readme overhaul

Handle MapsSelected downgrade from StarPilot-Development
tinygrad bump
2026-08-24 01:33:46 +08:00 · 2026-03-24 23:42:43 -07:00 · 2026-03-22 15:12:11 -05:00 · 2026-03-21 13:59:45 -05:00 · 2026-03-20 17:52:16 -05:00 · 2026-03-18 21:10:09 -05:00
1372 changed files with 355213 additions and 227157 deletions
@@ -1,252 +1,74 @@
-<div align="center" style="text-align: center;">
-
-<h1>openpilot</h1>
-
-<p>
-  <b>openpilot is an operating system for robotics.</b>
-  <br>
-  Currently, it upgrades the driver assistance system in 300+ supported cars.
-</p>
-
-<h3>
-  <a href="https://docs.comma.ai">Docs</a>
-  <span> · </span>
-  <a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
-  <span> · </span>
-  <a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
-  <span> · </span>
-  <a href="https://discord.comma.ai">Community</a>
-  <span> · </span>
-  <a href="https://comma.ai/shop">Try it on a comma 3X</a>
-</h3>
-
-Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
-
-[![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml)
-[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](LICENSE)
-[![X Follow](https://img.shields.io/twitter/follow/comma_ai)](https://x.com/comma_ai)
-[![Discord](https://img.shields.io/discord/469524606043160576)](https://discord.comma.ai)
-
-</div>
-
-<table>
-  <tr>
-    <td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://github.com/commaai/openpilot/assets/8762862/2f7112ae-f748-4f39-b617-fabd689c3772"></a></td>
-    <td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://github.com/commaai/openpilot/assets/8762862/92351544-2833-40d7-9e0b-7ef7ae37ec4c"></a></td>
-    <td><a href="https://youtu.be/SUIZYzxtMQs" title="A drive to Taco Bell"><img src="https://github.com/commaai/openpilot/assets/8762862/05ceefc5-2628-439c-a9b2-89ce77dc6f63"></a></td>
-  </tr>
-</table>
-
-
-Using openpilot in a car
------
-
-To use openpilot in a car, you need four things:
-1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
-2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
-3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
-4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
-
-We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
-
------
-
-<div align="center" style="text-align: center;">
-
-<h1>FrogPilot 🐸</h1>
-
-[![Ask DeepWiki](https://deepwiki.com/badge.svg)](https://deepwiki.com/FrogAi/FrogPilot)
-[![Discord](https://img.shields.io/discord/1137853399715549214?label=Discord)](https://discord.frogpilot.download)
-[![Last Updated](https://img.shields.io/badge/Last%20Updated-August%209th%2C%202025-brightgreen)](https://github.com/FrogAi/FrogPilot/releases/latest)
-[![Wiki](https://img.shields.io/badge/Wiki-FrogPilot-blue?logo=wiki)](https://frogpilot.wiki.gg/)
-
-</div>
-
------
-
-**FrogPilot** is a custom frog-themed fork of openpilot that embraces a collaborative, community-driven approach to push the project forward. It delivers bleeding-edge features and experimental improvements far ahead of official releases. As an unofficial and highly experimental version of openpilot, **FrogPilot** should always be used with caution!
-
-openpilot vs **FrogPilot**
------
-
-#### Community
-| Feature | openpilot | **FrogPilot** |
-|---------|:---------:|:---------:|
-| A Welcoming Community | ❌ | ✅ |
-| Erich / Primary Moderators / 🦇 | ✅ | ❌ |
-
-#### Core Features
-| Feature | openpilot | **FrogPilot** |
-|---------|:---------:|:---------:|
-| Always On Lateral (Steering) | ❌ | ✅ |
-| Blind Spot Integration | ✅ | ✅ |
-| Conditional Experimental Mode | ❌ | ✅ |
-| Custom Themes | ❌ | ✅ |
-| Driver Monitoring | ✅ | ✅ |
-| Driving Model Selector | ❌ | ✅ |
-| Holiday Themes | ❌ | ✅ |
-| Speed Limit Support | ❌ | ✅ |
-| Weather Detection | ❌ | ✅ |
-
-#### Device & Hardware
-| Feature | openpilot | **FrogPilot** |
-|---------|:---------:|:---------:|
-| Advanced Volume Controller | ❌ | ✅ |
-| Automatic Version Backups | ❌ | ✅ |
-| C3 Support | ❌ | ✅ |
-| comma Pedal Support | ❌ | ✅ |
-| High Quality Recordings | ❌ | ✅ |
-| SDSU Support | ❌ | ✅ |
-| ZSS Support | ❌ | ✅ |
-
-#### Gas/Brake
-| Feature | openpilot | **FrogPilot** |
-|---------|:---------:|:---------:|
-| Adaptive Cruise Control (ACC) | ✅ | ✅ |
-| Advanced Live Tuning | ❌ | ✅ |
-| Custom Following Distances | ❌ | ✅ |
-| Faster Human-Like Acceleration | ❌ | ✅ |
-| Human-Like Speed Control in Curves | ❌ | ✅ |
-| Smoother Human-Like Braking | ❌ | ✅ |
-
-#### Steering
-| Feature | openpilot | **FrogPilot** |
-|---------|:---------:|:---------:|
-| Advanced Live Tuning | ❌ | ✅ |
-| Automatic Lane Changes | ❌ | ✅ |
-| Increased Steering Torque* | ❌ | ✅ |
-| Lane Centering (LKAS) | ✅ | ✅ |
-| Lane Change Assist | ✅ | ✅ |
-
-*Select vehicles only
-
-And much much more!
-
-🌟 Highlight Features
------
-
-### 🚗 Always On Lateral (AOL)
-
-With **"Always On Lateral"**, lane-centering stays active whenever cruise control is on, even when you press the accelerator or brake. This means steering assist won't cut out during manual speed adjustments giving you continuous support through curves, traffic, or mountain roads!
-
---
-
-### 🧠 Conditional Experimental Mode (CEM)
-
-**["Experimental Mode"](https://blog.comma.ai/090release/#experimental-mode)** lets openpilot drive at the speed it thinks a human would to allow slowing for curves, stopping at stoplights/stop signs, and adapting to traffic. This makes it powerful in complex scenarios, but it's still, well, "experimental" and less predictable than **"Chill Mode"**. But **"Conditional Experimental Mode"** gives you the best of both worlds by automatically switching between **"Chill Mode"** for steady cruising and **"Experimental Mode"** for more advanced situations to help fully automate your driving experience!
-
-**"Conditional Experimental Mode"** switches into **"Experimental Mode"** when conditions like these are met:
- Approaching curves and turns
- Detecting slower or stopped lead vehicles
- Driving below a set speed
- Predicting an upcoming stop (e.g. stoplight or stop sign)
-
-Once conditions clear it returns to **"Chill Mode"** for stability and predictability.
-
-**Note: Stay attentive as "Experimental Mode" is an alpha feature and mistakes are expected!**
-
---
-
-### 🎭 Driving Personalities
-
-With **"Driving Personalities"**, you choose how the vehicle behaves with four adjustable profiles:
-
- **Traffic:** Catered towards stop-and-go traffic by minimizing gaps and delays  
- **Aggressive:** Aimed to provide tighter following distances and quicker reactions  
- **Standard:** Useful for a balanced, all-purpose driving  
- **Relaxed:** A smoother driving experience with larger following distance gaps  
-
-Each profile can be fine-tuned to change the desired following distance, acceleration, and braking style letting you shape **FrogPilot**'s behavior to match your own driving preferences! Profiles can be switched instantly using the following distance button on the steering wheel, while **"Traffic Mode"** can be enabled by simply holding down the following distance button.
-
---
-
-### 📏 Speed Limit Controller (SLC)
-
-With **"Speed Limit Controller"**, **FrogPilot** automatically adapts to the road's posted speed using information from downloaded **["OpenStreetMap"](https://www.openstreetmap.org)** maps, online **["Mapbox"](https://www.mapbox.com)** data, and the vehicle's dashboard (if supported).
-
-Offsets let you fine-tune how closely **FrogPilot** follows posted limits across different speed ranges allowing you to cruise slightly above or below for a more natural driving experience. If no speed limit is available, you can choose whether **FrogPilot** drives at the set speed, falls back to the last known speed limit, or uses **"Experimental Mode"** to estimate one with the driving model.
-
-Maps can be downloaded directly in settings and updated automatically on a schedule ensuring your device always has the latest speed limits!
-
-**Note: Speed limits are only as accurate as the available speed limit data. Always stay attentive and adjust your speed when necessary!**
-
---
-
-### 🎨 Themes
-
-With **"Themes"**, you can personalize **FrogPilot**'s driving screen to make it uniquely yours! Choose from:
-
- **Color Schemes**
- **Icon Packs**
- **Sound Packs**
- **Turn Signal Animations**
- **Steering Wheel Icons**
-
-Enjoy pre-existing **FrogPilot** and seasonal holiday themes, or you can create your own with the **"Theme Maker"** and even share them with the community! For extra fun, enable features like the Mario Kart–style **"Rainbow Path"** or **"Random Events"** that add playful visual effects while you drive!
-
---
-
-And lots more! From safety enhancements to personalization options, **FrogPilot** continues to evolve with features that put you in control. Check it out today for yourself!
-
---
-
-🔧 Branches
------
-| Branch                     | Install&nbsp;URL          | Description                                            | Recommended&nbsp;For     |
-|----------------------------|---------------------------|--------------------------------------------------------|--------------------------|
-| FrogPilot                  | frogpilot.download        | The main release branch.                               | Everyone                 |
-| FrogPilot&#8209;Staging    | staging.frogpilot.download| Beta branch with upcoming features. Expect bugs!       | Early&nbsp;Adopters      |
-| FrogPilot&#8209;Testing    | testing.frogpilot.download| Alpha branch with bleeding-edge features. Breaks often!| Advanced&nbsp;Testers    |
-| FrogPilot&#8209;Development| No :)                     | Active development branch. Don't use!                  | **FrogPilot**&nbsp;Developers|
-| MAKE&#8209;PRS&#8209;HERE  | No :)                     | Workspace for pull requests. Don't use!                | Contributors             |
-
-🧰 How to Install
------
-
-The easiest way to install **FrogPilot** is by entering this URL on the installation screen:
-
-```
-frogpilot.download
-```
-
-**DO NOT** install the **FrogPilot-Development** branch. I'm constantly breaking things on there, so unless you don't want to use **FrogPilot**, **NEVER** install it!
-
-![](https://i.imgur.com/LTCqRqB.png)
-
-🐞 Bug Reports / Feature Requests
------
-
-If you run into bugs, issues, or have ideas for new features, please post about it on the **[FrogPilot Discord](https://discord.gg/frogpilot)**! Feedback helps improve **FrogPilot** and create a better experience for everyone!
-
-To report a bug, please post it in [**#bug-reports**](https://discord.com/channels/1137853399715549214/1162100167110053888).  
-To request a feature, please post it in [**#feature-requests**](https://discord.com/channels/1137853399715549214/1160318669839147259).  
-
-Please include as much detail as possible! Photos, videos, log files, or anything that can help explain the issue or idea are very helpful!
-
-I'll do my best to respond promptly, but not every request can be addressed right away. Your feedback is always appreciated and helps make **FrogPilot** the best it can be!
-
-📋 Credits
------
-
-* [Aidenir](https://github.com/Aidenir)
-* [AlexandreSato](https://github.com/AlexandreSato)
-* [cfranyota](https://github.com/cfranyota)
-* [cydia2020](https://github.com/cydia2020)
-* [dragonpilot-community](https://github.com/dragonpilot-community)
-* [ErichMoraga](https://github.com/ErichMoraga)
-* [garrettpall](https://github.com/garrettpall)
-* [jakethesnake420](https://github.com/jakethesnake420)
-* [jyoung8607](https://github.com/jyoung8607)
-* [mike8643](https://github.com/mike8643)
-* [neokii](https://github.com/neokii)
-* [OPGM](https://github.com/opgm)
-* [OPKR](https://github.com/openpilotkr)
-* [pfeiferj](https://github.com/pfeiferj)
-* [realfast](https://github.com/realfast)
-* [syncword](https://github.com/syncword)
-* [twilsonco](https://github.com/twilsonco)
-
-Star History
------
-
-[![Star History Chart](https://api.star-history.com/svg?repos=FrogAi/FrogPilot&type=Date)](https://www.star-history.com/#FrogAi/FrogPilot&Date)
+# StarPilot
+
+[![Ask DeepWiki](https://deepwiki.com/badge.svg)](https://deepwiki.com/firestar5683/StarPilot)
+[![Discord](https://img.shields.io/discord/1137853399715549214?label=Discord)](https://firestar.link/discord)
+[![Last Updated](https://img.shields.io/github/last-commit/firestar5683/StarPilot/StarPilot)](https://github.com/firestar5683/StarPilot)
+[![Wiki](https://img.shields.io/badge/Wiki-StarPilot-blue?logo=wiki)](https://wiki.firestar.link)
+
+**StarPilot** is a custom fork of [comma.ai's openpilot](https://comma.ai/openpilot),
+an open source driver assistance system.
+
+Openpilot provides
+* Automated Lane Centering
+* Adaptive Cruise Control
+* Lane Change Assist
+* Driver Monitoring *without wheel nags*
+
+StarPilot adds support for many GM vehicles along with improved tuning,
+especially for radar-less (camera only) vehicles.
+
+StarPilot is built off of [FrogPilot](https://github.com/FrogAi/FrogPilot)
+and supports the major features FrogPilot offers.
+
+StarPilot has a vibrant, welcoming community [discord](https://firestar.link/discord).
+Stop by to chat or ask questions!
+
+## Documentation
+
+Please see [https://wiki.firestar.link](https://wiki.firestar.link) for hardware lists,
+installation guides, and software configuration.
+
+## Features
+
+* Full support for Comma C3, C3X, and C4
+  * C4 is currently in release testing. Join our fleet of C4 testers!
+* Model switcher with all of comma's tinygrad driving models
+* Special longitudinal planner tuning for VoACC (visual only, radar-less) vehicles
+* Galaxy: StarPilot's portal to configure your comma device using your phone from anywhere.
+Download models, change settings, update software, visualize live model outputs for tuning.
+* Always On Lateral (full time steering assist)*
+* Learning Speed Limit Controller*
+* Conditional Experimental Mode (CEM)*
+* Driving Profiles*
+* Custom themes*
+* Alert Volume Controller*
+* Comma Pedal Interceptor support*
+* Toyota SDSU support*
+* ZSS support*
+* High quality dashcam recordings*
+* Enhanced tuning for CEM (dynamic experimental mode switching)
+
+\* [Inherited from FrogPilot](https://github.com/FrogAi/FrogPilot#openpilot-vs-frogpilot)
+
+## GM-only Features
+
+* Increased LKAS fault resiliency
+* ASCM_INT and SASCM support
+* Custom lateral torque controller, with special tuning for Bolts
+* 50% extra torque on 2017 Chevy Bolt
+* Improved lateral and longitudinal tuning
+* Dashboard cruise control display speed spoofing for vehicles with pedal interceptor
+* Extra steering wheel button functionality for vehicles with pedal interceptor
+* Optional toggle to boot comma when remote starting your vehicle
+
+## Developer Features
+
+* Native and cross compilation for Windows, Mac, and Ubuntu
+* Custom AGNOS to support C3, C3X, and C4
+* To run UI on PC:
+  * `./c3` for large UI
+  * `./c4` for small UI
+* `./build` to produce cross compiled binaries for comma devices.
+Uses your comma's sysroot/toolchain
+* Toggle: "Use Precompiled Binaries" to allow switching between fast boot / editable builds
+* Custom long maneuver tests, specifically designed for regen-only vehicles
@@ -532,11 +532,12 @@ struct CarParams {
    useSteeringAngle @0 :Bool;
    kp @1 :Float32;
    ki @2 :Float32;
+    kd @8 : Float32;
    friction @3 :Float32;
-    kf @4 :Float32;
    steeringAngleDeadzoneDeg @5 :Float32;
    latAccelFactor @6 :Float32;
    latAccelOffset @7 :Float32;
+    kfDEPRECATED @4 :Float32;
  }

  struct LongitudinalPIDTuning {
@@ -544,7 +545,7 @@ struct CarParams {
    kpV @1 :List(Float32);
    kiBP @2 :List(Float32);
    kiV @3 :List(Float32);
-    kf @6 :Float32;
+    kfDEPRECATED @6 :Float32;
    deadzoneBP @4 :List(Float32);
    deadzoneV @5 :List(Float32);
  }
@@ -105,11 +105,7 @@ struct FrogPilotCarParams @0xf35cc4560bbf6ec2 {
  isHDA2 @3 :Bool;
  openpilotLongitudinalControlDisabled @4 :Bool;
  safetyConfigs @5 :List(SafetyConfig);
-
-  lateralTuning :union {
-    pid @6 :Car.CarParams.LateralPIDTuning;
-    torque @7 :Car.CarParams.LateralTorqueTuning;
-  }
+  canUseSASCM @6 :Bool;

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

 struct FrogPilotRadarState @0xcb9fd56c7057593a {
@@ -5262,17 +5262,17 @@ const ::capnp::_::RawSchema s_9622723fcbd14c2e = {
  0, 5, i_9622723fcbd14c2e, nullptr, nullptr, { &s_9622723fcbd14c2e, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<147> b_80366e0e804ecc1d = {
+static const ::capnp::_::AlignedData<163> b_80366e0e804ecc1d = {
  {   0,   0,   0,   0,   5,   0,   6,   0,
     29, 204,  78, 128,  14, 110,  54, 128,
-     20,   0,   0,   0,   1,   0,   4,   0,
+     20,   0,   0,   0,   1,   0,   5,   0,
    218, 169, 170, 144,  36,  55, 105, 140,
      0,   0,   7,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
     21,   0,   0,   0,  66,   1,   0,   0,
     37,   0,   0,   0,   7,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     33,   0,   0,   0, 199,   1,   0,   0,
+     33,   0,   0,   0, 255,   1,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
     99,  97, 114,  46,  99,  97, 112, 110,
@@ -5281,63 +5281,70 @@ static const ::capnp::_::AlignedData<147> b_80366e0e804ecc1d = {
    114,  97, 108,  84, 111, 114, 113, 117,
    101,  84, 117, 110, 105, 110, 103,   0,
      0,   0,   0,   0,   1,   0,   1,   0,
-     32,   0,   0,   0,   3,   0,   4,   0,
+     36,   0,   0,   0,   3,   0,   4,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   1,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    209,   0,   0,   0, 138,   0,   0,   0,
+    237,   0,   0,   0, 138,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    212,   0,   0,   0,   3,   0,   1,   0,
-    224,   0,   0,   0,   2,   0,   1,   0,
+    240,   0,   0,   0,   3,   0,   1,   0,
+    252,   0,   0,   0,   2,   0,   1,   0,
      1,   0,   0,   0,   1,   0,   0,   0,
      0,   0,   1,   0,   1,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    221,   0,   0,   0,  26,   0,   0,   0,
+    249,   0,   0,   0,  26,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    216,   0,   0,   0,   3,   0,   1,   0,
-    228,   0,   0,   0,   2,   0,   1,   0,
+    244,   0,   0,   0,   3,   0,   1,   0,
+      0,   1,   0,   0,   2,   0,   1,   0,
      2,   0,   0,   0,   2,   0,   0,   0,
      0,   0,   1,   0,   2,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    225,   0,   0,   0,  26,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    220,   0,   0,   0,   3,   0,   1,   0,
-    232,   0,   0,   0,   2,   0,   1,   0,
-      3,   0,   0,   0,   3,   0,   0,   0,
-      0,   0,   1,   0,   3,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    229,   0,   0,   0,  74,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    228,   0,   0,   0,   3,   0,   1,   0,
-    240,   0,   0,   0,   2,   0,   1,   0,
-      4,   0,   0,   0,   4,   0,   0,   0,
-      0,   0,   1,   0,   4,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    237,   0,   0,   0,  26,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    232,   0,   0,   0,   3,   0,   1,   0,
-    244,   0,   0,   0,   2,   0,   1,   0,
-      5,   0,   0,   0,   5,   0,   0,   0,
-      0,   0,   1,   0,   5,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    241,   0,   0,   0, 202,   0,   0,   0,
+    253,   0,   0,   0,  26,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
    248,   0,   0,   0,   3,   0,   1,   0,
      4,   1,   0,   0,   2,   0,   1,   0,
-      6,   0,   0,   0,   6,   0,   0,   0,
-      0,   0,   1,   0,   6,   0,   0,   0,
+      4,   0,   0,   0,   3,   0,   0,   0,
+      0,   0,   1,   0,   3,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-      1,   1,   0,   0, 122,   0,   0,   0,
+      1,   1,   0,   0,  74,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
      0,   1,   0,   0,   3,   0,   1,   0,
     12,   1,   0,   0,   2,   0,   1,   0,
-      7,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   1,   0,   7,   0,   0,   0,
+      8,   0,   0,   0,   4,   0,   0,   0,
+      0,   0,   1,   0,   4,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-      9,   1,   0,   0, 122,   0,   0,   0,
+      9,   1,   0,   0, 106,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
      8,   1,   0,   0,   3,   0,   1,   0,
     20,   1,   0,   0,   2,   0,   1,   0,
+      5,   0,   0,   0,   5,   0,   0,   0,
+      0,   0,   1,   0,   5,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     17,   1,   0,   0, 202,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     24,   1,   0,   0,   3,   0,   1,   0,
+     36,   1,   0,   0,   2,   0,   1,   0,
+      6,   0,   0,   0,   6,   0,   0,   0,
+      0,   0,   1,   0,   6,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     33,   1,   0,   0, 122,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     32,   1,   0,   0,   3,   0,   1,   0,
+     44,   1,   0,   0,   2,   0,   1,   0,
+      7,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   1,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     41,   1,   0,   0, 122,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     40,   1,   0,   0,   3,   0,   1,   0,
+     52,   1,   0,   0,   2,   0,   1,   0,
+      3,   0,   0,   0,   8,   0,   0,   0,
+      0,   0,   1,   0,   8,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     49,   1,   0,   0,  26,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     44,   1,   0,   0,   3,   0,   1,   0,
+     56,   1,   0,   0,   2,   0,   1,   0,
    117, 115, 101,  83, 116, 101, 101, 114,
    105, 110, 103,  65, 110, 103, 108, 101,
      0,   0,   0,   0,   0,   0,   0,   0,
@@ -5373,7 +5380,8 @@ static const ::capnp::_::AlignedData<147> b_80366e0e804ecc1d = {
     10,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    107, 102,   0,   0,   0,   0,   0,   0,
+    107, 102,  68,  69,  80,  82,  69,  67,
+     65,  84,  69,  68,   0,   0,   0,   0,
     10,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
@@ -5403,6 +5411,14 @@ static const ::capnp::_::AlignedData<147> b_80366e0e804ecc1d = {
      0,   0,   0,   0,   0,   0,   0,   0,
    108,  97, 116,  65,  99,  99, 101, 108,
     79, 102, 102, 115, 101, 116,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    107, 100,   0,   0,   0,   0,   0,   0,
     10,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
@@ -5413,14 +5429,14 @@ static const ::capnp::_::AlignedData<147> b_80366e0e804ecc1d = {
 };
 ::capnp::word const* const bp_80366e0e804ecc1d = b_80366e0e804ecc1d.words;
 #if !CAPNP_LITE
-static const uint16_t m_80366e0e804ecc1d[] = {3, 4, 2, 1, 6, 7, 5, 0};
-static const uint16_t i_80366e0e804ecc1d[] = {0, 1, 2, 3, 4, 5, 6, 7};
+static const uint16_t m_80366e0e804ecc1d[] = {3, 8, 4, 2, 1, 6, 7, 5, 0};
+static const uint16_t i_80366e0e804ecc1d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8};
 const ::capnp::_::RawSchema s_80366e0e804ecc1d = {
-  0x80366e0e804ecc1d, b_80366e0e804ecc1d.words, 147, nullptr, m_80366e0e804ecc1d,
-  0, 8, i_80366e0e804ecc1d, nullptr, nullptr, { &s_80366e0e804ecc1d, nullptr, nullptr, 0, 0, nullptr }, false
+  0x80366e0e804ecc1d, b_80366e0e804ecc1d.words, 163, nullptr, m_80366e0e804ecc1d,
+  0, 9, i_80366e0e804ecc1d, nullptr, nullptr, { &s_80366e0e804ecc1d, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<151> b_c342cefc303e9b8e = {
+static const ::capnp::_::AlignedData<152> b_c342cefc303e9b8e = {
  {   0,   0,   0,   0,   5,   0,   6,   0,
    142, 155,  62,  48, 252, 206,  66, 195,
     20,   0,   0,   0,   1,   0,   1,   0,
@@ -5486,10 +5502,10 @@ static const ::capnp::_::AlignedData<151> b_c342cefc303e9b8e = {
      4,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   1,   0,   6,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     53,   1,   0,   0,  26,   0,   0,   0,
+     53,   1,   0,   0, 106,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     48,   1,   0,   0,   3,   0,   1,   0,
-     60,   1,   0,   0,   2,   0,   1,   0,
+     52,   1,   0,   0,   3,   0,   1,   0,
+     64,   1,   0,   0,   2,   0,   1,   0,
    107, 112,  66,  80,   0,   0,   0,   0,
     14,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
@@ -5564,7 +5580,8 @@ static const ::capnp::_::AlignedData<151> b_c342cefc303e9b8e = {
     14,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    107, 102,   0,   0,   0,   0,   0,   0,
+    107, 102,  68,  69,  80,  82,  69,  67,
+     65,  84,  69,  68,   0,   0,   0,   0,
     10,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
@@ -5578,7 +5595,7 @@ static const ::capnp::_::AlignedData<151> b_c342cefc303e9b8e = {
 static const uint16_t m_c342cefc303e9b8e[] = {4, 5, 6, 2, 3, 0, 1};
 static const uint16_t i_c342cefc303e9b8e[] = {0, 1, 2, 3, 4, 5, 6};
 const ::capnp::_::RawSchema s_c342cefc303e9b8e = {
-  0xc342cefc303e9b8e, b_c342cefc303e9b8e.words, 151, nullptr, m_c342cefc303e9b8e,
+  0xc342cefc303e9b8e, b_c342cefc303e9b8e.words, 152, nullptr, m_c342cefc303e9b8e,
  0, 7, i_c342cefc303e9b8e, nullptr, nullptr, { &s_c342cefc303e9b8e, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
@@ -626,7 +626,7 @@ struct CarParams::LateralTorqueTuning {
  class Pipeline;

  struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(80366e0e804ecc1d, 4, 0)
+    CAPNP_DECLARE_STRUCT_HEADER(80366e0e804ecc1d, 5, 0)
    #if !CAPNP_LITE
    static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
    #endif  // !CAPNP_LITE
@@ -3140,7 +3140,7 @@ public:

  inline float getFriction() const;

-  inline float getKf() const;
+  inline float getKfDEPRECATED() const;

  inline float getSteeringAngleDeadzoneDeg() const;

@@ -3148,6 +3148,8 @@ public:

  inline float getLatAccelOffset() const;

+  inline float getKd() const;
+
 private:
  ::capnp::_::StructReader _reader;
  template <typename, ::capnp::Kind>
@@ -3188,8 +3190,8 @@ public:
  inline float getFriction();
  inline void setFriction(float value);

-  inline float getKf();
-  inline void setKf(float value);
+  inline float getKfDEPRECATED();
+  inline void setKfDEPRECATED(float value);

  inline float getSteeringAngleDeadzoneDeg();
  inline void setSteeringAngleDeadzoneDeg(float value);
@@ -3200,6 +3202,9 @@ public:
  inline float getLatAccelOffset();
  inline void setLatAccelOffset(float value);

+  inline float getKd();
+  inline void setKd(float value);
+
 private:
  ::capnp::_::StructBuilder _builder;
  template <typename, ::capnp::Kind>
@@ -3261,7 +3266,7 @@ public:
  inline bool hasDeadzoneV() const;
  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader getDeadzoneV() const;

-  inline float getKf() const;
+  inline float getKfDEPRECATED() const;

 private:
  ::capnp::_::StructReader _reader;
@@ -3339,8 +3344,8 @@ public:
  inline void adoptDeadzoneV(::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>&& value);
  inline ::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>> disownDeadzoneV();

-  inline float getKf();
-  inline void setKf(float value);
+  inline float getKfDEPRECATED();
+  inline void setKfDEPRECATED(float value);

 private:
  ::capnp::_::StructBuilder _builder;
@@ -7791,16 +7796,16 @@ inline void CarParams::LateralTorqueTuning::Builder::setFriction(float value) {
      ::capnp::bounded<3>() * ::capnp::ELEMENTS, value);
 }

-inline float CarParams::LateralTorqueTuning::Reader::getKf() const {
+inline float CarParams::LateralTorqueTuning::Reader::getKfDEPRECATED() const {
  return _reader.getDataField<float>(
      ::capnp::bounded<4>() * ::capnp::ELEMENTS);
 }

-inline float CarParams::LateralTorqueTuning::Builder::getKf() {
+inline float CarParams::LateralTorqueTuning::Builder::getKfDEPRECATED() {
  return _builder.getDataField<float>(
      ::capnp::bounded<4>() * ::capnp::ELEMENTS);
 }
-inline void CarParams::LateralTorqueTuning::Builder::setKf(float value) {
+inline void CarParams::LateralTorqueTuning::Builder::setKfDEPRECATED(float value) {
  _builder.setDataField<float>(
      ::capnp::bounded<4>() * ::capnp::ELEMENTS, value);
 }
@@ -7847,6 +7852,20 @@ inline void CarParams::LateralTorqueTuning::Builder::setLatAccelOffset(float val
      ::capnp::bounded<7>() * ::capnp::ELEMENTS, value);
 }

+inline float CarParams::LateralTorqueTuning::Reader::getKd() const {
+  return _reader.getDataField<float>(
+      ::capnp::bounded<8>() * ::capnp::ELEMENTS);
+}
+
+inline float CarParams::LateralTorqueTuning::Builder::getKd() {
+  return _builder.getDataField<float>(
+      ::capnp::bounded<8>() * ::capnp::ELEMENTS);
+}
+inline void CarParams::LateralTorqueTuning::Builder::setKd(float value) {
+  _builder.setDataField<float>(
+      ::capnp::bounded<8>() * ::capnp::ELEMENTS, value);
+}
+
 inline bool CarParams::LongitudinalPIDTuning::Reader::hasKpBP() const {
  return !_reader.getPointerField(
      ::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
@@ -8075,16 +8094,16 @@ inline ::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>> CarPara
      ::capnp::bounded<5>() * ::capnp::POINTERS));
 }

-inline float CarParams::LongitudinalPIDTuning::Reader::getKf() const {
+inline float CarParams::LongitudinalPIDTuning::Reader::getKfDEPRECATED() const {
  return _reader.getDataField<float>(
      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
 }

-inline float CarParams::LongitudinalPIDTuning::Builder::getKf() {
+inline float CarParams::LongitudinalPIDTuning::Builder::getKfDEPRECATED() {
  return _builder.getDataField<float>(
      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
 }
-inline void CarParams::LongitudinalPIDTuning::Builder::setKf(float value) {
+inline void CarParams::LongitudinalPIDTuning::Builder::setKfDEPRECATED(float value) {
  _builder.setDataField<float>(
      ::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
 }
@@ -642,12 +642,12 @@ const ::capnp::_::RawSchema s_aedffd8f31e7b55d = {
 };
 #endif  // !CAPNP_LITE
 CAPNP_DEFINE_ENUM(EventName_aedffd8f31e7b55d, aedffd8f31e7b55d);
-static const ::capnp::_::AlignedData<132> b_f35cc4560bbf6ec2 = {
+static const ::capnp::_::AlignedData<139> b_f35cc4560bbf6ec2 = {
  {   0,   0,   0,   0,   5,   0,   6,   0,
    194, 110, 191,  11,  86, 196,  92, 243,
     13,   0,   0,   0,   1,   0,   1,   0,
     89,  10,  85,  29, 102, 186,  38, 181,
-      2,   0,   7,   0,   0,   0,   0,   0,
+      1,   0,   7,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
     21,   0,   0,   0,   2,   1,   0,   0,
     33,   0,   0,   0,  23,   0,   0,   0,
@@ -707,13 +707,13 @@ static const ::capnp::_::AlignedData<132> b_f35cc4560bbf6ec2 = {
      0,   0,   0,   0,   0,   0,   0,   0,
    224,   0,   0,   0,   3,   0,   1,   0,
    252,   0,   0,   0,   2,   0,   1,   0,
-      6,   0,   0,   0,   0,   0,   0,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-     73, 118, 234, 203, 210,  73, 201, 252,
-    249,   0,   0,   0, 114,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
+      6,   0,   0,   0,   4,   0,   0,   0,
+      0,   0,   1,   0,   6,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
+    249,   0,   0,   0,  98,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
+    248,   0,   0,   0,   3,   0,   1,   0,
+      4,   1,   0,   0,   2,   0,   1,   0,
     99,  97, 110,  85, 115, 101,  80, 101,
    100,  97, 108,   0,   0,   0,   0,   0,
      1,   0,   0,   0,   0,   0,   0,   0,
@@ -773,20 +773,26 @@ static const ::capnp::_::AlignedData<132> b_f35cc4560bbf6ec2 = {
     14,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    108,  97, 116, 101, 114,  97, 108,  84,
-    117, 110, 105, 110, 103,   0,   0,   0, }
+     99,  97, 110,  85, 115, 101,  83,  65,
+     83,  67,  77,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0, }
 };
 ::capnp::word const* const bp_f35cc4560bbf6ec2 = b_f35cc4560bbf6ec2.words;
 #if !CAPNP_LITE
 static const ::capnp::_::RawSchema* const d_f35cc4560bbf6ec2[] = {
  &s_8d65dd40bad40951,
-  &s_fcc949d2cbea7649,
 };
-static const uint16_t m_f35cc4560bbf6ec2[] = {0, 1, 2, 3, 6, 4, 5};
+static const uint16_t m_f35cc4560bbf6ec2[] = {0, 6, 1, 2, 3, 4, 5};
 static const uint16_t i_f35cc4560bbf6ec2[] = {0, 1, 2, 3, 4, 5, 6};
 const ::capnp::_::RawSchema s_f35cc4560bbf6ec2 = {
-  0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 132, d_f35cc4560bbf6ec2, m_f35cc4560bbf6ec2,
-  2, 7, i_f35cc4560bbf6ec2, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false
+  0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 139, d_f35cc4560bbf6ec2, m_f35cc4560bbf6ec2,
+  1, 7, i_f35cc4560bbf6ec2, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<36> b_8d65dd40bad40951 = {
@@ -836,71 +842,6 @@ const ::capnp::_::RawSchema s_8d65dd40bad40951 = {
  0, 1, i_8d65dd40bad40951, nullptr, nullptr, { &s_8d65dd40bad40951, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<49> b_fcc949d2cbea7649 = {
-  {   0,   0,   0,   0,   5,   0,   6,   0,
-     73, 118, 234, 203, 210,  73, 201, 252,
-     32,   0,   0,   0,   1,   0,   1,   0,
-    194, 110, 191,  11,  86, 196,  92, 243,
-      2,   0,   7,   0,   1,   0,   2,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 114,   1,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     33,   0,   0,   0, 119,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  70, 114, 111,
-    103,  80, 105, 108, 111, 116,  67,  97,
-    114,  80,  97, 114,  97, 109, 115,  46,
-    108,  97, 116, 101, 114,  97, 108,  84,
-    117, 110, 105, 110, 103,   0,   0,   0,
-      8,   0,   0,   0,   3,   0,   4,   0,
-      0,   0, 255, 255,   1,   0,   0,   0,
-      0,   0,   1,   0,   6,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     41,   0,   0,   0,  34,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     36,   0,   0,   0,   3,   0,   1,   0,
-     48,   0,   0,   0,   2,   0,   1,   0,
-      1,   0, 254, 255,   1,   0,   0,   0,
-      0,   0,   1,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     45,   0,   0,   0,  58,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     40,   0,   0,   0,   3,   0,   1,   0,
-     52,   0,   0,   0,   2,   0,   1,   0,
-    112, 105, 100,   0,   0,   0,   0,   0,
-     16,   0,   0,   0,   0,   0,   0,   0,
-     46,  76, 209, 203,  63, 114,  34, 150,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     16,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    116, 111, 114, 113, 117, 101,   0,   0,
-     16,   0,   0,   0,   0,   0,   0,   0,
-     29, 204,  78, 128,  14, 110,  54, 128,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     16,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0, }
-};
-::capnp::word const* const bp_fcc949d2cbea7649 = b_fcc949d2cbea7649.words;
-#if !CAPNP_LITE
-static const ::capnp::_::RawSchema* const d_fcc949d2cbea7649[] = {
-  &s_80366e0e804ecc1d,
-  &s_9622723fcbd14c2e,
-  &s_f35cc4560bbf6ec2,
-};
-static const uint16_t m_fcc949d2cbea7649[] = {0, 1};
-static const uint16_t i_fcc949d2cbea7649[] = {0, 1};
-const ::capnp::_::RawSchema s_fcc949d2cbea7649 = {
-  0xfcc949d2cbea7649, b_fcc949d2cbea7649.words, 49, d_fcc949d2cbea7649, m_fcc949d2cbea7649,
-  3, 2, i_fcc949d2cbea7649, nullptr, nullptr, { &s_fcc949d2cbea7649, nullptr, nullptr, 0, 0, nullptr }, false
-};
-#endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<268> b_da96579883444c35 = {
  {   0,   0,   0,   0,   5,   0,   6,   0,
     53,  76,  68, 131, 152,  87, 150, 218,
@@ -1739,7 +1680,7 @@ const ::capnp::_::RawSchema s_f416ec09499d9d19 = {
  0, 3, i_f416ec09499d9d19, nullptr, nullptr, { &s_f416ec09499d9d19, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<597> b_a1680744031fdb2d = {
+static const ::capnp::_::AlignedData<613> b_a1680744031fdb2d = {
  {   0,   0,   0,   0,   5,   0,   6,   0,
     45, 219,  31,   3,  68,   7, 104, 161,
     13,   0,   0,   0,   1,   0,  13,   0,
@@ -1749,7 +1690,7 @@ static const ::capnp::_::AlignedData<597> b_a1680744031fdb2d = {
     21,   0,   0,   0, 218,   0,   0,   0,
     33,   0,   0,   0,   7,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     29,   0,   0,   0, 175,   7,   0,   0,
+     29,   0,   0,   0, 231,   7,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
     99, 117, 115, 116, 111, 109,  46,  99,
@@ -1757,252 +1698,259 @@ static const ::capnp::_::AlignedData<597> b_a1680744031fdb2d = {
    103,  80, 105, 108, 111, 116,  80, 108,
     97, 110,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   1,   0,   1,   0,
-    140,   0,   0,   0,   3,   0,   4,   0,
+    144,   0,   0,   0,   3,   0,   4,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   1,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    197,   3,   0,   0, 138,   0,   0,   0,
+    225,   3,   0,   0, 138,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    200,   3,   0,   0,   3,   0,   1,   0,
-    212,   3,   0,   0,   2,   0,   1,   0,
+    228,   3,   0,   0,   3,   0,   1,   0,
+    240,   3,   0,   0,   2,   0,   1,   0,
      1,   0,   0,   0,   1,   0,   0,   0,
      0,   0,   1,   0,   1,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    209,   3,   0,   0, 178,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    212,   3,   0,   0,   3,   0,   1,   0,
-    224,   3,   0,   0,   2,   0,   1,   0,
-      2,   0,   0,   0,  64,   0,   0,   0,
-      0,   0,   1,   0,   2,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    221,   3,   0,   0, 162,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    224,   3,   0,   0,   3,   0,   1,   0,
-    236,   3,   0,   0,   2,   0,   1,   0,
-      3,   0,   0,   0,   3,   0,   0,   0,
-      0,   0,   1,   0,   3,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    233,   3,   0,   0,  74,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    232,   3,   0,   0,   3,   0,   1,   0,
-    244,   3,   0,   0,   2,   0,   1,   0,
-      4,   0,   0,   0,  65,   0,   0,   0,
-      0,   0,   1,   0,   4,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    241,   3,   0,   0,  98,   0,   0,   0,
+    237,   3,   0,   0, 178,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
    240,   3,   0,   0,   3,   0,   1,   0,
    252,   3,   0,   0,   2,   0,   1,   0,
-      5,   0,   0,   0,   4,   0,   0,   0,
-      0,   0,   1,   0,   5,   0,   0,   0,
+      2,   0,   0,   0,  64,   0,   0,   0,
+      0,   0,   1,   0,   2,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    249,   3,   0,   0,  90,   0,   0,   0,
+    249,   3,   0,   0, 162,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    248,   3,   0,   0,   3,   0,   1,   0,
-      4,   4,   0,   0,   2,   0,   1,   0,
-      6,   0,   0,   0,   3,   0,   0,   0,
-      0,   0,   1,   0,   6,   0,   0,   0,
+    252,   3,   0,   0,   3,   0,   1,   0,
+      8,   4,   0,   0,   2,   0,   1,   0,
+      3,   0,   0,   0,   3,   0,   0,   0,
+      0,   0,   1,   0,   3,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-      1,   4,   0,   0, 178,   0,   0,   0,
+      5,   4,   0,   0,  74,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
      4,   4,   0,   0,   3,   0,   1,   0,
     16,   4,   0,   0,   2,   0,   1,   0,
+      4,   0,   0,   0,  65,   0,   0,   0,
+      0,   0,   1,   0,   4,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     13,   4,   0,   0,  98,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     12,   4,   0,   0,   3,   0,   1,   0,
+     24,   4,   0,   0,   2,   0,   1,   0,
+      5,   0,   0,   0,   4,   0,   0,   0,
+      0,   0,   1,   0,   5,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   4,   0,   0,  90,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     20,   4,   0,   0,   3,   0,   1,   0,
+     32,   4,   0,   0,   2,   0,   1,   0,
+      6,   0,   0,   0,   3,   0,   0,   0,
+      0,   0,   1,   0,   6,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     29,   4,   0,   0, 178,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     32,   4,   0,   0,   3,   0,   1,   0,
+     44,   4,   0,   0,   2,   0,   1,   0,
      7,   0,   0,   0,  66,   0,   0,   0,
      0,   0,   1,   0,   7,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     13,   4,   0,   0, 138,   0,   0,   0,
+     41,   4,   0,   0, 130,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     16,   4,   0,   0,   3,   0,   1,   0,
-     28,   4,   0,   0,   2,   0,   1,   0,
+     40,   4,   0,   0,   3,   0,   1,   0,
+     52,   4,   0,   0,   2,   0,   1,   0,
      8,   0,   0,   0,  67,   0,   0,   0,
      0,   0,   1,   0,   8,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     25,   4,   0,   0,  98,   0,   0,   0,
+     49,   4,   0,   0, 138,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     24,   4,   0,   0,   3,   0,   1,   0,
-     36,   4,   0,   0,   2,   0,   1,   0,
-      9,   0,   0,   0,   5,   0,   0,   0,
+     52,   4,   0,   0,   3,   0,   1,   0,
+     64,   4,   0,   0,   2,   0,   1,   0,
+      9,   0,   0,   0,  68,   0,   0,   0,
      0,   0,   1,   0,   9,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     33,   4,   0,   0, 146,   0,   0,   0,
+     61,   4,   0,   0,  98,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     36,   4,   0,   0,   3,   0,   1,   0,
-     48,   4,   0,   0,   2,   0,   1,   0,
-     10,   0,   0,   0,   0,   0,   0,   0,
+     60,   4,   0,   0,   3,   0,   1,   0,
+     72,   4,   0,   0,   2,   0,   1,   0,
+     10,   0,   0,   0,   5,   0,   0,   0,
      0,   0,   1,   0,  10,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     45,   4,   0,   0, 130,   0,   0,   0,
+     69,   4,   0,   0, 146,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     44,   4,   0,   0,   3,   0,   1,   0,
-     72,   4,   0,   0,   2,   0,   1,   0,
-     11,   0,   0,   0,   8,   0,   0,   0,
+     72,   4,   0,   0,   3,   0,   1,   0,
+     84,   4,   0,   0,   2,   0,   1,   0,
+     11,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   1,   0,  11,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     69,   4,   0,   0, 202,   0,   0,   0,
+     81,   4,   0,   0, 130,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     76,   4,   0,   0,   3,   0,   1,   0,
-     88,   4,   0,   0,   2,   0,   1,   0,
-     12,   0,   0,   0,  68,   0,   0,   0,
+     80,   4,   0,   0,   3,   0,   1,   0,
+    108,   4,   0,   0,   2,   0,   1,   0,
+     12,   0,   0,   0,   8,   0,   0,   0,
      0,   0,   1,   0,  12,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     85,   4,   0,   0, 106,   0,   0,   0,
+    105,   4,   0,   0, 202,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     84,   4,   0,   0,   3,   0,   1,   0,
-     96,   4,   0,   0,   2,   0,   1,   0,
-     13,   0,   0,   0,   9,   0,   0,   0,
+    112,   4,   0,   0,   3,   0,   1,   0,
+    124,   4,   0,   0,   2,   0,   1,   0,
+     13,   0,   0,   0,  69,   0,   0,   0,
      0,   0,   1,   0,  13,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     93,   4,   0,   0, 114,   0,   0,   0,
+    121,   4,   0,   0, 106,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     92,   4,   0,   0,   3,   0,   1,   0,
-    104,   4,   0,   0,   2,   0,   1,   0,
-     14,   0,   0,   0,  10,   0,   0,   0,
+    120,   4,   0,   0,   3,   0,   1,   0,
+    132,   4,   0,   0,   2,   0,   1,   0,
+     14,   0,   0,   0,   9,   0,   0,   0,
      0,   0,   1,   0,  14,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    101,   4,   0,   0, 122,   0,   0,   0,
+    129,   4,   0,   0, 114,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    100,   4,   0,   0,   3,   0,   1,   0,
-    112,   4,   0,   0,   2,   0,   1,   0,
-     15,   0,   0,   0,  11,   0,   0,   0,
+    128,   4,   0,   0,   3,   0,   1,   0,
+    140,   4,   0,   0,   2,   0,   1,   0,
+     15,   0,   0,   0,  10,   0,   0,   0,
      0,   0,   1,   0,  15,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    109,   4,   0,   0, 130,   0,   0,   0,
+    137,   4,   0,   0, 122,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    108,   4,   0,   0,   3,   0,   1,   0,
-    120,   4,   0,   0,   2,   0,   1,   0,
-     16,   0,   0,   0,  12,   0,   0,   0,
+    136,   4,   0,   0,   3,   0,   1,   0,
+    148,   4,   0,   0,   2,   0,   1,   0,
+     16,   0,   0,   0,  11,   0,   0,   0,
      0,   0,   1,   0,  16,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    117,   4,   0,   0, 130,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    116,   4,   0,   0,   3,   0,   1,   0,
-    128,   4,   0,   0,   2,   0,   1,   0,
-     17,   0,   0,   0,  69,   0,   0,   0,
-      0,   0,   1,   0,  17,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    125,   4,   0,   0,  74,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    124,   4,   0,   0,   3,   0,   1,   0,
-    136,   4,   0,   0,   2,   0,   1,   0,
-     18,   0,   0,   0,  13,   0,   0,   0,
-      0,   0,   1,   0,  18,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    133,   4,   0,   0, 114,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    132,   4,   0,   0,   3,   0,   1,   0,
-    144,   4,   0,   0,   2,   0,   1,   0,
-     19,   0,   0,   0,  14,   0,   0,   0,
-      0,   0,   1,   0,  19,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    141,   4,   0,   0, 138,   0,   0,   0,
+    145,   4,   0,   0, 130,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
    144,   4,   0,   0,   3,   0,   1,   0,
    156,   4,   0,   0,   2,   0,   1,   0,
-     20,   0,   0,   0,  15,   0,   0,   0,
-      0,   0,   1,   0,  20,   0,   0,   0,
+     17,   0,   0,   0,  12,   0,   0,   0,
+      0,   0,   1,   0,  17,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    153,   4,   0,   0, 162,   0,   0,   0,
+    153,   4,   0,   0, 130,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    156,   4,   0,   0,   3,   0,   1,   0,
-    168,   4,   0,   0,   2,   0,   1,   0,
-     21,   0,   0,   0,  16,   0,   0,   0,
-      0,   0,   1,   0,  21,   0,   0,   0,
+    152,   4,   0,   0,   3,   0,   1,   0,
+    164,   4,   0,   0,   2,   0,   1,   0,
+     18,   0,   0,   0,  70,   0,   0,   0,
+      0,   0,   1,   0,  18,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    165,   4,   0,   0, 146,   0,   0,   0,
+    161,   4,   0,   0,  74,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    160,   4,   0,   0,   3,   0,   1,   0,
+    172,   4,   0,   0,   2,   0,   1,   0,
+     19,   0,   0,   0,  13,   0,   0,   0,
+      0,   0,   1,   0,  19,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    169,   4,   0,   0, 114,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
    168,   4,   0,   0,   3,   0,   1,   0,
    180,   4,   0,   0,   2,   0,   1,   0,
-     22,   0,   0,   0,  17,   0,   0,   0,
-      0,   0,   1,   0,  22,   0,   0,   0,
+     20,   0,   0,   0,  14,   0,   0,   0,
+      0,   0,   1,   0,  20,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    177,   4,   0,   0, 154,   0,   0,   0,
+    177,   4,   0,   0, 138,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
    180,   4,   0,   0,   3,   0,   1,   0,
    192,   4,   0,   0,   2,   0,   1,   0,
-     23,   0,   0,   0,  18,   0,   0,   0,
+     21,   0,   0,   0,  15,   0,   0,   0,
+      0,   0,   1,   0,  21,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    189,   4,   0,   0, 162,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    192,   4,   0,   0,   3,   0,   1,   0,
+    204,   4,   0,   0,   2,   0,   1,   0,
+     22,   0,   0,   0,  16,   0,   0,   0,
+      0,   0,   1,   0,  22,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    201,   4,   0,   0, 146,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    204,   4,   0,   0,   3,   0,   1,   0,
+    216,   4,   0,   0,   2,   0,   1,   0,
+     23,   0,   0,   0,  17,   0,   0,   0,
      0,   0,   1,   0,  23,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    189,   4,   0,   0, 114,   0,   0,   0,
+    213,   4,   0,   0, 154,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    188,   4,   0,   0,   3,   0,   1,   0,
-    200,   4,   0,   0,   2,   0,   1,   0,
-     24,   0,   0,   0,  19,   0,   0,   0,
+    216,   4,   0,   0,   3,   0,   1,   0,
+    228,   4,   0,   0,   2,   0,   1,   0,
+     24,   0,   0,   0,  18,   0,   0,   0,
      0,   0,   1,   0,  24,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    197,   4,   0,   0, 162,   0,   0,   0,
+    225,   4,   0,   0, 114,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    200,   4,   0,   0,   3,   0,   1,   0,
-    212,   4,   0,   0,   2,   0,   1,   0,
-     25,   0,   0,   0,   1,   0,   0,   0,
+    224,   4,   0,   0,   3,   0,   1,   0,
+    236,   4,   0,   0,   2,   0,   1,   0,
+     25,   0,   0,   0,  19,   0,   0,   0,
      0,   0,   1,   0,  25,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    209,   4,   0,   0, 162,   0,   0,   0,
+    233,   4,   0,   0, 162,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    212,   4,   0,   0,   3,   0,   1,   0,
-    224,   4,   0,   0,   2,   0,   1,   0,
-     26,   0,   0,   0,  20,   0,   0,   0,
+    236,   4,   0,   0,   3,   0,   1,   0,
+    248,   4,   0,   0,   2,   0,   1,   0,
+     26,   0,   0,   0,   1,   0,   0,   0,
      0,   0,   1,   0,  26,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    221,   4,   0,   0,  82,   0,   0,   0,
+    245,   4,   0,   0, 162,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    220,   4,   0,   0,   3,   0,   1,   0,
-    232,   4,   0,   0,   2,   0,   1,   0,
-     27,   0,   0,   0,  21,   0,   0,   0,
+    248,   4,   0,   0,   3,   0,   1,   0,
+      4,   5,   0,   0,   2,   0,   1,   0,
+     27,   0,   0,   0,  20,   0,   0,   0,
      0,   0,   1,   0,  27,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    229,   4,   0,   0, 122,   0,   0,   0,
+      1,   5,   0,   0,  82,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    228,   4,   0,   0,   3,   0,   1,   0,
-    240,   4,   0,   0,   2,   0,   1,   0,
-     28,   0,   0,   0,  70,   0,   0,   0,
+      0,   5,   0,   0,   3,   0,   1,   0,
+     12,   5,   0,   0,   2,   0,   1,   0,
+     28,   0,   0,   0,  21,   0,   0,   0,
      0,   0,   1,   0,  28,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    237,   4,   0,   0, 146,   0,   0,   0,
+      9,   5,   0,   0, 122,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    240,   4,   0,   0,   3,   0,   1,   0,
-    252,   4,   0,   0,   2,   0,   1,   0,
-     29,   0,   0,   0,  22,   0,   0,   0,
+      8,   5,   0,   0,   3,   0,   1,   0,
+     20,   5,   0,   0,   2,   0,   1,   0,
+     29,   0,   0,   0,  71,   0,   0,   0,
      0,   0,   1,   0,  29,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    249,   4,   0,   0,  66,   0,   0,   0,
+     17,   5,   0,   0, 146,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    244,   4,   0,   0,   3,   0,   1,   0,
-      0,   5,   0,   0,   2,   0,   1,   0,
-     30,   0,   0,   0,  71,   0,   0,   0,
+     20,   5,   0,   0,   3,   0,   1,   0,
+     32,   5,   0,   0,   2,   0,   1,   0,
+     30,   0,   0,   0,  22,   0,   0,   0,
      0,   0,   1,   0,  30,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    253,   4,   0,   0, 106,   0,   0,   0,
+     29,   5,   0,   0,  66,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    252,   4,   0,   0,   3,   0,   1,   0,
-      8,   5,   0,   0,   2,   0,   1,   0,
+     24,   5,   0,   0,   3,   0,   1,   0,
+     36,   5,   0,   0,   2,   0,   1,   0,
     31,   0,   0,   0,  72,   0,   0,   0,
      0,   0,   1,   0,  31,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-      5,   5,   0,   0, 122,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      4,   5,   0,   0,   3,   0,   1,   0,
-     16,   5,   0,   0,   2,   0,   1,   0,
-     32,   0,   0,   0,  73,   0,   0,   0,
-      0,   0,   1,   0,  32,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     13,   5,   0,   0, 106,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     12,   5,   0,   0,   3,   0,   1,   0,
-     24,   5,   0,   0,   2,   0,   1,   0,
-     33,   0,   0,   0,  23,   0,   0,   0,
-      0,   0,   1,   0,  33,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     21,   5,   0,   0, 202,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     28,   5,   0,   0,   3,   0,   1,   0,
-     40,   5,   0,   0,   2,   0,   1,   0,
-     34,   0,   0,   0,  24,   0,   0,   0,
-      0,   0,   1,   0,  34,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     37,   5,   0,   0,  66,   0,   0,   0,
+     33,   5,   0,   0, 106,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
     32,   5,   0,   0,   3,   0,   1,   0,
     44,   5,   0,   0,   2,   0,   1,   0,
+     32,   0,   0,   0,  73,   0,   0,   0,
+      0,   0,   1,   0,  32,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     41,   5,   0,   0, 122,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     40,   5,   0,   0,   3,   0,   1,   0,
+     52,   5,   0,   0,   2,   0,   1,   0,
+     33,   0,   0,   0,  74,   0,   0,   0,
+      0,   0,   1,   0,  33,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     49,   5,   0,   0, 106,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     48,   5,   0,   0,   3,   0,   1,   0,
+     60,   5,   0,   0,   2,   0,   1,   0,
+     34,   0,   0,   0,  23,   0,   0,   0,
+      0,   0,   1,   0,  34,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     57,   5,   0,   0, 202,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     64,   5,   0,   0,   3,   0,   1,   0,
+     76,   5,   0,   0,   2,   0,   1,   0,
+     35,   0,   0,   0,  24,   0,   0,   0,
+      0,   0,   1,   0,  35,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     73,   5,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     68,   5,   0,   0,   3,   0,   1,   0,
+     80,   5,   0,   0,   2,   0,   1,   0,
     97,  99,  99, 101, 108, 101, 114,  97,
    116, 105, 111, 110,  74, 101, 114, 107,
      0,   0,   0,   0,   0,   0,   0,   0,
@@ -2070,6 +2018,15 @@ static const ::capnp::_::AlignedData<597> b_a1680744031fdb2d = {
      5,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
+    100, 105, 115,  97,  98, 108, 101,  84,
+    104, 114, 111, 116, 116, 108, 101,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
    101, 120, 112, 101, 114, 105, 109, 101,
    110, 116,  97, 108,  77, 111, 100, 101,
      0,   0,   0,   0,   0,   0,   0,   0,
@@ -2343,11 +2300,11 @@ static const ::capnp::_::AlignedData<597> b_a1680744031fdb2d = {
 static const ::capnp::_::RawSchema* const d_a1680744031fdb2d[] = {
  &s_81c2f05a394cf4af,
 };
-static const uint16_t m_a1680744031fdb2d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 13, 14, 12, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34};
-static const uint16_t i_a1680744031fdb2d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34};
+static const uint16_t m_a1680744031fdb2d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 14, 15, 13, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35};
+static const uint16_t i_a1680744031fdb2d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35};
 const ::capnp::_::RawSchema s_a1680744031fdb2d = {
-  0xa1680744031fdb2d, b_a1680744031fdb2d.words, 597, d_a1680744031fdb2d, m_a1680744031fdb2d,
-  1, 35, i_a1680744031fdb2d, nullptr, nullptr, { &s_a1680744031fdb2d, nullptr, nullptr, 0, 0, nullptr }, false
+  0xa1680744031fdb2d, b_a1680744031fdb2d.words, 613, d_a1680744031fdb2d, m_a1680744031fdb2d,
+  1, 36, i_a1680744031fdb2d, nullptr, nullptr, { &s_a1680744031fdb2d, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<55> b_cb9fd56c7057593a = {
@@ -2761,18 +2718,6 @@ constexpr ::capnp::_::RawSchema const* FrogPilotCarParams::SafetyConfig::_capnpP
 #endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE

-// FrogPilotCarParams::LateralTuning
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t FrogPilotCarParams::LateralTuning::_capnpPrivate::dataWordSize;
-constexpr uint16_t FrogPilotCarParams::LateralTuning::_capnpPrivate::pointerCount;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#if !CAPNP_LITE
-#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind FrogPilotCarParams::LateralTuning::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* FrogPilotCarParams::LateralTuning::_capnpPrivate::schema;
-#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-#endif  // !CAPNP_LITE
-
 // FrogPilotCarState
 #if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t FrogPilotCarState::_capnpPrivate::dataWordSize;
@@ -84,7 +84,6 @@ enum class EventName_aedffd8f31e7b55d: uint16_t {
 CAPNP_DECLARE_ENUM(EventName, aedffd8f31e7b55d);
 CAPNP_DECLARE_SCHEMA(f35cc4560bbf6ec2);
 CAPNP_DECLARE_SCHEMA(8d65dd40bad40951);
-CAPNP_DECLARE_SCHEMA(fcc949d2cbea7649);
 CAPNP_DECLARE_SCHEMA(da96579883444c35);
 CAPNP_DECLARE_SCHEMA(ccb4d6b0dc102d40);
 CAPNP_DECLARE_SCHEMA(8033e8e60d6a0edb);
@@ -185,10 +184,9 @@ struct FrogPilotCarParams {
  class Builder;
  class Pipeline;
  struct SafetyConfig;
-  struct LateralTuning;

  struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(f35cc4560bbf6ec2, 1, 2)
+    CAPNP_DECLARE_STRUCT_HEADER(f35cc4560bbf6ec2, 1, 1)
    #if !CAPNP_LITE
    static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
    #endif  // !CAPNP_LITE
@@ -210,25 +208,6 @@ struct FrogPilotCarParams::SafetyConfig {
  };
 };

-struct FrogPilotCarParams::LateralTuning {
-  LateralTuning() = delete;
-
-  class Reader;
-  class Builder;
-  class Pipeline;
-  enum Which: uint16_t {
-    PID,
-    TORQUE,
-  };
-
-  struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(fcc949d2cbea7649, 1, 2)
-    #if !CAPNP_LITE
-    static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
-    #endif  // !CAPNP_LITE
-  };
-};
-
 struct FrogPilotCarState {
  FrogPilotCarState() = delete;

@@ -690,7 +669,7 @@ public:
  inline bool hasSafetyConfigs() const;
  inline  ::capnp::List< ::cereal::FrogPilotCarParams::SafetyConfig,  ::capnp::Kind::STRUCT>::Reader getSafetyConfigs() const;

-  inline typename LateralTuning::Reader getLateralTuning() const;
+  inline bool getCanUseSASCM() const;

 private:
  ::capnp::_::StructReader _reader;
@@ -742,8 +721,8 @@ public:
  inline void adoptSafetyConfigs(::capnp::Orphan< ::capnp::List< ::cereal::FrogPilotCarParams::SafetyConfig,  ::capnp::Kind::STRUCT>>&& value);
  inline ::capnp::Orphan< ::capnp::List< ::cereal::FrogPilotCarParams::SafetyConfig,  ::capnp::Kind::STRUCT>> disownSafetyConfigs();

-  inline typename LateralTuning::Builder getLateralTuning();
-  inline typename LateralTuning::Builder initLateralTuning();
+  inline bool getCanUseSASCM();
+  inline void setCanUseSASCM(bool value);

 private:
  ::capnp::_::StructBuilder _builder;
@@ -763,7 +742,6 @@ public:
  inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
      : _typeless(kj::mv(typeless)) {}

-  inline typename LateralTuning::Pipeline getLateralTuning();
 private:
  ::capnp::AnyPointer::Pipeline _typeless;
  friend class ::capnp::PipelineHook;
@@ -848,103 +826,6 @@ private:
 };
 #endif  // !CAPNP_LITE

-class FrogPilotCarParams::LateralTuning::Reader {
-public:
-  typedef LateralTuning Reads;
-
-  Reader() = default;
-  inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
-
-  inline ::capnp::MessageSize totalSize() const {
-    return _reader.totalSize().asPublic();
-  }
-
-#if !CAPNP_LITE
-  inline ::kj::StringTree toString() const {
-    return ::capnp::_::structString(_reader, *_capnpPrivate::brand());
-  }
-#endif  // !CAPNP_LITE
-
-  inline Which which() const;
-  inline bool isPid() const;
-  inline bool hasPid() const;
-  inline  ::cereal::CarParams::LateralPIDTuning::Reader getPid() const;
-
-  inline bool isTorque() const;
-  inline bool hasTorque() const;
-  inline  ::cereal::CarParams::LateralTorqueTuning::Reader getTorque() const;
-
-private:
-  ::capnp::_::StructReader _reader;
-  template <typename, ::capnp::Kind>
-  friend struct ::capnp::ToDynamic_;
-  template <typename, ::capnp::Kind>
-  friend struct ::capnp::_::PointerHelpers;
-  template <typename, ::capnp::Kind>
-  friend struct ::capnp::List;
-  friend class ::capnp::MessageBuilder;
-  friend class ::capnp::Orphanage;
-};
-
-class FrogPilotCarParams::LateralTuning::Builder {
-public:
-  typedef LateralTuning Builds;
-
-  Builder() = delete;  // Deleted to discourage incorrect usage.
-                       // You can explicitly initialize to nullptr instead.
-  inline Builder(decltype(nullptr)) {}
-  inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
-  inline operator Reader() const { return Reader(_builder.asReader()); }
-  inline Reader asReader() const { return *this; }
-
-  inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
-#if !CAPNP_LITE
-  inline ::kj::StringTree toString() const { return asReader().toString(); }
-#endif  // !CAPNP_LITE
-
-  inline Which which();
-  inline bool isPid();
-  inline bool hasPid();
-  inline  ::cereal::CarParams::LateralPIDTuning::Builder getPid();
-  inline void setPid( ::cereal::CarParams::LateralPIDTuning::Reader value);
-  inline  ::cereal::CarParams::LateralPIDTuning::Builder initPid();
-  inline void adoptPid(::capnp::Orphan< ::cereal::CarParams::LateralPIDTuning>&& value);
-  inline ::capnp::Orphan< ::cereal::CarParams::LateralPIDTuning> disownPid();
-
-  inline bool isTorque();
-  inline bool hasTorque();
-  inline  ::cereal::CarParams::LateralTorqueTuning::Builder getTorque();
-  inline void setTorque( ::cereal::CarParams::LateralTorqueTuning::Reader value);
-  inline  ::cereal::CarParams::LateralTorqueTuning::Builder initTorque();
-  inline void adoptTorque(::capnp::Orphan< ::cereal::CarParams::LateralTorqueTuning>&& value);
-  inline ::capnp::Orphan< ::cereal::CarParams::LateralTorqueTuning> disownTorque();
-
-private:
-  ::capnp::_::StructBuilder _builder;
-  template <typename, ::capnp::Kind>
-  friend struct ::capnp::ToDynamic_;
-  friend class ::capnp::Orphanage;
-  template <typename, ::capnp::Kind>
-  friend struct ::capnp::_::PointerHelpers;
-};
-
-#if !CAPNP_LITE
-class FrogPilotCarParams::LateralTuning::Pipeline {
-public:
-  typedef LateralTuning Pipelines;
-
-  inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
-  inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
-      : _typeless(kj::mv(typeless)) {}
-
-private:
-  ::capnp::AnyPointer::Pipeline _typeless;
-  friend class ::capnp::PipelineHook;
-  template <typename, ::capnp::Kind>
-  friend struct ::capnp::ToDynamic_;
-};
-#endif  // !CAPNP_LITE
-
 class FrogPilotCarState::Reader {
 public:
  typedef FrogPilotCarState Reads;
@@ -1557,6 +1438,8 @@ public:

  inline  ::int64_t getDesiredFollowDistance() const;

+  inline bool getDisableThrottle() const;
+
  inline bool getExperimentalMode() const;

  inline bool getForcingStop() const;
@@ -1664,6 +1547,9 @@ public:
  inline  ::int64_t getDesiredFollowDistance();
  inline void setDesiredFollowDistance( ::int64_t value);

+  inline bool getDisableThrottle();
+  inline void setDisableThrottle(bool value);
+
  inline bool getExperimentalMode();
  inline void setExperimentalMode(bool value);

@@ -2339,22 +2225,20 @@ inline ::capnp::Orphan< ::capnp::List< ::cereal::FrogPilotCarParams::SafetyConfi
      ::capnp::bounded<0>() * ::capnp::POINTERS));
 }

-inline typename FrogPilotCarParams::LateralTuning::Reader FrogPilotCarParams::Reader::getLateralTuning() const {
-  return typename FrogPilotCarParams::LateralTuning::Reader(_reader);
+inline bool FrogPilotCarParams::Reader::getCanUseSASCM() const {
+  return _reader.getDataField<bool>(
+      ::capnp::bounded<4>() * ::capnp::ELEMENTS);
 }
-inline typename FrogPilotCarParams::LateralTuning::Builder FrogPilotCarParams::Builder::getLateralTuning() {
-  return typename FrogPilotCarParams::LateralTuning::Builder(_builder);
+
+inline bool FrogPilotCarParams::Builder::getCanUseSASCM() {
+  return _builder.getDataField<bool>(
+      ::capnp::bounded<4>() * ::capnp::ELEMENTS);
 }
-#if !CAPNP_LITE
-inline typename FrogPilotCarParams::LateralTuning::Pipeline FrogPilotCarParams::Pipeline::getLateralTuning() {
-  return typename FrogPilotCarParams::LateralTuning::Pipeline(_typeless.noop());
-}
-#endif  // !CAPNP_LITE
-inline typename FrogPilotCarParams::LateralTuning::Builder FrogPilotCarParams::Builder::initLateralTuning() {
-  _builder.setDataField< ::uint16_t>(::capnp::bounded<1>() * ::capnp::ELEMENTS, 0);
-  _builder.getPointerField(::capnp::bounded<1>() * ::capnp::POINTERS).clear();
-  return typename FrogPilotCarParams::LateralTuning::Builder(_builder);
+inline void FrogPilotCarParams::Builder::setCanUseSASCM(bool value) {
+  _builder.setDataField<bool>(
+      ::capnp::bounded<4>() * ::capnp::ELEMENTS, value);
 }
+
 inline  ::uint16_t FrogPilotCarParams::SafetyConfig::Reader::getSafetyParam() const {
  return _reader.getDataField< ::uint16_t>(
      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
@@ -2369,123 +2253,6 @@ inline void FrogPilotCarParams::SafetyConfig::Builder::setSafetyParam( ::uint16_
      ::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
 }

-inline  ::cereal::FrogPilotCarParams::LateralTuning::Which FrogPilotCarParams::LateralTuning::Reader::which() const {
-  return _reader.getDataField<Which>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
-}
-inline  ::cereal::FrogPilotCarParams::LateralTuning::Which FrogPilotCarParams::LateralTuning::Builder::which() {
-  return _builder.getDataField<Which>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
-}
-
-inline bool FrogPilotCarParams::LateralTuning::Reader::isPid() const {
-  return which() == FrogPilotCarParams::LateralTuning::PID;
-}
-inline bool FrogPilotCarParams::LateralTuning::Builder::isPid() {
-  return which() == FrogPilotCarParams::LateralTuning::PID;
-}
-inline bool FrogPilotCarParams::LateralTuning::Reader::hasPid() const {
-  if (which() != FrogPilotCarParams::LateralTuning::PID) return false;
-  return !_reader.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS).isNull();
-}
-inline bool FrogPilotCarParams::LateralTuning::Builder::hasPid() {
-  if (which() != FrogPilotCarParams::LateralTuning::PID) return false;
-  return !_builder.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS).isNull();
-}
-inline  ::cereal::CarParams::LateralPIDTuning::Reader FrogPilotCarParams::LateralTuning::Reader::getPid() const {
-  KJ_IREQUIRE((which() == FrogPilotCarParams::LateralTuning::PID),
-              "Must check which() before get()ing a union member.");
-  return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralPIDTuning>::get(_reader.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS));
-}
-inline  ::cereal::CarParams::LateralPIDTuning::Builder FrogPilotCarParams::LateralTuning::Builder::getPid() {
-  KJ_IREQUIRE((which() == FrogPilotCarParams::LateralTuning::PID),
-              "Must check which() before get()ing a union member.");
-  return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralPIDTuning>::get(_builder.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS));
-}
-inline void FrogPilotCarParams::LateralTuning::Builder::setPid( ::cereal::CarParams::LateralPIDTuning::Reader value) {
-  _builder.setDataField<FrogPilotCarParams::LateralTuning::Which>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS, FrogPilotCarParams::LateralTuning::PID);
-  ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralPIDTuning>::set(_builder.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS), value);
-}
-inline  ::cereal::CarParams::LateralPIDTuning::Builder FrogPilotCarParams::LateralTuning::Builder::initPid() {
-  _builder.setDataField<FrogPilotCarParams::LateralTuning::Which>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS, FrogPilotCarParams::LateralTuning::PID);
-  return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralPIDTuning>::init(_builder.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS));
-}
-inline void FrogPilotCarParams::LateralTuning::Builder::adoptPid(
-    ::capnp::Orphan< ::cereal::CarParams::LateralPIDTuning>&& value) {
-  _builder.setDataField<FrogPilotCarParams::LateralTuning::Which>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS, FrogPilotCarParams::LateralTuning::PID);
-  ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralPIDTuning>::adopt(_builder.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value));
-}
-inline ::capnp::Orphan< ::cereal::CarParams::LateralPIDTuning> FrogPilotCarParams::LateralTuning::Builder::disownPid() {
-  KJ_IREQUIRE((which() == FrogPilotCarParams::LateralTuning::PID),
-              "Must check which() before get()ing a union member.");
-  return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralPIDTuning>::disown(_builder.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS));
-}
-
-inline bool FrogPilotCarParams::LateralTuning::Reader::isTorque() const {
-  return which() == FrogPilotCarParams::LateralTuning::TORQUE;
-}
-inline bool FrogPilotCarParams::LateralTuning::Builder::isTorque() {
-  return which() == FrogPilotCarParams::LateralTuning::TORQUE;
-}
-inline bool FrogPilotCarParams::LateralTuning::Reader::hasTorque() const {
-  if (which() != FrogPilotCarParams::LateralTuning::TORQUE) return false;
-  return !_reader.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS).isNull();
-}
-inline bool FrogPilotCarParams::LateralTuning::Builder::hasTorque() {
-  if (which() != FrogPilotCarParams::LateralTuning::TORQUE) return false;
-  return !_builder.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS).isNull();
-}
-inline  ::cereal::CarParams::LateralTorqueTuning::Reader FrogPilotCarParams::LateralTuning::Reader::getTorque() const {
-  KJ_IREQUIRE((which() == FrogPilotCarParams::LateralTuning::TORQUE),
-              "Must check which() before get()ing a union member.");
-  return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralTorqueTuning>::get(_reader.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS));
-}
-inline  ::cereal::CarParams::LateralTorqueTuning::Builder FrogPilotCarParams::LateralTuning::Builder::getTorque() {
-  KJ_IREQUIRE((which() == FrogPilotCarParams::LateralTuning::TORQUE),
-              "Must check which() before get()ing a union member.");
-  return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralTorqueTuning>::get(_builder.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS));
-}
-inline void FrogPilotCarParams::LateralTuning::Builder::setTorque( ::cereal::CarParams::LateralTorqueTuning::Reader value) {
-  _builder.setDataField<FrogPilotCarParams::LateralTuning::Which>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS, FrogPilotCarParams::LateralTuning::TORQUE);
-  ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralTorqueTuning>::set(_builder.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS), value);
-}
-inline  ::cereal::CarParams::LateralTorqueTuning::Builder FrogPilotCarParams::LateralTuning::Builder::initTorque() {
-  _builder.setDataField<FrogPilotCarParams::LateralTuning::Which>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS, FrogPilotCarParams::LateralTuning::TORQUE);
-  return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralTorqueTuning>::init(_builder.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS));
-}
-inline void FrogPilotCarParams::LateralTuning::Builder::adoptTorque(
-    ::capnp::Orphan< ::cereal::CarParams::LateralTorqueTuning>&& value) {
-  _builder.setDataField<FrogPilotCarParams::LateralTuning::Which>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS, FrogPilotCarParams::LateralTuning::TORQUE);
-  ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralTorqueTuning>::adopt(_builder.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value));
-}
-inline ::capnp::Orphan< ::cereal::CarParams::LateralTorqueTuning> FrogPilotCarParams::LateralTuning::Builder::disownTorque() {
-  KJ_IREQUIRE((which() == FrogPilotCarParams::LateralTuning::TORQUE),
-              "Must check which() before get()ing a union member.");
-  return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralTorqueTuning>::disown(_builder.getPointerField(
-      ::capnp::bounded<1>() * ::capnp::POINTERS));
-}
-
 inline bool FrogPilotCarState::Reader::getAccelPressed() const {
  return _reader.getDataField<bool>(
      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
@@ -3036,34 +2803,48 @@ inline void FrogPilotPlan::Builder::setDesiredFollowDistance( ::int64_t value) {
      ::capnp::bounded<3>() * ::capnp::ELEMENTS, value);
 }

-inline bool FrogPilotPlan::Reader::getExperimentalMode() const {
+inline bool FrogPilotPlan::Reader::getDisableThrottle() const {
  return _reader.getDataField<bool>(
      ::capnp::bounded<66>() * ::capnp::ELEMENTS);
 }

-inline bool FrogPilotPlan::Builder::getExperimentalMode() {
+inline bool FrogPilotPlan::Builder::getDisableThrottle() {
  return _builder.getDataField<bool>(
      ::capnp::bounded<66>() * ::capnp::ELEMENTS);
 }
-inline void FrogPilotPlan::Builder::setExperimentalMode(bool value) {
+inline void FrogPilotPlan::Builder::setDisableThrottle(bool value) {
  _builder.setDataField<bool>(
      ::capnp::bounded<66>() * ::capnp::ELEMENTS, value);
 }

-inline bool FrogPilotPlan::Reader::getForcingStop() const {
+inline bool FrogPilotPlan::Reader::getExperimentalMode() const {
  return _reader.getDataField<bool>(
      ::capnp::bounded<67>() * ::capnp::ELEMENTS);
 }

-inline bool FrogPilotPlan::Builder::getForcingStop() {
+inline bool FrogPilotPlan::Builder::getExperimentalMode() {
  return _builder.getDataField<bool>(
      ::capnp::bounded<67>() * ::capnp::ELEMENTS);
 }
-inline void FrogPilotPlan::Builder::setForcingStop(bool value) {
+inline void FrogPilotPlan::Builder::setExperimentalMode(bool value) {
  _builder.setDataField<bool>(
      ::capnp::bounded<67>() * ::capnp::ELEMENTS, value);
 }

+inline bool FrogPilotPlan::Reader::getForcingStop() const {
+  return _reader.getDataField<bool>(
+      ::capnp::bounded<68>() * ::capnp::ELEMENTS);
+}
+
+inline bool FrogPilotPlan::Builder::getForcingStop() {
+  return _builder.getDataField<bool>(
+      ::capnp::bounded<68>() * ::capnp::ELEMENTS);
+}
+inline void FrogPilotPlan::Builder::setForcingStop(bool value) {
+  _builder.setDataField<bool>(
+      ::capnp::bounded<68>() * ::capnp::ELEMENTS, value);
+}
+
 inline float FrogPilotPlan::Reader::getForcingStopLength() const {
  return _reader.getDataField<float>(
      ::capnp::bounded<5>() * ::capnp::ELEMENTS);
@@ -3128,16 +2909,16 @@ inline void FrogPilotPlan::Builder::setIncreasedStoppedDistance(float value) {

 inline bool FrogPilotPlan::Reader::getLateralCheck() const {
  return _reader.getDataField<bool>(
-      ::capnp::bounded<68>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<69>() * ::capnp::ELEMENTS);
 }

 inline bool FrogPilotPlan::Builder::getLateralCheck() {
  return _builder.getDataField<bool>(
-      ::capnp::bounded<68>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<69>() * ::capnp::ELEMENTS);
 }
 inline void FrogPilotPlan::Builder::setLateralCheck(bool value) {
  _builder.setDataField<bool>(
-      ::capnp::bounded<68>() * ::capnp::ELEMENTS, value);
+      ::capnp::bounded<69>() * ::capnp::ELEMENTS, value);
 }

 inline float FrogPilotPlan::Reader::getLaneWidthLeft() const {
@@ -3198,16 +2979,16 @@ inline void FrogPilotPlan::Builder::setMinAcceleration(float value) {

 inline bool FrogPilotPlan::Reader::getRedLight() const {
  return _reader.getDataField<bool>(
-      ::capnp::bounded<69>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<70>() * ::capnp::ELEMENTS);
 }

 inline bool FrogPilotPlan::Builder::getRedLight() {
  return _builder.getDataField<bool>(
-      ::capnp::bounded<69>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<70>() * ::capnp::ELEMENTS);
 }
 inline void FrogPilotPlan::Builder::setRedLight(bool value) {
  _builder.setDataField<bool>(
-      ::capnp::bounded<69>() * ::capnp::ELEMENTS, value);
+      ::capnp::bounded<70>() * ::capnp::ELEMENTS, value);
 }

 inline float FrogPilotPlan::Reader::getRoadCurvature() const {
@@ -3372,16 +3153,16 @@ inline void FrogPilotPlan::Builder::setSpeedJerkStock(float value) {

 inline bool FrogPilotPlan::Reader::getSpeedLimitChanged() const {
  return _reader.getDataField<bool>(
-      ::capnp::bounded<70>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<71>() * ::capnp::ELEMENTS);
 }

 inline bool FrogPilotPlan::Builder::getSpeedLimitChanged() {
  return _builder.getDataField<bool>(
-      ::capnp::bounded<70>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<71>() * ::capnp::ELEMENTS);
 }
 inline void FrogPilotPlan::Builder::setSpeedLimitChanged(bool value) {
  _builder.setDataField<bool>(
-      ::capnp::bounded<70>() * ::capnp::ELEMENTS, value);
+      ::capnp::bounded<71>() * ::capnp::ELEMENTS, value);
 }

 inline float FrogPilotPlan::Reader::getTFollow() const {
@@ -3400,46 +3181,46 @@ inline void FrogPilotPlan::Builder::setTFollow(float value) {

 inline bool FrogPilotPlan::Reader::getThemeUpdated() const {
  return _reader.getDataField<bool>(
-      ::capnp::bounded<71>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<72>() * ::capnp::ELEMENTS);
 }

 inline bool FrogPilotPlan::Builder::getThemeUpdated() {
  return _builder.getDataField<bool>(
-      ::capnp::bounded<71>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<72>() * ::capnp::ELEMENTS);
 }
 inline void FrogPilotPlan::Builder::setThemeUpdated(bool value) {
-  _builder.setDataField<bool>(
-      ::capnp::bounded<71>() * ::capnp::ELEMENTS, value);
-}
-
-inline bool FrogPilotPlan::Reader::getTogglesUpdated() const {
-  return _reader.getDataField<bool>(
-      ::capnp::bounded<72>() * ::capnp::ELEMENTS);
-}
-
-inline bool FrogPilotPlan::Builder::getTogglesUpdated() {
-  return _builder.getDataField<bool>(
-      ::capnp::bounded<72>() * ::capnp::ELEMENTS);
-}
-inline void FrogPilotPlan::Builder::setTogglesUpdated(bool value) {
  _builder.setDataField<bool>(
      ::capnp::bounded<72>() * ::capnp::ELEMENTS, value);
 }

-inline bool FrogPilotPlan::Reader::getTrackingLead() const {
+inline bool FrogPilotPlan::Reader::getTogglesUpdated() const {
  return _reader.getDataField<bool>(
      ::capnp::bounded<73>() * ::capnp::ELEMENTS);
 }

-inline bool FrogPilotPlan::Builder::getTrackingLead() {
+inline bool FrogPilotPlan::Builder::getTogglesUpdated() {
  return _builder.getDataField<bool>(
      ::capnp::bounded<73>() * ::capnp::ELEMENTS);
 }
-inline void FrogPilotPlan::Builder::setTrackingLead(bool value) {
+inline void FrogPilotPlan::Builder::setTogglesUpdated(bool value) {
  _builder.setDataField<bool>(
      ::capnp::bounded<73>() * ::capnp::ELEMENTS, value);
 }

+inline bool FrogPilotPlan::Reader::getTrackingLead() const {
+  return _reader.getDataField<bool>(
+      ::capnp::bounded<74>() * ::capnp::ELEMENTS);
+}
+
+inline bool FrogPilotPlan::Builder::getTrackingLead() {
+  return _builder.getDataField<bool>(
+      ::capnp::bounded<74>() * ::capnp::ELEMENTS);
+}
+inline void FrogPilotPlan::Builder::setTrackingLead(bool value) {
+  _builder.setDataField<bool>(
+      ::capnp::bounded<74>() * ::capnp::ELEMENTS, value);
+}
+
 inline float FrogPilotPlan::Reader::getUnconfirmedSlcSpeedLimit() const {
  return _reader.getDataField<float>(
      ::capnp::bounded<23>() * ::capnp::ELEMENTS);
@@ -9336,17 +9336,17 @@ const ::capnp::_::RawSchema s_f28c5dc9e09375e3 = {
  0, 10, i_f28c5dc9e09375e3, nullptr, nullptr, { &s_f28c5dc9e09375e3, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<191> b_e774a050cbf689a4 = {
+static const ::capnp::_::AlignedData<223> b_e774a050cbf689a4 = {
  {   0,   0,   0,   0,   5,   0,   6,   0,
    164, 137, 246, 203,  80, 160, 116, 231,
-     24,   0,   0,   0,   1,   0,   5,   0,
+     24,   0,   0,   0,   1,   0,   6,   0,
    241, 171,   1,  54, 197, 105, 255, 151,
      0,   0,   7,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
     21,   0,   0,   0,  90,   1,   0,   0,
     41,   0,   0,   0,   7,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     37,   0,   0,   0, 111,   2,   0,   0,
+     37,   0,   0,   0, 223,   2,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
    108, 111, 103,  46,  99,  97, 112, 110,
@@ -9356,84 +9356,98 @@ static const ::capnp::_::AlignedData<191> b_e774a050cbf689a4 = {
    111, 114, 113, 117, 101,  83, 116,  97,
    116, 101,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   1,   0,   1,   0,
-     44,   0,   0,   0,   3,   0,   4,   0,
+     52,   0,   0,   0,   3,   0,   4,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   1,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     37,   1,   0,   0,  58,   0,   0,   0,
+     93,   1,   0,   0,  58,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     32,   1,   0,   0,   3,   0,   1,   0,
-     44,   1,   0,   0,   2,   0,   1,   0,
+     88,   1,   0,   0,   3,   0,   1,   0,
+    100,   1,   0,   0,   2,   0,   1,   0,
      1,   0,   0,   0,   1,   0,   0,   0,
      0,   0,   1,   0,   1,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     41,   1,   0,   0,  50,   0,   0,   0,
+     97,   1,   0,   0,  50,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     36,   1,   0,   0,   3,   0,   1,   0,
-     48,   1,   0,   0,   2,   0,   1,   0,
+     92,   1,   0,   0,   3,   0,   1,   0,
+    104,   1,   0,   0,   2,   0,   1,   0,
      3,   0,   0,   0,   2,   0,   0,   0,
      0,   0,   1,   0,   2,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     45,   1,   0,   0,  18,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     40,   1,   0,   0,   3,   0,   1,   0,
-     52,   1,   0,   0,   2,   0,   1,   0,
-      4,   0,   0,   0,   3,   0,   0,   0,
-      0,   0,   1,   0,   3,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     49,   1,   0,   0,  18,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     44,   1,   0,   0,   3,   0,   1,   0,
-     56,   1,   0,   0,   2,   0,   1,   0,
-      5,   0,   0,   0,   4,   0,   0,   0,
-      0,   0,   1,   0,   4,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     53,   1,   0,   0,  18,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     48,   1,   0,   0,   3,   0,   1,   0,
-     60,   1,   0,   0,   2,   0,   1,   0,
-      6,   0,   0,   0,   5,   0,   0,   0,
-      0,   0,   1,   0,   5,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     57,   1,   0,   0,  18,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     52,   1,   0,   0,   3,   0,   1,   0,
-     64,   1,   0,   0,   2,   0,   1,   0,
-      7,   0,   0,   0,   6,   0,   0,   0,
-      0,   0,   1,   0,   6,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     61,   1,   0,   0,  58,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     56,   1,   0,   0,   3,   0,   1,   0,
-     68,   1,   0,   0,   2,   0,   1,   0,
-      8,   0,   0,   0,   1,   0,   0,   0,
-      0,   0,   1,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     65,   1,   0,   0,  82,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     64,   1,   0,   0,   3,   0,   1,   0,
-     76,   1,   0,   0,   2,   0,   1,   0,
-      2,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   1,   0,   8,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     73,   1,   0,   0,  82,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     72,   1,   0,   0,   3,   0,   1,   0,
-     84,   1,   0,   0,   2,   0,   1,   0,
-      9,   0,   0,   0,   8,   0,   0,   0,
-      0,   0,   1,   0,   9,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     81,   1,   0,   0, 154,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     84,   1,   0,   0,   3,   0,   1,   0,
-     96,   1,   0,   0,   2,   0,   1,   0,
-     10,   0,   0,   0,   9,   0,   0,   0,
-      0,   0,   1,   0,  10,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     93,   1,   0,   0, 162,   0,   0,   0,
+    101,   1,   0,   0,  18,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
     96,   1,   0,   0,   3,   0,   1,   0,
    108,   1,   0,   0,   2,   0,   1,   0,
+      4,   0,   0,   0,   3,   0,   0,   0,
+      0,   0,   1,   0,   3,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    105,   1,   0,   0,  18,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    100,   1,   0,   0,   3,   0,   1,   0,
+    112,   1,   0,   0,   2,   0,   1,   0,
+      5,   0,   0,   0,   4,   0,   0,   0,
+      0,   0,   1,   0,   4,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    109,   1,   0,   0,  18,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    104,   1,   0,   0,   3,   0,   1,   0,
+    116,   1,   0,   0,   2,   0,   1,   0,
+      6,   0,   0,   0,   5,   0,   0,   0,
+      0,   0,   1,   0,   5,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    113,   1,   0,   0,  18,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    108,   1,   0,   0,   3,   0,   1,   0,
+    120,   1,   0,   0,   2,   0,   1,   0,
+      7,   0,   0,   0,   6,   0,   0,   0,
+      0,   0,   1,   0,   6,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    117,   1,   0,   0,  58,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    112,   1,   0,   0,   3,   0,   1,   0,
+    124,   1,   0,   0,   2,   0,   1,   0,
+      8,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    121,   1,   0,   0,  82,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    120,   1,   0,   0,   3,   0,   1,   0,
+    132,   1,   0,   0,   2,   0,   1,   0,
+      2,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   1,   0,   8,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    129,   1,   0,   0,  82,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    128,   1,   0,   0,   3,   0,   1,   0,
+    140,   1,   0,   0,   2,   0,   1,   0,
+      9,   0,   0,   0,   8,   0,   0,   0,
+      0,   0,   1,   0,   9,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    137,   1,   0,   0, 154,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    140,   1,   0,   0,   3,   0,   1,   0,
+    152,   1,   0,   0,   2,   0,   1,   0,
+     10,   0,   0,   0,   9,   0,   0,   0,
+      0,   0,   1,   0,  10,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    149,   1,   0,   0, 162,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    152,   1,   0,   0,   3,   0,   1,   0,
+    164,   1,   0,   0,   2,   0,   1,   0,
+     11,   0,   0,   0,  10,   0,   0,   0,
+      0,   0,   1,   0,  11,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    161,   1,   0,   0, 154,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    164,   1,   0,   0,   3,   0,   1,   0,
+    176,   1,   0,   0,   2,   0,   1,   0,
+     12,   0,   0,   0,  11,   0,   0,   0,
+      0,   0,   1,   0,  12,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    173,   1,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    168,   1,   0,   0,   3,   0,   1,   0,
+    180,   1,   0,   0,   2,   0,   1,   0,
     97,  99, 116, 105, 118, 101,   0,   0,
      1,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
@@ -9526,16 +9540,34 @@ static const ::capnp::_::AlignedData<191> b_e774a050cbf689a4 = {
      0,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    100, 101, 115, 105, 114, 101, 100,  76,
+     97, 116, 101, 114,  97, 108,  74, 101,
+    114, 107,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    118, 101, 114, 115, 105, 111, 110,   0,
+      4,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      4,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0, }
 };
 ::capnp::word const* const bp_e774a050cbf689a4 = b_e774a050cbf689a4.words;
 #if !CAPNP_LITE
-static const uint16_t m_e774a050cbf689a4[] = {0, 9, 4, 10, 1, 8, 5, 3, 6, 2, 7};
-static const uint16_t i_e774a050cbf689a4[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10};
+static const uint16_t m_e774a050cbf689a4[] = {0, 9, 4, 10, 11, 1, 8, 5, 3, 6, 2, 7, 12};
+static const uint16_t i_e774a050cbf689a4[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12};
 const ::capnp::_::RawSchema s_e774a050cbf689a4 = {
-  0xe774a050cbf689a4, b_e774a050cbf689a4.words, 191, nullptr, m_e774a050cbf689a4,
-  0, 11, i_e774a050cbf689a4, nullptr, nullptr, { &s_e774a050cbf689a4, nullptr, nullptr, 0, 0, nullptr }, false
+  0xe774a050cbf689a4, b_e774a050cbf689a4.words, 223, nullptr, m_e774a050cbf689a4,
+  0, 13, i_e774a050cbf689a4, nullptr, nullptr, { &s_e774a050cbf689a4, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<130> b_9024e2d790c82ade = {
@@ -1076,7 +1076,7 @@ struct ControlsState::LateralTorqueState {
  class Pipeline;

  struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(e774a050cbf689a4, 5, 0)
+    CAPNP_DECLARE_STRUCT_HEADER(e774a050cbf689a4, 6, 0)
    #if !CAPNP_LITE
    static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
    #endif  // !CAPNP_LITE
@@ -7531,6 +7531,10 @@ public:

  inline float getDesiredLateralAccel() const;

+  inline float getDesiredLateralJerk() const;
+
+  inline  ::int32_t getVersion() const;
+
 private:
  ::capnp::_::StructReader _reader;
  template <typename, ::capnp::Kind>
@@ -7592,6 +7596,12 @@ public:
  inline float getDesiredLateralAccel();
  inline void setDesiredLateralAccel(float value);

+  inline float getDesiredLateralJerk();
+  inline void setDesiredLateralJerk(float value);
+
+  inline  ::int32_t getVersion();
+  inline void setVersion( ::int32_t value);
+
 private:
  ::capnp::_::StructBuilder _builder;
  template <typename, ::capnp::Kind>
@@ -30064,6 +30074,34 @@ inline void ControlsState::LateralTorqueState::Builder::setDesiredLateralAccel(f
      ::capnp::bounded<9>() * ::capnp::ELEMENTS, value);
 }

+inline float ControlsState::LateralTorqueState::Reader::getDesiredLateralJerk() const {
+  return _reader.getDataField<float>(
+      ::capnp::bounded<10>() * ::capnp::ELEMENTS);
+}
+
+inline float ControlsState::LateralTorqueState::Builder::getDesiredLateralJerk() {
+  return _builder.getDataField<float>(
+      ::capnp::bounded<10>() * ::capnp::ELEMENTS);
+}
+inline void ControlsState::LateralTorqueState::Builder::setDesiredLateralJerk(float value) {
+  _builder.setDataField<float>(
+      ::capnp::bounded<10>() * ::capnp::ELEMENTS, value);
+}
+
+inline  ::int32_t ControlsState::LateralTorqueState::Reader::getVersion() const {
+  return _reader.getDataField< ::int32_t>(
+      ::capnp::bounded<11>() * ::capnp::ELEMENTS);
+}
+
+inline  ::int32_t ControlsState::LateralTorqueState::Builder::getVersion() {
+  return _builder.getDataField< ::int32_t>(
+      ::capnp::bounded<11>() * ::capnp::ELEMENTS);
+}
+inline void ControlsState::LateralTorqueState::Builder::setVersion( ::int32_t value) {
+  _builder.setDataField< ::int32_t>(
+      ::capnp::bounded<11>() * ::capnp::ELEMENTS, value);
+}
+
 inline bool ControlsState::LateralLQRState::Reader::getActive() const {
  return _reader.getDataField<bool>(
      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
@@ -795,6 +795,8 @@ struct ControlsState @0x97ff69c53601abf1 {
    saturated @7 :Bool;
    actualLateralAccel @9 :Float32;
    desiredLateralAccel @10 :Float32;
+    desiredLateralJerk @11 :Float32;
+    version @12 :Int32;
   }

  struct LateralLQRState {
@@ -164,6 +164,9 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"LiveDelay", PERSISTENT},
    {"LiveParameters", PERSISTENT},
    {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
+    {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"LongitudinalManeuverPaddleMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"LongitudinalManeuverStatus", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
    {"LongitudinalPersonality", PERSISTENT},
    {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
    {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
@@ -224,6 +227,7 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"AdvancedLateralTune", PERSISTENT},
    {"AdvancedLongitudinalTune", PERSISTENT},
    {"AggressiveFollow", PERSISTENT},
+    {"AggressiveFollowHigh", PERSISTENT},
    {"AggressiveJerkAcceleration", PERSISTENT},
    {"AggressiveJerkDanger", PERSISTENT},
    {"AggressiveJerkDeceleration", PERSISTENT},
@@ -234,17 +238,20 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"AlwaysOnLateral", PERSISTENT},
    {"AlwaysOnLateralLKAS", PERSISTENT},
    {"AlwaysOnLateralMain", PERSISTENT},
+    {"AlwaysAllowUploads", PERSISTENT},
    {"AMapKey1", PERSISTENT | DONT_LOG},
    {"AMapKey2", PERSISTENT | DONT_LOG},
    {"ApiCache_DriveStats", PERSISTENT},
    {"AutomaticallyDownloadModels", PERSISTENT},
    {"AutomaticUpdates", PERSISTENT},
    {"AvailableModelNames", PERSISTENT},
+    {"AvailableModelSeries", PERSISTENT},
    {"AvailableModels", PERSISTENT},
    {"BigMap", PERSISTENT},
    {"BlacklistedModels", PERSISTENT},
    {"BlindSpotMetrics", PERSISTENT},
    {"BlindSpotPath", PERSISTENT},
+    {"BootLogo", PERSISTENT},
    {"BorderMetrics", PERSISTENT},
    {"CalibratedLateralAcceleration", PERSISTENT},
    {"CalibrationProgress", PERSISTENT},
@@ -270,6 +277,7 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"CEStatus", CLEAR_ON_OFFROAD_TRANSITION},
    {"CEStoppedLead", PERSISTENT},
    {"ClusterOffset", PERSISTENT},
+    {"BootLogoToDownload", CLEAR_ON_MANAGER_START},
    {"ColorToDownload", CLEAR_ON_MANAGER_START},
    {"Compass", PERSISTENT},
    {"ConditionalExperimental", PERSISTENT},
@@ -308,6 +316,7 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"DisengageVolume", PERSISTENT},
    {"DoToggleReset", PERSISTENT},
    {"DoToggleResetStock", PERSISTENT},
+    {"DownloadableBootLogos", PERSISTENT},
    {"DownloadableColors", PERSISTENT},
    {"DownloadableDistanceIcons", PERSISTENT},
    {"DownloadableIcons", PERSISTENT},
@@ -319,7 +328,8 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"DynamicPathWidth", PERSISTENT},
    {"DynamicPedalsOnUI", PERSISTENT},
    {"EngageVolume", PERSISTENT},
-    {"ExperimentalGMTune", PERSISTENT},
+    {"EVTuning", PERSISTENT},
+    {"TruckTuning", PERSISTENT},
    {"Fahrenheit", PERSISTENT},
    {"FavoriteDestinations", PERSISTENT | DONT_LOG},
    {"FlashPanda", CLEAR_ON_MANAGER_START},
@@ -345,7 +355,9 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"FrogsGoMoosTweak", PERSISTENT},
    {"FullMap", PERSISTENT},
    {"GasRegenCmd", PERSISTENT},
+    {"GMPedalLongitudinal", PERSISTENT},
    {"GoatScream", PERSISTENT},
+    {"GoatScreamCriticalAlerts", PERSISTENT},
    {"GreenLightAlert", PERSISTENT},
    {"HideAlerts", PERSISTENT},
    {"HideLeadMarker", PERSISTENT},
@@ -398,12 +410,17 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"MinimumBackupSize", PERSISTENT},
    {"MinimumLaneChangeSpeed", PERSISTENT},
    {"Model", PERSISTENT},
+    {"ModelVersion", PERSISTENT},
    {"ModelDownloadProgress", CLEAR_ON_MANAGER_START},
    {"ModelDrivesAndScores", PERSISTENT},
    {"ModelRandomizer", PERSISTENT},
    {"ModelToDownload", CLEAR_ON_MANAGER_START},
    {"ModelUI", PERSISTENT},
    {"ModelVersions", PERSISTENT},
+    {"ModelReleasedDates", PERSISTENT},
+    {"CommunityFavorites", PERSISTENT},
+    {"UserFavorites", PERSISTENT},
+    {"SortModelsByDate", PERSISTENT},
    {"NavigationUI", PERSISTENT},
    {"NextMapSpeedLimit", CLEAR_ON_MANAGER_START},
    {"NewLongAPI", PERSISTENT},
@@ -449,6 +466,7 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"RandomThemes", PERSISTENT},
    {"RefuseVolume", PERSISTENT},
    {"RelaxedFollow", PERSISTENT},
+    {"RelaxedFollowHigh", PERSISTENT},
    {"RelaxedJerkAcceleration", PERSISTENT},
    {"RelaxedJerkDanger", PERSISTENT},
    {"RelaxedJerkDeceleration", PERSISTENT},
@@ -459,6 +477,9 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"RoadEdgesWidth", PERSISTENT},
    {"RoadName", CLEAR_ON_MANAGER_START},
    {"RoadNameUI", PERSISTENT},
+    {"RedPanda", PERSISTENT},
+    {"RemapCancelToDistance", PERSISTENT},
+    {"RemoteStartBootsComma", PERSISTENT},
    {"RotatingWheel", PERSISTENT},
    {"ScreenBrightness", PERSISTENT},
    {"ScreenBrightnessOnroad", PERSISTENT},
@@ -508,6 +529,7 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"SpeedLimitsFiltered", PERSISTENT | DONT_LOG},
    {"SpeedLimitSources", PERSISTENT},
    {"StandardFollow", PERSISTENT},
+    {"StandardFollowHigh", PERSISTENT},
    {"StandardJerkAcceleration", PERSISTENT},
    {"StandardJerkDanger", PERSISTENT},
    {"StandardJerkDeceleration", PERSISTENT},
@@ -524,6 +546,8 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"SteerDelayStock", PERSISTENT},
    {"SteerFriction", PERSISTENT},
    {"SteerFrictionStock", PERSISTENT},
+    {"SteerOffset", PERSISTENT},
+    {"SteerOffsetStock", PERSISTENT},
    {"SteerLatAccel", PERSISTENT},
    {"SteerLatAccelStock", PERSISTENT},
    {"SteerKP", PERSISTENT},
@@ -538,6 +562,7 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"StoppedTimer", PERSISTENT},
    {"TacoTune", PERSISTENT},
    {"TacoTuneHacks", PERSISTENT},
+    {"TrailerLoad", PERSISTENT},
    {"TestAlert", CLEAR_ON_MANAGER_START},
    {"TetheringEnabled", PERSISTENT},
    {"ThemeDownloadProgress", CLEAR_ON_MANAGER_START},
@@ -576,6 +601,8 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"WarningSoftVolume", PERSISTENT},
    {"WheelIcon", PERSISTENT},
    {"WheelSpeed", PERSISTENT},
+    {"StopDistance", PERSISTENT},
+    {"RecoveryPower", PERSISTENT},
    {"WheelToDownload", CLEAR_ON_MANAGER_START},
 };

@@ -6,6 +6,7 @@ from collections import deque

 from setproctitle import getproctitle

+from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware import PC


@@ -34,7 +35,17 @@ def set_realtime_priority(level: int) -> None:

 def set_core_affinity(cores: list[int]) -> None:
  if not PC:
-    os.sched_setaffinity(0, cores)
+    for attempt in range(3):  # Retry up to 3 times
+      try:
+        os.sched_setaffinity(0, cores)
+        return
+      except OSError as e:
+        if e.errno == 22:  # EINVAL
+          time.sleep(0.1)  # Brief delay before retry
+        else:
+          raise  # Re-raise other errors
+    # If all retries fail, log and continue without affinity
+    cloudlog.error(f"Failed to set core affinity after retries: {cores}")


 def config_realtime_process(cores: int | list[int], priority: int) -> None:
@@ -6,14 +6,13 @@ from datetime import datetime
 from pathlib import Path

 from openpilot.frogpilot.common.frogpilot_utilities import delete_file, is_url_pingable
-from openpilot.frogpilot.common.frogpilot_variables import RESOURCES_REPO, params_memory

-GITHUB_URL = f"https://raw.githubusercontent.com/{RESOURCES_REPO}"
-GITLAB_URL = f"https://gitlab.com/{RESOURCES_REPO}/-/raw"
+GITHUB_URL = "https://raw.githubusercontent.com/firestar5683/StarPilot-Resources"
+GITLAB_URL = "https://gitlab.com/firestar5683/FrogPilot-Resources/-/raw"

-def check_github_rate_limit(session):
+def check_github_rate_limit():
  try:
-    response = session.get("https://api.github.com/rate_limit", timeout=10)
+    response = requests.get("https://api.github.com/rate_limit")
    response.raise_for_status()
    rate_limit_info = response.json()

@@ -26,91 +25,104 @@ def check_github_rate_limit(session):
    print("GitHub rate limit reached")
    print(f"GitHub Rate Limit Resets At (UTC): {reset_time}")
    return False
-  except requests.exceptions.RequestException as exception:
-    print(f"Error checking GitHub rate limit: {exception}")
+  except requests.exceptions.RequestException as error:
+    print(f"Error checking GitHub rate limit: {error}")
    return False

-def download_file(cancel_param, destination, progress_param, url, download_param, session, offset_bytes=0, total_bytes=0):
+def download_file(cancel_param, destination, progress_param, url, download_param, params_memory, allow_unknown_size=False, suppress_errors=False):
  try:
    destination.parent.mkdir(parents=True, exist_ok=True)

-    total_size = get_remote_file_size(url, session)
-    if total_size == 0:
+    total_size = get_remote_file_size(url, suppress_errors=suppress_errors or allow_unknown_size)
+    if total_size == 0 and not allow_unknown_size:
      if not url.endswith(".gif"):
-        handle_error(None, "Download invalid...", "Download invalid...", download_param, progress_param)
+        if suppress_errors:
+          return
+        handle_error(None, "Download invalid...", "Download invalid...", download_param, progress_param, params_memory)
      return

-    with session.get(url, stream=True, timeout=10) as response:
+    with requests.get(url, stream=True, timeout=10) as response:
      response.raise_for_status()

-      with tempfile.NamedTemporaryFile(delete=False, dir=destination.parent) as temp_file:
+      with tempfile.NamedTemporaryFile(dir=destination.parent, delete=False) as temp_file:
        temp_file_path = Path(temp_file.name)

        downloaded_size = 0
        for chunk in response.iter_content(chunk_size=16384):
          if params_memory.get_bool(cancel_param):
            temp_file_path.unlink(missing_ok=True)
-            handle_error(None, "Download cancelled...", "Download cancelled...", download_param, progress_param)
+            handle_error(None, "Download cancelled...", "Download cancelled...", download_param, progress_param, params_memory)
            return

          if chunk:
            temp_file.write(chunk)
            downloaded_size += len(chunk)

-            if total_bytes:
-              overall_progress = (offset_bytes + downloaded_size) / total_bytes * 100
-            else:
-              overall_progress = downloaded_size / total_size * 100
-
-            if overall_progress != 100:
-              params_memory.put(progress_param, f"{overall_progress:.0f}%")
-            else:
+            if total_size > 0:
+              progress = (downloaded_size / total_size) * 100
+              if progress != 100:
+                params_memory.put(progress_param, f"{progress:.0f}%")
+              else:
+                params_memory.put(progress_param, "Verifying authenticity...")
+            elif downloaded_size > 0:
              params_memory.put(progress_param, "Verifying authenticity...")

        temp_file_path.rename(destination)

-  except Exception as exception:
-    handle_request_error(exception, destination, download_param, progress_param)
+  except Exception as error:
+    if suppress_errors:
+      return
+    handle_request_error(error, destination, download_param, progress_param, params_memory)

-def get_remote_file_size(url, session):
+def get_remote_file_size(url, suppress_errors=False):
  try:
-    response = session.head(url, headers={"Accept-Encoding": "identity"}, timeout=10)
+    response = requests.head(url, headers={"Accept-Encoding": "identity"}, timeout=10)
    response.raise_for_status()
    return int(response.headers.get("Content-Length", 0))
-  except Exception as exception:
-    handle_request_error(exception, None, None, None)
+  except Exception as error:
+    if not suppress_errors:
+      handle_request_error(error, None, None, None, None)
    return 0

-def get_repository_url(session):
+def get_repository_url():
  if is_url_pingable("https://github.com"):
-    if check_github_rate_limit(session):
+    if check_github_rate_limit():
      return GITHUB_URL
  if is_url_pingable("https://gitlab.com"):
    return GITLAB_URL
  return None

-def handle_error(destination, error_message, error, download_param, progress_param):
+def handle_error(destination, error_message, error, download_param, progress_param, params_memory):
  if destination:
    delete_file(destination)

-  if progress_param and "404" not in error_message:
+  if params_memory and progress_param and "404" not in error_message:
    print(f"Error occurred: {error}")
    params_memory.put(progress_param, error_message)
    params_memory.remove(download_param)

-def handle_request_error(error, destination, download_param, progress_param):
+def handle_request_error(error, destination, download_param, progress_param, params_memory):
  error_map = {
-    requests.exceptions.ConnectionError: "Connection dropped",
-    requests.exceptions.HTTPError: lambda error: f"Server error ({error.response.status_code})" if error and getattr(error, "response", None) else "Server error",
-    requests.exceptions.RequestException: "Network request error. Check connection",
-    requests.exceptions.Timeout: "Download timed out",
+    requests.ConnectionError: "Connection dropped",
+    requests.HTTPError: lambda error: f"Server error ({error.response.status_code})" if error.response else "Server error",
+    requests.RequestException: "Network request error. Check connection",
+    requests.Timeout: "Download timed out"
  }

  error_message = error_map.get(type(error), "Unexpected error")
-  handle_error(destination, f"Failed: {error_message}", error, download_param, progress_param)
+  handle_error(destination, f"Failed: {error_message}", error, download_param, progress_param, params_memory)

-def verify_download(file_path, url, session):
-  remote_file_size = get_remote_file_size(url, session)
+def verify_download(file_path, url, allow_unknown_size=False):
+  remote_file_size = get_remote_file_size(url, suppress_errors=allow_unknown_size)
+
+  if remote_file_size == 0 and allow_unknown_size:
+    if not file_path.is_file():
+      print(f"File not found: {file_path}")
+      return False
+    if file_path.stat().st_size == 0:
+      print(f"File is empty: {file_path}")
+      return False
+    return True

  if remote_file_size == 0:
    print(f"Error fetching remote size for {file_path}")
@@ -5,59 +5,240 @@ import requests
 import shutil
 import time
 import urllib.parse
+import urllib.request

 from pathlib import Path
-from urllib.parse import quote_plus

-from openpilot.common.basedir import BASEDIR
-from openpilot.frogpilot.assets.download_functions import GITLAB_URL, download_file, get_remote_file_size, get_repository_url, handle_error, handle_request_error, verify_download
-from openpilot.frogpilot.common.frogpilot_utilities import delete_file, extract_tar, load_json_file, update_json_file
-from openpilot.frogpilot.common.frogpilot_variables import DEFAULT_MODEL, MODELS_PATH, RESOURCES_REPO, TINYGRAD_FILES, params, params_default, params_memory, update_frogpilot_toggles
+from openpilot.frogpilot.assets.download_functions import GITLAB_URL, download_file, get_repository_url, handle_error, handle_request_error, verify_download
+from openpilot.frogpilot.common.frogpilot_utilities import delete_file
+from openpilot.frogpilot.common.frogpilot_variables import DEFAULT_MODEL, MODELS_PATH, params, params_default, params_memory

-VERSION = "v16"
-VERSION_PATH = MODELS_PATH / "model_version"
+VERSION = "v21"

 CANCEL_DOWNLOAD_PARAM = "CancelModelDownload"
 DOWNLOAD_PROGRESS_PARAM = "ModelDownloadProgress"
 MODEL_DOWNLOAD_PARAM = "ModelToDownload"
 MODEL_DOWNLOAD_ALL_PARAM = "DownloadAllModels"
-UPDATE_TINYGRAD_PARAM = "UpdateTinygrad"
-
-DEFAULT_TINYGRAD_SIZE = 87746736
-TAR_FILE_NAME = f"Tinygrad_{VERSION}.tar.gz"
-
-TINYGRAD_MODELD_PATH = Path(BASEDIR) / "frogpilot/tinygrad_modeld"
-TINYGRAD_REPO_PATH = Path(BASEDIR) / "tinygrad_repo"

 class ModelManager:
-  def __init__(self, boot_run=False):
+  def __init__(self):
+    self.available_models = (params.get("AvailableModels", encoding="utf-8") or "").split(",")
+    self.model_versions = (params.get("ModelVersions", encoding="utf-8") or "").split(",")
+    self.model_series = (params.get("AvailableModelSeries", encoding="utf-8") or "").split(",")
+
+
    self.downloading_model = False

-    self.available_models = (params.get("AvailableModels", encoding="utf-8") or "").split(",")
-    self.available_model_names = (params.get("AvailableModelNames", encoding="utf-8") or "").split(",")
-    self.model_versions = (params.get("ModelVersions", encoding="utf-8") or "").split(",")
+  @staticmethod
+  def fetch_models(url):
+    try:
+      with urllib.request.urlopen(url, timeout=10) as response:
+        return json.loads(response.read().decode("utf-8"))["models"]
+    except Exception as error:
+      handle_request_error(error, None, None, None, None)
+      return []

-    self.model_sizes_path = MODELS_PATH / "model_sizes.json"
-    self.tinygrad_sizes_path = MODELS_PATH / "tinygrad_sizes.json"
+  @staticmethod
+  def fetch_all_model_sizes(repo_url):
+    project_path = "firestar5683/StarPilot-Resources"
+    branch = "Models"

-    self.model_sizes = load_json_file(self.model_sizes_path)
-    self.tinygrad_sizes = load_json_file(self.tinygrad_sizes_path)
+    if "github" in repo_url:
+      api_url = f"https://api.github.com/repos/{project_path}/contents?ref={branch}"
+    elif "gitlab" in repo_url:
+      api_url = f"https://gitlab.com/api/v4/projects/{urllib.parse.quote_plus(project_path)}/repository/tree?ref={branch}"
+    else:
+      return {}

-    self.session = requests.Session()
-    self.session.headers.update({"Accept-Language": "en"})
-    self.session.headers.update({"User-Agent": "frogpilot-model-downloader/1.0 (https://github.com/FrogAi/FrogPilot)"})
+    try:
+      response = requests.get(api_url)
+      response.raise_for_status()
+      model_files = [file for file in response.json() if "." in file["name"]]

-    if boot_run:
-      self.copy_default_model()
-      self.validate_models()
+      if "gitlab" in repo_url:
+        model_sizes = {}
+        for file in model_files:
+          file_path = file["path"]
+          metadata_url = f"https://gitlab.com/api/v4/projects/{urllib.parse.quote_plus(project_path)}/repository/files/{urllib.parse.quote_plus(file_path)}/raw?ref={branch}"
+          metadata_response = requests.head(metadata_url)
+          metadata_response.raise_for_status()
+          model_sizes[file["name"].rsplit(".", 1)[0]] = int(metadata_response.headers.get("content-length", 0))
+        return model_sizes
+      else:
+        return {file["name"].rsplit(".", 1)[0]: file["size"] for file in model_files if "size" in file}
+
+    except Exception as error:
+      handle_request_error(f"Failed to fetch model sizes from {'GitHub' if 'github' in repo_url else 'GitLab'}: {error}", None, None, None, None)
+      return {}
+
+  def handle_verification_failure(self, model, model_path, file_extension):
+    print(f"Verification failed for model {model}. Retrying from GitLab...")
+    model_url = f"{GITLAB_URL}/Models/{model}.{file_extension}"
+    download_file(CANCEL_DOWNLOAD_PARAM, model_path, DOWNLOAD_PROGRESS_PARAM, model_url, MODEL_DOWNLOAD_PARAM, params_memory)
+
+    if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM):
+      handle_error(None, "Download cancelled...", "Download cancelled...", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM, params_memory)
+      self.downloading_model = False
+      return
+
+    if verify_download(model_path, model_url):
+      print(f"Model {model} downloaded and verified successfully!")
+      params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
+      params_memory.remove(MODEL_DOWNLOAD_PARAM)
+      self.downloading_model = False
+    else:
+      handle_error(model_path, "Verification failed...", "GitLab verification failed", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM, params_memory)
+      self.downloading_model = False
+
+  def download_model(self, model_to_download):
+    self.downloading_model = True
+
+    repo_url = get_repository_url()
+    if not repo_url:
+      handle_error(None, "GitHub and GitLab are offline...", "Repository unavailable", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM, params_memory)
+      self.downloading_model = False
+      return
+
+    try:
+      model_index = self.available_models.index(model_to_download)
+      model_version = self.model_versions[model_index]
+    except Exception:
+      handle_error(None, f"Unknown model version for {model_to_download}! Download aborted.", "Model download failed", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM, params_memory)
+      self.downloading_model = False
+      return
+
+    if model_version in ("v8", "v9", "v10", "v11", "v12"):
+      # Download all PKL and metadata files for multi-file tinygrad models (v8 and v9)
+      filenames = [
+          f"{model_to_download}_driving_policy_tinygrad.pkl",
+          f"{model_to_download}_driving_vision_tinygrad.pkl",
+          f"{model_to_download}_driving_policy_metadata.pkl",
+          f"{model_to_download}_driving_vision_metadata.pkl",
+      ]
+      if model_version == "v12":
+        filenames += [
+          f"{model_to_download}_driving_off_policy_tinygrad.pkl",
+          f"{model_to_download}_driving_off_policy_metadata.pkl",
+        ]
+      for filename in filenames:
+        model_path = MODELS_PATH / filename
+        model_url = f"{repo_url}/Models/{filename}"
+        print(f"Downloading model file: {filename}")
+        download_file(CANCEL_DOWNLOAD_PARAM, model_path, DOWNLOAD_PROGRESS_PARAM, model_url, MODEL_DOWNLOAD_PARAM, params_memory)
+
+        if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM):
+          handle_error(None, "Download cancelled...", "Download cancelled...", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM, params_memory)
+          self.downloading_model = False
+          return
+
+        if verify_download(model_path, model_url):
+          print(f"File {filename} downloaded and verified successfully!")
+          params_memory.put(DOWNLOAD_PROGRESS_PARAM, f"Downloaded {filename}!")
+        else:
+          self.handle_verification_failure(filename[:-4], model_path, "pkl")
+          self.downloading_model = False
+          return
+      # After all files are downloaded and verified
+      params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
+      params_memory.remove(MODEL_DOWNLOAD_PARAM)
+
+    elif model_version == "v7":
+      # Download both PKL and metadata for OG tinygrad models
+      v7_filenames = [
+        f"{model_to_download}.pkl",
+        f"{model_to_download}_metadata.pkl"
+      ]
+      for filename in v7_filenames:
+        model_path = MODELS_PATH / filename
+        model_url = f"{repo_url}/Models/{filename}"
+        print(f"Downloading v7 model file: {filename}")
+        download_file(CANCEL_DOWNLOAD_PARAM, model_path, DOWNLOAD_PROGRESS_PARAM, model_url, MODEL_DOWNLOAD_PARAM, params_memory)
+
+        if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM):
+          handle_error(None, "Download cancelled...", "Download cancelled...", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM, params_memory)
+          self.downloading_model = False
+          return
+
+        if verify_download(model_path, model_url):
+          print(f"File {filename} downloaded and verified successfully!")
+          params_memory.put(DOWNLOAD_PROGRESS_PARAM, f"Downloaded {filename}!")
+        else:
+          self.handle_verification_failure(filename.rsplit('.',1)[0], model_path, "pkl")
+          self.downloading_model = False
+          return
+
+      # Once both files are fetched
+      params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
+      params_memory.remove(MODEL_DOWNLOAD_PARAM)
+
+    else:
+      # Classic model: download only the .thneed file
+      file_extension = "thneed"
+      model_path = MODELS_PATH / f"{model_to_download}.{file_extension}"
+      model_url = f"{repo_url}/Models/{model_to_download}.{file_extension}"
+      print(f"Downloading classic model: {model_to_download}")
+      download_file(CANCEL_DOWNLOAD_PARAM, model_path, DOWNLOAD_PROGRESS_PARAM, model_url, MODEL_DOWNLOAD_PARAM, params_memory)
+
+      if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM):
+        handle_error(None, "Download cancelled...", "Download cancelled...", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM, params_memory)
+        self.downloading_model = False
+        return
+
+      if verify_download(model_path, model_url):
+        print(f"Model {model_to_download} downloaded and verified successfully!")
+        params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
+        params_memory.remove(MODEL_DOWNLOAD_PARAM)
+      else:
+        self.handle_verification_failure(model_to_download, model_path, file_extension)
+        self.downloading_model = False
+        return
+
+    self.downloading_model = False
+
+  @staticmethod
+  def copy_default_model():
+    default_model_path = MODELS_PATH / f"{DEFAULT_MODEL}.thneed"
+    source_path = Path(__file__).parents[2] / "selfdrive/modeld/models/supercombo.thneed"
+    if source_path.is_file() and not default_model_path.is_file():
+      shutil.copyfile(source_path, default_model_path)
+      print(f"Copied the default model from {source_path} to {default_model_path}")

  def check_models(self, boot_run, repo_url):
-    downloaded_models = [
-      model for model in MODELS_PATH.iterdir()
-      if (MODELS_PATH / f"{model}.thneed").is_file() or all((MODELS_PATH / f"{model}_{filename}").is_file() for filename, _ in TINYGRAD_FILES)
-    ]
-    for model_file in downloaded_models:
-      if not any(model in model_file.name for model in set(self.available_models)):
+    available_models = set(self.available_models) - {DEFAULT_MODEL}
+    downloaded_models = set()
+    for model in available_models:
+      try:
+        model_index = self.available_models.index(model)
+        model_version = self.model_versions[model_index]
+      except Exception:
+        model_version = None
+
+      if model_version in ("v8", "v9", "v10", "v11", "v12"):
+        v8_v9_files = [
+          f"{model}_driving_policy_tinygrad.pkl",
+          f"{model}_driving_vision_tinygrad.pkl",
+          f"{model}_driving_policy_metadata.pkl",
+          f"{model}_driving_vision_metadata.pkl",
+        ]
+        if model_version == "v12":
+          v8_v9_files += [
+            f"{model}_driving_off_policy_tinygrad.pkl",
+            f"{model}_driving_off_policy_metadata.pkl",
+          ]
+        if all((MODELS_PATH / f).is_file() for f in v8_v9_files):
+          downloaded_models.add(model)
+      elif model_version == "v7":
+        filename = f"{model}.pkl"
+        if (MODELS_PATH / filename).is_file():
+          downloaded_models.add(model)
+      else:
+        filename = f"{model}.thneed"
+        if (MODELS_PATH / filename).is_file():
+          downloaded_models.add(model)
+
+    outdated_models = downloaded_models - available_models
+    for model in outdated_models:
+      for model_file in MODELS_PATH.glob(f"{model}*"):
        print(f"Removing outdated model: {model_file}")
        delete_file(model_file)

@@ -65,466 +246,185 @@ class ModelManager:
      if tmp_file.is_file():
        delete_file(tmp_file)

-    if params.get("Model", encoding="utf-8").removesuffix("_default") not in self.available_models:
+    if params.get("Model", encoding="utf-8") not in self.available_models:
      params.put("Model", params_default.get("Model", encoding="utf-8"))

-    if not (not boot_run and params.get_bool("AutomaticallyDownloadModels")):
+    automatically_download_models = params.get_bool("AutomaticallyDownloadModels")
+    if not automatically_download_models:
      return

    model_sizes = self.fetch_all_model_sizes(repo_url)
    if not model_sizes:
-      print("No model size data available. Skipping model checks...")
-      return
+      print("No model size data available. Continuing downloads based on file existence")
+      # do not return; proceed to download missing files

-    need_to_update_models = False
-    for model in self.available_models:
-      if self.is_tinygrad_model(model):
-        model_file = MODELS_PATH / f"{model}.thneed"
-        if not model_file.is_file():
-          need_to_update_models = True
-          continue
+    needs_download = False

-        expected_size = model_sizes.get(model_file.name)
-        local_size = self.model_sizes.get(model_file.name)
+    # Enhanced model file validation per model version
+    for model in available_models:
+      model_version = None
+      try:
+        model_index = self.available_models.index(model)
+        model_version = self.model_versions[model_index]
+      except Exception:
+        model_version = None

-        if expected_size > 0 and local_size != expected_size:
-          print(f"Model {model} is outdated. Deleting {model_file}...")
-          delete_file(model_file)
-          need_to_update_models = True
-      else:
-        model_missing = False
-        model_outdated = False
-
-        for filename, _ in TINYGRAD_FILES:
-          expected_file = MODELS_PATH / f"{model}_{filename}"
-          if not expected_file.is_file():
-            model_missing = True
-            need_to_update_models = True
+      if model_version in ("v8", "v9", "v10", "v11", "v12"):
+        v8_v9_files = [
+          f"{model}_driving_policy_tinygrad.pkl",
+          f"{model}_driving_vision_tinygrad.pkl",
+          f"{model}_driving_policy_metadata.pkl",
+          f"{model}_driving_vision_metadata.pkl",
+        ]
+        if model_version == "v12":
+          v8_v9_files += [
+            f"{model}_driving_off_policy_tinygrad.pkl",
+            f"{model}_driving_off_policy_metadata.pkl",
+          ]
+        for filename in v8_v9_files:
+          path = MODELS_PATH / filename
+          expected_size = model_sizes.get(filename.rsplit(".", 1)[0])
+          if not path.is_file() or expected_size is None or path.stat().st_size != expected_size:
+            needs_download = True
            break
-
-        for filename, _ in TINYGRAD_FILES:
-          model_file = f"{model}_{filename}"
-
-          expected_size = model_sizes.get(model_file)
-          local_size = self.model_sizes.get(model_file)
-
-          if expected_size > 0 and local_size != expected_size:
-            model_outdated = True
-            need_to_update_models = True
-            break
-
-        if model_missing or model_outdated:
-          print(f"Model {model} is either missing required files or outdated. Deleting...")
-          for filename, _ in TINYGRAD_FILES:
-            delete_file(MODELS_PATH / f"{model}_{filename}")
-
-    if need_to_update_models:
-      params_memory.put_bool(MODEL_DOWNLOAD_ALL_PARAM, True)
-
-  def check_tinygrad(self, repo_url):
-    tinygrad_url = f"{repo_url}/Tinygrad/{TAR_FILE_NAME}"
-
-    expected_size = get_remote_file_size(tinygrad_url, self.session)
-    local_size = int(self.tinygrad_sizes.get(TAR_FILE_NAME, 0))
-
-    if expected_size > 0 and local_size != expected_size:
-      print(f"Tinygrad version {VERSION} is outdated, expected_size: {expected_size}, local_size: {local_size}, flagging for update...")
-      params.put_bool("TinygradUpdateAvailable", True)
-
-  def copy_default_model(self):
-    classic_default_model_path = MODELS_PATH / "wd-40.thneed"
-    source_path = Path(__file__).parents[1] / "classic_modeld/models/supercombo.thneed"
-    if source_path.is_file() and (not classic_default_model_path.is_file() or source_path.stat().st_size != classic_default_model_path.stat().st_size):
-      shutil.copyfile(source_path, classic_default_model_path)
-      print(f"Copied the classic default model from {source_path} to {classic_default_model_path}")
-      self.update_model_size(classic_default_model_path)
-
-    default_model_path = MODELS_PATH / "national-public-radio.thneed"
-    source_path = Path(__file__).parents[2] / "selfdrive/modeld/models/supercombo.thneed"
-    if source_path.is_file() and (not default_model_path.is_file() or source_path.stat().st_size != default_model_path.stat().st_size):
-      shutil.copyfile(source_path, default_model_path)
-      print(f"Copied the default model from {source_path} to {default_model_path}")
-      self.update_model_size(default_model_path)
-
-    for filename, description in TINYGRAD_FILES:
-      source = TINYGRAD_MODELD_PATH / "models" / filename
-      target = MODELS_PATH / f"{DEFAULT_MODEL}_{filename}"
-      if source.is_file() and (not target.is_file() or source.stat().st_size != target.stat().st_size):
-        shutil.copyfile(source, target)
-        print(f"Copied the tinygrad {description} from {source} to {target}")
-
-  def download_all_models(self):
-    repo_url = get_repository_url(self.session)
-    if not repo_url:
-      handle_error(None, "GitHub and GitLab are offline...", "Repository unavailable", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM)
-      return
-
-    self.fetch_models(f"{repo_url}/Versions/model_names_{VERSION}.json", repo_url)
-
-    for model in self.available_models:
-      if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM):
-        handle_error(None, "Download cancelled...", "Download cancelled...", MODEL_DOWNLOAD_ALL_PARAM, DOWNLOAD_PROGRESS_PARAM)
-        return
-
-      if self.is_tinygrad_model(model):
-        already_downloaded = (MODELS_PATH / f"{model}.thneed").is_file()
+      elif model_version == "v7":
+        filename = f"{model}.pkl"
+        path = MODELS_PATH / filename
+        expected_size = model_sizes.get(model)
+        if not path.is_file() or expected_size is None or path.stat().st_size != expected_size:
+          needs_download = True
      else:
-        already_downloaded = all((MODELS_PATH / f"{model}_{filename}").is_file() for filename, _ in TINYGRAD_FILES)
+        filename = f"{model}.thneed"
+        path = MODELS_PATH / filename
+        expected_size = model_sizes.get(model)
+        if not path.is_file() or expected_size is None or path.stat().st_size != expected_size:
+          needs_download = True

-      if already_downloaded:
-        continue
+    if needs_download:
+      self.download_all_models()

-      print(f"Model {model} is not downloaded. Preparing to download...")
-      params_memory.put(DOWNLOAD_PROGRESS_PARAM, f"Downloading \"{self.available_model_names[self.available_models.index(model)]}\"...")
-      self.download_model(model)
+  def update_model_params(self, model_info, repo_url):
+      self.available_models = [model["id"] for model in model_info]
+      self.model_versions = [model["version"] for model in model_info]
+      self.model_series = [model.get("series", "Dom Forgot To Label Me") for model in model_info]

-    params_memory.put(DOWNLOAD_PROGRESS_PARAM, "All models downloaded!")
-    params_memory.remove(MODEL_DOWNLOAD_ALL_PARAM)
+      params.put("AvailableModels", ",".join(self.available_models))
+      params.put("AvailableModelNames", ",".join([model["name"] for model in model_info]))
+      params.put("AvailableModelSeries", ",".join(self.model_series))
+      params.put("CommunityFavorites", ",".join([model["id"] for model in model_info if model.get("community_favorite", False)]))
+      params.put("ModelReleasedDates", ",".join([model.get("released", "2023-01-01") for model in model_info]))
+      params.put("ModelVersions", ",".join(self.model_versions))
+      params.put("CommunityFavorites", ",".join([model["id"] for model in model_info if model.get("community_favorite", False)]))
+      params.put("AvailableModelSeries", ",".join(self.model_series))
+      print("Models list updated successfully")

-  def download_model(self, model_to_download):
-    self.downloading_model = True
+      # --- Generate per-model version JSON for offline UI ---
+      try:
+          versions_file = MODELS_PATH / ".model_versions.json"
+          version_map = {model_id: version for model_id, version in zip(self.available_models, self.model_versions)}
+          with open(versions_file, "w") as vf:
+              json.dump(version_map, vf)
+      except Exception as e:
+          print(f"Failed to write .model_versions.json: {e}")
+      # --- end JSON generation ---

-    repo_url = get_repository_url(self.session)
-    if not repo_url:
-      handle_error(None, "GitHub and GitLab are offline...", "Repository unavailable", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM)
-      self.downloading_model = False
-      return
+      # Immediately sync the active ModelVersion param
+      try:
+          current = params.get("Model", encoding="utf-8")
+          if current in version_map:
+              params.put("ModelVersion", version_map[current])
+              print(f"Successfully synced ModelVersion to {version_map[current]} for model {current}")
+          else:
+              print(f"Warning: Model {current} not found in version map")
+      except Exception as e:
+          print(f"Failed to sync ModelVersion for {current}: {e}")

-    if self.is_tinygrad_model(model_to_download):
-      model_path = MODELS_PATH / f"{model_to_download}.thneed"
-      model_url = f"{repo_url}/Models/{model_to_download}.thneed"
+      # Also ensure ModelVersion is set for the default model if not already set
+      try:
+          if not params.get("ModelVersion", encoding="utf-8"):
+              default_model = params.get("Model", encoding="utf-8") or DEFAULT_MODEL
+              if default_model in version_map:
+                  params.put("ModelVersion", version_map[default_model])
+                  print(f"Set default ModelVersion to {version_map[default_model]} for model {default_model}")
+      except Exception as e:
+          print(f"Failed to set default ModelVersion: {e}")

-      print(f"Downloading model: {model_to_download}")
-      download_file(CANCEL_DOWNLOAD_PARAM, model_path, DOWNLOAD_PROGRESS_PARAM, model_url, MODEL_DOWNLOAD_PARAM, self.session)
-
-      if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM):
-        delete_file(model_path)
-
-        handle_error(None, "Download cancelled...", "Download cancelled...", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM)
-        self.downloading_model = False
-        return
-
-      if verify_download(model_path, model_url, self.session):
-        print(f"Model {model_to_download} downloaded and verified successfully!")
-        self.update_model_size(model_path)
-
-        params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
-        params_memory.remove(MODEL_DOWNLOAD_PARAM)
-
-        self.downloading_model = False
-        return
-
-      print(f"Verification failed for model {model_to_download}. Retrying from GitLab...")
-      fallback_url = f"{GITLAB_URL}/Models/{model_to_download}.thneed"
-      download_file(CANCEL_DOWNLOAD_PARAM, model_path, DOWNLOAD_PROGRESS_PARAM, fallback_url, MODEL_DOWNLOAD_PARAM, self.session)
-
-      if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM):
-        delete_file(model_path)
-
-        handle_error(None, "Download cancelled...", "Download cancelled...", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM)
-        self.downloading_model = False
-        return
-
-      if verify_download(model_path, fallback_url, self.session):
-        print(f"Model {model_to_download} downloaded and verified successfully from GitLab!")
-        self.update_model_size(model_path)
-
-        params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
-        params_memory.remove(MODEL_DOWNLOAD_PARAM)
-
-        self.downloading_model = False
-      else:
-        handle_error(model_path, "Verification failed...", "GitLab verification failed", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM)
-        self.downloading_model = False
-    else:
-      all_model_sizes = self.fetch_all_model_sizes(repo_url) or {}
-      tinygrad_filenames = [f"{model_to_download}_{file_key}" for file_key, _ in TINYGRAD_FILES]
-
-      file_sizes = []
-      file_sources = []
-
-      missing = [name for name in tinygrad_filenames if int(all_model_sizes.get(name, 0)) <= 0]
-      if missing:
-        handle_error(None, "Missing size metadata...", f"Sizes not found for: {', '.join(missing)}...", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM)
-        self.downloading_model = False
-        return
-
-      for filename in tinygrad_filenames:
-        primary_url = f"{repo_url}/Models/compiled/{filename}"
-        file_size = int(all_model_sizes.get(filename, 0))
-        file_sizes.append(file_size)
-        file_sources.append((primary_url, None))
-
-      downloaded_offset_bytes = 0
-      known_file_sizes = [size for size in file_sizes if size > 0]
-      total_model_bytes = sum(known_file_sizes) if len(known_file_sizes) == len(file_sizes) else 0
-
-      for (file_key, description), part_bytes, (primary_url, fallback_url) in zip(TINYGRAD_FILES, file_sizes, file_sources):
-        filename = f"{model_to_download}_{file_key}"
-        model_path = MODELS_PATH / filename
-
-        print(f"Downloading {description} for model: {model_to_download}")
-        download_file(CANCEL_DOWNLOAD_PARAM, model_path, DOWNLOAD_PROGRESS_PARAM, primary_url, MODEL_DOWNLOAD_PARAM, self.session, offset_bytes=downloaded_offset_bytes, total_bytes=total_model_bytes)
-
-        if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM):
-          delete_file(model_path)
-
-          handle_error(None, "Download cancelled...", "Download cancelled...", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM)
-          self.downloading_model = False
-          return
-
-        if verify_download(model_path, primary_url, self.session):
-          print(f"{description.capitalize()} for {model_to_download} downloaded and verified successfully!")
-          if total_model_bytes:
-            downloaded_offset_bytes += part_bytes
-          continue
-
-        print(f"Verification failed for {filename}. Retrying from GitLab...")
-        fallback_url = f"{GITLAB_URL}/Models/compiled/{filename}"
-        download_file(CANCEL_DOWNLOAD_PARAM, model_path, DOWNLOAD_PROGRESS_PARAM, fallback_url, MODEL_DOWNLOAD_PARAM, self.session, offset_bytes=downloaded_offset_bytes, total_bytes=total_model_bytes)
-
-        if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM):
-          delete_file(model_path)
-
-          handle_error(None, "Download cancelled...", "Download cancelled...", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM)
-          self.downloading_model = False
-          return
-
-        if verify_download(model_path, fallback_url, self.session):
-          print(f"{description.capitalize()} for {model_to_download} downloaded and verified successfully from GitLab!")
-          if total_model_bytes:
-            downloaded_offset_bytes += part_bytes
-        else:
-          handle_error(model_path, "Verification failed...", f"GitLab verification failed for {filename}", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM)
-          self.downloading_model = False
-          return
-
-      print(f"Updating model sizes for {model_to_download}...")
-      for filename, _ in TINYGRAD_FILES:
-        file_path = MODELS_PATH / f"{model_to_download}_{filename}"
-        self.update_model_size(file_path)
-
-      params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
-      params_memory.remove(MODEL_DOWNLOAD_PARAM)
-
-      self.downloading_model = False
-
-  def fetch_all_model_sizes(self, repo_url):
-    is_github = "github" in repo_url
-    is_gitlab = "gitlab" in repo_url
-    repo_encoded = quote_plus(RESOURCES_REPO)
-
-    model_sizes = {}
-    try:
-      def fetch_dir_sizes(api_url):
-        sizes = {}
-        print(f"Fetching model metadata: {api_url}")
-        response = self.session.get(api_url, timeout=10)
-        response.raise_for_status()
-        content = response.json()
-
-        model_files = [file for file in content if "." in file["name"]]
-
-        if is_github:
-          for file in model_files:
-            sizes[file["name"]] = file.get("size", 0)
-        else:
-          for file in model_files:
-            file_path = quote_plus(file["path"])
-            metadata_url = f"https://gitlab.com/api/v4/projects/{repo_encoded}/repository/files/{file_path}/raw?ref=Models"
-            head_response = self.session.head(metadata_url, timeout=10)
-            if head_response.ok:
-              sizes[file["name"]] = int(head_response.headers.get("content-length", 0))
-        return sizes
-
-      if is_github:
-        top_api_url = f"https://api.github.com/repos/{RESOURCES_REPO}/contents?ref=Models"
-        version_api_url = f"https://api.github.com/repos/{RESOURCES_REPO}/contents/compiled?ref=Models"
-      elif is_gitlab:
-        top_api_url = f"https://gitlab.com/api/v4/projects/{repo_encoded}/repository/tree?ref=Models"
-        version_api_url = f"https://gitlab.com/api/v4/projects/{repo_encoded}/repository/tree?path=compiled&ref=Models"
-      else:
-        print(f"Unsupported repository URL: {repo_url}")
-        return model_sizes
-
-      model_sizes.update(fetch_dir_sizes(top_api_url))
-      model_sizes.update(fetch_dir_sizes(version_api_url))
-
-      return model_sizes
-
-    except requests.exceptions.RequestException as e:
-      handle_request_error(f"Failed to fetch model sizes from {'GitHub' if is_github else 'GitLab'}: {e}", None, None, None)
-      return {}
-
-  def fetch_models(self, url, repo_url, boot_run=False):
-    try:
-      response = self.session.get(url, timeout=10)
-      response.raise_for_status()
-      model_info = response.json().get("models", [])
-
-      if model_info:
-        self.update_model_params(model_info)
-        self.check_models(boot_run, repo_url)
-        self.check_tinygrad(repo_url)
-    except Exception as exception:
-      handle_request_error(exception, None, None, None)
-      return []
-
-  def is_tinygrad_model(self, model):
-    return self.model_versions[self.available_models.index(model)] in {"v1", "v2", "v3", "v4", "v5", "v6"}
-
-  def update_model_params(self, model_info):
-    self.available_models = [model["id"] for model in model_info]
-    self.available_model_names = [model["name"] for model in model_info]
-    self.model_versions = [model["version"] for model in model_info]
-
-    params.put("AvailableModels", ",".join(self.available_models))
-    params.put("AvailableModelNames", ",".join(self.available_model_names))
-    params.put("ModelVersions", ",".join(self.model_versions))
-    print("Models list updated successfully!")
-
-  def update_models(self, boot_run):
+  def update_models(self, boot_run=False):
    if self.downloading_model:
      return

-    repo_url = get_repository_url(self.session)
+    repo_url = get_repository_url()
    if repo_url is None:
      print("GitHub and GitLab are offline...")
      return

-    self.fetch_models(f"{repo_url}/Versions/model_names_{VERSION}.json", repo_url, boot_run)
+    model_info = self.fetch_models(f"{repo_url}/Versions/model_names_{VERSION}.json")
+    if model_info:
+      self.update_model_params(model_info, repo_url)
+      self.check_models(boot_run, repo_url)

-  def update_model_size(self, file_path):
-    self.model_sizes[file_path.name] = file_path.stat().st_size
-    update_json_file(self.model_sizes_path, self.model_sizes)
-    print(f"Updated size for {file_path.name} in {self.model_sizes_path.name}")
+      # Ensure ModelVersion is set immediately after updating model params
+      if boot_run:
+        try:
+          current = params.get("Model", encoding="utf-8")
+          if current and current in [model["id"] for model in model_info]:
+            model_index = [model["id"] for model in model_info].index(current)
+            version = model_info[model_index]["version"]
+            params.put("ModelVersion", version)
+            print(f"Boot sync: Set ModelVersion to {version} for model {current}")
+        except Exception as e:
+          print(f"Boot sync failed: {e}")

-  def update_tinygrad_size(self, file_path):
-    self.tinygrad_sizes[TAR_FILE_NAME] = file_path.stat().st_size
-    update_json_file(self.tinygrad_sizes_path, self.tinygrad_sizes)
-    print(f"Updated size for {TAR_FILE_NAME} in {self.tinygrad_sizes_path.name}")
-
-  def update_tinygrad(self):
-    repo_url = get_repository_url(self.session)
+  def download_all_models(self):
+    repo_url = get_repository_url()
    if not repo_url:
-      handle_error(None, "GitHub and GitLab are offline...", "Repository unavailable", None, None)
+      handle_error(None, "GitHub and GitLab are offline...", "Repository unavailable", MODEL_DOWNLOAD_ALL_PARAM, DOWNLOAD_PROGRESS_PARAM, params_memory)
      return

-    primary_url = f"{repo_url}/Tinygrad/{TAR_FILE_NAME}"
-    fallback_url = f"https://gitlab.com/{RESOURCES_REPO}/-/raw/Tinygrad/{TAR_FILE_NAME}"
+    model_info = self.fetch_models(f"{repo_url}/Versions/model_names_{VERSION}.json")
+    if model_info:
+      available_models = [model["id"] for model in model_info]
+      available_model_names = [re.sub(r"[🗺️👀📡]", "", model["name"]).strip() for model in model_info]
+      model_versions = [model["version"] for model in model_info]
+      model_series = [model.get("series", "Dom Forgot To Label Me") for model in model_info]

-    tinygrad_tar_path = Path("/data/tmp/tinygrad.tar.gz")
-    try:
-      print(f"Attempting to download tinygrad from {primary_url}...")
-      download_file(CANCEL_DOWNLOAD_PARAM, tinygrad_tar_path, DOWNLOAD_PROGRESS_PARAM, primary_url, UPDATE_TINYGRAD_PARAM, self.session)
-
-      if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM):
-        delete_file(tinygrad_tar_path)
-
-        handle_error(None, "Tinygrad update cancelled...", "Tinygrad update cancelled...", UPDATE_TINYGRAD_PARAM, DOWNLOAD_PROGRESS_PARAM)
-        params_memory.remove("CancelModelDownload")
-        return
-
-      if not verify_download(tinygrad_tar_path, primary_url, self.session):
-        print(f"Verification failed for {primary_url}. Retrying from GitLab...")
-        download_file(CANCEL_DOWNLOAD_PARAM, tinygrad_tar_path, DOWNLOAD_PROGRESS_PARAM, fallback_url, UPDATE_TINYGRAD_PARAM, self.session)
-
-      if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM):
-        delete_file(tinygrad_tar_path)
-
-        handle_error(None, "Tinygrad update cancelled...", "Tinygrad update cancelled...", UPDATE_TINYGRAD_PARAM, DOWNLOAD_PROGRESS_PARAM)
-        params_memory.remove("CancelModelDownload")
-        return
-
-      if not verify_download(tinygrad_tar_path, fallback_url, self.session):
-        handle_error(tinygrad_tar_path, "Verification Failed", "Tinygrad verification failed", UPDATE_TINYGRAD_PARAM, DOWNLOAD_PROGRESS_PARAM)
-        return
-
-      print("Tinygrad downloaded successfully! Proceeding with installation...")
-      self.update_tinygrad_size(tinygrad_tar_path)
-
-      params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Installing...")
-
-      print("Deleting old tinygrad directories...")
-      delete_file(TINYGRAD_MODELD_PATH)
-      print(f"Removed {TINYGRAD_MODELD_PATH}")
-      delete_file(TINYGRAD_REPO_PATH)
-      print(f"Removed {TINYGRAD_REPO_PATH}")
-
-      extract_tar(tinygrad_tar_path, Path(BASEDIR))
-
-      print("Tinygrad update completed successfully!")
-
-      params.put_bool("TinygradUpdateAvailable", False)
-
-      params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Updated!")
-      params_memory.remove(UPDATE_TINYGRAD_PARAM)
-
-      self.update_tinygrad_models(repo_url)
-    except Exception as exception:
-      handle_error(tinygrad_tar_path, "Update Failed", f"An unexpected error occurred: {exception}", UPDATE_TINYGRAD_PARAM, DOWNLOAD_PROGRESS_PARAM)
-
-  def update_tinygrad_models(self, repo_url=None):
-    print("Updating old Tinygrad models...")
-
-    installed_tinygrad_models = set()
-    for filename, _ in TINYGRAD_FILES:
-      suffix = f"_{filename}"
-      for file_path in MODELS_PATH.glob(f"*{suffix}"):
-        model_name = file_path.name.rsplit(suffix, 1)[0]
-        if model_name in set(self.available_models):
-          installed_tinygrad_models.add(model_name)
-        delete_file(file_path)
-
-    self.copy_default_model()
-
-    update_frogpilot_toggles()
-
-    if repo_url is None:
-      return
-
-    current_model = params.get("Model", encoding="utf-8").removesuffix("_default")
-
-    models_to_redownload = [current_model]
-    models_to_redownload += [model for model in sorted(installed_tinygrad_models) if model != current_model]
-
-    if DEFAULT_MODEL in models_to_redownload:
-      models_to_redownload.remove(DEFAULT_MODEL)
-
-    if models_to_redownload:
-      print(f"Redownloading the following models: {', '.join(models_to_redownload)}")
-      self.fetch_models(f"{repo_url}/Versions/model_names_{VERSION}.json", repo_url, boot_run=True)
-
-      for model in models_to_redownload:
+      for model, model_name, model_version in zip(available_models, available_model_names, model_versions):
        if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM):
-          handle_error(None, "Download cancelled...", "Download cancelled...", MODEL_DOWNLOAD_ALL_PARAM, DOWNLOAD_PROGRESS_PARAM)
+          handle_error(None, "Download cancelled...", "Download cancelled...", MODEL_DOWNLOAD_ALL_PARAM, DOWNLOAD_PROGRESS_PARAM, params_memory)
          return

-        params_memory.put(DOWNLOAD_PROGRESS_PARAM, f"Downloading \"{self.available_model_names[self.available_models.index(model)]}\"...")
-        self.download_model(model)
+        if model_version in ("v8", "v9", "v10", "v11", "v12"):
+          required_files = [
+              f"{model}_driving_policy_tinygrad.pkl",
+              f"{model}_driving_vision_tinygrad.pkl",
+              f"{model}_driving_policy_metadata.pkl",
+              f"{model}_driving_vision_metadata.pkl",
+          ]
+          if model_version == "v12":
+            required_files += [
+              f"{model}_driving_off_policy_tinygrad.pkl",
+              f"{model}_driving_off_policy_metadata.pkl",
+            ]
+          missing = [f for f in required_files if not (MODELS_PATH / f).is_file()]
+          if missing:
+            print(f"Tinygrad model {model} is missing files. Preparing to download...")
+            params_memory.put(DOWNLOAD_PROGRESS_PARAM, f"Downloading \"{model_name}\"...")
+            self.download_model(model)
+        elif model_version == "v7":
+          # OG tinygrad: only need PKL file
+          model_file = MODELS_PATH / f"{model}.pkl"
+          if not model_file.is_file():
+            print(f"PKL model {model} is missing. Preparing to download...")
+            params_memory.put(DOWNLOAD_PROGRESS_PARAM, f"Downloading \"{model_name}\"...")
+            self.download_model(model)
+        else:
+          # Classic: only need .thneed
+          model_file = MODELS_PATH / f"{model}.thneed"
+          if not model_file.is_file():
+            print(f"Classic model {model} is missing. Preparing to download...")
+            params_memory.put(DOWNLOAD_PROGRESS_PARAM, f"Downloading \"{model_name}\"...")
+            self.download_model(model)
+
+      params_memory.put(DOWNLOAD_PROGRESS_PARAM, "All models downloaded!")
    else:
-      print("No previously installed tinygrad models to redownload")
-
-    update_frogpilot_toggles()
-
-  def validate_models(self):
-    current = params.get("Model", encoding="utf-8")
-    default = params_default.get("Model", encoding="utf-8")
-
-    if current.endswith("_default") and current != default:
-      print(f"Model '{current}' does not match default '{default}', resetting...")
-      params.put("Model", default)
-
-    if VERSION_PATH.is_file():
-      version_name = VERSION_PATH.read_text().strip()
-      if version_name != VERSION or int(self.tinygrad_sizes.get(TAR_FILE_NAME, 0)) == 0:
-        self.update_tinygrad_models()
-
-        self.tinygrad_sizes[TAR_FILE_NAME] = DEFAULT_TINYGRAD_SIZE
-        update_json_file(self.tinygrad_sizes_path, self.tinygrad_sizes)
-        print(f"Updated size for {TAR_FILE_NAME} in {self.tinygrad_sizes_path.name}")
-
-        params.remove("TinygradUpdateAvailable")
-
-    VERSION_PATH.write_text(VERSION)
-    print(f"Updated {VERSION_PATH} to {VERSION}")
+      handle_error(None, "Unable to fetch models...", "Model list unavailable", MODEL_DOWNLOAD_ALL_PARAM, DOWNLOAD_PROGRESS_PARAM, params_memory)
@@ -0,0 +1 @@
+{"input_std":[[9.281861],[1.8477924],[0.7977224],[0.047467366],[1.7969038],[1.8168812],[1.8351218],[1.785757],[1.7335743],[1.6658221],[1.5893887],[0.047346078],[0.0473731],[0.047383286],[0.047291175],[0.047300573],[0.04712479],[0.046799928]],"model_test_loss":0.027355343103408813,"input_size":18,"current_date_and_time":"2023-08-05_05-11-44","input_mean":[[21.655252],[-0.07694559],[-0.006081294],[-0.007598456],[-0.07309746],[-0.075890236],[-0.07804942],[-0.076106496],[-0.07184982],[-0.06528668],[-0.060404416],[-0.0077262702],[-0.0077046235],[-0.0076850485],[-0.007687444],[-0.007708868],[-0.0077959923],[-0.008017422]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.35776415],[-0.126288],[0.007988413],[0.03850029],[-0.056796823],[0.0072075897],[0.17376427]],"dense_1_W":[[0.010538558,6.7293744,-0.007391298,-1.035045,-0.47446147,1.0940393,0.08225446,-0.5795131,0.573115,1.82923,-0.16999252,0.8818023,0.03560901,-0.9470653,-1.042151,1.1532398,1.9009485,-1.2265956],[0.009010456,-1.3618345,0.039026346,0.22943486,-0.6669799,-0.768271,-0.16828564,-0.13406865,0.19760236,-0.18953702,-0.019137766,0.1468623,0.26367718,0.4732375,0.73679143,0.62450147,0.30198866,-0.93340015],[-0.044318866,2.2138615,9.620889,-0.66480356,-0.06849887,-0.038568456,-0.30580127,-0.088089585,0.31187677,0.5968372,-1.1462088,0.13234706,0.29166338,-0.69978577,-0.01790655,-0.097928315,-0.56950736,0.7560642],[1.3758256,0.8700429,-0.24295154,0.20832618,-0.7735097,1.0379355,-0.60753095,-0.5457418,-1.0892137,-0.6708325,0.24982774,0.09251328,0.08596103,-0.58034134,-0.3046114,-0.19754426,0.006461508,0.5989185],[0.06314328,-2.492993,-0.28200585,0.49902886,0.8513198,-0.5704965,1.0960953,-0.08426956,-0.76074624,0.10669376,0.02775254,-0.42194095,-0.34657434,-0.10863868,0.17019278,0.0963825,-0.10169116,0.21243806],[0.007984091,-1.9276509,-0.0013926353,0.04057924,1.4438432,1.3440262,-2.506722,1.700801,0.72410774,0.13471895,-0.18753268,0.7303607,0.018133093,-0.71643597,0.07050904,-0.30161944,0.085108586,0.061202843],[0.9413167,-0.9954305,-0.19510143,-0.4711845,-0.12398665,-0.45175523,1.0616771,0.28550953,-0.55543137,-0.21576759,-0.2364377,-0.012782618,-0.050565187,0.257694,-0.20975965,0.00022543047,-0.08760746,0.4983852]],"activation":"σ"},{"dense_2_W":[[-0.71804935,0.017023304,-0.099854074,-0.3262651,-0.402829,-0.12073083,0.13537839],[-0.44002575,-0.1071093,-0.58886194,-0.17319413,-0.21134079,0.23135148,0.0006880979],[-0.55711204,-0.8693639,-0.6443761,-0.7382846,0.18980889,-0.6082511,-0.63103676],[0.11338112,-0.5327033,0.2856197,0.32239884,-0.72682667,0.5302305,-0.45094746],[-0.35197002,-0.14440043,-0.025249843,-0.48697743,0.3340018,-0.25992322,0.0050561456],[0.34757507,0.15670523,-0.14263277,0.50704384,-0.020171141,0.6408679,-0.3074123],[0.40258837,-0.59363264,0.35948923,-0.060853776,-0.0072541097,0.89743376,-0.49789146],[-0.63476,0.29580453,0.1689314,-0.5061521,0.24901053,-0.23218995,0.57968193],[-0.66173035,0.50861925,-0.5845035,-0.6602214,0.8341883,-0.31437424,0.8046359],[0.038493533,0.15464582,-0.04848341,-0.57820857,-0.25891733,-0.47527292,0.21441916],[-0.15464531,-0.07454202,-0.8215851,-0.12614948,-0.5924209,0.00017916794,0.24154592],[0.6091424,-0.112086505,0.1144111,-0.31035227,-0.9237534,0.041003596,-0.3542808],[0.2989792,-0.23780549,0.116059326,-0.6056522,0.5499526,-0.9001413,0.5200723]],"activation":"σ","dense_2_b":[[-0.2638964],[-0.24607328],[-0.15493082],[-0.0071187904],[-0.23515384],[-0.09098133],[-0.034066215],[0.03609036],[-0.03842933],[-0.042302527],[-0.2439947],[-0.16342077],[-0.01030317]]},{"dense_3_W":[[0.45771673,-0.2084603,0.3570187,0.35835707,0.13684571,-0.582958,0.29889587,0.43543494,0.11841301,-0.26185623,-0.4988437,0.5752996,-0.28057483],[-0.19594137,0.050280698,-0.29057446,-0.2829161,-0.16987291,-0.21278952,-0.59946907,0.21295123,0.7040468,0.53549695,-0.52553934,-0.19560973,0.6233473],[-0.19091003,0.08669418,-0.5792192,0.57799137,-0.36263424,0.6037143,0.27898273,-0.30951327,-0.3572644,0.46720102,-0.5403428,0.32415462,-0.60570025]],"activation":"identity","dense_3_b":[[-0.0047377176],[0.023170695],[-0.021546118]]},{"dense_4_W":[[-0.12453941,-1.006034,0.96776205]],"dense_4_b":[[-0.02351544]],"activation":"identity"}]}
@@ -0,0 +1 @@
+{"input_std":[[9.342214],[1.5915664],[0.60113484],[0.048193663],[1.5680411],[1.57577],[1.5836853],[1.5711677],[1.5445132],[1.5007596],[1.4529978],[0.047915205],[0.04800539],[0.04808892],[0.04822398],[0.04817677],[0.047881734],[0.047405947]],"model_test_loss":0.019342588260769844,"input_size":18,"current_date_and_time":"2023-08-05_06-09-11","input_mean":[[22.757933],[-0.016342578],[-0.001405228],[-0.014619173],[-0.018091483],[-0.018382493],[-0.019270267],[-0.018759886],[-0.019559544],[-0.017848592],[-0.020014366],[-0.014564899],[-0.01457757],[-0.014600966],[-0.014757987],[-0.014915743],[-0.015121007],[-0.015359475]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.045577038],[-2.8160777],[-0.21418032],[2.9552083],[-0.06852827],[0.029141279],[-0.053249933]],"dense_1_W":[[0.0010664682,1.3813498,-8.153277,-0.009101015,-0.1484779,1.0008405,-1.5930991,-1.195274,0.6136762,0.3560462,-0.30077773,0.93531257,0.14550218,-0.40074933,-0.21716364,0.13834935,-0.0658936,-0.49427196],[-0.7338253,-0.037501235,-0.49922377,-1.0526338,-0.46141604,-1.3649396,0.7309814,-0.91667104,0.044683233,-0.18628967,-0.20878822,-0.2678598,0.48446324,0.51164204,0.09547851,0.41491362,-0.4524314,0.16594785],[-0.0032175342,3.5451593,-0.11421584,-0.2511033,0.27893174,0.6384996,0.80790603,1.3835542,1.8000495,2.249461,1.4026878,0.7851167,-0.35052946,0.041820426,-0.39790183,0.45703772,-0.30459648,0.18287674],[0.72289664,-0.77138704,-0.5025135,-0.49323097,-0.39893976,-0.8779149,0.6848096,-0.58729875,-0.16643623,-0.14427555,-0.15013328,-0.11467142,-0.27280045,0.48508415,0.52080667,-0.0029569597,-0.28170735,0.06367212],[0.00014026981,-2.0353239,0.0060915067,0.4794941,1.1882906,-1.512865,0.80642134,-0.26044324,-0.56213886,-0.365122,0.55078083,-0.34897435,-0.32031298,0.46106994,0.37792024,-0.14116105,0.15597256,-0.32811671],[0.0011494387,1.9060265,8.3941965,-0.3078165,-0.9530427,0.6589645,-1.2487054,-0.541133,0.13451256,0.2805466,-0.33187166,0.9900705,0.2821258,-0.51270896,-0.5130031,-0.28222615,0.042734932,0.27233443],[-0.0014444552,-1.0933362,0.003359957,-0.15052961,0.37165833,1.7087307,-1.4971043,0.673802,-0.108465396,-0.088505454,0.21561684,0.6252258,-0.15019403,-0.34727478,0.08958758,-0.1723621,-0.25557828,0.29778987]],"activation":"σ"},{"dense_2_W":[[0.20810607,-0.13481373,-0.15003344,-0.6067625,-0.31937903,-0.37380016,0.4666911],[0.71834767,0.15669753,-0.11389502,0.27131546,-0.060118295,0.039282244,0.52961355],[-0.27200606,0.43380752,-0.106262706,-0.49363258,0.35659012,-0.01706296,-1.0807354],[-0.79583454,-0.66428274,-0.42157334,-0.52979547,-0.2803004,-0.57637554,0.084149174],[0.1230394,-0.57023287,0.28639448,-0.506744,-0.9920808,0.7510901,0.8584937],[-0.41256845,0.35423175,0.13009231,0.5198333,0.7576573,-0.7053181,-0.3390053],[-0.15090485,0.33375353,-0.64164793,0.57386595,0.25700107,-0.15245672,-0.49020413],[-0.50120676,0.5210849,-0.3282951,0.4276323,1.0257447,-1.0398436,-0.8911315],[0.11402861,-0.41491523,0.247507,-0.39776865,-0.6089287,0.20646147,0.6692102],[0.09411492,0.31819808,0.41330767,0.024243973,0.2314893,0.08529045,0.14911193],[0.5179265,0.20473345,-0.36762783,-0.009045922,-0.19436747,-0.548099,-0.08656279],[-0.69121784,-0.14201449,0.3887621,0.10787631,1.0371574,-0.64747447,-0.73437464],[-0.07860244,-0.597764,0.019551078,0.010199122,-0.7493642,0.66619915,0.121666186]],"activation":"σ","dense_2_b":[[-0.04259814],[-0.053309314],[-0.28045595],[-0.23801634],[0.00944943],[-0.109921046],[-0.037457183],[0.24627604],[-0.0069056284],[-0.04725389],[-0.03361769],[0.044101644],[-0.0009850285]]},{"dense_3_W":[[-0.19631335,-0.47722518,-0.019853225,-0.29363275,-0.625923,0.35145283,0.62401354,0.14337404,-0.25707108,-0.51310915,0.2565006,0.61742216,-0.07952821],[0.5868974,-0.36786363,-0.0177682,-0.45121866,0.68608487,-0.55178356,-0.35236016,-0.7226455,-0.015394288,-0.10650332,0.5391039,0.17791761,0.34196886],[0.16821232,-0.35580373,0.26906335,0.41736925,-0.6979869,0.41801625,0.34707317,0.7784011,-0.10002936,0.32485273,-0.3644285,0.49092358,-0.43872768]],"activation":"identity","dense_3_b":[[-0.019481273],[0.031026587],[-0.03595322]]},{"dense_4_W":[[-0.72340566,0.21244061,-0.67248434]],"dense_4_b":[[0.026229527]],"activation":"identity"}]}
@@ -0,0 +1 @@
+{"input_std":[[9.342214],[1.5915664],[0.60113484],[0.048193663],[1.5680411],[1.57577],[1.5836853],[1.5711677],[1.5445132],[1.5007596],[1.4529978],[0.047915205],[0.04800539],[0.04808892],[0.04822398],[0.04817677],[0.047881734],[0.047405947]],"model_test_loss":0.019342588260769844,"input_size":18,"current_date_and_time":"2023-08-05_06-09-11","input_mean":[[22.757933],[-0.016342578],[-0.001405228],[-0.014619173],[-0.018091483],[-0.018382493],[-0.019270267],[-0.018759886],[-0.019559544],[-0.017848592],[-0.020014366],[-0.014564899],[-0.01457757],[-0.014600966],[-0.014757987],[-0.014915743],[-0.015121007],[-0.015359475]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.045577038],[-2.8160777],[-0.21418032],[2.9552083],[-0.06852827],[0.029141279],[-0.053249933]],"dense_1_W":[[0.0010664682,1.3813498,-8.153277,-0.009101015,-0.1484779,1.0008405,-1.5930991,-1.195274,0.6136762,0.3560462,-0.30077773,0.93531257,0.14550218,-0.40074933,-0.21716364,0.13834935,-0.0658936,-0.49427196],[-0.7338253,-0.037501235,-0.49922377,-1.0526338,-0.46141604,-1.3649396,0.7309814,-0.91667104,0.044683233,-0.18628967,-0.20878822,-0.2678598,0.48446324,0.51164204,0.09547851,0.41491362,-0.4524314,0.16594785],[-0.0032175342,3.5451593,-0.11421584,-0.2511033,0.27893174,0.6384996,0.80790603,1.3835542,1.8000495,2.249461,1.4026878,0.7851167,-0.35052946,0.041820426,-0.39790183,0.45703772,-0.30459648,0.18287674],[0.72289664,-0.77138704,-0.5025135,-0.49323097,-0.39893976,-0.8779149,0.6848096,-0.58729875,-0.16643623,-0.14427555,-0.15013328,-0.11467142,-0.27280045,0.48508415,0.52080667,-0.0029569597,-0.28170735,0.06367212],[0.00014026981,-2.0353239,0.0060915067,0.4794941,1.1882906,-1.512865,0.80642134,-0.26044324,-0.56213886,-0.365122,0.55078083,-0.34897435,-0.32031298,0.46106994,0.37792024,-0.14116105,0.15597256,-0.32811671],[0.0011494387,1.9060265,8.3941965,-0.3078165,-0.9530427,0.6589645,-1.2487054,-0.541133,0.13451256,0.2805466,-0.33187166,0.9900705,0.2821258,-0.51270896,-0.5130031,-0.28222615,0.042734932,0.27233443],[-0.0014444552,-1.0933362,0.003359957,-0.15052961,0.37165833,1.7087307,-1.4971043,0.673802,-0.108465396,-0.088505454,0.21561684,0.6252258,-0.15019403,-0.34727478,0.08958758,-0.1723621,-0.25557828,0.29778987]],"activation":"σ"},{"dense_2_W":[[0.20810607,-0.13481373,-0.15003344,-0.6067625,-0.31937903,-0.37380016,0.4666911],[0.71834767,0.15669753,-0.11389502,0.27131546,-0.060118295,0.039282244,0.52961355],[-0.27200606,0.43380752,-0.106262706,-0.49363258,0.35659012,-0.01706296,-1.0807354],[-0.79583454,-0.66428274,-0.42157334,-0.52979547,-0.2803004,-0.57637554,0.084149174],[0.1230394,-0.57023287,0.28639448,-0.506744,-0.9920808,0.7510901,0.8584937],[-0.41256845,0.35423175,0.13009231,0.5198333,0.7576573,-0.7053181,-0.3390053],[-0.15090485,0.33375353,-0.64164793,0.57386595,0.25700107,-0.15245672,-0.49020413],[-0.50120676,0.5210849,-0.3282951,0.4276323,1.0257447,-1.0398436,-0.8911315],[0.11402861,-0.41491523,0.247507,-0.39776865,-0.6089287,0.20646147,0.6692102],[0.09411492,0.31819808,0.41330767,0.024243973,0.2314893,0.08529045,0.14911193],[0.5179265,0.20473345,-0.36762783,-0.009045922,-0.19436747,-0.548099,-0.08656279],[-0.69121784,-0.14201449,0.3887621,0.10787631,1.0371574,-0.64747447,-0.73437464],[-0.07860244,-0.597764,0.019551078,0.010199122,-0.7493642,0.66619915,0.121666186]],"activation":"σ","dense_2_b":[[-0.04259814],[-0.053309314],[-0.28045595],[-0.23801634],[0.00944943],[-0.109921046],[-0.037457183],[0.24627604],[-0.0069056284],[-0.04725389],[-0.03361769],[0.044101644],[-0.0009850285]]},{"dense_3_W":[[-0.19631335,-0.47722518,-0.019853225,-0.29363275,-0.625923,0.35145283,0.62401354,0.14337404,-0.25707108,-0.51310915,0.2565006,0.61742216,-0.07952821],[0.5868974,-0.36786363,-0.0177682,-0.45121866,0.68608487,-0.55178356,-0.35236016,-0.7226455,-0.015394288,-0.10650332,0.5391039,0.17791761,0.34196886],[0.16821232,-0.35580373,0.26906335,0.41736925,-0.6979869,0.41801625,0.34707317,0.7784011,-0.10002936,0.32485273,-0.3644285,0.49092358,-0.43872768]],"activation":"identity","dense_3_b":[[-0.019481273],[0.031026587],[-0.03595322]]},{"dense_4_W":[[-0.72340566,0.21244061,-0.67248434]],"dense_4_b":[[0.026229527]],"activation":"identity"}]}
@@ -0,0 +1 @@
+{"input_std":[[9.342214],[1.5915664],[0.60113484],[0.048193663],[1.5680411],[1.57577],[1.5836853],[1.5711677],[1.5445132],[1.5007596],[1.4529978],[0.047915205],[0.04800539],[0.04808892],[0.04822398],[0.04817677],[0.047881734],[0.047405947]],"model_test_loss":0.019342588260769844,"input_size":18,"current_date_and_time":"2023-08-05_06-09-11","input_mean":[[22.757933],[-0.016342578],[-0.001405228],[-0.014619173],[-0.018091483],[-0.018382493],[-0.019270267],[-0.018759886],[-0.019559544],[-0.017848592],[-0.020014366],[-0.014564899],[-0.01457757],[-0.014600966],[-0.014757987],[-0.014915743],[-0.015121007],[-0.015359475]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.045577038],[-2.8160777],[-0.21418032],[2.9552083],[-0.06852827],[0.029141279],[-0.053249933]],"dense_1_W":[[0.0010664682,1.3813498,-8.153277,-0.009101015,-0.1484779,1.0008405,-1.5930991,-1.195274,0.6136762,0.3560462,-0.30077773,0.93531257,0.14550218,-0.40074933,-0.21716364,0.13834935,-0.0658936,-0.49427196],[-0.7338253,-0.037501235,-0.49922377,-1.0526338,-0.46141604,-1.3649396,0.7309814,-0.91667104,0.044683233,-0.18628967,-0.20878822,-0.2678598,0.48446324,0.51164204,0.09547851,0.41491362,-0.4524314,0.16594785],[-0.0032175342,3.5451593,-0.11421584,-0.2511033,0.27893174,0.6384996,0.80790603,1.3835542,1.8000495,2.249461,1.4026878,0.7851167,-0.35052946,0.041820426,-0.39790183,0.45703772,-0.30459648,0.18287674],[0.72289664,-0.77138704,-0.5025135,-0.49323097,-0.39893976,-0.8779149,0.6848096,-0.58729875,-0.16643623,-0.14427555,-0.15013328,-0.11467142,-0.27280045,0.48508415,0.52080667,-0.0029569597,-0.28170735,0.06367212],[0.00014026981,-2.0353239,0.0060915067,0.4794941,1.1882906,-1.512865,0.80642134,-0.26044324,-0.56213886,-0.365122,0.55078083,-0.34897435,-0.32031298,0.46106994,0.37792024,-0.14116105,0.15597256,-0.32811671],[0.0011494387,1.9060265,8.3941965,-0.3078165,-0.9530427,0.6589645,-1.2487054,-0.541133,0.13451256,0.2805466,-0.33187166,0.9900705,0.2821258,-0.51270896,-0.5130031,-0.28222615,0.042734932,0.27233443],[-0.0014444552,-1.0933362,0.003359957,-0.15052961,0.37165833,1.7087307,-1.4971043,0.673802,-0.108465396,-0.088505454,0.21561684,0.6252258,-0.15019403,-0.34727478,0.08958758,-0.1723621,-0.25557828,0.29778987]],"activation":"σ"},{"dense_2_W":[[0.20810607,-0.13481373,-0.15003344,-0.6067625,-0.31937903,-0.37380016,0.4666911],[0.71834767,0.15669753,-0.11389502,0.27131546,-0.060118295,0.039282244,0.52961355],[-0.27200606,0.43380752,-0.106262706,-0.49363258,0.35659012,-0.01706296,-1.0807354],[-0.79583454,-0.66428274,-0.42157334,-0.52979547,-0.2803004,-0.57637554,0.084149174],[0.1230394,-0.57023287,0.28639448,-0.506744,-0.9920808,0.7510901,0.8584937],[-0.41256845,0.35423175,0.13009231,0.5198333,0.7576573,-0.7053181,-0.3390053],[-0.15090485,0.33375353,-0.64164793,0.57386595,0.25700107,-0.15245672,-0.49020413],[-0.50120676,0.5210849,-0.3282951,0.4276323,1.0257447,-1.0398436,-0.8911315],[0.11402861,-0.41491523,0.247507,-0.39776865,-0.6089287,0.20646147,0.6692102],[0.09411492,0.31819808,0.41330767,0.024243973,0.2314893,0.08529045,0.14911193],[0.5179265,0.20473345,-0.36762783,-0.009045922,-0.19436747,-0.548099,-0.08656279],[-0.69121784,-0.14201449,0.3887621,0.10787631,1.0371574,-0.64747447,-0.73437464],[-0.07860244,-0.597764,0.019551078,0.010199122,-0.7493642,0.66619915,0.121666186]],"activation":"σ","dense_2_b":[[-0.04259814],[-0.053309314],[-0.28045595],[-0.23801634],[0.00944943],[-0.109921046],[-0.037457183],[0.24627604],[-0.0069056284],[-0.04725389],[-0.03361769],[0.044101644],[-0.0009850285]]},{"dense_3_W":[[-0.19631335,-0.47722518,-0.019853225,-0.29363275,-0.625923,0.35145283,0.62401354,0.14337404,-0.25707108,-0.51310915,0.2565006,0.61742216,-0.07952821],[0.5868974,-0.36786363,-0.0177682,-0.45121866,0.68608487,-0.55178356,-0.35236016,-0.7226455,-0.015394288,-0.10650332,0.5391039,0.17791761,0.34196886],[0.16821232,-0.35580373,0.26906335,0.41736925,-0.6979869,0.41801625,0.34707317,0.7784011,-0.10002936,0.32485273,-0.3644285,0.49092358,-0.43872768]],"activation":"identity","dense_3_b":[[-0.019481273],[0.031026587],[-0.03595322]]},{"dense_4_W":[[-0.72340566,0.21244061,-0.67248434]],"dense_4_b":[[0.026229527]],"activation":"identity"}]}
@@ -0,0 +1 @@
+{"input_std":[[9.342214],[1.5915664],[0.60113484],[0.048193663],[1.5680411],[1.57577],[1.5836853],[1.5711677],[1.5445132],[1.5007596],[1.4529978],[0.047915205],[0.04800539],[0.04808892],[0.04822398],[0.04817677],[0.047881734],[0.047405947]],"model_test_loss":0.019342588260769844,"input_size":18,"current_date_and_time":"2023-08-05_06-09-11","input_mean":[[22.757933],[-0.016342578],[-0.001405228],[-0.014619173],[-0.018091483],[-0.018382493],[-0.019270267],[-0.018759886],[-0.019559544],[-0.017848592],[-0.020014366],[-0.014564899],[-0.01457757],[-0.014600966],[-0.014757987],[-0.014915743],[-0.015121007],[-0.015359475]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.045577038],[-2.8160777],[-0.21418032],[2.9552083],[-0.06852827],[0.029141279],[-0.053249933]],"dense_1_W":[[0.0010664682,1.3813498,-8.153277,-0.009101015,-0.1484779,1.0008405,-1.5930991,-1.195274,0.6136762,0.3560462,-0.30077773,0.93531257,0.14550218,-0.40074933,-0.21716364,0.13834935,-0.0658936,-0.49427196],[-0.7338253,-0.037501235,-0.49922377,-1.0526338,-0.46141604,-1.3649396,0.7309814,-0.91667104,0.044683233,-0.18628967,-0.20878822,-0.2678598,0.48446324,0.51164204,0.09547851,0.41491362,-0.4524314,0.16594785],[-0.0032175342,3.5451593,-0.11421584,-0.2511033,0.27893174,0.6384996,0.80790603,1.3835542,1.8000495,2.249461,1.4026878,0.7851167,-0.35052946,0.041820426,-0.39790183,0.45703772,-0.30459648,0.18287674],[0.72289664,-0.77138704,-0.5025135,-0.49323097,-0.39893976,-0.8779149,0.6848096,-0.58729875,-0.16643623,-0.14427555,-0.15013328,-0.11467142,-0.27280045,0.48508415,0.52080667,-0.0029569597,-0.28170735,0.06367212],[0.00014026981,-2.0353239,0.0060915067,0.4794941,1.1882906,-1.512865,0.80642134,-0.26044324,-0.56213886,-0.365122,0.55078083,-0.34897435,-0.32031298,0.46106994,0.37792024,-0.14116105,0.15597256,-0.32811671],[0.0011494387,1.9060265,8.3941965,-0.3078165,-0.9530427,0.6589645,-1.2487054,-0.541133,0.13451256,0.2805466,-0.33187166,0.9900705,0.2821258,-0.51270896,-0.5130031,-0.28222615,0.042734932,0.27233443],[-0.0014444552,-1.0933362,0.003359957,-0.15052961,0.37165833,1.7087307,-1.4971043,0.673802,-0.108465396,-0.088505454,0.21561684,0.6252258,-0.15019403,-0.34727478,0.08958758,-0.1723621,-0.25557828,0.29778987]],"activation":"σ"},{"dense_2_W":[[0.20810607,-0.13481373,-0.15003344,-0.6067625,-0.31937903,-0.37380016,0.4666911],[0.71834767,0.15669753,-0.11389502,0.27131546,-0.060118295,0.039282244,0.52961355],[-0.27200606,0.43380752,-0.106262706,-0.49363258,0.35659012,-0.01706296,-1.0807354],[-0.79583454,-0.66428274,-0.42157334,-0.52979547,-0.2803004,-0.57637554,0.084149174],[0.1230394,-0.57023287,0.28639448,-0.506744,-0.9920808,0.7510901,0.8584937],[-0.41256845,0.35423175,0.13009231,0.5198333,0.7576573,-0.7053181,-0.3390053],[-0.15090485,0.33375353,-0.64164793,0.57386595,0.25700107,-0.15245672,-0.49020413],[-0.50120676,0.5210849,-0.3282951,0.4276323,1.0257447,-1.0398436,-0.8911315],[0.11402861,-0.41491523,0.247507,-0.39776865,-0.6089287,0.20646147,0.6692102],[0.09411492,0.31819808,0.41330767,0.024243973,0.2314893,0.08529045,0.14911193],[0.5179265,0.20473345,-0.36762783,-0.009045922,-0.19436747,-0.548099,-0.08656279],[-0.69121784,-0.14201449,0.3887621,0.10787631,1.0371574,-0.64747447,-0.73437464],[-0.07860244,-0.597764,0.019551078,0.010199122,-0.7493642,0.66619915,0.121666186]],"activation":"σ","dense_2_b":[[-0.04259814],[-0.053309314],[-0.28045595],[-0.23801634],[0.00944943],[-0.109921046],[-0.037457183],[0.24627604],[-0.0069056284],[-0.04725389],[-0.03361769],[0.044101644],[-0.0009850285]]},{"dense_3_W":[[-0.19631335,-0.47722518,-0.019853225,-0.29363275,-0.625923,0.35145283,0.62401354,0.14337404,-0.25707108,-0.51310915,0.2565006,0.61742216,-0.07952821],[0.5868974,-0.36786363,-0.0177682,-0.45121866,0.68608487,-0.55178356,-0.35236016,-0.7226455,-0.015394288,-0.10650332,0.5391039,0.17791761,0.34196886],[0.16821232,-0.35580373,0.26906335,0.41736925,-0.6979869,0.41801625,0.34707317,0.7784011,-0.10002936,0.32485273,-0.3644285,0.49092358,-0.43872768]],"activation":"identity","dense_3_b":[[-0.019481273],[0.031026587],[-0.03595322]]},{"dense_4_W":[[-0.72340566,0.21244061,-0.67248434]],"dense_4_b":[[0.026229527]],"activation":"identity"}]}
@@ -0,0 +1 @@
+{"input_std":[[9.342214],[1.5915664],[0.60113484],[0.048193663],[1.5680411],[1.57577],[1.5836853],[1.5711677],[1.5445132],[1.5007596],[1.4529978],[0.047915205],[0.04800539],[0.04808892],[0.04822398],[0.04817677],[0.047881734],[0.047405947]],"model_test_loss":0.019342588260769844,"input_size":18,"current_date_and_time":"2023-08-05_06-09-11","input_mean":[[22.757933],[-0.016342578],[-0.001405228],[-0.014619173],[-0.018091483],[-0.018382493],[-0.019270267],[-0.018759886],[-0.019559544],[-0.017848592],[-0.020014366],[-0.014564899],[-0.01457757],[-0.014600966],[-0.014757987],[-0.014915743],[-0.015121007],[-0.015359475]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.045577038],[-2.8160777],[-0.21418032],[2.9552083],[-0.06852827],[0.029141279],[-0.053249933]],"dense_1_W":[[0.0010664682,1.3813498,-8.153277,-0.009101015,-0.1484779,1.0008405,-1.5930991,-1.195274,0.6136762,0.3560462,-0.30077773,0.93531257,0.14550218,-0.40074933,-0.21716364,0.13834935,-0.0658936,-0.49427196],[-0.7338253,-0.037501235,-0.49922377,-1.0526338,-0.46141604,-1.3649396,0.7309814,-0.91667104,0.044683233,-0.18628967,-0.20878822,-0.2678598,0.48446324,0.51164204,0.09547851,0.41491362,-0.4524314,0.16594785],[-0.0032175342,3.5451593,-0.11421584,-0.2511033,0.27893174,0.6384996,0.80790603,1.3835542,1.8000495,2.249461,1.4026878,0.7851167,-0.35052946,0.041820426,-0.39790183,0.45703772,-0.30459648,0.18287674],[0.72289664,-0.77138704,-0.5025135,-0.49323097,-0.39893976,-0.8779149,0.6848096,-0.58729875,-0.16643623,-0.14427555,-0.15013328,-0.11467142,-0.27280045,0.48508415,0.52080667,-0.0029569597,-0.28170735,0.06367212],[0.00014026981,-2.0353239,0.0060915067,0.4794941,1.1882906,-1.512865,0.80642134,-0.26044324,-0.56213886,-0.365122,0.55078083,-0.34897435,-0.32031298,0.46106994,0.37792024,-0.14116105,0.15597256,-0.32811671],[0.0011494387,1.9060265,8.3941965,-0.3078165,-0.9530427,0.6589645,-1.2487054,-0.541133,0.13451256,0.2805466,-0.33187166,0.9900705,0.2821258,-0.51270896,-0.5130031,-0.28222615,0.042734932,0.27233443],[-0.0014444552,-1.0933362,0.003359957,-0.15052961,0.37165833,1.7087307,-1.4971043,0.673802,-0.108465396,-0.088505454,0.21561684,0.6252258,-0.15019403,-0.34727478,0.08958758,-0.1723621,-0.25557828,0.29778987]],"activation":"σ"},{"dense_2_W":[[0.20810607,-0.13481373,-0.15003344,-0.6067625,-0.31937903,-0.37380016,0.4666911],[0.71834767,0.15669753,-0.11389502,0.27131546,-0.060118295,0.039282244,0.52961355],[-0.27200606,0.43380752,-0.106262706,-0.49363258,0.35659012,-0.01706296,-1.0807354],[-0.79583454,-0.66428274,-0.42157334,-0.52979547,-0.2803004,-0.57637554,0.084149174],[0.1230394,-0.57023287,0.28639448,-0.506744,-0.9920808,0.7510901,0.8584937],[-0.41256845,0.35423175,0.13009231,0.5198333,0.7576573,-0.7053181,-0.3390053],[-0.15090485,0.33375353,-0.64164793,0.57386595,0.25700107,-0.15245672,-0.49020413],[-0.50120676,0.5210849,-0.3282951,0.4276323,1.0257447,-1.0398436,-0.8911315],[0.11402861,-0.41491523,0.247507,-0.39776865,-0.6089287,0.20646147,0.6692102],[0.09411492,0.31819808,0.41330767,0.024243973,0.2314893,0.08529045,0.14911193],[0.5179265,0.20473345,-0.36762783,-0.009045922,-0.19436747,-0.548099,-0.08656279],[-0.69121784,-0.14201449,0.3887621,0.10787631,1.0371574,-0.64747447,-0.73437464],[-0.07860244,-0.597764,0.019551078,0.010199122,-0.7493642,0.66619915,0.121666186]],"activation":"σ","dense_2_b":[[-0.04259814],[-0.053309314],[-0.28045595],[-0.23801634],[0.00944943],[-0.109921046],[-0.037457183],[0.24627604],[-0.0069056284],[-0.04725389],[-0.03361769],[0.044101644],[-0.0009850285]]},{"dense_3_W":[[-0.19631335,-0.47722518,-0.019853225,-0.29363275,-0.625923,0.35145283,0.62401354,0.14337404,-0.25707108,-0.51310915,0.2565006,0.61742216,-0.07952821],[0.5868974,-0.36786363,-0.0177682,-0.45121866,0.68608487,-0.55178356,-0.35236016,-0.7226455,-0.015394288,-0.10650332,0.5391039,0.17791761,0.34196886],[0.16821232,-0.35580373,0.26906335,0.41736925,-0.6979869,0.41801625,0.34707317,0.7784011,-0.10002936,0.32485273,-0.3644285,0.49092358,-0.43872768]],"activation":"identity","dense_3_b":[[-0.019481273],[0.031026587],[-0.03595322]]},{"dense_4_W":[[-0.72340566,0.21244061,-0.67248434]],"dense_4_b":[[0.026229527]],"activation":"identity"}]}
@@ -0,0 +1 @@
+{"input_std":[[9.342214],[1.5915664],[0.60113484],[0.048193663],[1.5680411],[1.57577],[1.5836853],[1.5711677],[1.5445132],[1.5007596],[1.4529978],[0.047915205],[0.04800539],[0.04808892],[0.04822398],[0.04817677],[0.047881734],[0.047405947]],"model_test_loss":0.019342588260769844,"input_size":18,"current_date_and_time":"2023-08-05_06-09-11","input_mean":[[22.757933],[-0.016342578],[-0.001405228],[-0.014619173],[-0.018091483],[-0.018382493],[-0.019270267],[-0.018759886],[-0.019559544],[-0.017848592],[-0.020014366],[-0.014564899],[-0.01457757],[-0.014600966],[-0.014757987],[-0.014915743],[-0.015121007],[-0.015359475]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.045577038],[-2.8160777],[-0.21418032],[2.9552083],[-0.06852827],[0.029141279],[-0.053249933]],"dense_1_W":[[0.0010664682,1.3813498,-8.153277,-0.009101015,-0.1484779,1.0008405,-1.5930991,-1.195274,0.6136762,0.3560462,-0.30077773,0.93531257,0.14550218,-0.40074933,-0.21716364,0.13834935,-0.0658936,-0.49427196],[-0.7338253,-0.037501235,-0.49922377,-1.0526338,-0.46141604,-1.3649396,0.7309814,-0.91667104,0.044683233,-0.18628967,-0.20878822,-0.2678598,0.48446324,0.51164204,0.09547851,0.41491362,-0.4524314,0.16594785],[-0.0032175342,3.5451593,-0.11421584,-0.2511033,0.27893174,0.6384996,0.80790603,1.3835542,1.8000495,2.249461,1.4026878,0.7851167,-0.35052946,0.041820426,-0.39790183,0.45703772,-0.30459648,0.18287674],[0.72289664,-0.77138704,-0.5025135,-0.49323097,-0.39893976,-0.8779149,0.6848096,-0.58729875,-0.16643623,-0.14427555,-0.15013328,-0.11467142,-0.27280045,0.48508415,0.52080667,-0.0029569597,-0.28170735,0.06367212],[0.00014026981,-2.0353239,0.0060915067,0.4794941,1.1882906,-1.512865,0.80642134,-0.26044324,-0.56213886,-0.365122,0.55078083,-0.34897435,-0.32031298,0.46106994,0.37792024,-0.14116105,0.15597256,-0.32811671],[0.0011494387,1.9060265,8.3941965,-0.3078165,-0.9530427,0.6589645,-1.2487054,-0.541133,0.13451256,0.2805466,-0.33187166,0.9900705,0.2821258,-0.51270896,-0.5130031,-0.28222615,0.042734932,0.27233443],[-0.0014444552,-1.0933362,0.003359957,-0.15052961,0.37165833,1.7087307,-1.4971043,0.673802,-0.108465396,-0.088505454,0.21561684,0.6252258,-0.15019403,-0.34727478,0.08958758,-0.1723621,-0.25557828,0.29778987]],"activation":"σ"},{"dense_2_W":[[0.20810607,-0.13481373,-0.15003344,-0.6067625,-0.31937903,-0.37380016,0.4666911],[0.71834767,0.15669753,-0.11389502,0.27131546,-0.060118295,0.039282244,0.52961355],[-0.27200606,0.43380752,-0.106262706,-0.49363258,0.35659012,-0.01706296,-1.0807354],[-0.79583454,-0.66428274,-0.42157334,-0.52979547,-0.2803004,-0.57637554,0.084149174],[0.1230394,-0.57023287,0.28639448,-0.506744,-0.9920808,0.7510901,0.8584937],[-0.41256845,0.35423175,0.13009231,0.5198333,0.7576573,-0.7053181,-0.3390053],[-0.15090485,0.33375353,-0.64164793,0.57386595,0.25700107,-0.15245672,-0.49020413],[-0.50120676,0.5210849,-0.3282951,0.4276323,1.0257447,-1.0398436,-0.8911315],[0.11402861,-0.41491523,0.247507,-0.39776865,-0.6089287,0.20646147,0.6692102],[0.09411492,0.31819808,0.41330767,0.024243973,0.2314893,0.08529045,0.14911193],[0.5179265,0.20473345,-0.36762783,-0.009045922,-0.19436747,-0.548099,-0.08656279],[-0.69121784,-0.14201449,0.3887621,0.10787631,1.0371574,-0.64747447,-0.73437464],[-0.07860244,-0.597764,0.019551078,0.010199122,-0.7493642,0.66619915,0.121666186]],"activation":"σ","dense_2_b":[[-0.04259814],[-0.053309314],[-0.28045595],[-0.23801634],[0.00944943],[-0.109921046],[-0.037457183],[0.24627604],[-0.0069056284],[-0.04725389],[-0.03361769],[0.044101644],[-0.0009850285]]},{"dense_3_W":[[-0.19631335,-0.47722518,-0.019853225,-0.29363275,-0.625923,0.35145283,0.62401354,0.14337404,-0.25707108,-0.51310915,0.2565006,0.61742216,-0.07952821],[0.5868974,-0.36786363,-0.0177682,-0.45121866,0.68608487,-0.55178356,-0.35236016,-0.7226455,-0.015394288,-0.10650332,0.5391039,0.17791761,0.34196886],[0.16821232,-0.35580373,0.26906335,0.41736925,-0.6979869,0.41801625,0.34707317,0.7784011,-0.10002936,0.32485273,-0.3644285,0.49092358,-0.43872768]],"activation":"identity","dense_3_b":[[-0.019481273],[0.031026587],[-0.03595322]]},{"dense_4_W":[[-0.72340566,0.21244061,-0.67248434]],"dense_4_b":[[0.026229527]],"activation":"identity"}]}
@@ -37,6 +37,7 @@ HOLIDAY_SLUGS = {
 }

 THEME_COMPONENT_PARAMS = {
+  "boot_logos": "BootLogoToDownload",
  "colors": "ColorToDownload",
  "distance_icons": "DistanceIconToDownload",
  "icons": "IconToDownload",
@@ -93,16 +94,29 @@ class ThemeManager:
    steering_wheel_save_path.parent.mkdir(parents=True, exist_ok=True)
    shutil.copy2(steering_wheel_image_path, steering_wheel_save_path)

+    default_boot_logo_path = Path(__file__).parent / "other_images/frogpilot_boot_logo.png"
+    boot_logo_save_path = THEME_SAVE_PATH / "bootlogos/starpilot.png"
+    boot_logo_save_path.parent.mkdir(parents=True, exist_ok=True)
+    if not boot_logo_save_path.exists():
+      shutil.copy2(default_boot_logo_path, boot_logo_save_path)
+
  def download_theme(self, theme_component, theme_name, asset_param, frogpilot_toggles):
    self.downloading_theme = True
+    allow_unknown_size = theme_component in {"boot_logos", "steering_wheels"}
+    name_candidates = [theme_name]

-    repo_url = get_repository_url(self.session)
+    repo_url = get_repository_url()
    if not repo_url:
-      handle_error(None, "GitHub and GitLab are offline...", "Repository unavailable", asset_param, DOWNLOAD_PROGRESS_PARAM)
+      handle_error(None, "GitHub and GitLab are offline...", "Repository unavailable", asset_param, DOWNLOAD_PROGRESS_PARAM, params_memory)
      self.downloading_theme = False
      return

-    if theme_component == "distance_icons":
+    if theme_component == "boot_logos":
+      download_link = f"{repo_url}/Themes/bootlogo"
+      download_path = THEME_SAVE_PATH / "bootlogos" / theme_name
+      extensions = [".png", ".jpg", ".jpeg"]
+      name_candidates = list(dict.fromkeys([theme_name, theme_name.replace("_", "-"), theme_name.replace("-", "_")]))
+    elif theme_component == "distance_icons":
      download_link = f"{repo_url}/Distance-Icons/{theme_name}"
      download_path = THEME_SAVE_PATH / "theme_packs" / theme_name / theme_component
      extensions = [".zip"]
@@ -117,39 +131,42 @@ class ThemeManager:

    for extension in extensions:
      theme_path = download_path.with_suffix(extension)
-      theme_url = download_link + extension
+      theme_urls = [f"{download_link}/{candidate}{extension}" for candidate in name_candidates]
+      if theme_component != "boot_logos":
+        theme_urls = [download_link + extension]

-      delete_file(theme_path)
-
-      print(f"Downloading theme from GitHub: {theme_name}")
-      download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, asset_param, self.session)
-
-      if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM):
+      for theme_url in theme_urls:
        delete_file(theme_path)
-        handle_error(None, "Download cancelled...", "Download cancelled...", asset_param, DOWNLOAD_PROGRESS_PARAM)

-        self.downloading_theme = False
-        return
+        print(f"Downloading theme from GitHub: {theme_name}")
+        download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, asset_param, params_memory, allow_unknown_size=allow_unknown_size, suppress_errors=allow_unknown_size)

-      if verify_download(theme_path, theme_url, self.session):
-        print(f"Theme {theme_name} downloaded and verified successfully from GitHub!")
-        self.update_theme_size(theme_component, theme_name, theme_path.stat().st_size)
+        if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM):
+          delete_file(theme_path)
+          handle_error(None, "Download cancelled...", "Download cancelled...", asset_param, DOWNLOAD_PROGRESS_PARAM, params_memory)

-        if extension == ".zip":
-          params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...")
-          extract_zip(theme_path, download_path)
+          self.downloading_theme = False
+          return

-        params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
-        params_memory.remove(asset_param)
+        if verify_download(theme_path, theme_url, allow_unknown_size=allow_unknown_size):
+          print(f"Theme {theme_name} downloaded and verified successfully from GitHub!")
+          self.update_theme_size(theme_component, theme_name, theme_path.stat().st_size)

-        self.downloading_theme = False
+          if extension == ".zip":
+            params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...")
+            extract_zip(theme_path, download_path)

-        self.update_themes(frogpilot_toggles)
-        return
-      elif self.handle_verification_failure(extension, theme_component, theme_name, asset_param, theme_path, download_path, frogpilot_toggles):
-        return
+          params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
+          params_memory.remove(asset_param)

-    handle_error(download_path, "Download failed...", "Download failed...", asset_param, DOWNLOAD_PROGRESS_PARAM)
+          self.downloading_theme = False
+
+          self.update_themes(frogpilot_toggles)
+          return
+        elif self.handle_verification_failure(extension, theme_component, theme_name, asset_param, theme_path, download_path, frogpilot_toggles):
+          return
+
+    handle_error(download_path, "Download failed...", "Download failed...", asset_param, DOWNLOAD_PROGRESS_PARAM, params_memory)
    self.downloading_theme = False

  def fetch_assets(self, repo_url, frogpilot_toggles):
@@ -158,7 +175,7 @@ class ThemeManager:

    repo_encoded = quote_plus(RESOURCES_REPO)

-    assets = {"themes": {}, "wheels": []}
+    assets = {"boot_logos": [], "themes": {}, "wheels": []}
    try:
      def list_files(branch):
        if is_github:
@@ -234,6 +251,20 @@ class ThemeManager:
        theme_name, sub_path = item["path"].split("/", 1)
        theme_path = sub_path.lower()

+        if theme_name.lower() == "bootlogo":
+          if Path(sub_path).suffix.lower() not in (".png", ".jpg", ".jpeg"):
+            continue
+
+          assets["boot_logos"].append(sub_path)
+          logo_name = Path(sub_path).stem
+          local_files = list((THEME_SAVE_PATH / "bootlogos").glob(f"{logo_name}.*"))
+          if local_files and expected_size > 0:
+            local_size = self.theme_sizes.get("boot_logos", {}).get(logo_name)
+            if local_size != expected_size:
+              print(f"boot logo {logo_name} is outdated, redownloading...")
+              self.download_theme("boot_logos", logo_name, THEME_COMPONENT_PARAMS["boot_logos"], frogpilot_toggles)
+          continue
+
        for key in ("colors", "icons", "signals", "sounds"):
          if key in theme_path:
            assets["themes"].setdefault(theme_name, set()).add(key)
@@ -246,13 +277,14 @@ class ThemeManager:
                self.download_theme(key, theme_name, THEME_COMPONENT_PARAMS[key], frogpilot_toggles)
            break

+      assets["boot_logos"].sort()
      assets["themes"] = {key: sorted(list(value)) for key, value in assets["themes"].items()}
      assets["wheels"].sort()
      return assets

    except requests.exceptions.RequestException as error:
      print(f"Request failed: {error}")
-      handle_request_error(f"Failed to fetch theme sizes from {'GitHub' if is_github else 'GitLab'}: {error}", None, None, None)
+      handle_request_error(f"Failed to fetch theme sizes from {'GitHub' if is_github else 'GitLab'}: {error}", None, None, None, None)
      return {}

  @staticmethod
@@ -265,7 +297,7 @@ class ThemeManager:
    parts = base.replace("_", "-").split("-")
    capitalized_parts = [part.capitalize() for part in parts if part]

-    if len(capitalized_parts) > 1 and component != "steering_wheels":
+    if len(capitalized_parts) > 1 and component not in {"boot_logos", "steering_wheels"}:
      display = f"{capitalized_parts[0]} ({' '.join(capitalized_parts[1:])})"
    else:
      display = " ".join(capitalized_parts)
@@ -321,37 +353,44 @@ class ThemeManager:
    }

  def handle_verification_failure(self, extension, theme_component, theme_name, asset_param, theme_path, download_path, frogpilot_toggles):
-    if theme_component == "distance_icons":
+    allow_unknown_size = theme_component in {"boot_logos", "steering_wheels"}
+    if theme_component == "boot_logos":
+      download_link = f"{GITLAB_URL}/Themes/bootlogo"
+      name_candidates = list(dict.fromkeys([theme_name, theme_name.replace("_", "-"), theme_name.replace("-", "_")]))
+    elif theme_component == "distance_icons":
      download_link = f"{GITLAB_URL}/Distance-Icons/{theme_name}"
+      name_candidates = [theme_name]
    elif theme_component == "steering_wheels":
      download_link = f"{GITLAB_URL}/Steering-Wheels/{theme_name}"
+      name_candidates = [theme_name]
    else:
      download_link = f"{GITLAB_URL}/Themes/{theme_name}/{theme_component}"
+      name_candidates = [theme_name]

-    delete_file(theme_path)
+    for candidate in name_candidates:
+      delete_file(theme_path)

-    theme_url = download_link + extension
-    print(f"Downloading theme from GitLab: {theme_name}")
-    download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, asset_param, self.session)
+      theme_url = f"{download_link}/{candidate}{extension}" if theme_component == "boot_logos" else download_link + extension
+      print(f"Downloading theme from GitLab: {theme_name}")
+      download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, asset_param, params_memory, allow_unknown_size=allow_unknown_size, suppress_errors=allow_unknown_size)

-    if verify_download(theme_path, theme_url, self.session):
-      print(f"Theme {theme_name} downloaded and verified successfully from GitLab!")
-      self.update_theme_size(theme_component, theme_name, theme_path.stat().st_size)
+      if verify_download(theme_path, theme_url, allow_unknown_size=allow_unknown_size):
+        print(f"Theme {theme_name} downloaded and verified successfully from GitLab!")
+        self.update_theme_size(theme_component, theme_name, theme_path.stat().st_size)

-      if extension == ".zip":
-        params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...")
-        extract_zip(theme_path, download_path)
+        if extension == ".zip":
+          params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...")
+          extract_zip(theme_path, download_path)

-      params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
-      params_memory.remove(asset_param)
+        params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
+        params_memory.remove(asset_param)

-      self.downloading_theme = False
+        self.downloading_theme = False

-      self.update_themes(frogpilot_toggles)
-      return True
+        self.update_themes(frogpilot_toggles)
+        return True

-    handle_error(None, "Download failed...", "Download failed...", asset_param, DOWNLOAD_PROGRESS_PARAM)
-    self.downloading_theme = False
+    # Let the caller continue trying alternate extensions before surfacing failure.
    return False

  @staticmethod
@@ -415,6 +454,8 @@ class ThemeManager:
    return random.choice(candidates) if candidates else "stock"

  def update_active_theme(self, time_validated, frogpilot_toggles, boot_run=False, randomize_theme=False):
+    boot_logo = getattr(frogpilot_toggles, "boot_logo", "stock")
+
    if time_validated and frogpilot_toggles.holiday_themes:
      self.holiday_theme = self.update_holiday()
    else:
@@ -422,6 +463,7 @@ class ThemeManager:

    if self.holiday_theme != "stock":
      asset_mappings = {
+        "boot_logo": ("boot_logo", boot_logo),
        "color_scheme": ("colors", self.holiday_theme),
        "distance_icons": ("distance_icons", self.holiday_theme),
        "icon_pack": ("icons", self.holiday_theme),
@@ -434,6 +476,7 @@ class ThemeManager:
      selected_theme = self.randomize_theme_asset(available_themes)

      asset_mappings = {
+        "boot_logo": ("boot_logo", boot_logo),
        "color_scheme": ("colors", selected_theme.replace("-animated", "")),
        "distance_icons": ("distance_icons", self.randomize_distance_icons(available_themes, selected_theme.replace("-animated", ""))),
        "icon_pack": ("icons", selected_theme),
@@ -444,6 +487,7 @@ class ThemeManager:

    elif not frogpilot_toggles.random_themes:
      asset_mappings = {
+        "boot_logo": ("boot_logo", boot_logo),
        "color_scheme": ("colors", frogpilot_toggles.color_scheme),
        "distance_icons": ("distance_icons", frogpilot_toggles.distance_icons),
        "icon_pack": ("icons", frogpilot_toggles.icon_pack),
@@ -458,7 +502,9 @@ class ThemeManager:
      for asset, (asset_type, current_value) in asset_mappings.items():
        print(f"Updating {asset}: {asset_type} with value {current_value}")

-        if asset_type == "wheel_image":
+        if asset_type == "boot_logo":
+          self.update_boot_logo(current_value)
+        elif asset_type == "wheel_image":
          self.update_wheel_image(current_value, boot_run=boot_run)
        else:
          self.update_theme_asset(asset_type, current_value, boot_run=boot_run)
@@ -499,9 +545,16 @@ class ThemeManager:
    save_location.symlink_to(asset_location, target_is_directory=True)
    print(f"Linked {save_location} to {asset_location}")

-  def update_theme_params(self, downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels):
+  def update_theme_params(self, downloadable_boot_logos, downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels):
    def update_param(key, assets, subfolder):
-      if subfolder == "steering_wheels":
+      if subfolder == "boot_logos":
+        themes_path = THEME_SAVE_PATH / "bootlogos"
+        existing_assets = {item.stem.lower() for item in themes_path.glob("*") if item.is_file()}
+        pending_assets = [asset for asset in assets if asset.lower() not in existing_assets]
+        params.put(key, ",".join(sorted(set(pending_assets))))
+        print(f"{key} updated successfully")
+        return
+      elif subfolder == "steering_wheels":
        themes_path = THEME_SAVE_PATH / subfolder
        existing_assets = {self.format_name(item.name, "steering_wheels") for item in themes_path.glob("*") if item.is_file()}
      else:
@@ -511,6 +564,7 @@ class ThemeManager:
      params.put(key, ",".join(sorted(set(assets) - existing_assets)))
      print(f"{key} updated successfully")

+    update_param("DownloadableBootLogos", downloadable_boot_logos, "boot_logos")
    update_param("DownloadableColors", downloadable_colors, "colors")
    update_param("DownloadableDistanceIcons", downloadable_distance_icons, "distance_icons")
    update_param("DownloadableIcons", downloadable_icons, "icons")
@@ -529,12 +583,20 @@ class ThemeManager:
        theme_name = self.format_name(theme_dir.name, "theme_packs")
        downloaded_themes[theme_name] = sorted(components)

+    (THEME_SAVE_PATH / "bootlogos").mkdir(parents=True, exist_ok=True)
+
+    downloaded_boot_logos = []
+    for boot_logo_file in (THEME_SAVE_PATH / "bootlogos").iterdir():
+      if boot_logo_file.is_file():
+        downloaded_boot_logos.append(self.format_name(boot_logo_file.name, "boot_logos"))
+
    downloaded_wheels = []
    for wheel_file in (THEME_SAVE_PATH / "steering_wheels").iterdir():
      if wheel_file.is_file():
        downloaded_wheels.append(self.format_name(wheel_file.name, "steering_wheels"))

    params.put("ThemesDownloaded", json.dumps({
+      "boot_logos": sorted(downloaded_boot_logos),
      "themes": {key: downloaded_themes[key] for key in sorted(downloaded_themes)},
      "steering_wheels": sorted(downloaded_wheels)
    }))
@@ -542,7 +604,9 @@ class ThemeManager:
    print("ThemesDownloaded updated successfully")

  def update_theme_size(self, theme_component, theme_name, file_size):
-    if theme_component == "steering_wheels":
+    if theme_component == "boot_logos":
+      key = "boot_logos"
+    elif theme_component == "steering_wheels":
      key = "wheels"
    else:
      key = "themes"
@@ -550,7 +614,7 @@ class ThemeManager:
    if key not in self.theme_sizes:
      self.theme_sizes[key] = {}

-    if key == "wheels":
+    if key in {"boot_logos", "wheels"}:
      self.theme_sizes[key][theme_name] = file_size
    else:
      if theme_name not in self.theme_sizes[key]:
@@ -563,7 +627,7 @@ class ThemeManager:
    if self.downloading_theme:
      return

-    repo_url = get_repository_url(self.session)
+    repo_url = get_repository_url()
    if repo_url is None:
      print("GitHub and GitLab are offline...")
      return
@@ -572,6 +636,7 @@ class ThemeManager:
    if not assets:
      return

+    downloadable_boot_logos = []
    downloadable_colors = []
    downloadable_distance_icons = []
    downloadable_icons = []
@@ -593,8 +658,10 @@ class ThemeManager:
      if "sounds" in available_assets:
        downloadable_sounds.append(theme_name)

+    downloadable_boot_logos = [Path(boot_logo).stem for boot_logo in assets["boot_logos"]]
    downloadable_wheels = [self.format_name(wheel, "steering_wheels") for wheel in assets["wheels"]]

+    print(f"Downloadable Boot Logos: {downloadable_boot_logos}")
    print(f"Downloadable Colors: {downloadable_colors}")
    print(f"Downloadable Icons: {downloadable_icons}")
    print(f"Downloadable Signals: {downloadable_signals}")
@@ -605,7 +672,21 @@ class ThemeManager:
    if boot_run:
      self.validate_themes(downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels, frogpilot_toggles)

-    self.update_theme_params(downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels)
+    self.update_theme_params(downloadable_boot_logos, downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels)
+
+  @staticmethod
+  def update_boot_logo(image):
+    boot_logo_location = Path(__file__).parent / "other_images/frogpilot_boot_logo.png"
+    image_name = image.replace(" ", "_").lower()
+    source_file = next((file for file in (THEME_SAVE_PATH / "bootlogos").glob("*") if file.is_file() and file.stem.lower() == image_name), boot_logo_location)
+
+    # Avoid SameFileError when the selected/fallback source is already the active boot logo.
+    if source_file.resolve() == boot_logo_location.resolve():
+      print(f"Boot logo unchanged: {boot_logo_location}")
+      return
+
+    shutil.copy2(source_file, boot_logo_location)
+    print(f"Copied {source_file} to {boot_logo_location}")

  def update_wheel_image(self, image, boot_run=False, random_event=False):
    wheel_save_location = ACTIVE_THEME_PATH / "steering_wheel"
@@ -641,6 +722,15 @@ class ThemeManager:
  def validate_themes(self, downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels, frogpilot_toggles):
    downloaded_data = json.loads(params.get("ThemesDownloaded") or "{}")

+    boot_logos_path = THEME_SAVE_PATH / "bootlogos"
+    for display_name in downloaded_data.get("boot_logos", []):
+      file_stem = display_name.replace(" ", "_").lower()
+      matching_files = list(boot_logos_path.glob(f"{file_stem}.*"))
+      if not matching_files:
+        print(f"Missing boot logo '{display_name}'. Downloading...")
+        self.download_theme("boot_logos", file_stem, THEME_COMPONENT_PARAMS["boot_logos"], frogpilot_toggles)
+        self.update_active_theme(True, frogpilot_toggles)
+
    for display_name, components in downloaded_data.get("themes", {}).items():
      raw_name = display_name.lower().replace(" ", "_").replace("(", "").replace(")", "")
      theme_folder_name = raw_name.replace("_animated", "-animated")
@@ -150,7 +150,7 @@ def frogpilot_boot_functions(build_metadata, params_cache):
    params_cache.clear_all()

  FrogPilotVariables().update(holiday_theme="stock", started=False)
-  ModelManager(boot_run=True)
+  ModelManager()
  ThemeManager(boot_run=True).update_active_theme(time_validated=system_time_valid(), frogpilot_toggles=get_frogpilot_toggles(), boot_run=True)

  if VIDEO_CACHE_PATH.exists():
@@ -2,6 +2,7 @@
 import json
 import math
 import numpy as np
+import os
 import requests
 import shutil
 import subprocess
@@ -22,7 +23,7 @@ from opendbc.can.parser import CANParser
 from openpilot.common.realtime import DT_DMON, DT_HW
 from openpilot.selfdrive.car.toyota.carcontroller import LOCK_CMD
 from openpilot.system.hardware import HARDWARE
-from panda import Panda
+from panda import Panda, FW_PATH

 from openpilot.frogpilot.common.frogpilot_variables import EARTH_RADIUS, KONIK_PATH, MAPD_PATH, MAPS_PATH, params, params_cache, params_memory

@@ -151,11 +152,21 @@ def extract_zip(zip_file, extract_path):
  print(f"Extraction completed: {zip_file} has been removed")

 def flash_panda():
+  remote_start = params.get_bool("RemoteStartBootsComma")
  for serial in Panda.list():
    try:
      panda = Panda(serial)
+      flash_fn = None
+      if remote_start:
+        app_fn = panda.get_mcu_type().config.app_fn
+        remote_fn = "panda_h7_remote.bin.signed" if app_fn == "panda_h7.bin.signed" else "panda_remote.bin.signed"
+        candidate = os.path.join(FW_PATH, remote_fn)
+        if os.path.isfile(candidate):
+          flash_fn = candidate
+        else:
+          print(f"Remote-start panda firmware missing: {candidate}. Falling back to default firmware.")
      panda.reset(enter_bootstub=True)
-      panda.flash()
+      panda.flash(fn=flash_fn)
      panda.close()
    except Exception as exception:
      print(f"Error flashing Panda {serial}: {exception}")
@@ -233,16 +244,57 @@ def update_json_file(path, data):
  with open(path, "w") as file:
    json.dump(data, file, indent=2, sort_keys=True)

+def parse_maps_selected(raw_maps_selected):
+  if raw_maps_selected is None:
+    return {}
+
+  raw_maps_selected = raw_maps_selected.strip()
+  if not raw_maps_selected:
+    return {}
+
+  try:
+    maps_selected = json.loads(raw_maps_selected)
+    if isinstance(maps_selected, dict):
+      nations = sorted({str(item) for item in maps_selected.get("nations", []) if item})
+      states = sorted({str(item) for item in maps_selected.get("states", []) if item})
+      return {"nations": nations, "states": states}
+    return {}
+  except json.JSONDecodeError:
+    pass
+
+  nations = set()
+  states = set()
+  for item in raw_maps_selected.split(","):
+    item = item.strip()
+    if item.startswith("nation."):
+      nation = item.removeprefix("nation.").strip()
+      if nation:
+        nations.add(nation)
+    elif item.startswith("us_state."):
+      state = item.removeprefix("us_state.").strip()
+      if state:
+        states.add(state)
+
+  if nations or states:
+    return {"nations": sorted(nations), "states": sorted(states)}
+
+  return {}
+
 def update_maps(now):
  while not MAPD_PATH.exists():
    time.sleep(60)

-  maps_selected = json.loads(params.get("MapsSelected", encoding="utf-8") or "{}")
-
-  if isinstance(maps_selected, int):
+  raw_maps_selected = params.get("MapsSelected", encoding="utf-8")
+  maps_selected = parse_maps_selected(raw_maps_selected)
+  if raw_maps_selected and not maps_selected:
    params.remove("MapsSelected")
    params_cache.remove("MapsSelected")
    return
+  if maps_selected:
+    normalized_maps_selected = json.dumps(maps_selected, separators=(",", ":"))
+    if raw_maps_selected != normalized_maps_selected:
+      params.put("MapsSelected", normalized_maps_selected)
+      params_cache.put("MapsSelected", normalized_maps_selected)

  if not (maps_selected.get("nations") or maps_selected.get("states")):
    return
@@ -296,12 +348,12 @@ def update_openpilot():
  if params.get("UpdaterState", encoding="utf-8") != "idle":
    return

-  while params.get_bool("IsOnroad") or params_memory.get_bool("UpdateSpeedLimits") or running_threads.get("lock_doors", threading.Thread()).is_alive():
-    time.sleep(60)
-
  if not update_available():
    return

+  while params.get_bool("IsOnroad") or params_memory.get_bool("UpdateSpeedLimits") or running_threads.get("lock_doors", threading.Thread()).is_alive():
+    time.sleep(60)
+
  while True:
    if not update_available():
      break
@@ -13,7 +13,8 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
 from openpilot.selfdrive.car import gen_empty_fingerprint
 from openpilot.selfdrive.car.car_helpers import interfaces
-from openpilot.selfdrive.car.gm.values import GMFlags
+from openpilot.selfdrive.car.gm.values import EV_CAR as GM_EV_CAR, GMFlags
+from openpilot.selfdrive.car.hyundai.values import EV_CAR as HYUNDAI_EV_CAR
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.mock.interface import CarInterface
 from openpilot.selfdrive.car.mock.values import CAR as MOCK
@@ -32,6 +33,7 @@ params_memory = Params("/dev/shm/params")

 GearShifter = car.CarState.GearShifter
 SafetyModel = car.CarParams.SafetyModel
+TransmissionType = car.CarParams.TransmissionType

 CITY_SPEED_LIMIT = 25                     # 55mph is typically the minimum speed for highways
 CRUISING_SPEED = 5                        # Roughly the speed cars go when not touching the gas while in drive
@@ -40,11 +42,16 @@ EARTH_RADIUS = 6378137                    # Radius of the Earth in meters
 MAX_T_FOLLOW = 3.0                        # Maximum allowed following duration. Larger values risk losing track of the lead but may be increased as models improve
 MINIMUM_LATERAL_ACCELERATION = 1.3        # m/s^2, typical minimum lateral acceleration when taking curves
 PLANNER_TIME = ModelConstants.T_IDXS[-1]  # Length of time the model projects out for
+
 THRESHOLD = 0.63                          # Requires the condition to be true for ~1 second

+def scale_threshold(v_ego):#0   40    60    80   100       0    40    60   80   100
+  # More aggressive with hysteresis and lead probability: faster activation at higher speeds
+  return np.interp(v_ego, [0, 17.9, 26.8, 35.8, 44.7], [0.58, 0.60, 0.62, 0.75, 0.9])
+
 NON_DRIVING_GEARS = [GearShifter.neutral, GearShifter.park, GearShifter.reverse, GearShifter.unknown]

-RESOURCES_REPO = "FrogAi/FrogPilot-Resources"
+RESOURCES_REPO = "firestar5683/StarPilot-Resources"

 ACTIVE_THEME_PATH = Path(__file__).parents[1] / "assets/active_theme"
 METADATAS_PATH = Path(__file__).parents[1] / "assets/model_metadata"
@@ -55,6 +62,7 @@ THEME_SAVE_PATH = Path("/data/themes")
 ERROR_LOGS_PATH = Path("/data/error_logs")
 SCREEN_RECORDINGS_PATH = Path("/data/media/screen_recordings")
 VIDEO_CACHE_PATH = Path("/data/video_cache")
+MODEL_MIGRATION_FLAG_PATH = Path("/data/params/d/ModelMigratedBd2ToSc")

 BACKUP_PATH = Path("/cache/on_backup")

@@ -66,12 +74,11 @@ KONIK_PATH = Path("/cache/use_konik")

 MAPD_PATH = Path("/data/media/0/osm/mapd")
 MAPS_PATH = Path("/data/media/0/osm/offline")
-
 NNFF_MODELS_PATH = Path(BASEDIR) / "frogpilot/assets/nnff_models"

-DEFAULT_MODEL = "firehose"
-DEFAULT_MODEL_NAME = "Firehose (Default) 👀📡"
-DEFAULT_MODEL_VERSION = "v9"
+DEFAULT_MODEL = "sc"
+DEFAULT_MODEL_NAME = "South Carolina (Default) 👀📡"
+DEFAULT_MODEL_VERSION = "v11"

 BUTTON_FUNCTIONS = {
  "NOTHING": 0,
@@ -90,12 +97,15 @@ EXCLUDED_KEYS = {
 }

 TINYGRAD_FILES = [
+  ("driving_off_policy_metadata.pkl", "off-policy metadata"),
+  ("driving_off_policy_tinygrad.pkl", "off-policy model"),
  ("driving_policy_metadata.pkl", "policy metadata"),
  ("driving_policy_tinygrad.pkl", "policy model"),
  ("driving_vision_metadata.pkl", "vision metadata"),
  ("driving_vision_tinygrad.pkl", "vision model"),
 ]

+
@cache
 def get_nnff_model_files():
  model_dir = Path(NNFF_MODELS_PATH)
@@ -117,13 +127,16 @@ def update_frogpilot_toggles():
 frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
  ("AccelerationPath", "1", 2, "0"),
  ("AccelerationProfile", "2", 0, "0"),
-  ("AdjacentLeadsUI", "1", 3, "0"),
+  ("AdjacentLeadsUI", "0", 3, "0"),
  ("AdjacentPath", "0", 3, "0"),
  ("AdjacentPathMetrics", "0", 3, "0"),
  ("AdvancedCustomUI", "0", 2, "0"),
-  ("AdvancedLateralTune", "0", 3, "0"),
+  ("AdvancedLateralTune", "1", 2, "0"),
  ("AdvancedLongitudinalTune", "0", 3, "0"),
+  ("EVTuning", "", 3, "0"),
+  ("TruckTuning", "0", 3, "0"),
  ("AggressiveFollow", "1.25", 2, "1.25"),
+  ("AggressiveFollowHigh", "1.25", 2, "1.25"),
  ("AggressiveJerkAcceleration", "50", 3, "50"),
  ("AggressiveJerkDanger", "100", 3, "100"),
  ("AggressiveJerkDeceleration", "50", 3, "50"),
@@ -133,19 +146,24 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
  ("AlertVolumeControl", "0", 2, "0"),
  ("AlwaysOnDM", "0", 0, "0"),
  ("AlwaysOnLateral", "1", 0, "0"),
-  ("AlwaysOnLateralLKAS", "1", 2, "0"),
-  ("AlwaysOnLateralMain", "1", 2, "0"),
+  ("AlwaysOnLateralLKAS", "1", 0, "0"),
+  ("AlwaysOnLateralMain", "1", 0, "0"),
+  ("AlwaysAllowUploads", "0", 2, "0"),
  ("AMapKey1", "", 0, ""),
  ("AMapKey2", "", 0, ""),
  ("AutomaticallyDownloadModels", "1", 1, "0"),
  ("AutomaticUpdates", "1", 0, "1"),
  ("AvailableModelNames", "", 1, ""),
+  ("AvailableModelSeries", "", 1, ""),
  ("AvailableModels", "", 1, ""),
+  ("CommunityFavorites", "", 1, ""),
+  ("UserFavorites", "", 0, ""),
  ("BigMap", "0", 2, "0"),
  ("BlacklistedModels", "", 2, ""),
  ("BlindSpotMetrics", "1", 3, "0"),
  ("BlindSpotPath", "1", 1, "0"),
-  ("BorderMetrics", "0", 3, "0"),
+  ("BootLogo", "starpilot", 0, "stock"),
+  ("BorderMetrics", "1", 3, "0"),
  ("CalibratedLateralAcceleration", str(DEFAULT_LATERAL_ACCELERATION), 2, str(DEFAULT_LATERAL_ACCELERATION)),
  ("CalibrationProgress", "0", 3, "0"),
  ("CameraView", "3", 2, "0"),
@@ -156,17 +174,17 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
  ("CECurves", "0", 1, "0"),
  ("CECurvesLead", "0", 1, "0"),
  ("CELead", "0", 1, "0"),
-  ("CEModelStopTime", str(PLANNER_TIME - 2), 2, "0"),
-  ("CENavigation", "1", 2, "0"),
-  ("CENavigationIntersections", "0", 2, "0"),
+  ("CEModelStopTime", "7", 2, "0"),
+  ("CENavigation", "0", 2, "0"),
+  ("CENavigationIntersections", "1", 2, "0"),
  ("CENavigationLead", "1", 2, "0"),
  ("CENavigationTurns", "1", 2, "0"),
  ("CESignalSpeed", "55", 2, "0"),
  ("CESignalLaneDetection", "1", 2, "0"),
-  ("CESlowerLead", "0", 1, "0"),
+  ("CESlowerLead", "1", 1, "0"),
  ("CESpeed", "0", 1, "0"),
  ("CESpeedLead", "0", 1, "0"),
-  ("CEStoppedLead", "0", 1, "0"),
+  ("CEStoppedLead", "1", 1, "0"),
  ("ClusterOffset", "1.015", 2, "1.015"),
  ("Compass", "0", 1, "0"),
  ("ConditionalExperimental", "1", 1, "0"),
@@ -184,7 +202,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
  ("CustomUI", "1", 1, "0"),
  ("DecelerationProfile", "1", 2, "0"),
  ("DeveloperMetrics", "1", 3, "0"),
-  ("DeveloperSidebar", "1", 3, "0"),
+  ("DeveloperSidebar", "0", 3, "0"),
  ("DeveloperSidebarMetric1", "1", 3, "0"),
  ("DeveloperSidebarMetric2", "2", 3, "0"),
  ("DeveloperSidebarMetric3", "3", 3, "0"),
@@ -193,7 +211,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
  ("DeveloperSidebarMetric6", "6", 3, "0"),
  ("DeveloperSidebarMetric7", "7", 3, "0"),
  ("DeveloperWidgets", "1", 3, "0"),
-  ("DeveloperUI", "0", 3, "0"),
+  ("DeveloperUI", "1", 3, "0"),
  ("DeviceManagement", "1", 1, "0"),
  ("DeviceShutdown", "9", 1, "33"),
  ("DisableOnroadUploads", "0", 2, "0"),
@@ -203,17 +221,16 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
  ("DistanceButtonControl", "1", 2, "0"),
  ("DriverCamera", "0", 1, "0"),
  ("DynamicPathWidth", "0", 2, "0"),
-  ("DynamicPedalsOnUI", "1", 1, "0"),
+  ("DynamicPedalsOnUI", "1", 2, "0"),
  ("EngageVolume", "101", 2, "101"),
-  ("ExperimentalGMTune", "0", 2, "0"),
  ("ExperimentalLongitudinalEnabled", "0", 0, "0"),
  ("ExperimentalModeConfirmed", "0", 0, "0"),
  ("Fahrenheit", "0", 3, "0"),
  ("FavoriteDestinations", "", 0, ""),
-  ("ForceAutoTune", "0", 3, "0"),
-  ("ForceAutoTuneOff", "0", 3, "0"),
+  ("ForceAutoTune", "0", 2, "0"),
+  ("ForceAutoTuneOff", "1", 2, "0"),
  ("ForceFingerprint", "0", 2, "0"),
-  ("ForceMPHDashboard", "0", 3, "0"),
+  ("ForceMPHDashboard", "0", 2, "0"),
  ("ForceStops", "0", 2, "0"),
  ("ForceTorqueController", "0", 3, "0"),
  ("FPSCounter", "1", 3, "0"),
@@ -222,9 +239,14 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
  ("FrogsGoMoosTweak", "1", 2, "0"),
  ("FullMap", "0", 2, "0"),
  ("GasRegenCmd", "1", 2, "0"),
+  ("GMPedalLongitudinal", "1", 2, "1"),
+  ("RemapCancelToDistance", "0", 2, "0"),
+  ("RedPanda", "0", 3, "0"),
+  ("RemoteStartBootsComma", "0", 3, "0"),
  ("GithubSshKeys", "", 0, ""),
  ("GithubUsername", "", 0, ""),
  ("GoatScream", "0", 1, "0"),
+  ("GoatScreamCriticalAlerts", "0", 1, "0"),
  ("GreenLightAlert", "0", 0, "0"),
  ("GsmApn", "", 0, ""),
  ("GsmRoaming", "1", 0, "0"),
@@ -235,10 +257,10 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
  ("HideMaxSpeed", "0", 2, "0"),
  ("HideSpeed", "0", 2, "0"),
  ("HideSpeedLimit", "0", 2, "0"),
-  ("HigherBitrate", "0", 2, "0"),
+  ("HigherBitrate", "0", 3, "0"),
  ("HolidayThemes", "1", 0, "0"),
-  ("HumanAcceleration", "1", 2, "0"),
-  ("HumanFollowing", "1", 2, "0"),
+  ("HumanAcceleration", "0", 2, "0"),
+  ("HumanFollowing", "0", 2, "0"),
  ("IncreasedStoppedDistance", "0", 1, "0"),
  ("IncreaseThermalLimits", "0", 2, "0"),
  ("IsLdwEnabled", "0", 0, "0"),
@@ -246,13 +268,13 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
  ("KonikDongleId", "", 0, ""),
  ("KonikMinutes", "0", 0, "0"),
  ("LaneChanges", "1", 0, "1"),
-  ("LaneChangeTime", "1.0", 1, "0"),
-  ("LaneDetectionWidth", "0", 1, "0"),
+  ("LaneChangeTime", "2.0", 0, "0"),
+  ("LaneDetectionWidth", "0", 2, "0"),
  ("LaneLinesWidth", "4", 2, "2"),
-  ("LateralTune", "1", 1, "0"),
+  ("LateralTune", "1", 2, "0"),
  ("LeadDepartingAlert", "0", 0, "0"),
  ("LeadDetectionThreshold", "35", 3, "50"),
-  ("LeadInfo", "1", 3, "0"),
+  ("LeadInfo", "1", 2, "0"),
  ("LiveDelay", "", 0, ""),
  ("LKASButtonControl", "5", 2, "0"),
  ("LockDoors", "1", 0, "0"),
@@ -261,33 +283,36 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
  ("LongitudinalActuatorDelay", "", 3, ""),
  ("LongitudinalActuatorDelayStock", "", 3, ""),
  ("LongitudinalTune", "1", 0, "0"),
+  ("TrailerLoad", "0", 2, "0"),
  ("LongPitch", "1", 2, "0"),
  ("LoudBlindspotAlert", "0", 0, "0"),
-  ("LowVoltageShutdown", str(VBATT_PAUSE_CHARGING), 3, str(VBATT_PAUSE_CHARGING)),
+  ("LowVoltageShutdown", str(VBATT_PAUSE_CHARGING), 2, str(VBATT_PAUSE_CHARGING)),
  ("MapAcceleration", "0", 1, "0"),
  ("MapboxPublicKey", "", 0, ""),
  ("MapboxSecretKey", "", 0, ""),
  ("MapDeceleration", "0", 1, "0"),
-  ("MapGears", "0", 2, "0"),
+  ("MapGears", "0", 1, "0"),
  ("MapsSelected", "", 0, ""),
  ("MapStyle", "1", 2, "0"),
  ("MaxDesiredAcceleration", "4.0", 2, "2.0"),
  ("MinimumLaneChangeSpeed", str(LANE_CHANGE_SPEED_MIN / CV.MPH_TO_MS), 2, str(LANE_CHANGE_SPEED_MIN / CV.MPH_TO_MS)),
-  ("Model", DEFAULT_MODEL + "_default", 1, DEFAULT_MODEL + "_default"),
+  ("Model", DEFAULT_MODEL, 1, DEFAULT_MODEL),
  ("ModelDrivesAndScores", "", 2, ""),
  ("ModelRandomizer", "0", 2, "0"),
+  ("ModelReleasedDates", "", 1, ""),
  ("ModelUI", "1", 2, "0"),
  ("ModelVersions", "", 2, ""),
+  ("SortModelsByDate", "0", 2, "0"),
  ("NavigationUI", "1", 1, "0"),
  ("NavSettingLeftSide", "0", 0, "0"),
  ("NavSettingTime24h", "0", 0, "0"),
-  ("NewLongAPI", "1", 3, "1"),
-  ("NNFF", "1", 2, "0"),
-  ("NNFFLite", "1", 2, "0"),
+  ("NewLongAPI", "0", 2, "1"),
+  ("NNFF", "0", 2, "0"),
+  ("NNFFLite", "0", 2, "0"),
  ("NoLogging", "0", 2, "0"),
  ("NoUploads", "0", 2, "0"),
-  ("NudgelessLaneChange", "1", 0, "0"),
-  ("NumericalTemp", "1", 3, "0"),
+  ("NudgelessLaneChange", "0", 0, "0"),
+  ("NumericalTemp", "1", 2, "0"),
  ("Offset1", "5", 0, "0"),
  ("Offset2", "5", 0, "0"),
  ("Offset3", "5", 0, "0"),
@@ -300,15 +325,15 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
  ("openpilotMinutes", "0", 0, "0"),
  ("PathEdgeWidth", "20", 2, "0"),
  ("PathWidth", "6.1", 2, "5.9"),
-  ("PauseAOLOnBrake", "0", 1, "0"),
-  ("PauseLateralOnSignal", "0", 1, "0"),
-  ("PauseLateralSpeed", "0", 1, "0"),
-  ("PedalsOnUI", "0", 1, "0"),
+  ("PauseAOLOnBrake", "0", 2, "0"),
+  ("PauseLateralOnSignal", "0", 2, "0"),
+  ("PauseLateralSpeed", "0", 2, "0"),
+  ("PedalsOnUI", "0", 2, "0"),
  ("PersonalizeOpenpilot", "1", 0, "0"),
  ("PreferredSchedule", "2", 0, "0"),
  ("PromptDistractedVolume", "101", 2, "101"),
  ("PromptVolume", "101", 2, "101"),
-  ("QOLLateral", "1", 1, "0"),
+  ("QOLLateral", "1", 2, "0"),
  ("QOLLongitudinal", "1", 1, "0"),
  ("QOLVisuals", "1", 0, "0"),
  ("RadarTracksUI", "0", 3, "0"),
@@ -318,19 +343,20 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
  ("RecordFront", "0", 0, "0"),
  ("RefuseVolume", "101", 2, "101"),
  ("RelaxedFollow", "1.75", 2, "1.75"),
-  ("RelaxedJerkAcceleration", "100", 3, "100"),
+  ("RelaxedFollowHigh", "1.75", 2, "1.75"),
+  ("RelaxedJerkAcceleration", "50", 3, "50"),
  ("RelaxedJerkDanger", "100", 3, "100"),
-  ("RelaxedJerkDeceleration", "100", 3, "100"),
-  ("RelaxedJerkSpeed", "100", 3, "100"),
-  ("RelaxedJerkSpeedDecrease", "100", 3, "100"),
+  ("RelaxedJerkDeceleration", "50", 3, "50"),
+  ("RelaxedJerkSpeed", "50", 3, "50"),
+  ("RelaxedJerkSpeedDecrease", "50", 3, "50"),
  ("RelaxedPersonalityProfile", "1", 2, "0"),
-  ("ReverseCruise", "0", 1, "0"),
+  ("ReverseCruise", "1", 1, "0"),
  ("RoadEdgesWidth", "2", 2, "2"),
-  ("RoadNameUI", "1", 1, "0"),
+  ("RoadNameUI", "1", 2, "0"),
  ("RotatingWheel", "1", 1, "0"),
  ("ScreenBrightness", "101", 2, "101"),
  ("ScreenBrightnessOnroad", "101", 2, "101"),
-  ("ScreenManagement", "1", 1, "0"),
+  ("ScreenManagement", "1", 2, "0"),
  ("ScreenRecorder", "1", 2, "0"),
  ("ScreenTimeout", "30", 2, "30"),
  ("ScreenTimeoutOnroad", "30", 2, "10"),
@@ -348,13 +374,13 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
  ("ShownToggleDescriptions", "", 0, ""),
  ("ShowSLCOffset", "1", 0, "0"),
  ("ShowSpeedLimits", "1", 1, "0"),
-  ("ShowSteering", "0", 3, "0"),
-  ("ShowStoppingPoint", "1", 3, "0"),
-  ("ShowStoppingPointMetrics", "1", 3, "0"),
+  ("ShowSteering", "1", 3, "0"),
+  ("ShowStoppingPoint", "0", 2, "0"),
+  ("ShowStoppingPointMetrics", "0", 2, "0"),
  ("ShowStorageLeft", "0", 3, "0"),
  ("ShowStorageUsed", "0", 3, "0"),
  ("Sidebar", "0", 0, "0"),
-  ("SignalMetrics", "0", 3, "0"),
+  ("SignalMetrics", "0", 2, "0"),
  ("SLCConfirmation", "0", 0, "0"),
  ("SLCConfirmationHigher", "0", 0, "0"),
  ("SLCConfirmationLower", "0", 0, "0"),
@@ -367,28 +393,31 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
  ("SLCPriority2", "Map Data", 2, "Map Data"),
  ("SLCPriority3", "Dashboard", 2, "Dashboard"),
  ("SNGHack", "1", 2, "0"),
-  ("SpeedLimitChangedAlert", "0", 0, "0"),
+  ("SpeedLimitChangedAlert", "1", 0, "0"),
  ("SpeedLimitController", "1", 0, "0"),
  ("SpeedLimitFiller", "0", 0, "0"),
-  ("SpeedLimitSources", "0", 3, "0"),
+  ("SpeedLimitSources", "0", 2, "0"),
  ("SshEnabled", "0", 0, "0"),
  ("StartupMessageBottom", "Human-tested, frog-approved 🐸", 0, "Always keep hands on wheel and eyes on road"),
  ("StartupMessageTop", "Hop in and buckle up!", 0, "Be ready to take over at any time"),
  ("StandardFollow", "1.45", 2, "1.45"),
-  ("StandardJerkAcceleration", "100", 3, "100"),
+  ("StandardFollowHigh", "1.45", 2, "1.45"),
+  ("StandardJerkAcceleration", "50", 3, "50"),
  ("StandardJerkDanger", "100", 3, "100"),
-  ("StandardJerkDeceleration", "100", 3, "100"),
-  ("StandardJerkSpeed", "100", 3, "100"),
-  ("StandardJerkSpeedDecrease", "100", 3, "100"),
+  ("StandardJerkDeceleration", "50", 3, "50"),
+  ("StandardJerkSpeed", "50", 3, "50"),
+  ("StandardJerkSpeedDecrease", "50", 3, "50"),
  ("StandardPersonalityProfile", "1", 2, "0"),
-  ("StandbyMode", "0", 1, "0"),
+  ("StandbyMode", "0", 2, "0"),
  ("StartAccel", "", 3, ""),
  ("StartAccelStock", "", 3, ""),
-  ("StaticPedalsOnUI", "0", 1, "0"),
+  ("StaticPedalsOnUI", "0", 2, "0"),
  ("SteerDelay", "", 3, ""),
  ("SteerDelayStock", "", 3, ""),
  ("SteerFriction", "", 3, ""),
  ("SteerFrictionStock", "", 3, ""),
+  ("SteerOffset", "", 3, ""),
+  ("SteerOffsetStock", "", 3, ""),
  ("SteerKP", "", 3, ""),
  ("SteerKPStock", "", 3, ""),
  ("SteerLatAccel", "", 3, ""),
@@ -403,8 +432,6 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
  ("TacoTune", "0", 2, "0"),
  ("TacoTuneHacks", "0", 2, "0"),
  ("TetheringEnabled", "0", 0, "0"),
-  ("ThemesDownloaded", "", 0, ""),
-  ("TinygradUpdateAvailable", "0", 1, "0"),
  ("ToyotaDoors", "1", 0, "0"),
  ("TrafficFollow", "0.5", 2, "0.5"),
  ("TrafficJerkAcceleration", "50", 3, "50"),
@@ -413,8 +440,8 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
  ("TrafficJerkSpeed", "50", 3, "50"),
  ("TrafficJerkSpeedDecrease", "50", 3, "50"),
  ("TrafficPersonalityProfile", "1", 2, "0"),
-  ("TuningLevel", "0", 0, "0"),
-  ("TuningLevelConfirmed", "0", 0, "0"),
+  ("TuningLevel", "3", 0, "0"),
+  ("TuningLevelConfirmed", "1", 0, "0"),
  ("TurnDesires", "0", 2, "0"),
  ("UnlimitedLength", "1", 2, "0"),
  ("UnlockDoors", "1", 0, "0"),
@@ -431,7 +458,9 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
  ("WarningImmediateVolume", "101", 2, "101"),
  ("WarningSoftVolume", "101", 2, "101"),
  ("WheelIcon", "frog", 0, "stock"),
-  ("WheelSpeed", "0", 2, "0")
+  ("WheelSpeed", "0", 2, "0"),
+  ("StopDistance", "6.0", 3, "6.0"),
+  ("RecoveryPower", "1.0", 2, "1.0")
 ]

 misc_tuning_levels: list[tuple[str, str | bytes, int, str]] = [
@@ -508,6 +537,18 @@ class FrogPilotVariables:

    tuning_level = params.get_int("TuningLevel") if params.get_bool("TuningLevelConfirmed") else 3

+    # One-time migration: move legacy bd2 selections to the new default sc model.
+    if not MODEL_MIGRATION_FLAG_PATH.is_file():
+      if params.get("Model", encoding="utf-8") == "bd2":
+        params.put("Model", DEFAULT_MODEL)
+        params.put("ModelVersion", DEFAULT_MODEL_VERSION)
+        params_cache.put("Model", DEFAULT_MODEL)
+        params_cache.put("ModelVersion", DEFAULT_MODEL_VERSION)
+      try:
+        MODEL_MIGRATION_FLAG_PATH.touch(exist_ok=True)
+      except OSError:
+        pass
+
    toggle.is_metric = params.get_bool("IsMetric")
    distance_conversion = 1 if toggle.is_metric else CV.FOOT_TO_METER
    small_distance_conversion = 1 if toggle.is_metric else CV.INCH_TO_CM
@@ -526,6 +567,10 @@ class FrogPilotVariables:
      safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
      CP.safetyConfigs = [safety_config]

+    is_torque_car = CP.lateralTuning.which() == "torque"
+    if not is_torque_car:
+      CarInterfaceBase.configure_torque_tune(MOCK.MOCK, CP.lateralTuning)
+
    fpmsg_bytes = params.get("FrogPilotCarParams" if started else "FrogPilotCarParamsPersistent", block=started)
    if fpmsg_bytes:
      with custom.FrogPilotCarParams.from_bytes(fpmsg_bytes) as fpcp_reader:
@@ -534,40 +579,38 @@ class FrogPilotVariables:
      CarInterface, _, _ = interfaces[MOCK.MOCK]
      FPCP = CarInterface.get_frogpilot_params(MOCK.MOCK, gen_empty_fingerprint(), [], CP, toggle)

-    is_torque_car = FPCP.lateralTuning.which() == "torque"
-    if not is_torque_car:
-      CarInterfaceBase.configure_torque_tune(MOCK.MOCK, FPCP.lateralTuning)

    toggle.always_on_lateral_set = bool(CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL)
    toggle.car_make = CP.carName
    toggle.car_model = CP.carFingerprint
    toggle.disable_openpilot_long = params.get_bool("DisableOpenpilotLongitudinal") if tuning_level >= level["DisableOpenpilotLongitudinal"] else default.get_bool("DisableOpenpilotLongitudinal")
-    friction = FPCP.lateralTuning.torque.friction
-    has_auto_tune = toggle.car_make in {"hyundai", "toyota"} and FPCP.lateralTuning.which() == "torque"
+    friction = CP.lateralTuning.torque.friction
+    has_auto_tune = toggle.car_make in {"hyundai", "toyota"} and CP.lateralTuning.which() == "torque"
    has_bsm = CP.enableBsm
    toggle.has_cc_long = toggle.car_make == "gm" and bool(CP.flags & GMFlags.CC_LONG.value)
    has_nnff = nnff_supported(toggle.car_model)
    toggle.has_pedal = CP.enableGasInterceptor
+    params_default.put("IncreasedStoppedDistance", "4" if toggle.has_pedal else "0")
    has_radar = not CP.radarUnavailable
    toggle.has_sdsu = toggle.car_make == "toyota" and bool(CP.flags & ToyotaFlags.SMART_DSU.value)
+    toggle.has_sascm = toggle.car_make == "gm" and bool(CP.flags & GMFlags.SASCM.value)
    has_sng = CP.autoResumeSng
    toggle.has_zss = toggle.car_make == "toyota" and bool(FPCP.fpFlags & ToyotaFrogPilotFlags.ZSS.value)
    is_angle_car = CP.steerControlType == car.CarParams.SteerControlType.angle
-    latAccelFactor = FPCP.lateralTuning.torque.latAccelFactor
+    latAccelFactor = CP.lateralTuning.torque.latAccelFactor
    longitudinalActuatorDelay = CP.longitudinalActuatorDelay
    toggle.openpilot_longitudinal = CP.openpilotLongitudinalControl and not toggle.disable_openpilot_long
    pcm_cruise = CP.pcmCruise
    startAccel = CP.startAccel
    stopAccel = CP.stopAccel
    steerActuatorDelay = CP.steerActuatorDelay
-    steerKp = FPCP.lateralTuning.torque.kp
+    steerKp = CP.lateralTuning.torque.kp
    steerRatio = CP.steerRatio
    toggle.stoppingDecelRate = CP.stoppingDecelRate
    taco_hacks_allowed = CP.safetyConfigs[0].safetyModel == SafetyModel.hyundaiCanfd
    toggle.use_lkas_for_aol = not toggle.openpilot_longitudinal and CP.safetyConfigs[0].safetyModel == SafetyModel.hyundaiCanfd
    toggle.vEgoStarting = CP.vEgoStarting
    toggle.vEgoStopping = CP.vEgoStopping
-
    msg_bytes = params.get("LiveTorqueParameters")
    if msg_bytes:
      with log.LiveTorqueParametersData.from_bytes(msg_bytes) as LTP:
@@ -594,14 +637,37 @@ class FrogPilotVariables:
    toggle.steerActuatorDelay = np.clip(params.get_float("SteerDelay"), 0.01, 1.0) if advanced_lateral_tuning and tuning_level >= level["SteerDelay"] else steerActuatorDelay
    toggle.use_custom_steerActuatorDelay = bool(round(toggle.steerActuatorDelay, 2) != round(steerActuatorDelay, 2))
    toggle.friction = np.clip(params.get_float("SteerFriction"), 0, 0.5) if advanced_lateral_tuning and tuning_level >= level["SteerFriction"] else friction
+    toggle.steer_offset = np.clip(params.get_float("SteerOffset"), -0.2, 0.2) if advanced_lateral_tuning and tuning_level >= level["SteerOffset"] and toggle.car_make == "gm" else 0.0
    toggle.use_custom_friction = bool(round(toggle.friction, 2) != round(friction, 2)) and is_torque_car and not toggle.force_auto_tune or toggle.force_auto_tune_off
    toggle.steerKp = [[0], [np.clip(params.get_float("SteerKP"), steerKp * 0.5, steerKp * 1.5) if advanced_lateral_tuning and is_torque_car and tuning_level >= level["SteerKP"] else steerKp]]
-    toggle.latAccelFactor = np.clip(params.get_float("SteerLatAccel"), latAccelFactor * 0.75, latAccelFactor * 1.25) if advanced_lateral_tuning and tuning_level >= level["SteerLatAccel"] else latAccelFactor
+    toggle.latAccelFactor = np.clip(params.get_float("SteerLatAccel"), latAccelFactor * 0.5, latAccelFactor * 1.25) if advanced_lateral_tuning and tuning_level >= level["SteerLatAccel"] else latAccelFactor
    toggle.use_custom_latAccelFactor = bool(round(toggle.latAccelFactor, 2) != round(latAccelFactor, 2)) and is_torque_car and not toggle.force_auto_tune or toggle.force_auto_tune_off
-    toggle.steerRatio = np.clip(params.get_float("SteerRatio"), steerRatio * 0.5, steerRatio * 1.5) if advanced_lateral_tuning and tuning_level >= level["SteerRatio"] else steerRatio
+    toggle.steerRatio = np.clip(params.get_float("SteerRatio"), steerRatio * 0.25, steerRatio * 1.5) if advanced_lateral_tuning and tuning_level >= level["SteerRatio"] else steerRatio
    toggle.use_custom_steerRatio = bool(round(toggle.steerRatio, 2) != round(steerRatio, 2)) and not toggle.force_auto_tune or toggle.force_auto_tune_off

    advanced_longitudinal_tuning = params.get_bool("AdvancedLongitudinalTune") if tuning_level >= level["AdvancedLongitudinalTune"] else default.get_bool("AdvancedLongitudinalTune")
+    gm_ev_vehicle = toggle.car_make == "gm" and CP.carFingerprint in GM_EV_CAR
+    gm_ev_vehicle &= not (toggle.car_model.startswith("CHEVROLET_VOLT") and not toggle.car_model.endswith("_CC"))
+    gm_ev_vehicle &= toggle.car_model != "CHEVROLET_MALIBU_HYBRID_CC"
+    ev_vehicle = gm_ev_vehicle or (toggle.car_make == "hyundai" and CP.carFingerprint in HYUNDAI_EV_CAR)
+    ev_vehicle |= CP.transmissionType == TransmissionType.direct
+
+    if params.get("EVTuning") == b"":
+      params.put_bool("EVTuning", ev_vehicle)
+
+    if params.get("TruckTuning") == b"":
+      params.put_bool("TruckTuning", False)
+
+    ev_tuning_param = params.get_bool("EVTuning")
+    truck_tuning_param = params.get_bool("TruckTuning")
+
+    # Enforce exclusivity between EV and Truck tuning.
+    if truck_tuning_param and ev_tuning_param:
+      ev_tuning_param = False
+      params.put_bool("EVTuning", False)
+
+    toggle.ev_tuning = ev_tuning_param if advanced_longitudinal_tuning and tuning_level >= level["EVTuning"] else ev_vehicle
+    toggle.truck_tuning = truck_tuning_param if advanced_longitudinal_tuning and tuning_level >= level["TruckTuning"] else False
    toggle.longitudinalActuatorDelay = np.clip(params.get_float("LongitudinalActuatorDelay"), 0, 1) if advanced_longitudinal_tuning and tuning_level >= level["LongitudinalActuatorDelay"] else longitudinalActuatorDelay
    toggle.startAccel = np.clip(params.get_float("StartAccel"), 0, 4) if advanced_longitudinal_tuning and tuning_level >= level["StartAccel"] else startAccel
    toggle.stopAccel = np.clip(params.get_float("StopAccel"), -4, 0) if advanced_longitudinal_tuning and tuning_level >= level["StopAccel"] else stopAccel
@@ -609,6 +675,10 @@ class FrogPilotVariables:
    toggle.vEgoStarting = np.clip(params.get_float("VEgoStarting"), 0.01, 1) if advanced_longitudinal_tuning and tuning_level >= level["VEgoStarting"] else toggle.vEgoStarting
    toggle.vEgoStopping = np.clip(params.get_float("VEgoStopping"), 0.01, 1) if advanced_longitudinal_tuning and tuning_level >= level["VEgoStopping"] else toggle.vEgoStopping

+    toggle.stop_distance = params.get_float("StopDistance") if advanced_longitudinal_tuning and tuning_level >= level["StopDistance"] else 6.0
+
+    toggle.recovery_power = np.clip(params.get_float("RecoveryPower"), 0.5, 2.0) if advanced_longitudinal_tuning and tuning_level >= level["RecoveryPower"] else 1.0
+
    toggle.alert_volume_controller = params.get_bool("AlertVolumeControl") if tuning_level >= level["AlertVolumeControl"] else default.get_bool("AlertVolumeControl")
    toggle.disengage_volume = params.get_int("DisengageVolume") if toggle.alert_volume_controller and tuning_level >= level["DisengageVolume"] else default.get_int("DisengageVolume")
    toggle.engage_volume = params.get_int("EngageVolume") if toggle.alert_volume_controller and tuning_level >= level["EngageVolume"] else default.get_int("EngageVolume")
@@ -624,11 +694,11 @@ class FrogPilotVariables:
    toggle.always_on_lateral_main = toggle.always_on_lateral_set and not toggle.use_lkas_for_aol and (params.get_bool("AlwaysOnLateralMain") if tuning_level >= level["AlwaysOnLateralMain"] else default.get_bool("AlwaysOnLateralMain"))
    toggle.always_on_lateral_pause_speed = params.get_int("PauseAOLOnBrake") if toggle.always_on_lateral_set and tuning_level >= level["PauseAOLOnBrake"] else default.get_int("PauseAOLOnBrake")

-    toggle.automatic_updates = (params.get_bool("AutomaticUpdates") if tuning_level >= level["AutomaticUpdates"] and (self.release_branch or self.vetting_branch) else default.get_bool("AutomaticUpdates")) and not BACKUP_PATH.is_file()
+    toggle.automatic_updates = (params.get_bool("AutomaticUpdates") if tuning_level >= level["AutomaticUpdates"] else default.get_bool("AutomaticUpdates")) and not BACKUP_PATH.is_file()

    toggle.car_model = params.get("CarModel", encoding="utf-8") or toggle.car_model

-    toggle.cluster_offset = params.get_float("ClusterOffset") if toggle.car_make == "toyota" and tuning_level >= level["ClusterOffset"] else default.get_float("ClusterOffset")
+    toggle.cluster_offset = params.get_float("ClusterOffset") if toggle.car_make in {"gm", "toyota"} and tuning_level >= level["ClusterOffset"] else default.get_float("ClusterOffset")

    toggle.conditional_experimental_mode = toggle.openpilot_longitudinal and (params.get_bool("ConditionalExperimental") if tuning_level >= level["ConditionalExperimental"] else default.get_bool("ConditionalExperimental"))
    toggle.conditional_curves = toggle.conditional_experimental_mode and (params.get_bool("CECurves") if tuning_level >= level["CECurves"] else default.get_bool("CECurves"))
@@ -652,6 +722,7 @@ class FrogPilotVariables:

    toggle.custom_alerts = params.get_bool("CustomAlerts") if tuning_level >= level["CustomAlerts"] else default.get_bool("CustomAlerts")
    toggle.goat_scream_alert = toggle.custom_alerts and (params.get_bool("GoatScream") if tuning_level >= level["GoatScream"] else default.get_bool("GoatScream"))
+    toggle.goat_scream_critical_alerts = toggle.custom_alerts and (params.get_bool("GoatScreamCriticalAlerts") if tuning_level >= level["GoatScreamCriticalAlerts"] else default.get_bool("GoatScreamCriticalAlerts"))
    toggle.green_light_alert = toggle.custom_alerts and (params.get_bool("GreenLightAlert") if tuning_level >= level["GreenLightAlert"] else default.get_bool("GreenLightAlert"))
    toggle.lead_departing_alert = toggle.custom_alerts and (params.get_bool("LeadDepartingAlert") if tuning_level >= level["LeadDepartingAlert"] else default.get_bool("LeadDepartingAlert"))
    toggle.loud_blindspot_alert = has_bsm and toggle.custom_alerts and (params.get_bool("LoudBlindspotAlert") if tuning_level >= level["LoudBlindspotAlert"] else default.get_bool("LoudBlindspotAlert"))
@@ -664,28 +735,31 @@ class FrogPilotVariables:
    toggle.aggressive_jerk_danger = np.clip(params.get_int("AggressiveJerkDanger") / 100, 0.25, 2) if aggressive_profile and tuning_level >= level["AggressiveJerkDanger"] else default.get_int("AggressiveJerkDanger") / 100
    toggle.aggressive_jerk_speed = np.clip(params.get_int("AggressiveJerkSpeed") / 100, 0.25, 2) if aggressive_profile and tuning_level >= level["AggressiveJerkSpeed"] else default.get_int("AggressiveJerkSpeed") / 100
    toggle.aggressive_jerk_speed_decrease = np.clip(params.get_int("AggressiveJerkSpeedDecrease") / 100, 0.25, 2) if aggressive_profile and tuning_level >= level["AggressiveJerkSpeedDecrease"] else default.get_int("AggressiveJerkSpeedDecrease") / 100
-    toggle.aggressive_follow = np.clip(params.get_float("AggressiveFollow"), 1, MAX_T_FOLLOW) if aggressive_profile and tuning_level >= level["AggressiveFollow"] else default.get_float("AggressiveFollow")
+    toggle.aggressive_follow = [np.clip(params.get_float("AggressiveFollow"), 1, MAX_T_FOLLOW) if aggressive_profile and tuning_level >= level["AggressiveFollow"] else default.get_float("AggressiveFollow"),
+                                np.clip(params.get_float("AggressiveFollowHigh"), 1, MAX_T_FOLLOW) if aggressive_profile and tuning_level >= level["AggressiveFollowHigh"] else default.get_float("AggressiveFollowHigh")]
    standard_profile = toggle.custom_personalities and (params.get_bool("StandardPersonalityProfile") if tuning_level >= level["StandardPersonalityProfile"] else default.get_bool("StandardPersonalityProfile"))
    toggle.standard_jerk_acceleration = np.clip(params.get_int("StandardJerkAcceleration") / 100, 0.25, 2) if standard_profile and tuning_level >= level["StandardJerkAcceleration"] else default.get_int("StandardJerkAcceleration") / 100
    toggle.standard_jerk_deceleration = np.clip(params.get_int("StandardJerkDeceleration") / 100, 0.25, 2) if standard_profile and tuning_level >= level["StandardJerkDeceleration"] else default.get_int("StandardJerkDeceleration") / 100
    toggle.standard_jerk_danger = np.clip(params.get_int("StandardJerkDanger") / 100, 0.25, 2) if standard_profile and tuning_level >= level["StandardJerkDanger"] else default.get_int("StandardJerkDanger") / 100
    toggle.standard_jerk_speed = np.clip(params.get_int("StandardJerkSpeed") / 100, 0.25, 2) if standard_profile and tuning_level >= level["StandardJerkSpeed"] else default.get_int("StandardJerkSpeed") / 100
    toggle.standard_jerk_speed_decrease = np.clip(params.get_int("StandardJerkSpeedDecrease") / 100, 0.25, 2) if standard_profile and tuning_level >= level["StandardJerkSpeedDecrease"] else default.get_int("StandardJerkSpeedDecrease") / 100
-    toggle.standard_follow = np.clip(params.get_float("StandardFollow"), 1, MAX_T_FOLLOW) if standard_profile and tuning_level >= level["StandardFollow"] else default.get_float("StandardFollow")
+    toggle.standard_follow = [np.clip(params.get_float("StandardFollow"), 1, MAX_T_FOLLOW) if standard_profile and tuning_level >= level["StandardFollow"] else default.get_float("StandardFollow"),
+                              np.clip(params.get_float("StandardFollowHigh"), 1, MAX_T_FOLLOW) if standard_profile and tuning_level >= level["StandardFollowHigh"] else default.get_float("StandardFollowHigh")]
    relaxed_profile = toggle.custom_personalities and (params.get_bool("RelaxedPersonalityProfile") if tuning_level >= level["RelaxedPersonalityProfile"] else default.get_bool("RelaxedPersonalityProfile"))
    toggle.relaxed_jerk_acceleration = np.clip(params.get_int("RelaxedJerkAcceleration") / 100, 0.25, 2) if relaxed_profile and tuning_level >= level["RelaxedJerkAcceleration"] else default.get_int("RelaxedJerkAcceleration") / 100
    toggle.relaxed_jerk_deceleration = np.clip(params.get_int("RelaxedJerkDeceleration") / 100, 0.25, 2) if relaxed_profile and tuning_level >= level["RelaxedJerkDeceleration"] else default.get_int("RelaxedJerkDeceleration") / 100
    toggle.relaxed_jerk_danger = np.clip(params.get_int("RelaxedJerkDanger") / 100, 0.25, 2) if relaxed_profile and tuning_level >= level["RelaxedJerkDanger"] else default.get_int("RelaxedJerkDanger") / 100
    toggle.relaxed_jerk_speed = np.clip(params.get_int("RelaxedJerkSpeed") / 100, 0.25, 2) if relaxed_profile and tuning_level >= level["RelaxedJerkSpeed"] else default.get_int("RelaxedJerkSpeed") / 100
    toggle.relaxed_jerk_speed_decrease = np.clip(params.get_int("RelaxedJerkSpeedDecrease") / 100, 0.25, 2) if relaxed_profile and tuning_level >= level["RelaxedJerkSpeedDecrease"] else default.get_int("RelaxedJerkSpeedDecrease") / 100
-    toggle.relaxed_follow = np.clip(params.get_float("RelaxedFollow"), 1, MAX_T_FOLLOW) if relaxed_profile and tuning_level >= level["RelaxedFollow"] else default.get_float("RelaxedFollow")
+    toggle.relaxed_follow = [np.clip(params.get_float("RelaxedFollow"), 1, MAX_T_FOLLOW) if relaxed_profile and tuning_level >= level["RelaxedFollow"] else default.get_float("RelaxedFollow"),
+                             np.clip(params.get_float("RelaxedFollowHigh"), 1, MAX_T_FOLLOW) if relaxed_profile and tuning_level >= level["RelaxedFollowHigh"] else default.get_float("RelaxedFollowHigh")]
    traffic_profile = toggle.custom_personalities and (params.get_bool("TrafficPersonalityProfile") if tuning_level >= level["TrafficPersonalityProfile"] else default.get_bool("TrafficPersonalityProfile"))
    toggle.traffic_mode_jerk_acceleration = [np.clip(params.get_int("TrafficJerkAcceleration") / 100, 0.25, 2) if traffic_profile and tuning_level >= level["TrafficJerkAcceleration"] else default.get_int("TrafficJerkAcceleration") / 100, toggle.aggressive_jerk_acceleration]
    toggle.traffic_mode_jerk_deceleration = [np.clip(params.get_int("TrafficJerkDeceleration") / 100, 0.25, 2) if traffic_profile and tuning_level >= level["TrafficJerkDeceleration"] else default.get_int("TrafficJerkDeceleration") / 100, toggle.aggressive_jerk_deceleration]
    toggle.traffic_mode_jerk_danger = [np.clip(params.get_int("TrafficJerkDanger") / 100, 0.25, 2) if traffic_profile and tuning_level >= level["TrafficJerkDanger"] else default.get_int("TrafficJerkDanger") / 100, toggle.aggressive_jerk_danger]
    toggle.traffic_mode_jerk_speed = [np.clip(params.get_int("TrafficJerkSpeed") / 100, 0.25, 2) if traffic_profile and tuning_level >= level["TrafficJerkSpeed"] else default.get_int("TrafficJerkSpeed") / 100, toggle.aggressive_jerk_speed]
    toggle.traffic_mode_jerk_speed_decrease = [np.clip(params.get_int("TrafficJerkSpeedDecrease") / 100, 0.25, 2) if traffic_profile and tuning_level >= level["TrafficJerkSpeedDecrease"] else default.get_int("TrafficJerkSpeedDecrease") / 100, toggle.aggressive_jerk_speed_decrease]
-    toggle.traffic_mode_follow = [np.clip(params.get_float("TrafficFollow"), 0.5, MAX_T_FOLLOW) if traffic_profile and tuning_level >= level["TrafficFollow"] else default.get_float("TrafficFollow"), toggle.aggressive_follow]
+    toggle.traffic_mode_follow = [np.clip(params.get_float("TrafficFollow"), 0.5, MAX_T_FOLLOW) if traffic_profile and tuning_level >= level["TrafficFollow"] else default.get_float("TrafficFollow"), toggle.aggressive_follow[0]]

    custom_ui = params.get_bool("CustomUI") if tuning_level >= level["CustomUI"] else default.get_bool("CustomUI")
    toggle.acceleration_path = toggle.openpilot_longitudinal and (custom_ui and (params.get_bool("AccelerationPath") if tuning_level >= level["AccelerationPath"] else default.get_bool("AccelerationPath")) or toggle.debug_mode)
@@ -734,6 +808,7 @@ class FrogPilotVariables:
    toggle.device_shutdown_time = (device_shutdown_setting - 3) * 3600 if device_shutdown_setting >= 4 else device_shutdown_setting * (60 * 15)
    toggle.increase_thermal_limits = device_management and (params.get_bool("IncreaseThermalLimits") if tuning_level >= level["IncreaseThermalLimits"] else default.get_bool("IncreaseThermalLimits"))
    toggle.low_voltage_shutdown = np.clip(params.get_float("LowVoltageShutdown"), VBATT_PAUSE_CHARGING, 12.5) if device_management and tuning_level >= level["LowVoltageShutdown"] else default.get_float("LowVoltageShutdown")
+    toggle.always_allow_uploads = device_management and (params.get_bool("AlwaysAllowUploads") if tuning_level >= level["AlwaysAllowUploads"] else default.get_bool("AlwaysAllowUploads"))
    toggle.no_logging = device_management and (params.get_bool("NoLogging") if tuning_level >= level["NoLogging"] else default.get_bool("NoLogging")) and not self.vetting_branch or toggle.force_onroad
    toggle.no_uploads = device_management and (params.get_bool("NoUploads") if tuning_level >= level["NoUploads"] else default.get_bool("NoUploads")) and not self.vetting_branch or toggle.use_higher_bitrate
    toggle.no_onroad_uploads = toggle.no_uploads and (params.get_bool("DisableOnroadUploads") if tuning_level >= level["DisableOnroadUploads"] else default.get_bool("DisableOnroadUploads")) and not toggle.use_higher_bitrate
@@ -765,10 +840,11 @@ class FrogPilotVariables:
    toggle.personality_profile_via_distance_very_long = toggle.openpilot_longitudinal and distance_button_control_very_long == BUTTON_FUNCTIONS["PERSONALITY_PROFILE"]
    toggle.traffic_mode_via_distance_very_long = toggle.openpilot_longitudinal and distance_button_control_very_long == BUTTON_FUNCTIONS["TRAFFIC_MODE"]

-    toggle.experimental_gm_tune = toggle.openpilot_longitudinal and toggle.car_make == "gm" and (params.get_bool("ExperimentalGMTune") if tuning_level >= level["ExperimentalGMTune"] else default.get_bool("ExperimentalGMTune"))
-    toggle.stoppingDecelRate = 0.3 if toggle.experimental_gm_tune else toggle.stoppingDecelRate
-    toggle.vEgoStarting = 0.15 if toggle.experimental_gm_tune else toggle.vEgoStarting
-    toggle.vEgoStopping = 0.15 if toggle.experimental_gm_tune else toggle.vEgoStopping
+    toggle.red_panda = toggle.car_make == "gm" and (params.get_bool("RedPanda") if tuning_level >= level["RedPanda"] else default.get_bool("RedPanda"))
+    toggle.remote_start_boots_comma = toggle.car_make == "gm" and (params.get_bool("RemoteStartBootsComma") if tuning_level >= level["RemoteStartBootsComma"] else default.get_bool("RemoteStartBootsComma"))
+    toggle.remap_cancel_to_distance = toggle.car_make == "gm" and toggle.openpilot_longitudinal and (
+      params.get_bool("RemapCancelToDistance") if tuning_level >= level["RemapCancelToDistance"] else default.get_bool("RemapCancelToDistance")
+    )

    toggle.force_fingerprint = (params.get_bool("ForceFingerprint") if tuning_level >= level["ForceFingerprint"] else default.get_bool("ForceFingerprint")) and toggle.car_model is not None

@@ -814,33 +890,49 @@ class FrogPilotVariables:
    toggle.human_following = longitudinal_tuning and (params.get_bool("HumanFollowing") if tuning_level >= level["HumanFollowing"] else default.get_bool("HumanFollowing"))
    toggle.lead_detection_probability = np.clip(params.get_int("LeadDetectionThreshold") / 100, 0.25, 0.50) if longitudinal_tuning and tuning_level >= level["LeadDetectionThreshold"] else default.get_int("LeadDetectionThreshold") / 100
    toggle.max_desired_acceleration = np.clip(params.get_float("MaxDesiredAcceleration"), 0.1, 4.0) if longitudinal_tuning and tuning_level >= level["MaxDesiredAcceleration"] else default.get_float("MaxDesiredAcceleration")
+    toggle.trailer_load_kg = (np.clip(params.get_int("TrailerLoad"), 0, 15000) if longitudinal_tuning and tuning_level >= level["TrailerLoad"] else default.get_int("TrailerLoad")) * CV.LB_TO_KG
    toggle.taco_tune = longitudinal_tuning and (params.get_bool("TacoTune") if tuning_level >= level["TacoTune"] else default.get_bool("TacoTune"))

-    toggle.available_models = (params.get("AvailableModels", encoding="utf-8") or "") + f",{DEFAULT_MODEL}"
-    toggle.available_model_names = (params.get("AvailableModelNames", encoding="utf-8") or "") + f",{DEFAULT_MODEL_NAME}"
-    downloaded_models = [model for model in toggle.available_models.split(",") if (MODELS_PATH / f"{model}.thneed").is_file() or all((MODELS_PATH / f"{model}_{filename}").is_file() for filename, _ in TINYGRAD_FILES)]
-    model_versions = (params.get("ModelVersions", encoding="utf-8") or "") + f",{DEFAULT_MODEL_VERSION}"
-    toggle.model_randomizer = params.get_bool("ModelRandomizer") if tuning_level >= level["ModelRandomizer"] else default.get_bool("ModelRandomizer")
-    if toggle.model_randomizer:
-      if not started:
-        blacklisted_models = (params.get("BlacklistedModels", encoding="utf-8") or "").split(",")
-        selectable_models = [model for model in downloaded_models if model not in blacklisted_models]
-        toggle.model = random.choice(selectable_models) if selectable_models else DEFAULT_MODEL
-        toggle.model_name = "Mystery Model 👻"
-        toggle.model_version = model_versions.split(",")[toggle.available_models.split(",").index(toggle.model)]
-    else:
-      model = ((params.get("Model", encoding="utf-8") if tuning_level >= level["Model"] else default.get("Model", encoding="utf-8")) or DEFAULT_MODEL).removesuffix("_default")
-      if model in downloaded_models:
-        toggle.model = model
-        toggle.model_name = dict(zip(toggle.available_models.split(","), toggle.available_model_names.split(",")))[toggle.model]
-        toggle.model_version = dict(zip(toggle.available_models.split(","), model_versions.split(",")))[toggle.model]
+    toggle.available_models = params.get("AvailableModels", encoding="utf-8") or ""
+    toggle.available_model_names = params.get("AvailableModelNames", encoding="utf-8") or ""
+    toggle.available_model_series = params.get("AvailableModelSeries", encoding="utf-8") or ""
+    toggle.community_favorites = params.get("CommunityFavorites", encoding="utf-8") or ""
+    toggle.model_released_dates = params.get("ModelReleasedDates", encoding="utf-8") or ""
+    toggle.model_versions = params.get("ModelVersions", encoding="utf-8") or ""
+    toggle.sort_models_by_date = params.get_bool("SortModelsByDate") if tuning_level >= level["SortModelsByDate"] else default.get_bool("SortModelsByDate")
+    toggle.user_favorites = params.get("UserFavorites", encoding="utf-8") or ""
+    downloaded_models = [model for model in toggle.available_models.split(",") if any(MODELS_PATH.glob(f"{model}*"))]
+    toggle.model_randomizer = downloaded_models and (params.get_bool("ModelRandomizer") if tuning_level >= level["ModelRandomizer"] else default.get_bool("ModelRandomizer"))
+    if toggle.available_models and toggle.available_model_names and downloaded_models and toggle.model_versions:
+      if DEFAULT_MODEL not in toggle.available_models.split(","):
+        toggle.available_models += f",{DEFAULT_MODEL}"
+        toggle.available_model_names += f",{DEFAULT_MODEL_NAME}"
+        toggle.model_versions += f",{DEFAULT_MODEL_VERSION}"
+        downloaded_models += [DEFAULT_MODEL]
+      if toggle.model_randomizer:
+        if not started:
+          blacklisted_models = (params.get("BlacklistedModels", encoding="utf-8") or "").split(",")
+          selectable_models = [model for model in downloaded_models if model not in blacklisted_models]
+          toggle.model = random.choice(selectable_models) if selectable_models else default.get("Model", encoding="utf-8")
+          toggle.model_name = "Mystery Model 👻"
+          toggle.model_version = toggle.model_versions.split(",")[toggle.available_models.split(",").index(toggle.model)]
      else:
+        toggle.model = params.get("Model", encoding="utf-8") if tuning_level >= level["Model"] else default.get("Model", encoding="utf-8")
+        if toggle.model in downloaded_models:
+          toggle.model_name = toggle.available_model_names.split(",")[toggle.available_models.split(",").index(toggle.model)]
+          toggle.model_version = toggle.model_versions.split(",")[toggle.available_models.split(",").index(toggle.model)]
+        else:
+          toggle.model = default.get("Model", encoding="utf-8")
+          toggle.model_name = toggle.available_model_names.split(",")[toggle.available_models.split(",").index(toggle.model)]
+          toggle.model_version = toggle.model_versions.split(",")[toggle.available_models.split(",").index(toggle.model)]
+    else:
        toggle.model = DEFAULT_MODEL
        toggle.model_name = DEFAULT_MODEL_NAME
        toggle.model_version = DEFAULT_MODEL_VERSION
+    toggle.classic_longitudinal = toggle.model_version in {"v1", "v2", "v3", "v4"}
    toggle.classic_model = toggle.model_version in {"v1", "v2", "v3", "v4"}
-    toggle.classic_longitudinal = toggle.model_version in {"v1", "v2", "v3", "v4", "v5", "v6"}
-    toggle.tinygrad_model = not toggle.classic_model and toggle.model_version not in {"v5", "v6"}
+    toggle.tinygrad_model = toggle.model_version in {"v8", "v9", "v10", "v11", "v12"}
+    toggle.tomb_raider = toggle.model == "space-lab"

    toggle.model_ui = params.get_bool("ModelUI") if tuning_level >= level["ModelUI"] else default.get_bool("ModelUI")
    toggle.dynamic_path_width = toggle.model_ui and (params.get_bool("DynamicPathWidth") if tuning_level >= level["DynamicPathWidth"] else default.get_bool("DynamicPathWidth"))
@@ -863,6 +955,7 @@ class FrogPilotVariables:
      toggle.old_long_api |= toggle.openpilot_longitudinal and toggle.car_make == "hyundai" and not (params.get_bool("NewLongAPI") if tuning_level >= level["NewLongAPI"] else default.get_bool("NewLongAPI"))

    personalize_openpilot = params.get_bool("PersonalizeOpenpilot") if tuning_level >= level["PersonalizeOpenpilot"] else default.get_bool("PersonalizeOpenpilot")
+    toggle.boot_logo = params.get("BootLogo", encoding="utf-8") or "starpilot"
    toggle.color_scheme = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("CustomColors", encoding="utf-8") if personalize_openpilot else "stock"
    toggle.distance_icons = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("CustomDistanceIcons", encoding="utf-8") if personalize_openpilot else "stock"
    toggle.icon_pack = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("CustomIcons", encoding="utf-8") if personalize_openpilot else "stock"
@@ -906,7 +999,6 @@ class FrogPilotVariables:
    toggle.screen_timeout = params.get_int("ScreenTimeout") if screen_management and tuning_level >= level["ScreenTimeout"] else default.get_int("ScreenTimeout")
    toggle.screen_timeout_onroad = params.get_int("ScreenTimeoutOnroad") if screen_management and tuning_level >= level["ScreenTimeoutOnroad"] else default.get_int("ScreenTimeoutOnroad")
    toggle.standby_mode = screen_management and (params.get_bool("StandbyMode") if tuning_level >= level["StandbyMode"] else default.get_bool("StandbyMode"))
-
    toggle.sng_hack = toggle.openpilot_longitudinal and toggle.car_make == "toyota" and not toggle.has_pedal and not has_sng and (params.get_bool("SNGHack") if tuning_level >= level["SNGHack"] else default.get_bool("SNGHack"))

    toggle.speed_limit_controller = toggle.openpilot_longitudinal and (params.get_bool("SpeedLimitController") if tuning_level >= level["SpeedLimitController"] else default.get_bool("SpeedLimitController"))
@@ -953,7 +1045,16 @@ class FrogPilotVariables:
    toggle.lock_doors = toyota_doors and (params.get_bool("LockDoors") if tuning_level >= level["LockDoors"] else default.get_bool("LockDoors"))
    toggle.unlock_doors = toyota_doors and (params.get_bool("UnlockDoors") if tuning_level >= level["UnlockDoors"] else default.get_bool("UnlockDoors"))

-    toggle.volt_sng = toggle.car_model == "CHEVROLET_VOLT" and (params.get_bool("VoltSNG") if tuning_level >= level["VoltSNG"] else default.get_bool("VoltSNG"))
+    volt_models = {
+      "CHEVROLET_VOLT",
+      "CHEVROLET_VOLT_2019",
+      "CHEVROLET_VOLT_ASCM",
+      "CHEVROLET_VOLT_CAMERA",
+    }
+
+    toggle.volt_sng = toggle.car_model in volt_models and (params.get_bool("VoltSNG") if tuning_level >= level["VoltSNG"] else default.get_bool("VoltSNG"))
+
+    toggle.gm_pedal_longitudinal = params.get_bool("GMPedalLongitudinal") if tuning_level >= level["GMPedalLongitudinal"] else default.get_bool("GMPedalLongitudinal")

    params_memory.put("FrogPilotToggles", json.dumps(toggle.__dict__))
    params_memory.remove("FrogPilotTogglesUpdated")
@@ -0,0 +1,224 @@
+import json
+import threading
+import time
+from pathlib import Path
+
+from openpilot.system.hardware import PC
+
+TESTING_GROUNDS_SCHEMA_VERSION = 1
+
+TESTING_GROUND_1 = "1"
+TESTING_GROUND_2 = "2"
+TESTING_GROUND_3 = "3"
+TESTING_GROUND_4 = "4"
+TESTING_GROUND_5 = "5"
+TESTING_GROUND_6 = "6"
+TESTING_GROUND_7 = "7"
+
+TESTING_GROUND_IDS = (
+  TESTING_GROUND_1,
+  TESTING_GROUND_2,
+  TESTING_GROUND_3,
+  TESTING_GROUND_4,
+  TESTING_GROUND_5,
+  TESTING_GROUND_6,
+  TESTING_GROUND_7,
+)
+
+TESTING_GROUNDS_STATE_PATH = Path("/tmp/the_pond_testing_grounds_slots.json") if PC else Path("/data/testing_grounds/slots.json")
+
+# Edit slot names/descriptions once here. The Pond and runtime checks share this table.
+# Slots named "Unused" are hidden from the dropdown.
+# Adding cLabel/dLabel/etc. automatically adds more mode buttons for that slot in Testing Ground.
+TESTING_GROUNDS_SLOT_DEFINITIONS = (
+  {
+    "id": TESTING_GROUND_1,
+    "name": "GM Long Tune",
+    "description": "BoltLongTune A/B sandbox for GM ACC longitudinal testing.",
+    "aLabel": "A - Installed tune",
+    "bLabel": "B - BoltLongTune test",
+  },
+  {
+    "id": TESTING_GROUND_2,
+    "name": "Unused",
+    "description": "",
+    "aLabel": "A",
+    "bLabel": "B",
+  },
+  {
+    "id": TESTING_GROUND_3,
+    "name": "Unused",
+    "description": "",
+    "aLabel": "A",
+    "bLabel": "B",
+  },
+  {
+    "id": TESTING_GROUND_4,
+    "name": "Unused",
+    "description": "",
+    "aLabel": "A",
+    "bLabel": "B",
+  },
+  {
+    "id": TESTING_GROUND_5,
+    "name": "Unused",
+    "description": "",
+    "aLabel": "A",
+    "bLabel": "B",
+  },
+  {
+    "id": TESTING_GROUND_6,
+    "name": "Unused",
+    "description": "",
+    "aLabel": "A",
+    "bLabel": "B",
+  },
+  {
+    "id": TESTING_GROUND_7,
+    "name": "Unused",
+    "description": "",
+    "aLabel": "A",
+    "bLabel": "B",
+  },
+)
+
+_DEFAULT_ACTIVE_SLOT = TESTING_GROUND_1
+DEFAULT_TESTING_GROUND_VARIANT = "A"
+TESTING_GROUND_TEST_VARIANT = "B"
+_CACHE_LOCK = threading.Lock()
+_CACHE_LAST_REFRESH = 0.0
+_CACHE_LAST_MTIME_NS = -1
+_CACHE_ACTIVE_SLOT = _DEFAULT_ACTIVE_SLOT
+_CACHE_ACTIVE_VARIANT = DEFAULT_TESTING_GROUND_VARIANT
+
+def _extract_variant_labels(slot_definition):
+  labels = {}
+  for key, value in dict(slot_definition).items():
+    if not isinstance(key, str) or not key.endswith("Label"):
+      continue
+    variant = key[:-5].upper()
+    if len(variant) != 1 or not variant.isalpha():
+      continue
+    label = str(value or "").strip()
+    if label:
+      labels[variant] = label
+
+  if DEFAULT_TESTING_GROUND_VARIANT not in labels:
+    labels[DEFAULT_TESTING_GROUND_VARIANT] = DEFAULT_TESTING_GROUND_VARIANT
+
+  return dict(sorted(labels.items()))
+
+TESTING_GROUND_VARIANT_LABELS = {
+  str(slot.get("id") or "").strip(): _extract_variant_labels(slot)
+  for slot in TESTING_GROUNDS_SLOT_DEFINITIONS
+}
+TESTING_GROUND_VARIANTS = tuple(
+  sorted({
+    variant
+    for labels in TESTING_GROUND_VARIANT_LABELS.values()
+    for variant in labels.keys()
+  })
+)
+
+def _normalize_variant(value, slot_id=None):
+  normalized_slot_id = str(slot_id or "").strip()
+  allowed_variants = set(TESTING_GROUND_VARIANT_LABELS.get(normalized_slot_id, {}).keys())
+  if not allowed_variants:
+    allowed_variants = set(TESTING_GROUND_VARIANTS) or {DEFAULT_TESTING_GROUND_VARIANT}
+
+  variant = str(value or "").strip().upper()
+  return variant if variant in allowed_variants else DEFAULT_TESTING_GROUND_VARIANT
+
+def get_testing_ground_selection(refresh_interval_s=0.5):
+  global _CACHE_LAST_REFRESH, _CACHE_LAST_MTIME_NS, _CACHE_ACTIVE_SLOT, _CACHE_ACTIVE_VARIANT
+
+  now = time.monotonic()
+  with _CACHE_LOCK:
+    if (now - _CACHE_LAST_REFRESH) < refresh_interval_s:
+      return _CACHE_ACTIVE_SLOT, _CACHE_ACTIVE_VARIANT
+    _CACHE_LAST_REFRESH = now
+
+    try:
+      stat_result = TESTING_GROUNDS_STATE_PATH.stat()
+    except FileNotFoundError:
+      _CACHE_LAST_MTIME_NS = -1
+      _CACHE_ACTIVE_SLOT = _DEFAULT_ACTIVE_SLOT
+      _CACHE_ACTIVE_VARIANT = DEFAULT_TESTING_GROUND_VARIANT
+      return _CACHE_ACTIVE_SLOT, _CACHE_ACTIVE_VARIANT
+    except OSError:
+      return _CACHE_ACTIVE_SLOT, _CACHE_ACTIVE_VARIANT
+
+    if stat_result.st_mtime_ns == _CACHE_LAST_MTIME_NS:
+      return _CACHE_ACTIVE_SLOT, _CACHE_ACTIVE_VARIANT
+
+    try:
+      payload = json.loads(TESTING_GROUNDS_STATE_PATH.read_text(encoding="utf-8"))
+    except Exception:
+      return _CACHE_ACTIVE_SLOT, _CACHE_ACTIVE_VARIANT
+
+    if not isinstance(payload, dict):
+      return _CACHE_ACTIVE_SLOT, _CACHE_ACTIVE_VARIANT
+
+    slot_id = str(payload.get("activeSlot") or _DEFAULT_ACTIVE_SLOT).strip()
+    if slot_id not in TESTING_GROUND_IDS:
+      slot_id = _DEFAULT_ACTIVE_SLOT
+
+    _CACHE_ACTIVE_SLOT = slot_id
+    _CACHE_ACTIVE_VARIANT = _normalize_variant(payload.get("activeVariant"), slot_id)
+    _CACHE_LAST_MTIME_NS = stat_result.st_mtime_ns
+    return _CACHE_ACTIVE_SLOT, _CACHE_ACTIVE_VARIANT
+
+def is_testing_ground_active(slot_id, variant=TESTING_GROUND_TEST_VARIANT, refresh_interval_s=0.5):
+  active_slot, active_variant = get_testing_ground_selection(refresh_interval_s=refresh_interval_s)
+  normalized_slot_id = str(slot_id or "").strip()
+  target_variant = _normalize_variant(variant, normalized_slot_id)
+  return normalized_slot_id == active_slot and active_variant == target_variant
+
+class _TestingGroundFlag:
+  __slots__ = ("slot_id", "variant")
+
+  def __init__(self, slot_id, variant=TESTING_GROUND_TEST_VARIANT):
+    self.slot_id = str(slot_id or "").strip()
+    self.variant = _normalize_variant(variant, self.slot_id)
+
+  def __bool__(self):
+    return is_testing_ground_active(self.slot_id, self.variant)
+
+  def __repr__(self):
+    state = "active" if bool(self) else "inactive"
+    return f"<TestingGroundFlag slot={self.slot_id} variant={self.variant} {state}>"
+
+use_testing_ground_1 = _TestingGroundFlag(TESTING_GROUND_1)
+use_testing_ground_2 = _TestingGroundFlag(TESTING_GROUND_2)
+use_testing_ground_3 = _TestingGroundFlag(TESTING_GROUND_3)
+use_testing_ground_4 = _TestingGroundFlag(TESTING_GROUND_4)
+use_testing_ground_5 = _TestingGroundFlag(TESTING_GROUND_5)
+use_testing_ground_6 = _TestingGroundFlag(TESTING_GROUND_6)
+use_testing_ground_7 = _TestingGroundFlag(TESTING_GROUND_7)
+
+class _TestingGroundNamespace:
+  __slots__ = ()
+
+  id_1 = TESTING_GROUND_1
+  id_2 = TESTING_GROUND_2
+  id_3 = TESTING_GROUND_3
+  id_4 = TESTING_GROUND_4
+  id_5 = TESTING_GROUND_5
+  id_6 = TESTING_GROUND_6
+  id_7 = TESTING_GROUND_7
+
+  use_1 = use_testing_ground_1
+  use_2 = use_testing_ground_2
+  use_3 = use_testing_ground_3
+  use_4 = use_testing_ground_4
+  use_5 = use_testing_ground_5
+  use_6 = use_testing_ground_6
+  use_7 = use_testing_ground_7
+
+  def use(self, slot_id, variant=TESTING_GROUND_TEST_VARIANT):
+    return is_testing_ground_active(slot_id, variant)
+
+  def selection(self):
+    return get_testing_ground_selection()
+
+testing_ground = _TestingGroundNamespace()
@@ -9,7 +9,7 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
-from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import A_CHANGE_COST, DANGER_ZONE_COST, J_EGO_COST, STOP_DISTANCE
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import A_CHANGE_COST, COMFORT_BRAKE, DANGER_ZONE_COST, J_EGO_COST

 from openpilot.frogpilot.common.frogpilot_utilities import calculate_lane_width, calculate_road_curvature
 from openpilot.frogpilot.common.frogpilot_variables import CRUISING_SPEED, MINIMUM_LATERAL_ACCELERATION, PLANNER_TIME, THRESHOLD, params, params_memory
@@ -65,6 +65,8 @@ class FrogPilotPlanner:
      self.cem.curve_detected = False
      self.cem.stop_sign_and_light(v_ego, sm, PLANNER_TIME - 2)

+
+
    self.driving_in_curve = abs(self.lateral_acceleration) >= MINIMUM_LATERAL_ACCELERATION

    self.frogpilot_events.update(v_cruise, sm, frogpilot_toggles)
@@ -85,7 +87,7 @@ class FrogPilotPlanner:

      params_memory.remove("LastGPSPosition")

-    self.lateral_acceleration = v_ego**2 * (sm["carState"].steeringAngleDeg - sm["liveParameters"].angleOffsetDeg) * CV.DEG_TO_RAD / (self.CP.steerRatio * self.CP.wheelbase)
+    self.lateral_acceleration = v_ego**2 * sm["controlsState"].curvature

    check_lane_width = frogpilot_toggles.adjacent_paths or frogpilot_toggles.adjacent_path_metrics or frogpilot_toggles.blind_spot_path or frogpilot_toggles.lane_detection
    if check_lane_width and v_ego >= frogpilot_toggles.minimum_lane_change_speed:
@@ -115,7 +117,9 @@ class FrogPilotPlanner:

  def update_lead_status(self):
    following_lead = self.lead_one.status
-    following_lead &= self.lead_one.dRel < self.model_length + STOP_DISTANCE
+    from frogpilot.common.frogpilot_variables import get_frogpilot_toggles
+    fp_toggles = get_frogpilot_toggles()
+    following_lead &= self.lead_one.dRel < self.model_length + fp_toggles.stop_distance

    self.tracking_lead_filter.update(following_lead)
    return self.tracking_lead_filter.x >= THRESHOLD
@@ -138,6 +142,8 @@ class FrogPilotPlanner:

    frogpilotPlan.desiredFollowDistance = self.frogpilot_following.desired_follow_distance

+    frogpilotPlan.disableThrottle = self.frogpilot_following.disable_throttle
+
    frogpilotPlan.experimentalMode = self.cem.experimental_mode or self.frogpilot_vcruise.slc.experimental_mode

    frogpilotPlan.forcingStop = self.frogpilot_vcruise.forcing_stop
@@ -1,22 +1,66 @@
 #!/usr/bin/env python3
+import time
+
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
+from openpilot.common.numpy_fast import interp
+from openpilot.common.conversions import Conversions as CV

-from openpilot.frogpilot.common.frogpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED, THRESHOLD, params_memory
+from openpilot.frogpilot.common.frogpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED, THRESHOLD, params_memory, scale_threshold

 class ConditionalExperimentalMode:
+  # ===== CONDITIONAL EXPERIMENTAL MODE SPEED-BASED TUNING =====
+  # Speed ranges: [0-35, 35-55, 55-70, 70+ mph]
+
+  # FILTER TIME CONSTANTS (Lower = More responsive, Higher = Smoother)
+  # [City, Urban Hwy, Rural Hwy, High Speed]
+  FILTER_TIME_CURVES = [0.9, 0.8, 0.6, 0.5]    # Faster detection at highway speeds
+  FILTER_TIME_LEADS = [0.9, 0.8, 0.7, 0.5]     # Less sensitive at 70+ mph for slow leads
+  FILTER_TIME_LIGHTS = [0.9, 0.8, 0.75, 0.55]  # Less sensitive at 60+ mph for stoplights
+
+  # HIGHWAY LIGHT DETECTION MULTIPLIERS
+  # How much to increase model stop time at highway speeds
+  LIGHT_BOOSTS = [1.0, 1.2, 1.1, 1.0]         # Keep conservative boost for highest speeds
+  LIGHT_SPEED_LOW = 50 * CV.MPH_TO_MS     # 50 mph threshold
+  LIGHT_SPEED_HIGH = 60 * CV.MPH_TO_MS    # 60 mph threshold
+  LIGHT_MAX_TIME = 9       # Balanced max time preserving city performance
+
+  # ===== END TUNING PARAMETERS =====
+
+  # Current active values
+  FILTER_TIME_CURVE = 0.8
+  FILTER_TIME_LEAD = 0.8
+  FILTER_TIME_LIGHT = 0.8
+  LIGHT_BOOST_LOW = 1.15
+  LIGHT_BOOST_HIGH = 1.2
+
+  # Small latch to avoid frame-to-frame mode chatter.
+  CEM_TRANSITION_GUARD_TIME = 0.50
+  CEM_TRANSITION_BUFFER_TIME = 0.25
+
+  @staticmethod
+  def get_speed_based_param(speed_mph, param_array):
+    """Get parameter value based on current speed using smooth interpolation between breakpoints [0, 35, 55, 70]"""
+    return interp(speed_mph, [0, 35, 55, 70], param_array)
+
  def __init__(self, FrogPilotPlanner):
    self.frogpilot_planner = FrogPilotPlanner

-    self.curvature_filter = FirstOrderFilter(0, 1, DT_MDL)
-    self.slow_lead_filter = FirstOrderFilter(0, 1, DT_MDL)
-    self.stop_light_filter = FirstOrderFilter(0, 0.5, DT_MDL)
+    # Faster filters with hysteresis for better responsiveness
+    self.curvature_filter = FirstOrderFilter(0, self.FILTER_TIME_CURVE, DT_MDL)
+    self.slow_lead_filter = FirstOrderFilter(0, self.FILTER_TIME_LEAD, DT_MDL)
+    self.stop_light_filter = FirstOrderFilter(0, self.FILTER_TIME_LIGHT, DT_MDL)

    self.curve_detected = False
    self.experimental_mode = False
    self.stop_light_detected = False
+    self.prev_experimental_mode = False  # For hysteresis
+    self.mode_hold_until = 0.0
+    self.mode_false_since = 0.0

  def update(self, v_ego, sm, frogpilot_toggles):
+    now = time.monotonic()
+
    if frogpilot_toggles.experimental_mode_via_press:
      self.status_value = params_memory.get_int("CEStatus")
    else:
@@ -25,10 +69,22 @@ class ConditionalExperimentalMode:
    if self.status_value not in {1, 2} and not sm["carState"].standstill:
      self.update_conditions(v_ego, sm, frogpilot_toggles)

-      self.experimental_mode = self.check_conditions(v_ego, sm, frogpilot_toggles)
+      triggered = self.check_conditions(v_ego, sm, frogpilot_toggles)
+      if triggered:
+        self.mode_hold_until = now + self.CEM_TRANSITION_GUARD_TIME
+        self.mode_false_since = 0.0
+      elif self.mode_false_since == 0.0:
+        self.mode_false_since = now

+      hold_active = now < self.mode_hold_until
+      transition_buffer_active = self.mode_false_since != 0.0 and (now - self.mode_false_since) < self.CEM_TRANSITION_BUFFER_TIME
+
+      self.experimental_mode = triggered or hold_active or transition_buffer_active
+      self.prev_experimental_mode = self.experimental_mode
      params_memory.put_int("CEStatus", self.status_value if self.experimental_mode else 0)
    else:
+      self.mode_hold_until = 0.0
+      self.mode_false_since = 0.0
      self.experimental_mode = self.status_value == 2 or sm["carState"].standstill and self.experimental_mode and self.frogpilot_planner.model_stopped
      self.stop_light_detected &= self.status_value not in {1, 2}
      self.stop_light_filter.x = 0
@@ -55,7 +111,7 @@ class ConditionalExperimentalMode:
      self.status_value = 8
      return True

-    if frogpilot_toggles.conditional_lead and self.slow_lead_detected:
+    if frogpilot_toggles.conditional_lead and self.slow_lead_detected and v_ego <= 35.31:
      self.status_value = 9 if self.frogpilot_planner.lead_one.vLead < 1 else 10
      return True

@@ -71,30 +127,70 @@ class ConditionalExperimentalMode:

  def update_conditions(self, v_ego, sm, frogpilot_toggles):
    self.curve_detection(v_ego, frogpilot_toggles)
-    self.slow_lead(frogpilot_toggles)
+    self.slow_lead(frogpilot_toggles, v_ego)
    self.stop_sign_and_light(v_ego, sm, frogpilot_toggles.conditional_model_stop_time)

  def curve_detection(self, v_ego, frogpilot_toggles):
    self.curvature_filter.update(self.frogpilot_planner.road_curvature_detected or self.frogpilot_planner.driving_in_curve)
    self.curve_detected = self.curvature_filter.x >= THRESHOLD and v_ego > CRUISING_SPEED

-  def slow_lead(self, frogpilot_toggles):
+  def slow_lead(self, frogpilot_toggles, v_ego):
    if self.frogpilot_planner.tracking_lead:
      slower_lead = frogpilot_toggles.conditional_slower_lead and self.frogpilot_planner.frogpilot_following.slower_lead
      stopped_lead = frogpilot_toggles.conditional_stopped_lead and self.frogpilot_planner.lead_one.vLead < 1
+      lead_threshold = scale_threshold(v_ego)
+
+      # Adjust threshold based on lead probability for vision-only accuracy
+      lead_prob = getattr(self.frogpilot_planner.lead_one, 'modelProb', 1.0)
+      adjusted_threshold = lead_threshold * (1.0 + 0.2 * (1.0 - lead_prob))  # Higher threshold for lower confidence

      self.slow_lead_filter.update(slower_lead or stopped_lead)
-      self.slow_lead_detected = self.slow_lead_filter.x >= THRESHOLD
+      self.slow_lead_detected = self.slow_lead_filter.x >= adjusted_threshold
    else:
      self.slow_lead_filter.x = 0
      self.slow_lead_detected = False

  def stop_sign_and_light(self, v_ego, sm, model_time):
    if not sm["frogpilotCarState"].trafficModeEnabled:
-      model_stopping = self.frogpilot_planner.model_length < v_ego * model_time
+      speed_mph = v_ego * CV.MS_TO_MPH  # Convert m/s to mph
+
+      # Interp for smooth scaling in 35-45 mph
+      bp = [0, 35, 45]
+      low_filter_time = 0.0  # No filtering under 35 mph
+      tuned_filter_time_curves = self.FILTER_TIME_CURVES[1]  # At 35-55 mph
+      tuned_filter_time_leads = self.FILTER_TIME_LEADS[1]
+      tuned_filter_time_lights = self.FILTER_TIME_LIGHTS[1]
+      low_boost = 1.0
+      tuned_boost = self.LIGHT_BOOSTS[1]
+      low_cap_factor = 0.0  # No cap under 35 mph
+      tuned_cap_factor = 1.0
+
+      filter_time_curves = interp(speed_mph, bp, [low_filter_time, low_filter_time, tuned_filter_time_curves])
+      filter_time_leads = interp(speed_mph, bp, [low_filter_time, low_filter_time, tuned_filter_time_leads])
+      filter_time_lights = interp(speed_mph, bp, [low_filter_time, low_filter_time, tuned_filter_time_lights])
+      light_boost = interp(speed_mph, bp, [low_boost, low_boost, tuned_boost])
+      cap_factor = interp(speed_mph, bp, [low_cap_factor, low_cap_factor, tuned_cap_factor])
+
+      # Update filter times with interp
+      self.curvature_filter = FirstOrderFilter(self.curvature_filter.x, filter_time_curves, DT_MDL)
+      self.slow_lead_filter = FirstOrderFilter(self.slow_lead_filter.x, filter_time_leads, DT_MDL)
+      self.stop_light_filter = FirstOrderFilter(self.stop_light_filter.x, filter_time_lights, DT_MDL)
+
+      # Disable stoplight detection at very high speeds to prevent false positives
+      if speed_mph > 75:  # Disable above 75 mph
+        self.stop_light_filter.x = 0
+        self.stop_light_detected = False
+        return
+
+      # Adjust model time with interp boost and gradual cap
+      adjusted_model_time = model_time * light_boost
+      if cap_factor > 0:
+        adjusted_model_time = min(adjusted_model_time, self.LIGHT_MAX_TIME * cap_factor + model_time * (1 - cap_factor))  # Gradual cap
+
+      model_stopping = self.frogpilot_planner.model_length < v_ego * adjusted_model_time

      self.stop_light_filter.update(self.frogpilot_planner.model_stopped or model_stopping)
-      self.stop_light_detected = self.stop_light_filter.x >= THRESHOLD and not self.frogpilot_planner.tracking_lead
+      self.stop_light_detected = self.stop_light_filter.x >= THRESHOLD**2 and not self.frogpilot_planner.tracking_lead
    else:
      self.stop_light_filter.x = 0
      self.stop_light_detected = False
@@ -1,33 +1,100 @@
 #!/usr/bin/env python3
 import numpy as np

-from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import CRUISE_MIN_ACCEL
-from openpilot.selfdrive.controls.lib.longitudinal_planner import ACCEL_MIN, get_max_accel
+def cubic_interp(x, xp, fp):
+     """Cubic interpolation using NumPy's native operations for speed."""
+     # Boundary conditions
+     if x <= xp[0]:
+         return fp[0]
+     elif x >= xp[-1]:
+         return fp[-1]
+
+     # Find interval
+     i = np.searchsorted(xp, x) - 1
+     i = max(0, min(i, len(xp)-2))  # clamp the index
+
+     # Normalized position
+     t = (x - xp[i]) / float(xp[i+1] - xp[i])
+
+     # Hermite cubic formula
+     return fp[i]*(1 - 3*t**2 + 2*t**3) + fp[i+1]*(3*t**2 - 2*t**3)
+
+def akima_interp(x, xp, fp):
+     """Akima-inspired interpolation with reduced overshoot characteristics."""
+     if x <= xp[0]:
+         return fp[0]
+     elif x >= xp[-1]:
+         return fp[-1]
+
+     i = np.searchsorted(xp, x) - 1
+     i = max(0, min(i, len(xp)-2))  # clamp the index
+
+     t = (x - xp[i]) / float(xp[i+1] - xp[i])
+
+     # Quintic polynomial to reduce overshoot
+     t2 = t*t
+     t4 = t2*t2
+     t3 = t2*t
+     return (fp[i]*(1 - 10*t3 + 15*t4 - 6*t3*t2)
+             + fp[i+1]*(10*t3 - 15*t4 + 6*t3*t2))
+
+from openpilot.selfdrive.controls.lib.longitudinal_planner import A_CRUISE_MIN, get_max_accel

 from openpilot.frogpilot.common.frogpilot_variables import CITY_SPEED_LIMIT

-A_CRUISE_MIN_ECO =   CRUISE_MIN_ACCEL / 2
-A_CRUISE_MIN_SPORT = CRUISE_MIN_ACCEL * 2
+A_CRUISE_MIN_ECO =   A_CRUISE_MIN / 2
+A_CRUISE_MIN_SPORT = A_CRUISE_MIN * 2

-                  # MPH = [0.0,  11,  22,  34,  45,  56,  89]
-A_CRUISE_MAX_BP_CUSTOM =  [0.0,  5., 10., 15., 20., 25., 40.]
-A_CRUISE_MAX_VALS_ECO =   [2.0, 1.5, 1.0, 0.8, 0.6, 0.4, 0.2]
-A_CRUISE_MAX_VALS_SPORT = [3.0, 2.5, 2.0, 1.5, 1.0, 0.8, 0.6]
+                       # MPH = [0.0,  11,  22,  34,  45,  56,  89]
+A_CRUISE_MAX_BP_CUSTOM =       [0.0,  5., 10., 15., 20., 25., 40.]
+A_CRUISE_MAX_VALS_ECO_EV =      [1.15, 1.15, 1.15, 1.15, 1.30, 1.30, 1.72]
+A_CRUISE_MAX_VALS_STANDARD_EV = [1.25, 1.25, 1.25, 1.25, 1.45, 1.50, 2.00]
+A_CRUISE_MAX_VALS_SPORT_EV =    [1.35, 1.35, 1.35, 1.35, 1.60, 1.60, 2.10]
+A_CRUISE_MAX_VALS_SPORT_PLUS_EV = [1.55, 1.55, 1.55, 1.55, 1.84, 1.84, 2.42]
+A_CRUISE_MAX_VALS_ECO_GAS =    [2.0, 1.5, 1.0, 0.8, 0.6, 0.4, 0.2]
+A_CRUISE_MAX_VALS_SPORT_GAS =  [3.0, 2.5, 2.0, 1.5, 1.0, 0.8, 0.6]
+A_CRUISE_MAX_VALS_ECO_TRUCK =       [3.00, 1.05, 0.60, 0.50, 0.50, 0.45, 0.35]
+A_CRUISE_MAX_VALS_STANDARD_TRUCK =  [6.00, 1.10, 0.70, 0.60, 0.55, 0.45, 0.35]
+A_CRUISE_MAX_VALS_SPORT_TRUCK =     [6.00, 1.15, 0.75, 0.70, 0.60, 0.50, 0.40]
+A_CRUISE_MAX_VALS_SPORT_PLUS_TRUCK = [6.00, 1.30, 0.90, 0.80, 0.70, 0.60, 0.45]

-def get_max_accel_eco(v_ego):
-  return float(np.interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_ECO))
+def get_max_accel_eco(v_ego, ev_tuning=True, truck_tuning=False):
+  if ev_tuning:
+    cruise_vals = A_CRUISE_MAX_VALS_ECO_EV
+  elif truck_tuning:
+    cruise_vals = A_CRUISE_MAX_VALS_ECO_TRUCK
+  else:
+    cruise_vals = A_CRUISE_MAX_VALS_ECO_GAS
+  return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, cruise_vals))

-def get_max_accel_sport(v_ego):
-  return float(np.interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT))
+def get_max_accel_sport(v_ego, ev_tuning=True, truck_tuning=False):
+  if ev_tuning:
+    cruise_vals = A_CRUISE_MAX_VALS_SPORT_EV
+  elif truck_tuning:
+    cruise_vals = A_CRUISE_MAX_VALS_SPORT_TRUCK
+  else:
+    cruise_vals = A_CRUISE_MAX_VALS_SPORT_GAS
+  return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, cruise_vals))
+
+def get_max_accel_standard(v_ego, ev_tuning=True, truck_tuning=False):
+  if ev_tuning:
+    return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_STANDARD_EV))
+  if truck_tuning:
+    return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_STANDARD_TRUCK))
+  return get_max_accel(v_ego)

 def get_max_accel_low_speeds(max_accel, v_cruise):
-  return float(np.interp(v_cruise, [0., CITY_SPEED_LIMIT / 2, CITY_SPEED_LIMIT], [max_accel / 4, max_accel / 2, max_accel]))
+  return float(akima_interp(v_cruise, [0., CITY_SPEED_LIMIT / 2, CITY_SPEED_LIMIT], [max_accel / 4, max_accel / 2, max_accel]))

 def get_max_accel_ramp_off(max_accel, v_cruise, v_ego):
-  return float(np.interp(v_cruise - v_ego, [0., 1., 5.], [0., 0.5, max_accel]))
+  return float(akima_interp(v_cruise - v_ego, [0., 1., 5., 10.], [0., 0.5, 1.0, max_accel]))

-def get_max_allowed_accel(v_ego):
-  return float(np.interp(v_ego, [0., 5., 20.], [4.0, 4.0, 2.0]))  # ISO 15622:2018
+def get_max_allowed_accel(v_ego, ev_tuning=True, truck_tuning=False):
+  if ev_tuning:
+    return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT_PLUS_EV))
+  if truck_tuning:
+    return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT_PLUS_TRUCK))
+  return float(akima_interp(v_ego, [0., 5., 20.], [4.0, 4.0, 2.0]))  # ISO 15622:2018

 class FrogPilotAcceleration:
  def __init__(self, FrogPilotPlanner):
@@ -39,34 +106,34 @@ class FrogPilotAcceleration:
  def update(self, v_ego, sm, frogpilot_toggles):
    eco_gear = sm["frogpilotCarState"].ecoGear
    sport_gear = sm["frogpilotCarState"].sportGear
+    ev_tuning = frogpilot_toggles.ev_tuning
+    truck_tuning = frogpilot_toggles.truck_tuning

    if sm["frogpilotCarState"].trafficModeEnabled:
-      self.max_accel = get_max_accel(v_ego)
+      self.max_accel = get_max_accel_standard(v_ego, ev_tuning, truck_tuning)
    elif frogpilot_toggles.map_acceleration and (eco_gear or sport_gear):
      if eco_gear:
-        self.max_accel = get_max_accel_eco(v_ego)
+        self.max_accel = get_max_accel_eco(v_ego, ev_tuning, truck_tuning)
      else:
        if frogpilot_toggles.acceleration_profile == 2:
-          self.max_accel = get_max_accel_sport(v_ego)
+          self.max_accel = get_max_accel_sport(v_ego, ev_tuning, truck_tuning)
        else:
-          self.max_accel = get_max_allowed_accel(v_ego)
+          self.max_accel = get_max_allowed_accel(v_ego, ev_tuning, truck_tuning)
    else:
      if frogpilot_toggles.acceleration_profile == 1:
-        self.max_accel = get_max_accel_eco(v_ego)
+        self.max_accel = get_max_accel_eco(v_ego, ev_tuning, truck_tuning)
      elif frogpilot_toggles.acceleration_profile == 2:
-        self.max_accel = get_max_accel_sport(v_ego)
+        self.max_accel = get_max_accel_sport(v_ego, ev_tuning, truck_tuning)
      elif frogpilot_toggles.acceleration_profile == 3:
-        self.max_accel = get_max_allowed_accel(v_ego)
+        self.max_accel = get_max_allowed_accel(v_ego, ev_tuning, truck_tuning)
      else:
-        self.max_accel = get_max_accel(v_ego)
+        self.max_accel = get_max_accel_standard(v_ego, ev_tuning, truck_tuning)

    if frogpilot_toggles.human_acceleration:
      self.max_accel = min(get_max_accel_low_speeds(self.max_accel, self.frogpilot_planner.v_cruise), self.max_accel)
      self.max_accel = min(get_max_accel_ramp_off(self.max_accel, self.frogpilot_planner.v_cruise, v_ego), self.max_accel)

-    if self.frogpilot_planner.tracking_lead:
-      self.min_accel = ACCEL_MIN
-    elif sm["frogpilotCarState"].forceCoast:
+    if sm["frogpilotCarState"].forceCoast:
      self.min_accel = A_CRUISE_MIN_ECO
    elif frogpilot_toggles.map_deceleration and (eco_gear or sport_gear):
      if eco_gear:
@@ -79,4 +146,4 @@ class FrogPilotAcceleration:
      elif frogpilot_toggles.deceleration_profile == 2:
        self.min_accel = A_CRUISE_MIN_SPORT
      else:
-        self.min_accel = CRUISE_MIN_ACCEL
+        self.min_accel = A_CRUISE_MIN
@@ -1,16 +1,20 @@
 #!/usr/bin/env python3
 import numpy as np

-from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import COMFORT_BRAKE, STOP_DISTANCE, desired_follow_distance, get_jerk_factor, get_T_FOLLOW
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import COMFORT_BRAKE, desired_follow_distance, get_jerk_factor, get_T_FOLLOW

 from openpilot.frogpilot.common.frogpilot_variables import CITY_SPEED_LIMIT

 TRAFFIC_MODE_BP = [0., CITY_SPEED_LIMIT]
+PERSONALITY_BP = [45. * CV.MPH_TO_MS, 70. * CV.MPH_TO_MS]
+HIGHWAY_DISABLE_THROTTLE_MIN_SPEED = 45. * CV.MPH_TO_MS

 class FrogPilotFollowing:
  def __init__(self, FrogPilotPlanner):
    self.frogpilot_planner = FrogPilotPlanner

+    self.disable_throttle = False
    self.following_lead = False
    self.slower_lead = False

@@ -47,12 +51,16 @@ class FrogPilotFollowing:
          frogpilot_toggles.custom_personalities, sm["controlsState"].personality
        )

-      self.t_follow = get_T_FOLLOW(
+      t_follow_param = get_T_FOLLOW(
        frogpilot_toggles.aggressive_follow,
        frogpilot_toggles.standard_follow,
        frogpilot_toggles.relaxed_follow,
        frogpilot_toggles.custom_personalities, sm["controlsState"].personality
      )
+      if isinstance(t_follow_param, list):
+        self.t_follow = float(np.interp(v_ego, PERSONALITY_BP, t_follow_param))
+      else:
+        self.t_follow = float(t_follow_param)
    else:
      self.base_acceleration_jerk = 0
      self.base_danger_jerk = 0
@@ -63,7 +71,27 @@ class FrogPilotFollowing:
    self.danger_jerk = self.base_danger_jerk
    self.speed_jerk = self.base_speed_jerk

-    self.following_lead = self.frogpilot_planner.tracking_lead and self.frogpilot_planner.lead_one.dRel < (self.t_follow + 1) * v_ego
+    self.following_lead = self.frogpilot_planner.tracking_lead and self.frogpilot_planner.lead_one.dRel < (self.t_follow * 2) * v_ego
+
+
+    self.disable_throttle = False
+    if self.frogpilot_planner.tracking_lead and self.frogpilot_planner.lead_one.status:
+      lead_distance = self.frogpilot_planner.lead_one.dRel
+      v_lead = self.frogpilot_planner.lead_one.vLead
+      closing_speed = max(0.0, v_ego - v_lead)
+      desired_gap = float(desired_follow_distance(v_ego, v_lead, self.t_follow))
+      ttc = lead_distance / max(closing_speed, 1e-3) if closing_speed > 0.1 else 1e6
+
+      # Keep a mild coasting behavior only for far/low-risk slower leads.
+      coast_window_open = lead_distance > desired_gap + max(4.0, 0.2 * v_ego)
+      coast_window_far = lead_distance < desired_gap + max(25.0, 1.2 * v_ego)
+      gentle_closing = closing_speed < max(2.0, 0.12 * v_ego)
+
+      # Highway-only coast suppression: keep low-speed lead departures responsive.
+      self.disable_throttle = (not self.following_lead and v_ego > HIGHWAY_DISABLE_THROTTLE_MIN_SPEED and coast_window_open and
+                               coast_window_far and gentle_closing)
+      # Never coast when we are entering a potentially late-braking scenario.
+      self.disable_throttle &= ttc > 6.0 and lead_distance > desired_gap + 6.0

    if sm["controlsState"].enabled and self.frogpilot_planner.tracking_lead:
      self.update_follow_values(self.frogpilot_planner.lead_one.dRel, v_ego, self.frogpilot_planner.lead_one.vLead, frogpilot_toggles)
@@ -75,21 +103,20 @@ class FrogPilotFollowing:
    # Offset by FrogAi for FrogPilot for a more natural approach to a faster lead
    if frogpilot_toggles.human_following and v_lead > v_ego:
      distance_factor = max(lead_distance - (v_ego * self.t_follow), 1)
-      accelerating_offset = float(np.clip(STOP_DISTANCE - v_ego, 1, distance_factor))
-
-      self.acceleration_jerk /= accelerating_offset
-      self.speed_jerk /= accelerating_offset
-      self.t_follow /= accelerating_offset
+      from frogpilot.common.frogpilot_variables import get_frogpilot_toggles
+      fp_toggles = get_frogpilot_toggles()
+      acceleration_offset = float(np.clip(fp_toggles.stop_distance - v_ego, 1, distance_factor))
+      self.acceleration_jerk /= acceleration_offset
+      self.speed_jerk /= acceleration_offset
+      self.t_follow /= acceleration_offset

    # Offset by FrogAi for FrogPilot for a more natural approach to a slower lead
    if (frogpilot_toggles.conditional_slower_lead or frogpilot_toggles.human_following) and v_lead < v_ego:
      distance_factor = max(lead_distance - (v_lead * self.t_follow), 1)
      braking_offset = float(np.clip(min(v_ego - v_lead, v_lead) - COMFORT_BRAKE, 1, distance_factor))
-
      if frogpilot_toggles.human_following:
-        if not self.following_lead and v_lead > CITY_SPEED_LIMIT:
-          far_lead_offset = max(lead_distance - (v_ego * self.t_follow) - STOP_DISTANCE, 0)
-        else:
-          far_lead_offset = 0
+        from frogpilot.common.frogpilot_variables import get_frogpilot_toggles
+        fp_toggles = get_frogpilot_toggles()
+        far_lead_offset = max(lead_distance - (v_ego * self.t_follow) - fp_toggles.stop_distance, 0)
        self.t_follow /= braking_offset + far_lead_offset
      self.slower_lead = braking_offset > 1
@@ -51,7 +51,7 @@ class FrogPilotTracking:
    self.sound = FrogPilotAudibleAlert.none
    self.state = State.disabled

-    self.model_name = clean_model_name(dict(zip(frogpilot_toggles.available_models.split(","), frogpilot_toggles.available_model_names.split(",")))[frogpilot_toggles.model])
+    self.model_name = clean_model_name(frogpilot_toggles.model_name)

  def update(self, now, time_validated, sm, frogpilot_toggles):
    v_cruise = min(sm["controlsState"].vCruiseCluster, V_CRUISE_MAX) * CV.KPH_TO_MS
@@ -18,6 +18,7 @@ class FrogPilotVCruise:
    self.override_force_stop = False

    self.override_force_stop_timer = 0
+    self.force_stop_timer = 0.0

  def update(self, gps_position, now, time_validated, v_cruise, v_ego, sm, frogpilot_toggles):
    force_stop = self.frogpilot_planner.cem.stop_light_detected and sm["controlsState"].enabled and frogpilot_toggles.force_stops
@@ -58,16 +59,6 @@ class FrogPilotVCruise:

      self.csc_target = v_cruise

-    # Mike's extended lead linear braking
-    if self.frogpilot_planner.lead_one.vLead < v_ego > CRUISING_SPEED and sm["controlsState"].enabled and self.frogpilot_planner.tracking_lead and frogpilot_toggles.human_following:
-      if not self.frogpilot_planner.frogpilot_following.following_lead:
-        decel_rate = (v_ego - self.frogpilot_planner.lead_one.vLead)**2 / self.frogpilot_planner.lead_one.dRel
-        self.braking_target = max(v_ego - (decel_rate * DT_MDL), self.frogpilot_planner.lead_one.vLead + CRUISING_SPEED)
-      else:
-        self.braking_target = v_cruise
-    else:
-      self.braking_target = v_cruise
-
    # Pfeiferj's Speed Limit Controller
    self.slc.frogpilot_toggles = frogpilot_toggles

@@ -97,7 +88,7 @@ class FrogPilotVCruise:

      self.tracked_model_length = self.frogpilot_planner.model_length

-      targets = [self.braking_target, self.csc_target, v_cruise]
+      targets = [self.csc_target, v_cruise]
      if frogpilot_toggles.speed_limit_controller:
        targets.append(max(self.slc.overridden_speed, self.slc_target + self.slc_offset) - v_ego_diff)

@@ -1,17 +1,20 @@
 #!/usr/bin/env python3
-# Twilsonco's Lateral Neural Network Feedforward
-from collections import deque
-from difflib import SequenceMatcher
-from typing import NamedTuple
-
+# Twilsonco's Lateral Neural Network Feedforward Controller
 import json
 import math
 import numpy as np
 import os

+from collections import deque
+from difflib import SequenceMatcher
+from cereal import log
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.numpy_fast import interp
+from openpilot.common.params import Params
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
+from openpilot.selfdrive.controls.lib.latcontrol import LatControl
+from openpilot.selfdrive.controls.lib.pid import PIDController
+from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.modeld.constants import ModelConstants

 from openpilot.frogpilot.common.frogpilot_variables import NNFF_MODELS_PATH, get_nnff_model_files, params
@@ -31,8 +34,7 @@ from openpilot.frogpilot.common.frogpilot_variables import NNFF_MODELS_PATH, get
 ACTIVATION_FUNCTION_NAMES = {'σ': 'sigmoid'}

 LOW_SPEED_X = [0, 10, 20, 30]
-LOW_SPEED_Y = [15, 13, 10, 5]
-LOW_SPEED_Y_NN = [12, 3, 1, 0]
+LOW_SPEED_Y = [12, 3, 1, 0]

 LAT_PLAN_MIN_IDX = 5

@@ -126,7 +128,7 @@ def get_nn_model_path(car, eps_firmware) -> str | None:
  def find_valid_model(*queries):
    for query in queries:
      path, score = best_model_path(query)
-      if path and car in path and score >= 0.9:
+      if path and score >= 0.9:
        return path
    return None

@@ -152,21 +154,18 @@ def sign(x):
 def similarity(s1: str, s2: str) -> float:
  return SequenceMatcher(None, s1, s2).ratio()

-class LatControlInputs(NamedTuple):
-  lateral_acceleration: float
-  roll_compensation: float
-  vego: float
-  aego: float
-
-class NeuralNetworkFeedforward:
-  def __init__(self, CP, LatControlTorque):
-    self.lat_control_torque = LatControlTorque
-
+class LatControlNNFF(LatControl):
+  def __init__(self, CP, CI, dt):
+    super().__init__(CP, CI, dt)
    self.lat_torque_nn_model = get_nn_model(CP.carFingerprint, str(next((fw.fwVersion for fw in CP.carFw if fw.ecu == "eps"), "")).replace("\\", ""))
+    self.nnff_loaded = self.lat_torque_nn_model is not None

-    self.torque_from_lateral_accel = self.lat_control_torque.torque_from_lateral_accel
-
-    self.use_steering_angle = self.lat_control_torque.torque_params.useSteeringAngle
+    self.torque_params = CP.lateralTuning.torque
+    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
+                             pos_limit=self.steer_max, neg_limit=-self.steer_max)
+    self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
+    self.use_steering_angle = self.torque_params.useSteeringAngle
+    self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg

    # Instantaneous lateral jerk changes very rapidly, making it not useful on its own,
    # however, we can "look ahead" to the future planned lateral jerk in order to gauge
@@ -184,7 +183,6 @@ class NeuralNetworkFeedforward:
    self.lat_jerk_friction_factor = 0.4

    # precompute time differences between ModelConstants.T_IDXS
-    self.lateral_delay = CP.steerActuatorDelay
    self.t_diffs = np.diff(ModelConstants.T_IDXS)

    self.pitch = FirstOrderFilter(0.0, 0.5, 0.01)
@@ -196,7 +194,7 @@ class NeuralNetworkFeedforward:

    # setup future time offsets
    self.future_times = [0.3, 0.6, 1.0, 1.5]  # seconds in the future
-    self.nn_future_times = [time + self.lateral_delay for time in self.future_times]
+    self.nn_future_times = [time + CP.steerActuatorDelay for time in self.future_times]

    # setup past time offsets
    self.past_times = [-0.3, -0.2, -0.1]
@@ -207,97 +205,150 @@ class NeuralNetworkFeedforward:
    self.roll_deque = deque(maxlen=history_check_frames[0])

  def update_live_delay(self, lateral_delay):
-    self.lateral_delay = lateral_delay
-
-    self.nn_future_times = [time + self.lateral_delay for time in self.future_times]
+    self.nn_future_times = [time + lateral_delay for time in self.future_times]
    self.past_future_len = len(self.past_times) + len(self.nn_future_times)

-  def compute_nnff(self, CS, VM, actual_lateral_accel, desired_lateral_accel, gravity_adjusted_lateral_accel, lateral_accel_deadzone, llk, measurement, model_data, params, pid_log, roll_compensation, setpoint, frogpilot_toggles):
-    if self.use_steering_angle:
-      actual_curvature_rate = -VM.calc_curvature(math.radians(CS.steeringRateDeg), CS.vEgo, 0.0)
-      actual_lateral_jerk = actual_curvature_rate * CS.vEgo ** 2
+  def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
+    self.torque_params.latAccelFactor = latAccelFactor
+    self.torque_params.latAccelOffset = latAccelOffset
+    self.torque_params.friction = friction
+
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, llk, model_data, frogpilot_toggles):
+    pid_log = log.ControlsState.LateralTorqueState.new_message()
+    if not active:
+      output_torque = 0.0
+      pid_log.active = False
    else:
-      actual_lateral_jerk = 0.0
+      actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
+      roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
+      if self.use_steering_angle:
+        actual_curvature = actual_curvature_vm
+        curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
+      else:
+        actual_curvature_llk = llk.angularVelocityCalibrated.value[2] / CS.vEgo
+        actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_llk])
+        curvature_deadzone = 0.0
+      desired_lateral_accel = desired_curvature * CS.vEgo ** 2

-    model_good = model_data is not None and len(model_data.orientation.x) >= CONTROL_N
+      # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
+      # desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2
+      actual_lateral_accel = actual_curvature * CS.vEgo ** 2
+      lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2

-    if model_good:
-      # prepare "look-ahead" desired lateral jerk
-      lookahead = interp(CS.vEgo, self.friction_look_ahead_bp, self.friction_look_ahead_v)
-      friction_upper_idx = next((idxs for idxs, value in enumerate(ModelConstants.T_IDXS) if value > lookahead), 16)
+      low_speed_factor = interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2
+      setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
+      measurement = actual_lateral_accel + low_speed_factor * actual_curvature
+      gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation
+      if self.nnff_loaded and frogpilot_toggles.nnff or frogpilot_toggles.nnff_lite:
+        if self.use_steering_angle:
+          actual_curvature_rate = -VM.calc_curvature(math.radians(CS.steeringRateDeg), CS.vEgo, 0.0)
+          actual_lateral_jerk = actual_curvature_rate * CS.vEgo ** 2
+        else:
+          actual_lateral_jerk = 0.0

-      predicted_lateral_jerk = get_predicted_lateral_jerk(model_data.acceleration.y, self.t_diffs)
-      desired_lateral_jerk = (interp(self.lateral_delay, ModelConstants.T_IDXS, model_data.acceleration.y) - desired_lateral_accel) / self.lateral_delay
+        model_good = model_data is not None and len(model_data.orientation.x) >= CONTROL_N

-      lookahead_lateral_jerk = get_lookahead_value(predicted_lateral_jerk[LAT_PLAN_MIN_IDX:friction_upper_idx], desired_lateral_jerk)
+        if model_good:
+          # prepare "look-ahead" desired lateral jerk
+          lookahead = interp(CS.vEgo, self.friction_look_ahead_bp, self.friction_look_ahead_v)
+          friction_upper_idx = next((idxs for idxs, value in enumerate(ModelConstants.T_IDXS) if value > lookahead), 16)

-      if not self.use_steering_angle or lookahead_lateral_jerk == 0.0:
-        lookahead_lateral_jerk = 0.0
-        actual_lateral_jerk = 0.0
-        self.lat_accel_friction_factor = 1.0
+          predicted_lateral_jerk = get_predicted_lateral_jerk(model_data.acceleration.y, self.t_diffs)
+          desired_lateral_jerk = (interp(lat_delay, ModelConstants.T_IDXS, model_data.acceleration.y) - desired_lateral_accel) / lat_delay

-      lateral_jerk_setpoint = self.lat_jerk_friction_factor * lookahead_lateral_jerk
-      lateral_jerk_measurement = self.lat_jerk_friction_factor * actual_lateral_jerk
-    else:
-      lateral_jerk_setpoint = 0
-      lateral_jerk_measurement = 0
-      lookahead_lateral_jerk = 0
+          lookahead_lateral_jerk = get_lookahead_value(predicted_lateral_jerk[LAT_PLAN_MIN_IDX:friction_upper_idx], desired_lateral_jerk)

-    if self.lat_control_torque.nnff_loaded and model_good and frogpilot_toggles.nnff:
-      # update past data
-      pitch = 0
-      roll = params.roll
-      if len(llk.calibratedOrientationNED.value) > 1:
-        pitch = self.pitch.update(llk.calibratedOrientationNED.value[1])
-        roll = roll_pitch_adjust(roll, pitch)
+          if not self.use_steering_angle or lookahead_lateral_jerk == 0.0:
+            lookahead_lateral_jerk = 0.0
+            actual_lateral_jerk = 0.0
+            self.lat_accel_friction_factor = 1.0

-      self.roll_deque.append(roll)
-      self.lateral_accel_desired_deque.append(desired_lateral_accel)
+          lateral_jerk_setpoint = self.lat_jerk_friction_factor * lookahead_lateral_jerk
+          lateral_jerk_measurement = self.lat_jerk_friction_factor * actual_lateral_jerk
+        else:
+          lateral_jerk_setpoint = 0
+          lateral_jerk_measurement = 0
+          lookahead_lateral_jerk = 0

-      # prepare past and future values
-      # adjust future times to account for longitudinal acceleration
-      adjusted_future_times = [time + 0.5 * CS.aEgo * (time / max(CS.vEgo, 1.0)) for time in self.nn_future_times]
-      past_rolls = [self.roll_deque[min(len(self.roll_deque)-1, offset)] for offset in self.history_frame_offsets]
-      future_rolls = [roll_pitch_adjust(interp(time, ModelConstants.T_IDXS, model_data.orientation.x) + roll, interp(time, ModelConstants.T_IDXS, model_data.orientation.y) + pitch) for time in adjusted_future_times]
+        if self.nnff_loaded and model_good and frogpilot_toggles.nnff:
+          # update past data
+          pitch = 0
+          roll = params.roll
+          if len(llk.calibratedOrientationNED.value) > 1:
+            pitch = self.pitch.update(llk.calibratedOrientationNED.value[1])
+            roll = roll_pitch_adjust(roll, pitch)

-      past_lateral_accels_desired = [self.lateral_accel_desired_deque[min(len(self.lateral_accel_desired_deque)-1, offset)] for offset in self.history_frame_offsets]
-      future_lateral_accels = [interp(time, ModelConstants.T_IDXS[:CONTROL_N], model_data.acceleration.y) for time in adjusted_future_times]
+          self.roll_deque.append(roll)
+          self.lateral_accel_desired_deque.append(desired_lateral_accel)

-      base_input = [CS.vEgo, roll]
-      nnff_common = past_rolls + future_rolls
+          # prepare past and future values
+          # adjust future times to account for longitudinal acceleration
+          adjusted_future_times = [time + 0.5 * CS.aEgo * (time / max(CS.vEgo, 1.0)) for time in self.nn_future_times]
+          past_rolls = [self.roll_deque[min(len(self.roll_deque)-1, offset)] for offset in self.history_frame_offsets]
+          future_rolls = [roll_pitch_adjust(interp(time, ModelConstants.T_IDXS, model_data.orientation.x) + roll, interp(time, ModelConstants.T_IDXS, model_data.orientation.y) + pitch) for time in adjusted_future_times]

-      # compute NNFF error response
-      nnff_setpoint_input = base_input[:1] + [setpoint, lateral_jerk_setpoint] + base_input[1:] + [setpoint] * self.past_future_len + nnff_common
-      nnff_measurement_input = base_input[:1] + [measurement, lateral_jerk_measurement] + base_input[1:] + [measurement] * self.past_future_len + nnff_common
+          past_lateral_accels_desired = [self.lateral_accel_desired_deque[min(len(self.lateral_accel_desired_deque)-1, offset)] for offset in self.history_frame_offsets]
+          future_lateral_accels = [interp(time, ModelConstants.T_IDXS[:CONTROL_N], model_data.acceleration.y) for time in adjusted_future_times]

-      torque_from_setpoint = self.lat_torque_nn_model.evaluate(nnff_setpoint_input)
-      torque_from_measurement = self.lat_torque_nn_model.evaluate(nnff_measurement_input)
+          base_input = [CS.vEgo, roll]
+          nnff_common = past_rolls + future_rolls

-      pid_log.error = torque_from_setpoint - torque_from_measurement
+          # compute NNFF error response
+          nnff_setpoint_input = base_input[:1] + [setpoint, lateral_jerk_setpoint] + base_input[1:] + [setpoint] * self.past_future_len + nnff_common
+          nnff_measurement_input = base_input[:1] + [measurement, lateral_jerk_measurement] + base_input[1:] + [measurement] * self.past_future_len + nnff_common

-      error_blend = interp(abs(desired_lateral_accel), [1.0, 2.0], [0.0, 1.0])
-      if error_blend > 0.0:  # blend in stronger error response when in high lat accel
-        torque_from_error = self.lat_torque_nn_model.evaluate([CS.vEgo, setpoint - measurement, lateral_jerk_setpoint - lateral_jerk_measurement, 0.0])
-        if sign(pid_log.error) == sign(torque_from_error) and abs(pid_log.error) < abs(torque_from_error):
-          pid_log.error = pid_log.error * (1.0 - error_blend) + torque_from_error * error_blend
+          torque_from_setpoint = self.lat_torque_nn_model.evaluate(nnff_setpoint_input)
+          torque_from_measurement = self.lat_torque_nn_model.evaluate(nnff_measurement_input)

-      # compute feedforward (same as nn setpoint output)
-      error = setpoint - measurement
-      friction_input = self.lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk
-      nn_input = [CS.vEgo, desired_lateral_accel, friction_input, roll] + past_lateral_accels_desired + future_lateral_accels + nnff_common
-      ff = self.lat_torque_nn_model.evaluate(nn_input)
+          pid_log.error = torque_from_setpoint - torque_from_measurement

-      # apply friction override for cars with low NN friction response
-      if self.nn_friction_override:
-        pid_log.error += self.torque_from_lateral_accel(0.0, self.lat_control_torque.torque_params)
-    else:
-      torque_from_measurement = self.torque_from_lateral_accel(measurement, self.lat_control_torque.torque_params)
-      torque_from_setpoint = self.torque_from_lateral_accel(setpoint, self.lat_control_torque.torque_params)
+          error_blend = interp(abs(desired_lateral_accel), [1.0, 2.0], [0.0, 1.0])
+          if error_blend > 0.0:  # blend in stronger error response when in high lat accel
+            torque_from_error = self.lat_torque_nn_model.evaluate([CS.vEgo, setpoint - measurement, lateral_jerk_setpoint - lateral_jerk_measurement, 0.0])
+            if sign(pid_log.error) == sign(torque_from_error) and abs(pid_log.error) < abs(torque_from_error):
+              pid_log.error = pid_log.error * (1.0 - error_blend) + torque_from_error * error_blend

-      pid_log.error = float(torque_from_setpoint - torque_from_measurement)
+          # compute feedforward (same as nn setpoint output)
+          error = setpoint - measurement
+          friction_input = self.lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk
+          nn_input = [CS.vEgo, desired_lateral_accel, friction_input, roll] + past_lateral_accels_desired + future_lateral_accels + nnff_common
+          ff = self.lat_torque_nn_model.evaluate(nn_input)

-      error = desired_lateral_accel - actual_lateral_accel
-      friction_input = self.lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk
-      ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.lat_control_torque.torque_params)
+          # apply friction override for cars with low NN friction response
+          if self.nn_friction_override:
+            pid_log.error += self.torque_from_lateral_accel(0.0, self.torque_params)
+        else:
+          torque_from_measurement = self.torque_from_lateral_accel(measurement, self.torque_params)
+          torque_from_setpoint = self.torque_from_lateral_accel(setpoint, self.torque_params)

-    return pid_log, ff
+          pid_log.error = float(torque_from_setpoint - torque_from_measurement)
+
+          error = desired_lateral_accel - actual_lateral_accel
+          friction_input = self.lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk
+          ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params)
+      else:
+        torque_from_measurement = self.torque_from_lateral_accel(measurement, self.torque_params)
+        torque_from_setpoint = self.torque_from_lateral_accel(setpoint, self.torque_params)
+
+        pid_log.error = float(torque_from_setpoint - torque_from_measurement)
+
+        ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params)
+
+      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+      output_torque = self.pid.update(pid_log.error,
+                                      feedforward=ff,
+                                      speed=CS.vEgo,
+                                      freeze_integrator=freeze_integrator)
+
+      pid_log.active = True
+      pid_log.p = float(self.pid.p)
+      pid_log.i = float(self.pid.i)
+      pid_log.d = float(self.pid.d)
+      pid_log.f = float(self.pid.f)
+      pid_log.output = float(-output_torque)
+      pid_log.actualLateralAccel = float(actual_lateral_accel)
+      pid_log.desiredLateralAccel = float(desired_lateral_accel)
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
+
+    # TODO left is positive in this convention
+    return -output_torque, 0.0, pid_log
@@ -17,7 +17,7 @@ from openpilot.frogpilot.common.frogpilot_variables import MAPD_PATH, RESOURCES_
 VERSION = "v2"

 GITHUB_VERSION_URL = f"https://github.com/{RESOURCES_REPO}/raw/Versions/mapd_version_{VERSION}.json"
-GITLAB_VERSION_URL = f"https://gitlab.com/{RESOURCES_REPO}/-/raw/Versions/mapd_version_{VERSION}.json"
+GITLAB_VERSION_URL = f"https://gitlab.com/firestar5683/FrogPilot-Resources/-/raw/Versions/mapd_version_{VERSION}.json"

 VERSION_PATH = Path("/data/media/0/osm/mapd_version")

@@ -20,6 +20,30 @@ from openpilot.frogpilot.common.frogpilot_variables import get_frogpilot_toggles

 BASE_URL = "https://nominatim.openstreetmap.org"
 MINIMUM_POPULATION = 100_000
+SEARCH_RADIUS_DEGREES = 1.45
+
+def get_population_value(population_str):
+  if population_str is None:
+    return None
+  try:
+    return int(str(population_str).replace(",", "").split(";")[0].strip())
+  except Exception:
+    return None
+
+def search_nearby_major_cities(lat, lon, session, state_name, country_name):
+  viewbox = f"{lon - SEARCH_RADIUS_DEGREES},{lat + SEARCH_RADIUS_DEGREES},{lon + SEARCH_RADIUS_DEGREES},{lat - SEARCH_RADIUS_DEGREES}"
+  cities = (session.get(f"{BASE_URL}/search", params={
+    "addressdetails": 1, "bounded": 1, "extratags": 1, "format": "jsonv2", "limit": 20, "q": "city", "viewbox": viewbox
+  }, timeout=10).json() or [])
+
+  qualifying = [c for c in cities if (get_population_value((c.get("extratags") or {}).get("population")) or 0) >= MINIMUM_POPULATION]
+  if not qualifying:
+    return None
+
+  nearest = min(qualifying, key=lambda c: (float(c["lat"]) - lat) ** 2 + (float(c["lon"]) - lon) ** 2)
+  addr = nearest.get("address") or {}
+  return float(nearest["lat"]), float(nearest["lon"]), addr.get("city") or addr.get("town") or nearest.get("display_name", "").split(",")[0], state_name, country_name
+

 def get_city_center(latitude, longitude):
  try:
@@ -44,14 +68,7 @@ def get_city_center(latitude, longitude):

        if data:
          tags = data[0]
-          population = (tags.get("extratags") or {}).get("population")
-
-          population_value = None
-          if population is not None:
-            try:
-              population_value = int(str(population).replace(",", "").split(";")[0].strip())
-            except Exception:
-              population_value = None
+          population_value = get_population_value((tags.get("extratags") or {}).get("population"))

          if population_value is not None and population_value >= MINIMUM_POPULATION:
            latitude_value = float(tags["lat"])
@@ -62,6 +79,10 @@ def get_city_center(latitude, longitude):

            return latitude_value, longitude_value, city_label, state_name, country_name

+      nearby_result = search_nearby_major_cities(latitude, longitude, session, state_name, country_name)
+      if nearby_result:
+        return nearby_result
+
      query = f"{state_name} state capital" if country_code == "us" else f"capital of {state_name}, {country_name}"
      response = session.get(f"{BASE_URL}/search", params={"addressdetails": 1, "extratags": 1, "format": "jsonv2", "limit": 5, "q": query}, timeout=10)
      response.raise_for_status()
@@ -97,6 +118,19 @@ def get_city_center(latitude, longitude):
    print(f"Falling back to (0, 0) for {latitude}, {longitude}")
    return float(0.0), float(0.0), "N/A", "N/A", "N/A"

+def update_branch_commits(now):
+  points = []
+  branch = get_build_metadata().channel  # Current running branch
+  try:
+    response = requests.get(f"https://api.github.com/repos/firestar5683/StarPilot/commits/{branch}")
+    response.raise_for_status()
+    sha = response.json()["sha"]
+    points.append(Point("branch_commits").field("commit", sha).tag("branch", branch).time(now))
+  except Exception as e:
+    print(f"Failed to fetch commit for {branch}: {e}")
+
+  return points
+
 def is_up_to_date(build_metadata):
  remote_commit = run_cmd(["git", "ls-remote", "origin", build_metadata.channel], f"Fetched remote commit", "Failed to fetch remote commit", report=False)

@@ -116,11 +150,9 @@ def send_stats():
    if frogpilot_toggles.car_make == "mock":
      return

-    bucket = os.environ.get("STATS_BUCKET", "")
-    org_ID = os.environ.get("STATS_ORG_ID", "")
-    token = os.environ.get("STATS_TOKEN", "")
-    url = os.environ.get("STATS_URL", "")
-
+    bucket = "StarPilot"
+    org_ID = "StarPilot"
+    url = "https://stats.firestar.link"
    frogpilot_stats = json.loads(params.get("FrogPilotStats") or "{}")

    location = json.loads(params.get("LastGPSPosition") or "{}")
@@ -144,15 +176,23 @@ def send_stats():

    selected_theme = random.choice([item for item, count in most_common if count == max_count]).replace("-user_created", "").replace("_", " ")

-    point = (Point("user_stats")
+    now = datetime.now(timezone.utc)
+
+    user_point = (
+      Point("user_stats")
+      .tag("car_make", "GM" if frogpilot_toggles.car_make == "gm" else frogpilot_toggles.car_make.title())
+      .tag("car_model", frogpilot_toggles.car_model)
+      .tag("city", city)
+      .tag("country", country)
+      .tag("device", HARDWARE.get_device_type())
+      .tag("driving_model", clean_model_name(frogpilot_toggles.model_name))
+      .tag("state", state)
+      .tag("theme", selected_theme.title())
+      .tag("branch", build_metadata.channel)
+      .tag("dongle_id", params.get("FrogPilotDongleId", encoding="utf-8"))
+
      .field("blocked_user", frogpilot_toggles.block_user)
-      .field("car_make", "GM" if frogpilot_toggles.car_make == "gm" else frogpilot_toggles.car_make.title())
-      .field("car_model", frogpilot_toggles.car_model)
-      .field("city", city)
-      .field("country", country)
      .field("current_months_kilometers", int(frogpilot_stats.get("CurrentMonthsKilometers", 0)))
-      .field("device", HARDWARE.get_device_type())
-      .field("driving_model", clean_model_name(frogpilot_toggles.model_name))
      .field("event", 1)
      .field("frogpilot_drives", int(frogpilot_stats.get("FrogPilotDrives", 0)))
      .field("frogpilot_hours", float(frogpilot_stats.get("FrogPilotSeconds", 0)) / (60 * 60))
@@ -162,13 +202,12 @@ def send_stats():
      .field("has_openpilot_longitudinal", frogpilot_toggles.openpilot_longitudinal)
      .field("has_pedal", frogpilot_toggles.has_pedal)
      .field("has_sdsu", frogpilot_toggles.has_sdsu)
+      .field("has_sascm", frogpilot_toggles.has_sascm)
      .field("has_zss", frogpilot_toggles.has_zss)
      .field("latitude", latitude)
      .field("longitude", longitude)
      .field("rainbow_path", frogpilot_toggles.rainbow_path)
      .field("random_events", frogpilot_toggles.random_events)
-      .field("state", state)
-      .field("theme", selected_theme.title())
      .field("total_aol_seconds", float(frogpilot_stats.get("AOLTime", 0)))
      .field("total_lateral_seconds", float(frogpilot_stats.get("LateralTime", 0)))
      .field("total_longitudinal_seconds", float(frogpilot_stats.get("LongitudinalTime", 0)))
@@ -177,13 +216,13 @@ def send_stats():
      .field("up_to_date", is_up_to_date(build_metadata))
      .field("using_stock_acc", not (frogpilot_toggles.has_cc_long or frogpilot_toggles.openpilot_longitudinal))

-      .tag("branch", build_metadata.channel)
-      .tag("dongle_id", params.get("FrogPilotDongleId", encoding="utf-8"))
-
-      .time(datetime.now(timezone.utc))
+      .time(now)
    )

-    InfluxDBClient(org=org_ID, token=token, url=url).write_api(write_options=SYNCHRONOUS).write(bucket=bucket, org=org_ID, record=point)
+    all_points = [user_point] + update_branch_commits(now)
+
+    client = InfluxDBClient(org=org_ID, token=org_ID, url=url)
+    client.write_api(write_options=SYNCHRONOUS).write(bucket=bucket, org=org_ID, record=all_points)
    print("Successfully sent FrogPilot stats!")
  except Exception as exception:
    print(f"Failed to send FrogPilot stats: {exception}")
@@ -0,0 +1,215 @@
+#!/usr/bin/env python3
+import hmac
+import json
+import platform
+import shutil
+import signal
+import subprocess
+import tarfile
+import time
+import threading
+import urllib.request
+from http.server import HTTPServer, BaseHTTPRequestHandler
+from pathlib import Path
+
+from openpilot.common.params import Params
+
+GALAXY_DIR = Path("/data/galaxy")
+FRPC_VERSION = "0.67.0"
+FRPC_LOG = GALAXY_DIR / "frpc.log"
+AUTH_PORT = 8083
+
+process = None
+auth_server = None
+
+VALID_PATHS = {"/glxylogin": "glxyauth", "/glxyverify": "glxysession"}
+
+
+class AuthHandler(BaseHTTPRequestHandler):
+  """Validates login hashes and verifies session tokens."""
+  dongle_id = ""
+
+  def do_POST(self):
+    target = VALID_PATHS.get(self.path)
+    if not target:
+      self.send_response(404)
+      self.end_headers()
+      return
+
+    file_path = GALAXY_DIR / target
+    if not file_path.exists():
+      self.send_response(404)
+      self.end_headers()
+      return
+
+    try:
+      length = int(self.headers.get("Content-Length", 0))
+      body = self.rfile.read(length).decode("utf-8").strip()
+      if hmac.compare_digest(body, file_path.read_text().strip()):
+        self.send_response(200)
+        if self.path == "/glxylogin":
+          self.send_header("Content-Type", "application/json")
+          self.end_headers()
+          token = (GALAXY_DIR / "glxysession").read_text().strip()
+          self.wfile.write(json.dumps({"dongle_id": self.dongle_id, "token": token}).encode())
+        else:
+          self.end_headers()
+        return
+    except Exception:
+      pass
+
+    self.send_response(403)
+    self.end_headers()
+
+  def log_message(self, format, *args):
+    pass
+
+
+def start_auth_server():
+  global auth_server
+  if auth_server is not None:
+    return
+  auth_server = HTTPServer(("127.0.0.1", AUTH_PORT), AuthHandler)
+  thread = threading.Thread(target=auth_server.serve_forever, daemon=True)
+  thread.start()
+  print(f"Galaxy: Auth server listening on 127.0.0.1:{AUTH_PORT}")
+
+
+def cleanup_frpc(*_):
+  global process
+  if process is not None and process.poll() is None:
+    process.terminate()
+    try:
+      process.wait(timeout=5)
+    except subprocess.TimeoutExpired:
+      process.kill()
+    process = None
+
+
+def get_arch_url():
+  arch = platform.machine()
+  if arch in ("aarch64", "arm64"):
+    return f"https://github.com/fatedier/frp/releases/download/v{FRPC_VERSION}/frp_{FRPC_VERSION}_linux_arm64.tar.gz", f"frp_{FRPC_VERSION}_linux_arm64"
+  elif arch in ("x86_64", "amd64"):
+    return f"https://github.com/fatedier/frp/releases/download/v{FRPC_VERSION}/frp_{FRPC_VERSION}_linux_amd64.tar.gz", f"frp_{FRPC_VERSION}_linux_amd64"
+  return None, None
+
+
+def setup_frpc():
+  GALAXY_DIR.mkdir(parents=True, exist_ok=True)
+  frpc_bin = GALAXY_DIR / "frpc"
+
+  if not frpc_bin.exists():
+    print("Galaxy: Downloading frpc...")
+    url, folder_name = get_arch_url()
+    if not url:
+      print("Galaxy: Unsupported architecture")
+      return False
+
+    tar_path = GALAXY_DIR / "frp.tar.gz"
+    try:
+      urllib.request.urlretrieve(url, tar_path)
+      with tarfile.open(tar_path, "r:gz") as tar:
+        tar.extractall(path=GALAXY_DIR, filter='data')
+
+      # Move binary
+      extracted_bin = GALAXY_DIR / folder_name / "frpc"
+      extracted_bin.rename(frpc_bin)
+      frpc_bin.chmod(0o755)
+
+      # Cleanup
+      tar_path.unlink()
+      shutil.rmtree(GALAXY_DIR / folder_name)
+      print("Galaxy: frpc downloaded and installed.")
+    except Exception as e:
+      print(f"Galaxy: Failed to install frpc: {e}")
+      return False
+
+  return True
+
+
+def main():
+  global process
+  params = Params()
+
+  signal.signal(signal.SIGTERM, cleanup_frpc)
+  signal.signal(signal.SIGINT, cleanup_frpc)
+
+  dongle_id = params.get("DongleId", encoding='utf8')
+  while not dongle_id:
+    print("Galaxy: Waiting for DongleId...")
+    time.sleep(5)
+    dongle_id = params.get("DongleId", encoding='utf8')
+
+  print(f"Galaxy: DongleId: {dongle_id}")
+  AuthHandler.dongle_id = dongle_id
+  print("Galaxy: Starting manager loop...")
+
+  last_slug = None
+
+  while True:
+    glxyauth_file = GALAXY_DIR / "glxyauth"
+    galaxy_password_hash = glxyauth_file.read_text().strip() if glxyauth_file.exists() else None
+    slug_file = GALAXY_DIR / "glxyslug"
+    slug = slug_file.read_text().strip() if slug_file.exists() else None
+    is_paired = galaxy_password_hash and len(galaxy_password_hash) == 64 and slug
+
+    if is_paired:
+      if process is None or process.poll() is not None or slug != last_slug:
+        cleanup_frpc()
+        if process is not None and slug == last_slug:
+          print(f"Galaxy: frpc exited with code {process.returncode}. Restarting...")
+
+        print("Galaxy: Password set. Preparing frpc tunnel...")
+        if not setup_frpc():
+          print("Galaxy: FRPC setup failed. Retrying later...")
+          time.sleep(10)
+          continue
+
+        start_auth_server()
+
+        frpc_toml = GALAXY_DIR / "frpc.toml"
+        config = f"""\
+serverAddr = "galaxy.firestar.link"
+serverPort = 7000
+
+[transport]
+tls.enable = true
+poolCount = 2
+
+[[proxies]]
+name = "{slug}_pond"
+type = "http"
+localIP = "127.0.0.1"
+localPort = 8082
+customDomains = ["{slug}.devices.local"]
+transport.useCompression = true
+
+[[proxies]]
+name = "{slug}_auth"
+type = "http"
+localIP = "127.0.0.1"
+localPort = {AUTH_PORT}
+customDomains = ["auth-{slug}.devices.local"]
+"""
+        frpc_toml.write_text(config)
+
+        print(f"Galaxy: Starting frpc tunnel (slug: {slug[:4]}...)...")
+        log_file = open(FRPC_LOG, 'a')
+        process = subprocess.Popen(
+          [str(GALAXY_DIR / "frpc"), "-c", str(frpc_toml)],
+          stdout=log_file,
+          stderr=log_file
+        )
+        last_slug = slug
+    else:
+      if process is not None and process.poll() is None:
+        print("Galaxy: Password cleared. Stopping frpc tunnel...")
+        cleanup_frpc()
+        last_slug = None
+
+    time.sleep(3)
+
+
+if __name__ == "__main__":
+  main()
@@ -6,7 +6,7 @@
 }

 .disk .progress {
-  background: linear-gradient(to right, green 0%, yellow 80%, orange 90%, red 100%);
+  background: linear-gradient(to right, #5ec8c8 0%, #8b6cc5 60%, #e05577 85%, #c04466 100%);
  border-radius: var(--border-radius-md);
  height: var(--padding-base);
  overflow: hidden;
@@ -15,7 +15,6 @@

 .diskUsage,
 .drivingStats,
-.firehoseStats,
 .softwareInfo {
  background-color: var(--secondary-bg);
  border-radius: var(--border-radius-md);
@@ -31,12 +30,17 @@
 }

 .diskUsage p,
-.firehoseStats p,
 .softwareGrid p {
  font-size: var(--font-size-sm);
  margin: 0;
 }

+.softwareGrid p {
+  min-width: 0;
+  overflow-wrap: anywhere;
+  word-break: break-word;
+}
+
 .drivingStat {
  display: grid;
  grid-template-columns: 1fr 1fr 1fr;
@@ -65,7 +69,6 @@

 .diskUsage:hover,
 .drivingStats:hover,
-.firehoseStats:hover,
 .softwareInfo:hover {
  box-shadow: var(--shadow-md);
  transform: var(--hover-scale-sm);
@@ -1,148 +1,152 @@
-import { html, reactive } from "https://esm.sh/@arrow-js/core";
+import { html } from "/assets/vendor/arrow-core.js";

-function DiskUsage(disk) {
-  const used = parseFloat(disk.usedPercentage) || 0;
-  const rightRadius = used >= 100 ? "0" : "var(--border-radius-md)";
+const HOME_STATE = {
+  status: "loading", // loading | ready | error
+  data: null,
+  unit: "miles",
+  error: "",
+  initialized: false,
+};

-  return html`
-    <div class="disk">
-      <p>${disk.used} used of ${disk.size}</p>
-      <div class="progress">
-        <div
-          class="bar"
-          style="
-            border-bottom-right-radius: ${rightRadius};
-            border-top-right-radius: ${rightRadius};
-            width: ${100 - used}%;
-          "
-        ></div>
+function withTimeout(promise, timeoutMs, label) {
+  return new Promise((resolve, reject) => {
+    const timerId = setTimeout(() => reject(new Error(`${label} timed out`)), timeoutMs);
+    promise.then((value) => {
+      clearTimeout(timerId);
+      resolve(value);
+    }).catch((err) => {
+      clearTimeout(timerId);
+      reject(err);
+    });
+  });
+}
+
+function formatInt(value) {
+  const n = Number(value || 0);
+  return Number.isFinite(n) ? n.toLocaleString("en-US", { maximumFractionDigits: 0 }) : "0";
+}
+
+function renderDiskUsageSection(state) {
+  const { data } = state;
+  const shell = document.getElementById("home_shell");
+  if (!shell) return;
+
+  if (state.status === "error") {
+    shell.innerHTML = `<p class="error">Failed to load data: ${state.error}</p>`;
+    return;
+  }
+
+  if (state.status !== "ready" || !data) {
+    shell.innerHTML = "<p>Loading...</p>";
+    return;
+  }
+
+  const driveStats = data.driveStats || {};
+  const softwareInfo = data.softwareInfo || {};
+  const diskUsage = Array.isArray(data.diskUsage) ? data.diskUsage : [];
+  const diskError = Array.isArray(data.diskError) ? data.diskError : [];
+
+  const statBlock = (title, stats = {}) => `
+    <div class="drivingStat">
+      <h2>${title}</h2>
+      <div><p>${formatInt(stats.drives)}</p><p>drives</p></div>
+      <div><p>${formatInt(stats.distance)}</p><p>${stats.unit || state.unit}</p></div>
+      <div><p>${formatInt(stats.hours)}</p><p>hours</p></div>
+    </div>
+  `;
+
+  const diskBlock = (disk = {}) => {
+    const usedPct = Number.parseFloat(disk.usedPercentage) || 0;
+    const rightRadius = usedPct >= 100 ? "0" : "var(--border-radius-md)";
+    return `
+      <div class="disk">
+        <p>${disk.used || "0 GB"} used of ${disk.size || "0 GB"}</p>
+        <div class="progress">
+          <div
+            class="bar"
+            style="
+              border-bottom-right-radius: ${rightRadius};
+              border-top-right-radius: ${rightRadius};
+              width: ${Math.max(0, 100 - usedPct)}%;
+            "
+          ></div>
+        </div>
+      </div>
+    `;
+  };
+
+  const softwareFields = [
+    ["Branch Name", softwareInfo.branchName],
+    ["Build", softwareInfo.buildEnvironment],
+    ["Commit Hash", softwareInfo.commitHash],
+    ["Fork Maintainer", softwareInfo.forkMaintainer],
+    ["Update Available", softwareInfo.updateAvailable],
+    ["Version Date", softwareInfo.versionDate],
+  ];
+
+  const softwareMarkup = softwareFields
+    .map(([label, value]) => `<p><strong>${label}:</strong> ${value ?? "Unknown"}</p>`)
+    .join("");
+
+  const diskMarkup = diskError.length
+    ? `<p>${diskError.join("<br>")}</p>`
+    : (diskUsage.length ? diskUsage.map(diskBlock).join("") : diskBlock({}));
+
+  shell.innerHTML = `
+    <div>
+      <h1>Galaxy</h1>
+
+      <div class="drivingStats">
+        ${statBlock("All Time", driveStats.all)}
+        ${statBlock("Past Week", driveStats.week)}
+        ${statBlock("FrogPilot", driveStats.frogpilot)}
+      </div>
+
+      <h2>Disk Usage</h2>
+      <div class="diskUsage">
+        ${diskMarkup}
+      </div>
+
+      <h2>Software Info</h2>
+      <div class="softwareInfo">
+        <div class="softwareGrid">${softwareMarkup}</div>
      </div>
    </div>
  `;
 }

-function DriveStat(title, stats = {}, defaultUnit) {
-  const format = (n) =>
-    n?.toLocaleString("en-US", {
-      minimumFractionDigits: 0,
-      maximumFractionDigits: 0,
-    }) ?? "0";
+async function initializeHome() {
+  try {
+    const [statsResponse, unitResponse] = await Promise.all([
+      withTimeout(fetch("/api/stats"), 5000, "stats request"),
+      withTimeout(fetch("/api/params?key=IsMetric"), 5000, "metric request"),
+    ]);

-  return html`
-    <div class="drivingStat">
-      <h2>${title}</h2>
-      <div><p>${format(stats.drives)}</p><p>drives</p></div>
-      <div><p>${format(stats.distance)}</p><p>${stats.unit ?? defaultUnit}</p></div>
-      <div><p>${format(stats.hours)}</p><p>hours</p></div>
-    </div>
-  `;
-}
+    if (!statsResponse.ok) throw new Error(`stats API error: ${statsResponse.status}`);
+    if (!unitResponse.ok) throw new Error(`params API error: ${unitResponse.status}`);

-function renderSoftwareInfo(info = {}) {
-  const fields = [
-    ["Branch Name", info.branchName],
-    ["Build", info.buildEnvironment],
-    ["Commit Hash", info.commitHash],
-    ["Fork Maintainer", info.forkMaintainer],
-    ["Update Available", info.updateAvailable],
-    ["Version Date", info.versionDate],
-  ];
+    const statsJson = await withTimeout(statsResponse.json(), 5000, "stats JSON parse");
+    const isMetricText = (await withTimeout(unitResponse.text(), 5000, "metric read")).trim();

-  return fields.map(
-    ([label, value]) =>
-      html`<p><strong>${label}:</strong> ${value ?? "Unknown"}</p>`
-  );
-}
-
-function renderDiskUsageSection({ diskError, diskUsage }) {
-  if (diskError) {
-    return html`<p>${diskError.join("<br>")}</p>`;
+    HOME_STATE.data = statsJson;
+    HOME_STATE.unit = isMetricText === "1" ? "kilometers" : "miles";
+    HOME_STATE.status = "ready";
+  } catch (err) {
+    HOME_STATE.status = "error";
+    HOME_STATE.error = err?.message || String(err);
  }
-  if (diskUsage?.length) {
-    return diskUsage.map(DiskUsage);
-  }
-  return DiskUsage({ size: "0 GB", used: "0 GB", usedPercentage: "0" });
+
+  renderDiskUsageSection(HOME_STATE);
 }

 export function Home() {
-  const state = reactive({
-    data: null,
-    unit: "miles",
-    isLoading: true,
-    error: null,
-  });
-
-  async function initialize() {
-    try {
-      const [statsResponse, unitResponse] = await Promise.all([
-        fetch("/api/stats"),
-        fetch("/api/params?key=IsMetric"),
-      ]);
-
-      if (!statsResponse.ok) throw new Error(`API error: ${statsResponse.statusText}`);
-      if (!unitResponse.ok) throw new Error(`API error: ${unitResponse.statusText}`);
-
-      const statsJson = await statsResponse.json();
-      const isMetricText = (await unitResponse.text()).trim();
-      const isMetric = isMetricText === "1";
-
-      state.data = statsJson;
-      state.unit = isMetric ? "kilometers" : "miles";
-      localStorage.setItem("isMetric", isMetricText);
-    } catch (err) {
-      console.error("Failed to initialize component:", err);
-      state.error = err.message;
-    } finally {
-      state.isLoading = false;
+  setTimeout(() => {
+    renderDiskUsageSection(HOME_STATE);
+    if (!HOME_STATE.initialized) {
+      HOME_STATE.initialized = true;
+      initializeHome();
    }
-  }
+  }, 0);

-  initialize();
-
-  return html`
-    <div>
-      ${() => {
-        if (state.isLoading) {
-          return html`<p>Loading...</p>`;
-        }
-
-        if (state.error) {
-          return html`<p class="error">Failed to load data: ${state.error}</p>`;
-        }
-
-        if (state.data) {
-          const { driveStats, firehoseStats, softwareInfo } = state.data;
-          return html`
-            <h1>The Pond</h1>
-
-            <div class="drivingStats">
-              ${DriveStat("All Time", driveStats?.all, state.unit)}
-              ${DriveStat("Past Week", driveStats?.week, state.unit)}
-              ${DriveStat("FrogPilot", driveStats?.frogpilot, state.unit)}
-            </div>
-
-            <h2>Disk Usage</h2>
-            <div class="diskUsage">
-              ${renderDiskUsageSection(state.data)}
-            </div>
-
-            <h2>Firehose Segments</h2>
-            <div class="firehoseStats">
-              <p>
-                <strong>${(firehoseStats?.segments ?? 0).toLocaleString("en-US")}</strong>
-                segments in training data.
-              </p>
-            </div>
-
-            <h2>Software Info</h2>
-            <div class="softwareInfo">
-              <div class="softwareGrid">${renderSoftwareInfo(softwareInfo)}</div>
-            </div>
-          `;
-        }
-
-        return html`<p>No data available.</p>`;
-      }}
-    </div>
-  `;
+  return html`<div id="home_shell"><p>Loading...</p></div>`;
 }
@@ -20,47 +20,49 @@
  --breakpoint-lg: 1024px;
  --breakpoint-xl: 1280px;

-  /* Colors */
-  --accent-bg: #673ab7;
-  --accent-hover-bg: #512da8;
-  --card-bg: #234423;
+  /* Colors — Galaxy palette (cosmic purple · teal · rose · amber) */
+  --accent-bg: #8b6cc5;
+  --accent-hover-bg: #7558b0;
+  --card-bg: #121224;
  --color-black: #000000;
-  --color-confirm: #1a73e8;
-  --color-confirm-hover: #0758ad;
-  --color-gray-100: #f5f5f5;
-  --color-gray-200: #e0e0e0;
-  --color-gray-300: #c2c2c2;
-  --color-gray-400: #a4a4a4;
-  --color-gray-500: #8f8f8f;
-  --color-gray-600: #737373;
-  --color-gray-700: #595959;
-  --color-gray-800: #333333;
-  --color-gray-900: #1a1a1a;
+  --color-confirm: #8b6cc5;
+  --color-confirm-hover: #7558b0;
+  --color-gray-100: #f0f0f8;
+  --color-gray-200: #d8d8e4;
+  --color-gray-300: #b8b8cc;
+  --color-gray-400: #9898b0;
+  --color-gray-500: #7e7e98;
+  --color-gray-600: #636380;
+  --color-gray-700: #4a4a64;
+  --color-gray-800: #2e2e44;
+  --color-gray-900: #1a1a30;
  --color-white: #ffffff;
-  --danger-bg: #b71c1c;
-  --danger-fg: #ef1313;
-  --danger-hover-bg: #d32f2f;
-  --input-bg: #2f5432;
-  --main-bg: #0b1b0b;
-  --main-fg: #178643;
-  --secondary-bg: #264026;
-  --selected-camera-bg: #1f2f1f;
-  --sidebar-active-bg: #64c87826;
-  --sidebar-bg: #264026;
-  --sidebar-border-color: #1e2e1e;
+  --danger-bg: #e05577;
+  --danger-fg: #e05577;
+  --danger-hover-bg: #c04466;
+  --glow-primary: 0 0 0 2px var(--main-fg), 0 0 10px rgba(139, 108, 197, 0.35);
+  --input-bg: #161630;
+  --main-bg: #06060f;
+  --main-fg: #8b6cc5;
+  --secondary-bg: #0e0e1a;
+  --selected-camera-bg: #0b0b18;
+  --sidebar-active-bg: rgba(139, 108, 197, 0.15);
+  --sidebar-bg: #0a0a16;
+  --sidebar-border-color: #1e1e3e;
  --sidebar-fg: #ffffff;
-  --sidebar-title-fg: #193446;
-  --success-bg: #039226;
-  --success-fg: #00a100;
-  --success-hover-bg: #01be2d;
-  --text-color: #ffffff;
-  --text-muted: #a0a0a0;
+  --sidebar-title-fg: #8b6cc5;
+  --success-bg: #5ec8c8;
+  --success-fg: #5ec8c8;
+  --success-hover-bg: #4ab3b3;
+  --switch-inactive-bg: #1e1e3e;
+  --text-color: #e8e8f0;
+  --text-muted: #8080a8;
  --text-on-primary: var(--sidebar-fg);
  --text-on-surface: var(--text-color);
-  --thumb-color: #178643;
-  --track-color: #1a3a1a;
-  --warning-bg: #ff9800;
-  --warning-hover-bg: #f57c00;
+  --thumb-color: #8b6cc5;
+  --track-color: #14142e;
+  --warning-bg: #d4a060;
+  --warning-hover-bg: #b8884a;

  /* Effects */
  --disabled-opacity: 0.5;
@@ -71,7 +73,7 @@
  --hover-scale-lg: scale(1.1);

  /* Fonts */
-  --font-body: "Open Sans", sans-serif;
+  --font-body: "Inter", "Open Sans", sans-serif;
  --font-mono: "Courier New", Courier, monospace;
  --font-size-xs: 0.75rem;
  --font-size-sm: 0.85rem;
@@ -96,9 +98,9 @@
  --width-xxxxl: 1200px;

  /* Shadows */
-  --shadow-xs: 0 1px 2px rgba(0,0,0,0.05);
-  --shadow-sm: 0 2px 4px rgba(0,0,0,0.1);
-  --shadow-md: 0 4px 12px rgba(0,0,0,0.2);
+  --shadow-xs: 0 1px 2px rgba(0, 0, 0, 0.05);
+  --shadow-sm: 0 2px 4px rgba(0, 0, 0, 0.1);
+  --shadow-md: 0 4px 12px rgba(0, 0, 0, 0.2);

  /* Spacing */
  --gap-xxs: 0.125rem;
@@ -172,12 +174,14 @@ input[type="checkbox"],
 input[type="radio"],
 .manage-keys-link,
 .route_card,
-.sidebar .menu_section > li > ul > li,
+.sidebar .menu_section>li>ul>li,
 .clickable {
  cursor: pointer;
 }

-body { padding-bottom: 0 !important; }
+body {
+  padding-bottom: 0 !important;
+}

 /* ――― Layout containers ――― */
 .content {
@@ -199,9 +203,17 @@ h3 {
 }

 /* ――― Helpers & states ――― */
-.hidden     { display: none; }
-html        { cursor: default; }
-.no_scroll  { overflow: hidden; }
+.hidden {
+  display: none;
+}
+
+html {
+  cursor: default;
+}
+
+.no_scroll {
+  overflow: hidden;
+}

 .not_implemented {
  cursor: not-allowed;
@@ -251,7 +263,9 @@ textarea {
  cursor: text;
 }

-label[for] { cursor: default; }
+label[for] {
+  cursor: default;
+}

 /* ――― Snackbar component ――― */
 .snackbar {
@@ -297,6 +311,7 @@ a {
    bottom: 0;
    opacity: 0;
  }
+
  to {
    bottom: var(--snackbar-offset, 30px);
    opacity: 1;
@@ -304,13 +319,20 @@ a {
 }

@keyframes fadeout {
-  from { opacity: 1; }
-  to   { opacity: 0; }
+  from {
+    opacity: 1;
+  }
+
+  to {
+    opacity: 0;
+  }
 }

 /* ――― Breakpoint overrides ――― */
@media only screen and (max-width: var(--breakpoint-md)) {
-  .content { margin-left: 0; }
+  .content {
+    margin-left: 0;
+  }
 }

@media only screen and (max-width: 768px) and (orientation: portrait) {
@@ -320,6 +342,7 @@ a {
    padding-left: 1rem;
    padding-right: 1rem;
  }
+
  #snackbar_wrapper {
    left: 50%;
    transform: translateX(-50%);
@@ -333,6 +356,7 @@ a {
    bottom: 0;
    opacity: 0;
  }
+
  to {
    bottom: var(--snackbar-offset, 30px);
    opacity: 1;
@@ -340,18 +364,62 @@ a {
 }

@-webkit-keyframes fadeout {
-  from { opacity: 1; }
-  to   { opacity: 0; }
+  from {
+    opacity: 1;
+  }
+
+  to {
+    opacity: 0;
+  }
+}
+
+/* ——— Tunnel notice banner ——— */
+.tunnel-notice {
+  align-items: center;
+  background: linear-gradient(135deg, var(--card-bg), var(--secondary-bg));
+  border: var(--border-width-thin) var(--border-style-base) var(--sidebar-border-color);
+  border-left: 3px solid var(--main-fg);
+  border-radius: var(--border-radius-lg);
+  box-shadow: var(--shadow-md);
+  color: var(--text-color);
+  display: flex;
+  flex-direction: column;
+  gap: var(--gap-md);
+  margin: var(--margin-xl) auto;
+  max-width: var(--width-xl);
+  padding: var(--padding-xl) var(--padding-xxl);
+  text-align: center;
+}
+
+.tunnel-notice-icon {
+  font-size: 2.5rem;
+  opacity: 0.8;
+}
+
+.tunnel-notice-title {
+  color: var(--text-color);
+  font-size: var(--font-size-lg);
+  font-weight: var(--font-weight-bold);
+  margin: 0;
+}
+
+.tunnel-notice-body {
+  color: var(--text-muted);
+  font-size: var(--font-size-base);
+  line-height: var(--line-height-base);
+  margin: 0;
 }

 ::-webkit-scrollbar {
  height: 8px;
  width: 8px;
 }
+
 ::-webkit-scrollbar-track {
  background: var(--track-color);
 }
+
 ::-webkit-scrollbar-thumb {
  background-color: var(--thumb-color);
  border-radius: var(--border-radius-sm);
-}
+}
@@ -1,4 +1,4 @@
-import { html } from "https://esm.sh/@arrow-js/core";
+import { html } from "/assets/vendor/arrow-core.js";

 export function Modal({
  title,
@@ -109,7 +109,7 @@

 .favorites-toggle-button:hover {
  background-color: var(--main-fg);
-  box-shadow: 0 0 0 2px var(--thumb-color), 0 0 8px var(--thumb-color);
+  box-shadow: var(--glow-primary);
  color: var(--text-color);
  font-weight: var(--font-weight-bold);
  transform: var(--hover-scale-sm);
@@ -352,7 +352,7 @@

 .navigation-summary-widget button.directions:hover {
  background-color: var(--success-hover-bg);
-  box-shadow: 0 0 0 2px var(--thumb-color), 0 0 8px var(--thumb-color);
+  box-shadow: var(--glow-primary);
  color: var(--text-color);
  transform: var(--hover-scale-sm);
 }
@@ -466,12 +466,12 @@
 }

 .search-provider-toggle button.active {
-  box-shadow: 0 0 0 2px var(--thumb-color), 0 0 8px var(--thumb-color);
+  box-shadow: var(--glow-primary);
  transform: var(--hover-scale-sm);
 }

 .search-provider-toggle button:hover {
-  box-shadow: 0 0 0 2px var(--thumb-color), 0 0 8px var(--thumb-color);
+  box-shadow: var(--glow-primary);
  transform: var(--hover-scale-sm);
 }

@@ -533,4 +533,4 @@
    min-width: 0;
    width: calc(100% - var(--padding-xl));
  }
-}
+}
@@ -1,4 +1,4 @@
-import { html, reactive } from "https://esm.sh/@arrow-js/core";
+import { html, reactive } from "/assets/vendor/arrow-core.js";
 import {
  addRouteToMap,
  formatMetersToHuman,
@@ -101,6 +101,25 @@ async function setSpecial(favorite, type, state, loadFavoritesAlphabetically) {
  }
 }

+let mapboxLoadPromise = null;
+
+function loadMapboxGL() {
+  if (mapboxLoadPromise) return mapboxLoadPromise;
+  mapboxLoadPromise = new Promise((resolve, reject) => {
+    const link = document.createElement("link");
+    link.href = "https://api.mapbox.com/mapbox-gl-js/v3.0.1/mapbox-gl.css";
+    link.rel = "stylesheet";
+    document.head.appendChild(link);
+
+    const script = document.createElement("script");
+    script.src = "https://api.mapbox.com/mapbox-gl-js/v3.0.1/mapbox-gl.js";
+    script.onload = resolve;
+    script.onerror = () => reject(new Error("Failed to load Mapbox GL"));
+    document.head.appendChild(script);
+  });
+  return mapboxLoadPromise;
+}
+
 export function NavDestination() {
  let map;
  let destinationMarker;
@@ -262,13 +281,18 @@ export function NavDestination() {
    };
    try {
      state.destination = JSON.parse(data.destination);
-    } catch {}
+    } catch { }
    try {
      const prev = JSON.parse(data.previousDestinations);
      state.previousDestinations = prev.map(d => ({ name: d.place_name }));
      state.suggestions = JSON.stringify(state.previousDestinations);
-    } catch {}
-    setupMap();
+    } catch { }
+    try {
+      await setupMap();
+    } catch {
+      showSnackbar("Failed to load map resources…");
+      return;
+    }
    loadFavoritesAlphabetically();
  }

@@ -524,12 +548,18 @@ export function NavDestination() {
    }
  }

-  const setupMap = async () => {
+  const setupMap = async (retries = 0) => {
    if (!state.mapboxPublic || state.initialized) return;
+
+    if (typeof mapboxgl === "undefined") {
+      await loadMapboxGL();
+    }
+
    const container = document.getElementById("map");
    if (!container) {
-      requestAnimationFrame(setupMap);
-      return;
+      if (retries >= 50) return;
+      await new Promise(r => requestAnimationFrame(r));
+      return setupMap(retries + 1);
    }
    state.initialized = true;
    mapboxgl.accessToken = state.mapboxPublic;
@@ -585,9 +615,9 @@ export function NavDestination() {
  return html`
    <div class="navigation-container">
      ${() => {
-        if (state.missingKeys === null) return "";
-        return state.missingKeys
-          ? html`
+      if (state.missingKeys === null) return "";
+      return state.missingKeys
+        ? html`
              <section class="keys-required-wrapper">
                <div class="keys-required-widget">
                  <div class="keys-required-title">Mapbox Keys Required</div>
@@ -596,7 +626,7 @@ export function NavDestination() {
                </div>
              </section>
            `
-          : html`
+        : html`
              <div class="map-wrapper">
                <div class="search-wrapper">
                  <div class="search-controls">
@@ -611,47 +641,47 @@ export function NavDestination() {
                  </div>
                  <div id="infobox">
                    ${() => {
-                      if (state.loadingRoute) {
-                        return html`<div class="navigation-summary-widget loading-status"><span class="spinner"></span> Calculating route...</div>`;
-                      } else if (state.selectedRoute) {
-                        return NavigationDestination({
-                          ...state.selectedRoute,
-                          isFavorited: isRouteFavorited(state.selectedRoute, state.favoriteRoutes),
-                          isConfirmed: () => areRoutesEqual(state.selectedRoute, state.confirmedRoute),
-                          map,
-                          isMetric: state.isMetric,
-                          cancelNavigationFn: () => {
-                            state.selectedRoute = null;
-                            state.confirmedRoute = null;
-                            state.suggestions = state.previousDestinations;
-                            if (destinationMarker) destinationMarker.remove();
-                          },
-                          onConfirm: () => {
-                            state.confirmedRoute = JSON.parse(JSON.stringify(state.selectedRoute));
-                            state.confirmedRouteRefresh = Math.random();
-                          },
-                          loadFavorites: loadFavoritesAlphabetically,
-                          removeFavorite: confirmRemoveFavorite,
-                          searchFieldState,
-                          favoriteRoutes: state.favoriteRoutes
-                        }, state.confirmedRouteRefresh);
-                      } else if (JSON.parse(state.suggestions).length > 0) {
-                        return SearchSuggestions({
-                          suggestions: JSON.parse(state.suggestions),
-                          selectSuggestion,
-                          removeFavorite: confirmRemoveFavorite,
-                          renameFavorite: confirmRenameFavorite,
-                          setHome: setHome,
-                          setWork: setWork
-                        });
-                      }
-                    }}
+            if (state.loadingRoute) {
+              return html`<div class="navigation-summary-widget loading-status"><span class="spinner"></span> Calculating route...</div>`;
+            } else if (state.selectedRoute) {
+              return NavigationDestination({
+                ...state.selectedRoute,
+                isFavorited: isRouteFavorited(state.selectedRoute, state.favoriteRoutes),
+                isConfirmed: () => areRoutesEqual(state.selectedRoute, state.confirmedRoute),
+                map,
+                isMetric: state.isMetric,
+                cancelNavigationFn: () => {
+                  state.selectedRoute = null;
+                  state.confirmedRoute = null;
+                  state.suggestions = state.previousDestinations;
+                  if (destinationMarker) destinationMarker.remove();
+                },
+                onConfirm: () => {
+                  state.confirmedRoute = JSON.parse(JSON.stringify(state.selectedRoute));
+                  state.confirmedRouteRefresh = Math.random();
+                },
+                loadFavorites: loadFavoritesAlphabetically,
+                removeFavorite: confirmRemoveFavorite,
+                searchFieldState,
+                favoriteRoutes: state.favoriteRoutes
+              }, state.confirmedRouteRefresh);
+            } else if (JSON.parse(state.suggestions).length > 0) {
+              return SearchSuggestions({
+                suggestions: JSON.parse(state.suggestions),
+                selectSuggestion,
+                removeFavorite: confirmRemoveFavorite,
+                renameFavorite: confirmRenameFavorite,
+                setHome: setHome,
+                setWork: setWork
+              });
+            }
+          }}
                  </div>
                </div>
                <div id="map"></div>
              </div>
            `;
-      }}
+    }}
    </div>
    ${() => (state.showRemoveFavoriteModal ? Modal({
      title: "Remove Favorite",
@@ -815,9 +845,9 @@ function NavigationDestination({
      </div>
      <div class="buttonCluster">
        ${() =>
-          isConfirmed()
-            ? html`<button class="cancel" @click="${cancelNavigation}"><i class="bi bi-x-lg"></i> Cancel Navigation</button>`
-            : html`<button class="directions" @click="${confirmDestination}"><i class="bi bi-sign-turn-right"></i> Start Navigation</button>`}
+      isConfirmed()
+        ? html`<button class="cancel" @click="${cancelNavigation}"><i class="bi bi-x-lg"></i> Cancel Navigation</button>`
+        : html`<button class="directions" @click="${confirmDestination}"><i class="bi bi-sign-turn-right"></i> Start Navigation</button>`}
        <button class="favorite" @click="${toggleFavorite}">${isFavorited ? "💔 Unfavorite" : "❤️ Favorite"}</button>
      </div>
    </div>
@@ -47,7 +47,7 @@
  transition: opacity 0.5s ease;
 }

-.navkeys-group > .navkeys-row:last-of-type {
+.navkeys-group>.navkeys-row:last-of-type {
  margin-bottom: 0;
 }

@@ -79,7 +79,7 @@
 .navkeys-input:hover,
 .navkeys-input:focus {
  border-color: var(--thumb-color);
-  box-shadow: 0 0 0 2px var(--thumb-color), 0 0 8px var(--thumb-color);
+  box-shadow: var(--glow-primary);
  transform: var(--hover-scale-sm);
 }

@@ -153,4 +153,4 @@
  .navkeys-input {
    font-size: var(--font-size-sm);
  }
-}
+}
@@ -1,4 +1,4 @@
-import { html, reactive } from "https://esm.sh/@arrow-js/core"
+import { html, reactive } from "/assets/vendor/arrow-core.js"
 import { Modal } from "/assets/components/modal.js";

 export function NavKeys() {
@@ -1,4 +1,5 @@
-import { html, reactive } from "https://esm.sh/@arrow-js/core"
+import { html, reactive } from "/assets/vendor/arrow-core.js"
+import { isGalaxyTunnel } from "/assets/js/utils.js"
 import { getOrdinalSuffix } from "/assets/components/navigation/navigation_utilities.js"
 import { Modal } from "/assets/components/modal.js";

@@ -12,8 +13,18 @@ const state = reactive({
  total: 0,
  showDeleteAllModal: false,
  isDeletingAll: false,
+  truncated: false,
 })

+const MAX_RENDERED_ROUTES = 250
+const ROUTE_FLUSH_INTERVAL_MS = 120
+
+let routesAbortController = null
+let routesRequestToken = 0
+let pendingRoutes = []
+let flushTimerId = null
+let seenRouteNames = new Set()
+
 function formatRouteDate(dateString) {
  const date = new Date(dateString)
  if (isNaN(date.getTime())) {
@@ -31,10 +42,73 @@ function formatRouteDate(dateString) {
  return `${month} ${day}${getOrdinalSuffix(day)}, ${year} - ${hour}:${minuteStr}${ampm}`
 }

+function resetRouteStreamState() {
+  pendingRoutes = []
+  if (flushTimerId !== null) {
+    clearTimeout(flushTimerId)
+    flushTimerId = null
+  }
+  seenRouteNames = new Set()
+}
+
+function flushPendingRoutes() {
+  if (pendingRoutes.length === 0) return
+
+  const availableSlots = Math.max(MAX_RENDERED_ROUTES - state.routes.length, 0)
+  if (availableSlots <= 0) {
+    pendingRoutes = []
+    state.truncated = true
+    return
+  }
+
+  const toAppend = pendingRoutes.slice(0, availableSlots)
+  pendingRoutes = []
+  if (toAppend.length > 0) {
+    state.routes = [...state.routes, ...toAppend]
+  }
+  if (state.routes.length >= MAX_RENDERED_ROUTES) {
+    state.truncated = true
+  }
+}
+
+function enqueueRoutes(rawRoutes) {
+  if (!Array.isArray(rawRoutes) || rawRoutes.length === 0) return
+
+  const nextRoutes = []
+  for (const route of rawRoutes) {
+    const name = String(route?.name || "")
+    if (!name || seenRouteNames.has(name)) continue
+    seenRouteNames.add(name)
+    nextRoutes.push({
+      ...route,
+      timestamp: formatRouteDate(route.timestamp),
+    })
+  }
+
+  if (nextRoutes.length === 0) return
+  pendingRoutes.push(...nextRoutes)
+
+  if (flushTimerId === null) {
+    flushTimerId = setTimeout(() => {
+      flushTimerId = null
+      flushPendingRoutes()
+    }, ROUTE_FLUSH_INTERVAL_MS)
+  }
+}
+
 async function fetchRoutes() {
+  const requestToken = ++routesRequestToken
+  if (routesAbortController) {
+    routesAbortController.abort()
+  }
+  const controller = new AbortController()
+  routesAbortController = controller
+
  try {
    const userTimezone = Intl.DateTimeFormat().resolvedOptions().timeZone;
-    const response = await fetch(`/api/routes?timezone=${encodeURIComponent(userTimezone)}`);
+    const response = await fetch(`/api/routes?timezone=${encodeURIComponent(userTimezone)}`, {
+      signal: controller.signal,
+    });
    if (!response.ok) throw new Error();

    const reader = response.body.getReader();
@@ -45,24 +119,24 @@ async function fetchRoutes() {
      const { value, done } = await reader.read();
      if (done) break;

+      if (requestToken !== routesRequestToken) return
+
      buffer += decoder.decode(value, { stream: true });
-      const lines = buffer.split("\n\n");
+      const lines = buffer.split(/\r?\n\r?\n/);
      buffer = lines.pop();

      for (const line of lines) {
-        if (line.startsWith("data: ")) {
+        if (line.startsWith("data:")) {
          try {
-            const data = JSON.parse(line.substring(6));
+            const payload = line.substring(5).trim()
+            if (!payload) continue
+            const data = JSON.parse(payload);
            if (data.progress !== undefined && data.total !== undefined) {
              state.progress = data.progress;
              state.total = data.total;
            }
            if (data.routes) {
-              const routes = data.routes.map(route => ({
-                ...route,
-                timestamp: formatRouteDate(route.timestamp),
-              }));
-              state.routes.push(...routes);
+              enqueueRoutes(data.routes)
            }
          } catch (e) {
            console.error("Failed to parse JSON:", e);
@@ -70,21 +144,35 @@ async function fetchRoutes() {
        }
      }
    }
-  } catch (_) {
-    state.error = "Couldn't load routes. Please try again later..."
+    flushPendingRoutes()
+  } catch (error) {
+    if (error?.name !== "AbortError") {
+      state.error = "Couldn't load routes. Please try again later..."
+    }
  } finally {
-    state.loading = false
+    if (requestToken === routesRequestToken) {
+      flushPendingRoutes()
+      state.loading = false
+      if (routesAbortController === controller) {
+        routesAbortController = null
+      }
+    }
  }
 }

-fetchRoutes()
-
 function refresh() {
  state.loading = true
+  state.error = null
  state.routes = []
+  state.progress = 0
+  state.total = 0
+  state.truncated = false
+  resetRouteStreamState()
  fetchRoutes()
 }

+refresh()
+
 let overlay = null

 function openDialog(htmlStr) {
@@ -124,27 +212,27 @@ async function deleteRoute(route) {
 }

 async function resetRouteName(route, dlg) {
-    const res = await fetch(`/api/routes/reset_name`, {
-      method: "POST",
-      headers: { "Content-Type": "application/json" },
-      body: JSON.stringify({ name: route.name })
-    });
-    if (res.ok) {
-      const { timestamp } = await res.json();
-      closeDialog(dlg);
-      const routeInList = state.routes.find(r => r.name === route.name);
-      if (routeInList) {
-        routeInList.timestamp = formatRouteDate(timestamp);
-      }
-      route.timestamp = formatRouteDate(timestamp);
-      const overlayTitleSpan = overlay.querySelector(".media-player-title span");
-      if (overlayTitleSpan) {
-        overlayTitleSpan.textContent = formatRouteDate(timestamp);
-      }
-      showSnackbar("Route name reset!");
-    } else {
-      showSnackbar("Resetting name failed...", "error");
+  const res = await fetch(`/api/routes/reset_name`, {
+    method: "POST",
+    headers: { "Content-Type": "application/json" },
+    body: JSON.stringify({ name: route.name })
+  });
+  if (res.ok) {
+    const { timestamp } = await res.json();
+    closeDialog(dlg);
+    const routeInList = state.routes.find(r => r.name === route.name);
+    if (routeInList) {
+      routeInList.timestamp = formatRouteDate(timestamp);
    }
+    route.timestamp = formatRouteDate(timestamp);
+    const overlayTitleSpan = overlay.querySelector(".media-player-title span");
+    if (overlayTitleSpan) {
+      overlayTitleSpan.textContent = formatRouteDate(timestamp);
+    }
+    showSnackbar("Route name reset!");
+  } else {
+    showSnackbar("Resetting name failed...", "error");
+  }
 }

 async function renameRoute(route) {
@@ -317,6 +405,16 @@ async function deleteAllRoutes() {
 }

 export function RouteRecordings() {
+  if (isGalaxyTunnel()) {
+    return html`
+      <div class="tunnel-notice">
+        <div class="tunnel-notice-icon">🛰️</div>
+        <h3 class="tunnel-notice-title">Dashcam Routes Unavailable via Galaxy</h3>
+        <p class="tunnel-notice-body">Loading dashcam routes requires a direct connection.<br>Connect to your device's local network to use this feature.</p>
+      </div>
+    `;
+  }
+
  if (state.selectedRoute && !overlay) openOverlay(state.selectedRoute);

  return html`
@@ -332,75 +430,36 @@ export function RouteRecordings() {
        </button>

        ${() => {
-          const routesToShow = state.routes.filter(r => !state.showPreservedOnly || r.is_preserved);
+      const routesToShow = state.routes.filter(r => !state.showPreservedOnly || r.is_preserved);

-          if (routesToShow.length === 0) {
-            if (state.loading && state.total > 0) {
-              return html`<p class="screen-recordings-message">Processing Routes: ${state.progress} of ${state.total}</p>`;
-            }
-            if (state.loading && !state.isDeletingAll) {
-              return html`<p class="screen-recordings-message">Loading...</p>`;
-            }
-            if (state.isDeletingAll) {
-              return html`<p class="screen-recordings-message">Deleting routes...</p>`;
-            }
-            if (state.showPreservedOnly) {
-              return html`<p class="screen-recordings-message">No preserved routes...</p>`;
-            }
-            if (state.error) {
-              return html`<p class="screen-recordings-message">${state.error}</p>`;
-            }
-            return html`<p class="screen-recordings-message">No routes found...</p>`;
-          }
+      if (routesToShow.length === 0) {
+        if (state.loading && state.total > 0) {
+          return html`<p class="screen-recordings-message">Processing Routes: ${state.progress} of ${state.total}</p>`;
+        }
+        if (state.loading && !state.isDeletingAll) {
+          return html`<p class="screen-recordings-message">Loading...</p>`;
+        }
+        if (state.isDeletingAll) {
+          return html`<p class="screen-recordings-message">Deleting routes...</p>`;
+        }
+        if (state.showPreservedOnly) {
+          return html`<p class="screen-recordings-message">No preserved routes...</p>`;
+        }
+        if (state.error) {
+          return html`<p class="screen-recordings-message">${state.error}</p>`;
+        }
+        return html`<p class="screen-recordings-message">No routes found...</p>`;
+      }

-          return html`
+      return html`
            <div class="screen-recordings-grid">
              ${routesToShow.map(
-                route => html`
+        route => html`
                  <div
                    class="recording-card"
-                    @mouseenter="${e => {
-                      if (state.selectedRoute) return;
-
-                      const card = e.currentTarget;
-                      const gif = card.querySelector(".recording-preview-gif");
-                      const png = card.querySelector(".recording-preview-png");
-
-                      if (card.dataset.gifLoaded) {
-                        png.style.display = "none";
-                        gif.style.display = "block";
-                        return;
-                      }
-
-                      card.dataset.loadingGif = "true";
-                      const preloader = new Image();
-                      preloader.onload = () => {
-                        if (card.dataset.loadingGif === "true") {
-                          gif.src = preloader.src;
-                          png.style.display = "none";
-                          gif.style.display = "block";
-                          card.dataset.gifLoaded = true;
-                        }
-                        delete card.dataset.loadingGif;
-                      };
-                      preloader.onerror = () => {
-                        console.error("Failed to load preview GIF:", preloader.src);
-                        delete card.dataset.loadingGif;
-                      };
-
-                      preloader.src = gif.dataset.src;
-                    }}"
-                    @mouseleave="${e => {
-                      const card = e.currentTarget;
-                      card.querySelector(".recording-preview-png").style.display = "block";
-                      card.querySelector(".recording-preview-gif").style.display = "none";
-                      if (card.dataset.loadingGif === "true") {
-                        delete card.dataset.loadingGif;
-                      }
-                    }}"
                    @click="${() => {
-                      state.selectedRoute = route;
-                    }}"
+            state.selectedRoute = route;
+          }}"
                  >
                    <div class="preserved-icon" @click="${e => togglePreserved(route, e)}">
                      ${() => html`<i class="bi ${route.is_preserved ? "bi-heart-fill" : "bi-heart"}"></i>`}
@@ -410,23 +469,22 @@ export function RouteRecordings() {
                        src="${route.png}"
                        class="recording-preview recording-preview-png"
                        style="display:block;"
-                      >
-                      <img
-                        data-src="${route.gif}"
-                        class="recording-preview recording-preview-gif"
-                        style="display:none;"
+                        loading="lazy"
                      >
                    </div>
                    <p class="recording-filename">${route.timestamp}</p>
                  </div>
                `
-              )}
+      )}
            </div>
          `;
-        }}
+    }}
+        ${() => state.truncated ? html`
+          <p class="screen-recordings-message">Showing first ${MAX_RENDERED_ROUTES} routes to keep the UI responsive.</p>
+        ` : ""}
        ${() => {
-          if (state.routes.length > 0) {
-            return html`
+      if (state.routes.length > 0) {
+        return html`
              <button
                class="delete-all-button"
                @click="${() => (state.showDeleteAllModal = true)}"
@@ -435,17 +493,17 @@ export function RouteRecordings() {
                ${() => (state.isDeletingAll ? "Deleting..." : "Delete All Routes")}
              </button>
            `;
-          }
-          return "";
-        }}
+      }
+      return "";
+    }}
      </div>
      ${() => state.showDeleteAllModal ? Modal({
-          title: "Confirm Delete All",
-          message: "Are you sure you want to delete all routes? This action cannot be undone...",
-          onConfirm: deleteAllRoutes,
-          onCancel: () => { state.showDeleteAllModal = false; },
-          confirmText: "Delete All"
-      }) : ""}
+      title: "Confirm Delete All",
+      message: "Are you sure you want to delete all routes? This action cannot be undone...",
+      onConfirm: deleteAllRoutes,
+      onCancel: () => { state.showDeleteAllModal = false; },
+      confirmText: "Delete All"
+    }) : ""}
    </div>
  `;
 }
@@ -1,4 +1,5 @@
-import { html, reactive } from "https://esm.sh/@arrow-js/core"
+import { html, reactive } from "/assets/vendor/arrow-core.js"
+import { isGalaxyTunnel } from "/assets/js/utils.js"
 import { Modal } from "/assets/components/modal.js";

 const state = reactive({
@@ -126,7 +127,6 @@ async function renameFile(rec) {
      if (recordingToUpdate) {
        recordingToUpdate.filename = newFilename
        recordingToUpdate.is_custom_name = true
-        recordingToUpdate.gif = `/screen_recordings/${val}.gif`
        recordingToUpdate.png = `/screen_recordings/${val}.png`
      }

@@ -142,8 +142,8 @@ async function renameFile(rec) {
 }

 function confirmDeleteFile(rec) {
-    state.recordingToDelete = rec;
-    state.showDeleteModal = true;
+  state.recordingToDelete = rec;
+  state.showDeleteModal = true;
 }

 async function deleteFile() {
@@ -152,11 +152,11 @@ async function deleteFile() {

  const res = await fetch(`/api/screen_recordings/delete/${encodeURIComponent(rec.filename)}`, { method: "DELETE" })
  if (res.ok) {
-      closeOverlay();
-      refresh();
-      showSnackbar("Recording deleted!");
+    closeOverlay();
+    refresh();
+    showSnackbar("Recording deleted!");
  } else {
-      showSnackbar("Delete failed...", "error");
+    showSnackbar("Delete failed...", "error");
  }

  state.showDeleteModal = false;
@@ -221,6 +221,16 @@ async function deleteAllRecordings() {
 }

 export function ScreenRecordings() {
+  if (isGalaxyTunnel()) {
+    return html`
+      <div class="tunnel-notice">
+        <div class="tunnel-notice-icon">🛰️</div>
+        <h3 class="tunnel-notice-title">Screen Recordings Unavailable via Galaxy</h3>
+        <p class="tunnel-notice-body">Loading screen recordings requires a direct connection.<br>Connect to your device's local network to use this feature.</p>
+      </div>
+    `;
+  }
+
  if (state.selectedRecording && !overlay) openOverlay(state.selectedRecording)

  return html`
@@ -229,77 +239,37 @@ export function ScreenRecordings() {
        <div class="screen-recordings-title">Screen Recordings</div>

        ${() => {
-          if (state.loading && state.recordings.length === 0) return html`<p class="screen-recordings-message">Loading...</p>`
-          if (state.error) return html`<p class="screen-recordings-message">${state.error}</p>`
-          if (state.progress > 0 && state.progress < state.total) {
-            return html`<p class="screen-recordings-message">Processing Recordings: ${state.progress} of ${state.total}</p>`
-          }
-          if (state.recordings.length === 0 && !state.loading) {
-            return html`<p class="screen-recordings-message">No screen recordings found...</p>`
-          }
-          return ""
-        }}
+      if (state.loading && state.recordings.length === 0) return html`<p class="screen-recordings-message">Loading...</p>`
+      if (state.error) return html`<p class="screen-recordings-message">${state.error}</p>`
+      if (state.progress > 0 && state.progress < state.total) {
+        return html`<p class="screen-recordings-message">Processing Recordings: ${state.progress} of ${state.total}</p>`
+      }
+      if (state.recordings.length === 0 && !state.loading) {
+        return html`<p class="screen-recordings-message">No screen recordings found...</p>`
+      }
+      return ""
+    }}

        <div class="screen-recordings-grid">
          ${() => state.recordings.map(rec => {
-            const displayName = rec.is_custom_name ? rec.filename.replace(/\.mp4$/i, "").replace(/_/g, " ") : formatScreenRecordingDate(rec.timestamp)
-            return html`
+      const displayName = rec.is_custom_name ? rec.filename.replace(/\.mp4$/i, "").replace(/_/g, " ") : formatScreenRecordingDate(rec.timestamp)
+      return html`
              <div
                class="recording-card"
-                @mouseenter="${e => {
-                  if (state.selectedRecording) return;
-
-                  const card = e.currentTarget;
-                  const gif = card.querySelector(".recording-preview-gif");
-                  const png = card.querySelector(".recording-preview-png");
-
-                  if (card.dataset.gifLoaded) {
-                    png.style.display = "none";
-                    gif.style.display = "block";
-                    return;
-                  }
-
-                  card.dataset.loadingGif = "true";
-                  const preloader = new Image();
-                  preloader.onload = () => {
-                    if (card.dataset.loadingGif === "true") {
-                        gif.src = preloader.src;
-                        png.style.display = "none";
-                        gif.style.display = "block";
-                        card.dataset.gifLoaded = true;
-                    }
-                    delete card.dataset.loadingGif;
-                  };
-                  preloader.onerror = () => {
-                    console.error("Failed to load preview GIF:", preloader.src);
-                    delete card.dataset.loadingGif;
-                  };
-
-                  preloader.src = gif.dataset.src;
-                }}"
-                @mouseleave="${e => {
-                  const card = e.currentTarget;
-                  card.querySelector(".recording-preview-png").style.display = "block";
-                  card.querySelector(".recording-preview-gif").style.display = "none";
-                  if (card.dataset.loadingGif === "true") {
-                      delete card.dataset.loadingGif;
-                  }
-                }}"
                @click="${() => { state.selectedRecording = rec }}"
              >
                <div class="recording-preview-container">
-                  <img src="${rec.png}" class="recording-preview recording-preview-png" style="display:block;">
-                  <img data-src="${rec.gif}" class="recording-preview recording-preview-gif" style="display:none;">
+                  <img src="${rec.png}" class="recording-preview recording-preview-png" style="display:block;" loading="lazy">
                </div>
                <p class="recording-filename">${displayName}</p>
              </div>
            `
-          })}
+    })}
        </div>

        ${() => {
-          if (state.recordings.length > 0) {
-            return html`
+      if (state.recordings.length > 0) {
+        return html`
              <button
                class="delete-all-button"
                @click="${() => (state.showDeleteAllModal = true)}"
@@ -307,24 +277,24 @@ export function ScreenRecordings() {
                Delete All Recordings
              </button>
            `
-          }
-          return ""
-        }}
+      }
+      return ""
+    }}
      </div>
      ${() => state.showDeleteModal ? Modal({
-          title: "Confirm Delete",
-          message: `Are you sure you want to delete <strong>${state.recordingToDelete.filename}</strong>?`,
-          onConfirm: deleteFile,
-          onCancel: () => { state.showDeleteModal = false; state.recordingToDelete = null; },
-          confirmText: "Delete"
-      }) : ""}
+      title: "Confirm Delete",
+      message: `Are you sure you want to delete <strong>${state.recordingToDelete.filename}</strong>?`,
+      onConfirm: deleteFile,
+      onCancel: () => { state.showDeleteModal = false; state.recordingToDelete = null; },
+      confirmText: "Delete"
+    }) : ""}
      ${() => state.showDeleteAllModal ? Modal({
-        title: "Confirm Delete All",
-        message: "Are you sure you want to delete all screen recordings? This action cannot be undone...",
-        onConfirm: deleteAllRecordings,
-        onCancel: () => { state.showDeleteAllModal = false; },
-        confirmText: "Delete All"
-      }) : ""}
+      title: "Confirm Delete All",
+      message: "Are you sure you want to delete all screen recordings? This action cannot be undone...",
+      onConfirm: deleteAllRecordings,
+      onCancel: () => { state.showDeleteAllModal = false; },
+      confirmText: "Delete All"
+    }) : ""}
    </div>
  `
 }
@@ -1,9 +1,12 @@
-import { html, reactive } from "https://esm.sh/@arrow-js/core"
-import { createBrowserHistory, createRouter } from "https://esm.sh/@remix-run/router@1.3.1"
+import { html, reactive } from "/assets/vendor/arrow-core.js"
+import { createBrowserHistory, createRouter } from "/assets/vendor/remix-router-1.3.1.js"
 import { hideSidebar } from "/assets/js/utils.js"
-import { DoorControl } from "/assets/components/tools/doors.js"
+import { DeviceSettings } from "/assets/components/tools/device_settings.js"
 import { ErrorLogs } from "/assets/components/tools/error_logs.js"
+import { VehicleFeatures } from "/assets/components/tools/vehicle_features.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 { NavDestination } from "/assets/components/navigation/navigation_destination.js"
 import { NavKeys } from "/assets/components/navigation/navigation_keys.js"
 import { RouteRecordings } from "/assets/components/recordings/dashcam_routes.js"
@@ -11,27 +14,54 @@ import { SettingsView } from "/assets/components/settings.js"
 import { ScreenRecordings } from "/assets/components/recordings/screen_recordings.js"
 import { Sidebar } from "/assets/components/sidebar.js"
 import { SpeedLimits } from "/assets/components/tools/speed_limits.js"
-import { TailscaleControl } from "/assets/components/tailscale/tailscale.js"
+import { ModelManager } from "/assets/components/tools/model_manager.js?v=20260303t"
+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"
+import { Troubleshoot } from "/assets/components/tools/troubleshoot.js"
 import { TmuxLog } from "/assets/components/tools/tmux.js"
 import { ToggleControl } from "/assets/components/tools/toggles.js"
-import { TSKManager } from "/assets/components/tools/tsk_manager.js"
+import { UpdateManager } from "/assets/components/tools/update_manager.js"

 let router, routerState

+function toRouterHref(href) {
+  try {
+    const url = new URL(href, window.location.origin)
+    return `${url.pathname}${url.search}${url.hash}`
+  } catch {
+    return href
+  }
+}
+
 function createRoute(id, path, component) {
  return {
    id,
    path,
-    loader: () => {},
+    loader: () => { },
    element: component,
  }
 }

+function SafeHome() {
+  return html`
+    <div>
+      <h1>Galaxy</h1>
+      <p>Safe mode is active while UI rendering is being repaired.</p>
+      <p>
+        <a href="/galaxy">Galaxy Pairing</a> |
+        <a href="/device_settings">Toggles</a> |
+        <a href="/manage_updates">Software</a>
+      </p>
+    </div>
+  `
+}
+
 function Root() {
  let routes = [
-    createRoute("doors", "/lock_or_unlock_doors", DoorControl),
+    createRoute("device_settings", "/device_settings/:section?", DeviceSettings),
    createRoute("errorLogs", "/manage_error_logs", ErrorLogs),
+    createRoute("galaxy", "/galaxy", GalaxyPairing),
    createRoute("navdestination", "/set_navigation_destination", NavDestination),
    createRoute("navkeys", "/manage_navigation_keys", NavKeys),
    createRoute("root", "/", Home),
@@ -39,11 +69,16 @@ function Root() {
    createRoute("screen_recordings", "/screen_recordings", ScreenRecordings),
    createRoute("settings", "/settings/:section/:subsection?", SettingsView),
    createRoute("speed_limits", "/download_speed_limits", SpeedLimits),
-    createRoute("tailscale", "/manage_tailscale", TailscaleControl),
+    createRoute("model_manager", "/manage_models", ModelManager),
+    createRoute("longitudinal_maneuvers", "/longitudinal_maneuvers", LongitudinalManeuvers),
+    createRoute("plots", "/plots", LivePlots),
    createRoute("thememaker", "/theme_maker", ThemeMaker),
+    createRoute("testing_ground", "/testing_ground", TestingGround),
+    createRoute("troubleshoot", "/troubleshoot", Troubleshoot),
    createRoute("tmux", "/manage_tmux", TmuxLog),
    createRoute("toggles", "/manage_toggles", ToggleControl),
-    createRoute("tsk_manager", "/tsk_manager", TSKManager),
+    createRoute("updates", "/manage_updates", UpdateManager),
+    createRoute("vehicle_features", "/vehicle_features", VehicleFeatures),
  ]

  router = createRouter({
@@ -51,6 +86,11 @@ function Root() {
    history: createBrowserHistory(),
  }).initialize()

+  window.__thePondNavigate = (href) => {
+    router.navigate(toRouterHref(href))
+    window.scrollTo(0, 0)
+  }
+
  routerState = reactive({
    activePath: "/",
    activePathFull: "/",
@@ -58,17 +98,21 @@ function Root() {
    navigation: { state: "loading" },
    errors: [],
    params: {},
+    activeMatch: null,
  })

  router.subscribe(({ initialized, navigation, matches, errors }) => {
-    const [match] = matches
+    const match = Array.isArray(matches) && matches.length > 0
+      ? matches[matches.length - 1]
+      : null
    Object.assign(routerState, {
      initialized,
-      activePath: match.route.path,
-      activePathFull: match.pathname,
+      activePath: match?.route?.path || "",
+      activePathFull: match?.pathname || "",
      navigation,
-      params: match.params,
+      params: match?.params || {},
      errors,
+      activeMatch: match,
    })
  })

@@ -76,17 +120,21 @@ function Root() {
    ${() => Sidebar(routerState.activePathFull)}
    <div class="content">
      ${() => {
-        if (!routerState.initialized || routerState.navigation.state === "loading") {
-          return html`<div>Loading...</div>`
-        }
+      if (!routerState.initialized) {
+        return Home({ params: routerState.params })
+      }

-        if (routerState.errors?.root?.status === 404) {
-          return html`<h1>Not Found</h1>`
-        }
+      if (routerState.errors?.root?.status === 404) {
+        return html`<h1>Not Found</h1>`
+      }

-        const match = routes.find(r => r.path === routerState.activePath)
-        return match.element({ params: routerState.params })
-      }}
+      const routeElement = routerState.activeMatch?.route?.element
+      if (typeof routeElement !== "function") {
+        console.warn("[router] no route element for path:", routerState.activePathFull)
+        return Home({ params: routerState.params })
+      }
+      return routeElement({ params: routerState.params })
+    }}
    </div>
  `
 }
@@ -97,7 +145,7 @@ export function Link(href, children, onClick, classes = "") {
    href="${() => href}"
    @click="${(e) => {
      e.preventDefault()
-      router.navigate(e.currentTarget.href)
+      router.navigate(toRouterHref(e.currentTarget.href))
      hideSidebar()
      onClick?.()
    }}"
@@ -105,8 +153,28 @@ export function Link(href, children, onClick, classes = "") {
 }

 export function Navigate(href) {
-  router.navigate(href)
+  router.navigate(toRouterHref(href))
  window.scrollTo(0, 0)
 }

-Root()(document.getElementById("app"))
+function mountRouterWhenReady() {
+  const mountNode = document.getElementById("app")
+  if (!mountNode) {
+    // Some embedded browsers execute module scripts before <body> is fully available.
+    setTimeout(mountRouterWhenReady, 0)
+    return
+  }
+
+  if (!window.__thePondRouterMounted) {
+    window.__thePondRouterMounted = true
+    Root()(mountNode)
+  } else {
+    console.warn("[router] duplicate mount prevented")
+  }
+}
+
+if (document.readyState === "loading") {
+  document.addEventListener("DOMContentLoaded", mountRouterWhenReady, { once: true })
+} else {
+  mountRouterWhenReady()
+}
@@ -30,7 +30,7 @@
  position: relative;
 }

-.dropdown > select {
+.dropdown>select {
  appearance: none;
  background-color: var(--sidebar-bg);
  border: var(--border-width-thin) solid var(--sidebar-border-color);
@@ -74,19 +74,19 @@ input.searchfield:focus {
  outline: none;
 }

-input:checked + .slider {
+input:checked+.slider {
  background-color: var(--success-bg);
 }

-input:checked + .slider:before {
+input:checked+.slider:before {
  transform: translateX(26px);
 }

-input:checked + .slider.loading:before {
+input:checked+.slider.loading:before {
  animation: rotationChecked 1s linear infinite;
 }

-input:focus + .slider {
+input:focus+.slider {
  box-shadow: 0 0 var(--border-width-thin) var(--success-bg);
 }

@@ -133,11 +133,11 @@ input:focus + .slider {
  z-index: 1;
 }

-.options > input {
+.options>input {
  display: none;
 }

-.options > input:checked + label {
+.options>input:checked+label {
  background-color: var(--success-bg);
  color: var(--text-color);
  font-weight: bold;
@@ -220,14 +220,13 @@ input:focus + .slider {
  grid-column: span 2;
 }

-.setting.subsetting_link {
-}
+.setting.subsetting_link {}

 .setting.subtoggle {
  margin: 0 0 0 var(--padding-xl);
 }

-.setting.subtoggle + .setting {
+.setting.subtoggle+.setting {
  margin-top: var(--border-radius-xl);
 }

@@ -300,7 +299,7 @@ input.searchfield {
  animation: rotation 1s linear infinite;
  background-color: none !important;
  border: var(--border-width-thick) solid var(--sidebar-fg);
-  border-bottom-color: #46439b;
+  border-bottom-color: var(--main-fg);
  box-sizing: border-box;
 }

@@ -337,6 +336,7 @@ i.switch {
  0% {
    transform: rotate(0deg);
  }
+
  100% {
    transform: rotate(360deg);
  }
@@ -346,7 +346,8 @@ i.switch {
  0% {
    transform: translateX(26px) rotate(0deg);
  }
+
  100% {
    transform: translateX(26px) rotate(360deg);
  }
-}
+}
@@ -1,4 +1,4 @@
-import { html } from "https://esm.sh/@arrow-js/core"
+import { html } from "/assets/vendor/arrow-core.js"
 import { upperFirst } from "/assets/js/utils.js"
 import { Navigate } from "/assets/components/router.js"

@@ -60,7 +60,10 @@
 }

 .sidebar {
-  background-color: var(--sidebar-bg);
+  background:
+    radial-gradient(ellipse at 30% 80%, rgba(139, 108, 197, 0.06) 0%, transparent 60%),
+    radial-gradient(ellipse at 70% 20%, rgba(94, 200, 200, 0.04) 0%, transparent 50%),
+    var(--sidebar-bg);
  border-right: var(--border-width-thin) solid var(--sidebar-border-color);
  display: flex;
  flex-direction: column;
@@ -102,7 +105,7 @@
  padding: 0;
 }

-.sidebar .menu_section > li > a span {
+.sidebar .menu_section>li>a span {
  color: var(--text-color);
  display: inline-block;
  font-size: var(--font-size-lg);
@@ -111,13 +114,13 @@
  padding-left: var(--padding-sm);
 }

-.sidebar .menu_section > li > ul {
+.sidebar .menu_section>li>ul {
  list-style: none;
  margin: 0;
  padding: 0;
 }

-.sidebar .menu_section > li > ul > li {
+.sidebar .menu_section>li>ul>li {
  border-radius: var(--border-radius-sm);
  margin-bottom: var(--padding-sm);
  overflow: hidden;
@@ -125,23 +128,23 @@
  transition: background-color var(--transition-fast), box-shadow var(--transition-fast), color var(--transition-fast), transform var(--transition-fast);
 }

-.sidebar .menu_section > li > ul > li > a.menu-item-link {
+.sidebar .menu_section>li>ul>li>a.menu-item-link {
  border-radius: inherit;
 }

-.sidebar .menu_section > li > ul > li.active,
-.sidebar .menu_section > li > ul > li:hover {
+.sidebar .menu_section>li>ul>li.active,
+.sidebar .menu_section>li>ul>li:hover {
  background-color: var(--sidebar-active-bg);
-  box-shadow: 0 0 0 2px var(--thumb-color), 0 0 8px var(--thumb-color);
+  box-shadow: var(--glow-primary);
  transform: var(--hover-scale-sm);
 }

-.sidebar .menu_section > li > ul > li.active > a {
+.sidebar .menu_section>li>ul>li.active>a {
  color: var(--color-white);
  font-weight: var(--font-weight-bold);
 }

-.sidebar .menu_section > li > ul > li:hover > a {
+.sidebar .menu_section>li>ul>li:hover>a {
  color: var(--color-white);
  font-weight: var(--font-weight-demi-bold);
 }
@@ -203,9 +206,13 @@
 }

 .sidebar_header p {
-  color: var(--success-hover-bg);
+  background: linear-gradient(135deg, #8b6cc5 0%, #5ec8c8 55%, #d4789c 100%);
+  -webkit-background-clip: text;
+  background-clip: text;
+  -webkit-text-fill-color: transparent;
  font-size: var(--font-size-xl);
  font-weight: var(--font-weight-bold);
+  letter-spacing: 0.05em;
 }

 .sidebar_widget {
@@ -234,7 +241,7 @@
    transition: var(--transition-fast);
  }

-  .sidebar .menu_section > li > a {
+  .sidebar .menu_section>li>a {
    font-size: var(--padding-sm);
  }

@@ -262,7 +269,7 @@
    transition: var(--transition-fast);
  }

-  .sidebar .menu_section > li > a {
+  .sidebar .menu_section>li>a {
    font-size: var(--padding-sm);
  }

@@ -277,4 +284,4 @@
  #menu_button {
    display: none;
  }
-}
+}
@@ -1,8 +1,7 @@
-import { html, reactive } from "https://esm.sh/@arrow-js/core";
-import { Link } from "/assets/components/router.js";
-import { upperFirst, hideSidebar } from "/assets/js/utils.js";
+import { html } from "/assets/vendor/arrow-core.js";
+import { hideSidebar, upperFirst } from "/assets/js/utils.js";

-const MenuItems = {
+const MENU_ITEMS = {
  home: [
    { name: "Home", link: "/", icon: "bi-house-fill" },
  ],
@@ -14,138 +13,126 @@ const MenuItems = {
    { name: "Dashcam Routes", link: "/dashcam_routes", icon: "bi-camera-reels" },
    { name: "Screen Recordings", link: "/screen_recordings", icon: "bi-record-circle" },
  ],
-  tailscale: [
-    { name: "Tailscale", link: "/manage_tailscale", icon: "bi-wifi" },
-  ],
  tools: [
+    { name: "Toggles", link: "/device_settings", icon: "bi-toggle-on" },
    { name: "Download Speed Limits", link: "/download_speed_limits", icon: "bi-download" },
    { name: "Error Logs", link: "/manage_error_logs", icon: "bi-exclamation-triangle" },
-    { name: "Lock/Unlock Doors", link: "/lock_or_unlock_doors", icon: "bi-door-closed" },
+    { name: "Galaxy", link: "/galaxy", icon: "bi-globe2" },
+    { name: "Long Maneuvers", link: "/longitudinal_maneuvers", icon: "bi-signpost-split" },
+    { name: "Model Manager", link: "/manage_models", icon: "bi-cpu" },
+    { name: "Plots", link: "/plots", icon: "bi-graph-up-arrow" },
+    { name: "Testing Ground", link: "/testing_ground", icon: "bi-bezier2" },
+    { name: "Troubleshoot", link: "/troubleshoot", icon: "bi-tools" },
    { name: "Theme Maker", link: "/theme_maker", icon: "bi-palette-fill" },
    { name: "Tmux Log", link: "/manage_tmux", icon: "bi-terminal" },
-    { name: "Toggles", link: "/manage_toggles", icon: "bi-toggle-on" },
-    { name: "Toyota Security Keys", link: "/tsk_manager", icon: "bi-key-fill" },
+    { name: "Backup and Restore", link: "/manage_toggles", icon: "bi-arrow-repeat" },
+    { name: "Software", link: "/manage_updates", icon: "bi-arrow-up-circle" },
+    { name: "Vehicle Features", link: "/vehicle_features", icon: "bi-car-front" },
  ],
 };

-const state = reactive({
-  doorsVisible: false,
-  isDoorsFetched: false,
-  isTSKFetched: false,
-  tskVisible: false,
+function matchesPath(currentPath, link) {
+  if (link === "/") return currentPath === "/";
+  return currentPath === link || currentPath.startsWith(`${link}/`);
+}

-  activeRoute: ""
-});
+function buildSectionMarkup(section, links, currentPath) {
+  const linksMarkup = links.map((link) => {
+    const active = matchesPath(currentPath, link.link) ? "active" : "";
+    return `
+      <li class="${active}">
+        <a class="menu-item-link" href="${link.link}">
+          <i class="bi ${link.icon}"></i>
+          <span>${upperFirst(link.name)}</span>
+        </a>
+      </li>
+    `;
+  }).join("");

-export function Sidebar() {
-  const currentPath = window.location.pathname;
-  const activeItem = Object.values(MenuItems).flat().find(item => item.link === currentPath);
-  state.activeRoute = activeItem?.name ?? "";
+  return `
+    <div class="sidebar_widget">
+      <ul class="menu_section">
+        <li>
+          <span class="section-title">${upperFirst(section)}</span>
+          <ul id="${section}">
+            ${linksMarkup}
+          </ul>
+        </li>
+      </ul>
+    </div>
+  `;
+}

-  if (!state.isDoorsFetched) {
-    state.isDoorsFetched = true;
-    (async () => {
-      try {
-        const response = await fetch("/api/doors_available");
-        const data = await response.json();
-        state.doorsVisible = data.result;
-      } catch (e) {
-        console.error("Failed to fetch door availability:", e);
-      }
-    })();
-  }
+function bindSidebarHandlers() {
+  const menuButton = document.getElementById("menu_button");
+  const underlay = document.getElementById("sidebarUnderlay");

-  if (!state.isTSKFetched) {
-    state.isTSKFetched = true;
-    (async () => {
-      try {
-        const response = await fetch("/api/tsk_available");
-        const data = await response.json();
-        state.tskVisible = data.result;
-      } catch (e) {
-        console.error("Failed to fetch TSK availability:", e);
-      }
-    })();
-  }
+  if (!menuButton || !underlay) return;

-  function navigate(link) {
-    state.activeRoute = link.name;
-    window.scrollTo(0, 0);
-    hideSidebar();
-
-    document.querySelectorAll('.sidebar li').forEach(el => {
-      el.classList.remove('active');
+  if (!window.__thePondSidebarMenuBound) {
+    window.__thePondSidebarMenuBound = true;
+    menuButton.addEventListener("click", () => {
+      const sidebar = document.getElementById("sidebar");
+      const currentUnderlay = document.getElementById("sidebarUnderlay");
+      if (!sidebar || !currentUnderlay) return;
+      sidebar.classList.toggle("visible");
+      currentUnderlay.classList.toggle("hidden");
    });
-
-    const linkElement = document.querySelector(`.sidebar li a[href="${link.link}"]`);
-    if (linkElement) {
-      linkElement.parentElement.classList.add('active');
-    }
  }

-  return html`
+  underlay.onclick = hideSidebar;
+
+  document.querySelectorAll("#sidebar a.menu-item-link").forEach((anchor) => {
+    if (anchor.dataset.boundClick === "1") return;
+    anchor.dataset.boundClick = "1";
+    anchor.addEventListener("click", (event) => {
+      if (event.defaultPrevented) return;
+      if (event.button !== 0) return;
+      if (event.metaKey || event.ctrlKey || event.shiftKey || event.altKey) return;
+
+      event.preventDefault();
+      const href = anchor.getAttribute("href") || "/";
+      const navigate = window.__thePondNavigate;
+      if (typeof navigate === "function") {
+        navigate(href);
+      } else {
+        window.location.assign(href);
+      }
+      hideSidebar();
+      window.scrollTo(0, 0);
+    });
+  });
+}
+
+function renderSidebarIntoShell(currentPath) {
+  const shell = document.getElementById("sidebar_shell");
+  if (!shell) return;
+
+  const activePath = currentPath || window.location.pathname;
+  const sectionsMarkup = Object.entries(MENU_ITEMS)
+    .map(([section, links]) => buildSectionMarkup(section, links, activePath))
+    .join("");
+
+  shell.innerHTML = `
    <div id="sidebarUnderlay" class="hidden"></div>
    <div id="sidebar" class="sidebar">
      <div>
        <div class="title">
-          <img class="logo" src="/assets/images/main_logo.png" alt="FrogPilot logo" />
+          <img class="logo" src="/assets/images/main_logo.png" alt="Galaxy logo" />
          <div class="title_text sidebar_header">
-            <p>The Pond</p>
-            <a href="https://github.com/Aidenir">by&nbsp;Aidenir</a>
+            <p>Galaxy</p>
          </div>
        </div>
        <hr />
-        ${() => Object.entries(MenuItems).map(([section, links]) => html`
-          <div class="sidebar_widget">
-            <ul class="menu_section">
-              <li>
-                <span class="section-title">${upperFirst(section)}</span>
-                <ul id="${section}">
-                  ${links.map(link => {
-                    if (link.name === "Lock/Unlock Doors" && !state.doorsVisible) {
-                      return "";
-                    }
-
-                    if (link.name === "Toyota Security Keys" && !state.tskVisible) {
-                      return "";
-                    }
-
-                    const isActive = state.activeRoute === link.name;
-                    const classList = [isActive && "active"].filter(Boolean).join(" ");
-
-                    const content = html`
-                      <div class="menu-item-link">
-                        <i class="bi ${link.icon}"></i>
-                        <span>${upperFirst(link.name)}</span>
-                      </div>
-                    `;
-
-                    return html`
-                      <li class="${classList}">
-                        ${Link(link.link, content, () => navigate(link))}
-                      </li>
-                    `;
-                  })}
-                </ul>
-              </li>
-            </ul>
-          </div>
-        `)}
+        ${sectionsMarkup}
      </div>
-    </div>`;
+    </div>
+  `;
+
+  bindSidebarHandlers();
 }

-function setupMenuButton() {
-  const button = document.getElementById("menu_button");
-  const sidebar = document.getElementById("sidebar");
-  const underlay = document.getElementById("sidebarUnderlay");
-
-  button.addEventListener("click", () => {
-    sidebar.classList.toggle("visible");
-    underlay.classList.toggle("hidden");
-  });
-
-  underlay.addEventListener("click", hideSidebar);
+export function Sidebar(currentPath) {
+  setTimeout(() => renderSidebarIntoShell(currentPath), 0);
+  return html`<div id="sidebar_shell"></div>`;
 }
-
-document.addEventListener("DOMContentLoaded", setupMenuButton, false);
@@ -1,4 +1,4 @@
-import { html, reactive } from "https://esm.sh/@arrow-js/core"
+import { html, reactive } from "/assets/vendor/arrow-core.js"
 import { Modal } from "/assets/components/modal.js";

 export function TailscaleControl() {
@@ -52,13 +52,14 @@ export function TailscaleControl() {
  checkInstallStatus()

  return html`
-    <div class="tailscale-wrapper">
+    <div class="toggle-control-widget" style="margin-top: 1.5rem">
      <section class="tailscale-widget">
-        <div class="tailscale-title">
+        <div class="toggle-control-title">
          ${() => state.installed ? 'Uninstall Tailscale' : 'Install Tailscale'}
        </div>
        <p class="tailscale-text">
-          Tailscale creates a secure, private connection between your openpilot device and your phone or PC so you can access and control it from anywhere!
+          Tailscale creates a secure, private connection between your openpilot device and your phone or PC so you can access and control it from anywhere!<br><br>
+          <strong style="color: #ff9494;">Note: Not recommended. Using Galaxy Tunnel is the preferred remote connection method.</strong>
        </p>
        <div class="tailscale-button-wrapper">
          <button
@@ -67,11 +68,11 @@ export function TailscaleControl() {
            disabled="${() => state.status === 'installing' || state.status === 'uninstalling'}"
          >
            ${() => {
-              if (state.status === 'installing') return 'Installing...'
-              if (state.status === 'uninstalling') return 'Uninstalling...'
-              if (state.installed) return 'Uninstall'
-              return 'Install'
-            }}
+      if (state.status === 'installing') return 'Installing...'
+      if (state.status === 'uninstalling') return 'Uninstalling...'
+      if (state.installed) return 'Uninstall'
+      return 'Install'
+    }}
          </button>
          <a class="tailscale-link" href="https://tailscale.com/download" target="_blank">
            Download Tailscale on your other devices
@@ -79,12 +80,12 @@ export function TailscaleControl() {
        </div>
      </section>
      ${() => state.showUninstallModal ? Modal({
-          title: "Confirm Uninstall",
-          message: "Are you sure you want to uninstall Tailscale?",
-          onConfirm: handleAction,
-          onCancel: () => { state.showUninstallModal = false; },
-          confirmText: "Uninstall"
-      }) : ""}
+      title: "Confirm Uninstall",
+      message: "Are you sure you want to uninstall Tailscale?",
+      onConfirm: handleAction,
+      onCancel: () => { state.showUninstallModal = false; },
+      confirmText: "Uninstall"
+    }) : ""}
    </div>
  `
 }
@@ -0,0 +1,498 @@
+/* ――― Device Settings Page ――― */
+.ds-wrapper {
+  max-width: var(--width-xxxl);
+  padding: var(--padding-base) var(--padding-lg) var(--padding-xxl);
+}
+
+/* ――― Section Tabs ――― */
+.ds-tabs {
+  display: flex;
+  flex-wrap: wrap;
+  gap: 0.5rem;
+  margin-bottom: var(--margin-base);
+}
+
+.ds-tab {
+  align-items: center;
+  background: var(--input-bg);
+  border: var(--border-style-main);
+  border-radius: 0.75rem;
+  color: var(--text-muted);
+  cursor: pointer;
+  display: inline-flex;
+  font-family: var(--font-body);
+  font-size: 0.88rem;
+  gap: 0.4rem;
+  padding: 0.45rem 0.7rem;
+  transition: background-color var(--transition-fast), color var(--transition-fast), border-color var(--transition-fast);
+}
+
+.ds-tab i {
+  font-size: 0.9rem;
+}
+
+.ds-tab:hover {
+  border-color: var(--main-fg);
+  color: var(--text-color);
+}
+
+.ds-tab.active {
+  background: var(--main-fg);
+  border-color: var(--main-fg);
+  color: var(--color-black);
+}
+
+/* ――― Search / Filter ――― */
+.ds-search-row {
+  align-items: center;
+  display: flex;
+  gap: 0.5rem;
+  margin-bottom: var(--margin-lg);
+}
+
+.ds-search {
+  background-color: var(--input-bg);
+  border: var(--border-style-input);
+  border-radius: var(--border-radius-lg);
+  box-sizing: border-box;
+  color: var(--text-color);
+  font-family: var(--font-body);
+  font-size: var(--font-size-base);
+  margin-bottom: 0;
+  outline: none;
+  padding: var(--padding-sm) var(--padding-base);
+  transition: box-shadow var(--transition-fast);
+  width: 100%;
+  flex: 1;
+}
+
+.ds-search:focus {
+  box-shadow: 0 0 0 2px var(--main-fg);
+}
+
+.ds-search-clear {
+  background: var(--input-bg);
+  border: var(--border-style-main);
+  border-radius: var(--border-radius-base);
+  color: var(--text-color);
+  cursor: pointer;
+  font-family: var(--font-body);
+  font-size: var(--font-size-sm);
+  min-width: 4.75rem;
+  padding: 0.6rem 0.8rem;
+  transition: background-color var(--transition-fast), border-color var(--transition-fast), color var(--transition-fast);
+}
+
+.ds-search-clear:hover {
+  background: var(--main-fg);
+  border-color: var(--main-fg);
+  color: var(--color-black);
+}
+
+/* ――― Section Cards ――― */
+.ds-section {
+  background-color: var(--secondary-bg);
+  border-radius: var(--border-radius-lg);
+  box-shadow: var(--shadow-sm);
+  margin-bottom: var(--margin-lg);
+  overflow: hidden;
+  transition: box-shadow var(--transition-fast);
+}
+
+.ds-section:hover {
+  box-shadow: var(--shadow-md);
+}
+
+.ds-section-header {
+  align-items: center;
+  background-color: var(--input-bg);
+  display: flex;
+  justify-content: space-between;
+  padding: var(--padding-sm) var(--padding-base);
+  user-select: none;
+}
+
+.ds-static-header {
+  cursor: default;
+}
+
+.ds-section-header i {
+  color: var(--main-fg);
+  font-size: var(--font-size-lg);
+  margin-right: var(--margin-sm);
+  min-width: 1.5rem;
+  text-align: center;
+}
+
+.ds-section-title {
+  color: var(--text-color);
+  flex: 1;
+  font-size: var(--font-size-base);
+  font-weight: var(--font-weight-bold);
+}
+
+.ds-section-chevron {
+  color: var(--text-muted);
+  font-size: var(--font-size-sm);
+  transition: transform var(--transition-fast);
+}
+
+.ds-section.collapsed .ds-section-chevron {
+  transform: rotate(-90deg);
+}
+
+.ds-section-body {
+  max-height: 5000px;
+  overflow: hidden;
+  transition: max-height 0.3s ease-in-out;
+}
+
+.ds-section.collapsed .ds-section-body {
+  max-height: 0;
+}
+
+/* ――― Individual Toggle Rows ――― */
+.ds-row {
+  align-items: center;
+  border-top: 1px solid var(--sidebar-border-color);
+  display: flex;
+  justify-content: space-between;
+  padding: var(--padding-sm) var(--padding-base);
+  transition: background-color var(--transition-fast);
+}
+
+.ds-row:hover {
+  background-color: var(--sidebar-active-bg);
+}
+
+.ds-row-label {
+  color: var(--text-color);
+  flex: 1;
+  font-size: var(--font-size-sm);
+  margin-right: var(--margin-base);
+}
+
+.ds-row-desc {
+  color: var(--text-muted);
+  font-size: var(--font-size-xs);
+  margin-top: 0.25rem;
+  line-height: 1.3;
+  white-space: pre-line;
+}
+
+/* ――― Child Row Modifier (Sub-menus) ――― */
+.ds-child-modifier {
+  border-left: 2px solid var(--color-gray-200);
+  margin-left: 1rem;
+  padding-left: 1rem;
+}
+
+.ds-manage-btn {
+  display: inline-flex;
+  align-items: center;
+  background-color: var(--color-gray-200);
+  border: 1px solid var(--color-gray-300);
+  border-radius: 1rem;
+  color: var(--main-fg);
+  cursor: pointer;
+  font-size: 0.75rem;
+  font-weight: 500;
+  margin-top: 0.6rem;
+  padding: 0.25rem 0.75rem;
+  transition: all var(--transition-fast);
+  user-select: none;
+  width: fit-content;
+}
+
+.ds-manage-btn:hover {
+  background-color: var(--color-gray-300);
+}
+
+.ds-manage-btn i {
+  margin-left: 0.3rem;
+}
+
+/* ――― Toggle Switch ――― */
+.ds-toggle {
+  appearance: none;
+  background-color: var(--track-color);
+  border: none;
+  border-radius: 1rem;
+  flex-shrink: 0;
+  height: 1.5rem;
+  outline: none;
+  position: relative;
+  transition: background-color var(--transition-fast);
+  width: 2.75rem;
+}
+
+.ds-toggle::after {
+  background-color: var(--color-gray-300);
+  border-radius: 50%;
+  content: "";
+  height: 1.1rem;
+  left: 0.2rem;
+  position: absolute;
+  top: 0.2rem;
+  transition: transform var(--transition-fast), background-color var(--transition-fast);
+  width: 1.1rem;
+}
+
+.ds-toggle:checked {
+  background-color: var(--main-fg);
+}
+
+.ds-select {
+  appearance: none;
+  background-color: var(--color-gray-950);
+  border: 1px solid var(--track-color);
+  border-radius: 0.5rem;
+  color: var(--color-gray-200);
+  cursor: pointer;
+  font-family: inherit;
+  font-size: 0.95rem;
+  padding: 0.5rem 2rem 0.5rem 1rem;
+  transition: border-color var(--transition-fast), box-shadow var(--transition-fast);
+  width: 100%;
+  max-width: 250px;
+  background-image: url("data:image/svg+xml;charset=UTF-8,%3Csvg xmlns='http://www.w3.org/200.svg' width='24' height='24' viewBox='0 0 24 24' fill='none' stroke='%239ca3af' stroke-width='2' stroke-linecap='round' stroke-linejoin='round'%3E%3Cpolyline points='6 9 12 15 18 9'%3E%3C/polyline%3E%3C/svg%3E");
+  background-repeat: no-repeat;
+  background-position: right 0.5rem center;
+  background-size: 1em;
+}
+
+.ds-select:hover {
+  border-color: var(--color-gray-500);
+}
+
+.ds-select:focus {
+  border-color: var(--main-fg);
+  box-shadow: 0 0 0 2px rgba(255, 255, 255, 0.1);
+  outline: none;
+}
+
+.ds-toggle:checked::after {
+  background-color: var(--color-white);
+  transform: translateX(1.25rem);
+}
+
+.ds-toggle:disabled {
+  opacity: var(--disabled-opacity);
+}
+
+/* ――― Loading State ――― */
+.ds-loading {
+  color: var(--text-muted);
+  padding: var(--padding-xl);
+  text-align: center;
+}
+
+.ds-status-bar {
+  align-items: center;
+  color: var(--text-muted);
+  display: flex;
+  font-size: var(--font-size-xs);
+  gap: var(--gap-sm);
+  justify-content: space-between;
+  margin-bottom: var(--margin-sm);
+}
+
+/* ――― Empty Filter State ――― */
+.ds-empty {
+  color: var(--text-muted);
+  font-style: italic;
+  padding: var(--padding-lg);
+  text-align: center;
+}
+
+/* ――― Custom Range Slider ――― */
+.ds-row-numeric {
+  align-items: flex-start;
+  flex-direction: column;
+}
+
+.ds-row-info {
+  align-items: center;
+  display: flex;
+  justify-content: space-between;
+  margin-bottom: var(--margin-sm);
+  width: 100%;
+}
+
+.ds-row-value {
+  background-color: var(--sidebar-bg);
+  border: var(--border-style-main);
+  border-radius: var(--border-radius-base);
+  color: var(--text-color);
+  font-family: var(--font-body);
+  font-size: var(--font-size-sm);
+  padding: 0.2rem 0.6rem;
+}
+
+.ds-stepper-container {
+  width: 100%;
+}
+
+@media (min-width: 768px) {
+  .ds-stepper-container {
+    max-width: 350px;
+  }
+}
+
+.ds-stepper {
+  align-items: center;
+  background: var(--input-bg);
+  border: var(--border-style-main);
+  border-radius: var(--border-radius-base);
+  display: grid;
+  gap: var(--gap-sm);
+  grid-template-columns: 56px 1fr 56px;
+  padding: 0.45rem;
+}
+
+.ds-stepper-meta {
+  align-items: center;
+  color: var(--text-muted);
+  display: flex;
+  flex-direction: column;
+  font-size: var(--font-size-xs);
+  gap: 0.1rem;
+  justify-content: center;
+  min-height: 2rem;
+  text-align: center;
+}
+
+.ds-default-value {
+  color: var(--text-color);
+  font-weight: var(--font-weight-semibold);
+}
+
+.ds-step-value {
+  color: var(--text-muted);
+}
+
+.ds-manual-row {
+  align-items: center;
+  display: flex;
+  gap: 0.35rem;
+  margin-top: 0.15rem;
+  width: 100%;
+}
+
+.ds-manual-input {
+  background: var(--sidebar-bg);
+  border: var(--border-style-main);
+  border-radius: var(--border-radius-sm);
+  color: var(--text-color);
+  flex: 1;
+  font-family: var(--font-body);
+  font-size: var(--font-size-xs);
+  min-width: 0;
+  padding: 0.22rem 0.35rem;
+}
+
+.ds-manual-input:focus {
+  border-color: var(--main-fg);
+  outline: none;
+}
+
+.ds-apply-btn {
+  background: transparent;
+  border: var(--border-style-main);
+  border-radius: var(--border-radius-sm);
+  color: var(--text-color);
+  cursor: pointer;
+  font-size: var(--font-size-xs);
+  padding: 0.2rem 0.45rem;
+  transition: background-color var(--transition-fast), border-color var(--transition-fast), color var(--transition-fast);
+  white-space: nowrap;
+}
+
+.ds-apply-btn:hover:not(:disabled) {
+  background: var(--main-fg);
+  border-color: var(--main-fg);
+  color: var(--color-black);
+}
+
+.ds-apply-btn:disabled {
+  cursor: not-allowed;
+  opacity: var(--disabled-opacity);
+}
+
+.ds-reset-btn {
+  background: transparent;
+  border: var(--border-style-main);
+  border-radius: var(--border-radius-sm);
+  color: var(--text-color);
+  cursor: pointer;
+  font-size: var(--font-size-xs);
+  margin-top: 0.15rem;
+  padding: 0.2rem 0.45rem;
+  transition: background-color var(--transition-fast), border-color var(--transition-fast), color var(--transition-fast);
+}
+
+.ds-reset-btn:hover:not(:disabled) {
+  background: var(--main-fg);
+  border-color: var(--main-fg);
+  color: var(--color-black);
+}
+
+.ds-reset-btn:disabled {
+  cursor: not-allowed;
+  opacity: var(--disabled-opacity);
+}
+
+.ds-stepper-btn {
+  align-items: center;
+  background: var(--sidebar-bg);
+  border: var(--border-style-main);
+  border-radius: var(--border-radius-base);
+  color: var(--text-color);
+  cursor: pointer;
+  display: inline-flex;
+  font-size: 1.25rem;
+  font-weight: var(--font-weight-bold);
+  height: 2.1rem;
+  justify-content: center;
+  line-height: 1;
+  transition: background-color var(--transition-fast), border-color var(--transition-fast), transform var(--transition-fast);
+}
+
+.ds-stepper-btn:hover:not(:disabled) {
+  background: var(--main-fg);
+  border-color: var(--main-fg);
+  color: var(--color-black);
+  transform: translateY(-1px);
+}
+
+.ds-stepper-btn:disabled {
+  cursor: not-allowed;
+  opacity: var(--disabled-opacity);
+}
+
+/* ――― Mobile ――― */
+@media only screen and (max-width: 768px) and (orientation: portrait) {
+  .ds-wrapper {
+    padding: var(--padding-sm) var(--padding-base) var(--padding-xl);
+  }
+
+  .ds-search-row {
+    align-items: stretch;
+    flex-direction: column;
+  }
+
+  .ds-search-clear {
+    width: 100%;
+  }
+
+  .ds-tabs {
+    flex-wrap: nowrap;
+    overflow-x: auto;
+    padding-bottom: 0.25rem;
+    scrollbar-width: none;
+  }
+
+  .ds-tabs::-webkit-scrollbar {
+    display: none;
+  }
+}
@@ -0,0 +1,825 @@
+import { html, reactive } from "/assets/vendor/arrow-core.js"
+
+const endpointOptionsCache = {}
+const endpointOptionsInflight = {}
+
+// Plain variables — scheduling/routing flags that must NOT be reactive
+let syncScheduled = false
+let lastParams = null
+
+// Module-level state (persists across route changes)
+const state = reactive({
+  layout: [],
+  allKeys: [],
+  paramMetaByKey: {},
+  values: {},
+  defaultValues: {},
+  loadingLayout: true,
+  loadingValues: true,
+  filter: "",
+  expanded: {},
+  fetched: false,
+  activeSectionSlug: "",
+  numericUpdating: {},
+})
+
+function slugifySectionName(name) {
+  return String(name || "")
+    .toLowerCase()
+    .replace(/[^a-z0-9]+/g, "-")
+    .replace(/^-+|-+$/g, "")
+}
+
+function getSectionsWithSlug() {
+  return state.layout.map(section => ({
+    ...section,
+    slug: slugifySectionName(section.name),
+  }))
+}
+
+function toSelectValue(value) {
+  return value === null || value === undefined ? "" : String(value)
+}
+
+function resolveEndpointTemplate(template) {
+  if (!template) return ""
+  return String(template).replace(/\{([A-Za-z0-9_]+)\}/g, (_, key) => {
+    return encodeURIComponent(toSelectValue(state.values[key]))
+  })
+}
+
+function scheduleSyncInputs() {
+  if (syncScheduled) return
+  syncScheduled = true
+  requestAnimationFrame(() => {
+    syncScheduled = false
+    syncInputs()
+  })
+}
+
+function applySelectOptions(el, options) {
+  el.innerHTML = ""
+  for (const opt of options || []) {
+    const o = document.createElement("option")
+    o.value = String(opt.value)
+    o.textContent = opt.label
+    el.appendChild(o)
+  }
+}
+
+async function hydrateEndpointOptions(el, key, endpoint) {
+  if (endpointOptionsCache[endpoint]) {
+    applySelectOptions(el, endpointOptionsCache[endpoint])
+    el.dataset.hydrated = "1"
+    el.value = toSelectValue(state.values[key])
+    return
+  }
+
+  if (!endpointOptionsInflight[endpoint]) {
+    endpointOptionsInflight[endpoint] = fetch(endpoint)
+      .then(r => r.json())
+      .then(options => {
+        endpointOptionsCache[endpoint] = options
+        return options
+      })
+      .catch(() => null)
+      .finally(() => {
+        delete endpointOptionsInflight[endpoint]
+      })
+  }
+
+  const options = await endpointOptionsInflight[endpoint]
+  if (!options || !el.isConnected) return
+
+  applySelectOptions(el, options)
+  el.dataset.hydrated = "1"
+  el.value = toSelectValue(state.values[key])
+}
+
+function syncInputs() {
+  // Sync checkboxes — set DOM property directly (attribute alone is unreliable)
+  for (const el of document.querySelectorAll("input[type='checkbox'].ds-toggle[id^='ds-']")) {
+    el.checked = !!state.values[el.id.slice(3)]
+  }
+
+  // Sync selects — hydrate options + set value
+  for (const el of document.querySelectorAll("select.ds-select[id^='ds-']")) {
+    const key = el.id.slice(3)
+    const endpointTemplate = el.getAttribute("data-endpoint")
+    const endpoint = resolveEndpointTemplate(endpointTemplate)
+    const inlineOptions = state.paramMetaByKey[key]?.options
+
+    if (endpoint) {
+      if (!el.dataset.hydrated || el.dataset.endpoint !== endpoint) {
+        el.dataset.endpoint = endpoint
+        hydrateEndpointOptions(el, key, endpoint)
+      } else {
+        el.value = toSelectValue(state.values[key])
+      }
+      continue
+    }
+
+    if (Array.isArray(inlineOptions) && inlineOptions.length > 0) {
+      if (!el.dataset.hydrated) {
+        applySelectOptions(el, inlineOptions)
+        el.dataset.hydrated = "1"
+      }
+      el.value = toSelectValue(state.values[key])
+    }
+  }
+}
+
+async function fetchDefaultValues() {
+  try {
+    const defaultsRes = await fetch("/api/params/defaults")
+    if (!defaultsRes.ok) return false
+    const defaultsData = await defaultsRes.json()
+    state.defaultValues = defaultsData || {}
+    return true
+  } catch (e) {
+    return false
+  }
+}
+
+async function fetchLayoutAndParams() {
+  state.loadingLayout = true
+  state.loadingValues = true
+
+  try {
+    const layoutRes = await fetch("/assets/components/tools/device_settings_layout.json")
+    const rawLayoutData = await layoutRes.json()
+
+    const layoutData = rawLayoutData
+      .map(section => ({
+        ...section,
+        params: (section.params || []).filter(param => param.key !== "Model"),
+      }))
+      .filter(section => section.params.length > 0)
+
+    state.layout = layoutData
+
+    const keys = []
+    const paramMetaByKey = {}
+    for (const section of layoutData) {
+      for (const p of section.params) {
+        keys.push(p.key)
+        paramMetaByKey[p.key] = p
+      }
+    }
+
+    state.allKeys = keys
+    state.paramMetaByKey = paramMetaByKey
+  } catch (e) {
+    console.error("Failed to fetch UI layout:", e)
+  }
+  state.loadingLayout = false
+
+  // Pull params once at page load; local state handles subsequent edits.
+  try {
+    const valuesRes = await fetch("/api/params/all")
+
+    const data = await valuesRes.json()
+    state.values = data
+
+    if (!(await fetchDefaultValues())) {
+      state.defaultValues = {}
+    }
+  } catch (e) {
+    console.error("Failed to fetch param values:", e)
+    state.defaultValues = {}
+  }
+  state.loadingValues = false
+
+  // Resolve slug now that layout is available (uses stored route params)
+  resolveActiveSectionSlug(lastParams)
+  scheduleSyncInputs()
+}
+
+function formatSliderValue(val, stepStr, precisionInt, key) {
+  if (val === null || val === undefined) return "--"
+  const v = parseFloat(val)
+  if (Number.isNaN(v)) return val
+
+  const volumeKeys = [
+    "DisengageVolume", "EngageVolume", "PromptVolume",
+    "PromptDistractedVolume", "RefuseVolume",
+    "WarningImmediateVolume", "WarningSoftVolume",
+  ]
+  if (key && volumeKeys.includes(key)) {
+    if (v === 0) return "Muted"
+    if (v === 101) return "Auto"
+    return `${v}%`
+  }
+
+  if (precisionInt !== undefined && precisionInt !== null) {
+    return Number(v.toFixed(precisionInt)).toString()
+  }
+
+  if (!stepStr || !stepStr.includes(".")) return Math.round(v).toString()
+  const dec = stepStr.split(".")[1].length
+  return Number(v.toFixed(dec)).toString()
+}
+
+function formatNumericForInput(value, precision) {
+  const n = Number(value)
+  if (!Number.isFinite(n)) return ""
+  return Number(n.toFixed(precision)).toString()
+}
+
+function formatStepValue(step, precision) {
+  const n = Number(step)
+  if (!Number.isFinite(n)) return "1"
+  return Number(n.toFixed(Math.max(0, precision))).toString()
+}
+
+function numericBounds(param) {
+  const defaultBounds = {
+    min: param.min !== undefined ? param.min : (param.data_type === "float" ? 0.0 : 0),
+    max: param.max !== undefined ? param.max : (param.data_type === "float" ? 100.0 : 100),
+    step: param.step !== undefined ? param.step : (param.data_type === "float" ? 0.01 : 1),
+  }
+
+  const toFinite = (value) => {
+    const n = Number(value)
+    return Number.isFinite(n) ? n : null
+  }
+
+  if (param.key === "ScreenBrightness") {
+    return { min: 1, max: 101, step: 1 }
+  }
+  if (param.key === "ScreenBrightnessOnroad") {
+    return { min: 0, max: 101, step: 1 }
+  }
+
+  // Personality jerk params are stored as percentage-style integers (25..200).
+  // Layout metadata currently uses normalized 0.5..3.0 ranges, which breaks
+  // the +/- stepper and clamps values like 50 down to 3.
+  if (/^(Traffic|Aggressive|Standard|Relaxed)Jerk(Acceleration|Deceleration|Danger|SpeedDecrease|Speed)$/.test(String(param.key || ""))) {
+    return { min: 25, max: 200, step: 1 }
+  }
+
+  if (param.key === "SteerKP") {
+    const base = toFinite(state.values.SteerKPStock) || toFinite(state.values.SteerKP) || 0.6
+    return { min: +(base * 0.5).toFixed(2), max: +(base * 1.5).toFixed(2), step: 0.01 }
+  }
+  if (param.key === "SteerLatAccel") {
+    const base = toFinite(state.values.SteerLatAccelStock) || toFinite(state.values.SteerLatAccel) || 2.0
+    return { min: +(base * 0.5).toFixed(2), max: +(base * 1.25).toFixed(2), step: 0.01 }
+  }
+  if (param.key === "SteerRatio") {
+    const base = toFinite(state.values.SteerRatioStock) || toFinite(state.values.SteerRatio) || 15.0
+    return { min: +(base * 0.25).toFixed(2), max: +(base * 1.5).toFixed(2), step: 0.01 }
+  }
+
+  return defaultBounds
+}
+
+function coerceValueByType(rawValue, dataType) {
+  if (dataType === "int") {
+    const n = Number.parseInt(rawValue, 10)
+    return Number.isFinite(n) ? n : rawValue
+  }
+  if (dataType === "float") {
+    const n = Number.parseFloat(rawValue)
+    return Number.isFinite(n) ? n : rawValue
+  }
+  return rawValue
+}
+
+function stepPrecision(step, explicitPrecision) {
+  if (explicitPrecision !== undefined && explicitPrecision !== null && explicitPrecision !== "") {
+    const parsed = Number.parseInt(explicitPrecision, 10)
+    if (Number.isFinite(parsed) && parsed >= 0) return parsed
+  }
+
+  const stepStr = String(step ?? "")
+  if (!stepStr.includes(".")) return 0
+  return stepStr.split(".")[1].length
+}
+
+function clampNumeric(value, min, max) {
+  return Math.min(max, Math.max(min, value))
+}
+
+function snapNumericToBoundsAndStep(rawValue, bounds, precision) {
+  const min = Number(bounds.min)
+  const max = Number(bounds.max)
+  const step = Number(bounds.step)
+  const value = Number(rawValue)
+  if (!Number.isFinite(min) || !Number.isFinite(max) || !Number.isFinite(value)) return null
+
+  const clamped = clampNumeric(value, min, max)
+  if (!Number.isFinite(step) || step <= 0) {
+    return clampNumeric(Number(clamped.toFixed(precision)), min, max)
+  }
+
+  const snapped = min + Math.round((clamped - min) / step) * step
+  return clampNumeric(Number(snapped.toFixed(precision)), min, max)
+}
+
+function resolveCurrentNumericValue(param, bounds) {
+  const raw = state.values[param.key]
+  const precision = stepPrecision(bounds.step, param.precision)
+  const snapped = snapNumericToBoundsAndStep(raw, bounds, precision)
+  if (snapped !== null) return snapped
+
+  const fallback = Number(bounds.min)
+  return Number.isFinite(fallback) ? fallback : 0
+}
+
+function resolveDefaultNumericValue(param, bounds) {
+  const precision = stepPrecision(bounds.step, param.precision)
+  const stockKey = `${param.key}Stock`
+
+  // Prefer live vehicle stock values when available.
+  const liveStock = snapNumericToBoundsAndStep(state.values?.[stockKey], bounds, precision)
+  if (liveStock !== null) return liveStock
+
+  // Fallback to default table stock value if present.
+  const defaultStock = snapNumericToBoundsAndStep(state.defaultValues?.[stockKey], bounds, precision)
+  if (defaultStock !== null) return defaultStock
+
+  // Final fallback: generic param default.
+  return snapNumericToBoundsAndStep(state.defaultValues?.[param.key], bounds, precision)
+}
+
+function isNumericUpdating(key) {
+  return !!state.numericUpdating[key]
+}
+
+function showParamSnackbar(message, level, timeout = 2200) {
+  showSnackbar(message, level, timeout, {
+    key: "device-settings-param-update",
+    replace: true,
+  })
+}
+
+function syncNumericDisplay(param, rawValue) {
+  const displayEl = document.getElementById(`ds-display-${param.key}`)
+  if (!displayEl) return
+
+  const bounds = numericBounds(param)
+  displayEl.textContent = formatSliderValue(
+    rawValue,
+    String(bounds.step),
+    param.precision,
+    param.key,
+  )
+}
+
+async function updateNumericParam(param, numericValue, options = {}) {
+  const key = param.key
+  const current = state.values[key]
+  const successMessage = options.successMessage
+  state.numericUpdating = { ...state.numericUpdating, [key]: true }
+  state.values = { ...state.values, [key]: numericValue }
+  syncNumericDisplay(param, numericValue)
+  try {
+    const res = await fetch("/api/params", {
+      method: "PUT",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({ key, value: coerceValueByType(numericValue, param.data_type) }),
+    })
+    const data = await res.json()
+
+    if (res.ok) {
+      const updated = (data.updated && typeof data.updated === "object") ? data.updated : {}
+      const resolvedValue = Object.prototype.hasOwnProperty.call(updated, key) ? updated[key] : numericValue
+      state.values = { ...state.values, [key]: resolvedValue, ...updated }
+      state.numericUpdating = { ...state.numericUpdating, [key]: false }
+      syncNumericDisplay(param, resolvedValue)
+      showParamSnackbar(successMessage || data.message || `Parameter '${key}' updated.`)
+      scheduleSyncInputs()
+    } else {
+      state.values = { ...state.values, [key]: current }
+      state.numericUpdating = { ...state.numericUpdating, [key]: false }
+      syncNumericDisplay(param, current)
+      showParamSnackbar(data.error || "Failed to update parameter", "error")
+    }
+  } catch (e) {
+    state.values = { ...state.values, [key]: current }
+    state.numericUpdating = { ...state.numericUpdating, [key]: false }
+    syncNumericDisplay(param, current)
+    showParamSnackbar("Network error — is the device reachable?", "error")
+  }
+}
+
+function stepNumericParam(param, direction) {
+  const bounds = numericBounds(param)
+  const min = Number(bounds.min)
+  const max = Number(bounds.max)
+  const step = Number(bounds.step)
+
+  if (!Number.isFinite(min) || !Number.isFinite(max) || !Number.isFinite(step) || step <= 0) return
+  if (isNumericUpdating(param.key)) return
+
+  const current = resolveCurrentNumericValue(param, bounds)
+  const precision = stepPrecision(step, param.precision)
+  const epsilon = Math.pow(10, -(precision + 2))
+
+  const next = snapNumericToBoundsAndStep(current + (direction * step), bounds, precision)
+  if (next === null) return
+  if (Math.abs(next - current) <= epsilon) return
+
+  updateNumericParam(param, next)
+}
+
+function applyManualNumericParam(param) {
+  if (isNumericUpdating(param.key)) return
+
+  const inputEl = document.getElementById(`ds-manual-${param.key}`)
+  if (!inputEl) return
+
+  const raw = String(inputEl.value ?? "").trim()
+  if (!raw) {
+    showParamSnackbar("Enter a value first.", "error")
+    return
+  }
+
+  const parsed = Number.parseFloat(raw)
+  if (!Number.isFinite(parsed)) {
+    showParamSnackbar("Enter a valid number.", "error")
+    return
+  }
+
+  const bounds = numericBounds(param)
+  const precision = stepPrecision(bounds.step, param.precision)
+  const snapped = snapNumericToBoundsAndStep(parsed, bounds, precision)
+  if (snapped === null) {
+    showParamSnackbar("Value is out of range.", "error")
+    return
+  }
+
+  inputEl.value = formatNumericForInput(snapped, precision)
+
+  const current = resolveCurrentNumericValue(param, bounds)
+  const epsilon = Math.pow(10, -(precision + 2))
+  if (Math.abs(snapped - current) <= epsilon) return
+
+  updateNumericParam(param, snapped)
+}
+
+async function resetNumericParam(param) {
+  const bounds = numericBounds(param)
+  let defaultValue = resolveDefaultNumericValue(param, bounds)
+  if (defaultValue === null) {
+    const loaded = await fetchDefaultValues()
+    if (!loaded) {
+      showParamSnackbar("Couldn't load defaults. Try refreshing the page.", "error")
+      return
+    }
+    defaultValue = resolveDefaultNumericValue(param, bounds)
+  }
+
+  if (defaultValue === null) {
+    showParamSnackbar("No default value available for this setting.", "error")
+    return
+  }
+  if (isNumericUpdating(param.key)) return
+
+  const current = resolveCurrentNumericValue(param, bounds)
+  const precision = stepPrecision(bounds.step, param.precision)
+  const epsilon = Math.pow(10, -(precision + 2))
+  if (Math.abs(defaultValue - current) <= epsilon) return
+
+  updateNumericParam(param, defaultValue, {
+    successMessage: `Parameter '${param.key}' reset to default.`,
+  })
+}
+
+async function updateParam(key, elType) {
+  const current = state.values[key]
+  const el = document.getElementById(`ds-${key}`)
+  if (!el) return
+
+  const param = state.paramMetaByKey[key] || {}
+
+  let formattedVal
+  if (elType === "checkbox") {
+    formattedVal = !!el.checked
+  } else if (elType === "dropdown") {
+    formattedVal = coerceValueByType(el.value, param.data_type)
+  } else {
+    formattedVal = coerceValueByType(el.value, param.data_type)
+  }
+
+  try {
+    const res = await fetch("/api/params", {
+      method: "PUT",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({ key, value: formattedVal }),
+    })
+    const data = await res.json()
+
+    if (res.ok) {
+      const updated = (data.updated && typeof data.updated === "object") ? data.updated : {}
+      state.values = { ...state.values, [key]: formattedVal, ...updated }
+      showParamSnackbar(data.message || `Parameter '${key}' updated.`)
+      scheduleSyncInputs()
+    } else {
+      revertInput(key, current, elType)
+      showParamSnackbar(data.error || "Failed to update parameter", "error")
+    }
+  } catch (e) {
+    revertInput(key, current, elType)
+    showParamSnackbar("Network error — is the device reachable?", "error")
+  }
+}
+
+function revertInput(key, current, elType) {
+  const el = document.getElementById(`ds-${key}`)
+  if (!el) return
+
+  if (elType === "checkbox") {
+    el.checked = !!current
+    return
+  }
+
+  if (elType === "dropdown") {
+    el.value = toSelectValue(current)
+    return
+  }
+
+  el.value = current
+}
+
+function toggleManage(key) {
+  state.expanded = { ...state.expanded, [key]: !state.expanded[key] }
+  scheduleSyncInputs()
+}
+
+function matchesFilter(p) {
+  if (!state.filter) return true
+  const q = state.filter.toLowerCase()
+  return p.label.toLowerCase().includes(q) || p.key.toLowerCase().includes(q)
+}
+
+function clearSearchFilter() {
+  if (!state.filter) return
+  state.filter = ""
+  scheduleSyncInputs()
+}
+
+function handleSectionTabClick(sectionSlug, event) {
+  if (!sectionSlug || sectionSlug === state.activeSectionSlug) return
+
+  // Preserve horizontal tab strip position on mobile when switching sections.
+  const tabsEl = event?.currentTarget?.closest(".ds-tabs")
+  const preservedScrollLeft = tabsEl ? tabsEl.scrollLeft : null
+
+  state.activeSectionSlug = sectionSlug
+
+  if (preservedScrollLeft !== null) {
+    requestAnimationFrame(() => {
+      const nextTabsEl = document.getElementById("ds-tabs")
+      if (nextTabsEl) nextTabsEl.scrollLeft = preservedScrollLeft
+    })
+  }
+}
+
+function renderSettingRow(p) {
+  if (p.parent_key && !state.filter) {
+    if (!state.values[p.parent_key]) return ""
+    if (!state.expanded[p.parent_key]) return ""
+  }
+
+  const isNumeric = p.ui_type === "numeric"
+  const isChild = p.parent_key ? "ds-child-modifier" : ""
+
+  return html`
+    <div class="ds-row ${isNumeric ? "ds-row-numeric" : ""} ${isChild}">
+      <div class="ds-row-info">
+        <div class="ds-row-text">
+          <span class="ds-row-label">${p.label}</span>
+          ${p.description ? html`<div class="ds-row-desc">${p.description}</div>` : ""}
+
+          ${() => p.is_parent_toggle && state.values[p.key] ? html`
+            <div class="ds-manage-btn" @click="${() => toggleManage(p.key)}">
+              ${state.expanded[p.key] ? "Close" : "Manage"}
+              <i class="bi bi-chevron-${state.expanded[p.key] ? "up" : "down"}"></i>
+            </div>
+          ` : ""}
+        </div>
+        ${isNumeric ? html`<span class="ds-row-value" id="ds-display-${p.key}">${() => {
+            const currentValue = state.values[p.key]
+            const bounds = numericBounds(p)
+            return currentValue !== undefined ? formatSliderValue(currentValue, String(bounds.step), p.precision, p.key) : ".."
+          }}</span>` : ""}
+      </div>
+
+      ${isNumeric ? html`
+        <div class="ds-stepper-container">
+          ${(() => {
+        const bounds = numericBounds(p)
+        const currentNumeric = resolveCurrentNumericValue(p, bounds)
+        const precision = stepPrecision(bounds.step, p.precision)
+        const epsilon = Math.pow(10, -(precision + 2))
+        const updating = isNumericUpdating(p.key)
+        const canDecrease = !updating && currentNumeric > (Number(bounds.min) + epsilon)
+        const canIncrease = !updating && currentNumeric < (Number(bounds.max) - epsilon)
+        const defaultNumeric = resolveDefaultNumericValue(p, bounds)
+        const defaultLabel = defaultNumeric !== null
+          ? formatSliderValue(defaultNumeric, String(bounds.step), p.precision, p.key)
+          : "N/A"
+        const canReset = !updating && defaultNumeric !== null && Math.abs(defaultNumeric - currentNumeric) > epsilon
+        const stepLabel = formatStepValue(bounds.step, precision)
+        return html`
+              <div class="ds-stepper">
+                <button
+                  class="ds-stepper-btn"
+                  ?disabled="${!canDecrease}"
+                  @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 class="ds-step-value">Step: ${stepLabel} per click</span>
+                  <span class="ds-default-value">Default: ${defaultLabel}</span>
+                  <div class="ds-manual-row">
+                    <input
+                      type="number"
+                      class="ds-manual-input"
+                      id="ds-manual-${p.key}"
+                      min="${bounds.min}"
+                      max="${bounds.max}"
+                      step="${bounds.step}"
+                      ?disabled="${updating}"
+                      value="${() => formatNumericForInput(resolveCurrentNumericValue(p, numericBounds(p)), precision)}"
+                      @keydown="${(e) => {
+                        if (e.key !== "Enter") return
+                        e.preventDefault()
+                        applyManualNumericParam(p)
+                      }}" />
+                    <button
+                      class="ds-apply-btn"
+                      ?disabled="${updating}"
+                      @click="${() => applyManualNumericParam(p)}">Apply</button>
+                  </div>
+                  <button
+                    class="ds-reset-btn"
+                    ?disabled="${!canReset}"
+                    @click="${() => resetNumericParam(p)}">Reset to Default</button>
+                </div>
+                <button
+                  class="ds-stepper-btn"
+                  ?disabled="${!canIncrease}"
+                  @click="${() => stepNumericParam(p, 1)}">+</button>
+              </div>
+            `
+      })()}
+        </div>
+      ` : p.ui_type === "dropdown" ? html`
+        <select
+          class="ds-select"
+          id="ds-${p.key}"
+          data-endpoint="${p.options_endpoint || ""}"
+          @change="${() => updateParam(p.key, "dropdown")}">
+          <option value="">Loading...</option>
+        </select>
+      ` : html`
+        <input
+          type="checkbox"
+          class="ds-toggle"
+          id="ds-${p.key}"
+          @change="${() => updateParam(p.key, "checkbox")}" />
+      `}
+    </div>
+  `
+}
+
+// Resolve the active section slug imperatively — NEVER inside a reactive expression
+function resolveActiveSectionSlug(params) {
+  if (state.layout.length === 0) return
+
+  const sections = getSectionsWithSlug()
+  const validSlugs = new Set(sections.map(s => s.slug))
+  const requestedSlug = String(params?.section || "").toLowerCase()
+  const fallbackSlug = sections[0].slug
+  const nextSlug = validSlugs.has(requestedSlug)
+    ? requestedSlug
+    : (validSlugs.has(state.activeSectionSlug) ? state.activeSectionSlug : fallbackSlug)
+
+  if (state.activeSectionSlug !== nextSlug) {
+    state.activeSectionSlug = nextSlug
+  }
+}
+
+export function DeviceSettings({ params }) {
+  lastParams = params
+
+  if (!state.fetched) {
+    state.fetched = true
+    fetchLayoutAndParams()
+  }
+
+  // Resolve slug imperatively (safe: runs in function body, not reactive context)
+  resolveActiveSectionSlug(params)
+
+  return html`
+    <div class="ds-wrapper">
+      <h2>Toggles</h2>
+
+      <div class="ds-search-row">
+        <input
+          class="ds-search"
+          type="text"
+          placeholder="Search settings..."
+          value="${() => state.filter}"
+          @keydown="${(e) => {
+            if (e.key === "Escape") clearSearchFilter()
+          }}"
+          @input="${(e) => {
+            state.filter = e.target.value
+            scheduleSyncInputs()
+          }}" />
+        ${() => state.filter ? html`
+          <button
+            class="ds-search-clear"
+            @click="${() => clearSearchFilter()}">
+            Clear
+          </button>
+        ` : ""}
+      </div>
+
+      ${() => {
+      if (state.loadingLayout || state.loadingValues) {
+        return html`<div class="ds-loading">Loading configuration...</div>`
+      }
+
+      const sections = getSectionsWithSlug()
+      if (sections.length === 0) {
+        return html`<div class="ds-empty">No settings available.</div>`
+      }
+
+      // Sync DOM inputs after ArrowJS renders (safe: syncScheduled is non-reactive)
+      scheduleSyncInputs()
+
+      // Search active → show matching results from ALL sections
+      if (state.filter) {
+        const MAX_PER_SECTION = 25
+        const searchResults = sections
+          .map(s => ({ ...s, matches: s.params.filter(p => matchesFilter(p)) }))
+          .filter(s => s.matches.length > 0)
+
+        const totalMatches = searchResults.reduce((n, s) => n + s.matches.length, 0)
+
+        return html`
+          <div class="ds-status-bar">
+            <span>${totalMatches} result${totalMatches !== 1 ? "s" : ""} across ${searchResults.length} section${searchResults.length !== 1 ? "s" : ""}</span>
+            <span>${state.allKeys.length} total mapped</span>
+          </div>
+
+          ${searchResults.map(section => html`
+            <div class="ds-section">
+              <div class="ds-section-header ds-static-header">
+                <i class="bi ${section.icon}"></i>
+                <span class="ds-section-title">${section.name} (${section.matches.length})</span>
+              </div>
+              <div class="ds-section-body">
+                ${section.matches.slice(0, MAX_PER_SECTION).map(p => renderSettingRow(p))}
+                ${section.matches.length > MAX_PER_SECTION ? html`<div class="ds-row"><span class="ds-row-label" style="opacity:0.5">+${section.matches.length - MAX_PER_SECTION} more — refine your search</span></div>` : ""}
+              </div>
+            </div>
+          `)}
+
+          ${totalMatches === 0 ? html`<div class="ds-empty">No settings match your search.</div>` : ""}
+        `
+      }
+
+      // No search → normal tab-based single-section view
+      const activeSection = sections.find(s => s.slug === state.activeSectionSlug) || sections[0]
+      const visibleParams = activeSection.params.filter(p => matchesFilter(p))
+
+      return html`
+          <div class="ds-tabs" id="ds-tabs">
+            ${sections.map(section => html`
+              <button
+                class="ds-tab ${section.slug === state.activeSectionSlug ? "active" : ""}"
+                @click="${(e) => {
+          handleSectionTabClick(section.slug, e)
+        }}">
+                <i class="bi ${section.icon}"></i>
+                <span>${section.name}</span>
+              </button>
+            `)}
+          </div>
+
+          <div class="ds-status-bar">
+            <span>${activeSection.params.length} settings in ${activeSection.name}</span>
+            <span>${state.allKeys.length} total mapped</span>
+          </div>
+
+          <div class="ds-section">
+            <div class="ds-section-header ds-static-header">
+              <i class="bi ${activeSection.icon}"></i>
+              <span class="ds-section-title">${activeSection.name} (${visibleParams.length})</span>
+            </div>
+            <div class="ds-section-body">
+              ${visibleParams.map(p => renderSettingRow(p))}
+            </div>
+          </div>
+
+          ${visibleParams.length === 0 ? html`<div class="ds-empty">No settings match your search.</div>` : ""}
+        `
+    }}
+    </div>
+  `
+}
@@ -1,4 +1,4 @@
-import { html } from "https://esm.sh/@arrow-js/core"
+import { html } from "/assets/vendor/arrow-core.js"

 export function DoorControl () {
  async function lockDoors () {
@@ -1,4 +1,4 @@
-import { html, reactive } from "https://esm.sh/@arrow-js/core";
+import { html, reactive } from "/assets/vendor/arrow-core.js";
 import { formatSecondsToHuman, parseErrorLogToDate } from "/assets/js/utils.js";
 import { Modal } from "/assets/components/modal.js";

@@ -0,0 +1,137 @@
+/* ――― Galaxy Pairing Widget ――― */
+.galaxy-wrapper {
+  max-width: var(--width-xxxl);
+  padding: var(--padding-base) var(--padding-lg) var(--padding-xxl);
+}
+
+.galaxy-loading {
+  color: var(--text-muted);
+  padding: var(--padding-xl);
+  text-align: center;
+}
+
+.galaxy-widget {
+  align-items: center;
+  background-color: var(--secondary-bg);
+  border-radius: var(--border-radius-lg);
+  box-shadow: var(--shadow-sm);
+  display: flex;
+  flex-direction: column;
+  gap: var(--gap-lg);
+  max-width: var(--width-lg);
+  padding: var(--padding-xl);
+  transition: box-shadow var(--transition-fast), transform var(--transition-fast);
+}
+
+.galaxy-widget:hover {
+  box-shadow: var(--shadow-md);
+  transform: var(--hover-scale-sm);
+}
+
+/* ――― Status Badge ――― */
+.galaxy-status-badge {
+  align-items: center;
+  border-radius: 2rem;
+  display: inline-flex;
+  font-size: var(--font-size-sm);
+  font-weight: var(--font-weight-bold);
+  gap: var(--gap-xs);
+  padding: 0.3rem 1rem;
+}
+
+.galaxy-paired {
+  background-color: rgba(94, 200, 200, 0.15);
+  color: var(--success-fg);
+}
+
+.galaxy-unpaired {
+  background-color: rgba(224, 85, 119, 0.15);
+  color: var(--danger-fg);
+}
+
+/* ――― Text ――― */
+.galaxy-text {
+  color: var(--text-color);
+  line-height: var(--line-height-base);
+  text-align: center;
+}
+
+/* ――― URL Link ――― */
+.galaxy-url {
+  color: var(--main-fg);
+  font-size: var(--font-size-base);
+  font-weight: var(--font-weight-demi-bold);
+  text-decoration: underline;
+  text-underline-offset: 3px;
+  transition: color var(--transition-fast);
+  word-break: break-all;
+}
+
+.galaxy-url:hover {
+  color: var(--accent-hover-bg);
+}
+
+/* ――― Input Group ――― */
+.galaxy-input-group {
+  display: flex;
+  flex-direction: column;
+  gap: var(--gap-sm);
+  width: 100%;
+}
+
+.galaxy-input {
+  background-color: var(--input-bg);
+  border: var(--border-style-input);
+  border-radius: var(--border-radius-lg);
+  box-sizing: border-box;
+  color: var(--text-color);
+  font-family: var(--font-body);
+  font-size: var(--font-size-base);
+  outline: none;
+  padding: var(--padding-sm) var(--padding-base);
+  transition: box-shadow var(--transition-fast);
+  width: 100%;
+}
+
+.galaxy-input:focus {
+  box-shadow: 0 0 0 2px var(--main-fg);
+}
+
+/* ――― Buttons ――― */
+.galaxy-button {
+  background-color: var(--input-bg);
+  border: none;
+  border-radius: var(--border-radius-lg);
+  color: var(--text-color);
+  font-size: var(--font-size-base);
+  font-weight: var(--font-weight-demi-bold);
+  padding: var(--padding-sm) var(--padding-base);
+  text-align: center;
+  transition: background-color var(--transition-fast), box-shadow var(--transition-fast), transform var(--transition-fast);
+  width: 100%;
+}
+
+.galaxy-button:hover:not(:disabled) {
+  box-shadow: var(--shadow-md);
+  transform: var(--hover-scale-sm);
+}
+
+.galaxy-button:disabled {
+  opacity: var(--disabled-opacity);
+}
+
+.galaxy-button-danger {
+  background-color: rgba(224, 85, 119, 0.2);
+  color: var(--danger-fg);
+}
+
+.galaxy-button-danger:hover:not(:disabled) {
+  background-color: rgba(224, 85, 119, 0.35);
+}
+
+/* ――― Mobile ――― */
+@media only screen and (max-width: 768px) and (orientation: portrait) {
+  .galaxy-wrapper {
+    padding: var(--padding-sm) var(--padding-base) var(--padding-xl);
+  }
+}
@@ -0,0 +1,166 @@
+import { html, reactive } from "/assets/vendor/arrow-core.js"
+import { isGalaxyTunnel } from "/assets/js/utils.js"
+import { Modal } from "/assets/components/modal.js"
+
+const state = reactive({
+  paired: false,
+  url: "",
+  password: "",
+  loading: true,
+  submitting: false,
+  showUnpairModal: false,
+  fetched: false,
+})
+
+async function fetchStatus() {
+  state.loading = true
+  try {
+    const res = await fetch("/api/galaxy/status")
+    const data = await res.json()
+    state.paired = data.paired
+    state.url = data.url
+  } catch (e) {
+    console.error("Failed to fetch Galaxy status:", e)
+  }
+  state.loading = false
+}
+
+async function pair() {
+  if (state.submitting) return
+  const pw = state.password.trim()
+  if (pw.length < 6) {
+    showSnackbar("Password must be at least 6 characters.")
+    return
+  }
+
+  state.submitting = true
+  try {
+    const res = await fetch("/api/galaxy/pair", {
+      method: "POST",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({ password: pw }),
+    })
+    const data = await res.json()
+    if (res.ok) {
+      state.paired = true
+      state.url = data.url
+      state.password = ""
+      // Clear the DOM input value directly (Arrow.js doesn't two-way bind)
+      const input = document.querySelector(".galaxy-input")
+      if (input) input.value = ""
+      showSnackbar(data.message || "Paired!")
+    } else {
+      showSnackbar(data.error || "Pairing failed.")
+    }
+  } catch (e) {
+    showSnackbar("Network error — is the device reachable?")
+  }
+  state.submitting = false
+}
+
+async function unpair() {
+  state.showUnpairModal = false
+  state.submitting = true
+  try {
+    const res = await fetch("/api/galaxy/unpair", { method: "POST" })
+    const data = await res.json()
+    if (res.ok) {
+      state.paired = false
+      state.url = ""
+      showSnackbar(data.message || "Unpaired!")
+    } else {
+      showSnackbar(data.error || "Unpairing failed.")
+    }
+  } catch (e) {
+    showSnackbar("Network error — is the device reachable?")
+  }
+  state.submitting = false
+}
+
+export function GalaxyPairing() {
+  if (isGalaxyTunnel()) {
+    return html`
+      <div class="tunnel-notice">
+        <div class="tunnel-notice-icon">🛰️</div>
+        <h3 class="tunnel-notice-title">Galaxy Pairing Unavailable via Galaxy</h3>
+        <p class="tunnel-notice-body">Galaxy pairing requires a direct connection.<br>Connect to your device's local network to use this feature.</p>
+      </div>
+    `;
+  }
+
+  if (!state.fetched) {
+    state.fetched = true
+    fetchStatus()
+  }
+
+  return html`
+    <div class="galaxy-wrapper">
+      <h2>Galaxy</h2>
+
+      ${() => {
+      if (state.loading) {
+        return html`<div class="galaxy-loading">Checking pairing status…</div>`
+      }
+
+      if (state.paired) {
+        return html`
+            <section class="galaxy-widget">
+              <div class="galaxy-status-badge galaxy-paired">
+                <i class="bi bi-check-circle-fill"></i> Paired
+              </div>
+              <p class="galaxy-text">
+                Your device is paired with Galaxy. Access it remotely at:
+              </p>
+              <a class="galaxy-url" href="${state.url}" target="_blank" rel="noopener">
+                ${state.url}
+              </a>
+              <button
+                class="galaxy-button galaxy-button-danger"
+                @click="${() => { state.showUnpairModal = true }}"
+                disabled="${() => state.submitting}"
+              >
+                ${() => state.submitting ? "Unpairing…" : "Unpair"}
+              </button>
+            </section>
+
+            ${() => state.showUnpairModal ? Modal({
+          title: "Confirm Unpair",
+          message: "Are you sure you want to unpair from Galaxy? You will lose remote access until you pair again.",
+          onConfirm: unpair,
+          onCancel: () => { state.showUnpairModal = false },
+          confirmText: "Unpair",
+        }) : ""}
+          `
+      }
+
+      return html`
+          <section class="galaxy-widget">
+            <div class="galaxy-status-badge galaxy-unpaired">
+              <i class="bi bi-x-circle-fill"></i> Not Paired
+            </div>
+            <p class="galaxy-text">
+              Pair your device with Galaxy to access The Pond remotely from anywhere.
+              Enter a password to secure your connection.
+            </p>
+            <div class="galaxy-input-group">
+              <input
+                class="galaxy-input"
+                type="password"
+                placeholder="Password (min 6 characters)"
+                @input="${(e) => { state.password = e.target.value }}"
+                @keydown="${(e) => { if (e.key === 'Enter') pair() }}"
+              />
+              <button
+                class="galaxy-button"
+                @click="${pair}"
+                disabled="${() => state.submitting || state.password.trim().length < 6}"
+              >
+                ${() => state.submitting ? "Pairing…" : "Pair"}
+              </button>
+            </div>
+          </section>
+        `
+    }}
+    </div>
+  `
+}
@@ -0,0 +1,117 @@
+.longManeuverPage {
+  max-width: var(--width-xxl);
+}
+
+.longManeuverCard {
+  background-color: var(--secondary-bg);
+  border-radius: var(--border-radius-md);
+  color: var(--text-color);
+  max-width: 90%;
+  padding: var(--border-radius-xl);
+}
+
+.longManeuverIntro {
+  margin-top: 0;
+}
+
+.longManeuverActions {
+  display: flex;
+  gap: var(--gap-sm);
+  margin-top: var(--margin-base);
+}
+
+.longManeuverButton {
+  background: var(--main-fg);
+  border: none;
+  border-radius: var(--border-radius-sm);
+  color: var(--text-color);
+  font-size: var(--font-size-sm);
+  font-weight: var(--font-weight-demi-bold);
+  padding: var(--padding-sm) var(--padding-base);
+}
+
+.longManeuverButton:hover {
+  transform: var(--hover-scale-sm);
+  transition: transform var(--transition-fast), background-color var(--transition-fast);
+}
+
+.longManeuverButton:disabled {
+  cursor: not-allowed;
+  opacity: 0.55;
+  transform: none;
+}
+
+.longManeuverButton.danger {
+  background: var(--danger-bg);
+}
+
+.longManeuverButton.danger:hover {
+  background: var(--danger-hover-bg);
+}
+
+.longManeuverError {
+  color: var(--danger-fg);
+  margin-top: var(--margin-base);
+}
+
+.longManeuverMuted {
+  color: var(--text-muted);
+}
+
+.longManeuverStatusGrid {
+  display: grid;
+  gap: 0.5em 1em;
+  grid-template-columns: repeat(3, minmax(0, 1fr));
+  margin-top: var(--margin-base);
+}
+
+.longManeuverStatusGrid p {
+  font-size: var(--font-size-sm);
+  margin: 0;
+}
+
+.longManeuverCurrent {
+  margin-top: var(--margin-base);
+}
+
+.longManeuverCurrent p {
+  font-size: var(--font-size-sm);
+  margin: 0 0 var(--margin-xs);
+}
+
+.longManeuverInstructions,
+.longManeuverHistory {
+  margin-top: var(--margin-base);
+}
+
+.longManeuverInstructions h3,
+.longManeuverHistory h3 {
+  margin-bottom: var(--margin-xs);
+}
+
+.longManeuverInstructions ol,
+.longManeuverHistory ol {
+  margin: var(--margin-xs) 0 0;
+  padding-left: 1.4rem;
+}
+
+.longManeuverInstructions li,
+.longManeuverHistory li {
+  font-size: var(--font-size-sm);
+  margin-bottom: 0.25rem;
+}
+
+@media only screen and (max-width: 768px) and (orientation: portrait) {
+  .longManeuverCard {
+    max-width: 100%;
+  }
+
+  .longManeuverActions {
+    flex-direction: column;
+  }
+
+  .longManeuverStatusGrid {
+    grid-template-columns: 1fr;
+  }
+}
+
@@ -0,0 +1,183 @@
+import { html, reactive } from "/assets/vendor/arrow-core.js"
+
+const state = reactive({
+  loading: true,
+  busy: false,
+  error: "",
+  data: null,
+})
+
+let initialized = false
+let pollHandle = null
+const POLL_INTERVAL_MS = 1000
+
+function isLongitudinalManeuversRouteActive() {
+  return window.location.pathname === "/longitudinal_maneuvers"
+}
+
+function safeNumber(value, fallback = 0) {
+  const n = Number(value)
+  return Number.isFinite(n) ? n : fallback
+}
+
+function formatAgeSeconds(value) {
+  const sec = safeNumber(value, -1)
+  if (sec < 0) return "unknown"
+  if (sec < 1) return "just now"
+  if (sec < 60) return `${Math.round(sec)}s ago`
+  const min = sec / 60
+  if (min < 60) return `${Math.round(min)}m ago`
+  const hr = min / 60
+  return `${Math.round(hr)}h ago`
+}
+
+async function fetchStatus() {
+  try {
+    const response = await fetch("/api/longitudinal_maneuvers/status")
+    const payload = await response.json()
+    if (!response.ok) {
+      throw new Error(payload.error || response.statusText || "Failed to load maneuver status")
+    }
+
+    state.data = payload
+    state.error = ""
+  } catch (error) {
+    state.error = error?.message || "Failed to load maneuver status"
+  } finally {
+    state.loading = false
+  }
+}
+
+function stopPolling() {
+  if (!pollHandle) return
+  clearTimeout(pollHandle)
+  pollHandle = null
+}
+
+function ensurePolling() {
+  if (pollHandle) return
+
+  const poll = async () => {
+    if (!isLongitudinalManeuversRouteActive()) {
+      pollHandle = null
+      return
+    }
+
+    if (document.visibilityState !== "visible") {
+      pollHandle = setTimeout(poll, POLL_INTERVAL_MS)
+      return
+    }
+
+    await fetchStatus()
+    pollHandle = setTimeout(poll, POLL_INTERVAL_MS)
+  }
+
+  pollHandle = setTimeout(poll, POLL_INTERVAL_MS)
+}
+
+async function runAction(action) {
+  if (state.busy) return
+  state.busy = true
+
+  try {
+    const response = await fetch(`/api/longitudinal_maneuvers/${action}`, { method: "POST" })
+    const payload = await response.json()
+    if (!response.ok) {
+      throw new Error(payload.error || response.statusText || `Failed to ${action} maneuvers`)
+    }
+
+    state.data = payload
+    state.error = ""
+    showSnackbar(payload.message || "Action complete.")
+  } catch (error) {
+    const message = error?.message || `Failed to ${action} maneuvers`
+    state.error = message
+    showSnackbar(message, "error")
+  } finally {
+    state.busy = false
+  }
+}
+
+function initialize() {
+  if (initialized) return
+  initialized = true
+  fetchStatus()
+  ensurePolling()
+}
+
+function statusLine(label, value) {
+  return html`<p><strong>${label}:</strong> ${value}</p>`
+}
+
+export function LongitudinalManeuvers() {
+  initialize()
+
+  return html`
+    <div class="longManeuverPage">
+      <h2>Long Maneuvers</h2>
+
+      <div class="longManeuverCard">
+        <p class="longManeuverIntro">
+          Run the longitudinal maneuver suite from your phone and monitor progress live.
+        </p>
+
+        <div class="longManeuverActions">
+          <button
+            class="longManeuverButton"
+            ?disabled="${state.busy}"
+            @click="${() => runAction("start")}">
+            Start / Arm
+          </button>
+          <button
+            class="longManeuverButton danger"
+            ?disabled="${state.busy}"
+            @click="${() => runAction("stop")}">
+            Stop
+          </button>
+        </div>
+
+        ${() => state.loading ? html`<p class="longManeuverMuted">Loading status...</p>` : ""}
+        ${() => state.error ? html`<p class="longManeuverError">${state.error}</p>` : ""}
+
+        ${() => state.data ? html`
+          <div class="longManeuverStatusGrid">
+            ${statusLine("Mode Enabled", state.data.modeEnabled ? "Yes" : "No")}
+            ${statusLine("State", state.data.state || "idle")}
+            ${statusLine("Onroad", state.data.isOnroad ? "Yes" : "No")}
+            ${statusLine("Engaged", state.data.isEngaged ? "Yes" : "No")}
+            ${statusLine("Phase", state.data.phase || "n/a")}
+            ${statusLine("Paddle Mode", state.data.paddleMode || "auto")}
+            ${statusLine("Step", `${safeNumber(state.data.stepIndex, 0)}/${safeNumber(state.data.stepTotal, 0)}`)}
+            ${statusLine("Run", `${safeNumber(state.data.runIndex, 0)}/${safeNumber(state.data.runTotal, 0)}`)}
+            ${statusLine("Updated", formatAgeSeconds(state.data.updatedAgeSec))}
+          </div>
+
+          <div class="longManeuverCurrent">
+            <p><strong>Current Maneuver:</strong> ${state.data.maneuver || "n/a"}</p>
+            <p><strong>Popup Text:</strong> ${state.data.uiText1 || ""} ${state.data.uiText2 ? `| ${state.data.uiText2}` : ""}</p>
+          </div>
+
+          <div class="longManeuverInstructions">
+            <h3>Quick Guide</h3>
+            <ol>
+              <li>Find a large, empty, straight road or lot with no traffic.</li>
+              <li>Press <strong>Start / Arm</strong> here, then engage openpilot with SET.</li>
+              <li>Keep full supervision and be ready to disengage at all times.</li>
+              <li>For GM pedal-long cars, the suite runs both pedal-only and pedal+paddle phases automatically.</li>
+              <li>When the status says complete, collect logs and generate your HTML report.</li>
+            </ol>
+          </div>
+
+          <div class="longManeuverHistory">
+            <h3>Progress Chain</h3>
+            ${() => (state.data.history || []).length ? html`
+              <ol>
+                ${(state.data.history || []).slice().reverse().map((line) => html`<li>${line}</li>`)}
+              </ol>
+            ` : html`<p class="longManeuverMuted">No steps logged yet.</p>`}
+          </div>
+        ` : ""}
+      </div>
+    </div>
+  `
+}
@@ -0,0 +1,253 @@
+.mm-wrapper {
+  color: var(--text-color);
+  max-width: 1200px;
+  padding-right: var(--padding-base);
+}
+
+.mm-toolbar {
+  align-items: center;
+  background: var(--card-bg);
+  border: 1px solid var(--sidebar-border-color);
+  border-radius: var(--border-radius-lg);
+  display: flex;
+  flex-wrap: wrap;
+  gap: var(--gap-md);
+  justify-content: space-between;
+  margin: var(--margin-base) 0;
+  padding: var(--padding-base);
+}
+
+.mm-summary {
+  color: var(--text-muted);
+  display: flex;
+  flex-wrap: wrap;
+  gap: var(--gap-lg);
+}
+
+.mm-actions {
+  display: flex;
+  flex-wrap: wrap;
+  gap: var(--gap-sm);
+}
+
+.mm-status {
+  align-items: center;
+  display: flex;
+  flex-wrap: wrap;
+  gap: var(--gap-sm);
+  margin-bottom: var(--margin-base);
+}
+
+.mm-progress {
+  background: var(--secondary-bg);
+  border: 1px solid var(--sidebar-border-color);
+  border-radius: var(--border-radius-base);
+  color: var(--text-color);
+  padding: 0.35rem 0.6rem;
+}
+
+.mm-filters {
+  align-items: center;
+  display: flex;
+  flex-wrap: wrap;
+  gap: var(--gap-sm);
+  margin-bottom: var(--margin-base);
+}
+
+.mm-search,
+.mm-select {
+  background: var(--input-bg);
+  border: 1px solid var(--sidebar-border-color);
+  border-radius: var(--border-radius-base);
+  color: var(--text-color);
+  font-size: var(--font-size-base);
+  min-height: 2.15rem;
+  padding: 0.4rem 0.55rem;
+}
+
+.mm-search {
+  min-width: min(420px, 90vw);
+}
+
+.mm-filter-label,
+.mm-filter-checkbox {
+  align-items: center;
+  color: var(--text-muted);
+  display: flex;
+  gap: var(--gap-xs);
+}
+
+.mm-filter-break {
+  display: none;
+}
+
+.mm-series {
+  background: var(--card-bg);
+  border: 1px solid var(--sidebar-border-color);
+  border-radius: var(--border-radius-lg);
+  margin-bottom: var(--margin-base);
+  overflow: hidden;
+}
+
+.mm-series-header {
+  align-items: center;
+  background: rgba(255, 255, 255, 0.03);
+  border-bottom: 1px solid var(--sidebar-border-color);
+  display: flex;
+  justify-content: space-between;
+  padding: 0.55rem 0.8rem;
+}
+
+.mm-series-header h3 {
+  font-size: 1.02rem;
+  margin: 0;
+  padding: 0;
+}
+
+.mm-series-header span {
+  color: var(--text-muted);
+}
+
+.mm-row {
+  align-items: center;
+  border-bottom: 1px solid var(--sidebar-border-color);
+  display: flex;
+  gap: var(--gap-md);
+  justify-content: space-between;
+  padding: 0.75rem 0.8rem;
+}
+
+.mm-row:last-child {
+  border-bottom: none;
+}
+
+.mm-row-main {
+  min-width: 0;
+}
+
+.mm-row-title {
+  align-items: center;
+  display: flex;
+  font-size: 1rem;
+  gap: var(--gap-xs);
+}
+
+.mm-row-meta {
+  display: flex;
+  flex-wrap: wrap;
+  gap: 0.35rem;
+  margin-top: 0.35rem;
+}
+
+.mm-row-actions {
+  align-items: center;
+  display: flex;
+  flex-shrink: 0;
+  gap: var(--gap-sm);
+}
+
+.mm-btn {
+  border: none;
+  border-radius: var(--border-radius-base);
+  color: var(--text-color);
+  min-height: 2.2rem;
+  min-width: 7.5rem;
+  padding: 0.45rem 0.8rem;
+}
+
+.mm-btn:disabled {
+  cursor: not-allowed;
+  opacity: 0.6;
+}
+
+.mm-btn-primary {
+  background: var(--success-bg);
+  color: var(--color-black);
+}
+
+.mm-btn-primary:hover:not(:disabled) {
+  background: var(--success-hover-bg);
+}
+
+.mm-btn-secondary {
+  background: var(--sidebar-active-bg);
+}
+
+.mm-btn-secondary:hover:not(:disabled) {
+  background: var(--accent-hover-bg);
+}
+
+.mm-btn-danger {
+  background: var(--danger-bg);
+}
+
+.mm-btn-danger:hover:not(:disabled) {
+  background: var(--danger-hover-bg);
+}
+
+.mm-chip {
+  background: var(--secondary-bg);
+  border: 1px solid var(--sidebar-border-color);
+  border-radius: 999px;
+  color: var(--text-muted);
+  display: inline-flex;
+  font-size: 0.78rem;
+  padding: 0.1rem 0.5rem;
+}
+
+.mm-chip-active {
+  background: var(--success-bg);
+  border-color: transparent;
+  color: var(--color-black);
+}
+
+.mm-chip-favorite {
+  background: rgba(212, 160, 96, 0.18);
+  border-color: rgba(212, 160, 96, 0.5);
+  color: var(--warning-bg);
+}
+
+.mm-chip-warning {
+  background: rgba(224, 85, 119, 0.12);
+  border-color: rgba(224, 85, 119, 0.45);
+  color: var(--danger-fg);
+}
+
+.mm-star {
+  background: transparent;
+  border: none;
+  color: #e0b45a;
+  font-size: 1rem;
+  line-height: 1;
+  padding: 0;
+}
+
+.mm-empty {
+  color: var(--text-muted);
+  padding: 0.7rem 0;
+}
+
+@media (max-width: 850px) {
+  .mm-row {
+    align-items: flex-start;
+    flex-direction: column;
+  }
+
+  .mm-row-actions {
+    width: 100%;
+  }
+
+  .mm-btn {
+    width: 100%;
+  }
+
+  .mm-search {
+    min-width: 100%;
+  }
+
+  .mm-filter-break {
+    display: block;
+    flex-basis: 100%;
+    height: 0;
+  }
+}
@@ -0,0 +1,586 @@
+import { html, reactive } from "/assets/vendor/arrow-core.js";
+
+const state = reactive({
+  loading: true,
+  refreshing: false,
+  error: "",
+  actionBusy: false,
+  sortMode: "alphabetical",
+  communityFavoriteFilter: "all",
+  models: [],
+  currentModel: "",
+  summary: { installed: 0, missing: 0, total: 0 },
+  status: {
+    modelToDownload: "",
+    downloadAll: false,
+    downloading: false,
+    cancelling: false,
+    progress: "",
+    isOnroad: false,
+    terminal: false,
+  },
+});
+
+let initialized = false;
+let pollingHandle = null;
+let statusInFlight = false;
+let lastStatusSignature = "";
+
+const REQUEST_TIMEOUT_MS = 20000;
+const ACTIVE_POLL_INTERVAL_MS = 1000;
+const IDLE_POLL_INTERVAL_MS = 4000;
+
+function notify(message, variant = "success") {
+  if (typeof showSnackbar === "function") {
+    showSnackbar(message, variant);
+  } else if (variant === "error") {
+    console.error(message);
+  } else {
+    console.log(message);
+  }
+}
+
+function logDebug(message, details = null) {
+  if (details === null || details === undefined) {
+    console.log(`[ModelManager] ${message}`);
+  } else {
+    console.log(`[ModelManager] ${message}`, details);
+  }
+}
+
+function isModelRouteActive() {
+  return window.location.pathname === "/manage_models";
+}
+
+function safeText(value, fallback = "") {
+  if (value === null || value === undefined) return fallback;
+  return String(value);
+}
+
+function toBool(value) {
+  return !!value;
+}
+
+function toInt(value) {
+  const n = Number(value);
+  return Number.isFinite(n) ? n : 0;
+}
+
+function parseReleased(value) {
+  const ts = Date.parse(safeText(value, ""));
+  return Number.isNaN(ts) ? 0 : ts;
+}
+
+function normalizeSeries(model) {
+  return safeText(model?.series, "Custom Series") || "Custom Series";
+}
+
+function modelSortCompare(a, b) {
+  if (state.sortMode === "release_date") {
+    const dateDelta = parseReleased(b?.released) - parseReleased(a?.released);
+    if (dateDelta !== 0) return dateDelta;
+  }
+
+  return safeText(a?.label, a?.value).localeCompare(
+    safeText(b?.label, b?.value),
+    undefined,
+    { sensitivity: "base", numeric: true },
+  );
+}
+
+function getFilteredModels() {
+  let rows = [...state.models].filter(model => model && typeof model === "object");
+
+  if (state.communityFavoriteFilter === "yes") {
+    rows = rows.filter(model => !!model.communityFavorite);
+  } else if (state.communityFavoriteFilter === "no") {
+    rows = rows.filter(model => !model.communityFavorite);
+  }
+
+  return rows;
+}
+
+function getSeriesGroups() {
+  const grouped = {};
+
+  for (const model of getFilteredModels()) {
+    const seriesName = normalizeSeries(model);
+    if (!grouped[seriesName]) grouped[seriesName] = [];
+    grouped[seriesName].push(model);
+  }
+
+  const seriesNames = Object.keys(grouped);
+  for (const seriesName of seriesNames) {
+    grouped[seriesName].sort(modelSortCompare);
+  }
+
+  if (state.sortMode === "release_date") {
+    seriesNames.sort((a, b) => {
+      const aNewest = Math.max(...grouped[a].map(model => parseReleased(model?.released)));
+      const bNewest = Math.max(...grouped[b].map(model => parseReleased(model?.released)));
+      const delta = bNewest - aNewest;
+      if (delta !== 0) return delta;
+      return a.localeCompare(b, undefined, { sensitivity: "base" });
+    });
+  } else {
+    seriesNames.sort((a, b) => a.localeCompare(b, undefined, { sensitivity: "base" }));
+  }
+
+  return { grouped, seriesNames };
+}
+
+function getVisibleModels() {
+  const { grouped, seriesNames } = getSeriesGroups();
+  const rows = [];
+  for (const seriesName of seriesNames) {
+    rows.push(...grouped[seriesName]);
+  }
+  return rows;
+}
+
+function getReleaseOrderedModels() {
+  return getFilteredModels().sort(modelSortCompare);
+}
+
+function getInstalledModels() {
+  const rows = state.sortMode === "release_date" ? getReleaseOrderedModels() : getVisibleModels();
+  return rows.filter(model => !!model.installed);
+}
+
+function getCurrentModelName() {
+  const current = safeText(state.currentModel, "");
+  if (!current) return "none";
+
+  const match = state.models.find(model => safeText(model?.value, "") === current);
+  if (!match) return current;
+
+  return safeText(match.label, current);
+}
+
+async function fetchJson(url, options = {}) {
+  const controller = new AbortController();
+  const timer = setTimeout(() => controller.abort(), REQUEST_TIMEOUT_MS);
+
+  try {
+    const response = await fetch(url, { ...options, signal: controller.signal });
+
+    let payload = {};
+    try {
+      payload = await response.json();
+    } catch {
+      payload = {};
+    }
+
+    if (!response.ok) {
+      const message = payload?.error || payload?.message || `Request failed (${response.status})`;
+      throw new Error(message);
+    }
+
+    return payload;
+  } finally {
+    clearTimeout(timer);
+  }
+}
+
+async function fetchStatus() {
+  if (statusInFlight) return;
+  statusInFlight = true;
+
+  try {
+    const payload = await fetchJson("/api/models/status");
+
+    const models = Array.isArray(payload.models)
+      ? payload.models.filter(model => model && typeof model === "object")
+      : [];
+
+    state.models = models;
+    state.currentModel = safeText(payload.currentModel, "");
+
+    const summary = payload.summary && typeof payload.summary === "object" ? payload.summary : {};
+    state.summary = {
+      installed: toInt(summary.installed),
+      missing: toInt(summary.missing),
+      total: toInt(summary.total),
+    };
+
+    state.status = {
+      modelToDownload: safeText(payload.modelToDownload, ""),
+      downloadAll: toBool(payload.downloadAll),
+      downloading: toBool(payload.downloading),
+      cancelling: toBool(payload.cancelling),
+      progress: safeText(payload.progress, ""),
+      isOnroad: toBool(payload.isOnroad),
+      terminal: toBool(payload.terminal),
+    };
+
+    state.error = "";
+
+    const signature = [
+      state.models.length,
+      state.currentModel,
+      state.status.downloading,
+      state.status.downloadAll,
+      state.status.modelToDownload,
+      state.status.progress,
+    ].join("|");
+
+    if (signature !== lastStatusSignature) {
+      lastStatusSignature = signature;
+      logDebug("Status updated", {
+        models: state.models.length,
+        currentModel: state.currentModel || "none",
+        downloading: state.status.downloading,
+        progress: state.status.progress || "Idle",
+      });
+    }
+  } catch (error) {
+    state.error = error?.message || String(error);
+    logDebug("Status fetch failed", state.error);
+  } finally {
+    statusInFlight = false;
+    state.loading = false;
+    state.refreshing = false;
+  }
+}
+
+async function refreshAll(showToast = false) {
+  state.refreshing = true;
+  if (state.models.length === 0) {
+    state.loading = true;
+  }
+
+  await fetchStatus();
+
+  if (showToast && !state.error) {
+    notify("Model list refreshed.");
+  }
+}
+
+function ensurePolling() {
+  if (pollingHandle) return;
+
+  const poll = async () => {
+    if (!isModelRouteActive()) {
+      pollingHandle = null;
+      return;
+    }
+
+    let nextDelay = IDLE_POLL_INTERVAL_MS;
+    try {
+      await fetchStatus();
+      nextDelay = state.status.downloading ? ACTIVE_POLL_INTERVAL_MS : IDLE_POLL_INTERVAL_MS;
+    } finally {
+      pollingHandle = setTimeout(poll, nextDelay);
+    }
+  };
+
+  pollingHandle = setTimeout(poll, ACTIVE_POLL_INTERVAL_MS);
+}
+
+async function setActiveModel(modelKey) {
+  const payload = await fetchJson("/api/params", {
+    method: "PUT",
+    headers: { "Content-Type": "application/json" },
+    body: JSON.stringify({ key: "Model", value: modelKey }),
+  });
+
+  notify(payload.message || `Selected "${modelKey}".`);
+}
+
+async function startDownload(modelKey) {
+  const payload = await fetchJson("/api/models/download", {
+    method: "POST",
+    headers: { "Content-Type": "application/json" },
+    body: JSON.stringify({ model: modelKey }),
+  });
+
+  notify(payload.message || `Downloading "${modelKey}"...`);
+}
+
+async function startDownloadAll() {
+  const payload = await fetchJson("/api/models/download_all", { method: "POST" });
+  notify(payload.message || "Started downloading all models.");
+}
+
+async function cancelDownload() {
+  const payload = await fetchJson("/api/models/cancel", { method: "POST" });
+  notify(payload.message || "Cancellation requested.");
+}
+
+async function deleteModel(modelKey) {
+  const payload = await fetchJson("/api/models/delete", {
+    method: "POST",
+    headers: { "Content-Type": "application/json" },
+    body: JSON.stringify({ model: modelKey }),
+  });
+
+  notify(payload.message || `Deleted files for "${modelKey}".`);
+}
+
+async function refreshManifest() {
+  const payload = await fetchJson("/api/models/refresh_manifest", { method: "POST" });
+  notify(payload.message || "Model manifest refreshed.");
+}
+
+async function runAction(action, modelKey = "") {
+  if (state.actionBusy) {
+    notify("Please wait for the current action to finish.", "error");
+    return;
+  }
+
+  state.actionBusy = true;
+  try {
+    if (action === "refresh") {
+      await refreshManifest();
+      await refreshAll(false);
+      return;
+    }
+
+    if (state.status.isOnroad && action !== "refresh") {
+      notify("Actions are blocked while onroad.", "error");
+      return;
+    }
+
+    if (action === "select") {
+      if (!modelKey) return;
+      await setActiveModel(modelKey);
+    } else if (action === "download") {
+      if (!modelKey) return;
+      await startDownload(modelKey);
+    } else if (action === "download-all") {
+      await startDownloadAll();
+    } else if (action === "cancel") {
+      await cancelDownload();
+    } else if (action === "delete") {
+      if (!modelKey) return;
+      const confirmed = window.confirm(`Delete local files for model \"${modelKey}\"?`);
+      if (!confirmed) return;
+      await deleteModel(modelKey);
+    }
+
+    await fetchStatus();
+  } catch (error) {
+    notify(error?.message || String(error), "error");
+  } finally {
+    state.actionBusy = false;
+  }
+}
+
+function bindDomHandlers() {
+  if (window.__modelManagerHandlersBound) return;
+  window.__modelManagerHandlersBound = true;
+
+  document.addEventListener("click", event => {
+    if (!isModelRouteActive()) return;
+
+    const target = event.target;
+    if (!(target instanceof Element)) return;
+
+    const button = target.closest("[data-mm-action]");
+    if (!button) return;
+
+    const action = safeText(button.getAttribute("data-mm-action"), "");
+    const modelKey = safeText(button.getAttribute("data-model"), "");
+
+    runAction(action, modelKey).catch(() => {});
+  });
+
+  document.addEventListener("change", event => {
+    if (!isModelRouteActive()) return;
+
+    const target = event.target;
+    if (!(target instanceof HTMLSelectElement)) return;
+    if (target.id === "mm-active-model-select") {
+      const modelKey = safeText(target.value, "");
+      if (!modelKey) return;
+      runAction("select", modelKey).catch(() => {});
+      return;
+    }
+
+    if (target.id === "mm-sort-mode-select") {
+      const value = safeText(target.value, "alphabetical");
+      state.sortMode = value === "release_date" ? "release_date" : "alphabetical";
+      return;
+    }
+
+    if (target.id === "mm-community-filter-select") {
+      const value = safeText(target.value, "all");
+      if (value === "yes" || value === "no" || value === "all") {
+        state.communityFavoriteFilter = value;
+      } else {
+        state.communityFavoriteFilter = "all";
+      }
+    }
+  });
+}
+
+function renderActions(model) {
+  const modelKey = safeText(model.value, "");
+  const modelIsDownloading = state.status.downloading && !state.status.downloadAll && state.status.modelToDownload === modelKey;
+
+  if (state.currentModel === modelKey) {
+    return html`<span class="mm-chip mm-chip-active">Active</span>`;
+  }
+
+  if (state.status.downloading) {
+    if (state.status.downloadAll || modelIsDownloading) {
+      return html`<button class="mm-btn mm-btn-danger" data-mm-action="cancel">Cancel</button>`;
+    }
+    return html`<span class="mm-chip">Busy</span>`;
+  }
+
+  if (model.installed) {
+    return html`
+      <button class="mm-btn mm-btn-secondary" data-mm-action="select" data-model="${modelKey}">Set Active</button>
+      <button class="mm-btn mm-btn-danger" data-mm-action="delete" data-model="${modelKey}">Delete</button>
+    `;
+  }
+
+  return html`<button class="mm-btn mm-btn-primary" data-mm-action="download" data-model="${modelKey}">Download</button>`;
+}
+
+function renderModelRow(model) {
+  const label = safeText(model.label, safeText(model.value, "Unnamed"));
+  const key = safeText(model.value, "");
+
+  return html`
+    <div class="mm-row">
+      <div class="mm-row-main">
+        <div class="mm-row-title">
+          <span>${label}</span>
+        </div>
+        <div class="mm-row-meta">
+          <span class="mm-chip">${key}</span>
+          ${state.sortMode === "release_date" ? "" : model.series ? html`<span class="mm-chip">${safeText(model.series)}</span>` : ""}
+          ${model.version ? html`<span class="mm-chip">Version ${safeText(model.version)}</span>` : ""}
+          ${model.released ? html`<span class="mm-chip">Released ${safeText(model.released)}</span>` : ""}
+          ${model.communityFavorite ? html`<span class="mm-chip mm-chip-favorite">Community Favorite</span>` : ""}
+          ${model.partial ? html`<span class="mm-chip mm-chip-warning">Partial Files</span>` : ""}
+        </div>
+      </div>
+      <div class="mm-row-actions">
+        ${renderActions(model)}
+      </div>
+    </div>
+  `;
+}
+
+function renderSeriesSection(seriesName, models) {
+  return html`
+    <section class="mm-series">
+      <header class="mm-series-header">
+        <h3>${seriesName}</h3>
+        <span>${models.length}</span>
+      </header>
+      <div class="mm-series-body">
+        ${models.map(model => renderModelRow(model))}
+      </div>
+    </section>
+  `;
+}
+
+export function ModelManager() {
+  if (!initialized) {
+    initialized = true;
+    bindDomHandlers();
+    logDebug("Initializing component");
+    refreshAll().catch(error => {
+      state.error = error?.message || String(error);
+      state.loading = false;
+      state.refreshing = false;
+      logDebug("Initial refresh failed", state.error);
+    });
+  }
+  ensurePolling();
+
+  return html`
+    <div class="mm-wrapper">
+      <h2>Model Manager</h2>
+
+      ${() => state.error ? html`<div class="mm-error">${state.error}</div>` : ""}
+
+      <div class="mm-debug">
+        Available Models=${() => state.models.length}
+        Current Model=${() => getCurrentModelName()}
+      </div>
+
+      <div class="mm-toolbar">
+        <div class="mm-summary">
+          <span><b>${state.summary.installed}</b> installed</span>
+          <span><b>${state.summary.missing}</b> missing</span>
+          <span><b>${state.summary.total}</b> total</span>
+        </div>
+
+        <div class="mm-actions">
+          ${() => state.status.downloading
+            ? html`<button class="mm-btn mm-btn-danger" data-mm-action="cancel">Cancel Download</button>`
+            : html`<button class="mm-btn mm-btn-primary" data-mm-action="download-all">Download All Missing</button>`}
+          <button class="mm-btn mm-btn-secondary" data-mm-action="refresh">Refresh</button>
+        </div>
+      </div>
+
+      <div class="mm-status">
+        <span class="mm-chip">Current: ${getCurrentModelName()}</span>
+        <span class="mm-chip">Progress: ${safeText(state.status.progress, "Idle")}</span>
+        ${() => state.status.isOnroad ? html`<span class="mm-chip mm-chip-warning">Onroad: actions disabled</span>` : ""}
+      </div>
+
+      <div class="mm-filters">
+        <label class="mm-filter-label" for="mm-active-model-select">Active Model</label>
+        <select class="mm-select" id="mm-active-model-select">
+          ${(() => {
+            const orderedInstalled = getInstalledModels().sort((a, b) => {
+              const aCurrent = safeText(a.value) === state.currentModel ? 0 : 1;
+              const bCurrent = safeText(b.value) === state.currentModel ? 0 : 1;
+              if (aCurrent !== bCurrent) return aCurrent - bCurrent;
+              return safeText(a.label, a.value).localeCompare(safeText(b.label, b.value), undefined, { sensitivity: "base" });
+            });
+
+            return orderedInstalled.length > 0
+              ? orderedInstalled.map(model => html`
+                <option value="${safeText(model.value)}" ${safeText(model.value) === state.currentModel ? "selected" : ""}>
+                  ${safeText(model.label, model.value)}
+                </option>
+              `)
+              : html`<option value="">No installed models</option>`;
+          })()}
+        </select>
+
+        <label class="mm-filter-label" for="mm-sort-mode-select">Sort</label>
+        <select class="mm-select" id="mm-sort-mode-select">
+          <option value="alphabetical" ${state.sortMode === "alphabetical" ? "selected" : ""}>Alphabetical</option>
+          <option value="release_date" ${state.sortMode === "release_date" ? "selected" : ""}>Release Date</option>
+        </select>
+
+        <div class="mm-filter-break"></div>
+
+        <label class="mm-filter-label" for="mm-community-filter-select">Community Favorite</label>
+        <select class="mm-select" id="mm-community-filter-select">
+          <option value="all" ${state.communityFavoriteFilter === "all" ? "selected" : ""}>All</option>
+          <option value="yes" ${state.communityFavoriteFilter === "yes" ? "selected" : ""}>Yes</option>
+          <option value="no" ${state.communityFavoriteFilter === "no" ? "selected" : ""}>No</option>
+        </select>
+      </div>
+
+      ${() => state.loading ? html`<div class="mm-empty">Loading models...</div>` : ""}
+
+      ${() => !state.loading ? html`
+        <div class="mm-list">
+          ${(() => {
+            if (state.sortMode === "release_date") {
+              const models = getReleaseOrderedModels();
+              return models.length === 0
+                ? html`<div class="mm-empty">No models available.</div>`
+                : models.map(model => renderModelRow(model));
+            }
+
+            const { grouped, seriesNames } = getSeriesGroups();
+            return seriesNames.length === 0
+              ? html`<div class="mm-empty">No models available.</div>`
+              : seriesNames.map(seriesName => renderSeriesSection(seriesName, grouped[seriesName]));
+          })()}
+        </div>
+      ` : ""}
+    </div>
+  `;
+}
@@ -0,0 +1,280 @@
+.plotsPage {
+  max-width: var(--width-xxxxl);
+}
+
+.plotCard {
+  background-color: var(--secondary-bg);
+  border-radius: var(--border-radius-md);
+  color: var(--text-color);
+  max-width: 95%;
+  padding: var(--border-radius-xl);
+}
+
+.plotStatusCard {
+  margin-bottom: var(--margin-base);
+}
+
+.plotDescription {
+  margin: 0;
+}
+
+.plotStatusGrid {
+  display: grid;
+  gap: 0.5em 1em;
+  grid-template-columns: repeat(2, minmax(0, 1fr));
+  margin-top: var(--margin-base);
+}
+
+.plotStatusGrid p,
+.plotRangeRow span,
+.plotLegendItem {
+  font-size: var(--font-size-sm);
+  margin: 0;
+}
+
+.plotActions {
+  display: flex;
+  gap: var(--gap-sm);
+  margin-top: var(--margin-base);
+}
+
+.plotButton {
+  background: var(--main-fg);
+  border: none;
+  border-radius: var(--border-radius-sm);
+  color: var(--text-color);
+  font-size: var(--font-size-sm);
+  font-weight: var(--font-weight-demi-bold);
+  padding: var(--padding-sm) var(--padding-base);
+}
+
+.plotButton:hover {
+  transform: var(--hover-scale-sm);
+  transition: transform var(--transition-fast), background-color var(--transition-fast);
+}
+
+.plotCharts {
+  display: grid;
+  gap: var(--gap-sm);
+  grid-template-columns: repeat(auto-fit, minmax(420px, 1fr));
+  max-width: 95%;
+}
+
+.plotAdvancedRow {
+  margin: var(--margin-base) 0;
+}
+
+.plotChartCard {
+  max-width: 100%;
+}
+
+.plotCardHeader {
+  align-items: baseline;
+  display: flex;
+  gap: var(--gap-sm);
+  justify-content: space-between;
+}
+
+.plotSource {
+  color: var(--text-muted);
+  font-size: var(--font-size-sm);
+}
+
+.plotLegend {
+  display: flex;
+  gap: var(--gap-sm);
+  margin-bottom: var(--margin-sm);
+}
+
+.plotLegendItem {
+  align-items: center;
+  display: inline-flex;
+  gap: var(--gap-xs);
+}
+
+.plotLegendLine {
+  border-radius: var(--border-radius-sm);
+  display: inline-block;
+  height: 3px;
+  width: 22px;
+}
+
+.plotLegendLine.desired,
+.plotLine.desired {
+  background-color: var(--main-fg);
+  stroke: var(--main-fg);
+}
+
+.plotLegendLine.actual,
+.plotLine.actual {
+  background-color: var(--success-fg);
+  stroke: var(--success-fg);
+}
+
+.plotLegendLine.p,
+.plotLine.p {
+  background-color: #63b3ff;
+  stroke: #63b3ff;
+}
+
+.plotLegendLine.i,
+.plotLine.i {
+  background-color: #63d79d;
+  stroke: #63d79d;
+}
+
+.plotLegendLine.d,
+.plotLine.d {
+  background-color: #f0b35e;
+  stroke: #f0b35e;
+}
+
+.plotLegendLine.f,
+.plotLine.f {
+  background-color: #d08bff;
+  stroke: #d08bff;
+}
+
+.plotSvgWrap {
+  background: #0b0b18;
+  border: 1px solid var(--track-color);
+  border-radius: var(--border-radius-sm);
+  min-height: 260px;
+  overflow: hidden;
+}
+
+.plotSvg {
+  display: block;
+  height: 260px;
+  width: 100%;
+}
+
+.plotLine {
+  fill: none;
+  stroke-linecap: round;
+  stroke-linejoin: round;
+  stroke-width: 3;
+}
+
+.plotGridLine {
+  stroke: rgba(255, 255, 255, 0.08);
+  stroke-width: 1;
+}
+
+.plotZeroLine {
+  stroke: rgba(255, 255, 255, 0.35);
+  stroke-dasharray: 6 6;
+  stroke-width: 1;
+}
+
+.plotRangeRow {
+  display: flex;
+  justify-content: space-between;
+  margin-top: var(--margin-xs);
+}
+
+.plotEmpty {
+  align-items: center;
+  color: var(--text-muted);
+  display: flex;
+  font-size: var(--font-size-sm);
+  height: 260px;
+  justify-content: center;
+}
+
+.plotError {
+  color: var(--danger-fg);
+  margin-top: var(--margin-sm);
+}
+
+.qualityDetail {
+  color: var(--text-muted);
+  font-size: calc(var(--font-size-sm) * 0.95);
+}
+
+.qualitySummaryGrid {
+  display: grid;
+  gap: var(--gap-sm);
+  margin-top: var(--margin-base);
+}
+
+.qualitySummaryRow {
+  background: rgba(255, 255, 255, 0.03);
+  border: 1px solid var(--track-color);
+  border-radius: var(--border-radius-sm);
+  padding: var(--padding-sm) var(--padding-base);
+}
+
+.qualitySentence {
+  align-items: baseline;
+  display: flex;
+  flex-wrap: wrap;
+  font-size: calc(var(--font-size-lg) * 1.05);
+  font-weight: var(--font-weight-demi-bold);
+  gap: var(--gap-xs);
+  line-height: 1.3;
+  margin: 0;
+}
+
+.qualityTone {
+  font-size: calc(var(--font-size-xl) * 1.05);
+  font-weight: var(--font-weight-extra-bold);
+  letter-spacing: 0.01em;
+  text-transform: uppercase;
+}
+
+.qualityTone-great {
+  color: #66e3ad;
+}
+
+.qualityTone-good {
+  color: #7fc2ff;
+}
+
+.qualityTone-fair {
+  color: #f8c36d;
+}
+
+.qualityTone-poor {
+  color: #ff8ca5;
+}
+
+.qualityTone-na {
+  color: #d7dcec;
+}
+
+.qualityMethodNote {
+  color: var(--text-muted);
+  font-size: calc(var(--font-size-sm) * 0.92);
+  margin-top: var(--margin-sm);
+}
+
+.qualityUserGuidance {
+  color: var(--text-muted);
+  font-size: calc(var(--font-size-sm) * 0.95);
+  margin: var(--margin-sm) 0 0 0;
+}
+
+@media only screen and (max-width: 768px) and (orientation: portrait) {
+  .plotCard,
+  .plotCharts {
+    max-width: 100%;
+  }
+
+  .plotCharts {
+    grid-template-columns: 1fr;
+  }
+
+  .plotStatusGrid {
+    grid-template-columns: 1fr;
+  }
+
+  .plotActions {
+    flex-direction: column;
+  }
+
+  .plotLegend {
+    flex-direction: column;
+    gap: var(--gap-xs);
+  }
+}
@@ -0,0 +1,666 @@
+import { html, reactive } from "/assets/vendor/arrow-core.js"
+
+const state = reactive({
+  loading: true,
+  error: "",
+  paused: false,
+  showAdvancedTerms: false,
+  live: null,
+  samples: [],
+})
+
+let initialized = false
+let pollHandle = null
+let lastTimestamp = 0
+let visibilityListenerAttached = false
+
+const MAX_POINTS = 240
+const POLL_INTERVAL_MS = 750
+const SVG_WIDTH = 1000
+const SVG_HEIGHT = 260
+const ADVANCED_TERMS_KEY = "plotsShowAdvancedTerms"
+const QUALITY_WINDOW_SECONDS = 30
+const QUALITY_MIN_SAMPLES = 12
+
+const LATERAL_QUALITY_CONFIG = {
+  desiredKey: "desiredLateralAccel",
+  actualKey: "actualLateralAccel",
+  minSpeedMps: 0.5,
+  minDemand: 0.015,
+  allowLowDemandFallback: true,
+  fallbackMinSpeedMps: 1.0,
+  fallbackMinPeakDemand: 0.03,
+  great: 0.15,
+  good: 0.30,
+  fair: 0.50,
+}
+
+const LONGITUDINAL_QUALITY_CONFIG = {
+  desiredKey: "desiredLongitudinalAccel",
+  actualKey: "actualLongitudinalAccel",
+  minSpeedMps: 0.0,
+  minDemand: 0.08,
+  allowLowDemandFallback: false,
+  applyPersistenceRules: true,
+  warnError: 0.50,
+  severeError: 0.90,
+  great: 0.32,
+  good: 0.52,
+  fair: 0.78,
+}
+
+function isPlotsRouteActive() {
+  return window.location.pathname === "/plots"
+}
+
+function toNumber(value, fallback = 0) {
+  const n = Number(value)
+  return Number.isFinite(n) ? n : fallback
+}
+
+function formatValue(value, digits = 2) {
+  return toNumber(value).toFixed(digits)
+}
+
+function formatAge(seconds) {
+  const value = Math.max(0, toNumber(seconds))
+  if (value < 1) return `${Math.round(value * 1000)} ms`
+  return `${value.toFixed(1)} s`
+}
+
+function formatSourceLabel(kind, source) {
+  const normalizedKind = String(kind || "").toLowerCase()
+  const normalizedSource = String(source || "").toLowerCase()
+
+  if (normalizedKind === "lateral") {
+    if (normalizedSource === "torquestate") return "Steering controller output"
+    if (normalizedSource === "curvature") return "Path model estimate"
+  }
+
+  if (normalizedKind === "longitudinal") {
+    if (normalizedSource.includes("atarget")) return "Planner target acceleration + measured acceleration"
+    if (normalizedSource.includes("pid sum")) return "PID term sum + measured acceleration"
+    if (normalizedSource.includes("caroutput")) return "Final accel command + measured acceleration"
+    if (normalizedSource.includes("livelocationkalman")) return "Control output + calibrated acceleration"
+    if (normalizedSource === "controlsstate") return "Planner target output"
+  }
+
+  if (normalizedKind === "lateralterms") {
+    if (normalizedSource === "torquestate") return "Steering torque controller"
+    if (normalizedSource === "pidstate") return "Steering angle PID controller"
+  }
+
+  if (normalizedKind === "longitudinalterms") {
+    if (normalizedSource === "controlsstate") return "Longitudinal controller terms"
+  }
+
+  return "Live control signal"
+}
+
+function percentile(sortedValues, percentileValue) {
+  const values = Array.isArray(sortedValues) ? sortedValues : []
+  if (!values.length) return 0
+  const p = Math.max(0, Math.min(1, Number(percentileValue)))
+  const index = (values.length - 1) * p
+  const lower = Math.floor(index)
+  const upper = Math.ceil(index)
+  if (lower === upper) return values[lower]
+  const weight = index - lower
+  return values[lower] * (1 - weight) + values[upper] * weight
+}
+
+function formatQualityLabel(label) {
+  const text = String(label || "").trim()
+  return text || "N/A"
+}
+
+function computeMatchQuality(samples, config) {
+  const safeSamples = Array.isArray(samples) ? samples : []
+  if (safeSamples.length < 2) {
+    return { label: "N/A", value: null, detail: "Waiting for data" }
+  }
+
+  const latestTs = toNumber(safeSamples[safeSamples.length - 1]?.timestamp, 0)
+  const cutoffTs = latestTs > 0 ? latestTs - QUALITY_WINDOW_SECONDS : 0
+  const recentSamples = safeSamples.filter((sample) => toNumber(sample?.timestamp, 0) >= cutoffTs)
+
+  const demandEligibleSamples = recentSamples.filter((sample) => {
+    const speed = Math.abs(toNumber(sample?.speed, 0))
+    const desired = Math.abs(toNumber(sample?.[config.desiredKey], 0))
+
+    const speedOk = config.minSpeedMps <= 0 ? true : speed >= config.minSpeedMps
+    const demandOk = config.minDemand <= 0 ? true : desired >= config.minDemand
+    return speedOk && demandOk
+  })
+
+  let eligibleSamples = demandEligibleSamples
+  let usedLowDemandFallback = false
+  const allowLowDemandFallback = config.allowLowDemandFallback !== false
+  if (allowLowDemandFallback && eligibleSamples.length < QUALITY_MIN_SAMPLES && recentSamples.length >= QUALITY_MIN_SAMPLES) {
+    const totalSpeed = recentSamples.reduce((sum, sample) => sum + Math.abs(toNumber(sample?.speed, 0)), 0)
+    const avgSpeed = recentSamples.length > 0 ? (totalSpeed / recentSamples.length) : 0
+    const peakDemand = recentSamples.reduce((peak, sample) => {
+      const desired = Math.abs(toNumber(sample?.[config.desiredKey], 0))
+      return Math.max(peak, desired)
+    }, 0)
+
+    const fallbackMinSpeed = Math.max(0, toNumber(config.fallbackMinSpeedMps, 0))
+    const fallbackMinPeakDemand = Math.max(0, toNumber(config.fallbackMinPeakDemand, 0))
+    if (avgSpeed >= fallbackMinSpeed && peakDemand >= fallbackMinPeakDemand) {
+      eligibleSamples = recentSamples
+      usedLowDemandFallback = true
+    }
+  }
+
+  if (eligibleSamples.length < QUALITY_MIN_SAMPLES) {
+    if (allowLowDemandFallback) {
+      return {
+        label: "N/A",
+        value: null,
+        detail: `Need ${QUALITY_MIN_SAMPLES} samples (${eligibleSamples.length} eligible / ${recentSamples.length} total)`,
+      }
+    }
+
+    return {
+      label: "N/A",
+      value: null,
+      detail: `Need ${QUALITY_MIN_SAMPLES} demand samples (${eligibleSamples.length} demand / ${recentSamples.length} total)`,
+    }
+  }
+
+  const errors = eligibleSamples
+    .map((sample) => Math.abs(toNumber(sample?.[config.desiredKey], 0) - toNumber(sample?.[config.actualKey], 0)))
+    .sort((a, b) => a - b)
+
+  if (!errors.length) {
+    return { label: "N/A", value: null, detail: "No eligible samples" }
+  }
+
+  const p50 = percentile(errors, 0.50)
+  const p90 = percentile(errors, 0.90)
+  const robustError = (0.7 * p50) + (0.3 * p90)
+
+  const sampleSummary = `${eligibleSamples.length} samples / ${QUALITY_WINDOW_SECONDS}s${usedLowDemandFallback ? ", low-demand fallback" : ""}`
+
+  if (config.applyPersistenceRules) {
+    const warnThreshold = Math.max(config.warnError || 0.35, config.good || 0.35)
+    const severeThreshold = Math.max(config.severeError || 0.70, config.fair || 0.55)
+    const warnFrac = errors.filter((value) => value > warnThreshold).length / errors.length
+    const severeFrac = errors.filter((value) => value > severeThreshold).length / errors.length
+
+    let label = "Poor"
+    if (robustError <= config.great && warnFrac <= 0.18 && severeFrac <= 0.05) label = "Great"
+    else if (robustError <= config.good && warnFrac <= 0.34 && severeFrac <= 0.12) label = "Good"
+    else if (robustError <= config.fair && warnFrac <= 0.55 && severeFrac <= 0.24) label = "Fair"
+
+    const warnPct = Math.round(warnFrac * 100)
+    const severePct = Math.round(severeFrac * 100)
+    return {
+      label,
+      value: robustError,
+      detail: `${sampleSummary}, ${warnPct}% > ${formatValue(warnThreshold)} and ${severePct}% > ${formatValue(severeThreshold)}`,
+    }
+  }
+
+  let label = "Poor"
+  if (robustError <= config.great) label = "Great"
+  else if (robustError <= config.good) label = "Good"
+  else if (robustError <= config.fair) label = "Fair"
+
+  return {
+    label,
+    value: robustError,
+    detail: sampleSummary,
+  }
+}
+
+function qualityToneClass(label) {
+  const normalized = String(label || "").toLowerCase()
+  if (normalized === "great") return "qualityTone-great"
+  if (normalized === "good") return "qualityTone-good"
+  if (normalized === "fair") return "qualityTone-fair"
+  if (normalized === "poor") return "qualityTone-poor"
+  return "qualityTone-na"
+}
+
+function stopPolling() {
+  if (!pollHandle) return
+  clearTimeout(pollHandle)
+  pollHandle = null
+}
+
+function pushSample(payload) {
+  const timestamp = toNumber(payload.timestamp, 0)
+  if (!timestamp || timestamp <= 0 || timestamp === lastTimestamp) return
+
+  lastTimestamp = timestamp
+  state.samples.push({
+    timestamp,
+    speed: toNumber(payload.speed),
+    controlsActive: !!payload.controlsActive,
+    longitudinalControlActive: !!payload.longitudinalControlActive,
+    desiredLateralAccel: toNumber(payload.desiredLateralAccel),
+    actualLateralAccel: toNumber(payload.actualLateralAccel),
+    desiredLongitudinalAccel: toNumber(payload.desiredLongitudinalAccel),
+    actualLongitudinalAccel: toNumber(payload.actualLongitudinalAccel),
+    lateralP: toNumber(payload.lateralP),
+    lateralI: toNumber(payload.lateralI),
+    lateralD: toNumber(payload.lateralD),
+    lateralF: toNumber(payload.lateralF),
+    longitudinalUpAccelCmd: toNumber(payload.longitudinalUpAccelCmd),
+    longitudinalUiAccelCmd: toNumber(payload.longitudinalUiAccelCmd),
+    longitudinalUfAccelCmd: toNumber(payload.longitudinalUfAccelCmd),
+  })
+
+  if (state.samples.length > MAX_POINTS) {
+    state.samples.splice(0, state.samples.length - MAX_POINTS)
+  }
+}
+
+async function fetchLiveData() {
+  const response = await fetch("/api/plots/live")
+  const payload = await response.json()
+
+  if (!response.ok) {
+    throw new Error(payload.error || response.statusText || "Failed to load live plot data")
+  }
+
+  state.live = payload
+  state.error = ""
+  state.loading = false
+
+  if (!payload.stale) {
+    pushSample(payload)
+  }
+}
+
+function ensurePolling() {
+  if (pollHandle) return
+
+  const poll = async () => {
+    if (!isPlotsRouteActive()) {
+      pollHandle = null
+      return
+    }
+
+    if (document.visibilityState !== "visible") {
+      pollHandle = setTimeout(poll, POLL_INTERVAL_MS)
+      return
+    }
+
+    if (!state.paused) {
+      try {
+        await fetchLiveData()
+      } catch (error) {
+        state.error = error?.message || String(error)
+        state.loading = false
+      }
+    }
+
+    pollHandle = setTimeout(poll, POLL_INTERVAL_MS)
+  }
+
+  pollHandle = setTimeout(poll, POLL_INTERVAL_MS)
+}
+
+function clearHistory() {
+  state.samples = []
+  lastTimestamp = 0
+}
+
+function togglePaused() {
+  state.paused = !state.paused
+  if (state.paused) {
+    stopPolling()
+    return
+  }
+
+  if (!isPlotsRouteActive()) return
+
+  fetchLiveData().catch((error) => {
+    state.error = error?.message || String(error)
+  })
+  ensurePolling()
+}
+
+function toggleAdvancedTerms() {
+  state.showAdvancedTerms = !state.showAdvancedTerms
+  try {
+    localStorage.setItem(ADVANCED_TERMS_KEY, state.showAdvancedTerms ? "1" : "0")
+  } catch (error) {
+    console.warn("Failed to persist plots advanced terms preference", error)
+  }
+}
+
+function yForValue(value, min, max) {
+  const safeMin = toNumber(min, -1)
+  const safeMax = toNumber(max, 1)
+  const clamped = Math.max(safeMin, Math.min(safeMax, toNumber(value)))
+  const span = Math.max(1e-6, safeMax - safeMin)
+  return ((safeMax - clamped) / span) * SVG_HEIGHT
+}
+
+function computeRange(samples, desiredKey, actualKey) {
+  let maxAbs = 0
+  for (const sample of samples) {
+    maxAbs = Math.max(
+      maxAbs,
+      Math.abs(toNumber(sample?.[desiredKey])),
+      Math.abs(toNumber(sample?.[actualKey])),
+    )
+  }
+
+  const halfSpan = Math.max(1.5, Math.ceil((maxAbs * 1.25) * 10) / 10)
+  return { min: -halfSpan, max: halfSpan }
+}
+
+function buildPolyline(samples, key, min, max) {
+  if (!samples.length) return ""
+
+  const lastIndex = Math.max(1, samples.length - 1)
+  return samples.map((sample, index) => {
+    const x = (index / lastIndex) * SVG_WIDTH
+    const y = yForValue(sample?.[key], min, max)
+    return `${x.toFixed(2)},${y.toFixed(2)}`
+  }).join(" ")
+}
+
+function computeRangeForKeys(samples, keys) {
+  let maxAbs = 0
+  for (const sample of samples) {
+    for (const key of keys) {
+      maxAbs = Math.max(maxAbs, Math.abs(toNumber(sample?.[key])))
+    }
+  }
+
+  const halfSpan = Math.max(0.15, Math.ceil((maxAbs * 1.35) * 1000) / 1000)
+  return { min: -halfSpan, max: halfSpan }
+}
+
+function latestSampleValue(key) {
+  const latest = state.samples[state.samples.length - 1]
+  if (latest) return latest[key]
+  return toNumber(state.live?.[key])
+}
+
+function PlotCard(title, desiredKey, actualKey, sourceKind, sourceLabel, desiredLabel = "Target", actualLabel = "Measured") {
+  const hasData = state.samples.length > 1
+  const range = computeRange(state.samples, desiredKey, actualKey)
+  const desiredPolyline = buildPolyline(state.samples, desiredKey, range.min, range.max)
+  const actualPolyline = buildPolyline(state.samples, actualKey, range.min, range.max)
+  const zeroY = yForValue(0, range.min, range.max)
+  const topQuarterY = yForValue(range.max * 0.5, range.min, range.max)
+  const bottomQuarterY = yForValue(range.min * 0.5, range.min, range.max)
+
+  return html`
+    <section class="plotCard plotChartCard">
+      <div class="plotCardHeader">
+        <h2>${title}</h2>
+        <span class="plotSource">Source: ${formatSourceLabel(sourceKind, sourceLabel)}</span>
+      </div>
+
+      <div class="plotLegend">
+        <span class="plotLegendItem"><i class="plotLegendLine desired"></i>${desiredLabel}: ${formatValue(latestSampleValue(desiredKey))}</span>
+        <span class="plotLegendItem"><i class="plotLegendLine actual"></i>${actualLabel}: ${formatValue(latestSampleValue(actualKey))}</span>
+      </div>
+
+      <div class="plotSvgWrap">
+        ${hasData ? html`
+          <svg class="plotSvg" viewBox="0 0 ${SVG_WIDTH} ${SVG_HEIGHT}" preserveAspectRatio="none" role="img" aria-label="${title} live plot">
+            <line class="plotGridLine" x1="0" y1="${topQuarterY}" x2="${SVG_WIDTH}" y2="${topQuarterY}"></line>
+            <line class="plotZeroLine" x1="0" y1="${zeroY}" x2="${SVG_WIDTH}" y2="${zeroY}"></line>
+            <line class="plotGridLine" x1="0" y1="${bottomQuarterY}" x2="${SVG_WIDTH}" y2="${bottomQuarterY}"></line>
+            <polyline class="plotLine desired" points="${desiredPolyline}"></polyline>
+            <polyline class="plotLine actual" points="${actualPolyline}"></polyline>
+          </svg>
+        ` : html`
+          <div class="plotEmpty">Waiting for enough live samples...</div>
+        `}
+      </div>
+
+      <div class="plotRangeRow">
+        <span>${formatValue(range.max, 1)} m/s²</span>
+        <span>0.0 m/s²</span>
+        <span>${formatValue(range.min, 1)} m/s²</span>
+      </div>
+    </section>
+  `
+}
+
+function LateralTermsPlotCard(sourceLabel) {
+  const hasData = state.samples.length > 1
+  const keys = ["lateralP", "lateralI", "lateralD", "lateralF"]
+  const range = computeRangeForKeys(state.samples, keys)
+  const zeroY = yForValue(0, range.min, range.max)
+  const topQuarterY = yForValue(range.max * 0.5, range.min, range.max)
+  const bottomQuarterY = yForValue(range.min * 0.5, range.min, range.max)
+
+  return html`
+    <section class="plotCard plotChartCard">
+      <div class="plotCardHeader">
+        <h2>Lateral Controller Terms</h2>
+        <span class="plotSource">Source: ${formatSourceLabel("lateralTerms", sourceLabel)}</span>
+      </div>
+
+      <div class="plotLegend">
+        <span class="plotLegendItem"><i class="plotLegendLine p"></i>P: ${formatValue(latestSampleValue("lateralP"), 3)}</span>
+        <span class="plotLegendItem"><i class="plotLegendLine i"></i>I: ${formatValue(latestSampleValue("lateralI"), 3)}</span>
+        <span class="plotLegendItem"><i class="plotLegendLine d"></i>D: ${formatValue(latestSampleValue("lateralD"), 3)}</span>
+        <span class="plotLegendItem"><i class="plotLegendLine f"></i>F: ${formatValue(latestSampleValue("lateralF"), 3)}</span>
+      </div>
+
+      <div class="plotSvgWrap">
+        ${hasData ? html`
+          <svg class="plotSvg" viewBox="0 0 ${SVG_WIDTH} ${SVG_HEIGHT}" preserveAspectRatio="none" role="img" aria-label="Lateral controller terms live plot">
+            <line class="plotGridLine" x1="0" y1="${topQuarterY}" x2="${SVG_WIDTH}" y2="${topQuarterY}"></line>
+            <line class="plotZeroLine" x1="0" y1="${zeroY}" x2="${SVG_WIDTH}" y2="${zeroY}"></line>
+            <line class="plotGridLine" x1="0" y1="${bottomQuarterY}" x2="${SVG_WIDTH}" y2="${bottomQuarterY}"></line>
+            <polyline class="plotLine p" points="${buildPolyline(state.samples, "lateralP", range.min, range.max)}"></polyline>
+            <polyline class="plotLine i" points="${buildPolyline(state.samples, "lateralI", range.min, range.max)}"></polyline>
+            <polyline class="plotLine d" points="${buildPolyline(state.samples, "lateralD", range.min, range.max)}"></polyline>
+            <polyline class="plotLine f" points="${buildPolyline(state.samples, "lateralF", range.min, range.max)}"></polyline>
+          </svg>
+        ` : html`
+          <div class="plotEmpty">Waiting for enough live samples...</div>
+        `}
+      </div>
+
+      <div class="plotRangeRow">
+        <span>${formatValue(range.max, 3)}</span>
+        <span>0.000</span>
+        <span>${formatValue(range.min, 3)}</span>
+      </div>
+    </section>
+  `
+}
+
+function LongitudinalTermsPlotCard(sourceLabel) {
+  const hasData = state.samples.length > 1
+  const keys = ["longitudinalUpAccelCmd", "longitudinalUiAccelCmd", "longitudinalUfAccelCmd"]
+  const range = computeRangeForKeys(state.samples, keys)
+  const zeroY = yForValue(0, range.min, range.max)
+  const topQuarterY = yForValue(range.max * 0.5, range.min, range.max)
+  const bottomQuarterY = yForValue(range.min * 0.5, range.min, range.max)
+
+  return html`
+    <section class="plotCard plotChartCard">
+      <div class="plotCardHeader">
+        <h2>Longitudinal Accel Cmd Terms</h2>
+        <span class="plotSource">Source: ${formatSourceLabel("longitudinalTerms", sourceLabel)}</span>
+      </div>
+
+      <div class="plotLegend">
+        <span class="plotLegendItem"><i class="plotLegendLine p"></i>Up: ${formatValue(latestSampleValue("longitudinalUpAccelCmd"), 3)}</span>
+        <span class="plotLegendItem"><i class="plotLegendLine i"></i>Ui: ${formatValue(latestSampleValue("longitudinalUiAccelCmd"), 3)}</span>
+        <span class="plotLegendItem"><i class="plotLegendLine f"></i>Uf: ${formatValue(latestSampleValue("longitudinalUfAccelCmd"), 3)}</span>
+      </div>
+
+      <div class="plotSvgWrap">
+        ${hasData ? html`
+          <svg class="plotSvg" viewBox="0 0 ${SVG_WIDTH} ${SVG_HEIGHT}" preserveAspectRatio="none" role="img" aria-label="Longitudinal accel cmd terms live plot">
+            <line class="plotGridLine" x1="0" y1="${topQuarterY}" x2="${SVG_WIDTH}" y2="${topQuarterY}"></line>
+            <line class="plotZeroLine" x1="0" y1="${zeroY}" x2="${SVG_WIDTH}" y2="${zeroY}"></line>
+            <line class="plotGridLine" x1="0" y1="${bottomQuarterY}" x2="${SVG_WIDTH}" y2="${bottomQuarterY}"></line>
+            <polyline class="plotLine p" points="${buildPolyline(state.samples, "longitudinalUpAccelCmd", range.min, range.max)}"></polyline>
+            <polyline class="plotLine i" points="${buildPolyline(state.samples, "longitudinalUiAccelCmd", range.min, range.max)}"></polyline>
+            <polyline class="plotLine f" points="${buildPolyline(state.samples, "longitudinalUfAccelCmd", range.min, range.max)}"></polyline>
+          </svg>
+        ` : html`
+          <div class="plotEmpty">Waiting for enough live samples...</div>
+        `}
+      </div>
+
+      <div class="plotRangeRow">
+        <span>${formatValue(range.max, 3)}</span>
+        <span>0.000</span>
+        <span>${formatValue(range.min, 3)}</span>
+      </div>
+    </section>
+  `
+}
+
+async function initialize() {
+  try {
+    state.showAdvancedTerms = localStorage.getItem(ADVANCED_TERMS_KEY) === "1"
+  } catch (error) {
+    state.showAdvancedTerms = false
+  }
+
+  try {
+    await fetchLiveData()
+  } catch (error) {
+    state.error = error?.message || String(error)
+    state.loading = false
+  } finally {
+    ensurePolling()
+  }
+
+  if (!visibilityListenerAttached) {
+    visibilityListenerAttached = true
+    document.addEventListener("visibilitychange", () => {
+      if (document.visibilityState !== "visible") {
+        stopPolling()
+        return
+      }
+
+      if (isPlotsRouteActive() && !state.paused) {
+        fetchLiveData().catch((error) => {
+          state.error = error?.message || String(error)
+          state.loading = false
+        })
+        ensurePolling()
+      }
+    })
+  }
+}
+
+export function LivePlots() {
+  if (!initialized) {
+    initialized = true
+    initialize()
+  }
+  if (!state.paused) {
+    ensurePolling()
+  }
+
+  return html`
+    <div class="plotsPage">
+      <h1>Plots</h1>
+
+      <section class="plotCard plotStatusCard">
+        <p class="plotDescription">
+          Live comparison view for tuning diagnostics. These scores are a quick health check, not a final verdict. Short spikes from bumps, lane changes, traffic transitions, and manual inputs can temporarily lower a score.
+        </p>
+        <p class="qualityUserGuidance">
+          Work in progress: use this as trend guidance over time. If you see a brief "Poor," keep driving and look for repeated behavior across multiple situations before changing tune values.
+        </p>
+
+        <div class="plotStatusGrid">
+          <p><strong>Onroad:</strong> ${state.live?.isOnroad ? "Yes" : "No"}</p>
+          <p><strong>Sample Age:</strong> ${formatAge(state.live?.sampleAgeSeconds)}</p>
+          <p><strong>Vehicle Speed:</strong> ${formatValue(state.live?.speed)} m/s</p>
+          <p><strong>Samples:</strong> ${state.samples.length}</p>
+        </div>
+
+        ${() => {
+          const lateralQuality = computeMatchQuality(state.samples, LATERAL_QUALITY_CONFIG)
+          const longQuality = computeMatchQuality(state.samples, LONGITUDINAL_QUALITY_CONFIG)
+
+          return html`
+            <div class="qualitySummaryGrid">
+              <div class="qualitySummaryRow">
+                <p class="qualitySentence">
+                  Your lateral tuning is
+                  <span class="qualityTone ${qualityToneClass(lateralQuality.label)}">${formatQualityLabel(lateralQuality.label)}</span>
+                </p>
+                <p class="qualityDetail">
+                  ${lateralQuality.value === null ? lateralQuality.detail : `${formatValue(lateralQuality.value)} m/s² error (${lateralQuality.detail})`}
+                </p>
+              </div>
+              <div class="qualitySummaryRow">
+                <p class="qualitySentence">
+                  Your longitudinal tuning is
+                  <span class="qualityTone ${qualityToneClass(longQuality.label)}">${formatQualityLabel(longQuality.label)}</span>
+                </p>
+                <p class="qualityDetail">
+                  ${longQuality.value === null ? longQuality.detail : `${formatValue(longQuality.value)} m/s² error (${longQuality.detail})`}
+                </p>
+              </div>
+            </div>
+          `
+        }}
+
+        <div class="plotActions">
+          <button class="plotButton" @click="${togglePaused}">
+            ${state.paused ? "Resume Live" : "Pause Live"}
+          </button>
+          <button class="plotButton" @click="${clearHistory}">
+            Clear History
+          </button>
+        </div>
+
+        ${state.error ? html`<p class="plotError"><strong>Error:</strong> ${state.error}</p>` : ""}
+        ${state.live?.lastError ? html`<p class="plotError"><strong>Source Error:</strong> ${state.live.lastError}</p>` : ""}
+        <p class="qualityMethodNote">
+          Match rating uses a 30-second rolling window. Lateral prefers true steering-demand moments, and longitudinal also checks how much of the window stays above error limits so brief spikes are less likely to mark "Poor."
+        </p>
+      </section>
+
+      <div class="plotCharts">
+        ${PlotCard(
+          "Lateral Response (m/s²)",
+          "desiredLateralAccel",
+          "actualLateralAccel",
+          "lateral",
+          state.live?.lateralSource,
+          "Target",
+          "Measured",
+        )}
+        ${PlotCard(
+          "Longitudinal Response (m/s²)",
+          "desiredLongitudinalAccel",
+          "actualLongitudinalAccel",
+          "longitudinal",
+          state.live?.longitudinalSource,
+          "Target",
+          "Measured",
+        )}
+      </div>
+
+      <div class="plotAdvancedRow">
+        <button class="plotButton" @click="${toggleAdvancedTerms}">
+          ${state.showAdvancedTerms ? "Hide Advanced Controller Terms" : "Show Advanced Controller Terms"}
+        </button>
+      </div>
+
+      ${state.showAdvancedTerms ? html`
+        <div class="plotCharts">
+          ${LateralTermsPlotCard(state.live?.lateralTermsSource)}
+          ${LongitudinalTermsPlotCard(state.live?.longitudinalTermsSource)}
+        </div>
+      ` : ""}
+
+      ${state.loading ? html`<p>Loading live data...</p>` : ""}
+    </div>
+  `
+}
@@ -1,4 +1,4 @@
-import { html } from "https://esm.sh/@arrow-js/core"
+import { html } from "/assets/vendor/arrow-core.js"

 export function SpeedLimits() {
  function handleDownload() {
@@ -0,0 +1,152 @@
+.testingGroundPage {
+  max-width: var(--width-xxl);
+}
+
+.testingGroundCard {
+  background-color: var(--secondary-bg);
+  border-radius: var(--border-radius-md);
+  color: var(--text-color);
+  max-width: 90%;
+  padding: var(--border-radius-xl);
+}
+
+.testingGroundIntro {
+  margin-top: 0;
+}
+
+.testingGroundTopList {
+  margin-top: var(--margin-base);
+}
+
+.testingGroundTopList ol {
+  margin: var(--margin-xs) 0 0;
+  padding-left: 1.4rem;
+}
+
+.testingGroundTopList li {
+  font-size: var(--font-size-sm);
+  margin-bottom: 0.25rem;
+}
+
+.testingGroundStatusGrid {
+  display: grid;
+  gap: 0.5em 1em;
+  grid-template-columns: repeat(2, minmax(0, 1fr));
+  margin-top: var(--margin-base);
+}
+
+.testingGroundStatusGrid p {
+  font-size: var(--font-size-sm);
+  margin: 0;
+}
+
+.testingGroundSelectionRow {
+  align-items: center;
+  display: flex;
+  gap: var(--gap-sm);
+  margin-top: var(--margin-base);
+}
+
+.testingGroundSelect {
+  background-color: var(--main-bg);
+  border: 1px solid var(--track-color);
+  border-radius: var(--border-radius-sm);
+  color: var(--text-color);
+  flex: 1;
+  font-size: var(--font-size-sm);
+  min-width: 0;
+  padding: var(--padding-sm);
+}
+
+.testingGroundModeButton:hover {
+  transform: var(--hover-scale-sm);
+  transition: transform var(--transition-fast), background-color var(--transition-fast);
+}
+
+.testingGroundDetails {
+  margin-top: var(--margin-base);
+}
+
+.testingGroundDetails h3 {
+  margin-bottom: var(--margin-xs);
+}
+
+.testingGroundDetails p {
+  font-size: var(--font-size-sm);
+  margin: 0 0 var(--margin-xs);
+}
+
+.testingGroundMuted {
+  color: var(--text-muted);
+}
+
+.testingGroundActionGrid {
+  display: grid;
+  gap: var(--gap-sm);
+  grid-template-columns: repeat(auto-fit, minmax(200px, 1fr));
+  margin-top: var(--margin-base);
+}
+
+.testingGroundModeButton {
+  align-items: center;
+  background: #2a2752;
+  border: none;
+  border-radius: var(--border-radius-sm);
+  color: var(--text-color);
+  display: flex;
+  flex-direction: column;
+  gap: var(--gap-xs);
+  min-height: 120px;
+  padding: var(--padding-base);
+}
+
+.testingGroundModeButtonB {
+  background: #27434b;
+}
+
+.testingGroundModeButtonC {
+  background: #413029;
+}
+
+.testingGroundModeButton.active {
+  box-shadow: 0 0 0 2px var(--main-fg) inset;
+}
+
+.testingGroundModeLetter {
+  font-size: clamp(2rem, 4vw, 2.75rem);
+  font-weight: var(--font-weight-bold);
+  line-height: 1;
+}
+
+.testingGroundModeLabel {
+  font-size: var(--font-size-sm);
+  text-align: center;
+}
+
+.testingGroundError {
+  color: var(--danger-fg);
+  margin-top: var(--margin-base);
+}
+
+.testingGroundActiveSummary {
+  margin-top: var(--margin-base);
+}
+
+@media only screen and (max-width: 768px) and (orientation: portrait) {
+  .testingGroundCard {
+    max-width: 100%;
+  }
+
+  .testingGroundStatusGrid {
+    grid-template-columns: 1fr;
+  }
+
+  .testingGroundSelectionRow {
+    align-items: stretch;
+    flex-direction: column;
+  }
+
+  .testingGroundActionGrid {
+    grid-template-columns: 1fr;
+  }
+}
@@ -0,0 +1,288 @@
+import { html, reactive } from "/assets/vendor/arrow-core.js"
+
+const state = reactive({
+  loading: true,
+  error: "",
+  busy: false,
+  data: null,
+  selectedSlot: "",
+})
+
+let initialized = false
+
+function slotId(slot) {
+  return String(slot?.id || "").trim()
+}
+
+function isUnusedSlot(slot) {
+  const name = String(slot?.name || "").trim().toLowerCase()
+  return name === "unused" || name.startsWith("unused ")
+}
+
+function getSelectableSlots() {
+  const selectable = Array.isArray(state.data?.selectableSlots) ? state.data.selectableSlots : []
+  if (selectable.length) return selectable
+
+  const slots = Array.isArray(state.data?.slots) ? state.data.slots : []
+  return slots.filter((slot) => !isUnusedSlot(slot))
+}
+
+function getVisibleSlotLines() {
+  return getSelectableSlots().map((slot) => `${slot.id}. ${slot.name}`)
+}
+
+function getSelectedSlot() {
+  const slots = Array.isArray(state.data?.slots) ? state.data.slots : []
+  const selectedId = String(state.selectedSlot || "").trim()
+  if (!selectedId) return null
+  return slots.find((slot) => slotId(slot) === selectedId) || null
+}
+
+function getActiveSlot() {
+  const slots = Array.isArray(state.data?.slots) ? state.data.slots : []
+  const activeId = String(state.data?.activeSlot || "").trim()
+  if (!activeId) return null
+  return slots.find((slot) => slotId(slot) === activeId) || null
+}
+
+function getVariantLabels(slot) {
+  if (!slot || typeof slot !== "object") {
+    return { A: "A" }
+  }
+
+  const labels = {}
+  const rawVariantLabels = slot.variantLabels
+  if (rawVariantLabels && typeof rawVariantLabels === "object") {
+    Object.entries(rawVariantLabels).forEach(([rawMode, rawLabel]) => {
+      const mode = String(rawMode || "").trim().toUpperCase()
+      const label = String(rawLabel || "").trim()
+      if (mode.length === 1 && /^[A-Z]$/.test(mode) && label) {
+        labels[mode] = label
+      }
+    })
+  }
+
+  const aLabel = String(slot.aLabel || "").trim()
+  const bLabel = String(slot.bLabel || "").trim()
+  if (aLabel) labels.A = labels.A || aLabel
+  if (bLabel) labels.B = labels.B || bLabel
+  if (!labels.A) labels.A = "A"
+
+  return Object.keys(labels).sort().reduce((acc, key) => {
+    acc[key] = labels[key]
+    return acc
+  }, {})
+}
+
+function getVariantModes(slot) {
+  return Object.keys(getVariantLabels(slot))
+}
+
+function getDefaultMode(slot) {
+  const modes = getVariantModes(slot)
+  if (modes.includes("A")) return "A"
+  return modes[0] || "A"
+}
+
+function toModeLabel(slot, mode) {
+  const labels = getVariantLabels(slot)
+  return labels[String(mode || "").trim().toUpperCase()] || String(mode || "").trim().toUpperCase() || "A"
+}
+
+function isModeActive(mode) {
+  const normalizedMode = String(mode || "").trim().toUpperCase()
+  return String(state.data?.activeSlot || "").trim() === String(state.selectedSlot || "").trim() && String(state.data?.activeVariant || "").trim().toUpperCase() === normalizedMode
+}
+
+function getSelectedMode() {
+  const selectedSlot = getSelectedSlot()
+  if (!selectedSlot) return "A"
+  if (String(state.data?.activeSlot || "").trim() === String(state.selectedSlot || "").trim()) {
+    return String(state.data?.activeVariant || "").trim().toUpperCase() || getDefaultMode(selectedSlot)
+  }
+  return getDefaultMode(selectedSlot)
+}
+
+function modeButtonClass(mode) {
+  const normalizedMode = String(mode || "").trim().toUpperCase()
+  return [
+    "testingGroundModeButton",
+    `testingGroundModeButton${normalizedMode}`,
+    isModeActive(normalizedMode) ? "active" : "",
+  ].filter(Boolean).join(" ")
+}
+
+async function fetchTestingGrounds() {
+  try {
+    const response = await fetch("/api/testing_grounds")
+    const payload = await response.json()
+    if (!response.ok) {
+      throw new Error(payload.error || response.statusText || "Failed to load testing grounds")
+    }
+
+    state.data = payload
+    state.error = ""
+
+    const selectable = Array.isArray(payload.selectableSlots) ? payload.selectableSlots : []
+    const hasCurrentSelection = selectable.some((slot) => slotId(slot) === String(state.selectedSlot || "").trim())
+    if (!hasCurrentSelection) {
+      const activeSlot = String(payload.activeSlot || "").trim()
+      const activeSelectable = selectable.some((slot) => slotId(slot) === activeSlot)
+      state.selectedSlot = activeSelectable ? activeSlot : slotId(selectable[0] || {})
+    }
+
+  } catch (error) {
+    const message = error?.message || "Failed to load testing grounds"
+    state.error = message
+  }
+}
+
+async function applySelection(slotValue, mode, showToast = true) {
+  const normalizedSlot = String(slotValue || "").trim()
+  const normalizedMode = String(mode || "").trim().toUpperCase()
+  if (!normalizedSlot || !normalizedMode) return false
+
+  state.busy = true
+  try {
+    const response = await fetch("/api/testing_grounds/select", {
+      method: "POST",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({ slotId: normalizedSlot, variant: normalizedMode }),
+    })
+    const payload = await response.json()
+    if (!response.ok) {
+      throw new Error(payload.error || response.statusText || "Failed to update testing ground mode")
+    }
+
+    state.data = payload
+    state.error = ""
+    state.selectedSlot = normalizedSlot
+    if (showToast) {
+      showSnackbar(payload.message || `Testing Ground ${normalizedSlot} set to ${normalizedMode}.`)
+    }
+    return true
+  } catch (error) {
+    const message = error?.message || "Failed to update testing ground mode"
+    state.error = message
+    if (showToast) {
+      showSnackbar(message, "error")
+    }
+    return false
+  } finally {
+    state.busy = false
+  }
+}
+
+async function selectMode(mode) {
+  if (state.busy) return
+
+  const slot = getSelectedSlot()
+  const slotValue = slotId(slot)
+  if (!slotValue) {
+    showSnackbar("Select a testing ground first.", "error")
+    return
+  }
+
+  await applySelection(slotValue, mode, true)
+}
+
+async function selectSlot(slotValue) {
+  const normalizedSlot = String(slotValue || "").trim()
+  state.selectedSlot = normalizedSlot
+  if (!normalizedSlot || state.busy) return
+
+  const activeSlot = String(state.data?.activeSlot || "").trim()
+  if (normalizedSlot === activeSlot) return
+
+  const success = await applySelection(normalizedSlot, "A", false)
+  if (!success) {
+    state.selectedSlot = activeSlot
+    if (state.error) {
+      showSnackbar(state.error, "error")
+    }
+  }
+}
+
+function initialize() {
+  if (initialized) return
+  initialized = true
+
+  fetchTestingGrounds().finally(() => {
+    state.loading = false
+  })
+}
+
+export function TestingGround() {
+  initialize()
+
+  return html`
+    <div class="testingGroundPage">
+      <h2>Testing Ground</h2>
+      ${() => state.loading ? html`<div class="testingGroundCard">Loading testing ground state...</div>` : ""}
+      ${() => !state.loading ? html`
+        <div class="testingGroundCard">
+          <p class="testingGroundIntro">
+            A/B Tuning Sandbox. If you don't know what this is, you probably shouldn't be here ;)
+          </p>
+
+          <div class="testingGroundTopList">
+            <strong>Current Test Slots</strong>
+            <ol>
+              ${getVisibleSlotLines().map((line) => html`<li>${line}</li>`)}
+            </ol>
+          </div>
+
+          <div class="testingGroundStatusGrid">
+            <p><strong>Selected Slot:</strong> ${getSelectedSlot()?.name || "Unknown"}</p>
+            <p><strong>Selected Mode:</strong> ${getSelectedMode()}</p>
+            <p><strong>Onroad:</strong> ${state.data?.isOnroad ? "Yes" : "No"}</p>
+            <p><strong>Selectable Slots:</strong> ${getSelectableSlots().length}</p>
+          </div>
+
+          <div class="testingGroundSelectionRow">
+            <select
+              class="testingGroundSelect"
+              ?disabled="${state.busy || getSelectableSlots().length === 0}"
+              @change="${(event) => {
+                selectSlot(String(event.target.value || ""))
+              }}">
+              ${() => getSelectableSlots().length
+                ? getSelectableSlots().map((slot) => html`<option value="${slotId(slot)}" ${slotId(slot) === state.selectedSlot ? "selected" : ""}>${slot.id}. ${slot.name}</option>`)
+                : html`<option value="">No active test slots</option>`
+              }
+            </select>
+          </div>
+
+          ${() => getSelectedSlot() ? html`
+            <div class="testingGroundDetails">
+              <h3>${getSelectedSlot().name}</h3>
+              ${() => getSelectedSlot().description ? html`<p>${getSelectedSlot().description}</p>` : ""}
+            </div>
+          ` : ""}
+
+          ${() => getSelectedSlot() ? html`
+            <div class="testingGroundActionGrid">
+              ${() => getVariantModes(getSelectedSlot()).map((mode) => html`
+                <button
+                  class="${modeButtonClass(mode)}"
+                  ?disabled="${state.busy}"
+                  @click="${() => selectMode(mode)}">
+                  <span class="testingGroundModeLetter">${mode}</span>
+                  <span class="testingGroundModeLabel">${toModeLabel(getSelectedSlot(), mode)}</span>
+                </button>
+              `)}
+            </div>
+          ` : ""}
+
+          ${() => state.error ? html`<p class="testingGroundError"><strong>Error:</strong> ${state.error}</p>` : ""}
+
+          ${() => getActiveSlot() ? html`
+            <p class="testingGroundActiveSummary">
+              Currently active: <strong>${getActiveSlot().id}. ${getActiveSlot().name}</strong> in mode <strong>${state.data?.activeVariant || "A"}</strong>.
+            </p>
+          ` : ""}
+        </div>
+      ` : ""}
+    </div>
+  `
+}
@@ -77,11 +77,11 @@
  display: none;
 }

-.checklist-item input[type="checkbox"]:checked ~ .custom-checkbox {
+.checklist-item input[type="checkbox"]:checked~.custom-checkbox {
  background-color: var(--success-bg);
 }

-.checklist-item input[type="checkbox"]:checked ~ .custom-checkbox::before {
+.checklist-item input[type="checkbox"]:checked~.custom-checkbox::before {
  transform: translateX(24px);
 }

@@ -170,6 +170,7 @@
  flex-shrink: 0;
  transition: color var(--transition-fast), transform 0.2s;
 }
+
 .file-clear-button:hover {
  color: var(--danger-hover-bg);
  transform: scale(1.1);
@@ -613,7 +614,7 @@ label.file-upload-button {
 .turn-signal-input:focus,
 .turn-signal-input:hover {
  border-color: var(--thumb-color);
-  box-shadow: 0 0 0 2px var(--thumb-color), 0 0 8px var(--thumb-color);
+  box-shadow: var(--glow-primary);
  outline: none;
  transform: var(--hover-scale-sm);
 }
@@ -690,8 +691,15 @@ label.file-upload-button {
 }

@keyframes modalFadeIn {
-  from { opacity: 0; transform: scale(0.95); }
-  to { opacity: 1; transform: scale(1); }
+  from {
+    opacity: 0;
+    transform: scale(0.95);
+  }
+
+  to {
+    opacity: 1;
+    transform: scale(1);
+  }
 }

@media only screen and (max-width: 768px) and (orientation: portrait) {
@@ -713,8 +721,8 @@ label.file-upload-button {
    flex-wrap: wrap;
  }

-  .save-button-wrapper > button {
+  .save-button-wrapper>button {
    flex-basis: calc(50% - 1rem);
    margin-bottom: var(--gap-sm);
  }
-}
+}
@@ -1,4 +1,4 @@
-import { html, reactive } from "https://esm.sh/@arrow-js/core";
+import { html, reactive } from "/assets/vendor/arrow-core.js";
 import { Modal } from "/assets/components/modal.js";

 const defaultColors = {
@@ -97,7 +97,8 @@ const state = reactive({
  showDeleteConfirmModal: false,
  themeToDelete: null,
  themes: [],
-  activeTab: "colors"
+  activeTab: "colors",
+  fetched: false,
 });

 let draggedIndex = -1;
@@ -405,17 +406,19 @@ const fetchDownloadables = async () => {
 };


-(async () => {
-  try {
-    const response = await fetch("/api/params?key=DiscordUsername");
-    state.discordUsername = await response.text();
-    await loadDefaultTheme();
-    await fetchDownloadables();
-
-  } catch {}
-})();
-
 export function ThemeMaker() {
+  if (!state.fetched) {
+    state.fetched = true;
+    (async () => {
+      try {
+        const response = await fetch("/api/params?key=DiscordUsername");
+        state.discordUsername = await response.text();
+        await loadDefaultTheme();
+        await fetchDownloadables();
+      } catch {}
+    })();
+  }
+
  const normalize = (str) => (str || "")
    .toString()
    .trim()
@@ -1,5 +1,5 @@
-import { html, reactive } from "https://esm.sh/@arrow-js/core"
-import { formatSecondsToHuman } from "/assets/js/utils.js"
+import { html, reactive } from "/assets/vendor/arrow-core.js"
+import { formatSecondsToHuman, isGalaxyTunnel } from "/assets/js/utils.js"
 import { Modal } from "/assets/components/modal.js";

 const logSelectorState = reactive({
@@ -12,6 +12,16 @@ const logSelectorState = reactive({
  newName: ""
 });

+let liveEventSource = null;
+let livePollTimer = null;
+let tmuxLifecycleVersion = 0;
+const REMOTE_POLL_INTERVAL_MS = 2000;
+const TRANSPORT_LIFECYCLE_INTERVAL_MS = 500;
+
+function isTmuxRouteActive() {
+  return window.location.pathname === "/manage_tmux";
+}
+
 async function loadTmuxLogs() {
  if (logSelectorState.loading || logSelectorState.logsLoadedOnce) return;

@@ -122,34 +132,34 @@ function TmuxLogSelector({ action, closeFn }) {
        </div>

        ${() => {
-          if (logSelectorState.loading && !logSelectorState.logsLoadedOnce) {
-            return html`<div class="fileEntry"><p>Loading...</p></div>`;
-          }
-          if (logSelectorState.files.length === 0) {
-            return html`<div class="fileEntry"><p>No tmux logs found!</p></div>`;
-          }
-          return logSelectorState.files.map(file => html`
+      if (logSelectorState.loading && !logSelectorState.logsLoadedOnce) {
+        return html`<div class="fileEntry"><p>Loading...</p></div>`;
+      }
+      if (logSelectorState.files.length === 0) {
+        return html`<div class="fileEntry"><p>No tmux logs found!</p></div>`;
+      }
+      return logSelectorState.files.map(file => html`
            <div class="fileEntry" @click="${() => handleFileClick(file)}">
              <p><span class="label">Filename:</span> <span class="value">${file.filename}</span></p>
              <p><span class="label">Date:</span> <span class="value">${file.date}</span></p>
              <p><span class="label">Age:</span> <span class="value">${file.timeSince < 60 ? "just now" : `${formatSecondsToHuman(file.timeSince, "minutes")} ago`}</span></p>
            </div>
          `);
-        }}
+    }}

        <button @click="${closeFn}" class="cancel-button">Close</button>

        ${() => logSelectorState.logToDelete ? Modal({
-          title: "Confirm Delete",
-          message: `Are you sure you want to delete <strong>${logSelectorState.logToDelete.filename}</strong>?`,
-          onConfirm: confirmDeleteFile,
-          onCancel: () => { logSelectorState.logToDelete = null },
-          confirmText: "Yes, Delete"
-        }) : ""}
+      title: "Confirm Delete",
+      message: `Are you sure you want to delete <strong>${logSelectorState.logToDelete.filename}</strong>?`,
+      onConfirm: confirmDeleteFile,
+      onCancel: () => { logSelectorState.logToDelete = null },
+      confirmText: "Yes, Delete"
+    }) : ""}

        ${() => logSelectorState.logToRename ? Modal({
-          title: "Rename Log",
-          message: html`
+      title: "Rename Log",
+      message: html`
            <div>
              <p>Rename <strong>${logSelectorState.logToRename.filename}</strong> to:</p>
              <div style="margin-top: 10px;">
@@ -163,14 +173,14 @@ function TmuxLogSelector({ action, closeFn }) {
              </div>
            </div>
          `,
-          onConfirm: confirmRenameFile,
-          onCancel: () => {
-            logSelectorState.logToRename = null;
-            logSelectorState.newName = "";
-          },
-          confirmText: "Rename",
-          confirmClass: "btn-primary"
-        }) : ""}
+      onConfirm: confirmRenameFile,
+      onCancel: () => {
+        logSelectorState.logToRename = null;
+        logSelectorState.newName = "";
+      },
+      confirmText: "Rename",
+      confirmClass: "btn-primary"
+    }) : ""}
      </div>
    </div>
  `
@@ -182,23 +192,143 @@ export function TmuxLog() {
    latest: '',
    log: '',
    selectorAction: null,
+    transport: "connecting",
  });
+  const lifecycleVersion = ++tmuxLifecycleVersion;
+  let lifecycleTimer = null;

-  const event_source = new EventSource("/api/tmux_log/live");
-
-  event_source.onmessage = e => {
-    state.latest = e.data;
+  function applyIncomingLog(data) {
+    state.latest = data || "";
    if (!state.paused) {
      state.log = state.latest;
    }
  }

-  event_source.onerror = err => {
-    console.error("Error receiving tmux log:", err);
-    event_source.close();
+  function stopLiveTransport() {
+    if (liveEventSource) {
+      liveEventSource.close();
+      liveEventSource = null;
+    }
+    if (livePollTimer) {
+      clearInterval(livePollTimer);
+      livePollTimer = null;
+    }
  }

-  function togglePause () {
+  async function fetchSnapshot() {
+    try {
+      const response = await fetch("/api/tmux_log/snapshot");
+      if (!response.ok) throw new Error(await response.text());
+      const payload = await response.json();
+      applyIncomingLog(payload?.data || "");
+    } catch (err) {
+      console.error("Error fetching tmux log snapshot:", err);
+    }
+  }
+
+  function startPolling() {
+    if (livePollTimer) return;
+    if (liveEventSource) {
+      liveEventSource.close();
+      liveEventSource = null;
+    }
+    state.transport = "polling";
+    fetchSnapshot();
+    livePollTimer = setInterval(() => {
+      if (!isTmuxRouteActive()) {
+        stopLiveTransport();
+        return;
+      }
+      if (document.visibilityState !== "visible") {
+        return;
+      }
+      fetchSnapshot();
+    }, REMOTE_POLL_INTERVAL_MS);
+  }
+
+  function startEventStream() {
+    if (liveEventSource) return;
+    if (livePollTimer) {
+      clearInterval(livePollTimer);
+      livePollTimer = null;
+    }
+    state.transport = "streaming";
+    liveEventSource = new EventSource("/api/tmux_log/live");
+    let receivedAnyMessage = false;
+
+    liveEventSource.onmessage = e => {
+      if (!isTmuxRouteActive() || document.visibilityState !== "visible") return;
+      receivedAnyMessage = true;
+      applyIncomingLog(e.data);
+    };
+
+    liveEventSource.onerror = err => {
+      console.error("Error receiving tmux log stream:", err);
+      if (!isTmuxRouteActive()) {
+        stopLiveTransport();
+        return;
+      }
+      startPolling();
+    };
+
+    // If SSE connects but no payload arrives quickly (common through tunnels), fallback.
+    setTimeout(() => {
+      if (!receivedAnyMessage && state.transport === "streaming" && isTmuxRouteActive()) {
+        startPolling();
+      }
+    }, 3000);
+  }
+
+  function updateTransportForLifecycle() {
+    if (lifecycleVersion !== tmuxLifecycleVersion) {
+      stopLiveTransport();
+      if (lifecycleTimer) {
+        clearInterval(lifecycleTimer);
+        lifecycleTimer = null;
+      }
+      return;
+    }
+
+    if (!isTmuxRouteActive()) {
+      stopLiveTransport();
+      state.transport = "inactive";
+      if (lifecycleTimer) {
+        clearInterval(lifecycleTimer);
+        lifecycleTimer = null;
+      }
+      return;
+    }
+
+    if (document.visibilityState !== "visible") {
+      stopLiveTransport();
+      state.transport = "paused";
+      return;
+    }
+
+    if (isGalaxyTunnel()) {
+      startPolling();
+      return;
+    }
+
+    if (!liveEventSource && !livePollTimer) {
+      startEventStream();
+    }
+  }
+
+  updateTransportForLifecycle();
+  lifecycleTimer = setInterval(updateTransportForLifecycle, TRANSPORT_LIFECYCLE_INTERVAL_MS);
+
+  function getStatusLabel() {
+    if (state.transport === "polling") {
+      return "Tmux Live Log (Remote Mode)";
+    }
+    if (state.transport === "streaming") {
+      return "Tmux Live Log";
+    }
+    return "Tmux Live Log";
+  }
+
+  function togglePause() {
    state.paused = !state.paused;
    if (!state.paused) {
      state.log = state.latest;
@@ -248,7 +378,7 @@ export function TmuxLog() {
    <div class="tmux-block">
      <div class="tmux-wrapper">
        <div class="tmuxContainer">
-          <div class="tmuxHeader">Tmux Live Log</div>
+          <div class="tmuxHeader">${() => getStatusLabel()}</div>
          <pre class="tmuxLog">${() => state.log}</pre>
        </div>
      </div>
@@ -263,20 +393,20 @@ export function TmuxLog() {
      </div>

      ${() => state.selectorAction
-        ? TmuxLogSelector({
-            action: state.selectorAction,
-            closeFn: () => (state.selectorAction = null)
-          })
-        : ""
-      }
+      ? TmuxLogSelector({
+        action: state.selectorAction,
+        closeFn: () => (state.selectorAction = null)
+      })
+      : ""
+    }

      ${() => logSelectorState.showDeleteAllModal ? Modal({
-        title: "Delete All Logs",
-        message: "Are you sure you want to delete all of your session logs?",
-        onConfirm: deleteAllSessions,
-        onCancel: () => { logSelectorState.showDeleteAllModal = false },
-        confirmText: "Delete All"
-      }) : ""}
+      title: "Delete All Logs",
+      message: "Are you sure you want to delete all of your session logs?",
+      onConfirm: deleteAllSessions,
+      onCancel: () => { logSelectorState.showDeleteAllModal = false },
+      confirmText: "Delete All"
+    }) : ""}
    </div>
  `;
 }
@@ -1,7 +1,8 @@
-import { html, reactive } from "https://esm.sh/@arrow-js/core"
+import { html, reactive } from "/assets/vendor/arrow-core.js"
 import { Modal } from "/assets/components/modal.js"
+import { TailscaleControl } from "/assets/components/tailscale/tailscale.js"

-export function ToggleControl () {
+export function ToggleControl() {
  const state = reactive({
    showResetDefaultModal: false,
    showResetStockModal: false,
@@ -14,7 +15,7 @@ export function ToggleControl () {
  fileInput.addEventListener("change", restoreToggles)
  document.body.appendChild(fileInput)

-  async function backupToggles () {
+  async function backupToggles() {
    const response = await fetch("/api/toggles/backup", { method: "POST" })
    const blob = await response.blob()

@@ -26,7 +27,7 @@ export function ToggleControl () {
    URL.revokeObjectURL(downloadUrl)
  }

-  async function restoreToggles (event) {
+  async function restoreToggles(event) {
    const uploadedFile = event.target.files[0]
    if (uploadedFile) {
      const fileContents = await uploadedFile.text()
@@ -45,11 +46,11 @@ export function ToggleControl () {
    }
  }

-  function confirmResetDefault () {
+  function confirmResetDefault() {
    state.showResetDefaultModal = true;
  }

-  async function resetTogglesToDefault () {
+  async function resetTogglesToDefault() {
    state.showResetDefaultModal = false;
    showSnackbar("Resetting toggles to their default values...");
    await new Promise(resolve => setTimeout(resolve, 3000));
@@ -58,11 +59,11 @@ export function ToggleControl () {
    await fetch("/api/toggles/reset_default", { method: "POST" });
  }

-  function confirmResetStock () {
+  function confirmResetStock() {
    state.showResetStockModal = true;
  }

-  async function resetTogglesToStock () {
+  async function resetTogglesToStock() {
    state.showResetStockModal = false;
    showSnackbar("Resetting toggles to stock openpilot values...");
    await new Promise(resolve => setTimeout(resolve, 3000));
@@ -71,7 +72,7 @@ export function ToggleControl () {
    await fetch("/api/toggles/reset_stock", { method: "POST" });
  }

-  function triggerRestorePrompt () {
+  function triggerRestorePrompt() {
    fileInput.click()
  }

@@ -87,9 +88,9 @@ export function ToggleControl () {
      </section>

      <section class="toggle-control-widget" style="margin-left: 1.5rem">
-        <div class="toggle-control-title">Reset Toggles to Default FrogPilot/Stock openpilot</div>
+        <div class="toggle-control-title">Reset Toggles to Default StarPilot</div>
        <p class="toggle-control-text">
-          Reset all toggles to default FrogPilot/stock openpilot settings.
+          Reset all toggles to default StarPilot settings.
        </p>
        <button class="toggle-control-button" @click="${confirmResetDefault}">
          Reset Toggles to Default
@@ -98,20 +99,22 @@ export function ToggleControl () {
          Reset Toggles to Stock
        </button>
      </section>
+
+      ${TailscaleControl()}
    </div>
    ${() => state.showResetDefaultModal ? Modal({
-        title: "Reset Toggles",
-        message: "Are you sure you want to reset all toggles to their default FrogPilot values?",
-        onConfirm: resetTogglesToDefault,
-        onCancel: () => { state.showResetDefaultModal = false; },
-        confirmText: "Reset to Default"
-      }) : ""}
+    title: "Reset Toggles",
+    message: "Are you sure you want to reset all toggles to their default FrogPilot values?",
+    onConfirm: resetTogglesToDefault,
+    onCancel: () => { state.showResetDefaultModal = false; },
+    confirmText: "Reset to Default"
+  }) : ""}
    ${() => state.showResetStockModal ? Modal({
-        title: "Reset Toggles",
-        message: "Are you sure you want to reset all toggles to stock openpilot values?",
-        onConfirm: resetTogglesToStock,
-        onCancel: () => { state.showResetStockModal = false; },
-        confirmText: "Reset to Stock"
-      }) : ""}
+    title: "Reset Toggles",
+    message: "Are you sure you want to reset all toggles to stock openpilot values?",
+    onConfirm: resetTogglesToStock,
+    onCancel: () => { state.showResetStockModal = false; },
+    confirmText: "Reset to Stock"
+  }) : ""}
  `
 }
@@ -0,0 +1,124 @@
+.troubleshootPage {
+  display: flex;
+  flex-direction: column;
+  gap: 16px;
+}
+
+.troubleshootCard {
+  background: var(--sidebar-bg);
+  border: 1px solid var(--sidebar-border-color);
+  border-radius: var(--border-radius-lg);
+  padding: 16px;
+}
+
+.troubleshootIntro {
+  margin: 0 0 12px;
+  opacity: 0.9;
+}
+
+.troubleshootActionRow {
+  display: flex;
+  gap: 10px;
+  flex-wrap: wrap;
+  margin-bottom: 10px;
+}
+
+.troubleshootButton {
+  background: linear-gradient(135deg, #7a62b8, #8b6cc5);
+  color: #fff;
+  border: none;
+  border-radius: var(--border-radius-md);
+  padding: 10px 14px;
+  font-size: 0.95rem;
+  font-weight: 700;
+  cursor: pointer;
+}
+
+.troubleshootButton:disabled {
+  opacity: 0.6;
+  cursor: not-allowed;
+}
+
+.troubleshootDanger {
+  background: linear-gradient(135deg, #b14a6b, #d95a7b);
+}
+
+.troubleshootError {
+  color: #ff6b6b;
+}
+
+.troubleshootStatusLine {
+  margin: 6px 0 0;
+}
+
+.troubleshootSectionHeader {
+  display: flex;
+  align-items: center;
+  justify-content: space-between;
+  gap: 12px;
+  margin-bottom: 8px;
+}
+
+.troubleshootSectionHeader h3,
+.troubleshootCard h3 {
+  margin: 0;
+}
+
+.troubleshootHeaderRow,
+.troubleshootItemRow,
+.troubleshootSnapshotRow {
+  display: grid;
+  gap: 10px;
+  align-items: center;
+  border-top: 1px solid var(--sidebar-border-color);
+  padding: 8px 0;
+}
+
+.troubleshootHeaderRow {
+  font-weight: 700;
+  opacity: 0.9;
+}
+
+.troubleshootHeaderRow {
+  grid-template-columns: 2fr 1fr 1fr;
+}
+
+.troubleshootHeaderRowSnapshot {
+  grid-template-columns: 2fr 2fr;
+}
+
+.troubleshootSnapshotRow {
+  grid-template-columns: 2fr 2fr;
+}
+
+.troubleshootItemRow {
+  grid-template-columns: 2fr 1fr 1fr;
+}
+
+.troubleshootItemLabel {
+  font-weight: 600;
+}
+
+.troubleshootItemValue,
+.troubleshootItemDefault {
+  font-family: "Open Sans", sans-serif;
+  word-break: break-word;
+}
+
+@media (max-width: 720px) {
+  .troubleshootHeaderRow,
+  .troubleshootItemRow {
+    grid-template-columns: 1.3fr 1fr 1fr;
+    font-size: 0.9rem;
+  }
+
+  .troubleshootSnapshotRow {
+    grid-template-columns: 1fr;
+    gap: 4px;
+  }
+
+  .troubleshootSectionHeader {
+    align-items: flex-start;
+    flex-direction: column;
+  }
+}
@@ -0,0 +1,208 @@
+import { html, reactive } from "/assets/vendor/arrow-core.js"
+
+const state = reactive({
+  loading: true,
+  error: "",
+  snapshot: [],
+  sections: [],
+  isOnroad: false,
+  refreshing: false,
+  busySection: "",
+})
+
+let initialized = false
+
+function formatValue(value) {
+  if (typeof value === "boolean") return value ? "On" : "Off"
+  if (typeof value === "number") {
+    if (Number.isInteger(value)) return String(value)
+    return String(Number(value.toFixed(4)))
+  }
+  if (value === null || value === undefined) return "n/a"
+  const text = String(value).trim()
+  return text || "(empty)"
+}
+
+function buildReportText() {
+  const lines = []
+  lines.push("StarPilot Troubleshoot Report")
+  lines.push(`Generated: ${new Date().toISOString()}`)
+  lines.push(`Onroad: ${state.isOnroad ? "Yes" : "No"}`)
+  lines.push("")
+  lines.push("Snapshot")
+  for (const item of state.snapshot) {
+    lines.push(`- ${item.label}: ${formatValue(item.value)}`)
+  }
+
+  for (const section of state.sections) {
+    lines.push("")
+    lines.push(section.title)
+    for (const item of section.items || []) {
+      lines.push(`- ${item.label}: ${formatValue(item.value)} (default: ${formatValue(item.defaultValue)})`)
+    }
+  }
+
+  return lines.join("\n")
+}
+
+async function copyToClipboard() {
+  const text = buildReportText()
+  try {
+    if (navigator?.clipboard?.writeText) {
+      await navigator.clipboard.writeText(text)
+    } else {
+      const textArea = document.createElement("textarea")
+      textArea.value = text
+      textArea.style.position = "fixed"
+      textArea.style.left = "-9999px"
+      document.body.appendChild(textArea)
+      textArea.focus()
+      textArea.select()
+      document.execCommand("copy")
+      document.body.removeChild(textArea)
+    }
+    showSnackbar("Troubleshoot report copied to clipboard.", "", 2500, { key: "troubleshoot-copy" })
+  } catch (error) {
+    showSnackbar(error?.message || "Failed to copy report.", "error", 3000, { key: "troubleshoot-copy" })
+  }
+}
+
+async function fetchTroubleshoot(showToast = false) {
+  state.refreshing = true
+  try {
+    const response = await fetch("/api/troubleshoot")
+    const payload = await response.json()
+    if (!response.ok) {
+      throw new Error(payload.error || response.statusText || "Failed to load troubleshoot data")
+    }
+
+    state.snapshot = Array.isArray(payload.snapshot) ? payload.snapshot : []
+    state.sections = Array.isArray(payload.sections) ? payload.sections : []
+    state.isOnroad = !!payload.isOnroad
+    state.error = ""
+
+    if (showToast) {
+      showSnackbar("Troubleshoot data refreshed.", "", 1800, { key: "troubleshoot-refresh" })
+    }
+  } catch (error) {
+    const message = error?.message || "Failed to load troubleshoot data"
+    state.error = message
+    if (showToast) {
+      showSnackbar(message, "error", 3000, { key: "troubleshoot-refresh" })
+    }
+  } finally {
+    state.loading = false
+    state.refreshing = false
+  }
+}
+
+async function resetSection(section) {
+  const sectionId = String(section?.id || "")
+  if (!sectionId || state.busySection) return
+
+  const sectionTitle = String(section?.title || "this section")
+  if (!confirm(`Reset ${sectionTitle} to defaults?`)) return
+
+  state.busySection = sectionId
+  try {
+    const response = await fetch("/api/troubleshoot/reset", {
+      method: "POST",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({ sectionId }),
+    })
+    const payload = await response.json()
+    if (!response.ok) {
+      throw new Error(payload.error || response.statusText || "Failed to reset section")
+    }
+
+    showSnackbar(payload.message || `${sectionTitle} reset.`, "", 2500, { key: "troubleshoot-reset" })
+    await fetchTroubleshoot(false)
+  } catch (error) {
+    showSnackbar(error?.message || "Failed to reset section.", "error", 3000, { key: "troubleshoot-reset" })
+  } finally {
+    state.busySection = ""
+  }
+}
+
+function initialize() {
+  if (initialized) return
+  initialized = true
+  fetchTroubleshoot(false)
+}
+
+function itemRows(section) {
+  const items = Array.isArray(section?.items) ? section.items : []
+  return items.map((item) => html`
+    <div class="troubleshootItemRow">
+      <div class="troubleshootItemLabel">${item.label}</div>
+      <div class="troubleshootItemValue">${formatValue(item.value)}</div>
+      <div class="troubleshootItemDefault">${formatValue(item.defaultValue)}</div>
+    </div>
+  `)
+}
+
+export function Troubleshoot() {
+  initialize()
+
+  return html`
+    <div class="troubleshootPage">
+      <h2>Troubleshoot</h2>
+
+      ${() => state.loading ? html`<div class="troubleshootCard">Loading troubleshoot data...</div>` : ""}
+
+      ${() => !state.loading ? html`
+        <div class="troubleshootCard">
+          <p class="troubleshootIntro">
+            Quick diagnostics snapshot for weird behavior reports and copy-ready debug logs.
+          </p>
+          <div class="troubleshootActionRow">
+            <button class="troubleshootButton" ?disabled="${state.refreshing}" @click="${() => fetchTroubleshoot(true)}">
+              ${state.refreshing ? "Refreshing..." : "Refresh"}
+            </button>
+            <button class="troubleshootButton" @click="${copyToClipboard}">
+              Copy to Clipboard
+            </button>
+          </div>
+          ${() => state.error ? html`<p class="troubleshootError"><strong>Error:</strong> ${state.error}</p>` : ""}
+          <p class="troubleshootStatusLine"><strong>Onroad:</strong> ${state.isOnroad ? "Yes" : "No"}</p>
+        </div>
+
+        <div class="troubleshootCard">
+          <h3>Snapshot</h3>
+          <div class="troubleshootHeaderRow troubleshootHeaderRowSnapshot">
+            <span>Field</span>
+            <span>Value</span>
+          </div>
+          ${() => state.snapshot.map((item) => html`
+            <div class="troubleshootSnapshotRow">
+              <div class="troubleshootItemLabel">${item.label}</div>
+              <div class="troubleshootItemValue">${formatValue(item.value)}</div>
+            </div>
+          `)}
+        </div>
+
+        ${() => state.sections.map((section) => html`
+          <div class="troubleshootCard">
+            <div class="troubleshootSectionHeader">
+              <h3>${section.title}</h3>
+              ${section.resettable ? html`
+                <button
+                  class="troubleshootButton troubleshootDanger"
+                  ?disabled="${state.busySection === section.id}"
+                  @click="${() => resetSection(section)}">
+                  ${state.busySection === section.id ? "Resetting..." : "Reset to Default"}
+                </button>
+              ` : ""}
+            </div>
+            <div class="troubleshootHeaderRow">
+              <span>Setting</span>
+              <span>Current</span>
+              <span>Default</span>
+            </div>
+            ${itemRows(section)}
+          </div>
+        `)}
+      ` : ""}
+    </div>
+  `
+}
@@ -73,7 +73,7 @@
  transition: opacity var(--transition-slow);
 }

-.tskkeys-group > .tskkeys-row:last-of-type {
+.tskkeys-group>.tskkeys-row:last-of-type {
  margin-bottom: 0;
 }

@@ -105,7 +105,7 @@
 .tskkeys-input:hover,
 .tskkeys-input:focus {
  border-color: var(--thumb-color);
-  box-shadow: 0 0 0 2px var(--thumb-color), 0 0 8px var(--thumb-color);
+  box-shadow: var(--glow-primary);
  transform: var(--hover-scale-sm);
 }

@@ -211,4 +211,4 @@
  .tskkeys-input {
    font-size: var(--font-size-sm);
  }
-}
+}
@@ -1,4 +1,4 @@
-import { html, reactive } from "https://esm.sh/@arrow-js/core"
+import { html, reactive } from "/assets/vendor/arrow-core.js"
 import { Modal } from "/assets/components/modal.js"

 const state = reactive({
@@ -165,15 +165,16 @@ const api = {
  }
 }

-let hasLoaded = false
-if (!hasLoaded) {
-  hasLoaded = true
-  api.load()
-}
-
-export function TSKManager() {
-  return html`
-    <div class="tskkeys-wrapper tskkeys-offset-top">
+let hasLoaded = false
+
+export function TSKManager() {
+  if (!hasLoaded) {
+    hasLoaded = true
+    api.load()
+  }
+
+  return html`
+    <div class="tskkeys-wrapper tskkeys-offset-top">
      <div class="tskkeys-container">
        <div class="tskkeys-title">Toyota Security Key Manager</div>

@@ -0,0 +1,206 @@
+.updateManager {
+  max-width: var(--width-xxl);
+}
+
+.updateActions {
+  display: flex;
+  gap: var(--gap-sm);
+  margin-top: var(--margin-base);
+}
+
+.updateButton {
+  background: var(--main-fg);
+  border: none;
+  border-radius: var(--border-radius-sm);
+  color: var(--text-color);
+  font-size: var(--font-size-sm);
+  font-weight: var(--font-weight-demi-bold);
+  padding: var(--padding-sm) var(--padding-base);
+}
+
+.updateButton.danger {
+  background: var(--danger-bg);
+}
+
+.updateButton.danger:hover {
+  background: var(--danger-hover-bg);
+}
+
+.updateButton:hover {
+  transform: var(--hover-scale-sm);
+  transition: transform var(--transition-fast), background-color var(--transition-fast);
+}
+
+.updateButton:disabled {
+  cursor: not-allowed;
+  opacity: 0.55;
+  transform: none;
+}
+
+.updateCard {
+  background-color: var(--secondary-bg);
+  border-radius: var(--border-radius-md);
+  color: var(--text-color);
+  max-width: 80%;
+  padding: var(--border-radius-xl);
+}
+
+.updateError {
+  color: var(--danger-fg);
+  margin-top: var(--margin-sm);
+}
+
+.updateGrid {
+  display: grid;
+  gap: 0.5em 1em;
+  grid-template-columns: repeat(3, 1fr);
+}
+
+.updateGrid p {
+  font-size: var(--font-size-sm);
+  margin: 0;
+}
+
+.updateLink {
+  color: var(--main-fg);
+  display: inline-block;
+  font-size: var(--font-size-sm);
+  font-weight: var(--font-weight-bold);
+}
+
+.updateMessage {
+  margin-top: var(--margin-sm);
+}
+
+.updateProgressCard {
+  margin-top: var(--margin-base);
+}
+
+.updateProgressDetail {
+  font-size: var(--font-size-sm);
+  margin-top: var(--margin-sm);
+}
+
+.updateProgressDetail.error {
+  color: var(--danger-fg);
+}
+
+.updateProgressFill {
+  background: linear-gradient(90deg, #5ec8c8 0%, #8b6cc5 100%);
+  border-radius: var(--border-radius-sm);
+  height: 100%;
+  transition: width var(--transition-base);
+}
+
+.updateProgressFill.error {
+  background: linear-gradient(90deg, #b43a3a 0%, #de5656 100%);
+}
+
+.updateProgressHeader {
+  display: flex;
+  font-size: var(--font-size-sm);
+  font-weight: var(--font-weight-demi-bold);
+  justify-content: space-between;
+  margin-bottom: var(--margin-xs);
+}
+
+.updateProgressTrack {
+  background: var(--track-color);
+  border-radius: var(--border-radius-sm);
+  height: 12px;
+  overflow: hidden;
+}
+
+.updateProgressTrack.error {
+  border: 1px solid var(--danger-bg);
+}
+
+.updateToggleRow {
+  align-items: center;
+  display: flex;
+  gap: var(--gap-sm);
+  justify-content: space-between;
+  margin-top: var(--margin-base);
+}
+
+.updateWarning {
+  margin-top: var(--margin-base);
+}
+
+.updateHint {
+  font-size: var(--font-size-sm);
+  margin-top: var(--margin-sm);
+}
+
+.updateRebootNotice {
+  font-weight: var(--font-weight-bold);
+}
+
+.updateFooter {
+  border-top: 1px solid var(--track-color);
+  margin-top: var(--margin-base);
+  padding-top: var(--margin-sm);
+}
+
+.updateBranchSection {
+  margin-top: var(--margin-base);
+}
+
+.updateAdvancedNote {
+  font-size: var(--font-size-sm);
+  margin-top: var(--margin-sm);
+}
+
+.updateBranchHeader {
+  align-items: center;
+  display: flex;
+  font-size: var(--font-size-sm);
+  justify-content: space-between;
+}
+
+.updateBranchRow {
+  align-items: center;
+  display: flex;
+  gap: var(--gap-sm);
+  margin-top: var(--margin-sm);
+}
+
+.updateSelect {
+  background-color: var(--main-bg);
+  border: 1px solid var(--track-color);
+  border-radius: var(--border-radius-sm);
+  color: var(--text-color);
+  flex: 1;
+  font-size: var(--font-size-sm);
+  min-width: 0;
+  padding: var(--padding-sm);
+}
+
+.updateSelect:disabled {
+  cursor: not-allowed;
+  opacity: 0.6;
+}
+
+.updateToggleRow input:disabled {
+  cursor: not-allowed;
+  opacity: 0.6;
+}
+
+@media only screen and (max-width: 768px) and (orientation: portrait) {
+  .updateActions {
+    flex-direction: column;
+  }
+
+  .updateBranchRow {
+    flex-direction: column;
+    align-items: stretch;
+  }
+
+  .updateCard {
+    max-width: 100%;
+  }
+
+  .updateGrid {
+    grid-template-columns: repeat(auto-fit, minmax(220px, 1fr));
+  }
+}
@@ -0,0 +1,617 @@
+import { html, reactive } from "/assets/vendor/arrow-core.js"
+
+const state = reactive({
+  loading: true,
+  error: "",
+  status: null,
+  checkedForUpdates: false,
+  checkBusy: false,
+  updateBusy: false,
+  toggleBusy: false,
+  showAdvancedOptions: false,
+  branches: [],
+  selectedBranch: "",
+  hasManualBranchSelection: false,
+  branchesError: "",
+  branchesBusy: false,
+  switchBusy: false,
+})
+
+let initialized = false
+let pollHandle = null
+let reconnectPending = false
+let rebootNoticeShown = false
+const POLL_INTERVAL_MS = 1000
+const ADVANCED_OPTIONS_KEY = "softwareShowAdvancedOptions"
+
+function isUpdateRouteActive() {
+  return window.location.pathname === "/manage_updates"
+}
+
+function shortHash(value) {
+  const text = String(value || "").trim()
+  return text ? text.slice(0, 10) : "Unknown"
+}
+
+function toPercent(value) {
+  const n = Number(value)
+  if (!Number.isFinite(n)) return 0
+  return Math.max(0, Math.min(100, n))
+}
+
+function findBranchInList(branches, target) {
+  const wanted = String(target || "").trim()
+  if (!wanted || !Array.isArray(branches) || branches.length === 0) return ""
+  if (branches.includes(wanted)) return wanted
+
+  const wantedLower = wanted.toLowerCase()
+  const caseInsensitive = branches.find((branch) => String(branch || "").toLowerCase() === wantedLower)
+  return caseInsensitive || ""
+}
+
+function isSelectedBranchDifferent() {
+  const currentBranch = String(state.status?.branch || "").trim()
+  const selectedBranch = String(state.selectedBranch || "").trim()
+  return !!currentBranch && !!selectedBranch && currentBranch !== selectedBranch
+}
+
+function normalizeGithubRemote(remoteValue, commitsUrlValue = "") {
+  let remote = String(remoteValue || "").trim()
+  if (!remote) {
+    const commitsUrl = String(commitsUrlValue || "").trim()
+    const marker = "/commits/"
+    const markerIndex = commitsUrl.indexOf(marker)
+    if (commitsUrl.startsWith("https://github.com/") && markerIndex > 0) {
+      remote = commitsUrl.slice(0, markerIndex)
+    } else {
+      return ""
+    }
+  }
+
+  if (remote.startsWith("git@github.com:")) {
+    remote = `https://github.com/${remote.split(":", 2)[1] || ""}`
+  } else if (remote.startsWith("ssh://git@github.com/")) {
+    remote = `https://github.com/${remote.split("ssh://git@github.com/", 2)[1] || ""}`
+  } else if (remote.startsWith("http://github.com/")) {
+    remote = `https://github.com/${remote.split("http://github.com/", 2)[1] || ""}`
+  }
+
+  if (!remote.startsWith("https://github.com/")) return ""
+  remote = remote.replace(/\/+$/, "")
+  if (remote.endsWith(".git")) remote = remote.slice(0, -4)
+  return remote
+}
+
+function currentOrSelectedBranchForCommits() {
+  const selected = String(state.selectedBranch || "").trim()
+  if (selected) return selected
+  return String(state.status?.branch || "").trim()
+}
+
+function activeCommitsUrl() {
+  const branch = currentOrSelectedBranchForCommits()
+  if (!branch) return ""
+
+  const remote = normalizeGithubRemote(state.status?.originRemote, state.status?.commitsUrl)
+  if (!remote) return ""
+  return `${remote}/commits/${encodeURIComponent(branch)}/`
+}
+
+function activeCommitsLabel() {
+  const branch = currentOrSelectedBranchForCommits()
+  return branch
+    ? `View latest commit for the "${branch}" branch`
+    : "View latest commit for this branch"
+}
+
+function shouldShowPrimaryUpdateAction() {
+  if (state.status?.running) return true
+  if (isSelectedBranchDifferent()) return true
+  return !!state.checkedForUpdates && !!state.status?.updateAvailable
+}
+
+function shouldContinuePolling() {
+  return !!state.status?.running || state.status?.stage === "rebooting" || reconnectPending
+}
+
+function shouldShowRebootNotice() {
+  if (state.status?.stage === "rebooting") return true
+  if (reconnectPending) return true
+  const message = String(state.status?.message || "").toLowerCase()
+  return message.includes("reboot")
+}
+
+function isHtmlLike(text) {
+  const value = String(text || "").trim()
+  return value.startsWith("<!DOCTYPE") || value.startsWith("<html") || value.startsWith("<")
+}
+
+async function readJsonPayload(response) {
+  const bodyText = await response.text()
+  if (!bodyText) return {}
+
+  try {
+    return JSON.parse(bodyText)
+  } catch (parseError) {
+    const error = new Error("Invalid JSON response")
+    error.cause = parseError
+    error.bodyText = bodyText
+    throw error
+  }
+}
+
+function setRebootingUiState(detail = "Reboot in progress...") {
+  state.status = {
+    ...(state.status || {}),
+    running: false,
+    stage: "rebooting",
+    progressStep: 5,
+    progressTotalSteps: state.status?.progressTotalSteps || 5,
+    progressStepPercent: 100,
+    progressPercent: 100,
+    progressLabel: "Rebooting device",
+    progressDetail: detail,
+    message: "Update complete. Device is rebooting. Please wait...",
+  }
+  state.error = ""
+}
+
+function isRebootRelatedConnectionError(error) {
+  const message = String(error?.message || "")
+  return /Invalid JSON response|Unexpected token '<'|Failed to fetch|NetworkError|Load failed/i.test(message)
+}
+
+function stopPolling() {
+  if (!pollHandle) return
+  clearTimeout(pollHandle)
+  pollHandle = null
+}
+
+function ensurePolling() {
+  if (pollHandle) return
+
+  const poll = async () => {
+    if (!isUpdateRouteActive()) {
+      pollHandle = null
+      return
+    }
+
+    if (document.visibilityState !== "visible") {
+      pollHandle = setTimeout(poll, POLL_INTERVAL_MS)
+      return
+    }
+
+    await fetchStatus(false)
+    if (shouldContinuePolling()) {
+      pollHandle = setTimeout(poll, POLL_INTERVAL_MS)
+    } else {
+      pollHandle = null
+    }
+  }
+
+  pollHandle = setTimeout(poll, POLL_INTERVAL_MS)
+}
+
+async function fetchStatus(showToast) {
+  if (showToast) state.checkBusy = true
+  try {
+    const response = await fetch("/api/update/fast/status")
+    const payload = await readJsonPayload(response)
+    if (!response.ok) {
+      throw new Error(payload.error || response.statusText || "Failed to load update status")
+    }
+
+    state.status = payload
+    state.error = ""
+
+    if (reconnectPending && !payload.running && payload.stage !== "rebooting") {
+      reconnectPending = false
+      rebootNoticeShown = false
+      showSnackbar("Connection reestablished.")
+    }
+
+    if (payload.stage === "rebooting" && !rebootNoticeShown) {
+      rebootNoticeShown = true
+      showSnackbar("Device rebooting, please wait for reconnection...")
+    }
+
+    if (!state.selectedBranch && payload.branch) {
+      state.selectedBranch = payload.branch
+    }
+
+    if (shouldContinuePolling()) {
+      ensurePolling()
+    } else {
+      stopPolling()
+    }
+
+    if (showToast) {
+      state.checkedForUpdates = true
+      showSnackbar(payload.updateAvailable ? "Update available." : "No update available.")
+    }
+  } catch (error) {
+    const isRebootTransitionError = !showToast
+      && (state.status?.running || state.status?.stage === "rebooting" || reconnectPending)
+      && (isHtmlLike(error?.bodyText) || isRebootRelatedConnectionError(error))
+
+    if (isRebootTransitionError) {
+      reconnectPending = true
+      setRebootingUiState("Device rebooting, please wait for reconnection...")
+      if (!rebootNoticeShown) {
+        rebootNoticeShown = true
+        showSnackbar("Device rebooting, please wait for reconnection...")
+      }
+      ensurePolling()
+      return
+    }
+
+    const message = error?.message || String(error)
+    state.error = message
+    if (showToast) {
+      showSnackbar(message, "error")
+    }
+  } finally {
+    if (showToast) state.checkBusy = false
+  }
+}
+
+async function fetchBranches(showToast = false) {
+  state.branchesBusy = true
+  try {
+    const response = await fetch("/api/update/branches")
+    const payload = await readJsonPayload(response)
+    if (!response.ok) {
+      throw new Error(payload.error || response.statusText || "Failed to load branches")
+    }
+
+    const branches = Array.isArray(payload.branches) ? payload.branches : []
+    const currentBranchRaw = String(payload.currentBranch || state.status?.branch || "").trim()
+    const matchedCurrentBranch = findBranchInList(branches, currentBranchRaw)
+    state.branches = branches
+    state.branchesError = payload.remoteError || ""
+
+    if (branches.length === 0) {
+      state.selectedBranch = currentBranchRaw
+      state.hasManualBranchSelection = false
+    } else if (matchedCurrentBranch && !state.hasManualBranchSelection) {
+      // Default to the branch currently installed unless the user picked one explicitly.
+      state.selectedBranch = matchedCurrentBranch
+    } else if (!state.selectedBranch || !branches.includes(state.selectedBranch)) {
+      state.selectedBranch = matchedCurrentBranch || branches[0]
+      state.hasManualBranchSelection = false
+    }
+
+    if (showToast) {
+      showSnackbar(branches.length ? `Loaded ${branches.length} branches.` : "No branches found.")
+    }
+  } catch (error) {
+    const message = error?.message || "Failed to load branches"
+    state.branchesError = message
+    if (showToast) {
+      showSnackbar(message, "error")
+    }
+  } finally {
+    state.branchesBusy = false
+  }
+}
+
+function setAdvancedOptions(enabled) {
+  const next = !!enabled
+  state.showAdvancedOptions = next
+
+  if (!next) {
+    const currentBranch = String(state.status?.branch || "").trim()
+    if (currentBranch) {
+      state.selectedBranch = currentBranch
+    }
+    state.hasManualBranchSelection = false
+  }
+
+  try {
+    localStorage.setItem(ADVANCED_OPTIONS_KEY, next ? "1" : "0")
+  } catch (error) {
+    console.warn("Failed to persist advanced options preference", error)
+  }
+
+  if (next && state.branches.length === 0 && !state.branchesBusy) {
+    fetchBranches(false)
+  }
+}
+
+async function setAutomaticUpdates(enabled) {
+  if (state.toggleBusy) return
+  if (state.status?.isOnroad) {
+    showSnackbar("Actions are blocked while onroad.", "error")
+    return
+  }
+  state.toggleBusy = true
+  try {
+    const response = await fetch("/api/params", {
+      method: "PUT",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({ key: "AutomaticUpdates", value: !!enabled }),
+    })
+    const payload = await response.json()
+    if (!response.ok) {
+      throw new Error(payload.error || response.statusText || "Failed to update Automatic Updates")
+    }
+
+    state.status = { ...(state.status || {}), automaticUpdates: !!enabled }
+    showSnackbar(payload.message || "Automatic updates updated.")
+  } catch (error) {
+    showSnackbar(error?.message || "Failed to update Automatic Updates", "error")
+    await fetchStatus(false)
+  } finally {
+    state.toggleBusy = false
+  }
+}
+
+async function runFastUpdate() {
+  if (state.updateBusy) return
+  if (state.status?.running) {
+    showSnackbar("Fast update is already running.")
+    return
+  }
+  if (state.status?.isOnroad) {
+    showSnackbar("Actions are blocked while onroad.", "error")
+    return
+  }
+
+  const confirmed = window.confirm(
+    "Fast update warning:\n\n" +
+    "- This update method skips backup creation.\n" +
+    "- Your device will reboot when the update is done.\n\n" +
+    "Continue with fast update?"
+  )
+  if (!confirmed) return
+
+  state.updateBusy = true
+  try {
+    reconnectPending = false
+    rebootNoticeShown = false
+    const response = await fetch("/api/update/fast", { method: "POST" })
+    const payload = await readJsonPayload(response)
+    if (!response.ok) {
+      throw new Error(payload.error || response.statusText || "Failed to start fast update")
+    }
+
+    state.status = {
+      ...(state.status || {}),
+      running: true,
+      stage: "starting",
+      progressStep: 1,
+      progressTotalSteps: state.status?.progressTotalSteps || 5,
+      progressStepPercent: 0,
+      progressPercent: 0,
+      progressLabel: "Preparing update",
+      progressDetail: "Initializing update process...",
+      message: payload.message || "Fast update started. Device will reboot when complete.",
+      lastError: "",
+    }
+    state.error = ""
+    showSnackbar(payload.message || "Fast update started.")
+    await fetchStatus(false)
+    ensurePolling()
+  } catch (error) {
+    showSnackbar(error?.message || "Failed to start fast update", "error")
+  } finally {
+    state.updateBusy = false
+  }
+}
+
+async function runBranchSwitch() {
+  if (state.switchBusy) return
+  if (state.status?.running) {
+    showSnackbar("An update action is already running.")
+    return
+  }
+  if (state.status?.isOnroad) {
+    showSnackbar("Actions are blocked while onroad.", "error")
+    return
+  }
+
+  const targetBranch = String(state.selectedBranch || "").trim()
+  if (!targetBranch) {
+    showSnackbar("Select a target branch first.", "error")
+    return
+  }
+
+  const currentBranch = String(state.status?.branch || "").trim()
+  const actionLabel = currentBranch && currentBranch === targetBranch ? "update" : "switch and update"
+  const confirmed = window.confirm(
+    `This will ${actionLabel} to the '${targetBranch}' branch.\n\n` +
+    "- This update method skips backup creation.\n" +
+    "- Your device will reboot when the update is done.\n\n" +
+    "Continue?"
+  )
+  if (!confirmed) return
+
+  state.switchBusy = true
+  try {
+    reconnectPending = false
+    rebootNoticeShown = false
+    const response = await fetch("/api/update/branch", {
+      method: "POST",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({ branch: targetBranch }),
+    })
+    const payload = await readJsonPayload(response)
+    if (!response.ok) {
+      throw new Error(payload.error || response.statusText || "Failed to start branch switch")
+    }
+
+    state.status = {
+      ...(state.status || {}),
+      running: true,
+      stage: "starting",
+      progressStep: 1,
+      progressTotalSteps: state.status?.progressTotalSteps || 5,
+      progressStepPercent: 0,
+      progressPercent: 0,
+      progressLabel: "Preparing branch switch",
+      progressDetail: "Initializing branch switch...",
+      message: payload.message || `Branch switch started for '${targetBranch}'. Device will reboot when complete.`,
+      lastError: "",
+    }
+    state.error = ""
+    showSnackbar(payload.message || "Branch switch started.")
+    await fetchStatus(false)
+    ensurePolling()
+  } catch (error) {
+    showSnackbar(error?.message || "Failed to start branch switch", "error")
+  } finally {
+    state.switchBusy = false
+  }
+}
+
+function initialize() {
+  if (initialized) return
+  initialized = true
+
+  try {
+    state.showAdvancedOptions = localStorage.getItem(ADVANCED_OPTIONS_KEY) === "1"
+  } catch (error) {
+    state.showAdvancedOptions = false
+  }
+
+  const initTasks = [fetchStatus(false)]
+  if (state.showAdvancedOptions) {
+    initTasks.push(fetchBranches(false))
+  }
+
+  Promise.all(initTasks).finally(() => {
+    state.loading = false
+  })
+}
+
+export function UpdateManager() {
+  initialize()
+
+  return html`
+    <div class="updateManager">
+      <h2>Software</h2>
+
+      ${() => state.loading ? html`<div class="updateCard">Loading update status...</div>` : ""}
+      ${() => !state.loading ? html`
+        <div class="updateCard">
+          <div class="updateGrid">
+            <p><strong>Current Branch:</strong> ${state.status?.branch || "Unknown"}</p>
+            <p><strong>Installed Commit:</strong> ${shortHash(state.status?.localCommit)}</p>
+            <p><strong>Latest Commit:</strong> ${shortHash(state.status?.remoteCommit)}</p>
+            <p><strong>Update Available:</strong> ${state.status?.updateAvailable ? "Yes" : "No"}</p>
+            <p><strong>Status:</strong> ${state.status?.stage || "idle"}</p>
+            <p><strong>Onroad:</strong> ${state.status?.isOnroad ? "Yes" : "No"}</p>
+          </div>
+
+          <div class="updateProgressCard">
+            <div class="updateProgressHeader">
+              <span>
+                Step ${state.status?.progressStep || 0}/${state.status?.progressTotalSteps || 5}:
+                ${state.status?.progressLabel || "Idle"}
+              </span>
+              <span>${Math.round(toPercent(state.status?.progressPercent))}%</span>
+            </div>
+            <div class="updateProgressTrack ${state.status?.stage === "error" ? "error" : ""}">
+              <div class="updateProgressFill ${state.status?.stage === "error" ? "error" : ""}" style="width: ${toPercent(state.status?.progressPercent)}%;"></div>
+            </div>
+            ${() => state.status?.progressDetail ? html`<p class="updateProgressDetail ${state.status?.stage === "error" ? "error" : ""}">${state.status.progressDetail}</p>` : ""}
+          </div>
+
+          ${() => state.status?.isOnroad ? html`<p class="updateWarning"><strong>Onroad: actions disabled</strong></p>` : ""}
+
+          <label class="updateToggleRow">
+            <span>Automatically install updates</span>
+            <input
+              type="checkbox"
+              class="ds-toggle"
+              ?checked="${!!state.status?.automaticUpdates}"
+              ?disabled="${!!state.status?.isOnroad || state.toggleBusy || !!state.status?.running}"
+              @change="${(event) => setAutomaticUpdates(!!event.target.checked)}"
+            />
+          </label>
+
+          <label class="updateToggleRow updateAdvancedToggle">
+            <span>Show advanced options</span>
+            <input
+              type="checkbox"
+              class="ds-toggle"
+              ?checked="${() => state.showAdvancedOptions}"
+              @change="${(event) => setAdvancedOptions(!!event.target.checked)}"
+            />
+          </label>
+
+          ${() => state.showAdvancedOptions ? html`
+            <div class="updateBranchSection">
+              <div class="updateBranchHeader">
+                <strong>Branch switching</strong>
+                ${state.branchesBusy ? html`<span>Loading...</span>` : ""}
+              </div>
+              <p class="updateAdvancedNote">
+                For advanced users only. Switching to test/dev branches can introduce instability.
+              </p>
+              <div class="updateBranchRow">
+                <select
+                  class="updateSelect"
+                  ?disabled="${!!state.status?.isOnroad || !!state.status?.running || state.switchBusy || state.branchesBusy || state.branches.length === 0}"
+                  @change="${(event) => {
+                    state.selectedBranch = String(event.target.value || "")
+                    state.hasManualBranchSelection = true
+                  }}">
+                  ${() => state.branches.length
+                    ? state.branches.map((branch) => html`<option value="${branch}" ${branch === state.selectedBranch ? "selected" : ""}>${branch}${branch === state.status?.branch ? " (current)" : ""}</option>`)
+                    : html`<option value="">No branches found</option>`
+                  }
+                </select>
+                <button
+                  class="updateButton"
+                  ?disabled="${state.branchesBusy || !!state.status?.running}"
+                  @click="${() => fetchBranches(true)}">
+                  ${state.branchesBusy ? "Refreshing..." : "Refresh Branches"}
+                </button>
+              </div>
+              ${() => state.branchesError ? html`<p class="updateError"><strong>Branch List:</strong> ${state.branchesError}</p>` : ""}
+            </div>
+          ` : ""}
+
+          ${() => state.status?.message && state.status?.stage !== "rebooting" ? html`<p class="updateMessage">${state.status.message}</p>` : ""}
+          ${() => state.status?.remoteError ? html`<p class="updateError"><strong>Remote Check:</strong> ${state.status.remoteError}</p>` : ""}
+          ${() => state.status?.lastError ? html`<p class="updateError"><strong>Last Error:</strong> ${state.status.lastError}</p>` : ""}
+          ${() => state.error ? html`<p class="updateError"><strong>Error:</strong> ${state.error}</p>` : ""}
+
+          <div class="updateActions">
+            ${() => !isSelectedBranchDifferent() ? html`
+              <button class="updateButton" @click="${() => fetchStatus(true)}">
+                ${state.checkBusy ? "Checking..." : "Check for Updates"}
+              </button>
+            ` : ""}
+            ${() => shouldShowPrimaryUpdateAction() ? html`
+              <button
+                class="updateButton danger"
+                ?disabled="${!!state.status?.isOnroad || !!state.status?.running || (isSelectedBranchDifferent() ? state.switchBusy : state.updateBusy)}"
+                @click="${() => isSelectedBranchDifferent() ? runBranchSwitch() : runFastUpdate()}">
+                ${state.status?.running
+                  ? "Update Running..."
+                  : (isSelectedBranchDifferent()
+                    ? (state.switchBusy ? "Starting..." : "Switch + Update")
+                    : (state.updateBusy ? "Starting..." : "Fast Update (No Backup)"))}
+              </button>
+            ` : ""}
+          </div>
+          ${() => !state.status?.running && !shouldShowPrimaryUpdateAction()
+            ? html`<p class="updateHint">Run <strong>Check for Updates</strong> first, or select a different branch in advanced options.</p>`
+            : ""}
+          ${() => shouldShowRebootNotice()
+            ? html`<p class="updateHint updateRebootNotice">Device rebooting, please wait for reconnection...</p>`
+            : ""}
+          ${() => activeCommitsUrl() ? html`
+            <div class="updateFooter">
+              <a class="updateLink" href="${activeCommitsUrl()}" target="_blank" rel="noopener noreferrer">
+                ${activeCommitsLabel()}
+              </a>
+            </div>
+          ` : ""}
+        </div>
+      ` : ""}
+    </div>
+  `
+}
@@ -0,0 +1,162 @@
+import { html, reactive } from "/assets/vendor/arrow-core.js"
+import { DoorControl } from "/assets/components/tools/doors.js"
+import { TSKManager } from "/assets/components/tools/tsk_manager.js"
+
+const state = reactive({
+  activeTool: null,
+  toolStatus: {
+    doors: "untested", // untested, allowed, denied
+    tsk: "untested"
+  },
+  loading: false
+})
+
+async function checkToolAvailability(toolName) {
+  if (state.toolStatus[toolName] !== "untested") {
+    state.activeTool = toolName;
+    return;
+  }
+
+  state.loading = true;
+  state.activeTool = toolName;
+
+  try {
+    const response = await fetch(`/api/car_features_check?tool=${toolName}`);
+    const data = await response.json();
+    state.toolStatus[toolName] = data.result ? "allowed" : "denied";
+  } catch (error) {
+    console.error("Failed to check feature availability:", error);
+    state.toolStatus[toolName] = "denied";
+  } finally {
+    state.loading = false;
+  }
+}
+
+export function VehicleFeatures() {
+  return html`
+    <style>
+      .vf-container {
+        padding: var(--padding-lg);
+        max-width: var(--max-width-content);
+        margin: 0 auto;
+      }
+      .vf-grid {
+        display: grid;
+        grid-template-columns: repeat(auto-fit, minmax(280px, 1fr));
+        gap: var(--gap-lg);
+        margin-top: var(--margin-lg);
+      }
+      .vf-card {
+        background: var(--card-bg);
+        border: var(--border-width-thin) var(--border-style-base) var(--sidebar-border-color);
+        border-radius: var(--border-radius-lg);
+        padding: var(--padding-lg);
+        cursor: pointer;
+        transition: transform var(--transition-fast), box-shadow var(--transition-fast);
+        display: flex;
+        flex-direction: column;
+        align-items: center;
+        text-align: center;
+      }
+      .vf-card:hover {
+        transform: translateY(-2px);
+        box-shadow: var(--shadow-md);
+        border-color: var(--main-fg);
+      }
+      .vf-card i {
+        font-size: 2.5rem;
+        margin-bottom: var(--margin-sm);
+        color: var(--main-fg);
+      }
+      .vf-card h3 {
+        margin: 0 0 var(--margin-xs) 0;
+        font-size: var(--font-size-lg);
+      }
+      .vf-card p {
+        margin: 0;
+        font-size: var(--font-size-sm);
+        color: var(--text-muted);
+      }
+      .vf-back {
+        background: none;
+        border: none;
+        color: var(--main-fg);
+        cursor: pointer;
+        font-size: var(--font-size-base);
+        display: flex;
+        align-items: center;
+        gap: var(--gap-sm);
+        padding: 0;
+        margin-bottom: var(--margin-lg);
+      }
+      .vf-back:hover {
+        text-decoration: underline;
+      }
+      .vf-error {
+        margin-top: var(--margin-lg);
+        padding: var(--padding-base);
+        background: rgba(224, 85, 119, 0.1);
+        border: var(--border-width-thin) var(--border-style-base) var(--danger-fg);
+        border-radius: var(--border-radius-md);
+        color: var(--danger-fg);
+        text-align: center;
+      }
+      .vf-loader {
+        text-align: center;
+        padding: var(--padding-xxl);
+        color: var(--text-muted);
+      }
+    </style>
+
+    <div class="vf-container">
+      ${() => {
+      if (!state.activeTool) {
+        return html`
+            <h1>Vehicle Specific Features</h1>
+            <p style="color: var(--text-muted); margin-bottom: var(--margin-xl);">
+              Select a feature below to access it. These features verify vehicle compatibility when launched.
+            </p>
+            <div class="vf-grid">
+              <div class="vf-card" @click="${() => checkToolAvailability('doors')}">
+                <i class="bi bi-door-closed"></i>
+                <h3>Lock/Unlock Doors</h3>
+                <p>Send lock or unlock commands remotely to your vehicle.</p>
+              </div>
+              <div class="vf-card" @click="${() => checkToolAvailability('tsk')}">
+                <i class="bi bi-key-fill"></i>
+                <h3>Toyota Security Keys</h3>
+                <p>Manage and apply security keys for secOC protected devices.</p>
+              </div>
+            </div>
+          `;
+      }
+
+      return html`
+          <button class="vf-back" @click="${() => { state.activeTool = null; }}">
+            <i class="bi bi-arrow-left"></i> Back to Features
+          </button>
+
+          ${() => {
+          if (state.loading) {
+            return html`<div class="vf-loader"><i class="bi bi-hourglass-split"></i> Verifying vehicle compatibility...</div>`;
+          }
+
+          if (state.toolStatus[state.activeTool] === "denied") {
+            const toolNames = { doors: "Lock/Unlock Doors", tsk: "Toyota Security Keys" };
+            return html`
+                <div class="vf-error">
+                  <i class="bi bi-exclamation-triangle-fill" style="font-size: 2rem; display: block; margin-bottom: var(--margin-sm);"></i>
+                  <strong>${toolNames[state.activeTool]}</strong> is not supported for your current vehicle.
+                </div>
+              `;
+          }
+
+          if (state.activeTool === "doors") return DoorControl();
+          if (state.activeTool === "tsk") return TSKManager();
+          return "";
+        }}
+        `;
+    }}
+    </div>
+  `;
+}
@@ -1,26 +1,50 @@
-function showSnackbar(msg, level, timeout = 3500) {
+function showSnackbar(msg, level, timeout = 3500, options = {}) {
  const wrapper = document.getElementById("snackbar_wrapper")
+  if (!wrapper) return
+
+  const key = String(options?.key || "").trim()
+  const replace = options?.replace !== false
+
+  const dismissSnackbar = (snackbar) => {
+    if (!snackbar) return
+    if (snackbar.__hideTimer) clearTimeout(snackbar.__hideTimer)
+    if (snackbar.__removeTimer) clearTimeout(snackbar.__removeTimer)
+    snackbar.style.opacity = 0
+    snackbar.__removeTimer = setTimeout(() => snackbar.remove(), 1000)
+  }
+
+  const setSnackbarContent = (snackbar) => {
+    snackbar.innerHTML = msg
+    snackbar.className = "snackbar show"
+    if (level === "error") {
+      snackbar.style.backgroundColor = "#f44336"
+    } else {
+      snackbar.style.backgroundColor = ""
+    }
+  }
+
+  if (key && replace) {
+    const existing = Array.from(wrapper.children).find((el) => el.dataset?.snackbarKey === key)
+    if (existing) {
+      setSnackbarContent(existing)
+      existing.style.opacity = 1
+      if (existing.__hideTimer) clearTimeout(existing.__hideTimer)
+      if (existing.__removeTimer) clearTimeout(existing.__removeTimer)
+      existing.__hideTimer = setTimeout(() => dismissSnackbar(existing), timeout)
+      return
+    }
+  }

  // Ensure max 2 snackbars are visible
  if (wrapper.children.length >= 2) {
-    const first = wrapper.children[0]
-    first.style.opacity = 0
-    setTimeout(() => first.remove(), 1000)
+    dismissSnackbar(wrapper.children[0])
  }

  const snackbar = document.createElement("div")
-  snackbar.innerHTML = msg
-  snackbar.className = "snackbar show"
  snackbar.id = `snackbar_${Math.random().toString(36).slice(5)}`
-
-  if (level === "error") {
-    snackbar.style.backgroundColor = "#f44336"
-  }
+  if (key) snackbar.dataset.snackbarKey = key
+  setSnackbarContent(snackbar)

  wrapper.appendChild(snackbar)
-
-  setTimeout(() => {
-    snackbar.style.opacity = 0
-    setTimeout(() => snackbar.remove(), 1000)
-  }, timeout)
+  snackbar.__hideTimer = setTimeout(() => dismissSnackbar(snackbar), timeout)
 }
@@ -65,3 +65,11 @@ export function hideSidebar() {
  document.getElementById("sidebarUnderlay")?.classList.add("hidden")
  html.classList.remove("no_scroll")
 }
+
+/**
+ * Returns true when the page is being accessed through the Galaxy tunnel
+ * (the public-facing domain is galaxy.firestar.link)
+ */
+export function isGalaxyTunnel() {
+  return window.location.hostname === 'galaxy.firestar.link';
+}
@@ -1,5 +1,5 @@
 {
-  "name": "The Pond",
+  "name": "Galaxy",
  "short_name": "",
  "icons": [
    {
@@ -17,4 +17,4 @@
  "background_color": "#151414",
  "theme_color": "#151414",
  "display": "standalone"
-}
+}
@@ -1,59 +1,79 @@
 <!doctype html>
 <html lang="en" id="htmlElement" data-theme="dark">
-  <head>
-    <meta charset="utf-8" />
-    <meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1">
-    <link rel="apple-touch-icon" sizes="180x180" href="/assets/images/apple-touch-icon.png">
-    <link rel="icon" type="image/png" sizes="32x32" href="/assets/images/favicon-32x32.png">
-    <link rel="icon" type="image/png" sizes="16x16" href="/assets/images/favicon-16x16.png">
-    <link rel="manifest" href="/assets/manifest.json">
-    <link rel="shortcut icon" href="/assets/images/favicon.ico">

-    <meta name="theme-color" content="#4285f4" />
+<head>
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1">
+  <link rel="apple-touch-icon" sizes="180x180" href="/assets/images/apple-touch-icon.png">
+  <link rel="icon" type="image/png" sizes="32x32" href="/assets/images/favicon-32x32.png">
+  <link rel="icon" type="image/png" sizes="16x16" href="/assets/images/favicon-16x16.png">
+  <link rel="manifest" href="/manifest.json">
+  <link rel="shortcut icon" href="/assets/images/favicon.ico">

-    <link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/bootstrap-icons@1.11.3/font/bootstrap-icons.min.css" />
-    <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/4.7.0/css/font-awesome.min.css">
-    <link href="https://api.mapbox.com/mapbox-gl-js/v3.0.1/mapbox-gl.css" rel="stylesheet">
+  <meta name="theme-color" content="#8b6cc5" />

-    <link rel="stylesheet" href="/assets/components/home/home.css">
-    <link rel="stylesheet" href="/assets/components/main.css">
-    <link rel="stylesheet" href="/assets/components/modal.css">
-    <link rel="stylesheet" href="/assets/components/navigation/navigation_destination.css">
-    <link rel="stylesheet" href="/assets/components/navigation/navigation_keys.css">
-    <link rel="stylesheet" href="/assets/components/recordings/dashcam_routes.css">
-    <link rel="stylesheet" href="/assets/components/recordings/screen_recordings.css">
-    <link rel="stylesheet" href="/assets/components/settings.css">
-    <link rel="stylesheet" href="/assets/components/sidebar.css">
-    <link rel="stylesheet" href="/assets/components/tailscale/tailscale.css">
-    <link rel="stylesheet" href="/assets/components/tools/doors.css">
-    <link rel="stylesheet" href="/assets/components/tools/error_logs.css">
-    <link rel="stylesheet" href="/assets/components/tools/speed_limits.css">
-    <link rel="stylesheet" href="/assets/components/tools/theme_maker.css">
-    <link rel="stylesheet" href="/assets/components/tools/tmux.css">
-    <link rel="stylesheet" href="/assets/components/tools/toggles.css">
-    <link rel="stylesheet" href="/assets/components/tools/tsk_manager.css">
+  <link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/bootstrap-icons@1.11.3/font/bootstrap-icons.min.css" />
+  <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/4.7.0/css/font-awesome.min.css">

-    <script type="module" src="/assets/components/router.js"></script>
-    <script src="/assets/js/snackbar.js"></script>
+  <link rel="stylesheet" href="/assets/components/home/home.css">
+  <link rel="stylesheet" href="/assets/components/main.css">
+  <link rel="stylesheet" href="/assets/components/modal.css">
+  <link rel="stylesheet" href="/assets/components/navigation/navigation_destination.css">
+  <link rel="stylesheet" href="/assets/components/navigation/navigation_keys.css">
+  <link rel="stylesheet" href="/assets/components/recordings/dashcam_routes.css">
+  <link rel="stylesheet" href="/assets/components/recordings/screen_recordings.css">
+  <link rel="stylesheet" href="/assets/components/settings.css">
+  <link rel="stylesheet" href="/assets/components/sidebar.css">
+  <link rel="stylesheet" href="/assets/components/tailscale/tailscale.css">
+  <link rel="stylesheet" href="/assets/components/tools/doors.css">
+  <link rel="stylesheet" href="/assets/components/tools/error_logs.css">
+  <link rel="stylesheet" href="/assets/components/tools/model_manager.css">
+  <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">
+  <link rel="stylesheet" href="/assets/components/tools/testing_ground.css">
+  <link rel="stylesheet" href="/assets/components/tools/troubleshoot.css">
+  <link rel="stylesheet" href="/assets/components/tools/tmux.css">
+  <link rel="stylesheet" href="/assets/components/tools/toggles.css">
+  <link rel="stylesheet" href="/assets/components/tools/update_manager.css">
+  <link rel="stylesheet" href="/assets/components/tools/device_settings.css">
+  <link rel="stylesheet" href="/assets/components/tools/galaxy.css">
+  <link rel="stylesheet" href="/assets/components/tools/longitudinal_maneuvers.css">
+  <link rel="stylesheet" href="/assets/components/tools/tsk_manager.css">

-    <script src="https://api.mapbox.com/mapbox-gl-js/v3.0.1/mapbox-gl.js"></script>
+  <script type="module">
+    import("/assets/components/router.js").catch((err) => {
+      console.error("[the_pond] bootstrap failed", err);
+      const target = document.getElementById("app") || document.body;
+      const pre = document.createElement("pre");
+      pre.style.whiteSpace = "pre-wrap";
+      pre.style.color = "#ff8080";
+      pre.style.background = "#200";
+      pre.style.padding = "12px";
+      pre.style.margin = "12px";
+      pre.textContent = `[the_pond] failed to load router:\n${err?.stack || err}`;
+      target.appendChild(pre);
+    });
+  </script>
+  <script src="/assets/js/snackbar.js"></script>

-    <link rel="preconnect" href="https://fonts.googleapis.com">
-    <link rel="preconnect" href="https://fonts.gstatic.com" crossorigin>
-    <link href="https://fonts.googleapis.com/css2?family=Open+Sans:ital,wght@0,300..800;1,300..800&display=swap"
-      rel="stylesheet">
+  <link rel="preconnect" href="https://fonts.googleapis.com">
+  <link rel="preconnect" href="https://fonts.gstatic.com" crossorigin>
+  <link
+    href="https://fonts.googleapis.com/css2?family=Inter:wght@300..800&family=Open+Sans:ital,wght@0,300..800;1,300..800&display=swap"
+    rel="stylesheet">

-    <title>The Pond</title>
-  </head>
+  <title>Galaxy</title>
+</head>

-  <body>
-    <div id="app"></div>
-    <!-- Menu button for phone -->
-    <div id="menu_button">
-      <i class="bi bi-list"></i>
-    </div>
-    <!-- Snackbar for messages -->
-    <div id="snackbar_wrapper"></div>
-  </body>
+<body>
+  <div id="app"></div>
+  <!-- Menu button for phone -->
+  <div id="menu_button">
+    <i class="bi bi-list"></i>
+  </div>
+  <!-- Snackbar for messages -->
+  <div id="snackbar_wrapper"></div>
+</body>

 </html>
@@ -8,7 +8,6 @@ import secrets
 import shutil
 import subprocess
 import time
-import uuid

 from datetime import datetime
 from pathlib import Path
@@ -563,20 +562,11 @@ def process_route(footage_path, route_name):

  return {
    "name": route_name,
-    "gif": f"/thumbnails/{route_name}--0/preview.gif",
    "png": f"/thumbnails/{route_name}--0/preview.png",
    "timestamp": route_timestamp_str,
    "is_preserved": has_preserve_attr(segment_path)
  }

-def process_route_gif(footage_path, route_name):
-  segment_path = f"{footage_path}{route_name}--0"
-  qcamera_path = f"{segment_path}/qcamera.ts"
-  gif_output_path = os.path.join(segment_path, "preview.gif")
-
-  if not os.path.exists(gif_output_path):
-    video_to_gif(qcamera_path, gif_output_path)
-
 def process_screen_recording(mp4):
  stem = mp4.with_suffix("")
  png_path = stem.with_suffix(".png")
@@ -592,44 +582,29 @@ def process_screen_recording(mp4):

  return {
    "filename": mp4.name,
-    "gif": f"/screen_recordings/{stem.with_suffix('.gif').name}",
    "png": f"/screen_recordings/{png_path.name}",
    "timestamp": datetime.fromtimestamp(mp4.stat().st_mtime).isoformat(),
    "is_custom_name": is_custom_name
  }

-def process_screen_recording_gif(mp4):
-  stem = mp4.with_suffix("")
-  gif_path = stem.with_suffix(".gif")
-  if not gif_path.exists():
-    video_to_gif(mp4, gif_path)
-
-def run_ffmpeg(args):
-  process = subprocess.Popen(["ffmpeg", "-hide_banner", "-loglevel", "error"] + args, stdout=subprocess.DEVNULL, stderr=subprocess.PIPE)
-  stdout, stderr = process.communicate()
-  return stdout
-
 def segment_to_segment_name(data_dir, segment):
  full_path = os.path.join(data_dir, f"FakeDongleID1337|{segment}")
  return SegmentName(full_path)

-def video_to_gif(input_path, output_path):
-  output_path = Path(output_path)
-  sped_up_path = output_path.with_suffix(f".{uuid.uuid4()}.spedup.mp4")
-
-  run_ffmpeg(["-i", str(input_path), "-an", "-vf", "setpts=PTS/35", str(sped_up_path)])
-  run_ffmpeg(["-i", str(sped_up_path), "-loop", "0", str(output_path)])
-
-  if os.path.exists(sped_up_path):
-    os.remove(sped_up_path)
-
 def video_to_png(input_path, output_path):
-  run_ffmpeg([
-    "-ss", str(get_video_duration(input_path) / 2),
-    "-i", str(input_path),
-    "-frames:v", "1",
-    str(output_path)
-  ])
+  try:
+    subprocess.run([
+      "ffmpeg", "-hide_banner", "-loglevel", "error",
+      "-ss", "1",
+      "-i", str(input_path),
+      "-frames:v", "1",
+      "-y",
+      str(output_path)
+    ], capture_output=True, check=True, text=True)
+  except subprocess.CalledProcessError as e:
+    print(f"Failed to generate PNG for {input_path}")
+    if e.stderr:
+      print(e.stderr)

 def xor_encrypt_decrypt(data, key):
  return "".join(chr(ord(c) ^ ord(key[i % len(key)])) for i, c in enumerate(data))
@@ -13,11 +13,15 @@ class ModelConstants:
  META_T_IDXS = [2., 4., 6., 8., 10.]

  # model inputs constants
+  MODEL_FREQ = 20
+  HISTORY_FREQ = 5
+  HISTORY_LEN_SECONDS = 5
+  TEMPORAL_SKIP = MODEL_FREQ // HISTORY_FREQ
+  FULL_HISTORY_BUFFER_LEN = MODEL_FREQ * HISTORY_LEN_SECONDS
+  INPUT_HISTORY_BUFFER_LEN = HISTORY_FREQ * HISTORY_LEN_SECONDS
  N_FRAMES = 2
  MODEL_RUN_FREQ = 20
  MODEL_CONTEXT_FREQ = 5 # "model_trained_fps"
-  FULL_HISTORY_BUFFER_LEN = MODEL_RUN_FREQ * MODEL_CONTEXT_FREQ
-  TEMPORAL_SKIP = MODEL_RUN_FREQ // MODEL_CONTEXT_FREQ

  FEATURE_LEN = 512

@@ -3,11 +3,25 @@ import capnp
 import numpy as np
 from cereal import log
 from openpilot.frogpilot.tinygrad_modeld.constants import ModelConstants, Plan, Meta
+from openpilot.selfdrive.controls.lib.drive_helpers import get_curvature_from_plan

 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')

 ConfidenceClass = log.ModelDataV2.ConfidenceClass

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

 class PublishState:
  def __init__(self):
@@ -82,15 +96,32 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  modelV2.timestampEof = timestamp_eof
  modelV2.modelExecutionTime = model_execution_time

+  # normalize plan tensors to (IDX_N, WIDTH)
+  plan_arr = net_output_data['plan'][0]
+  plan_stds_arr = net_output_data['plan_stds'][0]
+
  # plan
-  fill_xyzt(modelV2.position, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.POSITION].T, *net_output_data['plan_stds'][0,:,Plan.POSITION].T)
-  fill_xyzt(modelV2.velocity, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.VELOCITY].T)
-  fill_xyzt(modelV2.acceleration, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ACCELERATION].T)
-  fill_xyzt(modelV2.orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
-  fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
+  fill_xyzt(modelV2.position, ModelConstants.T_IDXS, *plan_arr[:,Plan.POSITION].T, *plan_stds_arr[:,Plan.POSITION].T)
+  fill_xyzt(modelV2.velocity, ModelConstants.T_IDXS, *plan_arr[:,Plan.VELOCITY].T)
+  fill_xyzt(modelV2.acceleration, ModelConstants.T_IDXS, *plan_arr[:,Plan.ACCELERATION].T)
+  fill_xyzt(modelV2.orientation, ModelConstants.T_IDXS, *plan_arr[:,Plan.T_FROM_CURRENT_EULER].T)
+  fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *plan_arr[:,Plan.ORIENTATION_RATE].T)
+
+  # temporal pose
+  temporal_pose = modelV2.temporalPose
+  if 'sim_pose' in net_output_data:
+    temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
+    temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
+    temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
+    temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
+  else:
+    temporal_pose.trans = plan_arr[0,Plan.VELOCITY].tolist()
+    temporal_pose.transStd = plan_stds_arr[0,Plan.VELOCITY].tolist()
+    temporal_pose.rot = plan_arr[0,Plan.ORIENTATION_RATE].tolist()
+    temporal_pose.rotStd = plan_stds_arr[0,Plan.ORIENTATION_RATE].tolist()

  # poly path
-  fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
+  fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *plan_arr[:,Plan.POSITION].T)

  # action
  modelV2.action = action
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Michael Tawata	ea53286972	readme overhaul	2026-03-24 23:42:43 -07:00
firestar5683	d2a6a60ea0	Handle MapsSelected downgrade from StarPilot-Development	2026-03-22 15:12:11 -05:00
firestar5683	ecec3afbd6	tinygrad bump	2026-03-21 13:59:45 -05:00
firestar5683	5a67663069	Fix Galaxy	2026-03-20 17:52:16 -05:00
firestar5683	54b307378b	Long Maneuvers Resume	2026-03-18 21:10:09 -05:00
firestar5683	9b4c0a7151	Fix Lead departure issue	2026-03-18 19:36:08 -05:00
firestarsdog	299c42040a	Fix UI Respring	2026-03-15 22:18:46 -04:00
firestar5683	2d50c43309	Backwards Compatible	2026-03-15 00:58:38 -05:00
firestar5683	5965d2389e	offset	2026-03-11 18:10:54 -05:00
firestar5683	43eeca188f	button	2026-03-11 17:59:50 -05:00
firestar5683	7986f23b1c	SLC Bug	2026-03-11 17:56:34 -05:00
firestar5683	d4ce22deaf	Update plots.js	2026-03-11 17:51:52 -05:00
firestar5683	782cef4c8b	no blend	2026-03-11 17:07:28 -05:00
firestar5683	3ffe607452	v3	2026-03-11 16:56:46 -05:00
firestar5683	fc79fe1248	LongPlanV2	2026-03-11 15:18:14 -05:00
firestar5683	79e28d6f2e	back to zero	2026-03-11 02:43:22 -05:00
firestar5683	335e7cf74e	patches	2026-03-11 02:06:02 -05:00
firestar5683	978d57a674	Planner	2026-03-11 02:06:02 -05:00
firestarsdog	33c0f0ef3a	GLXY Client Changes	2026-03-10 23:20:46 -05:00
firestar5683	c540998591	long press	2026-03-10 17:37:04 -05:00
firestar5683	445e89e14c	BUTTON	2026-03-10 17:23:31 -05:00
firestar5683	46e5eaa232	Remove experimentalgmtune	2026-03-10 13:57:49 -05:00
firestar5683	d4d426f94e	malibu	2026-03-10 13:55:20 -05:00
firestar5683	9364ffd6a8	malibu	2026-03-10 13:31:14 -05:00
firestar5683	fcf8c3feb2	Malibu Exception	2026-03-10 01:20:59 -05:00
firestar5683	2881deb510	Updates	2026-03-10 00:55:50 -05:00
firestar5683	082418b012	BUTTONS YEEEAAAA	2026-03-10 00:54:56 -05:00
firestar5683	f8eab92141	stop distance	2026-03-09 18:42:17 -05:00
firestar5683	208630f5ca	personalities	2026-03-09 14:01:27 -05:00
firestar5683	0e0909cbd7	Goat scream	2026-03-09 13:52:40 -05:00
firestar5683	4320525df6	disable lagd	2026-03-09 13:11:05 -05:00
firestar5683	813e3183fc	Troubleshoot	2026-03-09 13:11:05 -05:00
firestar5683	b4cf18cdc2	High Speed Follow	2026-03-09 13:11:05 -05:00
firestar5683	c8f18d1497	allow uploads	2026-03-08 21:09:13 -05:00
firestar5683	5ca3f503ee	Pond Updates	2026-03-08 21:06:31 -05:00
firestar5683	283e9b1d78	Refine GM pedal/paddle tuning and EV accel profile behavior	2026-03-08 21:06:31 -05:00
firestar5683	404922e80d	Add Pond long maneuvers page and live status wiring	2026-03-08 21:06:31 -05:00
firestar5683	77f314a170	Backport longitudinal maneuvers tooling and runtime hooks	2026-03-08 21:06:31 -05:00
firestar5683	b0426254be	Revert "offset" This reverts commit `3bd7152f0a`.	2026-03-08 01:44:13 -06:00
firestar5683	0d911b2c31	Update Lateral	2026-03-07 19:52:37 -06:00
firestar5683	bd7f47eb20	rename sidebar and tmux remote	2026-03-07 13:29:37 -06:00
firestar5683	f14ac063b3	Revert "General2" This reverts commit `cc700d9b81`.	2026-03-07 00:06:54 -06:00
firestar5683	b169d93464	general	2026-03-07 00:06:54 -06:00
firestar5683	14a3cb7025	steppers	2026-03-06 23:47:40 -06:00
firestar5683	9e6ef37d96	fix stale labels	2026-03-06 23:25:57 -06:00
firestar5683	aa36b2133e	offset	2026-03-06 23:25:56 -06:00
firestar5683	8eb6d5b447	Revert "Testing Ground: add Gen1 Bolt lateral tune (slot 2)" This reverts commit `a43027c1ad`.	2026-03-06 13:02:00 -06:00
firestar5683	f2b9cc51a0	Testing Ground: add Gen1 Bolt lateral tune (slot 2)	2026-03-06 11:32:40 -06:00
firestar5683	f2d754e96d	Testing Ground: add GM Long Tune (slot 1)	2026-03-06 11:32:40 -06:00
firestar5683	cca4a277f1	Testing Ground: framework and UI scaffolding (unused slots)	2026-03-06 11:32:40 -06:00
firestar5683	cd7cb862fd	plots	2026-03-05 23:32:43 -06:00
firestar5683	e8009ad9b9	Updater	2026-03-05 01:25:47 -06:00
firestar5683	cc700d9b81	General2	2026-03-04 23:14:57 -06:00
firestar5683	c24dd3552c	Galaxy Optimization	2026-03-04 23:12:12 -06:00
firestarsdog	2eced5b72c	Revert "General" This reverts commit `77ffd98a1a`.	2026-03-04 18:50:27 -05:00
firestar5683	77ffd98a1a	General	2026-03-04 11:18:23 -06:00
firestar5683	d62d7dd9fc	Moar Toggles	2026-03-03 22:46:49 -06:00
firestarsdog	c84acea993	Galaxy Pair Locally	2026-03-03 22:45:38 -05:00
firestar5683	876a45122f	Model Manager/Galaxy	2026-03-03 21:44:07 -06:00
firestarsdog	f538eddb87	Pin to Pass	2026-03-03 11:37:52 -06:00
firestarsdog	7c51e8aac1	Galaxy	2026-03-03 00:10:16 -06:00
firestar5683	4ab8b0e874	2017 Tuning	2026-03-02 22:41:47 -06:00
firestar5683	b6f9f8180e	Try old regen tuning	2026-03-02 16:39:38 -06:00
firestar5683	d07852b2bc	low speed	2026-03-02 16:38:53 -06:00
firestar5683	a70746918b	paddle refactor	2026-03-02 00:40:15 -06:00
firestar5683	0a6e03b7ca	2017	2026-03-02 00:40:15 -06:00
firestar5683	f0f95d5d10	Update parse_model_outputs.py	2026-02-27 15:04:29 -06:00
firestar5683	cf735574a6	Test handoff	2026-02-27 13:59:28 -06:00
firestarsdog	d466d36429	Nothing to see	2026-02-24 20:05:23 -05:00
firestar5683	33cb78cfa9	Lat Tuning	2026-02-24 17:42:10 -06:00
firestar5683	e2a15a0985	Update tinygrad_modeld.py	2026-02-24 17:33:52 -06:00
firestar5683	984fd6a6cb	Update latcontrol_torque.py	2026-02-23 21:30:52 -06:00
firestar5683	7ef35817fc	SC	2026-02-23 13:23:55 -06:00
firestar5683	26e0b2406e	7mph engage	2026-02-22 21:10:30 -06:00
firestarsdog	fed12740f2	Spoof CruiseSpeed Non-Acc	2026-02-22 21:10:02 -06:00
firestar5683	030cf80148	Update carcontroller.py	2026-02-20 02:11:08 -06:00
firestar5683	d082aa8a3c	blaze	2026-02-19 13:19:35 -06:00
firestar5683	fdcab8d127	blaze	2026-02-19 11:13:07 -06:00
firestar5683	266fda2c91	CEM Transition	2026-02-18 21:32:01 -06:00
firestar5683	97a2b1522e	oops	2026-02-18 15:35:56 -06:00
firestar5683	d59ab46e91	Cleanup fingerprint	2026-02-18 15:15:06 -06:00
firestar5683	948cdf21d0	fix general	2026-02-18 14:49:48 -06:00
firestar5683	f10391d9ce	Revert "no sascm" This reverts commit `1a77897c3a`.	2026-02-18 14:30:09 -06:00
firestar5683	444edbe71b	Update interface.py	2026-02-18 10:51:47 -06:00
firestar5683	bb41c76c62	Revert "GMC Sierra Print" This reverts commit `a7f5f3b21e`.	2026-02-18 10:48:42 -06:00
firestar5683	1978e5fda1	GMC Sierra Print	2026-02-18 08:38:36 -06:00
firestar5683	85906ceb77	JC's follow changes	2026-02-18 08:03:05 -06:00
firestar5683	259ac19499	Honda	2026-02-17 21:02:15 -06:00
firestar5683	1a77897c3a	no sascm Revert "no sascm" This reverts commit 147e752007c6a4f80eec551934bc1cf86510e6dc. Update interface.py	2026-02-17 20:49:33 -06:00
firestar5683	b5d39c4bc1	Truck Tuning	2026-02-17 19:57:35 -06:00
firestar5683	d4d78c9435	Update frogpilot_acceleration.py	2026-02-17 12:28:29 -06:00
firestar5683	2f29d7ee04	EV Tuning	2026-02-16 23:43:46 -06:00
firestar5683	338a07973b	Truck Tuning	2026-02-16 23:39:45 -06:00
firestar5683	f4da6a3e3b	silverado	2026-02-16 17:28:35 -06:00
firestar5683	5fbaebc91c	brake mismatches	2026-02-16 13:25:23 -06:00
firestarsdog	7dbdb33ed1	Gen2ACC Distance Button Sync for CC_ONLY_CAR	2026-02-15 23:33:15 -06:00
firestar5683	a1cd4954b1	cancel acc bolt with pedal	2026-02-15 23:15:48 -06:00
firestar5683	2bbffc2a38	cruisestatus acc pedal	2026-02-14 22:44:33 -06:00
firestar5683	4d7aee4935	pedal	2026-02-14 15:58:32 -06:00
firestarsdog	41b055d140	Update values.py	2026-02-14 16:24:10 -05:00
firestarsdog	bec0c04334	Evil +?	2026-02-14 13:02:22 -05:00
firestar5683	a8499d20fc	Separate Non-ACC vs ACC + Pedal	2026-02-13 23:48:41 -06:00
firestar5683	6d0c17f43a	Holiday	2026-02-13 22:45:30 -06:00
firestar5683	6dec58237b	Fingerprinting	2026-02-13 22:35:10 -06:00
firestarsdog	6a47be1631	Hondadays	2026-02-13 21:38:01 -05:00
firestarsdog	8ea080b4cb	Honda attempt from bugsink	2026-02-13 15:35:17 -05:00
firestarsdog	a51503f2e4	BugSink Catch - human_lane_changes	2026-02-13 11:16:12 -05:00
firestar5683	07c722553d	The Great Merge	2026-02-13 01:52:05 -06:00
firestar5683	14b1793c79	User adjustable offsets	2026-02-07 23:32:26 -06:00
firestar5683	055c223ded	Integrator Smooth On Handoff	2026-02-06 15:46:56 -06:00
firestar5683	4d406112f7	Lights	2026-02-05 22:39:42 -06:00
firestar5683	e03f28bba0	New Models	2026-02-05 15:05:18 -06:00
firestar5683	f0cc963c0e	Revert "merry christmas" This reverts commit `8a9d0e5e6a`.	2026-02-05 13:33:40 -06:00
firestar5683	cd39ce0305	Increase Fault Resilience	2026-02-05 13:15:39 -06:00
firestarsdog	749b5e06fb	Stats	2026-02-02 01:04:19 -05:00
firestarsdog	23121cca0e	Stats	2026-02-01 22:46:13 -06:00
firestar5683	6f0502e862	friction threshold	2026-01-29 11:28:30 -06:00
firestar5683	04c59fb18e	Lat Updates	2026-01-28 23:51:36 -06:00
firestar5683	844dce2030	Update interface.py	2026-01-20 22:08:07 -06:00
firestar5683	aa77db1fc9	Update override.toml	2026-01-19 21:18:53 -06:00
firestar5683	bee9b2b046	Revert "Mac Update" This reverts commit `1b5d776464`.	2026-01-19 11:43:31 -06:00
firestarsdog	469cd5e528	Add SASCM to vehicle settings detection/stats	2026-01-19 10:32:21 -06:00
firestar5683	23f52644ae	Update interface.py	2026-01-18 23:45:59 -06:00
firestar5683	e76b82603b	Update interface.py	2026-01-18 23:44:42 -06:00
firestar5683	1b5d776464	Mac Update	2026-01-18 22:22:06 -06:00
firestarsdog	61f4e8b142	Stats	2026-01-18 22:17:42 -06:00
firestar5683	f0fefb6e13	Torque Controller Update	2026-01-18 21:58:43 -06:00
firestar5683	25a7090c3d	Update redneck	2026-01-15 22:54:15 -06:00
firestar5683	b0de4d64b4	Split Tune	2026-01-15 19:17:55 -06:00
firestar5683	77ae5b176a	fix redneck v2	2026-01-14 13:58:22 -06:00
firestar5683	89de28682c	Remove lat smooth seconds	2026-01-14 13:49:35 -06:00
firestar5683	a1d4dcb9a0	frogpilot migration	2026-01-12 22:10:40 -06:00
firestar5683	c8deae75b7	More defaults	2026-01-12 22:04:19 -06:00
firestar5683	8653fb41f2	Update defaults	2026-01-12 22:00:04 -06:00
firestar5683	c064197fde	Big Mac	2026-01-11 16:58:25 -06:00
firestar5683	7f878ec1dc	Try Higher Friction	2026-01-10 14:04:32 -06:00
firestar5683	140bdd59fb	Autotune Off	2026-01-09 22:40:45 -06:00
firestar5683	6f728f935a	Revert "Pedal Braking Limits" This reverts commit `568b72095f`.	2025-12-31 20:55:13 -06:00
firestar5683	568b72095f	Pedal Braking Limits	2025-12-30 20:17:59 -06:00
firestar5683	0aaf4d1336	merry christmas	2025-12-24 22:04:58 -06:00
firestar5683	bb3f0a3354	ds2	2025-12-24 21:28:40 -06:00
firestar5683	f2aba355b9	Try friction adjustment	2025-12-16 14:38:29 -06:00
firestar5683	e6513efb9b	Update frogpilot_tracking.py	2025-12-15 00:55:51 -06:00
firestar5683	872a2c58aa	minsteer speed	2025-12-14 14:46:27 -06:00
firestar5683	1630560715	Update Percentages	2025-12-13 19:13:44 -06:00
firestar5683	4cfd893837	Trailer Load Gas Tuning	2025-12-12 10:50:11 -06:00
firestar5683	0e93ceef00	Live Friction	2025-12-11 16:54:11 -06:00
firestar5683	d626f0fe49	Zero error	2025-12-11 15:12:29 -06:00
firestar5683	8dae3d375c	Updates Update latcontrol_torque.py interp friction threshold	2025-12-09 19:58:46 -06:00
firestar5683	721d39ef1f	Change NoEntryAlert message to 'Reverse Gear'	2025-12-06 16:44:30 -06:00
firestar5683	a97c5742b7	Update events.py	2025-12-05 20:13:49 -06:00
firestar5683	488f821983	LattyBoi2.0	2025-12-03 23:30:35 -06:00
firestar5683	190dc98180	Latty Boi Revert "Latty Boi" This reverts commit af687e501cc4bdcda7840453d06595d7ea674148. Reapply "Latty Boi" This reverts commit ff5566d4439f5e4997fe83f4f21d0be62b75d75d.	2025-12-02 20:29:48 -06:00
firestar5683	0b459d9f0b	Recovery Power	2025-12-02 17:18:43 -06:00
firestar5683	3cd594bbe4	New planplus	2025-12-02 12:09:05 -06:00
Woohyun Rho	f31082ce2b	Update	2025-11-28 17:10:45 -06:00
firestar5683	b51d7ae35d	Update interface.py	2025-11-18 20:48:48 -06:00
firestar5683	884fcb8315	New Lateral Changes	2025-11-18 20:48:21 -06:00
firestar5683	77597e60b2	Update	2025-11-15 14:44:07 -06:00
firestar5683	f2fbc8f30b	Accel Tests	2025-11-14 20:32:47 -06:00
firestar5683	fffea614a4	Paddle Planner	2025-11-14 01:26:06 -06:00
firestar5683	e7e593cdb2	Revert "Upstream Lateral" This reverts commit `97f8736605`.	2025-11-10 23:07:02 -06:00
firestar5683	97f8736605	Upstream Lateral Revert "Upstream Lateral" This reverts commit 20f7d6631bb152860781b46533bb0e96223be132. Reapply "Upstream Lateral" This reverts commit 2a7a563e219a1b688529d341919fc377fed5038e. Update latcontrol_torque.py more lateral Update ui	2025-11-07 00:13:34 -06:00
firestar5683	48efc5b97a	Update manager.py	2025-10-27 00:58:28 -05:00
firestar5683	4cca6553e4	Update	2025-10-25 15:35:55 -05:00
firestar5683	6eda52b562	Medium Fanta	2025-10-22 22:18:08 -05:00
firestar5683	de9cbc5de6	Update interfaces.py	2025-10-20 13:49:08 -05:00
firestar5683	fee241dc0b	no nnff	2025-10-19 17:59:36 -05:00
firestar5683	2094be9a7a	Scene Complexity	2025-10-18 14:24:48 -05:00
firestar5683	6ce476025d	Update carcontroller.py	2025-10-17 19:10:41 -05:00
firestar5683	dd6c62dbf6	Update interface.py	2025-10-17 18:13:24 -05:00
firestar5683	2ab19dbd4c	CEM	2025-10-17 17:39:06 -05:00
firestar5683	3241fbdd8c	lite	2025-10-17 17:13:37 -05:00
firestar5683	1f0350e66a	Redneck 2.0	2025-10-17 16:55:56 -05:00
firestar5683	ce46776439	Modify torque tuning parameters in interfaces.py Adjusted torque tuning parameters for improved performance.	2025-10-17 16:53:54 -05:00
firestar5683	afb209a1a8	Hurts Donut	2025-10-16 23:57:08 -05:00
firestar5683	b4e29d4ed6	Smoothy Boi	2025-10-16 23:35:26 -05:00
firestar5683	dada0f2ae6	New change	2025-10-15 22:59:04 -05:00
firestar5683	4532e7f5d1	lat3	2025-10-15 22:20:35 -05:00
firestar5683	78de442ee1	New Lateral Changes	2025-10-10 20:59:23 -05:00
firestar5683	953b343e06	Fix Standard	2025-10-10 19:24:24 -05:00
firestar5683	5b26be2e3c	error?	2025-10-08 23:13:32 -05:00
firestar5683	4abe50405c	Update interface.py	2025-10-08 23:07:37 -05:00
firestar5683	f2e705413c	Fix New Devices	2025-10-08 22:19:43 -05:00
firestar5683	da56f26105	No positive P-response for long control if user-selected parameter set	2025-10-08 07:42:32 -05:00
firestar5683	ab39266180	Automatic updates	2025-10-04 16:04:35 -05:00
firestar5683	dac85dfd3a	Steer Alerts	2025-10-04 01:49:22 -05:00
firestar5683	7e539cde38	Update frogpilot_acceleration.py	2025-10-03 22:42:08 -05:00
firestar5683	16a79fbc3d	SteerAlerts Revert "SteerAlerts" This reverts commit cbaba399c5b9caac5a8faf3917f0929d747a0acc. Update controlsd.py	2025-10-03 22:14:25 -05:00
firestar5683	9cdf0120cf	Donut DM	2025-10-03 20:50:00 -05:00
firestar5683	aa0f0aaac8	Update gm_global_a_powertrain_generated.dbc	2025-10-03 16:41:22 -05:00
firestar5683	aefaafb616	Update	2025-10-03 00:43:40 -05:00
firestar5683	388f63168f	firehose	2025-09-30 20:45:47 -05:00
firestar5683	7fe40f6e7f	Update	2025-09-30 14:30:04 -05:00
firestar5683	eb2218e733	Dom	2025-09-30 09:25:14 -05:00
firestar5683	aa9364a311	Tinygrad	2025-09-30 08:56:38 -05:00
				`@@ -0,0 +1 @@`
				{"input_std":[[9.281861],[1.8477924],[0.7977224],[0.047467366],[1.7969038],[1.8168812],[1.8351218],[1.785757],[1.7335743],[1.6658221],[1.5893887],[0.047346078],[0.0473731],[0.047383286],[0.047291175],[0.047300573],[0.04712479],[0.046799928]],"model_test_loss":0.027355343103408813,"input_size":18,"current_date_and_time":"2023-08-05_05-11-44","input_mean":[[21.655252],[-0.07694559],[-0.006081294],[-0.007598456],[-0.07309746],[-0.075890236],[-0.07804942],[-0.076106496],[-0.07184982],[-0.06528668],[-0.060404416],[-0.0077262702],[-0.0077046235],[-0.0076850485],[-0.007687444],[-0.007708868],[-0.0077959923],[-0.008017422]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.35776415],[-0.126288],[0.007988413],[0.03850029],[-0.056796823],[0.0072075897],[0.17376427]],"dense_1_W":[[0.010538558,6.7293744,-0.007391298,-1.035045,-0.47446147,1.0940393,0.08225446,-0.5795131,0.573115,1.82923,-0.16999252,0.8818023,0.03560901,-0.9470653,-1.042151,1.1532398,1.9009485,-1.2265956],[0.009010456,-1.3618345,0.039026346,0.22943486,-0.6669799,-0.768271,-0.16828564,-0.13406865,0.19760236,-0.18953702,-0.019137766,0.1468623,0.26367718,0.4732375,0.73679143,0.62450147,0.30198866,-0.93340015],[-0.044318866,2.2138615,9.620889,-0.66480356,-0.06849887,-0.038568456,-0.30580127,-0.088089585,0.31187677,0.5968372,-1.1462088,0.13234706,0.29166338,-0.69978577,-0.01790655,-0.097928315,-0.56950736,0.7560642],[1.3758256,0.8700429,-0.24295154,0.20832618,-0.7735097,1.0379355,-0.60753095,-0.5457418,-1.0892137,-0.6708325,0.24982774,0.09251328,0.08596103,-0.58034134,-0.3046114,-0.19754426,0.006461508,0.5989185],[0.06314328,-2.492993,-0.28200585,0.49902886,0.8513198,-0.5704965,1.0960953,-0.08426956,-0.76074624,0.10669376,0.02775254,-0.42194095,-0.34657434,-0.10863868,0.17019278,0.0963825,-0.10169116,0.21243806],[0.007984091,-1.9276509,-0.0013926353,0.04057924,1.4438432,1.3440262,-2.506722,1.700801,0.72410774,0.13471895,-0.18753268,0.7303607,0.018133093,-0.71643597,0.07050904,-0.30161944,0.085108586,0.061202843],[0.9413167,-0.9954305,-0.19510143,-0.4711845,-0.12398665,-0.45175523,1.0616771,0.28550953,-0.55543137,-0.21576759,-0.2364377,-0.012782618,-0.050565187,0.257694,-0.20975965,0.00022543047,-0.08760746,0.4983852]],"activation":"σ"},{"dense_2_W":[[-0.71804935,0.017023304,-0.099854074,-0.3262651,-0.402829,-0.12073083,0.13537839],[-0.44002575,-0.1071093,-0.58886194,-0.17319413,-0.21134079,0.23135148,0.0006880979],[-0.55711204,-0.8693639,-0.6443761,-0.7382846,0.18980889,-0.6082511,-0.63103676],[0.11338112,-0.5327033,0.2856197,0.32239884,-0.72682667,0.5302305,-0.45094746],[-0.35197002,-0.14440043,-0.025249843,-0.48697743,0.3340018,-0.25992322,0.0050561456],[0.34757507,0.15670523,-0.14263277,0.50704384,-0.020171141,0.6408679,-0.3074123],[0.40258837,-0.59363264,0.35948923,-0.060853776,-0.0072541097,0.89743376,-0.49789146],[-0.63476,0.29580453,0.1689314,-0.5061521,0.24901053,-0.23218995,0.57968193],[-0.66173035,0.50861925,-0.5845035,-0.6602214,0.8341883,-0.31437424,0.8046359],[0.038493533,0.15464582,-0.04848341,-0.57820857,-0.25891733,-0.47527292,0.21441916],[-0.15464531,-0.07454202,-0.8215851,-0.12614948,-0.5924209,0.00017916794,0.24154592],[0.6091424,-0.112086505,0.1144111,-0.31035227,-0.9237534,0.041003596,-0.3542808],[0.2989792,-0.23780549,0.116059326,-0.6056522,0.5499526,-0.9001413,0.5200723]],"activation":"σ","dense_2_b":[[-0.2638964],[-0.24607328],[-0.15493082],[-0.0071187904],[-0.23515384],[-0.09098133],[-0.034066215],[0.03609036],[-0.03842933],[-0.042302527],[-0.2439947],[-0.16342077],[-0.01030317]]},{"dense_3_W":[[0.45771673,-0.2084603,0.3570187,0.35835707,0.13684571,-0.582958,0.29889587,0.43543494,0.11841301,-0.26185623,-0.4988437,0.5752996,-0.28057483],[-0.19594137,0.050280698,-0.29057446,-0.2829161,-0.16987291,-0.21278952,-0.59946907,0.21295123,0.7040468,0.53549695,-0.52553934,-0.19560973,0.6233473],[-0.19091003,0.08669418,-0.5792192,0.57799137,-0.36263424,0.6037143,0.27898273,-0.30951327,-0.3572644,0.46720102,-0.5403428,0.32415462,-0.60570025]],"activation":"identity","dense_3_b":[[-0.0047377176],[0.023170695],[-0.021546118]]},{"dense_4_W":[[-0.12453941,-1.006034,0.96776205]],"dense_4_b":[[-0.02351544]],"activation":"identity"}]}
				`@@ -0,0 +1 @@`
				{"input_std":[[9.342214],[1.5915664],[0.60113484],[0.048193663],[1.5680411],[1.57577],[1.5836853],[1.5711677],[1.5445132],[1.5007596],[1.4529978],[0.047915205],[0.04800539],[0.04808892],[0.04822398],[0.04817677],[0.047881734],[0.047405947]],"model_test_loss":0.019342588260769844,"input_size":18,"current_date_and_time":"2023-08-05_06-09-11","input_mean":[[22.757933],[-0.016342578],[-0.001405228],[-0.014619173],[-0.018091483],[-0.018382493],[-0.019270267],[-0.018759886],[-0.019559544],[-0.017848592],[-0.020014366],[-0.014564899],[-0.01457757],[-0.014600966],[-0.014757987],[-0.014915743],[-0.015121007],[-0.015359475]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.045577038],[-2.8160777],[-0.21418032],[2.9552083],[-0.06852827],[0.029141279],[-0.053249933]],"dense_1_W":[[0.0010664682,1.3813498,-8.153277,-0.009101015,-0.1484779,1.0008405,-1.5930991,-1.195274,0.6136762,0.3560462,-0.30077773,0.93531257,0.14550218,-0.40074933,-0.21716364,0.13834935,-0.0658936,-0.49427196],[-0.7338253,-0.037501235,-0.49922377,-1.0526338,-0.46141604,-1.3649396,0.7309814,-0.91667104,0.044683233,-0.18628967,-0.20878822,-0.2678598,0.48446324,0.51164204,0.09547851,0.41491362,-0.4524314,0.16594785],[-0.0032175342,3.5451593,-0.11421584,-0.2511033,0.27893174,0.6384996,0.80790603,1.3835542,1.8000495,2.249461,1.4026878,0.7851167,-0.35052946,0.041820426,-0.39790183,0.45703772,-0.30459648,0.18287674],[0.72289664,-0.77138704,-0.5025135,-0.49323097,-0.39893976,-0.8779149,0.6848096,-0.58729875,-0.16643623,-0.14427555,-0.15013328,-0.11467142,-0.27280045,0.48508415,0.52080667,-0.0029569597,-0.28170735,0.06367212],[0.00014026981,-2.0353239,0.0060915067,0.4794941,1.1882906,-1.512865,0.80642134,-0.26044324,-0.56213886,-0.365122,0.55078083,-0.34897435,-0.32031298,0.46106994,0.37792024,-0.14116105,0.15597256,-0.32811671],[0.0011494387,1.9060265,8.3941965,-0.3078165,-0.9530427,0.6589645,-1.2487054,-0.541133,0.13451256,0.2805466,-0.33187166,0.9900705,0.2821258,-0.51270896,-0.5130031,-0.28222615,0.042734932,0.27233443],[-0.0014444552,-1.0933362,0.003359957,-0.15052961,0.37165833,1.7087307,-1.4971043,0.673802,-0.108465396,-0.088505454,0.21561684,0.6252258,-0.15019403,-0.34727478,0.08958758,-0.1723621,-0.25557828,0.29778987]],"activation":"σ"},{"dense_2_W":[[0.20810607,-0.13481373,-0.15003344,-0.6067625,-0.31937903,-0.37380016,0.4666911],[0.71834767,0.15669753,-0.11389502,0.27131546,-0.060118295,0.039282244,0.52961355],[-0.27200606,0.43380752,-0.106262706,-0.49363258,0.35659012,-0.01706296,-1.0807354],[-0.79583454,-0.66428274,-0.42157334,-0.52979547,-0.2803004,-0.57637554,0.084149174],[0.1230394,-0.57023287,0.28639448,-0.506744,-0.9920808,0.7510901,0.8584937],[-0.41256845,0.35423175,0.13009231,0.5198333,0.7576573,-0.7053181,-0.3390053],[-0.15090485,0.33375353,-0.64164793,0.57386595,0.25700107,-0.15245672,-0.49020413],[-0.50120676,0.5210849,-0.3282951,0.4276323,1.0257447,-1.0398436,-0.8911315],[0.11402861,-0.41491523,0.247507,-0.39776865,-0.6089287,0.20646147,0.6692102],[0.09411492,0.31819808,0.41330767,0.024243973,0.2314893,0.08529045,0.14911193],[0.5179265,0.20473345,-0.36762783,-0.009045922,-0.19436747,-0.548099,-0.08656279],[-0.69121784,-0.14201449,0.3887621,0.10787631,1.0371574,-0.64747447,-0.73437464],[-0.07860244,-0.597764,0.019551078,0.010199122,-0.7493642,0.66619915,0.121666186]],"activation":"σ","dense_2_b":[[-0.04259814],[-0.053309314],[-0.28045595],[-0.23801634],[0.00944943],[-0.109921046],[-0.037457183],[0.24627604],[-0.0069056284],[-0.04725389],[-0.03361769],[0.044101644],[-0.0009850285]]},{"dense_3_W":[[-0.19631335,-0.47722518,-0.019853225,-0.29363275,-0.625923,0.35145283,0.62401354,0.14337404,-0.25707108,-0.51310915,0.2565006,0.61742216,-0.07952821],[0.5868974,-0.36786363,-0.0177682,-0.45121866,0.68608487,-0.55178356,-0.35236016,-0.7226455,-0.015394288,-0.10650332,0.5391039,0.17791761,0.34196886],[0.16821232,-0.35580373,0.26906335,0.41736925,-0.6979869,0.41801625,0.34707317,0.7784011,-0.10002936,0.32485273,-0.3644285,0.49092358,-0.43872768]],"activation":"identity","dense_3_b":[[-0.019481273],[0.031026587],[-0.03595322]]},{"dense_4_W":[[-0.72340566,0.21244061,-0.67248434]],"dense_4_b":[[0.026229527]],"activation":"identity"}]}