cs = car.CarState(cruiseState={"available": True})
+    self.v_cruise_helper.update_v_cruise(disabled_cs, enabled=False, is_metric=False,
+                                         speed_limit_changed=False, starpilot_toggles=self.starpilot_toggles)
+
+    resume_cs = car.CarState(vEgo=22 * CV.MPH_TO_MS)
+    self.v_cruise_helper.initialize_v_cruise(resume_cs, experimental_mode=False, resume_prev_button=True,
+                                             starpilot_toggles=self.starpilot_toggles)
+
+    assert self.v_cruise_helper.v_cruise_kph == pytest.approx(75 * CV.MPH_TO_KPH)
+    assert self.v_cruise_helper.v_cruise_cluster_kph == pytest.approx(75 * CV.MPH_TO_KPH)
+
   def test_initialize_v_cruise_matches_speed_limit(self):
     self.reset_cruise_speed_state()
     self.starpilot_toggles.set_speed_limit = True
@@ -483,39 +499,33 @@ class TestVCruiseHelper:
     assert self.v_cruise_helper.v_cruise_kph == pytest.approx(initial_v_cruise_kph + IMPERIAL_INCREMENT)
 
   @pytest.mark.parametrize("openpilot_longitudinal", [False, True])
-  def test_pcm_cruise_uses_pcm_speed(self, openpilot_longitudinal):
+  def test_pcm_cruise_always_tracks_pcm_speed(self, openpilot_longitudinal):
     CP = car.CarParams(pcmCruise=True, openpilotLongitudinalControl=openpilot_longitudinal)
     helper = VCruiseHelper(CP)
     toggles = SimpleNamespace(cruise_increase=5, cruise_increase_long=1, set_speed_limit=False)
-    pcm_speed_kph = 72.0
-    pcm_cluster_speed_kph = 71.0
 
     helper.initialize_v_cruise(car.CarState(vEgo=40 * CV.KPH_TO_MS), False, False, toggles)
     assert not helper.v_cruise_initialized
 
-    cs = car.CarState(
+    samples = (
-      cruiseState={
+      (72.0, 71.0, None),
-        "available": True,
+      (25.0, 25.0, {"type": ButtonType.decelCruise, "pressed": True}),
-        "speed": pcm_speed_kph * CV.KPH_TO_MS,
+      (65.0, 65.0, {"type": ButtonType.decelCruise, "pressed": False}),
-        "speedCluster": pcm_cluster_speed_kph * CV.KPH_TO_MS,
+      (90.0, 90.0, {"type": ButtonType.accelCruise, "pressed": True}),
-      },
+      (5.0, 5.0, {"type": ButtonType.accelCruise, "pressed": False}),
     )
-
+    for pcm_speed_kph, pcm_cluster_speed_kph, button_event in samples:
-    helper.update_v_cruise(cs, True, True, False, toggles)
+      cs = car.CarState(
-    assert helper.v_cruise_kph == pytest.approx(pcm_speed_kph)
+        cruiseState={
-    assert helper.v_cruise_cluster_kph == pytest.approx(pcm_cluster_speed_kph)
+          "available": True,
-
+          "speed": pcm_speed_kph * CV.KPH_TO_MS,
-    next_pcm_speed_kph = 74.0
+          "speedCluster": pcm_cluster_speed_kph * CV.KPH_TO_MS,
-    next_cs = car.CarState(
+        },
-      cruiseState={
+        buttonEvents=[] if button_event is None else [button_event],
-        "available": True,
+      )
-        "speed": next_pcm_speed_kph * CV.KPH_TO_MS,
+      helper.update_v_cruise(cs, True, True, False, toggles)
-        "speedCluster": next_pcm_speed_kph * CV.KPH_TO_MS,
+      assert helper.v_cruise_kph == pytest.approx(pcm_speed_kph)
-      },
+      assert helper.v_cruise_cluster_kph == pytest.approx(pcm_cluster_speed_kph)
-      buttonEvents=[{"type": ButtonType.accelCruise, "pressed": False}],
-    )
-    helper.update_v_cruise(next_cs, True, True, False, toggles)
-    assert helper.v_cruise_kph == pytest.approx(next_pcm_speed_kph)
 
 
 class TestVCruiseHelperRedneck:

selfdrive/controls/lib/latcontrol_torque.py

@@ -639,6 +639,9 @@ class LatControlTorque(LatControl):
         output_torque *= tucson_4th_gen_center_taper
       elif genesis_g70_active:
         output_torque *= genesis_g70_center_output_taper
+        output_torque *= get_genesis_g70_high_speed_transition_scale(
+          setpoint, desired_lateral_jerk, CS.vEgo,
+        )
         output_torque *= get_genesis_g70_curve_unwind_output_scale(setpoint, desired_lateral_jerk, CS.vEgo)
         output_torque *= get_genesis_g70_high_speed_error_scale(
           setpoint, measurement, desired_lateral_jerk, CS.vEgo,

selfdrive/controls/lib/latcontrol_vehicle_tunes.py

@@ -275,20 +275,27 @@ GENESIS_G70_FRICTION_JERK_DEADZONE_LAT = 0.30
 GENESIS_G70_FRICTION_JERK_DEADZONE_LAT_WIDTH = 0.08
 GENESIS_G70_FRICTION_JERK_DEADZONE_SPEED = 12.0
 GENESIS_G70_FRICTION_JERK_DEADZONE_SPEED_WIDTH = 3.5
-GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_MAX = 0.16
+GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_MAX = 0.26
 GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_SPEED = 35.0 * CV.MPH_TO_MS
 GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_SPEED_WIDTH = 8.0 * CV.MPH_TO_MS
 GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_LAT = 0.35
 GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_LAT_WIDTH = 0.15
-GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_LAT_CUTOFF = 1.25
+GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_LAT_CUTOFF = 1.75
-GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_LAT_CUTOFF_WIDTH = 0.25
+GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_LAT_CUTOFF_WIDTH = 0.30
 GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_JERK = 0.20
 GENESIS_G70_CURVE_UNWIND_FRICTION_JERK_DEADZONE_JERK_WIDTH = 0.12
-GENESIS_G70_CENTER_OUTPUT_TAPER_MAX = 0.22
+GENESIS_G70_CENTER_OUTPUT_TAPER_MAX = 0.30
 GENESIS_G70_CENTER_OUTPUT_TAPER_LAT = 0.30
 GENESIS_G70_CENTER_OUTPUT_TAPER_LAT_WIDTH = 0.10
 GENESIS_G70_CENTER_OUTPUT_TAPER_SPEED = 18.0
 GENESIS_G70_CENTER_OUTPUT_TAPER_SPEED_WIDTH = 3.0
+GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_MAX = 0.18
+GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_SPEED = 45.0 * CV.MPH_TO_MS
+GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_SPEED_WIDTH = 8.0 * CV.MPH_TO_MS
+GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_LAT = 0.45
+GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_LAT_WIDTH = 0.15
+GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_JERK = 0.35
+GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_JERK_WIDTH = 0.15
 GENESIS_G70_LOW_SPEED_CENTER_TAPER_MAX = 0.06
 GENESIS_G70_LOW_SPEED_CENTER_TAPER_LAT = 0.14
 GENESIS_G70_LOW_SPEED_CENTER_TAPER_LAT_WIDTH = 0.05
@@ -307,7 +314,7 @@ GENESIS_G70_LOW_SPEED_OUTPUT_LIMIT_LAT = 0.14
 GENESIS_G70_LOW_SPEED_OUTPUT_LIMIT_LAT_WIDTH = 0.05
 GENESIS_G70_LOW_SPEED_OUTPUT_LIMIT_SPEED = 6.0
 GENESIS_G70_LOW_SPEED_OUTPUT_LIMIT_SPEED_WIDTH = 1.5
-GENESIS_G70_CURVE_UNWIND_OUTPUT_BOOST = 0.00
+GENESIS_G70_CURVE_UNWIND_OUTPUT_REDUCTION_MAX = 0.08
 GENESIS_G70_CURVE_UNWIND_SPEED = 18.0
 GENESIS_G70_CURVE_UNWIND_SPEED_WIDTH = 3.0
 GENESIS_G70_CURVE_UNWIND_LAT = 0.25
@@ -3246,6 +3253,18 @@ def get_genesis_g70_center_output_scale(desired_lateral_accel: float, v_ego: flo
   return 1.0 - reduction
 
 
+def get_genesis_g70_high_speed_transition_scale(desired_lateral_accel: float,
+                                                desired_lateral_jerk: float, v_ego: float) -> float:
+  speed_weight = _sigmoid((v_ego - GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_SPEED) /
+                          GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_SPEED_WIDTH)
+  center_weight = _sigmoid((GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_LAT - abs(desired_lateral_accel)) /
+                           GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_LAT_WIDTH)
+  jerk_weight = _sigmoid((abs(desired_lateral_jerk) - GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_JERK) /
+                          GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_JERK_WIDTH)
+  reduction = (GENESIS_G70_HIGH_SPEED_TRANSITION_DAMPING_MAX * speed_weight * center_weight * jerk_weight)
+  return 1.0 - reduction
+
+
 def get_genesis_g70_low_speed_angle_damping(desired_angle_deg: float, actual_angle_deg: float,
                                              current_output_torque: float, v_ego: float) -> float:
   angle_error = desired_angle_deg - actual_angle_deg
@@ -3294,7 +3313,8 @@ def get_genesis_g70_curve_unwind_output_scale(desired_lateral_accel: float, desi
                             GENESIS_G70_CURVE_UNWIND_LAT_WIDTH)
   jerk_weight = _sigmoid((abs(desired_lateral_jerk) - GENESIS_G70_CURVE_UNWIND_JERK) /
                           GENESIS_G70_CURVE_UNWIND_JERK_WIDTH)
-  return 1.0 + GENESIS_G70_CURVE_UNWIND_OUTPUT_BOOST * speed_weight * lateral_weight * jerk_weight
+  reduction = (GENESIS_G70_CURVE_UNWIND_OUTPUT_REDUCTION_MAX * speed_weight * lateral_weight * jerk_weight)
+  return 1.0 - reduction
 
 
 def get_genesis_g70_unwind_ff_scale(setpoint: float, measured_lateral_accel: float,

selfdrive/controls/lib/longcontrol_vehicle_tunes.py

@@ -56,6 +56,10 @@ HYUNDAI_ELANTRA_STOPPED_LEAD_MAX_EGO_SPEED = 2.0
 HYUNDAI_ELANTRA_STOPPED_LEAD_MAX_SPEED = 0.5
 HYUNDAI_ELANTRA_STOPPED_LEAD_MIN_CLOSING_SPEED = 0.25
 HYUNDAI_ELANTRA_STOPPED_LEAD_MAX_CREEP_ACCEL = 0.05
+HYUNDAI_ELANTRA_FINAL_STOP_MAX_SPEED = 1.0
+HYUNDAI_ELANTRA_FINAL_STOP_CAP_BP = [0.0, 0.2, 0.5, HYUNDAI_ELANTRA_FINAL_STOP_MAX_SPEED]
+HYUNDAI_ELANTRA_FINAL_STOP_CAP_V = [-0.20, -0.25, -0.35, -0.55]
+HYUNDAI_ELANTRA_FINAL_STOP_URGENCY_MARGIN = 0.45
 HYUNDAI_SANTA_FE_FINAL_STOP_MAX_SPEED = 1.0
 HYUNDAI_SANTA_FE_FINAL_STOP_CAP_BP = [0.0, 0.2, 0.5, HYUNDAI_SANTA_FE_FINAL_STOP_MAX_SPEED]
 HYUNDAI_SANTA_FE_FINAL_STOP_CAP_V = [-0.25, -0.30, -0.50, -0.90]
@@ -169,7 +173,21 @@ class LongControlVehicleTuning:
     self.subaru_stop_release_frames = 0
 
   def shape_stopping_accel(self, output_accel, a_target, should_stop, v_ego, has_lead, stop_accel):
-    """Release a stale hard lead brake once the stop target has eased."""
+    """Shape low-speed stop braking without overriding urgent targets."""
+    if (
+      self.is_hyundai_elantra_2021 and
+      should_stop and
+      v_ego < HYUNDAI_ELANTRA_FINAL_STOP_MAX_SPEED and
+      a_target <= 0.1
+    ):
+      final_stop_cap = float(interp(
+        v_ego,
+        HYUNDAI_ELANTRA_FINAL_STOP_CAP_BP,
+        HYUNDAI_ELANTRA_FINAL_STOP_CAP_V,
+      ))
+      if a_target > final_stop_cap - HYUNDAI_ELANTRA_FINAL_STOP_URGENCY_MARGIN:
+        return max(float(output_accel), final_stop_cap)
+
     if (
       self.is_hyundai_santa_fe_2022 and
       v_ego <= HYUNDAI_SANTA_FE_FINAL_STOP_MAX_SPEED and

selfdrive/controls/lib/longitudinal_planner.py

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

selfdrive/controls/radard.py

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

selfdrive/controls/tests/test_latcontrol.py

@@ -54,6 +54,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_vehicle_tunes import (
   get_rav4_tss2_pid_output,
   get_subaru_impreza_pid_output_scale,
   get_genesis_gv70_low_speed_center_overshoot_scale,
+  get_genesis_g70_high_speed_transition_scale,
   normalize_flm_overrides,
   set_flm_runtime_overrides,
 )
@@ -960,7 +961,13 @@ class TestLatControl:
     assert get_genesis_g70_low_speed_output_limit(0.0, 2.0) < 0.30
     assert get_genesis_g70_low_speed_angle_damping(0.0, -20.0, 0.0, 2.0) < 0.0
     assert get_genesis_g70_low_speed_angle_damping(0.0, 20.0, 0.0, 2.0) > 0.0
-    assert get_genesis_g70_curve_unwind_output_scale(0.7, -0.5, 25.0) == pytest.approx(1.0)
+    assert get_genesis_g70_high_speed_transition_scale(0.0, 0.8, 65.0 * 0.44704) < \
+      get_genesis_g70_high_speed_transition_scale(0.0, 0.1, 65.0 * 0.44704)
+    assert get_genesis_g70_high_speed_transition_scale(1.0, 0.8, 65.0 * 0.44704) > \
+      get_genesis_g70_high_speed_transition_scale(0.0, 0.8, 65.0 * 0.44704)
+    assert get_genesis_g70_high_speed_transition_scale(0.0, 0.8, 20.0 * 0.44704) > \
+      get_genesis_g70_high_speed_transition_scale(0.0, 0.8, 65.0 * 0.44704)
+    assert 0.90 < get_genesis_g70_curve_unwind_output_scale(0.7, -0.5, 25.0) < 1.0
     assert get_genesis_g70_curve_unwind_output_scale(0.7, 0.5, 25.0) == 1.0
     assert get_genesis_g70_angle_output_scale(55.0, 1.0) > get_genesis_g70_angle_output_scale(85.0, 1.0)
     assert get_genesis_g70_angle_output_scale(85.0, -1.0) == pytest.approx(1.0)

selfdrive/controls/tests/test_leads.py

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

selfdrive/controls/tests/test_longcontrol.py

@@ -765,6 +765,15 @@ def test_elantra_lead_stop_releases_stale_hard_brake_after_target_eases():
   assert tuning.shape_stopping_accel(-1.20, -0.25, True, 1.0, False, -0.85) == pytest.approx(-1.20)
 
 
+def test_elantra_final_stop_cap_softens_normal_low_speed_stop():
+  CP = make_longcontrol_cp(brand="hyundai", carFingerprint="HYUNDAI_ELANTRA_2021")
+  tuning = vehicle_tunes.LongControlVehicleTuning(CP)
+
+  assert tuning.shape_stopping_accel(-0.85, -0.25, True, 0.5, False, -0.85) == pytest.approx(-0.35)
+  assert tuning.shape_stopping_accel(-0.85, -1.25, True, 0.5, False, -0.85) == pytest.approx(-0.85)
+  assert tuning.shape_stopping_accel(-0.85, -0.25, False, 0.5, False, -0.85) == pytest.approx(-0.85)
+
+
 def test_elantra_stopped_lead_handoff_holds_braking_direction_without_touching_brakes():
   CP = make_longcontrol_cp(brand="hyundai", carFingerprint="HYUNDAI_ELANTRA_2021")
   tuning = vehicle_tunes.LongControlVehicleTuning(CP)

selfdrive/controls/tests/test_longitudinal_planner.py

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

selfdrive/ui/layouts/settings/developer.py

@@ -32,6 +32,7 @@ class DeveloperLayout(Widget):
   def __init__(self):
     super().__init__()
     self._params = Params()
+    self._params.put_bool("LongitudinalManeuverMode", False)
 
     # Build items and keep references for callbacks/state updates
     self._adb_toggle = toggle_item(
@@ -59,13 +60,6 @@ class DeveloperLayout(Widget):
       enabled=ui_state.is_offroad,
     )
 
-    self._long_maneuver_toggle = toggle_item(
-      lambda: tr("Longitudinal Maneuver Mode"),
-      description="",
-      initial_state=self._params.get_bool("LongitudinalManeuverMode"),
-      callback=self._on_long_maneuver_mode,
-    )
-
     self._alpha_long_toggle = toggle_item(
       lambda: tr("openpilot Longitudinal Control (Alpha)"),
       description=lambda: tr(DESCRIPTIONS["alpha_longitudinal"]),
@@ -87,7 +81,6 @@ class DeveloperLayout(Widget):
       self._ssh_toggle,
       self._ssh_keys,
       self._joystick_toggle,
-      self._long_maneuver_toggle,
       self._alpha_long_toggle,
       self._ui_debug_toggle,
     ], line_separator=True, spacing=0)
@@ -114,13 +107,7 @@ class DeveloperLayout(Widget):
       else:
         self._alpha_long_toggle.set_visible(True)
 
-      long_man_enabled = ui_state.has_longitudinal_control and ui_state.is_offroad()
-      self._long_maneuver_toggle.action_item.set_enabled(long_man_enabled)
-      if not long_man_enabled:
-        self._long_maneuver_toggle.action_item.set_state(False)
-        self._params.put_bool("LongitudinalManeuverMode", False)
     else:
-      self._long_maneuver_toggle.action_item.set_enabled(False)
       self._alpha_long_toggle.set_visible(False)
 
     # TODO: make a param control list item so we don't need to manage internal state as much here
@@ -129,7 +116,6 @@ class DeveloperLayout(Widget):
       ("AdbEnabled", self._adb_toggle),
       ("SshEnabled", self._ssh_toggle),
       ("JoystickDebugMode", self._joystick_toggle),
-      ("LongitudinalManeuverMode", self._long_maneuver_toggle),
       ("AlphaLongitudinalEnabled", self._alpha_long_toggle),
       ("ShowDebugInfo", self._ui_debug_toggle),
     ):
@@ -149,12 +135,6 @@ class DeveloperLayout(Widget):
   def _on_joystick_debug_mode(self, state: bool):
     self._params.put_bool("JoystickDebugMode", state)
     self._params.put_bool("LongitudinalManeuverMode", False)
-    self._long_maneuver_toggle.action_item.set_state(False)
-
-  def _on_long_maneuver_mode(self, state: bool):
-    self._params.put_bool("LongitudinalManeuverMode", state)
-    self._params.put_bool("JoystickDebugMode", False)
-    self._joystick_toggle.action_item.set_state(False)
 
   def _on_alpha_long_enabled(self, state: bool):
     if state:

selfdrive/ui/layouts/settings/starpilot/longitudinal.py

@@ -731,7 +731,7 @@ class StarPilotLongitudinalLayout(_SettingsPage):
                                                     unit=self._speed_unit(),
                                                     value_type="float",
                                                     current_value=max(1, self._params.get_float("CustomCruise"))),
-                 visible=lambda: self._params.get_bool("QOLLongitudinal")),
+                 visible=lambda: self._params.get_bool("QOLLongitudinal") and not starpilot_state.car_state.isToyota),
       SettingRow("CustomCruiseLong", "value", tr_noop("Cruise Long"),
                  subtitle="",
                  get_value=lambda: f"{max(1, self._params.get_float('CustomCruiseLong')):g}{self._speed_unit()}",
@@ -739,7 +739,12 @@ class StarPilotLongitudinalLayout(_SettingsPage):
                                                     unit=self._speed_unit(),
                                                     value_type="float",
                                                     current_value=max(1, self._params.get_float("CustomCruiseLong"))),
-                 visible=lambda: self._params.get_bool("QOLLongitudinal")),
+                 visible=lambda: self._params.get_bool("QOLLongitudinal") and not starpilot_state.car_state.isToyota),
+      SettingRow("ReverseCruise", "toggle", tr_noop("Reverse Cruise Increase"),
+                 subtitle=tr_noop("Swap Toyota/Lexus cruise increments: short press changes the dash set speed by 5; hold changes it by 1."),
+                 get_state=lambda: self._params.get_bool("ReverseCruise"),
+                 set_state=lambda s: self._params.put_bool("ReverseCruise", s),
+                 visible=lambda: self._params.get_bool("QOLLongitudinal") and starpilot_state.car_state.isToyota),
       SettingRow("ForceStops", "toggle", tr_noop("Force Stops"),
                  subtitle="",
                  get_state=lambda: self._params.get_bool("ForceStops"),

selfdrive/ui/mici/layouts/settings/developer.py

@@ -12,6 +12,7 @@ class DeveloperLayoutMici(NavScroller):
   def __init__(self):
     super().__init__()
     self._ssh_fetcher = SshKeyFetcher(ui_state.params)
+    ui_state.params.put_bool("LongitudinalManeuverMode", False)
 
     def github_username_callback(username: str):
       if username:
@@ -45,7 +46,6 @@ class DeveloperLayoutMici(NavScroller):
     self._ssh_keys_btn = BigButton("SSH keys", "Not set" if not github_username else github_username, icon=txt_ssh)
     self._ssh_keys_btn.set_click_callback(ssh_keys_callback)
 
-    # adb, ssh, ssh keys, debug mode, joystick debug mode, longitudinal maneuver mode, ip address
     # ******** Main Scroller ********
     self._adb_toggle = BigCircleParamControl(gui_app.texture("icons_mici/adb_short.png", 82, 82), "AdbEnabled", icon_offset=(0, 12))
     self._ssh_toggle = BigCircleParamControl(gui_app.texture("icons_mici/ssh_short.png", 82, 82), "SshEnabled", icon_offset=(0, 12))
@@ -53,9 +53,6 @@ class DeveloperLayoutMici(NavScroller):
     self._joystick_toggle = BigToggle("joystick debug mode",
                                       initial_state=ui_state.params.get_bool("JoystickDebugMode"),
                                       toggle_callback=self._on_joystick_debug_mode)
-    self._long_maneuver_toggle = BigToggle("longitudinal maneuver mode",
-                                           initial_state=ui_state.params.get_bool("LongitudinalManeuverMode"),
-                                           toggle_callback=self._on_long_maneuver_mode)
     self._alpha_long_toggle = BigToggle("alpha longitudinal",
                                         initial_state=ui_state.params.get_bool("AlphaLongitudinalEnabled"),
                                         toggle_callback=self._on_alpha_long_enabled)
@@ -69,7 +66,6 @@ class DeveloperLayoutMici(NavScroller):
       self._ssh_keys_btn,
       self._disable_wide_road_toggle,
       self._joystick_toggle,
-      self._long_maneuver_toggle,
       self._alpha_long_toggle,
       self._debug_mode_toggle,
     ])
@@ -80,7 +76,6 @@ class DeveloperLayoutMici(NavScroller):
       ("SshEnabled", self._ssh_toggle),
       ("DisableWideRoad", self._disable_wide_road_toggle),
       ("JoystickDebugMode", self._joystick_toggle),
-      ("LongitudinalManeuverMode", self._long_maneuver_toggle),
       ("AlphaLongitudinalEnabled", self._alpha_long_toggle),
       ("ShowDebugInfo", self._debug_mode_toggle),
     )
@@ -89,7 +84,7 @@ class DeveloperLayoutMici(NavScroller):
       self._disable_wide_road_toggle,
       self._joystick_toggle,
     )
-    engaged_blocked_toggles = (self._long_maneuver_toggle, self._alpha_long_toggle)
+    engaged_blocked_toggles = (self._alpha_long_toggle,)
 
     # Disable toggles that require offroad
     for item in onroad_blocked_toggles:
@@ -129,13 +124,7 @@ class DeveloperLayoutMici(NavScroller):
       else:
         self._alpha_long_toggle.set_visible(True)
 
-      long_man_enabled = ui_state.has_longitudinal_control and ui_state.is_offroad()
-      self._long_maneuver_toggle.set_enabled(long_man_enabled)
-      if not long_man_enabled:
-        self._long_maneuver_toggle.set_checked(False)
-        ui_state.params.put_bool("LongitudinalManeuverMode", False)
     else:
-      self._long_maneuver_toggle.set_enabled(False)
       self._alpha_long_toggle.set_visible(False)
 
     # Refresh toggles from params to mirror external changes
@@ -145,16 +134,8 @@ class DeveloperLayoutMici(NavScroller):
   def _on_joystick_debug_mode(self, state: bool):
     ui_state.params.put_bool("JoystickDebugMode", state)
     ui_state.params.put_bool("LongitudinalManeuverMode", False)
-    self._long_maneuver_toggle.set_checked(False)
     ui_state.params.put_bool("LateralManeuverMode", False)
 
-  def _on_long_maneuver_mode(self, state: bool):
-    ui_state.params.put_bool("LongitudinalManeuverMode", state)
-    ui_state.params.put_bool("JoystickDebugMode", False)
-    self._joystick_toggle.set_checked(False)
-    ui_state.params.put_bool("LateralManeuverMode", False)
-    restart_needed_callback(state)
-
   def _on_alpha_long_enabled(self, state: bool):
     # TODO: show confirmation dialog before enabling
     ui_state.params.put_bool("AlphaLongitudinalEnabled", state)

selfdrive/ui/mici/layouts/settings/visuals.py

@@ -63,6 +63,7 @@ class VisualsLayoutMici(NavScroller):
     self._torque_bar_btn = BigParamControl("torque bar", "EnableTorqueBarWidget")
     self._rainbow_path_btn = BigParamControl("rainbow road", "RainbowPath")
     self._lead_indicator_btn = LeadIndicatorBigButton()
+    self._lead_info_btn = BigParamControl("show lead speed", "LeadInfo")
     self._speed_limit_signs_btn = BigParamControl("show speed limits", "ShowSpeedLimits")
     self._slc_confirmation_btn = BigParamControl("confirm new speed limits", "SLCConfirmation")
     self._slc_confirmation_lower_btn = BigParamControl("confirm lower limits", "SLCConfirmationLower")
@@ -76,6 +77,7 @@ class VisualsLayoutMici(NavScroller):
       self._torque_bar_btn,
       self._rainbow_path_btn,
       self._lead_indicator_btn,
+      self._lead_info_btn,
       self._speed_limit_signs_btn,
       self._slc_confirmation_btn,
       self._slc_confirmation_lower_btn,
@@ -93,6 +95,7 @@ class VisualsLayoutMici(NavScroller):
   def _refresh(self):
     self._camera_view_btn.refresh()
     self._lead_indicator_btn.refresh()
+    self._lead_info_btn.set_enabled(lead_indicator_enabled(self._lead_info_btn.params, hide_by_default=True))
     confirmation_enabled = self._slc_confirmation_btn.params.get_bool("SLCConfirmation")
     self._slc_confirmation_lower_btn.set_visible(confirmation_enabled)
     self._slc_confirmation_higher_btn.set_visible(confirmation_enabled)

selfdrive/ui/mici/onroad/model_renderer.py

@@ -13,8 +13,9 @@ from openpilot.selfdrive.ui.onroad.starpilot.rainbow_path import RainbowPath
 from openpilot.selfdrive.ui.lib.starpilot_visuals import blend_colors, lead_indicator_enabled
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.selfdrive.ui.mici.onroad.starpilot_status import get_border_color
-from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
+from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.widgets import Widget
 
 CLIP_MARGIN = 500
@@ -66,6 +67,7 @@ class ModelRenderer(Widget):
     self._lane_line_probs = np.zeros(4, dtype=np.float32)
     self._road_edge_stds = np.zeros(2, dtype=np.float32)
     self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
+    self._lead_info_enabled = False
     self._path_offset_z = HEIGHT_INIT[0]
 
     # Initialize ModelPoints objects
@@ -136,6 +138,7 @@ class ModelRenderer(Widget):
     model = sm['modelV2']
     radar_state = sm['radarState'] if sm.valid['radarState'] else None
     lead_one = radar_state.leadOne if radar_state else None
+    self._lead_info_enabled = self._params.get_bool("LeadInfo")
     render_lead_indicator = self._should_render_lead_indicator(radar_state)
 
     # Update model data when needed
@@ -159,7 +162,7 @@ class ModelRenderer(Widget):
     self._draw_path(sm)
 
     if render_lead_indicator and radar_state:
-      self._draw_lead_indicator()
+      self._draw_lead_indicator(radar_state)
 
   def _should_render_lead_indicator(self, radar_state) -> bool:
     return radar_state is not None and lead_indicator_enabled(self._params, hide_by_default=True)
@@ -498,7 +501,7 @@ class ModelRenderer(Widget):
       ]
       draw_polygon(self._rect, self._path.projected_points, gradient=self._path_gradient)
 
-  def _draw_lead_indicator(self):
+  def _draw_lead_indicator(self, radar_state):
     # Draw lead vehicles if available
     lead_color = get_theme_color("LeadMarker", rl.Color(201, 34, 49, 255))
     for lead in self._lead_vehicles:
@@ -508,6 +511,35 @@ class ModelRenderer(Widget):
       rl.draw_triangle_fan(lead.glow, len(lead.glow), rl.Color(218, 202, 37, 255))
       rl.draw_triangle_fan(lead.chevron, len(lead.chevron), with_alpha(lead_color, lead.fill_alpha))
 
+    lead_one = radar_state.leadOne
+    if self._lead_info_enabled and lead_one and lead_one.status:
+      self._draw_lead_speed(lead_one)
+
+  @staticmethod
+  def _format_lead_speed(lead_speed: float, is_metric: bool, use_si_metrics: bool) -> str:
+    lead_speed = max(float(lead_speed), 0.0)
+    if use_si_metrics:
+      return f"{round(lead_speed)} m/s"
+    if is_metric:
+      return f"{round(lead_speed * CV.MS_TO_KPH)} km/h"
+    return f"{round(lead_speed * CV.MS_TO_MPH)} mph"
+
+  def _draw_lead_speed(self, lead_data) -> None:
+    from openpilot.selfdrive.ui.onroad.starpilot.path import _draw_text_with_outline
+
+    text = self._format_lead_speed(
+      getattr(lead_data, "vLead", 0.0),
+      ui_state.is_metric,
+      ui_state.starpilot_toggles.get("UseSiMetrics", False),
+    )
+    font = gui_app.font(FontWeight.SEMI_BOLD)
+    font_size = 40
+    text_size = measure_text_cached(font, text, font_size)
+    center_x = self._rect.x + self._rect.width / 2
+    x = center_x - text_size.x / 2
+    y = self._rect.y + 22
+    _draw_text_with_outline(text, float(x), float(y), font, font_size)
+
   @staticmethod
   def _get_path_length_idx(pos_x_array: np.ndarray, path_distance: float) -> int:
     """Get the index corresponding to the given path height"""

selfdrive/ui/mici/tests/test_lead_indicator.py

@@ -1,19 +1,25 @@
 from types import SimpleNamespace
 
+import pytest
+
 import openpilot.selfdrive.ui.mici.onroad.model_renderer as model_renderer
 
 
 class _FakeParams:
-  def __init__(self, enabled: bool):
+  def __init__(self, enabled: bool, lead_info: bool = False):
     self.enabled = enabled
+    self.lead_info = lead_info
 
   def get(self, key):
     assert key == "HideLeadMarker"
     return b"0" if self.enabled else b"1"
 
   def get_bool(self, key):
-    assert key == "HideLeadMarker"
+    if key == "HideLeadMarker":
-    return not self.enabled
+      return not self.enabled
+    if key == "LeadInfo":
+      return self.lead_info
+    raise AssertionError(key)
 
 
 def test_lead_indicator_renders_in_aol_without_longitudinal_control(monkeypatch):
@@ -31,3 +37,38 @@ def test_lead_indicator_still_honors_disabled_setting():
 
   assert not renderer._should_render_lead_indicator(SimpleNamespace())
   assert not renderer._should_render_lead_indicator(None)
+
+
+@pytest.mark.parametrize(
+  ("is_metric", "use_si_metrics", "expected"),
+  [
+    (False, False, "22 mph"),
+    (True, False, "36 km/h"),
+    (False, True, "10 m/s"),
+  ],
+)
+def test_lead_speed_uses_c3_units(is_metric, use_si_metrics, expected):
+  assert model_renderer.ModelRenderer._format_lead_speed(10.0, is_metric, use_si_metrics) == expected
+
+
+def test_lead_metrics_draw_only_speed_when_enabled(monkeypatch):
+  drawn_metrics = []
+  monkeypatch.setattr(model_renderer, "get_theme_color", lambda *_args: model_renderer.rl.RED)
+  monkeypatch.setattr(model_renderer.rl, "draw_triangle_fan", lambda *_args: None)
+
+  renderer = object.__new__(model_renderer.ModelRenderer)
+  renderer._lead_info_enabled = True
+  renderer._lead_vehicles = [
+    model_renderer.LeadVehicle(
+      glow=[(1.0, 2.0)] * 3,
+      chevron=[(1.0, 2.0)] * 3,
+      fill_alpha=255,
+    ),
+    model_renderer.LeadVehicle(),
+  ]
+  renderer._draw_lead_speed = drawn_metrics.append
+  lead_one = SimpleNamespace(status=True, vLead=10.0)
+
+  renderer._draw_lead_indicator(SimpleNamespace(leadOne=lead_one, leadTwo=SimpleNamespace(status=False)))
+
+  assert drawn_metrics == [lead_one]

starpilot/assets/model_manager.py

@@ -1022,11 +1022,6 @@ class ModelManager:
     model_key = self._canonical_model_key(model_key)
     accelerator = str(accelerator or "").strip().lower()
     try:
-      if accelerator == MODEL_LAB_ACCELERATOR and not external_gpu_available():
-        handle_error(None, "External GPU required...", "Chestnut is not connected and firmware-ready.",
-                     MODEL_LAB_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM, self.params_memory)
-        return False
-
       artifact_metadata = model_accelerator_artifact_metadata(model_key, accelerator)
       if not model_accelerator_artifact_available(model_key, accelerator):
         handle_error(None, "Accelerator artifact unavailable...",
@@ -1059,7 +1054,7 @@ class ModelManager:
                        MODEL_LAB_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM, self.params_memory)
         return False
 
-      self.params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Chestnut artifact downloaded!")
+      self.params_memory.put(DOWNLOAD_PROGRESS_PARAM, "eGPU variant downloaded!")
       return True
     finally:
       self.params_memory.remove(MODEL_LAB_DOWNLOAD_PARAM)

starpilot/assets/tests/test_model_pipeline.py

@@ -326,7 +326,8 @@ def test_model_manager_downloads_precompiled_accelerator_variant_without_compili
     },
   }])
   (tmp_path / model_manager.ARTIFACT_METADATA_CACHE).write_text(json.dumps(metadata))
-  monkeypatch.setattr(model_manager, "external_gpu_available", lambda: True)
+  # These are precompiled files, so downloading must not require a connected eGPU.
+  monkeypatch.setattr(model_manager, "external_gpu_available", lambda: False)
   monkeypatch.setattr(model_manager, "get_resource_urls", lambda: ["https://models.example"])
   monkeypatch.setattr(manager, "_load_artifact_url_map", lambda: {})
   calls = []
@@ -346,7 +347,7 @@ def test_model_manager_downloads_precompiled_accelerator_variant_without_compili
   )
   assert calls[0][3]["execution_device"] == "AMD"
   assert calls[0][5] == ["https://models.example"]
-  assert manager.params_memory.values[model_manager.DOWNLOAD_PROGRESS_PARAM] == "Chestnut artifact downloaded!"
+  assert manager.params_memory.values[model_manager.DOWNLOAD_PROGRESS_PARAM] == "eGPU variant downloaded!"
   assert model_manager.MODEL_LAB_DOWNLOAD_PARAM not in manager.params_memory.values
 
 
@@ -404,10 +405,20 @@ def test_external_gpu_compile_uses_agnos_isolated_cpu(monkeypatch):
   command = ["python3", "compile_modeld.py"]
   monkeypatch.setattr(model_compiler.sys, "platform", "linux")
   monkeypatch.setattr(model_compiler.platform, "machine", lambda: "aarch64")
+  monkeypatch.setattr(model_compiler.os, "sched_getaffinity", lambda _: {7}, raising=False)
 
   assert model_compiler.external_gpu_compile_command(command) == ["taskset", "-c", "7", *command]
 
 
+def test_external_gpu_compile_skips_unavailable_agnos_cpu(monkeypatch):
+  command = ["python3", "compile_modeld.py"]
+  monkeypatch.setattr(model_compiler.sys, "platform", "linux")
+  monkeypatch.setattr(model_compiler.platform, "machine", lambda: "aarch64")
+  monkeypatch.setattr(model_compiler.os, "sched_getaffinity", lambda _: {0, 1, 2, 3}, raising=False)
+
+  assert model_compiler.external_gpu_compile_command(command) is command
+
+
 def test_external_gpu_compile_does_not_pin_other_platforms(monkeypatch):
   command = ["python3", "compile_modeld.py"]
   monkeypatch.setattr(model_compiler.sys, "platform", "darwin")

starpilot/common/assets/device_settings_layout.json

@@ -201,6 +201,8 @@
         "min": 0.0,
         "max": 99.0,
         "step": 1.0,
+        "unit_type": "vehicle_speed",
+        "metric_max": 150.0,
         "parent_key": "LaneChanges",
         "settings_tier": "simple"
       },
@@ -339,6 +341,8 @@
         "min": 0.0,
         "max": 99.0,
         "step": 1.0,
+        "unit_type": "vehicle_speed",
+        "metric_max": 150.0,
         "parent_key": "QOLLateral",
         "settings_tier": "simple"
       },
@@ -1016,6 +1020,8 @@
         "min": 0.0,
         "max": 99.0,
         "step": 1.0,
+        "unit_type": "vehicle_speed",
+        "metric_max": 150.0,
         "parent_key": "ConditionalExperimental",
         "settings_tier": "simple"
       },
@@ -1028,6 +1034,8 @@
         "min": 0.0,
         "max": 99.0,
         "step": 1.0,
+        "unit_type": "vehicle_speed",
+        "metric_max": 150.0,
         "parent_key": "ConditionalExperimental",
         "settings_tier": "simple"
       },
@@ -1113,6 +1121,8 @@
         "min": 0.0,
         "max": 99.0,
         "step": 1.0,
+        "unit_type": "vehicle_speed",
+        "metric_max": 150.0,
         "parent_key": "ConditionalExperimental",
         "settings_tier": "simple"
       },
@@ -1690,6 +1700,14 @@
         "ui_type": "numeric",
         "min": 1.0,
         "max": 99.0,
+        "step": 1.0,
+        "precision": 0,
+        "unit_type": "vehicle_speed",
+        "metric_max": 150.0,
+        "excluded_vehicle_makes": [
+          "Lexus",
+          "Toyota"
+        ],
         "parent_key": "QOLLongitudinal",
         "settings_tier": "simple"
       },
@@ -1701,6 +1719,28 @@
         "ui_type": "numeric",
         "min": 1.0,
         "max": 99.0,
+        "step": 1.0,
+        "precision": 0,
+        "unit_type": "vehicle_speed",
+        "metric_max": 150.0,
+        "excluded_vehicle_makes": [
+          "Lexus",
+          "Toyota"
+        ],
+        "parent_key": "QOLLongitudinal",
+        "settings_tier": "simple"
+      },
+      {
+        "key": "ReverseCruise",
+        "label": "Reverse Cruise Increase",
+        "description": "Reverse Toyota/Lexus cruise-button behavior so a short press changes the dashboard set speed by 5 and a hold changes it by 1.",
+        "picker_description": "Swaps Toyota/Lexus short-press and hold cruise increments.",
+        "data_type": "bool",
+        "ui_type": "toggle",
+        "vehicle_makes": [
+          "Lexus",
+          "Toyota"
+        ],
         "parent_key": "QOLLongitudinal",
         "settings_tier": "simple"
       },
@@ -1774,6 +1814,10 @@
         "ui_type": "numeric",
         "min": 0.0,
         "max": 99.0,
+        "step": 1.0,
+        "precision": 0,
+        "unit_type": "vehicle_speed",
+        "metric_max": 150.0,
         "parent_key": "QOLLongitudinal",
         "settings_tier": "simple"
       },
@@ -1787,6 +1831,8 @@
         "max": 30.0,
         "step": 0.5,
         "precision": 1,
+        "unit_type": "vehicle_speed",
+        "imperial_max": 15.0,
         "parent_key": "QOLLongitudinal",
         "settings_tier": "advanced"
       },
@@ -2223,6 +2269,12 @@
         "ui_type": "numeric",
         "min": -99.0,
         "max": 99.0,
+        "step": 1.0,
+        "precision": 0,
+        "unit_type": "vehicle_speed",
+        "metric_min": -150.0,
+        "metric_max": 150.0,
+        "unit_range_index": 0,
         "parent_key": "SpeedLimitController",
         "settings_tier": "advanced"
       },
@@ -2234,6 +2286,12 @@
         "ui_type": "numeric",
         "min": -99.0,
         "max": 99.0,
+        "step": 1.0,
+        "precision": 0,
+        "unit_type": "vehicle_speed",
+        "metric_min": -150.0,
+        "metric_max": 150.0,
+        "unit_range_index": 1,
         "parent_key": "SpeedLimitController",
         "settings_tier": "advanced"
       },
@@ -2245,6 +2303,12 @@
         "ui_type": "numeric",
         "min": -99.0,
         "max": 99.0,
+        "step": 1.0,
+        "precision": 0,
+        "unit_type": "vehicle_speed",
+        "metric_min": -150.0,
+        "metric_max": 150.0,
+        "unit_range_index": 2,
         "parent_key": "SpeedLimitController",
         "settings_tier": "advanced"
       },
@@ -2256,6 +2320,12 @@
         "ui_type": "numeric",
         "min": -99.0,
         "max": 99.0,
+        "step": 1.0,
+        "precision": 0,
+        "unit_type": "vehicle_speed",
+        "metric_min": -150.0,
+        "metric_max": 150.0,
+        "unit_range_index": 3,
         "parent_key": "SpeedLimitController",
         "settings_tier": "advanced"
       },
@@ -2267,6 +2337,12 @@
         "ui_type": "numeric",
         "min": -99.0,
         "max": 99.0,
+        "step": 1.0,
+        "precision": 0,
+        "unit_type": "vehicle_speed",
+        "metric_min": -150.0,
+        "metric_max": 150.0,
+        "unit_range_index": 4,
         "parent_key": "SpeedLimitController",
         "settings_tier": "advanced"
       },
@@ -2278,6 +2354,12 @@
         "ui_type": "numeric",
         "min": -99.0,
         "max": 99.0,
+        "step": 1.0,
+        "precision": 0,
+        "unit_type": "vehicle_speed",
+        "metric_min": -150.0,
+        "metric_max": 150.0,
+        "unit_range_index": 5,
         "parent_key": "SpeedLimitController",
         "settings_tier": "advanced"
       },
@@ -2289,6 +2371,12 @@
         "ui_type": "numeric",
         "min": -99.0,
         "max": 99.0,
+        "step": 1.0,
+        "precision": 0,
+        "unit_type": "vehicle_speed",
+        "metric_min": -150.0,
+        "metric_max": 150.0,
+        "unit_range_index": 6,
         "parent_key": "SpeedLimitController",
         "settings_tier": "advanced"
       },
@@ -2341,6 +2429,8 @@
         "min": 0.0,
         "max": 99.0,
         "step": 1.0,
+        "unit_type": "vehicle_speed",
+        "metric_max": 150.0,
         "parent_key": "ConditionalChill",
         "settings_tier": "advanced"
       },
@@ -2353,6 +2443,8 @@
         "min": 0.0,
         "max": 99.0,
         "step": 1.0,
+        "unit_type": "vehicle_speed",
+        "metric_max": 150.0,
         "parent_key": "ConditionalChill",
         "settings_tier": "advanced"
       },
@@ -2385,6 +2477,8 @@
         "min": 0.0,
         "max": 15.0,
         "step": 1.0,
+        "unit_type": "vehicle_speed",
+        "metric_max": 30.0,
         "parent_key": "ConditionalChill",
         "settings_tier": "advanced"
       },
@@ -2454,6 +2548,7 @@
         "min": 5,
         "max": 80,
         "step": 5,
+        "unit_type": "vehicle_speed",
         "parent_key": "VisionSpeedLimitLowLimitFilter",
         "settings_tier": "advanced"
       },
@@ -4756,12 +4851,12 @@
       },
       {
         "key": "GalaxyMobileDefault",
-        "label": "Try the Big Dipper Web UI",
+        "label": "Use Galaxy (new) by Default",
-        "description": "Open the Big Dipper at the top-level Galaxy link instead of the classic Galaxy. The classic UI remains available at /classic and Big Dipper at /mobile regardless of this toggle.",
+        "description": "Open Galaxy (new) at the top-level Galaxy link. Turn this off to use Galaxy (old) instead. Galaxy (old) remains available at /classic and Galaxy (new) at /mobile.",
-        "picker_description": "Serve the Big Dipper as the default landing page.",
+        "picker_description": "Serve Galaxy (new) as the default landing page.",
         "data_type": "bool",
         "ui_type": "toggle",
-        "settings_tier": "advanced"
+        "settings_tier": "simple"
       },
       {
         "key": "AlphaLongitudinalEnabled",
@@ -4818,6 +4913,7 @@
         "min": 0.0,
         "max": 99.0,
         "step": 1.0,
+        "unit_type": "vehicle_speed",
         "parent_key": "GalaxyDeveloperMode",
         "settings_tier": "advanced"
       },

starpilot/common/starpilot_variables.py

@@ -390,6 +390,16 @@ def speed_limit_controller_available(openpilot_longitudinal: bool, redneck_cruis
   return openpilot_longitudinal or redneck_cruise
 
 
+def software_cruise_intervals_available(quality_of_life: bool, car_make: str, pcm_cruise: bool,
+                                        openpilot_longitudinal: bool, pcm_cruise_speed: bool) -> bool:
+  return bool(quality_of_life and not (car_make == "toyota" and pcm_cruise) and
+              (openpilot_longitudinal or not pcm_cruise_speed))
+
+
+def reverse_cruise_available(quality_of_life: bool, car_make: str, pcm_cruise: bool) -> bool:
+  return bool(quality_of_life and car_make == "toyota" and pcm_cruise)
+
+
 def migrate_cancel_button_controls(params: Params | None = None) -> bool:
   params = params or Params(return_defaults=True)
   if params.get_bool(CANCEL_BUTTON_MIGRATION_KEY) or not params.get_bool("RemapCancelToDistance"):
@@ -1345,10 +1355,17 @@ class StarPilotVariables:
     toggle.pause_lateral_below_signal = self.get_value("PauseLateralOnSignal", condition=toggle.pause_lateral_below_speed != 0)
     toggle.pause_lateral_signal_delay = self.get_value("LateralResumeDelay", cast=float, condition=toggle.pause_lateral_below_signal, default=0.0, min=0.0, max=5.0)
 
-    quality_of_life_longitudinal = toggle.openpilot_longitudinal and self.get_value("QOLLongitudinal")
+    quality_of_life = self.get_value("QOLLongitudinal")
-    quality_of_life_cruise = self.get_value("QOLLongitudinal") and (toggle.openpilot_longitudinal or not FPCP.pcmCruiseSpeed)
+    quality_of_life_longitudinal = toggle.openpilot_longitudinal and quality_of_life
+    quality_of_life_cruise = software_cruise_intervals_available(
+      quality_of_life, toggle.car_make, pcm_cruise, toggle.openpilot_longitudinal, FPCP.pcmCruiseSpeed,
+    )
     toggle.cruise_increase = self.get_value("CustomCruise", cast=float, condition=quality_of_life_cruise, default=1.0)
     toggle.cruise_increase_long = self.get_value("CustomCruiseLong", cast=float, condition=quality_of_life_cruise, default=5.0)
+    toggle.reverse_cruise_increase = self.get_value(
+      "ReverseCruise",
+      condition=reverse_cruise_available(quality_of_life, toggle.car_make, pcm_cruise),
+    )
     toggle.force_stops = self.get_value("ForceStops", condition=quality_of_life_longitudinal)
     toggle.force_stop_distance_offset = self.get_value("ForceStopDistanceOffset", cast=int, condition=(quality_of_life_longitudinal and toggle.force_stops))
     toggle.force_standstill = self.get_value("ForceStandstill", condition=quality_of_life_longitudinal)

starpilot/common/tests/test_starpilot_variables.py

@@ -328,4 +328,14 @@ def test_set_speed_limit_unavailable_on_stock_pcm_without_helper():
 def test_speed_limit_controller_available_on_openpilot_longitudinal_or_redneck():
   assert spv.speed_limit_controller_available(openpilot_longitudinal=True, redneck_cruise=False) is True
   assert spv.speed_limit_controller_available(openpilot_longitudinal=False, redneck_cruise=True) is True
+
+
+def test_toyota_pcm_cruise_uses_hardware_reverse_instead_of_software_intervals():
+  assert spv.software_cruise_intervals_available(True, "toyota", True, True, True) is False
+  assert spv.reverse_cruise_available(True, "toyota", True) is True
+
+
+def test_non_toyota_software_cruise_keeps_custom_intervals():
+  assert spv.software_cruise_intervals_available(True, "hyundai", False, True, True) is True
+  assert spv.reverse_cruise_available(True, "hyundai", False) is False
   assert spv.speed_limit_controller_available(openpilot_longitudinal=False, redneck_cruise=False) is False

starpilot/system/bluetooth/bluez.py

@@ -329,9 +329,9 @@ class BlueZClient:
     self.set_device_property(address, "Trusted", "b", True)
     self.agent.clear()
 
-  def connect(self, address: str) -> None:
+  def connect(self, address: str, timeout: float = 30.0) -> None:
     device = self.device_for_address(address)
-    self._call(device["path"], DEVICE_IFACE, "Connect", timeout=30.0)
+    self._call(device["path"], DEVICE_IFACE, "Connect", timeout=timeout)
 
   def disconnect(self, address: str) -> None:
     device = self.device_for_address(address)

starpilot/system/bluetooth/daemon.py

@@ -18,8 +18,10 @@ SCAN_DURATION = 20.0
 AUDIO_TEST_START_DELAY = 3.0
 AUDIO_TEST_HOLD_TIME = 3.0
 RECONNECT_INTERVAL_SECONDS = 15.0
+CONTROLLER_RECONNECT_INTERVAL_SECONDS = 5.0
 RECONNECT_MAX_BACKOFF_SECONDS = 300.0
 MANUAL_DISCONNECT_SUPPRESSION_SECONDS = 300.0
+CONTROLLER_OFFROAD_DISCONNECT_DELAY_SECONDS = 120.0
 
 
 class BluetoothController:
@@ -36,6 +38,9 @@ class BluetoothController:
     self._last_reconnect = 0.0
     self._reconnect_backoff: dict[str, tuple[int, float]] = {}
     self._manual_disconnect_until: dict[str, float] = {}
+    self._offroad_since: float | None = None
+    self._policy_disconnected: set[str] = set()
+    self._policy_disconnect_retry_after: dict[str, float] = {}
     self._scan_deadline = 0.0
     self._audio_test_deadline = 0.0
     self._sleep = sleep
@@ -223,6 +228,8 @@ class BluetoothController:
       # report NotConnected, and it must not immediately be auto-reconnected.
       self._manual_disconnect_until[normalized_address] = time.monotonic() + MANUAL_DISCONNECT_SUPPRESSION_SECONDS
       self._reconnect_backoff.pop(normalized_address, None)
+      self._policy_disconnected.discard(normalized_address)
+      self._policy_disconnect_retry_after.pop(normalized_address, None)
       try:
         with self._lock:
           self._client().disconnect(normalized_address)
@@ -234,6 +241,8 @@ class BluetoothController:
       self._client().remove(address)
       self._reconnect_backoff.pop(address.upper(), None)
       self._manual_disconnect_until.pop(address.upper(), None)
+      self._policy_disconnected.discard(address.upper())
+      self._policy_disconnect_retry_after.pop(address.upper(), None)
       if (self.params.get("BluetoothAudioAddress", encoding="utf-8") or "").upper() == address.upper():
         self.params.remove("BluetoothAudioAddress")
     elif command == "select_audio":
@@ -272,47 +281,122 @@ class BluetoothController:
       self._client().stop_discovery()
       self._scan_deadline = 0.0
 
+  def _maintain_controller_offroad_policy(self, status: dict[str, Any], now: float) -> bool:
+    if not status["offroad"]:
+      self._offroad_since = None
+      if self._policy_disconnected:
+        for address in self._policy_disconnected:
+          self._reconnect_backoff.pop(address, None)
+        self._policy_disconnect_retry_after.clear()
+        self._last_reconnect = 0.0
+      return False
+
+    if self._offroad_since is None:
+      self._offroad_since = now
+
+    if not self.params.get_bool("BluetoothDisconnectControllersOffroad"):
+      if self._policy_disconnected:
+        self._policy_disconnect_retry_after.clear()
+        self._last_reconnect = 0.0
+      return False
+
+    if now - self._offroad_since < CONTROLLER_OFFROAD_DISCONNECT_DELAY_SECONDS:
+      return False
+
+    for device in status["devices"]:
+      if not device.get("paired") or not device.get("controller") or not device.get("connected"):
+        continue
+      address = str(device["address"]).upper()
+      if now < self._policy_disconnect_retry_after.get(address, 0.0):
+        continue
+      self._policy_disconnected.add(address)
+      self._policy_disconnect_retry_after[address] = now + RECONNECT_INTERVAL_SECONDS
+      try:
+        with self._lock:
+          self._client().disconnect(address)
+      except RuntimeError as error:
+        if "notconnected" not in str(error).replace(" ", "").lower():
+          self._policy_disconnected.discard(address)
+          self._policy_disconnect_retry_after.pop(address, None)
+          cloudlog.warning(f"Bluetooth offroad controller disconnect failed for {address}: {error}")
+      except Exception as error:
+        self._policy_disconnected.discard(address)
+        self._policy_disconnect_retry_after.pop(address, None)
+        cloudlog.warning(f"Bluetooth offroad controller disconnect failed for {address}: {error}")
+    return True
+
+  def _maintain_reconnects(self, status: dict[str, Any], now: float, suspend_controller_reconnect: bool) -> None:
+    devices = status["devices"]
+    devices_by_address = {device["address"].upper(): device for device in devices}
+    for address in list(self._policy_disconnected):
+      device = devices_by_address.get(address)
+      if device is None or not device["paired"] or not device["trusted"]:
+        self._policy_disconnected.discard(address)
+        self._reconnect_backoff.pop(address, None)
+      elif device["connected"]:
+        self._policy_disconnected.discard(address)
+        self._reconnect_backoff.pop(address, None)
+
+    if self._pairing_address:
+      return
+
+    selected = str(status["selected_audio"])
+    candidates = [device for device in devices if device["paired"] and device["trusted"] and not device["connected"]]
+    candidates.sort(key=lambda device: device["address"].upper() != selected.upper())
+    controller_candidates = {
+      device["address"].upper() for device in candidates
+      if device["controller"] or device["address"].upper() in self._policy_disconnected
+    }
+    reconnect_interval = CONTROLLER_RECONNECT_INTERVAL_SECONDS if controller_candidates else RECONNECT_INTERVAL_SECONDS
+    if now - self._last_reconnect < reconnect_interval:
+      return
+    self._last_reconnect = now
+
+    candidate_addresses = {device["address"].upper() for device in candidates}
+    for address in list(self._manual_disconnect_until):
+      if address not in candidate_addresses or now >= self._manual_disconnect_until[address]:
+        self._manual_disconnect_until.pop(address, None)
+    for address in list(self._reconnect_backoff):
+      if address not in candidate_addresses:
+        self._reconnect_backoff.pop(address, None)
+
+    for device in candidates:
+      address = device["address"].upper()
+      controller = device["controller"] or address in self._policy_disconnected
+      if not device["audio"] and not controller:
+        continue
+      if suspend_controller_reconnect and controller:
+        continue
+      if now < self._manual_disconnect_until.get(address, 0.0):
+        continue
+      attempts, retry_after = self._reconnect_backoff.get(address, (0, 0.0))
+      if now < retry_after:
+        continue
+      try:
+        with self._lock:
+          self._client().connect(address, timeout=CONTROLLER_RECONNECT_INTERVAL_SECONDS if controller else 30.0)
+        self._reconnect_backoff.pop(address, None)
+      except Exception:
+        attempts += 1
+        delay = (CONTROLLER_RECONNECT_INTERVAL_SECONDS if controller else
+                 min(RECONNECT_INTERVAL_SECONDS * (2 ** (attempts - 1)), RECONNECT_MAX_BACKOFF_SECONDS))
+        self._reconnect_backoff[address] = (attempts, now + delay)
+        cloudlog.warning(f"Bluetooth reconnect failed for {address}; retrying in {delay:.0f}s")
+
   def maintain_connections(self) -> None:
     while True:
       time.sleep(2)
+      now = time.monotonic()
       if not self.params.get_bool("BluetoothEnabled"):
+        self._maintain_controller_offroad_policy({"offroad": self._offroad(), "devices": []}, now)
         continue
       try:
         status = self.status()
         if not status["available"] or not status["powered"]:
           continue
-        now = time.monotonic()
         self._maintain_scan(status, now)
-        if self._pairing_address or now - self._last_reconnect < RECONNECT_INTERVAL_SECONDS:
+        suspend_controller_reconnect = self._maintain_controller_offroad_policy(status, now)
-          continue
+        self._maintain_reconnects(status, now, suspend_controller_reconnect)
-        self._last_reconnect = now
-        selected = str(status["selected_audio"])
-        candidates = [device for device in status["devices"] if device["paired"] and device["trusted"] and not device["connected"]]
-        candidates.sort(key=lambda device: device["address"].upper() != selected.upper())
-        candidate_addresses = {device["address"].upper() for device in candidates}
-        for address in list(self._manual_disconnect_until):
-          if address not in candidate_addresses or now >= self._manual_disconnect_until[address]:
-            self._manual_disconnect_until.pop(address, None)
-        for address in list(self._reconnect_backoff):
-          if address not in candidate_addresses:
-            self._reconnect_backoff.pop(address, None)
-        for device in candidates:
-          if device["audio"] or device["controller"]:
-            address = device["address"].upper()
-            if now < self._manual_disconnect_until.get(address, 0.0):
-              continue
-            _attempts, retry_after = self._reconnect_backoff.get(address, (0, 0.0))
-            if now < retry_after:
-              continue
-            try:
-              with self._lock:
-                self._client().connect(address)
-              self._reconnect_backoff.pop(address, None)
-            except Exception:
-              attempts = _attempts + 1
-              delay = min(RECONNECT_INTERVAL_SECONDS * (2 ** (attempts - 1)), RECONNECT_MAX_BACKOFF_SECONDS)
-              self._reconnect_backoff[address] = (attempts, now + delay)
-              cloudlog.warning(f"Bluetooth reconnect failed for {address}; retrying in {delay:.0f}s")
       except Exception:
         cloudlog.exception("Bluetooth connection maintenance failed")
 

starpilot/system/bluetooth/tests/test_bluetooth.py

@@ -55,6 +55,8 @@ class FakeBlueZ:
     self.discovering = False
     self.closed = False
     self.actions = []
+    self.connect_timeouts = []
+    self.connect_error = None
     self.device = {
       "path": "/fake/device",
       "address": "00:11:22:33:44:55",
@@ -91,8 +93,11 @@ class FakeBlueZ:
   def pair(self, address, _device_path=None):
     self.actions.append(("pair", address))
 
-  def connect(self, address):
+  def connect(self, address, timeout=30.0):
     self.actions.append(("connect", address))
+    self.connect_timeouts.append(timeout)
+    if self.connect_error is not None:
+      raise self.connect_error
 
   def disconnect(self, address):
     self.actions.append(("disconnect", address))
@@ -297,6 +302,7 @@ def test_disconnect_is_idempotent_and_suppresses_auto_reconnect():
   params = FakeParams(IsOffroad=False, BluetoothEnabled=True)
   client = FakeBlueZ()
   controller = BluetoothController(params, lambda: client, FakeRadio())
+  controller._policy_disconnected.add(client.device["address"].upper())
 
   controller.handle({"command": "disconnect", "address": client.device["address"]})
 
@@ -304,6 +310,7 @@ def test_disconnect_is_idempotent_and_suppresses_auto_reconnect():
   assert client.actions == [("disconnect", client.device["address"])]
   assert address in controller._manual_disconnect_until
   assert controller._manual_disconnect_until[address] > time.monotonic()
+  assert address not in controller._policy_disconnected
 
 
 def test_power_off_preserves_saved_audio_selection():
@@ -432,6 +439,85 @@ def test_scan_stops_after_timeout():
   assert not client.discovering and controller._scan_deadline == 0.0
 
 
+def test_controller_offroad_disconnect_policy_is_opt_in_and_delayed():
+  params = FakeParams(IsOffroad=True, BluetoothEnabled=True, BluetoothDisconnectControllersOffroad=False)
+  client = FakeBlueZ()
+  controller = BluetoothController(params, lambda: client, FakeRadio())
+  controller._bluez = client
+  controller_status = {
+    "offroad": True,
+    "devices": [
+      {**client.device, "name": "Controller", "audio": False, "controller": True, "connected": True},
+      {**client.device, "address": "AA:BB:CC:DD:EE:FF", "audio": True, "controller": False, "connected": True},
+    ],
+  }
+
+  assert not controller._maintain_controller_offroad_policy(controller_status, 100.0)
+  params.put_bool("BluetoothDisconnectControllersOffroad", True)
+  assert not controller._maintain_controller_offroad_policy(controller_status, 219.9)
+  assert client.actions == []
+
+  assert controller._maintain_controller_offroad_policy(controller_status, 220.0)
+  assert client.actions == [("disconnect", client.device["address"])]
+  assert client.device["address"].upper() in controller._policy_disconnected
+  assert controller._maintain_controller_offroad_policy(controller_status, 221.0)
+  assert client.actions == [("disconnect", client.device["address"])]
+
+
+def test_controller_offroad_disconnect_policy_reconnects_onroad():
+  params = FakeParams(IsOffroad=True, BluetoothEnabled=True, BluetoothDisconnectControllersOffroad=True)
+  client = FakeBlueZ()
+  controller = BluetoothController(params, lambda: client, FakeRadio())
+  controller._bluez = client
+  address = "00:11:22:33:44:55"
+  controller._offroad_since = 100.0
+  controller._policy_disconnected.add(address)
+  controller._reconnect_backoff[address] = (3, 500.0)
+  controller._last_reconnect = 210.0
+
+  disconnected_status = {
+    "offroad": False,
+    "selected_audio": "",
+    "devices": [{**client.device, "controller": False, "connected": False}],
+  }
+  assert not controller._maintain_controller_offroad_policy(disconnected_status, 220.0)
+  assert controller._offroad_since is None
+  assert controller._policy_disconnected == {address}
+  assert controller._policy_disconnect_retry_after == {}
+  assert address not in controller._reconnect_backoff
+  assert controller._last_reconnect == 0.0
+
+  controller._maintain_reconnects(disconnected_status, 220.0, False)
+  assert client.actions == [("connect", address)]
+  assert client.connect_timeouts == [5.0]
+
+  connected_status = {
+    **disconnected_status,
+    "devices": [{**client.device, "controller": False, "connected": True}],
+  }
+  controller._maintain_reconnects(connected_status, 221.0, False)
+  assert controller._policy_disconnected == set()
+
+
+def test_controller_auto_reconnect_uses_fixed_short_retry():
+  params = FakeParams(IsOffroad=False, BluetoothEnabled=True)
+  client = FakeBlueZ()
+  client.connect_error = RuntimeError("Host is down")
+  controller = BluetoothController(params, lambda: client, FakeRadio())
+  controller._bluez = client
+  status = {
+    "offroad": False,
+    "selected_audio": "",
+    "devices": [{**client.device, "audio": False, "controller": True, "connected": False}],
+  }
+
+  controller._maintain_reconnects(status, 100.0, False)
+  assert controller._reconnect_backoff[client.device["address"]] == (1, 105.0)
+  controller._maintain_reconnects(status, 105.0, False)
+  assert controller._reconnect_backoff[client.device["address"]] == (2, 110.0)
+  assert client.connect_timeouts == [5.0, 5.0]
+
+
 def test_pair_keeps_discovery_until_pair_starts():
   params = FakeParams(IsOffroad=True, BluetoothEnabled=True)
   client = FakeBlueZ()

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

@@ -3,14 +3,13 @@ import { createBrowserHistory, createRouter } from "/assets/vendor/remix-router-
 import { hideSidebar } from "/assets/js/utils.js"
 import { DeviceSettings } from "/assets/components/tools/device_settings.js?v=favorite-c4-hint-1"
 import { Bluetooth } from "/assets/components/tools/bluetooth.js?v=bluetooth-live-15"
-import { WheelControls } from "/assets/components/tools/wheel_controls.js?v=controllers-2"
+import { WheelControls } from "/assets/components/tools/wheel_controls.js?v=controllers-3"
 import { DoorControl } from "/assets/components/tools/doors.js"
 import { ErrorLogs } from "/assets/components/tools/error_logs.js"
 import { VehicleFeatures } from "/assets/components/tools/vehicle_features.js"
 import { TSKManager } from "/assets/components/tools/tsk_manager.js"
 import { GalaxyPairing } from "/assets/components/tools/galaxy.js"
 import { Home } from "/assets/components/home/home.js"
-import { LongitudinalManeuvers } from "/assets/components/tools/longitudinal_maneuvers.js"
 import { MapsManager } from "/assets/components/tools/maps.js"
 import { NavDestination } from "/assets/components/navigation/navigation_destination.js?v=nav-search-context-2"
 import { NavKeys } from "/assets/components/navigation/navigation_keys.js?v=app-keys-session-1"
@@ -21,7 +20,7 @@ import { Sidebar } from "/assets/components/sidebar.js?v=controllers-nav-1"
 import { SentryMode } from "/assets/components/tools/sentry.js"
 import { SpeedLimits } from "/assets/components/tools/speed_limits.js"
 import { ModelManager } from "/assets/components/tools/model_manager.js?v=20260906a"
-import { ModelLaboratory } from "/assets/components/tools/model_laboratory.js?v=model-lab-5"
+import { ModelLaboratory } from "/assets/components/tools/model_laboratory.js?v=model-lab-6"
 import { LivePlots } from "/assets/components/tools/plots.js"
 import { ThemeMaker } from "/assets/components/tools/theme_maker.js"
 import { TestingGround } from "/assets/components/tools/testing_ground.js"
@@ -91,7 +90,6 @@ function Root() {
     createRoute("model_laboratory", "/model_laboratory", ModelLaboratory),
     createRoute("tuning", "/tuning", Tuning),
     createRoute("lateral_maneuvers", "/lateral_maneuvers", Tuning),
-    createRoute("longitudinal_maneuvers", "/longitudinal_maneuvers", LongitudinalManeuvers),
     createRoute("maps", "/manage_maps", MapsManager),
     createRoute("plots", "/plots", LivePlots),
     createRoute("thememaker", "/theme_maker", ThemeMaker),

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

@@ -18,7 +18,6 @@ const MENU_ITEMS = {
     { name: "Sentry Mode", link: "/sentry", icon: "bi-shield-exclamation" },
     { name: "Controllers", link: "/wheel-controls", icon: "bi-controller" },
     { name: "Lateral Tuning", link: "/tuning", icon: "bi-sign-turn-right" },
-    { name: "Long Maneuvers", link: "/longitudinal_maneuvers", icon: "bi-signpost-split" },
     { name: "Maps", link: "/manage_maps", icon: "bi-map" },
     { name: "Navigation", link: "/set_navigation_destination", icon: "bi-geo-alt-fill" },
     { name: "App Keys", link: "/manage_navigation_keys", icon: "bi-key-fill" },

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

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

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

@@ -1,4 +1,5 @@
 import { html, reactive } from "/assets/vendor/arrow-core.js"
+import { formatNumericParamValue, resolveVehicleUnitParam } from "/assets/mobile/js/params.js"
 
 const endpointOptionsCache = {}
 const endpointOptionsInflight = {}
@@ -101,9 +102,11 @@ function normalizeVehicleMake(value) {
 
 function isVehicleSettingVisible(section, param) {
   const allowedMakes = param.vehicle_makes || (section.name === "Vehicle" ? VEHICLE_SETTING_MAKES[param.key] : null)
-  if (!allowedMakes) return true
   const selectedMake = normalizeVehicleMake(state.values.CarMake)
-  return allowedMakes.some(make => normalizeVehicleMake(make) === selectedMake)
+  if (allowedMakes && !allowedMakes.some(make => normalizeVehicleMake(make) === selectedMake)) return false
+
+  const excludedMakes = param.excluded_vehicle_makes || []
+  return !excludedMakes.some(make => normalizeVehicleMake(make) === selectedMake)
 }
 
 function matchesSettingValueCondition(param) {
@@ -448,40 +451,6 @@ async function fetchLayoutAndParams() {
   scheduleSyncInputs()
 }
 
-function formatSliderValue(val, stepStr, precisionInt, key) {
-  if (val === null || val === undefined) return "--"
-  const v = parseFloat(val)
-  if (Number.isNaN(v)) return val
-
-  if (key === "SwitchbackModeCooldown") {
-    if (v === 0) return "Off"
-    return v === 1 ? "1 min" : `${v} min`
-  }
-
-  if (key === "DeviceShutdown") {
-    return v === 1 ? "1 hour" : `${v} hours`
-  }
-
-  const volumeKeys = [
-    "BelowSteerSpeedVolume", "DisengageVolume", "EngageVolume", "PromptVolume",
-    "PromptDistractedVolume", "RefuseVolume",
-    "WarningImmediateVolume", "WarningSoftVolume",
-  ]
-  if (key && volumeKeys.includes(key)) {
-    if (v === 0) return "Muted"
-    if (v === 101) return "Auto"
-    return `${v}%`
-  }
-
-  if (precisionInt !== undefined && precisionInt !== null) {
-    return Number(v.toFixed(precisionInt)).toString()
-  }
-
-  if (!stepStr || !stepStr.includes(".")) return Math.round(v).toString()
-  const dec = stepStr.split(".")[1].length
-  return Number(v.toFixed(dec)).toString()
-}
-
 function formatReadoutValue(p) {
   const raw = state.values[p.key]
   const v = parseFloat(raw)
@@ -505,6 +474,7 @@ function formatStepValue(step, precision) {
 }
 
 function numericBounds(param) {
+  param = resolveVehicleUnitParam(param, state.values)
   const defaultBounds = {
     min: param.min !== undefined ? param.min : (param.data_type === "float" ? 0.0 : 0),
     max: param.max !== undefined ? param.max : (param.data_type === "float" ? 100.0 : 100),
@@ -952,13 +922,7 @@ function syncNumericDisplay(param, rawValue) {
   const displayEl = document.getElementById(`ds-display-${param.key}`)
   if (!displayEl) return
 
-  const bounds = numericBounds(param)
+  displayEl.textContent = formatNumericParamValue(param, rawValue, state.values)
-  displayEl.textContent = formatSliderValue(
-    rawValue,
-    String(bounds.step),
-    param.precision,
-    param.key,
-  )
 }
 
 async function updateNumericParam(param, numericValue, options = {}) {
@@ -1311,10 +1275,9 @@ function matchesFilter(p) {
   if (!state.filter) return true
   if (isGroupParam(p)) return false
   const q = state.filter.toLowerCase()
-  const label = String(p.label || "").toLowerCase()
+  const displayParam = resolveVehicleUnitParam(p, state.values)
-  const key = String(p.key || "").toLowerCase()
+  return [displayParam.label, displayParam.key, displayParam.description, displayParam.unit, displayParam.unit_search_terms]
-  const description = String(p.description || "").toLowerCase()
+    .some(value => String(value || "").toLowerCase().includes(q))
-  return label.includes(q) || key.includes(q) || description.includes(q)
 }
 
 function clearSearchFilter() {
@@ -1376,8 +1339,7 @@ function formatFlmValue(param, value) {
   if (value === undefined || value === null) return "not set"
   if (param.data_type === "bool") return value ? "On" : "Off"
   if (param.ui_type === "numeric") {
-    const bounds = numericBounds(param)
+    return formatNumericParamValue(param, value, state.values)
-    return formatSliderValue(value, String(bounds.step), param.precision, param.key)
   }
   return String(value)
 }
@@ -1562,6 +1524,8 @@ function renderSettingRow(p) {
     return ""
   }
 
+  p = resolveVehicleUnitParam(p, state.values)
+
   const isNumeric = p.ui_type === "numeric"
   const isSlider = isNumeric && p.control === "slider"
   const isText = p.ui_type === "text"
@@ -1604,8 +1568,8 @@ function renderSettingRow(p) {
           @input="${(event) => previewSliderParam(p, event.currentTarget.value)}"
           @change="${(event) => commitSliderParam(p, event.currentTarget.value)}" />
         <div class="ds-slider-scale">
-          <span>${formatSliderValue(numericBounds(p).min, String(numericBounds(p).step), p.precision, p.key)}</span>
+          <span>${formatNumericParamValue(p, numericBounds(p).min, state.values)}</span>
-          <span>${formatSliderValue(numericBounds(p).max, String(numericBounds(p).step), p.precision, p.key)}</span>
+          <span>${formatNumericParamValue(p, numericBounds(p).max, state.values)}</span>
         </div>
         <button
           class="ds-reset-btn"
@@ -1631,10 +1595,10 @@ function renderSettingRow(p) {
       const updating = isNumericUpdating(p.key)
       const defaultNumeric = resolveDefaultNumericValue(p, bounds)
       const defaultLabel = defaultNumeric !== null
-        ? formatSliderValue(defaultNumeric, String(bounds.step), p.precision, p.key)
+        ? formatNumericParamValue(p, defaultNumeric, state.values)
         : "N/A"
       const canReset = !updating && defaultNumeric !== null && Math.abs(defaultNumeric - currentNumeric) > epsilon
-      const stepLabel = p.key === "DeviceShutdown" ? "1 hour" : formatStepValue(bounds.step, precision)
+      const stepLabel = p.key === "DeviceShutdown" ? "1 hour" : `${formatStepValue(bounds.step, precision)}${p.unit || ""}`
       return html`
             <div class="ds-stepper">
               <button
@@ -1642,7 +1606,7 @@ function renderSettingRow(p) {
                 disabled="${() => isLocked() || isNumericUpdating(p.key) || !canStepNumericParam(p, -1)}"
                 @click="${() => stepNumericParam(p, -1)}">-</button>
               <div class="ds-stepper-meta">
-                <span>${formatSliderValue(bounds.min, String(bounds.step), p.precision, p.key)} to ${formatSliderValue(bounds.max, String(bounds.step), p.precision, p.key)}</span>
+                <span>${formatNumericParamValue(p, bounds.min, state.values)} to ${formatNumericParamValue(p, bounds.max, state.values)}</span>
                 <span class="ds-step-value">Step: ${stepLabel} per click</span>
                 <span class="ds-default-value">Default: ${defaultLabel}</span>
                 <div class="ds-manual-row">
@@ -1790,8 +1754,7 @@ function renderSettingRow(p) {
             if (isColor) return formatColorDisplayValue(p)
             if (isReadout) return formatReadoutValue(p)
             const currentValue = state.sliderPreviewValues[p.key] ?? state.values[p.key]
-            const bounds = numericBounds(p)
+            return currentValue !== undefined ? formatNumericParamValue(p, currentValue, state.values) : ".."
-            return currentValue !== undefined ? formatSliderValue(currentValue, String(bounds.step), p.precision, p.key) : ".."
           }}</span>` : ""}
       </div>
 

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

@@ -151,6 +151,11 @@
   color: var(--color-black);
 }
 
+.ml-button-danger {
+  background: rgba(224, 85, 119, 0.12);
+  color: var(--danger-fg);
+}
+
 .ml-button:disabled {
   cursor: not-allowed;
   opacity: 0.55;

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

@@ -12,7 +12,6 @@ const state = reactive({
   download: {},
   models: [],
   summary: {},
-  manifest: { version: "unknown", shortcomings: [], opportunities: [] },
 })
 
 let initialized = false
@@ -27,31 +26,33 @@ function modelLabel(modelId) {
   return modelById(modelId)?.label || modelId || "not selected"
 }
 
-function readyModels() {
+function availableModels() {
   return state.models.filter(model => model.modelLabArtifactAvailable)
 }
 
+function downloadedModels() {
+  return availableModels().filter(model => model.modelLabArtifactInstalled)
+}
+
 function candidateModels(role) {
-  const ready = readyModels()
+  const downloaded = downloadedModels()
-  if (role !== "longitudinal") return ready
+  if (role !== "longitudinal") return downloaded
   const lateral = modelById(state.configuration.lateralModel)
-  if (!lateral) return ready
+  if (!lateral) return downloaded
-  return ready.filter(model => model.value !== lateral.value)
+  return downloaded.filter(model => model.value !== lateral.value)
 }
 
 function selectionError() {
-  if (!state.chestnutReady) return "Connect a firmware-ready Chestnut first."
   if (state.isOnroad) return "Park before changing the laboratory pair."
+  if (downloadedModels().length < 2) return "Download at least two eGPU variants before composing a pair."
   const lateral = modelById(state.configuration.lateralModel)
   const longitudinal = modelById(state.configuration.longitudinalModel)
-  if (!lateral || !longitudinal) return "Choose two small models with published Chestnut artifacts."
+  if (!lateral || !longitudinal) return "Choose two downloaded eGPU variants."
   if (lateral.value === longitudinal.value) return "Lateral and longitudinal models must be different."
-  if (!lateral.modelLabArtifactAvailable || !longitudinal.modelLabArtifactAvailable) {
-    return "Both models need a precompiled AMD artifact in the manifest."
-  }
   if (!lateral.modelLabArtifactInstalled || !longitudinal.modelLabArtifactInstalled) {
-    return "Prepare both precompiled AMD artifacts first."
+    return "Download both eGPU variants first."
   }
+  if (!state.chestnutReady) return "Connect a firmware-ready Chestnut to enable this pair."
   return ""
 }
 
@@ -75,17 +76,14 @@ function applyPayload(payload) {
   state.download = payload?.download && typeof payload.download === "object" ? payload.download : {}
   state.models = Array.isArray(payload?.models) ? payload.models : []
   state.summary = payload?.summary && typeof payload.summary === "object" ? payload.summary : {}
-  state.manifest = payload?.manifest && typeof payload.manifest === "object"
-    ? payload.manifest
-    : { version: "unknown", shortcomings: [], opportunities: [] }
   state.error = String(payload?.configurationError || "")
 
-  const ready = readyModels()
+  const downloaded = downloadedModels()
-  if (!modelById(state.configuration.lateralModel) && ready.length > 0) {
+  if (!downloaded.some(model => model.value === state.configuration.lateralModel)) {
-    state.configuration.lateralModel = ready[0].value
+    state.configuration.lateralModel = downloaded[0]?.value || ""
   }
-  if (!modelById(state.configuration.longitudinalModel) && ready.length > 1) {
+  if (!downloaded.some(model => model.value === state.configuration.longitudinalModel)) {
-    state.configuration.longitudinalModel = ready.find(model => (
+    state.configuration.longitudinalModel = downloaded.find(model => (
       model.value !== state.configuration.lateralModel
     ))?.value || ""
   }
@@ -157,7 +155,7 @@ async function prepareModel(modelId) {
       headers: { "Content-Type": "application/json" },
       body: JSON.stringify({ model: modelId }),
     })
-    state.message = String(payload.message || "Chestnut artifact download queued.")
+    state.message = String(payload.message || "eGPU variant download queued.")
     await refresh()
   } catch (error) {
     state.error = error?.message || String(error)
@@ -166,6 +164,29 @@ async function prepareModel(modelId) {
   }
 }
 
+async function deleteModel(modelId) {
+  if (state.saving || !modelId) return
+  const model = modelById(modelId)
+  if (!window.confirm(`Delete the eGPU variant for "${model?.label || modelId}"? The normal on-device model will not be removed.`)) return
+  state.saving = true
+  state.error = ""
+  state.message = ""
+  try {
+    const payload = await requestJson("/api/model-laboratory/artifact", {
+      method: "DELETE",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({ model: modelId }),
+    })
+    selectionDirty = false
+    applyPayload(payload)
+    state.message = String(payload.message || "eGPU variant deleted.")
+  } catch (error) {
+    state.error = error?.message || String(error)
+  } finally {
+    state.saving = false
+  }
+}
+
 function bindControls() {
   const lateral = document.getElementById("ml-lateral-model")
   const longitudinal = document.getElementById("ml-longitudinal-model")
@@ -177,6 +198,11 @@ function bindControls() {
     button.dataset.bound = "1"
     button.addEventListener("click", () => prepareModel(button.dataset.mlDownload))
   })
+  document.querySelectorAll("[data-ml-delete]").forEach(button => {
+    if (button.dataset.bound === "1") return
+    button.dataset.bound = "1"
+    button.addEventListener("click", () => deleteModel(button.dataset.mlDelete))
+  })
 
   if (lateral) {
     lateral.value = state.configuration.lateralModel
@@ -226,15 +252,15 @@ function ensurePolling() {
       return
     }
     await refresh()
-    pollHandle = setTimeout(poll, 5000)
+    pollHandle = setTimeout(poll, state.download?.model ? 1000 : 5000)
   }
   pollHandle = setTimeout(poll, 5000)
 }
 
 function renderModel(model) {
   const artifactStatus = model.modelLabArtifactInstalled
-    ? "AMD ready"
+    ? "eGPU variant downloaded"
-    : model.modelLabArtifactAvailable ? "AMD download needed" : "AMD not published"
+    : "eGPU variant not downloaded"
   return html`
     <div class="ml-model">
       <div>
@@ -248,8 +274,15 @@ function renderModel(model) {
           ${artifactStatus}
         </span>
         ${model.modelLabArtifactAvailable && !model.modelLabArtifactInstalled ? html`
-          <button class="ml-button" data-ml-download="${model.value}" disabled="${() => state.saving || state.isOnroad}">
+          <button class="ml-button" data-ml-download="${model.value}" disabled="${() => state.saving || state.isOnroad || Boolean(state.download?.model)}">
-            Prepare for Chestnut
+            ${() => state.download?.model === model.value
+              ? `Downloading · ${state.download?.progress || "starting…"}`
+              : "Download eGPU variant"}
+          </button>
+        ` : ""}
+        ${model.modelLabArtifactInstalled ? html`
+          <button class="ml-button ml-button-danger" data-ml-delete="${model.value}" disabled="${() => state.saving || state.isOnroad || Boolean(state.download?.model)}">
+            Delete eGPU variant
           </button>
         ` : ""}
       </div>
@@ -287,11 +320,22 @@ export function ModelLaboratory() {
       ${() => state.loading ? html`<div class="ml-card">Loading laboratory status…</div>` : ""}
 
       ${() => !state.loading ? html`
+        <section class="ml-card">
+          <div class="ml-card-heading">
+            <div>
+              <h3>Available models</h3>
+              <p>Download eGPU-compatible small models. These are separate from the small models in Model Manager because they are compiled for the eGPU.</p>
+              <p>${() => `${state.summary.ready || 0} downloaded · ${Math.max((state.summary.published || 0) - (state.summary.ready || 0), 0)} available to download.`}</p>
+            </div>
+          </div>
+          <div class="ml-model-list">${() => availableModels().map(renderModel)}</div>
+        </section>
+
         <section class="ml-card">
           <div class="ml-card-heading">
             <div>
               <h3>Compose a pair</h3>
-              <p>Both precompiled small models stay resident and run every camera frame on Chestnut's AMD GPU.</p>
+              <p>Choose from downloaded eGPU variant combinations below.</p>
             </div>
             <span class="${() => `ml-state ${state.configuration.enabled ? "is-enabled" : ""}`}">
               ${() => state.configuration.enabled ? "Enabled" : "Disabled"}
@@ -364,20 +408,6 @@ export function ModelLaboratory() {
           <p class="ml-muted">Both roles evaluate the same frame at 20 Hz. A runtime failure suppresses that frame and falls back to the built-in QCOM model.</p>
         </section>
 
-        <section class="ml-card">
-          <div class="ml-card-heading">
-            <div>
-              <h3>Available models</h3>
-              <p>${() => `${state.summary.ready || 0} ready to pair · ${Math.max((state.summary.published || 0) - (state.summary.ready || 0), 0)} available to download.`}</p>
-            </div>
-          </div>
-          <div class="ml-model-list">${() => readyModels().map(renderModel)}</div>
-          <div class="ml-note">
-            Model Manager downloads the manifest's precompiled AMD variants. Nothing is compiled on the comma.
-            A normal installed model may still need its separate Chestnut artifact.
-          </div>
-        </section>
-
       ` : ""}
     </div>
   `

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

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

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

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

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

@@ -138,10 +138,13 @@
 
 .dh-donut {
   --dh-value: 0;
-  display: grid;
+  align-items: center;
+  display: flex;
+  flex-direction: column;
   flex: 0 0 auto;
+  gap: 3px;
   height: 116px;
-  place-items: center;
+  justify-content: center;
   position: relative;
   width: 116px;
 }

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

@@ -592,6 +592,66 @@ ul { list-style: none; margin: 0; padding: 0; }
   transition: transform var(--motion-fast), box-shadow var(--motion-fast);
 }
 
+.gx-unit-note {
+  align-items: center;
+  background: var(--primary-container);
+  border: 1px solid var(--primary);
+  border-radius: var(--radius-md);
+  color: var(--on-primary-container);
+  display: flex;
+  font-size: var(--fs-sm);
+  gap: var(--sp-2);
+  margin: 0 0 var(--sp-4);
+  padding: var(--sp-3) var(--sp-4);
+}
+
+.gx-unit-note i {
+  color: var(--primary);
+  font-size: 1.2rem;
+}
+
+.gx-row.gx-diagnostic-row--changed {
+  background: rgba(139, 108, 197, 0.18) !important;
+  box-shadow: inset 3px 0 var(--primary);
+}
+
+.gx-update-progress {
+  display: grid;
+  gap: 6px;
+  margin-top: var(--sp-2);
+}
+
+.gx-update-progress__track {
+  background: rgba(255, 255, 255, 0.12);
+  border-radius: var(--radius-full);
+  height: 12px;
+  overflow: hidden;
+}
+
+.gx-update-progress__fill {
+  background: linear-gradient(90deg, #5ec8c8 0%, #8b6cc5 100%);
+  border-radius: inherit;
+  height: 100%;
+  transition: width 0.4s ease;
+}
+
+.gx-update-progress__fill--error {
+  background: linear-gradient(90deg, #b43a3a 0%, #de5656 100%);
+}
+
+.gx-update-progress__meta {
+  align-items: center;
+  display: flex;
+  font-size: var(--fs-sm);
+  gap: var(--sp-2);
+  justify-content: space-between;
+}
+
+.gx-update-progress small {
+  color: var(--text-muted);
+  overflow-wrap: anywhere;
+}
+
 [data-theme="light"] .gx-card {
   border: 1px solid rgba(120, 73, 232, 0.22);
 }
@@ -749,6 +809,13 @@ ul { list-style: none; margin: 0; padding: 0; }
 .gx-slider-row .gx-row__value { text-align: left; min-width: 0; }
 .gx-slider-row .gx-slider-reset { align-self: flex-end; }
 
+.gx-slider-meta {
+  color: var(--text-muted);
+  display: flex;
+  font-size: var(--fs-xs);
+  justify-content: space-between;
+}
+
 input[type="range"].gx-slider {
   -webkit-appearance: none;
   appearance: none;
@@ -1497,4 +1564,4 @@ input[type="color"].gx-color {
   .gx-menu-btn { display: inline-flex; }
   .gx-back-btn { display: none; }
   .gx-content { padding-bottom: var(--sp-6); }
-}
+}

starpilot/system/the_galaxy/assets/mobile/index.html

@@ -7,7 +7,7 @@
   <meta name="mobile-web-app-capable" content="yes">
   <meta name="apple-mobile-web-app-capable" content="yes">
   <meta name="apple-mobile-web-app-status-bar-style" content="black-translucent">
-  <meta name="apple-mobile-web-app-title" content="Big Dipper">
+  <meta name="apple-mobile-web-app-title" content="Galaxy">
   <meta name="format-detection" content="telephone=no">
   <meta name="theme-color" content="#8b6cc5" />
   <link rel="manifest" href="/assets/mobile/manifest.json" crossorigin="use-credentials">
@@ -26,7 +26,7 @@
     }
   </script>
 
-  <title>Big Dipper</title>
+  <title>Galaxy</title>
 </head>
 
 <body>

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

@@ -136,6 +136,7 @@ export const api = {
   getModelLab() { return request("/api/model-laboratory", { cache: "no-store" }) },
   saveModelLab(config) { return request("/api/model-laboratory", { method: "PUT", data: config }) },
   prepareModelLabArtifact(model) { return request("/api/model-laboratory/download", { method: "POST", data: { model } }) },
+  deleteModelLabArtifact(model) { return request("/api/model-laboratory/artifact", { method: "DELETE", data: { model } }) },
 
   getErrorLogs() { return request("/api/error_logs", { headers: { Accept: "application/json" } }) },
   getErrorLog(filename) { return fetch(`/api/error_logs/${encodeURIComponent(filename)}`).then((r) => r.text()) },

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

@@ -8,12 +8,12 @@ import { Logs } from "./views/Logs.js"
 import { Tuning } from "./views/Tuning.js"
 import { Navigation } from "./views/Navigation.js"
 import { Vehicle } from "./views/Vehicle.js"
+import { Bluetooth } from "./views/Bluetooth.js"
 import { SystemTools } from "./views/SystemTools.js"
 import { ToolEmbed } from "./views/ToolEmbed.js"
 import { Doors } from "./views/Doors.js"
 import { Galaxy } from "./views/Galaxy.js"
 import { Tsk } from "./views/Tsk.js"
-import { Sentry } from "./views/Sentry.js"
 import { ModelManager } from "./views/ModelManager.js"
 import { Plots } from "./views/Plots.js"
 import { TestingGround } from "./views/TestingGround.js"
@@ -43,12 +43,13 @@ const VIEWS = {
   "/tuning": Tuning,
   "/navigation": Navigation,
   "/vehicle": Vehicle,
+  "/bluetooth": Bluetooth,
   "/system": SystemTools,
   "/embed": ToolEmbed,
   "/manage_doors": Doors,
   "/galaxy": Galaxy,
   "/manage_tsk": Tsk,
-  "/sentry": Sentry,
+  "/sentry": Cameras,
   "/manage_models": ModelManager,
   "/plots": Plots,
   "/testing_ground": TestingGround,

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

@@ -7,12 +7,12 @@ const NAV = {
     { name: "Recordings", link: "/recordings", icon: "bi-camera-reels" },
   ],
   tools: [
+    { name: "Bluetooth", link: "/bluetooth", icon: "bi-bluetooth" },
     { name: "Cameras & Monitoring", link: "/cameras", icon: "bi-camera-video" },
     { name: "Galaxy", link: "/galaxy", icon: "bi-globe2" },
     { name: "Logs & Diagnostics", link: "/logs", icon: "bi-exclamation-triangle" },
     { name: "Model Manager", link: "/manage_models", icon: "bi-cpu" },
     { name: "Navigation & Maps", link: "/navigation", icon: "bi-map" },
-    { name: "Sentry Mode", link: "/sentry", icon: "bi-shield-exclamation" },
     { name: "System Tools", link: "/system", icon: "bi-arrow-repeat" },
     { name: "Model Laboratory", link: "/model_laboratory", icon: "bi-bezier2" },
     { name: "Plots", link: "/plots", icon: "bi-graph-up-arrow" },
@@ -102,7 +102,7 @@ export const AppShell = {
           <button type="button" class="gx-icon-btn gx-menu-btn" aria-label="Menu" @click="store.drawerOpen = true">
             <i class="bi bi-list"></i>
           </button>
-          <span class="gx-appbar__title">Big Dipper</span>
+          <span class="gx-appbar__title">Galaxy</span>
           <div class="gx-searchwrap">
             <input ref="searchInput" class="gx-search gx-appbar__search" type="search" placeholder="Search toggles..."
               v-model="search" aria-label="Search toggles" />
@@ -128,8 +128,8 @@ export const AppShell = {
       </transition>
       <aside class="gx-drawer" :class="{ open: store.drawerOpen }">
         <div class="gx-drawer__header">
-          <img class="gx-logo" src="/assets/images/main_logo.png" alt="Big Dipper logo" />
+          <img class="gx-logo" src="/assets/images/main_logo.png" alt="Galaxy logo" />
-          <span class="gx-drawer-title">Big Dipper</span>
+          <span class="gx-drawer-title">Galaxy</span>
         </div>
         <div class="gx-nav-section">
           <div class="gx-nav-section__title">Main</div>

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

@@ -20,6 +20,7 @@ export const BluetoothPanel = {
     availableDevices() { return this.devices.filter((d) => !d.paired && !d.trusted && !d.connected) },
   },
   methods: {
+    address,
     async refresh() {
       try {
         const p = await api.getBluetoothStatus()

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

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

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

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

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

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

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

@@ -216,6 +216,7 @@ export const TroubleshootPanel = {
           <div v-if="!itemsVisible(section).length" class="gx-empty">No settings are currently different from their defaults.</div>
           <div v-else style="display:grid; gap:8px; grid-template-columns:repeat(auto-fill,minmax(260px,1fr)); padding:0 var(--sp-3) var(--sp-3);">
             <div v-for="item in itemsVisible(section)" :key="item.label" class="gx-row"
+              :class="{ 'gx-diagnostic-row--changed': isChanged(item) }"
               style="border:none; background:var(--surface); border-radius:var(--radius-md); margin:0; padding:10px 12px; flex-direction:column; align-items:stretch; gap:8px;">
               <div style="display:flex; align-items:center; gap:6px; min-width:0;">
                 <span class="gx-row__label" style="font-size:var(--fs-sm); overflow-wrap:anywhere;">{{ item.label }}</span>

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

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

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

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

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

@@ -91,7 +91,7 @@ export function goBack() {
   window.location.hash = prev
 }
 
-const NATIVE_ROOTS = new Set(["/", "/settings", "/tools", "/recordings", "/logs", "/tuning", "/navigation", "/vehicle", "/system", "/embed", "/manage_doors", "/galaxy", "/manage_tsk", "/sentry", "/manage_models", "/plots", "/testing_ground", "/theme_maker", "/model_laboratory", "/cameras"])
+const NATIVE_ROOTS = new Set(["/", "/settings", "/tools", "/recordings", "/logs", "/tuning", "/navigation", "/vehicle", "/bluetooth", "/system", "/embed", "/manage_doors", "/galaxy", "/manage_tsk", "/sentry", "/manage_models", "/plots", "/testing_ground", "/theme_maker", "/model_laboratory", "/cameras"])
 
 export function toolHref(link) {
   const path = link.split("?")[0]

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

@@ -0,0 +1,35 @@
+import { BluetoothPanel } from "../components/BluetoothPanel.js"
+import { WheelControls } from "../components/WheelControls.js"
+import { GalaxySection } from "../components/GalaxySection.js"
+import { GalaxyTabs } from "../components/GalaxyTabs.js"
+import { useTabRouting } from "../composables.js"
+
+const TABS = {
+  bluetooth: "Bluetooth",
+  controllers: "Controllers",
+}
+
+export const Bluetooth = {
+  name: "Bluetooth",
+  components: { BluetoothPanel, WheelControls, GalaxySection, GalaxyTabs },
+  setup() {
+    return useTabRouting("/bluetooth", { bluetooth: "bluetooth", controllers: "controllers" })
+  },
+  data() { return { TABS } },
+  template: `
+    <div class="gx-view">
+      <h2 style="margin-top:0;">Bluetooth</h2>
+      <GalaxyTabs :items="TABS" :active="tab" @select="selectTab" />
+
+      <template v-if="tab === 'bluetooth'">
+        <GalaxySection title="Bluetooth Devices" icon="bi-bluetooth" :collapsible="false">
+          <BluetoothPanel />
+        </GalaxySection>
+      </template>
+
+      <template v-else>
+        <WheelControls />
+      </template>
+    </div>
+  `,
+}

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

@@ -1,18 +1,20 @@
 import { GalaxyTabs } from "../components/GalaxyTabs.js"
 import { useTabRouting } from "../composables.js"
+import { Sentry } from "./Sentry.js"
 import { Vasm } from "./Vasm.js"
 import { Pip } from "./Pip.js"
 
 const TABS = {
+  sentry: "Sentry Mode",
   vasm: "V-ASM Spot Monitor",
   pip: "PiP Side Camera",
 }
 
 export const Cameras = {
   name: "Cameras",
-  components: { Vasm, Pip, GalaxyTabs },
+  components: { Sentry, Vasm, Pip, GalaxyTabs },
   setup() {
-    return useTabRouting("/cameras", { vasm: "vasm", pip: "pip" })
+    return useTabRouting("/cameras", { sentry: "sentry", vasm: "vasm", pip: "pip" })
   },
   data() { return { TABS } },
   template: `
@@ -20,7 +22,11 @@ export const Cameras = {
       <h2 style="margin-top:0;">Cameras & Monitoring</h2>
       <GalaxyTabs :items="TABS" :active="tab" @select="selectTab" />
 
-      <template v-if="tab === 'vasm'">
+      <template v-if="tab === 'sentry'">
+        <Sentry />
+      </template>
+
+      <template v-else-if="tab === 'vasm'">
         <Vasm :embedded="true" />
       </template>
 

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

@@ -4,6 +4,13 @@ import { PwaInstallSection, isFirestarOrigin } from "../components/PwaInstallSec
 
 const isTunnel = () => isFirestarOrigin()
 
+function localDeviceUrl(ip, route = "/") {
+  const raw = String(ip || "").trim()
+  if (!raw || raw === "unknown") return ""
+  const host = raw.includes(":") && !raw.startsWith("[") ? `[${raw}]` : raw
+  return `http://${host}:8082/#${route}`
+}
+
 export const Galaxy = {
   name: "Galaxy",
   components: { PwaInstallSection },
@@ -14,10 +21,17 @@ export const Galaxy = {
       url: "",
       password: "",
       submitting: false,
+      localUrl: "",
     }
   },
   async mounted() {
-    if (this.isTunnel) return
+    if (this.isTunnel) {
+      try {
+        const status = await api.getDeviceStatus()
+        this.localUrl = localDeviceUrl(status?.lanIp, "/galaxy")
+      } catch (e) {}
+      return
+    }
     try {
       const data = await api.getGalaxyStatus()
       this.paired = !!data?.paired
@@ -76,7 +90,14 @@ export const Galaxy = {
             <i class="bi bi-satellite gx-alert__icon"></i>
             <div class="gx-alert__body">
               <strong>Galaxy Pairing Unavailable via Galaxy</strong>
-              <span>Galaxy pairing requires a direct connection. Connect to your device's local network to use this feature.</span>
+              <span>
+                Galaxy pairing requires a direct connection. If you are on the same local network, connect here:
+                <br />
+                <a v-if="localUrl" class="gx-btn gx-btn--tonal" :href="localUrl" style="margin-top:var(--sp-3);">
+                  <i class="bi bi-box-arrow-up-right"></i> Open Galaxy Locally
+                </a>
+                <span v-else>your device's local IP on port 8082.</span>
+              </span>
             </div>
           </div>
         </section>

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

@@ -253,7 +253,7 @@ export const Home = {
         name: m.name,
         label: `${toInt(m.drives)} ${toNum(m.drives) === 1 ? "drive" : "drives"} using this model`,
       }))
-      return { hasModels: true, style: `background: conic-gradient(${segments.join(", ")})`, rows }
+      return { hasModels: true, style: `conic-gradient(${segments.join(", ")})`, rows }
     },
 
     storageView() {
@@ -510,7 +510,7 @@ export const Home = {
           <section class="gx-card dh-card">
             <div class="dh-card__head"><i class="bi bi-stars"></i><span>Most used models</span></div>
             <div v-if="modelView.hasModels" class="dh-body dh-models">
-              <div class="dh-chart-ring" :style="{ background: modelView.style }"></div>
+              <div class="dh-chart-ring" :style="{ backgroundImage: modelView.style }" role="img" aria-label="Model usage share"></div>
               <div class="dh-models__list">
                 <div v-for="m in modelView.rows" :key="m.name" class="dh-model">
                   <span class="dh-swatch" :style="{ background: m.color }"></span>

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

@@ -5,9 +5,9 @@ import { TroubleshootPanel } from "../components/TroubleshootPanel.js"
 import { GalaxyTabs } from "../components/GalaxyTabs.js"
 
 const TABS = {
+  troubleshoot: "Troubleshoot",
   errors: "Error Logs",
   tmux: "Tmux Live Log",
-  troubleshoot: "Troubleshoot",
 }
 
 function parseLogDate(filename) {
@@ -35,7 +35,7 @@ export const Logs = {
     }
   },
   setup() {
-    return useTabRouting("/logs", { errors: "errors", tmux: "tmux", troubleshoot: "troubleshoot" })
+    return useTabRouting("/logs", { troubleshoot: "troubleshoot", errors: "errors", tmux: "tmux" })
   },
   created() {
     this.stream = useLogStream({ endpoint: "/api/tmux_log/live", snapshotFn: () => api.tmuxSnapshot(), interval: 2000 })

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

@@ -14,32 +14,34 @@ export const ModelLaboratory = {
       isOnroad: false,
       configuration: { enabled: false, lateralModel: "", longitudinalModel: "" },
       runtime: {},
+      download: {},
       summary: {},
       models: [],
     }
   },
   computed: {
-    readyModels() {
+    availableModels() {
       return this.models.filter((m) => m && m.modelLabArtifactAvailable)
     },
+    readyModels() {
+      return this.availableModels.filter((m) => m.modelLabArtifactInstalled)
+    },
     candidates() {
       const ready = this.readyModels
       const lat = this.configuration.lateralModel
       return ready.filter((m) => !lat || m.value !== lat)
     },
     selectionError() {
-      if (!this.chestnutReady) return "Connect a firmware-ready Chestnut first."
       if (this.isOnroad) return "Park before changing the laboratory pair."
+      if (this.readyModels.length < 2) return "Download at least two eGPU variants before composing a pair."
       const lat = this.modelById(this.configuration.lateralModel)
       const lon = this.modelById(this.configuration.longitudinalModel)
-      if (!lat || !lon) return "Choose two small models with published Chestnut artifacts."
+      if (!lat || !lon) return "Choose two downloaded eGPU variants."
       if (lat.value === lon.value) return "Lateral and longitudinal models must be different."
-      if (!lat.modelLabArtifactAvailable || !lon.modelLabArtifactAvailable) {
-        return "Both models need a precompiled AMD artifact in the manifest."
-      }
       if (!lat.modelLabArtifactInstalled || !lon.modelLabArtifactInstalled) {
-        return "Prepare both precompiled AMD artifacts first."
+        return "Download both eGPU variants first."
       }
+      if (!this.chestnutReady) return "Connect a firmware-ready Chestnut to enable this pair."
       return ""
     },
     runtimeState() {
@@ -48,7 +50,7 @@ export const ModelLaboratory = {
     },
   },
   created() {
-    this.poll = usePolling(() => this.refresh(), { interval: 5000 })
+    this.poll = usePolling(() => this.refresh(), { interval: 2000 })
     this.poll.start()
   },
   beforeUnmount() {
@@ -62,9 +64,8 @@ export const ModelLaboratory = {
       return this.modelById(id)?.label || id || "not selected"
     },
     artifactStatus(m) {
-      if (m.modelLabArtifactInstalled) return { text: "AMD ready", good: true }
+      if (m.modelLabArtifactInstalled) return { text: "eGPU variant downloaded", good: true }
-      if (m.modelLabArtifactAvailable) return { text: "AMD download needed", good: false }
+      return { text: "eGPU variant not downloaded", good: false }
-      return { text: "AMD not published", good: false }
     },
     async refresh() {
       try {
@@ -82,6 +83,7 @@ export const ModelLaboratory = {
       this.isOnroad = Boolean(payload.isOnroad)
       this.error = String(payload.configurationError || "")
       this.runtime = payload.runtime && typeof payload.runtime === "object" ? payload.runtime : {}
+      this.download = payload.download && typeof payload.download === "object" ? payload.download : {}
       this.summary = payload.summary && typeof payload.summary === "object" ? payload.summary : {}
       this.models = Array.isArray(payload.models) ? payload.models : []
       const cfg = payload.configuration && typeof payload.configuration === "object" ? payload.configuration : {}
@@ -95,10 +97,10 @@ export const ModelLaboratory = {
     },
     normalizeSelection() {
       const ready = this.readyModels
-      if (!this.modelById(this.configuration.lateralModel) && ready.length) {
+      if (!ready.some((m) => m.value === this.configuration.lateralModel)) {
-        this.configuration.lateralModel = ready[0].value
+        this.configuration.lateralModel = ready[0]?.value || ""
       }
-      if (!this.modelById(this.configuration.longitudinalModel) && ready.length > 1) {
+      if (!ready.some((m) => m.value === this.configuration.longitudinalModel)) {
         const lon = ready.find((m) => m.value !== this.configuration.lateralModel)
         this.configuration.longitudinalModel = lon?.value || ""
       }
@@ -143,8 +145,8 @@ export const ModelLaboratory = {
       this.message = ""
       try {
         const payload = await api.prepareModelLabArtifact(modelId)
-        this.message = String(payload?.message || "Chestnut artifact download queued.")
+        this.message = String(payload?.message || "eGPU variant download queued.")
-        showSnackbar("Chestnut artifact download queued", "info")
+        showSnackbar("eGPU variant download queued", "info")
         await this.refresh()
       } catch (e) {
         this.error = e?.message || String(e)
@@ -152,6 +154,25 @@ export const ModelLaboratory = {
         this.saving = false
       }
     },
+    async deleteModel(modelId) {
+      if (this.saving || !modelId) return
+      const model = this.modelById(modelId)
+      if (!window.confirm(`Delete the eGPU variant for "${model?.label || modelId}"? The normal on-device model will not be removed.`)) return
+      this.saving = true
+      this.error = ""
+      this.message = ""
+      try {
+        const payload = await api.deleteModelLabArtifact(modelId)
+        this.dirty = false
+        this.applyPayload(payload)
+        this.message = String(payload?.message || "eGPU variant deleted.")
+        showSnackbar("eGPU variant deleted", "info")
+      } catch (e) {
+        this.error = e?.message || String(e)
+      } finally {
+        this.saving = false
+      }
+    },
   },
   template: `
   <div class="gx-view">
@@ -177,12 +198,41 @@ export const ModelLaboratory = {
         </div>
       </div>
 
+      <div class="gx-card">
+        <div class="gx-section__header">
+          <i class="bi bi-cpu"></i>
+          <span class="gx-section__title">Available models</span>
+          <span class="gx-section__count">{{ summary.ready || 0 }} downloaded · {{ Math.max((summary.published || 0) - (summary.ready || 0), 0) }} available to download</span>
+        </div>
+        <div style="padding: 0 var(--sp-4) var(--sp-3); color:var(--text-muted); font-size:var(--fs-sm);">
+          Download eGPU-compatible small models. These are separate from the small models in Model Manager because they are compiled for the eGPU.
+        </div>
+        <article v-for="m in availableModels" :key="m.value" class="gx-row">
+          <div class="gx-row__info">
+            <span class="gx-row__label">{{ m.label }}</span>
+            <span class="gx-row__desc">{{ m.value }} · {{ m.series || 'Unknown series' }}</span>
+          </div>
+          <div style="display:flex; gap:6px; flex-wrap:wrap; align-items:center;">
+            <span class="gx-chip">{{ m.version || 'unknown version' }}</span>
+            <span class="gx-chip">{{ m.modelSize || 'small' }}</span>
+            <span class="gx-chip" :style="artifactStatus(m).good ? 'color:var(--success);' : 'color:var(--warning);'">{{ artifactStatus(m).text }}</span>
+            <button v-if="!m.modelLabArtifactInstalled" type="button" class="gx-btn gx-btn--tonal" :disabled="saving || isOnroad || !!download.model" @click="prepareModel(m.value)">
+              {{ download.model === m.value ? 'Downloading · ' + (download.progress || 'starting…') : 'Download eGPU variant' }}
+            </button>
+            <button v-else type="button" class="gx-btn gx-btn--tonal" style="color:var(--error);" :disabled="saving || isOnroad || !!download.model" @click="deleteModel(m.value)">
+              Delete eGPU variant
+            </button>
+          </div>
+        </article>
+      </div>
+
       <div class="gx-card">
         <div class="gx-section__header">
           <i class="bi bi-collection"></i>
           <span class="gx-section__title">Compose a pair</span>
           <span class="gx-chip" :style="configuration.enabled ? 'background:var(--success);color:var(--on-secondary);' : ''">{{ configuration.enabled ? 'Enabled' : 'Disabled' }}</span>
         </div>
+        <div style="padding: 0 var(--sp-4); color:var(--text-muted); font-size:var(--fs-sm);">Choose from downloaded eGPU variant combinations below.</div>
         <div style="padding: var(--sp-4); display:grid; gap:var(--sp-3);">
           <label style="display:grid; gap:4px;">
             <strong style="font-size:var(--fs-sm);">Lateral model</strong>
@@ -234,30 +284,6 @@ export const ModelLaboratory = {
         </div>
       </div>
 
-      <div class="gx-card">
-        <div class="gx-section__header">
-          <i class="bi bi-cpu"></i>
-          <span class="gx-section__title">Available models</span>
-          <span class="gx-section__count">{{ summary.ready || 0 }} ready to pair · {{ Math.max((summary.published || 0) - (summary.ready || 0), 0) }} available to download</span>
-        </div>
-        <article v-for="m in readyModels" :key="m.value" class="gx-row">
-          <div class="gx-row__info">
-            <span class="gx-row__label">{{ m.label }}</span>
-            <span class="gx-row__desc">{{ m.value }} · {{ m.series || 'Unknown series' }}</span>
-          </div>
-          <div style="display:flex; gap:6px; flex-wrap:wrap; align-items:center;">
-            <span class="gx-chip">{{ m.version || 'unknown version' }}</span>
-            <span class="gx-chip">{{ m.modelSize || 'small' }}</span>
-            <span class="gx-chip" :style="artifactStatus(m).good ? 'color:var(--success);' : 'color:var(--warning);'">{{ artifactStatus(m).text }}</span>
-            <button v-if="m.modelLabArtifactAvailable && !m.modelLabArtifactInstalled" type="button" class="gx-btn gx-btn--tonal" :disabled="saving || isOnroad" @click="prepareModel(m.value)">
-              Prepare for Chestnut
-            </button>
-          </div>
-        </article>
-        <div style="padding: var(--sp-3);">
-          <p class="gx-row__desc" style="margin:0;">Model Manager downloads the manifest's precompiled AMD variants. Nothing is compiled on the comma. A normal installed model may still need its separate Chestnut artifact.</p>
-        </div>
-      </div>
     </template>
   </div>
   `,

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

@@ -52,6 +52,13 @@ function normalizeRoute(r) {
   }
 }
 
+function localDeviceUrl(ip, route = "/") {
+  const raw = String(ip || "").trim()
+  if (!raw || raw === "unknown") return ""
+  const host = raw.includes(":") && !raw.startsWith("[") ? `[${raw}]` : raw
+  return `http://${host}:8082/#${route}`
+}
+
 export const Recordings = {
   name: "Recordings",
   components: { GalaxyTabs, GxNotice },
@@ -75,6 +82,7 @@ export const Recordings = {
       logsRoute: null,
       logsData: null,
       onFirestar: isFirestarOrigin(),
+      localUrl: "",
       // Screen recordings subtab
       screenLoading: false,
       screenError: "",
@@ -335,7 +343,14 @@ export const Recordings = {
     },
   },
   async mounted() {
-    if (!this.onFirestar) await this.loadRoutes()
+    if (this.onFirestar) {
+      try {
+        const status = await api.getDeviceStatus()
+        this.localUrl = localDeviceUrl(status?.lanIp, "/recordings")
+      } catch (e) {}
+      return
+    }
+    await this.loadRoutes()
   },
   beforeUnmount() {
     this.controller?.abort()
@@ -503,8 +518,14 @@ export const Recordings = {
       </Teleport>
       </template>
 
-      <GxNotice v-else tone="info" icon="bi-satellite" title="Recordings Unavailable via Galaxy"
+      <GxNotice v-else tone="info" icon="bi-satellite" title="Recordings unavailable via Galaxy">
-                text="Loading recordings requires a direct connection. Connect to your device's local network to use this feature." />
+        Recordings are unavailable via Galaxy for bandwidth reasons. If you are on the same local network, connect here:
+        <br />
+        <a v-if="localUrl" class="gx-btn gx-btn--tonal" :href="localUrl" style="margin-top:var(--sp-3);">
+          <i class="bi bi-box-arrow-up-right"></i> Open Recordings Locally
+        </a>
+        <span v-else>your device's local IP on port 8082.</span>
+      </GxNotice>
     </div>
   `,
 }

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

@@ -2,7 +2,7 @@ import { api, showSnackbar } from "../api.js"
 import { navigate, store } from "../store.js"
 import {
   applyParamChange, countAdvancedHiddenByDeveloperMode, GALAXY_DEVELOPER_MODE_KEY, isSettingVisible,
-  slugifySectionName,
+  resolveVehicleUnitParam, slugifySectionName,
 } from "../params.js"
 import { SettingTree } from "../components/SettingTree.js"
 import { GalaxyToggleCard } from "../components/GalaxyToggleCard.js"
@@ -82,7 +82,9 @@ export const Settings = {
     matchesFilter(p) {
       if (!this.searchTerm) return true
       const q = this.searchTerm.toLowerCase()
-      return [p.label, p.key, p.description].some((v) => String(v || "").toLowerCase().includes(q))
+      const displayParam = resolveVehicleUnitParam(p, this.values)
+      return [displayParam.label, displayParam.key, displayParam.description, displayParam.unit, displayParam.unit_search_terms]
+        .some((v) => String(v || "").toLowerCase().includes(q))
     },
     selectSection(slug) {
       if (slug !== this.activeSectionSlug) navigate("/settings/" + slug)
@@ -132,7 +134,7 @@ export const Settings = {
           <template v-for="section in searchResults" :key="section.slug">
             <GalaxySection :title="section.name + ' (' + section.matches.length + ')'" :icon="section.icon || 'bi-search'" :default-open="false">
               <template v-for="p in section.matches" :key="p.key">
-                <GalaxyToggleCard :param="p" :value="values[p.key]" :locked="lockReason(p) !== ''"
+                <GalaxyToggleCard :param="p" :value="values[p.key]" :values="values" :locked="lockReason(p) !== ''"
                   @change="onParamChange" />
               </template>
             </GalaxySection>

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

@@ -30,11 +30,17 @@ export const SystemTools = {
       profileBusy: "",
     }
   },
-  created() { this.poll = usePolling(() => this.loadFastStatus(), { interval: 3000 }); this.poll.start() },
+  created() {
+    this.poll = usePolling(() => this.loadFastStatus(), {
+      interval: 1000,
+      enabled: () => !this.fastStatus || !!this.fastStatus.running,
+    })
+    this.poll.start()
+  },
   mounted() { this.loadBranches(); this.loadProfiles() },
   beforeUnmount() { this.poll?.destroy() },
   computed: {
-    updateAvailable() { return !!this.fastStatus?.updateAvailable && !this.fastStatus?.running },
+    updateAvailable() { return this.checkedForUpdates && !!this.fastStatus?.updateAvailable && !this.fastStatus?.running },
     factoryResetStatus() {
       const s = this.fastStatus
       if (!s || String(s?.lastMode || "").trim() !== "factory-reset") return null
@@ -53,6 +59,7 @@ export const SystemTools = {
   },
   methods: {
     shortCommit,
+    toPercent,
     async loadBranches() {
       try {
         const data = await api.getUpdateBranches()
@@ -65,8 +72,15 @@ export const SystemTools = {
         this.branchLoading = false
       }
     },
-    async loadFastStatus() {
+    async loadFastStatus({ throwOnError = false } = {}) {
-      try { this.fastStatus = await api.getUpdateFastStatus() } catch (e) { this.fastStatus = null }
+      try {
+        const status = await api.getUpdateFastStatus()
+        if (!status) throw new Error("Update status unavailable")
+        this.fastStatus = status
+      } catch (e) {
+        this.fastStatus = null
+        if (throwOnError) throw e
+      }
     },
     async backupToggles() {
       try {
@@ -160,6 +174,7 @@ export const SystemTools = {
       try {
         await api.setUpdateBranch(branch)
         showSnackbar(`Switching to ${branch}...`)
+        await this.loadFastStatus()
       } catch (e) {
         showSnackbar(e?.message || "Switch failed.", "error")
       }
@@ -168,7 +183,7 @@ export const SystemTools = {
       if (this.busy) return
       this.busy = "check"
       try {
-        await this.loadFastStatus()
+        await this.loadFastStatus({ throwOnError: true })
         this.checkedForUpdates = true
         const st = this.fastStatus
         if (st?.running) showSnackbar("An update is already running.")
@@ -227,6 +242,7 @@ export const SystemTools = {
       try {
         await api.factoryReset()
         showSnackbar("SAVE ME initiated — factory resetting...")
+        await this.loadFastStatus()
       } catch (e) {
         showSnackbar(e?.message || "Factory reset failed.", "error")
       }
@@ -256,14 +272,27 @@ export const SystemTools = {
                 <i class="bi bi-arrow-repeat"></i>
                 <span class="gx-section__title">Update Status</span>
                 <span v-if="fastStatus.running" class="gx-chip" style="background:var(--primary);color:var(--on-primary);">{{ fastStatus.progressPercent }}%</span>
-                <span v-else-if="fastStatus.updateAvailable" class="gx-chip" style="background:var(--warning);color:var(--black);">Update available</span>
+                <span v-else-if="updateAvailable" class="gx-chip" style="background:var(--warning);color:var(--black);">Update available</span>
-                <span v-else class="gx-chip">Up to date</span>
+                <span v-else-if="checkedForUpdates" class="gx-chip">Up to date</span>
+                <span v-else class="gx-chip">Not checked</span>
               </div>
               <div style="padding: var(--sp-3); display:grid; gap:6px;">
                 <div class="gx-row" style="border-top:none; min-height:0; padding:4px 0;"><span class="gx-row__label">Branch</span><span class="gx-row__value">{{ fastStatus.branch || currentBranch || '—' }}</span></div>
                 <div v-if="fastStatus.running" class="gx-row" style="border-top:none; min-height:0; padding:4px 0;"><span class="gx-row__label">Stage</span><span class="gx-row__value">{{ fastStatus.stage }} · {{ fastStatus.progressLabel }}</span></div>
                 <div class="gx-row" style="border-top:none; min-height:0; padding:4px 0;"><span class="gx-row__label">Local</span><span class="gx-row__value" style="font-family:monospace;">{{ shortCommit(fastStatus.localCommit) }}</span></div>
                 <div class="gx-row" style="border-top:none; min-height:0; padding:4px 0;"><span class="gx-row__label">Remote</span><span class="gx-row__value" style="font-family:monospace;">{{ shortCommit(fastStatus.remoteCommit) }}</span></div>
+                <div v-if="fastStatus.running" class="gx-update-progress" role="progressbar" aria-label="Update progress"
+                  :aria-valuenow="Math.round(fastStatus.progressPercent || 0)" aria-valuemin="0" aria-valuemax="100">
+                  <div class="gx-update-progress__track">
+                    <div class="gx-update-progress__fill" :class="{ 'gx-update-progress__fill--error': fastStatus.stage === 'error' }"
+                      :style="{ width: toPercent(fastStatus.progressPercent) + '%' }"></div>
+                  </div>
+                  <div class="gx-update-progress__meta">
+                    <span>Step {{ fastStatus.progressStep || 0 }}/{{ fastStatus.progressTotalSteps || 5 }}: {{ fastStatus.progressLabel || fastStatus.stage || 'Updating' }}</span>
+                    <strong>{{ Math.round(toPercent(fastStatus.progressPercent)) }}%</strong>
+                  </div>
+                  <small v-if="fastStatus.progressDetail">{{ fastStatus.progressDetail }}</small>
+                </div>
                 <div v-if="fastStatus.message" class="gx-note">{{ fastStatus.message }}</div>
                 <div v-if="fastStatus.warning && (fastStatus.running || fastStatus.updateAvailable)" class="gx-note gx-note--danger">{{ fastStatus.warning }}</div>
                 <div v-if="fastStatus.agnosUpdate?.available && fastStatus.agnosUpdate?.warnings?.length" style="margin-top:4px;">
@@ -287,7 +316,7 @@ export const SystemTools = {
                 <i v-if="busy === 'check'" class="bi bi-arrow-repeat gx-spin"></i>
                 <i v-else class="bi bi-search"></i> {{ busy === 'check' ? 'Checking...' : 'Check for Updates' }}
               </button>
-              <button type="button" class="gx-btn" :disabled="!updateAvailable || !!busy || isOnroad" @click="applyFastUpdate">
+              <button v-if="updateAvailable" type="button" class="gx-btn" :disabled="!!busy || isOnroad" @click="applyFastUpdate">
                 <i class="bi bi-arrow-up-circle"></i> {{ busy === 'fast' ? 'Updating...' : 'Update Now' }}
               </button>
               <button type="button" class="gx-btn gx-btn--tonal" :disabled="!!busy || isOnroad" @click="runUpdate('recover')">Recover</button>

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

@@ -1,17 +1,17 @@
 import { navigate, toolHref } from "../store.js"
 
 const TOOLS = [
-  { name: "Cameras & Monitoring", link: "/cameras", icon: "bi-camera-video", desc: "PiP side camera & V-ASM spot monitor" },
+  { name: "Bluetooth", link: "/bluetooth", icon: "bi-bluetooth", desc: "Pair devices, controllers, & audio" },
+  { name: "Cameras & Monitoring", link: "/cameras", icon: "bi-camera-video", desc: "Sentry, PiP side camera, & V-ASM spot monitor" },
   { name: "Galaxy & App Install", link: "/galaxy", icon: "bi-globe2", desc: "Remote access, pairing, & app install" },  
   { name: "Logs & Diagnostics", link: "/logs", icon: "bi-exclamation-triangle", desc: "Error logs, tmux, troubleshoot" },
   { name: "Model Manager", link: "/manage_models", icon: "bi-cpu", desc: "Install/swap models" },
   { name: "Model Laboratory", link: "/model_laboratory", icon: "bi-bezier2", desc: "Pair lateral and longitudinal models" },
   { name: "Navigation & Maps", link: "/navigation", icon: "bi-map", desc: "Offline maps & destinations" },
-  { name: "Sentry Mode", link: "/sentry", icon: "bi-shield-exclamation", desc: "Sentry alerts & security" },
   { name: "System Tools", link: "/system", icon: "bi-arrow-repeat", desc: "Backup, restore, updates" },
   { name: "Theme Maker", link: "/theme_maker", icon: "bi-palette-fill", desc: "Customize the look" },
   { name: "Tuning, Plots & Testing", link: "/tuning", icon: "bi-sign-turn-right", desc: "Steering & speed tuning, live plots, testing grounds" },
-  { name: "Vehicle Controls", link: "/vehicle", icon: "bi-car-front", desc: "Controllers, bluetooth, vehicle features" },
+  { name: "Vehicle Controls", link: "/vehicle", icon: "bi-car-front", desc: "Vehicle features" },
 ].sort((a, b) => a.name.localeCompare(b.name))
 
 export const Tools = {

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

@@ -1,5 +1,4 @@
 import { LateralTuningPanel } from "../components/LateralTuningPanel.js"
-import { LongitudinalManeuvers } from "../components/LongitudinalManeuvers.js"
 import { GalaxyTabs } from "../components/GalaxyTabs.js"
 import { Plots } from "./Plots.js"
 import { TestingGround } from "./TestingGround.js"
@@ -7,16 +6,15 @@ import { useTabRouting } from "../composables.js"
 
 const TABS = {
   lateral: "Lateral Tuning",
-  long: "Long Maneuvers",
   plots: "Plots",
   testing: "Testing Ground",
 }
 
 export const Tuning = {
   name: "Tuning",
-  components: { LateralTuningPanel, LongitudinalManeuvers, Plots, TestingGround, GalaxyTabs },
+  components: { LateralTuningPanel, Plots, TestingGround, GalaxyTabs },
   setup() {
-    return useTabRouting("/tuning", { lateral: "lateral", long: "long", plots: "plots", testing: "testing" })
+    return useTabRouting("/tuning", { lateral: "lateral", plots: "plots", testing: "testing" })
   },
   data() { return { TABS } },
   template: `
@@ -29,10 +27,6 @@ export const Tuning = {
         <LateralTuningPanel />
       </template>
 
-      <template v-else-if="tab === 'long'">
-        <LongitudinalManeuvers />
-      </template>
-
       <template v-else-if="tab === 'plots'">
         <Plots :embedded="true" />
       </template>

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

@@ -1,36 +1,22 @@
 import { api, showSnackbar } from "../api.js"
 import { navigate, toolHref } from "../store.js"
-import { WheelControls } from "../components/WheelControls.js"
-import { BluetoothPanel } from "../components/BluetoothPanel.js"
 import { GalaxySection } from "../components/GalaxySection.js"
-import { GalaxyTabs } from "../components/GalaxyTabs.js"
-import { useTabRouting } from "../composables.js"
 
 const FEATURES = [
   { key: "doors", name: "Lock/Unlock Doors", icon: "bi-door-closed", desc: "Send lock or unlock commands remotely to your vehicle.", embed: "/manage_doors" },
   { key: "tsk", name: "Toyota Security Keys", icon: "bi-key-fill", desc: "Manage and apply security keys for secOC protected devices.", embed: "/manage_tsk" },
 ]
 
-const TABS = {
-  controllers: "Controllers",
-  bluetooth: "Bluetooth",
-  features: "Vehicle Features",
-}
-
 export const Vehicle = {
   name: "Vehicle",
-  components: { WheelControls, BluetoothPanel, GalaxySection, GalaxyTabs },
+  components: { GalaxySection },
   data() {
     return {
-      TABS,
       features: FEATURES,
       featureStatus: {},
       busy: "",
     }
   },
-  setup() {
-    return useTabRouting("/vehicle", { controllers: "controllers", bluetooth: "bluetooth", features: "features" })
-  },
   computed: {
     featureList() { return this.features },
   },
@@ -65,34 +51,22 @@ export const Vehicle = {
     <div class="gx-view">
       <h2 style="margin-top:0;">Vehicle Controls</h2>
 
-      <GalaxyTabs :items="TABS" :active="tab" @select="selectTab" />
+      <GalaxySection title="Vehicle Features" icon="bi-check2-square">
-
+        <div style="padding: var(--sp-3); display:grid; gap:8px;">
-      <template v-if="tab === 'controllers'">
+          <button v-for="f in featureList" :key="f.key" type="button"
-        <WheelControls />
+            class="gx-row" style="width:100%; border:none; background:transparent; color:inherit; cursor:pointer; text-align:left;"
-      </template>
+            @click="openFeature(f)">
-
+            <div class="gx-row__info">
-      <template v-else-if="tab === 'bluetooth'">
+              <span class="gx-row__label"><i class="bi" :class="f.icon" style="margin-right:6px; color:var(--primary);"></i>{{ f.name }}</span>
-        <BluetoothPanel />
+              <span class="gx-row__desc">{{ f.desc }}</span>
-      </template>
+            </div>
-
+            <span v-if="busy === f.key" class="gx-chip" style="background:var(--surface-variant);">Checking...</span>
-      <template v-else>
+            <span v-else-if="statusOf(f.key) === 'denied'" class="gx-chip" style="background:var(--error);">Not supported</span>
-        <GalaxySection title="Vehicle Features" icon="bi-check2-square">
+            <i v-else class="bi bi-chevron-right" style="color:var(--text-muted);"></i>
-          <div style="padding: var(--sp-3); display:grid; gap:8px;">
+          </button>
-            <button v-for="f in featureList" :key="f.key" type="button"
+          <p style="color:var(--text-muted); margin:0;">These features verify vehicle compatibility when launched.</p>
-              class="gx-row" style="width:100%; border:none; background:transparent; color:inherit; cursor:pointer; text-align:left;"
+        </div>
-              @click="openFeature(f)">
+      </GalaxySection>
-              <div class="gx-row__info">
-                <span class="gx-row__label"><i class="bi" :class="f.icon" style="margin-right:6px; color:var(--primary);"></i>{{ f.name }}</span>
-                <span class="gx-row__desc">{{ f.desc }}</span>
-              </div>
-              <span v-if="busy === f.key" class="gx-chip" style="background:var(--surface-variant);">Checking...</span>
-              <span v-else-if="statusOf(f.key) === 'denied'" class="gx-chip" style="background:var(--error);">Not supported</span>
-              <i v-else class="bi bi-chevron-right" style="color:var(--text-muted);"></i>
-            </button>
-            <p style="color:var(--text-muted); margin:0;">These features verify vehicle compatibility when launched.</p>
-          </div>
-        </GalaxySection>
-      </template>
     </div>
   `,
 }

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

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

starpilot/system/the_galaxy/templates/index.html

@@ -30,7 +30,7 @@
   <link rel="stylesheet" href="/assets/components/tools/error_logs.css">
   <link rel="stylesheet" href="/assets/components/tools/maps.css">
   <link rel="stylesheet" href="/assets/components/tools/model_manager.css">
-  <link rel="stylesheet" href="/assets/components/tools/model_laboratory.css?v=model-lab-4">
+  <link rel="stylesheet" href="/assets/components/tools/model_laboratory.css?v=model-lab-5">
   <link rel="stylesheet" href="/assets/components/tools/plots.css">
   <link rel="stylesheet" href="/assets/components/tools/speed_limits.css">
   <link rel="stylesheet" href="/assets/components/tools/theme_maker.css">
@@ -42,7 +42,7 @@
   <link rel="stylesheet" href="/assets/components/tools/update_manager.css">
   <link rel="stylesheet" href="/assets/components/tools/device_settings.css?v=favorite-actions-1">
   <link rel="stylesheet" href="/assets/components/tools/bluetooth.css?v=bluetooth-6">
-  <link rel="stylesheet" href="/assets/components/tools/wheel_controls.css?v=controllers-2">
+  <link rel="stylesheet" href="/assets/components/tools/wheel_controls.css?v=controllers-3">
   <link rel="stylesheet" href="/assets/components/tools/galaxy.css">
   <link rel="stylesheet" href="/assets/components/tools/sentry.css">
   <link rel="stylesheet" href="/assets/components/tools/longitudinal_maneuvers.css">
@@ -51,7 +51,7 @@
   <link rel="stylesheet" href="/assets/components/tools/tsk_manager.css">
 
   <script type="module">
-    import("/assets/components/router.js?v=router-cycle-fix-7").catch((err) => {
+    import("/assets/components/router.js?v=router-cycle-fix-8").catch((err) => {
       console.error("[the_galaxy] bootstrap failed", err);
       const target = document.getElementById("app") || document.body;
       const pre = document.createElement("pre");

starpilot/system/the_galaxy/tests/test_dashboard_stats.py

@@ -1859,9 +1859,16 @@ def test_model_profiles_can_be_selected_without_external_gpu(monkeypatch, tmp_pa
   assert status["activeBigModel"] == "big-one"
   assert status["activeSmallModel"] == "small-one"
 
+  monkeypatch.setattr(server, "external_gpu_available", lambda: True)
+  active_big_response = client.put("/api/models/active", json={"profile": "big", "model": "big-one"})
+  assert active_big_response.status_code == 200
+  assert params.values["Model"] == params.values["DrivingModel"] == "big-one"
+  assert params.values["DrivingModelName"] == "Big One"
+
   disabled = client.put("/api/models/active", json={"profile": "big", "model": ""})
   assert disabled.status_code == 200
   assert params.values["ActiveBigModel"] == "none"
+  assert params.values["Model"] == params.values["DrivingModel"] == "small-one"
   assert disabled.get_json()["model"] == ""
   assert client.get("/api/models/status").get_json()["activeBigModel"] == ""
 
@@ -1899,6 +1906,12 @@ def test_model_laboratory_api_uses_installed_models_and_enforces_hardware_size_v
     "ModelManifestVersion": "v25",
     "Model": "rdf43",
     "DrivingModel": "rdf43",
+    "ActiveSmallModel": "rdf43",
+    "ActiveSmallModelName": "Regret Driven Framework V4",
+    "ActiveSmallModelVersion": "v15",
+    "ActiveBigModel": "big",
+    "ActiveBigModelName": "Chestnut One Billion",
+    "ActiveBigModelVersion": "v16",
   })
   metadata = {
     "lat": {"model_size": "small", "model_size_declared": True, "model_lab_eligible": True,
@@ -1974,10 +1987,16 @@ def test_model_laboratory_api_uses_installed_models_and_enforces_hardware_size_v
   queued = client.post("/api/model-laboratory/download", json={"model": "old"})
   assert queued.status_code == 200
   assert params_memory.values["ModelLabModelToDownload"] == "old"
-  assert "precompiled AMD" in params_memory.values["ModelDownloadProgress"]
+  assert "eGPU variant" in params_memory.values["ModelDownloadProgress"]
   params_memory.remove("ModelLabModelToDownload")
 
   monkeypatch.setattr(server, "external_gpu_available", lambda: False)
+  (tmp_path / "old_driving_chestnut_tinygrad.pkl").unlink(missing_ok=True)
+  queued_without_chestnut = client.post("/api/model-laboratory/download", json={"model": "old"})
+  assert queued_without_chestnut.status_code == 200
+  assert params_memory.values["ModelLabModelToDownload"] == "old"
+  params_memory.remove("ModelLabModelToDownload")
+
   no_chestnut = client.put("/api/model-laboratory", json={
     "enabled": True,
     "lateralModel": "lat",
@@ -1986,6 +2005,21 @@ def test_model_laboratory_api_uses_installed_models_and_enforces_hardware_size_v
   assert no_chestnut.status_code == 409
   assert "Chestnut" in no_chestnut.get_json()["error"]
 
+  monkeypatch.setattr(server, "external_gpu_available", lambda: True)
+  disabled = client.put("/api/model-laboratory", json={
+    "enabled": False,
+    "lateralModel": "lat",
+    "longitudinalModel": "long",
+  })
+  assert disabled.status_code == 200
+  assert params.values["Model"] == params.values["DrivingModel"] == "big"
+  assert params.values["DrivingModelName"] == "Chestnut One Billion"
+
+  deleted = client.delete("/api/model-laboratory/artifact", json={"model": "lat"})
+  assert deleted.status_code == 200
+  assert not (tmp_path / "lat_driving_chestnut_tinygrad.pkl").exists()
+  assert (tmp_path / "lat_driving_tinygrad.pkl").exists()
+
   params.values["IsOnroad"] = True
   onroad = client.put("/api/model-laboratory", json={"enabled": False})
   assert onroad.status_code == 403

starpilot/system/the_galaxy/tests/test_device_settings_frontend.py

@@ -46,6 +46,23 @@ def test_device_settings_uses_the_params_api_and_layout_json():
   assert 'fetch("/assets/components/tools/device_settings_layout.json?v=settings-tier-1"' in source
 
 
+def test_device_settings_speed_units_follow_the_vehicle():
+  source = _device_settings()
+
+  assert 'from "/assets/mobile/js/params.js"' in source
+  assert "resolveVehicleUnitParam" in source
+  assert "formatNumericParamValue" in source
+  assert "unit_search_terms" in source
+  assert "per click" in source
+  assert "ds-unit-note" not in source
+
+
+def test_device_settings_supports_vehicle_make_exclusions():
+  source = _device_settings()
+
+  assert "excluded_vehicle_makes" in source
+
+
 def test_lane_center_offset_can_step_below_zero():
   source = _device_settings()
 

starpilot/system/the_galaxy/tests/test_device_settings_layout.py

@@ -66,6 +66,15 @@ def test_galaxy_layout_contains_basic_mode_controls():
   assert {"AlphaLongitudinalEnabled", "ForceOffroad", "GalaxyDeveloperMode"} <= sections["Developer"].keys()
 
 
+def test_galaxy_new_ui_is_the_visible_default_choice():
+  galaxy_default = _params_by_section(_layout())["Developer"]["GalaxyMobileDefault"]
+
+  assert _declared_default("GalaxyMobileDefault") == "1"
+  assert galaxy_default["settings_tier"] == "simple"
+  assert galaxy_default["label"] == "Use Galaxy (new) by Default"
+  assert "Galaxy (old)" in galaxy_default["description"]
+
+
 def test_ford_lateral_controls_are_ford_only_and_galaxy_only():
   lateral = _params_by_section(_layout())["Lateral (Steering)"]
   ford_keys = {
@@ -107,6 +116,50 @@ def test_device_shutdown_uses_literal_hours():
   assert device_shutdown["step"] == 1
 
 
+def test_speed_settings_follow_vehicle_units_with_one_unit_steps():
+  sections = _params_by_section(_layout())
+  speed_keys = {
+    "MinimumLaneChangeSpeed", "PauseLateralSpeed",
+    "CESpeed", "CESpeedLead", "CESignalSpeed",
+    "CustomCruise", "CustomCruiseLong", "SetSpeedOffset", "PulseGlideSpeedDelta",
+    "Offset1", "Offset2", "Offset3", "Offset4", "Offset5", "Offset6", "Offset7",
+    "CCMSpeed", "CCMSpeedLead", "CCMSetSpeedMargin",
+    "VisionSpeedLimitLowLimitThreshold", "TurnSteeringLimitMuteSpeed",
+  }
+  params = {
+    param["key"]: param
+    for section in sections.values()
+    for param in section.values()
+    if param["key"] in speed_keys
+  }
+
+  assert params.keys() == speed_keys
+  assert all(param["unit_type"] == "vehicle_speed" for param in params.values())
+
+  one_unit_keys = speed_keys - {"PulseGlideSpeedDelta", "VisionSpeedLimitLowLimitThreshold"}
+  assert all(params[key]["step"] == 1 for key in one_unit_keys)
+  assert params["PulseGlideSpeedDelta"]["step"] == 0.5
+  assert params["VisionSpeedLimitLowLimitThreshold"]["step"] == 5
+
+  for index in range(7):
+    offset = params[f"Offset{index + 1}"]
+    assert offset["unit_range_index"] == index
+    assert (offset["metric_min"], offset["metric_max"]) == (-150, 150)
+
+  assert params["CustomCruise"]["metric_max"] == 150
+  assert params["CCMSetSpeedMargin"]["metric_max"] == 30
+  assert params["PulseGlideSpeedDelta"]["imperial_max"] == 15
+
+
+def test_cruise_controls_are_split_between_toyota_and_software_cruise():
+  longitudinal = _params_by_section(_layout())["Longitudinal (Speed & Following)"]
+
+  assert longitudinal["CustomCruise"]["excluded_vehicle_makes"] == ["Lexus", "Toyota"]
+  assert longitudinal["CustomCruiseLong"]["excluded_vehicle_makes"] == ["Lexus", "Toyota"]
+  assert longitudinal["ReverseCruise"]["vehicle_makes"] == ["Lexus", "Toyota"]
+  assert _declared_default("ReverseCruise") == "0"
+
+
 def test_curve_speed_controller_no_lead_toggle_is_nested_under_csc():
   csc_no_lead = _params_by_section(_layout())["Longitudinal (Speed & Following)"]["CurveSpeedControllerNoLead"]
 

starpilot/system/the_galaxy/tests/test_frontend_module_graph.py

@@ -7,6 +7,7 @@ ROUTER_PATH = REPO_ROOT / "starpilot/system/the_galaxy/assets/components/router.
 INDEX_PATH = REPO_ROOT / "starpilot/system/the_galaxy/templates/index.html"
 BLUETOOTH_PATH = REPO_ROOT / "starpilot/system/the_galaxy/assets/components/tools/bluetooth.js"
 CONTROLLERS_PATH = REPO_ROOT / "starpilot/system/the_galaxy/assets/components/tools/wheel_controls.js"
+MOBILE_CONTROLLERS_PATH = REPO_ROOT / "starpilot/system/the_galaxy/assets/mobile/js/components/WheelControls.js"
 SIDEBAR_PATH = REPO_ROOT / "starpilot/system/the_galaxy/assets/components/sidebar.js"
 MODEL_LAB_PATH = REPO_ROOT / "starpilot/system/the_galaxy/assets/components/tools/model_laboratory.js"
 
@@ -23,7 +24,7 @@ def test_router_and_settings_cache_bust_is_consistent():
   index = INDEX_PATH.read_text(encoding="utf-8")
 
   assert "/assets/components/settings.js?v=router-cycle-fix-5" in router
-  assert "/assets/components/router.js?v=router-cycle-fix-7" in index
+  assert "/assets/components/router.js?v=router-cycle-fix-8" in index
 
 
 def test_bluetooth_actions_use_reactive_disabled_bindings():
@@ -76,6 +77,16 @@ def test_controller_joystick_mode_requires_explicit_device_selection():
   assert 'request("joystick", { device_id: device.device_id, enabled: !selected() })' in source
 
 
+def test_controller_offroad_disconnect_is_opt_in():
+  source = CONTROLLERS_PATH.read_text(encoding="utf-8")
+  mobile_source = MOBILE_CONTROLLERS_PATH.read_text(encoding="utf-8")
+
+  for frontend in (source, mobile_source):
+    assert "Disconnect controllers when offroad" in frontend
+    assert "After two minutes offroad" in frontend
+    assert "offroad-disconnect" in frontend
+
+
 def test_controller_page_has_ten_controller_only_action_slots():
   source = CONTROLLERS_PATH.read_text(encoding="utf-8")
 
@@ -117,8 +128,13 @@ def test_model_laboratory_frontend_exposes_guards_and_role_copy():
   assert 'if (!state.chestnutReady)' in source
   assert 'if (state.isOnroad)' in source
   assert "model.modelLabArtifactInstalled" in source
-  assert "Nothing is compiled on the comma" in source
+  assert "Download eGPU-compatible small models" in source
-  assert "run every camera frame on Chestnut's AMD GPU" in source
+  assert "Choose from downloaded eGPU variant combinations below" in source
+  assert "Download eGPU variant" in source
+  assert "Delete eGPU variant" in source
+  assert "Nothing is compiled on the comma" not in source
+  assert "availableModels().filter(model => model.modelLabArtifactInstalled)" in source
+  assert source.index("<h3>Available models</h3>") < source.index("<h3>Compose a pair</h3>")
   assert 'lateral.value === longitudinal.value' in source
   assert 'lateral.version !== longitudinal.version' not in source
   assert 'class="ml-chip ${' not in source
@@ -135,5 +151,5 @@ def test_model_laboratory_frontend_exposes_guards_and_role_copy():
   assert "longitudinalModel: selectionDirty" in source
   assert source.count("selectionDirty = true") == 2
   assert "selectionDirty = false\n    applyPayload(payload)" in source
-  assert 'model_laboratory.js?v=model-lab-5' in ROUTER_PATH.read_text(encoding="utf-8")
+  assert 'model_laboratory.js?v=model-lab-6' in ROUTER_PATH.read_text(encoding="utf-8")
-  assert 'model_laboratory.css?v=model-lab-4' in INDEX_PATH.read_text(encoding="utf-8")
+  assert 'model_laboratory.css?v=model-lab-5' in INDEX_PATH.read_text(encoding="utf-8")

starpilot/system/the_galaxy/tests/test_navigation_params.py

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

starpilot/system/the_galaxy/tests/test_sentry_push_and_routing.py

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

starpilot/system/the_galaxy/tests/test_ui_vue_frontend.py

@@ -44,6 +44,7 @@ def test_ui_app_shell_files_exist():
     "js/views/Tuning.js",
     "js/views/Navigation.js",
     "js/views/Vehicle.js",
+    "js/views/Bluetooth.js",
     "js/views/SystemTools.js",
   ]
   for rel in required:
@@ -55,6 +56,8 @@ def test_ui_index_wires_vue_and_mount_point():
   assert 'id="galaxy-app"' in index
   assert 'src="/assets/mobile/js/app.js"' in index
   assert '"vue": "/assets/vendor/vue/vue.esm-browser.js"' in index
+  assert '<title>Galaxy</title>' in index
+  assert 'apple-mobile-web-app-title" content="Galaxy"' in index
 
 
 def test_ui_uses_same_backend_endpoints():
@@ -107,7 +110,7 @@ def test_ui_ports_all_tool_views():
         "js/views/Recordings.js": ["/api/routes", "getRoutesStream", "getRouteLogs"],
     "js/views/Logs.js": ["getErrorLogs", "tmuxSnapshot"],
     "js/components/TroubleshootPanel.js": ["getTroubleshoot", "resetTroubleshootSection", "GalaxyConfirm"],
-    "js/views/Tuning.js": ["LateralTuningPanel", "LongitudinalManeuvers"],
+    "js/views/Tuning.js": ["LateralTuningPanel"],
     "js/views/Navigation.js": ["getNavigation", "setNavigation", "MapsPanel", "NavigationKeysPanel"],
     "js/views/ToolEmbed.js": ["/manage_maps", "/manage_navigation_keys"],
     "js/views/SystemTools.js": [
@@ -122,7 +125,9 @@ def test_ui_ports_all_tool_views():
     for ep in endpoints:
       assert ep in src, f"{rel} should use api.{ep}"
   vehicle = _read("js/views/Vehicle.js")
-  assert "WheelControls" in vehicle and "BluetoothPanel" in vehicle and "carFeaturesCheck" in vehicle
+  bluetooth = _read("js/views/Bluetooth.js")
+  assert "WheelControls" not in vehicle and "BluetoothPanel" not in vehicle and "carFeaturesCheck" in vehicle
+  assert "BluetoothPanel" in bluetooth and "WheelControls" in bluetooth
 
 
 def test_ui_routes_ported_views_natively_no_classic_fallback():
@@ -130,16 +135,16 @@ def test_ui_routes_ported_views_natively_no_classic_fallback():
   shell = _read("js/components/AppShell.js")
   tools = _read("js/views/Tools.js")
 
-  for view in ["Recordings", "Logs", "Tuning", "Navigation", "Vehicle", "SystemTools"]:
+  for view in ["Recordings", "Logs", "Tuning", "Navigation", "Vehicle", "Bluetooth", "SystemTools"]:
     assert view in app, f"app.js should register {view}"
 
   # Ported routes must resolve natively in the Vue app (zero /classic redirect).
-  for route in ["/recordings", "/logs", "/tuning", "/navigation", "/vehicle", "/system"]:
+  for route in ["/recordings", "/logs", "/tuning", "/navigation", "/vehicle", "/bluetooth", "/system"]:
     assert route in shell, f"AppShell should route {route} natively"
     assert route in app, f"app.js should resolve {route} natively"
   # Tools grid routes the native categories (Recordings lives in the bottom nav
   # and is intentionally absent from the Tools page).
-  for tool in ["/tuning", "/logs", "/navigation", "/vehicle", "/system"]:
+  for tool in ["/tuning", "/logs", "/navigation", "/vehicle", "/bluetooth", "/system"]:
     assert tool in tools, f"Tools grid should route {tool} natively"
   assert "/cameras" in tools, "Tools grid should route the camera hub natively"
   assert "/manage_v_asm" not in tools and "/manage_pip_sidecam" not in tools
@@ -190,6 +195,23 @@ def test_ui_numeric_toggles_are_sliders_with_default():
   assert 'title="Set to zero"' not in card
 
 
+def test_ui_speed_units_follow_the_vehicle():
+  params = _read("js/params.js")
+  card = _read("js/components/GalaxyToggleCard.js")
+  tree = _read("js/components/SettingTree.js")
+  settings = _read("js/views/Settings.js")
+
+  assert "resolveVehicleUnitParam" in params
+  assert "formatNumericParamValue" in params
+  assert "unit_search_terms" in params and "unit_search_terms" in settings
+  assert "IsMetric" in params
+  assert ':values="values"' in tree
+  assert "displayParam" in card and "formatNumericParamValue" in card
+  assert "sliderStepDisplay" in card and "Step:" in card
+  assert ':values="values"' in settings
+  assert "gx-unit-note" not in settings
+
+
 def test_ui_centralizes_api_and_uses_composables():
   api = _read("js/api.js")
   composables = _read("js/composables.js")
@@ -209,11 +231,15 @@ def test_ui_centralizes_api_and_uses_composables():
 def test_ui_schema_driven_param_engine_reused():
   tuning = _read("js/views/Tuning.js")
   assert "GalaxyEmbed" not in tuning and 'src="/tuning"' not in tuning, "Tuning must be native, not a classic embed"
-  assert "LateralTuningPanel" in tuning and "LongitudinalManeuvers" in tuning
+  assert "LateralTuningPanel" in tuning and "LongitudinalManeuvers" not in tuning
   vehicle = _read("js/views/Vehicle.js")
+  bluetooth = _read("js/views/Bluetooth.js")
   assert "ParamSections" not in vehicle, "Vehicle must not render redundant toggles"
-  assert "WheelControls" in vehicle and "BluetoothPanel" in vehicle
+  assert "WheelControls" not in vehicle and "BluetoothPanel" not in vehicle
   assert "GalaxySection" in vehicle
+  assert "WheelControls" in bluetooth and "BluetoothPanel" in bluetooth
+  assert bluetooth.index('bluetooth: "Bluetooth"') < bluetooth.index('controllers: "Controllers"')
+  assert 'useTabRouting("/bluetooth"' in bluetooth
   engine = _read("js/components/ParamSections.js")
   assert "SettingTree" in engine
   assert "isSettingVisible" in engine
@@ -268,6 +294,7 @@ def test_ui_has_bottom_navigation_and_drawer():
   assert "gx-drawer" in shell
   assert "gx-appbar" in shell
   assert "Search toggles" in shell
+  assert ">Galaxy</span>" in shell
 
 
 def test_ui_search_visible_on_mobile_and_content_full_width():
@@ -325,8 +352,6 @@ def test_ui_galaxy_background_is_css_only_and_lightweight():
 
 def test_galaxy_py_serves_classic_at_root_and_new_ui_at_mobile():
   source = GALAXY_PY.read_text(encoding="utf-8")
-  # The classic Galaxy SPA is the default landing at / (original behaviour) unless
-  # the "New Galaxy by Default" (GalaxyMobileDefault) toggle is enabled.
   assert '@app.route("/", methods=["GET"])' in source
   assert 'render_template("index.html")' in source
   assert 'params.get_bool("GalaxyMobileDefault")' in source
@@ -341,9 +366,10 @@ def test_galaxy_py_serves_classic_at_root_and_new_ui_at_mobile():
 def test_ui_manifest_is_valid_pwa_manifest():
   manifest = json.loads((UI_ROOT / "manifest.json").read_text(encoding="utf-8"))
   assert manifest["display"] == "standalone"
-  assert manifest["name"]
+  assert manifest["name"] == "Galaxy"
+  assert manifest["short_name"] == "Galaxy"
   assert manifest["icons"]
-  assert manifest["start_url"] == "/mobile/"
+  assert "start_url" not in manifest
 
 
 def test_ui_ported_classic_tools_native_no_embed():
@@ -400,7 +426,6 @@ def test_ui_all_remaining_classic_tools_native_no_embed():
 
   # Standalone native views + their routes.
   native = {
-    "/sentry": "Sentry",
     "/manage_models": "ModelManager",
     "/plots": "Plots",
     "/testing_ground": "TestingGround",
@@ -414,6 +439,10 @@ def test_ui_all_remaining_classic_tools_native_no_embed():
     assert src, f"missing view: {view}"
     assert "GalaxyEmbed" not in src and "fetch(" not in src, f"{view} should be native with no raw fetch"
 
+  assert '"/sentry": Cameras' in app
+  sentry = _read("js/views/Sentry.js")
+  assert "GalaxyEmbed" not in sentry and "fetch(" not in sentry
+
   # Navigation maps + App Keys and Tuning lateral are native tabs now.
   nav = _read("js/views/Navigation.js")
   assert "GalaxyEmbed" not in nav and "MapsPanel" in nav and "NavigationKeysPanel" in nav
@@ -449,8 +478,9 @@ def test_ui_cameras_hub_vasm_and_pip_native_no_embed():
   assert "/cameras" in app and "Cameras" in app, "app.js should register the camera hub"
   assert "/cameras" in store, "store NATIVE_ROOTS should include /cameras"
   assert "GalaxyEmbed" not in cameras and "fetch(" not in cameras
-  assert "Vasm" in cameras and "Pip" in cameras, "camera hub should embed V-ASM and PiP"
+  assert "Sentry" in cameras and "Vasm" in cameras and "Pip" in cameras, "camera hub should embed Sentry, V-ASM, and PiP"
   assert "GalaxyTabs" in cameras
+  assert cameras.index('sentry: "Sentry Mode"') < cameras.index('vasm: "V-ASM Spot Monitor"')
 
   # Removed standalone pages are no longer routed or listed as native roots.
   for route in ["/manage_v_asm", "/manage_pip_sidecam"]:
@@ -470,6 +500,44 @@ def test_ui_cameras_hub_vasm_and_pip_native_no_embed():
     assert method in api, f"api.js should expose {method}"
 
 
+def test_ui_mobile_polish_regressions():
+  system = _read("js/views/SystemTools.js")
+  css = _read("css/material.css")
+  assert 'button v-if="updateAvailable"' in system
+  assert "checkedForUpdates && !!this.fastStatus?.updateAvailable" in system
+  assert "gx-update-progress__fill" in system
+  assert "linear-gradient(90deg, #5ec8c8 0%, #8b6cc5 100%)" in css
+
+  bluetooth = _read("js/components/BluetoothPanel.js")
+  assert "methods: {\n    address," in bluetooth
+
+  logs = _read("js/views/Logs.js")
+  assert logs.index('troubleshoot: "Troubleshoot"') < logs.index('errors: "Error Logs"') < logs.index('tmux: "Tmux Live Log"')
+  troubleshoot = _read("js/components/TroubleshootPanel.js")
+  assert "gx-diagnostic-row--changed" in troubleshoot and ".gx-row.gx-diagnostic-row--changed" in css
+
+  recordings = _read("js/views/Recordings.js")
+  galaxy = _read("js/views/Galaxy.js")
+  assert "bandwidth reasons" in recordings and "status?.lanIp" in recordings
+  assert "status?.lanIp" in galaxy
+  assert ':href="localUrl"' in recordings and ':href="localUrl"' in galaxy
+  assert 'localDeviceUrl(status?.lanIp, "/recordings")' in recordings
+  assert 'localDeviceUrl(status?.lanIp, "/galaxy")' in galaxy
+  assert "gx-btn gx-btn--tonal" in recordings and "Open Recordings Locally" in recordings
+  assert "gx-btn gx-btn--tonal" in galaxy and "Open Galaxy Locally" in galaxy
+
+  home = _read("js/views/Home.js")
+  home_css = _read("css/home.css")
+  assert "backgroundImage: modelView.style" in home
+  assert "display: flex" in home_css and "flex-direction: column" in home_css
+
+  tuning = _read("js/views/Tuning.js")
+  classic_sidebar = (REPO_ROOT / "starpilot/system/the_galaxy/assets/components/sidebar.js").read_text(encoding="utf-8")
+  c4_developer = (REPO_ROOT / "selfdrive/ui/layouts/settings/developer.py").read_text(encoding="utf-8")
+  assert "LongitudinalManeuvers" not in tuning and "Long Maneuvers" not in classic_sidebar
+  assert 'tr("Longitudinal Maneuver Mode")' not in c4_developer
+
+
 def _node_exe():
   candidates = [
     shutil.which("node"),
@@ -505,6 +573,23 @@ assert(P.countAdvancedHiddenByDeveloperMode([sec], { GalaxyDeveloperMode: true }
 const slider = { key: "DeviceShutdown", data_type: "int", min: 1, max: 30, step: 1 }
 assert(P.snapNumericToBoundsAndStep(17.9, P.numericBounds(slider, {}), 0) === 18, "snap")
 assert(P.formatSliderValue(6, "1", 0, "DeviceShutdown") === "6 hours", "format")
+const speed = {
+  key: "Offset2", data_type: "float", unit_type: "vehicle_speed",
+  min: -99, max: 99, step: 1, precision: 0,
+  metric_min: -150, metric_max: 150, unit_range_index: 1,
+}
+const imperialSpeed = P.resolveVehicleUnitParam(speed, { IsMetric: false })
+assert(imperialSpeed.unit === " mph", "imperial unit")
+assert(imperialSpeed.label === "Speed Offset (25–34 mph)", "imperial offset band")
+assert(P.formatNumericParamValue(speed, 3, { IsMetric: false }) === "3 mph", "imperial value")
+const metricSpeed = P.resolveVehicleUnitParam(speed, { IsMetric: true })
+assert(metricSpeed.unit === " km/h", "metric unit")
+assert(metricSpeed.label === "Speed Offset (30–49 km/h)", "metric offset band")
+assert(metricSpeed.unit_search_terms.includes("metric"), "metric settings are searchable")
+assert(P.numericBounds(speed, { IsMetric: true }).max === 150, "metric bounds")
+assert(P.numericBounds(speed, { IsMetric: true }).step === 1, "one km/h per step")
+assert(P.formatNumericParamValue(speed, 3, { IsMetric: true }) === "3 km/h", "metric value")
+assert(P.usesMetricUnits({ IsMetric: "1" }) === true, "serialized metric bool")
 const laneOffset = { key: "LaneCenterOffset", data_type: "float", min: 0, max: 0.3, step: 0.01 }
 const laneBounds = P.numericBounds(laneOffset, {})
 assert(laneBounds.min === -0.3, "lane offset keeps signed lower bound")

starpilot/system/the_galaxy/the_galaxy.py

@@ -5015,6 +5015,7 @@ def setup(app):
       "/assets/components/settings.js",
       "/assets/components/home/home.js",
       "/assets/components/home/home.css",
+      "/assets/mobile/js/params.js",
       "/assets/components/tools/device_settings.js",
       "/assets/components/tools/device_settings.css",
       "/assets/components/tools/device_settings_layout.json",
@@ -5181,6 +5182,7 @@ def setup(app):
     status["slots"] = slots
     status["controller_slots"] = controller_slots
     status["controller_options"] = controller_options
+    status["disconnect_controllers_offroad"] = params.get_bool("BluetoothDisconnectControllersOffroad")
     is_metric = params.get_bool("IsMetric")
     speed_minimum, speed_maximum = controller_speed_bounds(is_metric)
     status["speed_unit"] = "km/h" if is_metric else "mph"
@@ -5190,13 +5192,16 @@ def setup(app):
 
   @app.route("/api/wheel-controls/<operation>", methods=["POST"])
   def wheel_controls_operation(operation):
-    if operation not in {"action", "learn", "cancel", "delete", "clear", "test", "test-stop", "joystick"}:
+    if operation not in {"action", "learn", "cancel", "delete", "clear", "test", "test-stop", "joystick", "offroad-disconnect"}:
       return jsonify({"error": "Unknown wheel control operation."}), 404
     if not params.get_bool("IsOffroad"):
       return jsonify({"error": "Wheel controls can only be configured offroad."}), 409
 
     data = request.get_json(silent=True) or {}
     try:
+      if operation == "offroad-disconnect":
+        params.put_bool("BluetoothDisconnectControllersOffroad", bool(data.get("enabled", False)))
+        return jsonify({"message": "Offroad controller disconnect updated."}), 200
       if operation == "action":
         slot_index = int(data.get("slot", -1))
         key = str(data.get("key") or "").strip()
@@ -5296,6 +5301,27 @@ def setup(app):
       return "Settings catalog not found", 404
     return send_file(str(SETTINGS_CATALOG_PATH), mimetype="application/json")
 
+  @app.route("/assets/mobile/manifest.json", methods=["GET"])
+  def mobile_manifest():
+    manifest_path = Path(app.static_folder) / "mobile" / "manifest.json"
+    if not manifest_path.is_file():
+      return jsonify({"error": "Galaxy manifest not found"}), 404
+
+    try:
+      manifest_data = json.loads(manifest_path.read_text(encoding="utf-8"))
+    except (OSError, ValueError, json.JSONDecodeError):
+      return jsonify({"error": "Galaxy manifest is invalid"}), 500
+
+    slug = _read_galaxy_text(_get_galaxy_dir() / "glxyslug")
+    if re.fullmatch(r"[A-Za-z0-9]{16}", slug):
+      manifest_data["start_url"] = f"https://galaxy.firestar.link/{slug}"
+    else:
+      manifest_data["start_url"] = "/mobile/"
+
+    response = jsonify(manifest_data)
+    response.mimetype = "application/manifest+json"
+    return _no_store_response(response)
+
   @app.route("/manifest.json", methods=["GET"])
   @app.route("/assets/manifest.json", methods=["GET"])
   def manifest():
@@ -6322,21 +6348,24 @@ def setup(app):
       },
       "manifest": {
         "version": params.get("ModelManifestVersion", encoding="utf-8") or "unknown",
-        "shortcomings": [
-          "The current manifest does not consistently declare model size; legacy non-Chestnut entries are treated as small.",
-          "The current manifest does not publish AMD-compiled variants for its ordinary small-model downloads.",
-          "The current manifest does not declare lateral or longitudinal quality/capability tags.",
-          "The current manifest does not declare output-contract compatibility, memory, or frame-time measurements.",
-        ],
-        "opportunities": [
-          "Publish model_size and model_lab_eligible for every model.",
-          "Publish an accelerator_artifacts.chestnut entry pointing to a precompiled AMD pickle for each supported small model.",
-          "Publish role scores and pairing notes from replay evaluations.",
-          "Publish architecture, output-contract, peak-memory, and p50/p95 execution metadata.",
-        ],
       },
     }
 
+  def _activate_preferred_model_profile():
+    """Restore the model that the normal small/big profile system would run."""
+    profile = "big" if external_gpu_available() and _active_model_key("big") else "small"
+    model_key, model_name, model_version = get_model_profile(params, profile)
+    if not model_key:
+      model_key, model_name, model_version = _default_model_key(), _default_model_name(), _default_model_version()
+
+    params.put("Model", model_key)
+    params.put("DrivingModel", model_key)
+    params.put("DrivingModelName", model_name or model_key)
+    if model_version:
+      params.put("ModelVersion", model_version)
+      params.put("DrivingModelVersion", model_version)
+    return model_name or model_key
+
   @app.route("/api/model-laboratory", methods=["GET", "PUT"])
   def model_laboratory():
     if request.method == "GET":
@@ -6375,7 +6404,8 @@ def setup(app):
         params.put("DrivingModelVersion", lateral["version"])
       message = "Model Laboratory enabled. The pair will load on the next drive."
     else:
-      message = "Model Laboratory disabled."
+      restored_model = _activate_preferred_model_profile()
+      message = f"Model Laboratory disabled. {restored_model} will be used next."
 
     return jsonify({"message": message, **_model_lab_status_payload()}), 200
 
@@ -6383,8 +6413,6 @@ def setup(app):
   def download_model_laboratory_artifact():
     if params.get_bool("IsOnroad"):
       return jsonify({"error": "Model Laboratory artifacts can only be downloaded while parked."}), 403
-    if not external_gpu_available():
-      return jsonify({"error": "Chestnut is not connected and firmware-ready."}), 409
     if (
       params_memory.get_bool(MODEL_DOWNLOAD_ALL_PARAM)
       or (params_memory.get(MODEL_DOWNLOAD_PARAM, encoding="utf-8") or "")
@@ -6398,16 +6426,50 @@ def setup(app):
     if model is None:
       return jsonify({"error": f"Unknown model '{model_key}'."}), 404
     if not model.get("modelLabEligible"):
-      return jsonify({"error": "Only compatible small models can be prepared for Model Laboratory."}), 409
+      return jsonify({"error": "Only compatible small models have Model Laboratory eGPU variants."}), 409
     if not model.get("modelLabArtifactAvailable"):
       return jsonify({"error": "The manifest does not publish a precompiled AMD artifact for this model."}), 409
     if model.get("modelLabArtifactInstalled"):
-      return jsonify({"message": f"\"{model['label']}\" is already prepared for Chestnut."}), 200
+      return jsonify({"message": f"The eGPU variant for \"{model['label']}\" is already downloaded."}), 200
 
     params_memory.remove(MODEL_CANCEL_DOWNLOAD_PARAM)
     params_memory.put(MODEL_LAB_DOWNLOAD_PARAM, model_key)
-    params_memory.put(MODEL_DOWNLOAD_PROGRESS_PARAM, "Downloading precompiled AMD artifact...")
+    params_memory.put(MODEL_DOWNLOAD_PROGRESS_PARAM, "Starting eGPU variant download...")
-    return jsonify({"message": f"Started preparing \"{model['label']}\" for Chestnut."}), 200
+    return jsonify({"message": f"Started downloading the eGPU variant for \"{model['label']}\"."}), 200
+
+  @app.route("/api/model-laboratory/artifact", methods=["DELETE"])
+  def delete_model_laboratory_artifact():
+    if params.get_bool("IsOnroad"):
+      return jsonify({"error": "Model Laboratory eGPU variants can only be deleted while parked."}), 403
+    if (
+      params_memory.get_bool(MODEL_DOWNLOAD_ALL_PARAM)
+      or (params_memory.get(MODEL_DOWNLOAD_PARAM, encoding="utf-8") or "")
+      or (params_memory.get(MODEL_LAB_DOWNLOAD_PARAM, encoding="utf-8") or "")
+    ):
+      return jsonify({"error": "Cannot delete an eGPU variant while a model download is in progress."}), 409
+
+    data = request.get_json(silent=True) or {}
+    model_key = canonical_model_key(str(data.get("model") or "").strip())
+    model = next((entry for entry in get_model_catalog() if entry["value"] == model_key), None)
+    if model is None:
+      return jsonify({"error": f"Unknown model '{model_key}'."}), 404
+    if not model.get("modelLabArtifactInstalled"):
+      return jsonify({"message": f"No eGPU variant is downloaded for \"{model['label']}\"."}), 200
+
+    config = normalize_model_lab_config(params.get(MODEL_LAB_CONFIG_PARAM, encoding="utf-8") or "")
+    if config["enabled"] and model_key in (config["lateralModel"], config["longitudinalModel"]):
+      return jsonify({"error": "Disable Model Laboratory or choose a different pair before deleting this eGPU variant."}), 409
+
+    artifact_path = MODELS_PATH / model_accelerator_artifact_filename(model_key)
+    try:
+      artifact_path.unlink(missing_ok=True)
+      Path(get_manifest_path(artifact_path)).unlink(missing_ok=True)
+      for chunk_path in artifact_path.parent.glob(f"{artifact_path.name}.chunk*of*"):
+        chunk_path.unlink(missing_ok=True)
+    except Exception as exception:
+      return jsonify({"error": f"Failed deleting the eGPU variant: {exception}"}), 500
+
+    return jsonify({"message": f"Deleted the eGPU variant for \"{model['label']}\".", **_model_lab_status_payload()}), 200
 
   @app.route("/api/models/preferences", methods=["GET", "PUT"])
   def get_or_set_models_preferences():
@@ -6461,8 +6523,9 @@ def setup(app):
         params.remove(MODEL_LAB_RUNTIME_PARAM)
 
       disable_big_model_profile(params)
+      restored_model = _activate_preferred_model_profile()
       return jsonify({
-        "message": "Active Big disabled. Active Small will be used even when Chestnut is connected.",
+        "message": f"Active Big disabled. {restored_model} will be used even when Chestnut is connected.",
         "profile": profile,
         "model": "",
       }), 200
@@ -6484,8 +6547,9 @@ def setup(app):
       params.remove(MODEL_LAB_RUNTIME_PARAM)
 
     set_model_profile(params, profile, model_key, model["label"], model["version"])
+    active_model = _activate_preferred_model_profile()
     return jsonify({
-      "message": f"Active {profile.title()} set to '{model['label']}'.",
+      "message": f"Active {profile.title()} set to '{model['label']}'. {active_model} will be used next.",
       "profile": profile,
       "model": model_key,
     }), 200

system/manager/launch_param_migrations.py

@@ -22,7 +22,7 @@ DEVELOPER_METRIC_DISPLAY_KEYS = (
 )
 DEVICE_SHUTDOWN_KEY = "DeviceShutdown"
 CAMERA_VIEW_KEY = "CameraView"
-REVERSE_CRUISE_KEY = "ReverseCruise"
+GALAXY_NEW_DEFAULT_KEY = "GalaxyMobileDefault"
 
 DEFAULT_STEER_KP = 0.6
 LEGACY_STEER_KP = 0.7
@@ -39,7 +39,8 @@ LANE_CHANGE_SMOOTHING_MIGRATION_MARKER = ".starpilot_lane_change_smoothing_defau
 SPEED_LIMIT_VISIBILITY_MIGRATION_MARKER = ".starpilot_speed_limit_visibility_v1"
 DEVICE_SHUTDOWN_HOURS_MIGRATION_MARKER = ".starpilot_device_shutdown_hours_v1"
 CAMERA_VIEW_DEFAULT_MIGRATION_MARKER = ".starpilot_camera_view_default_v1"
-REVERSE_CRUISE_REMOVAL_MIGRATION_MARKER = ".starpilot_remove_reverse_cruise_v1"
+REVERSE_CRUISE_RESTORE_MIGRATION_MARKER = ".starpilot_restore_reverse_cruise_v1"
+GALAXY_NEW_DEFAULT_MIGRATION_MARKER = ".starpilot_galaxy_new_default_v1"
 MARKER_DIRNAME = ".starpilot_param_migrations"
 
 LATERAL_METHOD_PARAM_SUFFIXES = (
@@ -147,8 +148,12 @@ def _camera_view_default_marker_path(params: ParamsLike) -> Path:
   return _marker_dir_path(params) / CAMERA_VIEW_DEFAULT_MIGRATION_MARKER
 
 
-def _reverse_cruise_removal_marker_path(params: ParamsLike) -> Path:
+def _reverse_cruise_restore_marker_path(params: ParamsLike) -> Path:
-  return _marker_dir_path(params) / REVERSE_CRUISE_REMOVAL_MIGRATION_MARKER
+  return _marker_dir_path(params) / REVERSE_CRUISE_RESTORE_MIGRATION_MARKER
+
+
+def _galaxy_new_default_marker_path(params: ParamsLike) -> Path:
+  return _marker_dir_path(params) / GALAXY_NEW_DEFAULT_MIGRATION_MARKER
 
 
 def _marker_dir_path(params: ParamsLike) -> Path:
@@ -332,12 +337,24 @@ def _apply_camera_view_default_migration(params: ParamsLike, marker: Path) -> No
   marker.touch()
 
 
-def _remove_reverse_cruise_param(params: ParamsLike, marker: Path) -> None:
+def _restore_reverse_cruise_param(params: ParamsLike, marker: Path) -> None:
   if marker.exists():
     return
 
   marker.parent.mkdir(parents=True, exist_ok=True)
-  Path(params.get_param_path(REVERSE_CRUISE_KEY)).unlink(missing_ok=True)
+  if (not _param_file_exists(params, "ReverseCruise") and
+      _approx_equal(params.get_float("CustomCruise"), 5.0) and
+      _approx_equal(params.get_float("CustomCruiseLong"), 1.0)):
+    params.put_bool("ReverseCruise", True)
+  marker.touch()
+
+
+def _enable_galaxy_new_default(params: ParamsLike, marker: Path) -> None:
+  if marker.exists():
+    return
+
+  marker.parent.mkdir(parents=True, exist_ok=True)
+  params.put_bool(GALAXY_NEW_DEFAULT_KEY, True)
   marker.touch()
 
 
@@ -352,7 +369,8 @@ def apply_launch_param_migrations(params: ParamsLike, marker_path: Path | None =
                                   speed_limit_visibility_marker_path: Path | None = None,
                                   device_shutdown_hours_marker_path: Path | None = None,
                                   camera_view_default_marker_path: Path | None = None,
-                                  reverse_cruise_removal_marker_path: Path | None = None) -> None:
+                                  reverse_cruise_restore_marker_path: Path | None = None,
+                                  galaxy_new_default_marker_path: Path | None = None) -> None:
   _apply_legacy_launch_param_migrations(params, marker_path or _default_marker_path(params))
   # Keep branch-default rollout on its own marker so older installs that already
   # have the legacy marker still receive this one-time param reset.
@@ -384,8 +402,11 @@ def apply_launch_param_migrations(params: ParamsLike, marker_path: Path | None =
   _apply_camera_view_default_migration(
     params, camera_view_default_marker_path or _camera_view_default_marker_path(params)
   )
-  _remove_reverse_cruise_param(
+  _restore_reverse_cruise_param(
-    params, reverse_cruise_removal_marker_path or _reverse_cruise_removal_marker_path(params)
+    params, reverse_cruise_restore_marker_path or _reverse_cruise_restore_marker_path(params)
+  )
+  _enable_galaxy_new_default(
+    params, galaxy_new_default_marker_path or _galaxy_new_default_marker_path(params)
   )
 
 

system/manager/manager.py

@@ -71,7 +71,7 @@ STARPILOT_DEFAULT_MODEL_MIGRATION_FLAG = Path("/data") / "starpilot_default_mode
 STARPILOT_CE_MODEL_STOP_TIME_MIGRATION_FLAG = Path("/data") / "starpilot_ce_model_stop_time_v2"
 STARPILOT_LEGACY_CACHE_MARKER_KEYS = ("RemapCancelToDistance",)
 STARPILOT_REMOVED_PARAM_KEYS = (
-  "CoastUpToLeads", "HumanAcceleration", "HumanFollowing", "PrioritizeSmoothFollowing", "ReverseCruise",
+  "CoastUpToLeads", "HumanAcceleration", "HumanFollowing", "PrioritizeSmoothFollowing",
 )
 LEGACY_CARMODEL_MIGRATIONS = {
   "CHEVROLET_BOLT_CC_2019_2021": "CHEVROLET_BOLT_CC_2018_2021",

system/manager/test/test_launch_param_migrations.py

@@ -7,6 +7,7 @@ from openpilot.system.manager.launch_param_migrations import (
   DEFAULT_CAMERA_VIEW,
   DEVELOPER_METRIC_DISPLAY_KEYS,
   DEVELOPER_METRIC_DISPLAY_MIGRATION_MARKER,
+  GALAXY_NEW_DEFAULT_MIGRATION_MARKER,
   DEFAULT_LANE_CHANGE_SMOOTHING,
   DEFAULT_STEER_KP,
   DEVICE_SHUTDOWN_HOURS_MIGRATION_MARKER,
@@ -14,7 +15,7 @@ from openpilot.system.manager.launch_param_migrations import (
   LAUNCH_PARAM_MIGRATION_MARKER,
   LATERAL_METHOD_REBRAND_MIGRATION_MARKER,
   MARKER_DIRNAME,
-  REVERSE_CRUISE_REMOVAL_MIGRATION_MARKER,
+  REVERSE_CRUISE_RESTORE_MIGRATION_MARKER,
   STANDARD_ACCELERATION_PROFILE,
   SPEED_LIMIT_VISIBILITY_MIGRATION_MARKER,
   LEGACY_UI_SELECTION_MIGRATION_MARKER,
@@ -178,14 +179,42 @@ def test_apply_launch_param_migrations_preserves_custom_camera_view(tmp_path):
   assert params.get_int("CameraView") == 0
 
 
-def test_apply_launch_param_migrations_removes_reverse_cruise_param(tmp_path):
+def test_apply_launch_param_migrations_restores_reverse_cruise_from_swapped_intervals(tmp_path):
   params = FileBackedFakeParams(tmp_path / "params")
-  params.put_bool("ReverseCruise", True)
+  params.put_float("CustomCruise", 5.0)
+  params.put_float("CustomCruiseLong", 1.0)
 
   apply_launch_param_migrations(params)
 
-  assert not Path(params.get_param_path("ReverseCruise")).exists()
+  assert params.get_bool("ReverseCruise")
-  assert marker_path(tmp_path, REVERSE_CRUISE_REMOVAL_MIGRATION_MARKER).is_file()
+  assert marker_path(tmp_path, REVERSE_CRUISE_RESTORE_MIGRATION_MARKER).is_file()
+
+
+def test_apply_launch_param_migrations_preserves_explicit_reverse_cruise_choice(tmp_path):
+  params = FileBackedFakeParams(tmp_path / "params")
+  params.put_float("CustomCruise", 5.0)
+  params.put_float("CustomCruiseLong", 1.0)
+  params.put_bool("ReverseCruise", False)
+
+  apply_launch_param_migrations(params)
+
+  assert not params.get_bool("ReverseCruise")
+
+
+def test_apply_launch_param_migrations_enables_galaxy_new_default_once(tmp_path):
+  params = FileBackedFakeParams(tmp_path / "params")
+  params.put_bool("GalaxyMobileDefault", False)
+
+  apply_launch_param_migrations(params)
+
+  assert params.get_bool("GalaxyMobileDefault")
+  marker = marker_path(tmp_path, GALAXY_NEW_DEFAULT_MIGRATION_MARKER)
+  assert marker.is_file()
+
+  params.put_bool("GalaxyMobileDefault", False)
+  apply_launch_param_migrations(params)
+
+  assert not params.get_bool("GalaxyMobileDefault")
 
 
 def test_apply_launch_param_migrations_applies_branch_defaults_for_existing_installs(tmp_path):

system/manager/test/test_manager.py

@@ -397,7 +397,6 @@ class TestManager:
     params_cache = FileBackedFakeParams(tmp_path / "cache", {
       "HumanFollowing": False,
       "PrioritizeSmoothFollowing": True,
-      "ReverseCruise": True,
     })
 
     manager.cleanup_removed_starpilot_params(params, params_cache)
@@ -405,10 +404,9 @@ class TestManager:
     assert not Path(params.get_param_path("CoastUpToLeads")).exists()
     assert not Path(params.get_param_path("HumanAcceleration")).exists()
     assert not Path(params.get_param_path("HumanFollowing")).exists()
-    assert not Path(params.get_param_path("ReverseCruise")).exists()
+    assert params.get_bool("ReverseCruise")
     assert not Path(params_cache.get_param_path("HumanFollowing")).exists()
     assert not Path(params_cache.get_param_path("PrioritizeSmoothFollowing")).exists()
-    assert not Path(params_cache.get_param_path("ReverseCruise")).exists()
 
   def test_migrate_legacy_starpilot_params_cache_copies_marker_sources(self, tmp_path, monkeypatch):
     monkeypatch.setattr(manager, "STARPILOT_PARAMS_CACHE_MIGRATION_FLAG", tmp_path / "starpilot_params_cache_v1")