dragonpilot beta3

date: 2024-07-17T20:01:09 commit: f8a68a45eb
2026-10-01 03:43:42 +08:00 · 2024-07-17 19:59:47 +08:00
parent 65561d9eae
commit 9d48733d53
58 changed files with 68 additions and 363 deletions
@@ -1,10 +1,10 @@
-dragonpilot 0.9.8
+dragonpilot beta3 0.9.8
 =======================
 * Up to comma.ai openpilot master branch commit cbee4421da690fa7b260f62c4a2c72ccacc6c902 (2024-07-14)
 * DP HIGHLIGHT:
  * Fixed Lexus IS/GS crashed issue.

-dragonpilot [2024.07.13]
+dragonpilot beta3 [2024.07.13]
 =======================
 * Up to comma.ai openpilot master branch commit 01c2174d5968266b87f1d1fecefce5affaeaa624 (2024-07-02)
 * DP HIGHLIGHT:
@@ -16,7 +16,7 @@ dragonpilot [2024.07.13]
  * Device Auto Shutdown Toggle.
  * Device Audible Alert Mode Toggle.

-dragonpilot [2024.07.01]
+dragonpilot beta3 [2024.07.01]
 =======================
 * Up to comma.ai openpilot master branch commit 442e9f4ae492901a5698b3188741c97c053026c4 (2024-06-21)
 * DP HIGHLIGHT:
@@ -1 +1 @@
-const uint8_t gitversion[8] = "93068c73";
+const uint8_t gitversion[8] = "93031df2";
@@ -6,8 +6,13 @@ from openpilot.common.params import Params
 class AlternativeDrivingPersonalityController:
    def __init__(self):
        params = Params()
+        # try except to avoid issue in longitudinal testing
+        try:
+            self._speed = int(params.get("dp_long_alt_driving_personality_speed")) * CV.KPH_TO_MS
+        except:
+            self._speed = 0
+
        self._mode = params.get_bool("dp_long_alt_driving_personality_mode")
-        self._speed = int(params.get("dp_long_alt_driving_personality_speed")) * CV.KPH_TO_MS
        self._active = False

    def update(self, v_ego):
@@ -15,6 +15,8 @@ class CurveSpeedLimiter:
        pass

    def update(self, v_ego, z, v):
+        if not self._enabled:
+            return
        max_lat_accel = interp(v_ego, [5, 10, 20], [1.5, 2.0, 3.0])
        curvatures = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, z) / np.clip(v, 0.3, 100.0)
        max_v = np.sqrt(max_lat_accel / (np.abs(curvatures) + 1e-3)) - 2.0
@@ -1,64 +1,60 @@
 import numpy as np
-from collections import deque, defaultdict
 import json
+import bisect
+from collections import deque
 from openpilot.common.params import Params

 class PersonalizedAccelController:
-    def __init__(self, learning_rate=0.01, memory_size=10000, samples_per_range=100):
+    def __init__(self, learning_rate=0.01):
        self.enabled = False
        self._params = Params()
-        # A high smoothing factor with a low learning rate will result in very stable, slow-changing behavior.
-        # A low smoothing factor with a high learning rate will be very responsive to new data, potentially unstable.
        self.learning_rate = learning_rate
-        self.smoothing_factor = 0.9  # New parameter for smoothing
-        self.memory_size = memory_size
-        self.memory = deque(maxlen=memory_size)
+        self.smoothing_factor = 0.9
        self.update_counter = 0
-        self.samples_per_range = samples_per_range

-        # Fixed BP size from 0 to 39 in steps of 3
-        self.profile_size = 14  # (39 - 0) / 3 + 1
-        self.A_MAX_BP = list(np.arange(0, 40, 3))
+        self.samples_per_range = self._initialize_variable_samples()
+        self.max_samples_per_range = 50

-        # Default values (ensure non-negative)
-        self.MAX_VALS = np.maximum(0, np.interp(self.A_MAX_BP, [0., 10.0, 25., 40.], [1.6, 1.2, 0.8, 0.6])).tolist()
+        self.A_MAX_BP = [0, 0.5, 1, 1.5, 2, 3, 4, 5, 6, 8, 10, 12, 15, 20, 25, 30, 32.5, 35, 37.5, 40]
+        self.profile_size = len(self.A_MAX_BP)

-        # Initialize profiles
+        original_bp = [0., 10.0, 25., 40.]
+        original_vals = [1.6, 1.2, 0.8, 0.6]
+
+        self.MAX_VALS = np.maximum(0, np.interp(self.A_MAX_BP, original_bp, original_vals)).tolist()
        self.A_CRUISE_MAX_VALS = self.MAX_VALS.copy()

-        # Initialize sample collectors
-        self.cruise_samples = defaultdict(list)
+        self.speed_range_samples = {i: deque(maxlen=self.max_samples_per_range) for i in range(self.profile_size)}

-        self.speed_range_samples = {i: [] for i in range(len(self.A_MAX_BP))}
-
-        # Load saved model or use defaults
        self.load_model()

+    def _initialize_variable_samples(self):
+        return [5, 5, 8, 8, 10, 10, 12, 12, 15, 15, 20, 20, 25, 30, 35, 35, 40, 40, 40]
+
    def update(self, car_state, lead_present):
-        blinker_off = not car_state.leftBlinker and not car_state.rightBlinker
-        straight_road = abs(car_state.steeringAngleDeg) < 30
+        if (not lead_present and
+                not car_state.leftBlinker and
+                not car_state.rightBlinker and
+                car_state.gasPressed and
+                abs(car_state.steeringAngleDeg) < 30):

-        if not lead_present and blinker_off and car_state.gasPressed and straight_road:
-            speed = car_state.vEgo
-            acceleration = car_state.aEgo
+            speed_index = self._get_speed_index(car_state.vEgo)
+            self.speed_range_samples[speed_index].append(car_state.aEgo)

-            # Get the current speed range
-            speed_index = self._get_speed_index(speed)
+            if speed_index < len(self.samples_per_range):
+                if len(self.speed_range_samples[speed_index]) >= self.samples_per_range[speed_index]:
+                    self._update_cruise_profile_for_index(speed_index)

-            # Update only the relevant speed range
-            self.speed_range_samples[speed_index].append(acceleration)
-
-            # Update this speed range if we have enough samples
-            if len(self.speed_range_samples[speed_index]) >= self.samples_per_range:
-                self._update_cruise_profile_for_index(speed_index)
-
-            # Increment update counter and save model periodically
            self.update_counter += 1
            if self.update_counter % 1000 == 0:
                self.save_model()

+    def _get_speed_index(self, speed):
+        index = bisect.bisect_right(self.A_MAX_BP, speed) - 1
+        return max(0, min(index, len(self.A_MAX_BP) - 1))
+
    def _update_cruise_profile_for_index(self, index):
-        samples = self.speed_range_samples[index]
+        samples = list(self.speed_range_samples[index])
        if samples:
            new_sample_val = max(0, float(np.percentile(samples, 95)))

@@ -67,43 +63,6 @@ class PersonalizedAccelController:

            self.A_CRUISE_MAX_VALS[index] = previous_val * (1 - self.learning_rate) + smoothed_val * self.learning_rate

-            self.speed_range_samples[index] = []  # Clear the samples after updating
-
-    def _check_and_update_all_ranges(self):
-        for i in range(len(self.A_MAX_BP)):
-            if len(self.cruise_samples[i]) >= self.samples_per_range:
-                self._update_cruise_profile_for_index(i)
-
-    def _update_acceleration_profiles(self):
-        for state, accel in self.memory:
-            speed, lead_present = state
-            speed_index = self._get_speed_index(speed)
-
-            if not lead_present:
-                self.cruise_samples[speed_index].append((speed, accel))
-
-        # Update profiles if we have enough samples
-        self._update_cruise_profile()
-
-    def _get_speed_index(self, speed):
-        return min(int(speed / 3), len(self.A_MAX_BP) - 1)
-
-    def _update_cruise_profile(self):
-        for i, bp in enumerate(self.A_MAX_BP):
-            samples = self.cruise_samples[i]
-            if len(samples) >= self.samples_per_range:
-                speeds, accels = zip(*samples)
-                new_sample_val = max(0, float(np.percentile(accels, 95)))
-
-                # Consider the previous value
-                previous_val = self.A_CRUISE_MAX_VALS[i]
-                smoothed_val = self.smoothing_factor * previous_val + (1 - self.smoothing_factor) * new_sample_val
-
-                # Apply learning rate
-                self.A_CRUISE_MAX_VALS[i] = previous_val * (1 - self.learning_rate) + smoothed_val * self.learning_rate
-
-                self.cruise_samples[i] = []  # Clear the samples after updating
-
    def get_max_accel(self, v_ego, STOCK_BP, STOCK_VALS):
        if self.enabled:
            return np.interp(v_ego, self.A_MAX_BP, self.A_CRUISE_MAX_VALS)
@@ -112,21 +71,24 @@ class PersonalizedAccelController:

    def set_profile_size(self, new_size):
        self.profile_size = new_size
-        # Reinitialize all acceleration profiles
        self.A_CRUISE_MAX_VALS = list(np.linspace(1.6, 0.6, num=new_size))
-        self._update_acceleration_profiles()
+        self.speed_range_samples = {i: deque(maxlen=self.max_samples_per_range) for i in range(self.profile_size)}

    def set_enabled(self, enabled):
        self.enabled = enabled

    def save_model(self):
-        self._params.put("dp_long_pac_vals", json.dumps(self._numpy_to_list(self.A_CRUISE_MAX_VALS)))
+        data = {
+            'bp': self.A_MAX_BP,
+            'vals': self._numpy_to_list(self.A_CRUISE_MAX_VALS)
+        }
+        self._params.put("dp_long_pac_vals", json.dumps(data))

    def load_model(self):
        params_val = self._params.get("dp_long_pac_vals")
        if params_val is not None:
-            self.A_CRUISE_MAX_VALS = json.loads(params_val)
-            print(self.A_CRUISE_MAX_VALS)
+            data = json.loads(params_val)
+            self.A_CRUISE_MAX_VALS = np.maximum(0, np.interp(self.A_MAX_BP, data.get('bp'), data.get('vals'))).tolist()

    def _numpy_to_list(self, obj):
        if isinstance(obj, np.ndarray):
@@ -150,13 +112,12 @@ class PersonalizedAccelController:
        while True:
            sm.update()
            if sm.updated['carState']:
-                self.update(sm['carState'], sm['radarState'].leadOne.status and sm['carState'].vEgo > 0. and sm['radarState'].leadOne.dRel / sm['carState'].vEgo < 1.)
-                print(self.A_CRUISE_MAX_VALS)
-
+                self.update(sm['carState'], sm['radarState'].leadOne.status and sm['carState'].vEgo > 0. and sm['radarState'].leadOne.dRel / sm['carState'].vEgo < 2.5)
+                # print(self.A_CRUISE_MAX_VALS)

 def main():
-    pac = PersonalizedAccelController(learning_rate=0.01, memory_size=10000)
+    pac = PersonalizedAccelController()
    pac.pac_thread()

 if __name__ == "__main__":
-    main()
+    main()
@@ -1 +1 @@
-const uint8_t gitversion[] = "DEV-93068c73-DEBUG";
+const uint8_t gitversion[] = "DEV-93031df2-DEBUG";
@@ -1 +1 @@
-DEV-93068c73-DEBUG
+DEV-93031df2-DEBUG
@@ -142,7 +142,7 @@ class LongitudinalPlanner:
    prev_accel_constraint = not (reset_state or sm['carState'].standstill)

    if self.mpc.mode == 'acc':
-      self._pac.update(sm['carState'], sm['radarState'].leadOne.status and v_ego > 0. and sm['radarState'].leadOne.dRel / v_ego < 1.)
+      self._pac.update(sm['carState'], sm['radarState'].leadOne.status and v_ego > 0. and sm['radarState'].leadOne.dRel / v_ego < 2.5)
      # accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
      accel_limits = [A_CRUISE_MIN, self._pac.get_max_accel(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)]
      accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
@@ -197,32 +197,6 @@ Reboot required.</source>
        <source>Ctrl - Longitudinal</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable Slow Down on Curve</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, openpilot will reduce vehicle speed on curve road using algorithm found in taco2 branch.
-See https://github.com/commaai/openpilot/commit/7b97ddb3aacb222bfaf0b978c49cb5b756903ef7 for more information.
-Reboot required.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable Dynamic End-to-End Longitudinal Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, openpilot will dynamically change between End-to-End or ACC mode.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable Road Condition Detection</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, Dynamic End-to-End will check road condition such as traffic signals, large curve, stop sign.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>On-Screen Personality Button</source>
        <translation type="unfinished"></translation>
@@ -197,32 +197,6 @@ Reboot required.</source>
        <source>Ctrl - Longitudinal</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable Slow Down on Curve</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, openpilot will reduce vehicle speed on curve road using algorithm found in taco2 branch.
-See https://github.com/commaai/openpilot/commit/7b97ddb3aacb222bfaf0b978c49cb5b756903ef7 for more information.
-Reboot required.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable Dynamic End-to-End Longitudinal Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, openpilot will dynamically change between End-to-End or ACC mode.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable Road Condition Detection</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, Dynamic End-to-End will check road condition such as traffic signals, large curve, stop sign.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>On-Screen Personality Button</source>
        <translation type="unfinished"></translation>
@@ -197,32 +197,6 @@ Reboot required.</source>
        <source>Ctrl - Longitudinal</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable Slow Down on Curve</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, openpilot will reduce vehicle speed on curve road using algorithm found in taco2 branch.
-See https://github.com/commaai/openpilot/commit/7b97ddb3aacb222bfaf0b978c49cb5b756903ef7 for more information.
-Reboot required.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable Dynamic End-to-End Longitudinal Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, openpilot will dynamically change between End-to-End or ACC mode.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable Road Condition Detection</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, Dynamic End-to-End will check road condition such as traffic signals, large curve, stop sign.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>On-Screen Personality Button</source>
        <translation type="unfinished"></translation>
@@ -197,32 +197,6 @@ Reboot required.</source>
        <source>Ctrl - Longitudinal</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable Slow Down on Curve</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, openpilot will reduce vehicle speed on curve road using algorithm found in taco2 branch.
-See https://github.com/commaai/openpilot/commit/7b97ddb3aacb222bfaf0b978c49cb5b756903ef7 for more information.
-Reboot required.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable Dynamic End-to-End Longitudinal Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, openpilot will dynamically change between End-to-End or ACC mode.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable Road Condition Detection</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, Dynamic End-to-End will check road condition such as traffic signals, large curve, stop sign.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>On-Screen Personality Button</source>
        <translation type="unfinished"></translation>
@@ -197,32 +197,6 @@ Reboot required.</source>
        <source>Ctrl - Longitudinal</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable Slow Down on Curve</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, openpilot will reduce vehicle speed on curve road using algorithm found in taco2 branch.
-See https://github.com/commaai/openpilot/commit/7b97ddb3aacb222bfaf0b978c49cb5b756903ef7 for more information.
-Reboot required.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable Dynamic End-to-End Longitudinal Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, openpilot will dynamically change between End-to-End or ACC mode.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable Road Condition Detection</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, Dynamic End-to-End will check road condition such as traffic signals, large curve, stop sign.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>On-Screen Personality Button</source>
        <translation type="unfinished"></translation>
@@ -197,32 +197,6 @@ Reboot required.</source>
        <source>Ctrl - Longitudinal</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable Slow Down on Curve</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, openpilot will reduce vehicle speed on curve road using algorithm found in taco2 branch.
-See https://github.com/commaai/openpilot/commit/7b97ddb3aacb222bfaf0b978c49cb5b756903ef7 for more information.
-Reboot required.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable Dynamic End-to-End Longitudinal Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, openpilot will dynamically change between End-to-End or ACC mode.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable Road Condition Detection</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, Dynamic End-to-End will check road condition such as traffic signals, large curve, stop sign.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>On-Screen Personality Button</source>
        <translation type="unfinished"></translation>
@@ -197,32 +197,6 @@ Reboot required.</source>
        <source>Ctrl - Longitudinal</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable Slow Down on Curve</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, openpilot will reduce vehicle speed on curve road using algorithm found in taco2 branch.
-See https://github.com/commaai/openpilot/commit/7b97ddb3aacb222bfaf0b978c49cb5b756903ef7 for more information.
-Reboot required.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable Dynamic End-to-End Longitudinal Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, openpilot will dynamically change between End-to-End or ACC mode.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable Road Condition Detection</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, Dynamic End-to-End will check road condition such as traffic signals, large curve, stop sign.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>On-Screen Personality Button</source>
        <translation type="unfinished"></translation>
@@ -197,32 +197,6 @@ Reboot required.</source>
        <source>Ctrl - Longitudinal</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable Slow Down on Curve</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, openpilot will reduce vehicle speed on curve road using algorithm found in taco2 branch.
-See https://github.com/commaai/openpilot/commit/7b97ddb3aacb222bfaf0b978c49cb5b756903ef7 for more information.
-Reboot required.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable Dynamic End-to-End Longitudinal Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, openpilot will dynamically change between End-to-End or ACC mode.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable Road Condition Detection</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, Dynamic End-to-End will check road condition such as traffic signals, large curve, stop sign.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>On-Screen Personality Button</source>
        <translation type="unfinished"></translation>
@@ -197,32 +197,6 @@ Reboot required.</source>
        <source>Ctrl - Longitudinal</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable Slow Down on Curve</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, openpilot will reduce vehicle speed on curve road using algorithm found in taco2 branch.
-See https://github.com/commaai/openpilot/commit/7b97ddb3aacb222bfaf0b978c49cb5b756903ef7 for more information.
-Reboot required.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable Dynamic End-to-End Longitudinal Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, openpilot will dynamically change between End-to-End or ACC mode.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable Road Condition Detection</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, Dynamic End-to-End will check road condition such as traffic signals, large curve, stop sign.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>On-Screen Personality Button</source>
        <translation type="unfinished"></translation>
@@ -197,32 +197,6 @@ Reboot required.</source>
        <source>Ctrl - Longitudinal</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable Slow Down on Curve</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, openpilot will reduce vehicle speed on curve road using algorithm found in taco2 branch.
-See https://github.com/commaai/openpilot/commit/7b97ddb3aacb222bfaf0b978c49cb5b756903ef7 for more information.
-Reboot required.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable Dynamic End-to-End Longitudinal Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, openpilot will dynamically change between End-to-End or ACC mode.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable Road Condition Detection</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, Dynamic End-to-End will check road condition such as traffic signals, large curve, stop sign.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>On-Screen Personality Button</source>
        <translation type="unfinished"></translation>
@@ -187,19 +187,19 @@ Reboot required.</source>
    </message>
    <message>
        <source>Enable Slow Down on Curve</source>
-        <translation>啟用彎道減速</translation>
+        <translation type="vanished">啟用彎道減速</translation>
    </message>
    <message>
        <source>When enabled, openpilot will reduce vehicle speed on curve road using algorithm found in taco2 branch.
 See https://github.com/commaai/openpilot/commit/7b97ddb3aacb222bfaf0b978c49cb5b756903ef7 for more information.
 Reboot required.</source>
-        <translation>啟用後，Openpilot將使用在 taco2 分支中找到的算法，在彎道上減少車輛速度。
+        <translation type="vanished">啟用後，Openpilot將使用在 taco2 分支中找到的算法，在彎道上減少車輛速度。
 詳細信息請查看https://github.com/commaai/openpilot/commit/7b97ddb3aacb222bfaf0b978c49cb5b756903ef7。
 需要重新啟動。</translation>
    </message>
    <message>
        <source>Enable Dynamic End-to-End Longitudinal Control</source>
-        <translation>啟用動態端到端縱向控制</translation>
+        <translation type="vanished">啟用動態端到端縱向控制</translation>
    </message>
    <message>
        <source>When enabled, openpilot will dynamically change between End-to-End or ACC mode.
@@ -510,7 +510,7 @@ Auto - Change lane automatically.</source>
    </message>
    <message>
        <source>When enabled, openpilot will dynamically change between End-to-End or ACC mode.</source>
-        <translation>啟用後，openpilot 將動態切換端到端或 ACC 模式。</translation>
+        <translation type="vanished">啟用後，openpilot 將動態切換端到端或 ACC 模式。</translation>
    </message>
    <message>
        <source>Enable Automatic Brake Hold</source>
@@ -559,14 +559,6 @@ Internet required.</source>
        <source>When enabled, openpilot will display speed camera warning using offline database.</source>
        <translation>啟用後，openpilot 將使用離線資料庫顯示測速照相警告。</translation>
    </message>
-    <message>
-        <source>Enable Road Condition Detection</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, Dynamic End-to-End will check road condition such as traffic signals, large curve, stop sign.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable Auto Shutdown</source>
        <translation type="unfinished"></translation>
@@ -271,13 +271,18 @@ class Updater:
  def get_commit_hash(self, path: str = OVERLAY_MERGED) -> str:
    return run(["git", "rev-parse", "HEAD"], path).rstrip()

+  def filter_branches(self, branches, prefixes):
+    return [branch for branch in branches if any(branch.startswith(prefix) for prefix in prefixes)]
+
  def set_params(self, update_success: bool, failed_count: int, exception: str | None) -> None:
    self.params.put("UpdateFailedCount", str(failed_count))
    self.params.put("UpdaterTargetBranch", self.target_branch)

    self.params.put_bool("UpdaterFetchAvailable", self.update_available)
    if len(self.branches):
-      self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys()))
+      allowed_prefixes = ['beta3', 'release3']
+      filtered_branches = self.filter_branches(self.branches.keys(), allowed_prefixes)
+      self.params.put("UpdaterAvailableBranches", ','.join(filtered_branches))

    last_update = datetime.datetime.now(datetime.UTC).replace(tzinfo=None)
    if update_success: