dragonpilot beta3

date: 2024-06-30T22:53:03
commit: 7048b83cde

body/board/obj/gitversion.h

@@ -1 +1 @@
-const uint8_t gitversion[8] = "2dfc842c";
+const uint8_t gitversion[8] = "b7261797";

dp_ext/selfdrive/car/toyota/brake_hold/can.py

@@ -0,0 +1,60 @@
+#!/usr/bin/env python3
+# The MIT License
+#
+# Copyright (c) 2024-, Alexandre Sato, Rick Lan.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+# code originally by:
+# Alexandre Sato: https://github.com/AlexandreSato
+
+# rewrite for easier integration hence the license declaration above.
+
+def create_brakehold_command(packer, stock_AEB, cut3frames):
+    values = {
+        "DSS1GDRV": 1023,
+        "PBRTRGR": cut3frames,
+    }
+
+    if len(stock_AEB):
+        values.update({s: stock_AEB[s] for s in [
+            # They are not all necessary since brakehold only sends stopped,
+            # however we will leave prepared for the future alternative AEB of the comma.ai
+            "DSS1GDRV",
+            "DS1STAT2",
+            "DS1STBK2",
+            "PCSWAR",
+            "PCSALM",
+            "PCSOPR",
+            "PCSABK",
+            "PBATRGR",
+            "PPTRGR",
+            "IBTRGR",
+            "CLEXTRGR",
+            "IRLT_REQ",
+            "BRKHLD",
+            "AVSTRGR",
+            "VGRSTRGR",
+            "PREFILL",
+            "PBRTRGR",
+            "PCSDIS",
+            "PBPREPMP",
+        ]})
+
+    return packer.make_can_msg("PRE_COLLISION_2", 0, values)

dp_ext/selfdrive/car/toyota/brake_hold/common.py

@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+# The MIT License
+#
+# Copyright (c) 2024-, Alexandre Sato, Rick Lan.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+# code originally by:
+# Alexandre Sato: https://github.com/AlexandreSato
+
+# rewrite for easier integration hence the license declaration above.
+
+from openpilot.common.params import Params
+
+ENABLED = Params().get_bool("dp_toyota_auto_brake_hold")

dp_ext/selfdrive/car/toyota/brake_hold/controller.py

@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+# The MIT License
+#
+# Copyright (c) 2024-, Alexandre Sato, Rick Lan.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+# code originally by:
+# Alexandre Sato: https://github.com/AlexandreSato
+
+# rewrite for easier integration hence the license declaration above.
+
+from openpilot.dp_ext.selfdrive.car.toyota.brake_hold.common import ENABLED
+from openpilot.dp_ext.selfdrive.car.toyota.brake_hold.can import create_brakehold_command
+from opendbc.can.packer import CANPacker
+
+class BrakeHoldController:
+    def __init__(self):
+        self._enabled = ENABLED
+        self.packer = CANPacker("toyota_brake_hold")
+        pass
+
+    def get_can_sends(self, frame, can_sends, brakehold_governor, stock_aeb):
+        if not self._enabled:
+            return can_sends
+
+        # AleSato's Automatic Brake Hold
+        if frame % 2 == 0:
+            if brakehold_governor:
+                can_sends.append(create_brakehold_command(self.packer, {}, True if frame % 730 < 727 else False))
+            else:
+                can_sends.append(create_brakehold_command(self.packer, stock_aeb, False))
+
+        return can_sends

dp_ext/selfdrive/car/toyota/brake_hold/state.py

@@ -0,0 +1,79 @@
+#!/usr/bin/env python3
+# The MIT License
+#
+# Copyright (c) 2024-, Alexandre Sato, Rick Lan.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+# code originally by:
+# Alexandre Sato: https://github.com/AlexandreSato
+
+# rewrite for easier integration hence the license declaration above.
+
+from openpilot.dp_ext.selfdrive.car.toyota.brake_hold.common import ENABLED
+from opendbc.can.parser import CANParser
+from cereal import car, messaging
+
+class BrakeHoldState:
+    def __init__(self, supported_vehicles):
+        # AleSato's automatic brakehold
+        self.time_to_brakehold = 100 * 3   # 3 seconds stopped to activate
+        self.GearShifter = car.CarState.GearShifter # avoid Rear and Park gears
+        self.stock_aeb = {} # need for CS
+        self.brakehold_condition_satisfied = False
+        self.brakehold_condition_counter = 0
+        self.reset_brakehold = False
+        self.prev_brakePressed = True
+        self.brakehold_governor = False # need for CS
+
+        self._enabled = ENABLED and supported_vehicles
+        if self._enabled:
+            self.can_sock = messaging.sub_sock('can')
+            messages = [("PRE_COLLISION_2", 33)]
+            self.can_parser = CANParser('toyota_brake_hold', messages, 0)
+
+    def update_states(self, standstill, cruise_state, gas_pressed, brake_pressed, gear_shifter):
+        if not self._enabled:
+            return
+        can_strings = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
+        self.can_parser.update_strings(can_strings)
+
+        self.stock_aeb = self.can_parser.vl["PRE_COLLISION_2"]
+        self.brakehold_condition_satisfied =  (standstill and cruise_state.available and not gas_pressed and \
+                                               not cruise_state.enabled and not (gear_shifter in (self.GearShifter.reverse, \
+                                                                                                        self.GearShifter.park)))
+
+        if self.brakehold_condition_satisfied:
+            if self.brakehold_condition_counter > self.time_to_brakehold and not self.reset_brakehold:
+                self.brakehold_governor = True
+            else:
+                self.brakehold_governor = False
+
+            if not self.prev_brakePressed and brake_pressed: # disable automatic brakehold in second brakePress
+                self.reset_brakehold = True
+            self.brakehold_condition_counter += 1
+        else:
+            self.brakehold_governor = False
+            self.reset_brakehold = False
+            self.brakehold_condition_counter = 0
+
+        self.prev_brakePressed = brake_pressed
+
+    def get_values(self):
+        return self.brakehold_governor, self.stock_aeb

dp_ext/selfdrive/car/toyota/bsm/common.py

@@ -0,0 +1,32 @@
+#!/usr/bin/env python3
+# The MIT License
+#
+# Copyright (c) 2019-, arne182, kumar, Rick Lan.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+# code originally by:
+# arne182: https://github.com/arne182
+# kumar:   https://github.com/rav4kumar
+
+# rewrite for easier integration hence the license declaration above.
+
+from openpilot.common.params import Params
+
+ENABLED = Params().get_bool("dp_toyota_enhanced_bsm")

dp_ext/selfdrive/car/toyota/bsm/controller.py

@@ -0,0 +1,96 @@
+#!/usr/bin/env python3
+# The MIT License
+#
+# Copyright (c) 2019-, arne182, kumar, Rick Lan.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+# code originally by:
+# arne182: https://github.com/arne182
+# kumar:   https://github.com/rav4kumar
+
+# rewrite for easier integration hence the license declaration above.
+
+from openpilot.selfdrive.car import make_can_msg
+from openpilot.selfdrive.car.toyota.values import TSS2_CAR
+from openpilot.dp_ext.selfdrive.car.toyota.bsm.common import ENABLED
+
+LEFT_BLIND_SPOT = b'\x41'
+RIGHT_BLIND_SPOT = b'\x42'
+
+class BSMController:
+    def __init__(self, CP):
+        self._enabled = ENABLED
+        self._blind_spot_debug_enabled_left = False
+        self._blind_spot_debug_enabled_right = False
+        self._blind_spot_frame = 0
+        if CP.carFingerprint in TSS2_CAR: # tss2 can do higher hz then tss1 and can be on at all speed/standstill
+            self._blind_spot_rate = 2
+            self._blind_spot_always_on = True
+        else:
+            self._blind_spot_rate = 20
+            self._blind_spot_always_on = False
+
+
+    def _create_debug_msg(self, lr, enable):
+        if enable:
+            m = lr + b'\x02\x10\x60\x00\x00\x00\x00'
+        else:
+            m = lr + b'\x02\x10\x01\x00\x00\x00\x00'
+        return make_can_msg(0x750, m, 0)
+
+    def _create_poll_status_msg(self, lr):
+        m = lr + b'\x02\x21\x69\x00\x00\x00\x00'
+        return make_can_msg(0x750, m, 0)
+
+    def get_can_sends(self, frame, v_ego, can_sends):
+        if not self._enabled or frame <= 200:
+            return can_sends
+
+        def handle_blindspot(side, enabled, frame_diff, rate_divisor):
+            if not enabled:
+                if self._blind_spot_always_on or v_ego > 6: # eagle eye camera will stop working if right bsm is switched on under 6m/s
+                    can_sends.append(self._create_debug_msg(side, True))
+                    return True
+            else:
+                if not self._blind_spot_always_on and frame - frame_diff > 50:
+                    can_sends.append(self._create_debug_msg(side, False))
+                    return False
+                if frame % self._blind_spot_rate == rate_divisor:
+                    can_sends.append(self._create_poll_status_msg(side))
+                    self._blind_spot_frame = frame
+            return enabled
+
+        # left bsm
+        self._blind_spot_debug_enabled_left = handle_blindspot(
+            LEFT_BLIND_SPOT,
+            self._blind_spot_debug_enabled_left,
+            self._blind_spot_frame,
+            0
+        )
+
+        # right bsm
+        self._blind_spot_debug_enabled_right = handle_blindspot(
+            RIGHT_BLIND_SPOT,
+            self._blind_spot_debug_enabled_right,
+            self._blind_spot_frame,
+            self._blind_spot_rate / 2
+        )
+
+        return can_sends

dp_ext/selfdrive/car/toyota/bsm/state.py

@@ -0,0 +1,129 @@
+#!/usr/bin/env python3
+# The MIT License
+#
+# Copyright (c) 2019-, arne182, kumar, Rick Lan.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+# code originally by:
+# arne182: https://github.com/arne182
+# kumar:   https://github.com/rav4kumar
+
+# rewrite for easier integration hence the license declaration above.
+
+from openpilot.dp_ext.selfdrive.car.toyota.bsm.common import ENABLED
+from opendbc.can.parser import CANParser
+from cereal import messaging
+
+class BSMState:
+    def __init__(self):
+        # bsm
+        self._left_bsm = False
+        self._left_bsm_distance_1 = 0
+        self._left_bsm_distance_2 = 0
+        self._left_bsm_counter = 0
+
+        self._right_bsm = False
+        self._right_bsm_distance_1 = 0
+        self._right_bsm_distance_2 = 0
+        self._right_bsm_counter = 0
+
+        self._frame = 0
+
+        self._enabled = ENABLED
+        if self._enabled:
+            self.can_sock = messaging.sub_sock('can')
+            messages = [("DEBUG", 65)]
+            self.can_parser = CANParser('toyota_bsm', messages, 0)
+
+    def _udpate_counter(self, bsm_distance_1, bsm_distance_2, bsm, counter):
+        if counter > 0:
+            counter -= 1
+        else:
+            bsm = False
+            bsm_distance_1 = 0
+            bsm_distance_2 = 0
+        return bsm_distance_1, bsm_distance_2, bsm, counter
+
+    def _update_counters(self):
+        # left bsm counter
+        (self._left_bsm_distance_1,
+         self._left_bsm_distance_2,
+         self._left_bsm,
+         self._left_bsm_counter) = self._udpate_counter(self._left_bsm_distance_1,
+                                                        self._left_bsm_distance_2,
+                                                        self._left_bsm,
+                                                        self._left_bsm_counter)
+        # right bsm counter
+        (self._right_bsm_distance_1,
+         self._right_bsm_distance_2,
+         self._right_bsm,
+         self._right_bsm_counter) = self._udpate_counter(self._right_bsm_distance_1,
+                                                         self._right_bsm_distance_2,
+                                                         self._right_bsm,
+                                                         self._right_bsm_counter)
+
+    def _update_bsm(self, bsm_distance_1, distance_1, bsm_distance_2, distance_2, bsm, counter):
+        if distance_1 != bsm_distance_1:
+            bsm_distance_1 = distance_1
+            counter = 100
+        if distance_2 != bsm_distance_2:
+            bsm_distance_2 = distance_2
+            counter = 100
+        if bsm_distance_1 > 10 or bsm_distance_2 > 10:
+            bsm = True
+
+        return bsm_distance_1, bsm_distance_2, bsm, counter
+
+    def _update_bsms(self, side, distance_1, distance_2):
+        # Left BSM signal process
+        if side == 65:
+            (self._left_bsm_distance_1,
+             self._left_bsm_distance_2,
+             self._left_bsm,
+             self._left_bsm_counter) = self._update_bsm(self._left_bsm_distance_1, distance_1,
+                                                        self._left_bsm_distance_2, distance_2,
+                                                        self._left_bsm, self._left_bsm_counter)
+        # Right BSM signal process
+        elif side == 66:
+            (self._right_bsm_distance_1,
+             self._right_bsm_distance_2,
+             self._right_bsm,
+             self._right_bsm_counter) = self._update_bsm(self._right_bsm_distance_1, distance_1,
+                                                         self._right_bsm_distance_2, distance_2,
+                                                         self._right_bsm, self._right_bsm_counter)
+
+    def update_states(self, left_bsm, right_bsm):
+        self._frame += 1
+        if not self._enabled or self._frame < 199:
+            return left_bsm, right_bsm
+
+        can_strings = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
+        self.can_parser.update_strings(can_strings)
+
+        distance_1 = self.can_parser.vl["DEBUG"]['BLINDSPOTD1']
+        distance_2 = self.can_parser.vl["DEBUG"]['BLINDSPOTD2']
+        side = self.can_parser.vl["DEBUG"]['BLINDSPOTSIDE']
+
+        if distance_1 is not None and distance_2 is not None and side is not None:
+            self._update_bsms(side, distance_1, distance_2)
+            self._update_counters()
+
+    def get_signals(self):
+        return self._left_bsm, self._right_bsm

dp_ext/selfdrive/car/toyota/zss/common.py

@@ -0,0 +1,30 @@
+#!/usr/bin/env python3
+# The MIT License
+#
+# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+# Code was inspired from Erich Moraga (https://github.com/ErichMoraga/)
+# Rewrite due to poor written originally hence the license declaration above.
+
+from openpilot.common.params import Params
+
+ENABLED = Params().get_bool("dp_toyota_zss")
+ALKA = Params().get_bool("dp_alka")

dp_ext/selfdrive/car/toyota/zss/controller.py

@@ -24,7 +24,7 @@
 # Code was inspired from Erich Moraga (https://github.com/ErichMoraga/)
 # Rewrite due to poor written originally hence the license declaration above.
 
-from openpilot.common.params import Params
+from openpilot.dp_ext.selfdrive.car.toyota.zss.common import ENABLED, ALKA
 from opendbc.can.parser import CANParser
 from cereal import messaging
 
@@ -33,8 +33,7 @@ THRESHOLD_COUNT = 10
 
 class ZSSController:
     def __init__(self):
-        params = Params()
-        self._dp_toyota_zss = params.get_bool('dp_toyota_zss')
+        self._enabled = ENABLED
         self._dp_toyota_zss_active = False
         self._offset_compute_required = False
         self._lka_active_prev = False
@@ -42,18 +41,18 @@ class ZSSController:
         self._threshold_count = 0
 
         # do not init pass here
-        if not self._dp_toyota_zss:
+        if not self._enabled:
             return
 
-        self._dp_alka = params.get_bool('dp_alka')
+        self._dp_alka = ALKA
         self.can_sock = messaging.sub_sock('can')
         messages = [("SECONDARY_STEER_ANGLE", 0)]
-        self.can_parser = CANParser('zss', messages, 0)
+        self.can_parser = CANParser('toyota_zss', messages, 0)
 
 
     def get_steering_angle_deg(self, main_on, cruise_active, steering_angle_deg):
         # off, fall back to stock
-        if not self._dp_toyota_zss:
+        if not self._enabled:
             return steering_angle_deg
 
         # too many failure, fallback to stock

opendbc/toyota_brake_hold.dbc

@@ -0,0 +1,21 @@
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
+ SG_ DS1STAT2 : 13|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DS1STBK2 : 10|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSWAR : 18|1@0+ (1,0) [0|0] "" FCM
+ SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
+ SG_ PCSOPR : 16|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSABK : 31|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PPTRGR : 28|1@0+ (1,0) [0|0] "" FCM
+ SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
+ SG_ CLEXTRGR : 26|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ IRLT_REQ : 25|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BRKHLD : 37|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
+ SG_ VGRSTRGR : 35|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PBRTRGR : 32|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSDIS : 43|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PBPREPMP : 40|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX

opendbc/toyota_bsm.dbc

@@ -0,0 +1,5 @@
+BO_ 1880 DEBUG: 8 XXX
+ SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
+ SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX

opendbc/toyota_zss.dbc

@@ -0,0 +1,4 @@
+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
+
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";

panda/board/obj/gitversion.h

@@ -1 +1 @@
-const uint8_t gitversion[] = "DEV-2dfc842c-DEBUG";
+const uint8_t gitversion[] = "DEV-b7261797-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-2dfc842c-DEBUG
+DEV-b7261797-DEBUG

selfdrive/car/card.py

@@ -59,6 +59,9 @@ class Car:
     if self.params.get_bool("dp_alka"):
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALKA
 
+    if self.params.get_bool("dp_toyota_auto_brake_hold"):
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
+
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 
     controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly

selfdrive/car/toyota/carcontroller.py

@@ -15,6 +15,11 @@ from openpilot.dp_ext.selfdrive.car.toyota.pcm_compensation_controller import PC
 # for pcm compensation
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
+# dp - for enhanced bsm
+from openpilot.dp_ext.selfdrive.car.toyota.bsm.controller import BSMController
+# dp - for auto brake hold
+from openpilot.dp_ext.selfdrive.car.toyota.brake_hold.controller import BrakeHoldController
+
 SteerControlType = car.CarParams.SteerControlType
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
@@ -51,6 +56,8 @@ class CarController(CarControllerBase):
     # dp
     self.dlc = DoorLockController()
     self.pcc = PCMCompensationController(CP, self.params, Params().get_bool("dp_toyota_pcm_compensation"))
+    self.bsmc = BSMController(self.CP)
+    self.bhc = BrakeHoldController()
 
   def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
@@ -63,6 +70,12 @@ class CarController(CarControllerBase):
     # *** control msgs ***
     can_sends = []
 
+    # dp - for auto brake hold
+    can_sends = self.bhc.get_can_sends(self.frame, can_sends, CS.brakehold_governor, CS.stock_aeb)
+
+    # dp - for enhanced bsm
+    can_sends = self.bsmc.get_can_sends(self.frame, CS.out.vEgo, can_sends)
+
     result = self.dlc.process(CS.out.gearShifter, CS.out.vEgo, CS.out.doorOpen)
     if result:
       can_sends.append(make_can_msg(result[0], result[1], result[2]))

selfdrive/car/toyota/carstate.py

@@ -11,7 +11,9 @@ from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                   TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
 
-from openpilot.dp_ext.selfdrive.car.toyota.zss_controller import ZSSController
+from openpilot.dp_ext.selfdrive.car.toyota.zss.controller import ZSSController
+from openpilot.dp_ext.selfdrive.car.toyota.bsm.state import BSMState
+from openpilot.dp_ext.selfdrive.car.toyota.brake_hold.state import BrakeHoldState
 
 SteerControlType = car.CarParams.SteerControlType
 
@@ -55,6 +57,12 @@ class CarState(CarStateBase):
     self.zssc = ZSSController()
     # for pcm compensation
     self.pcm_neutral_force = 0.
+    # enhanced bsm
+    self.bsm_state = BSMState()
+    # auto brake hold
+    self.brake_hold_state = BrakeHoldState(CP.carFingerprint in TSS2_CAR)
+    self.brakehold_governor = False
+    self.stock_aeb = {}
 
   def update(self, cp, cp_cam):
     ret = car.CarState.new_message()
@@ -173,6 +181,14 @@ class CarState(CarStateBase):
       ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)
       ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1)
 
+    # dp - enhanced bsm
+    self.bsm_state.update_states(ret.leftBlindspot, ret.rightBlindspot)
+    ret.leftBlindspot, ret.rightBlindspot = self.bsm_state.get_signals()
+
+    # dp - brake hold
+    self.brake_hold_state.update_states(ret.standstill, ret.cruiseState, ret.gasPressed, ret.brakePressed, ret.gearShifter)
+    self.brakehold_governor, self.stock_aeb = self.brake_hold_state.get_values()
+
     if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
       self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
 

selfdrive/car/toyota/interface.py

@@ -151,7 +151,7 @@ class CarInterface(CarInterfaceBase):
       if candidate in TSS2_CAR:
         ret.stopAccel = -1.2
       else:
-        ret.stopAccel = -2.5
+        ret.stopAccel = -2.0
 
     if candidate in TSS2_CAR:
       tune.kpV = [0.0]

selfdrive/controls/lib/drive_helpers.py

@@ -12,7 +12,7 @@ V_CRUISE_MIN = 8
 V_CRUISE_MAX = 145
 V_CRUISE_UNSET = 255
 V_CRUISE_INITIAL = 40
-V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 105
+V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 40
 IMPERIAL_INCREMENT = 1.6  # should be CV.MPH_TO_KPH, but this causes rounding errors
 
 MIN_SPEED = 1.0

selfdrive/ui/qt/offroad/settings.h

@@ -95,6 +95,8 @@ private:
   ButtonControl *installBtn;
   ButtonControl *downloadBtn;
   ButtonControl *targetBranchBtn;
+  // dp
+  ButtonControl *onOffBtn;
 
   Params params;
   ParamWatcher *fs_watch;

selfdrive/ui/translations/main_ar.ts

@@ -113,6 +113,370 @@
         <translation>إلغاء</translation>
     </message>
 </context>
+<context>
+    <name>DPCtrlPanel</name>
+    <message>
+        <source>Ctrl - Lateral</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable ALKA (Always-on LKA)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot lateral Control will be always on when ACC MAIN is ON.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lane Change Assist Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP - Original behavior
+Disable - Temporary disable steering control.
+Hold - Keep the steering control with no assist.
+Auto - Change lane automatically.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Road Edge Detection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will block lane change if road edge is detected.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lane Change Assist When Above</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When speed above the set value, openpilot will enable lane change assist.
+1 km/h = 0.62 mph.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> km/h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Any</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Perform Auto Lane Change After</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> secs</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Immediately</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <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>On-Screen Personality Button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will display an on-screen personality button.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Alt. Driving Personality When Below</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When speed below the set value, openpilot will change &quot;Driving Personality&quot; to defined mode.
+1 km/h = 0.62 mph.
+Once activate, the lead vehicle indicator will display an &quot;A&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFF</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished">الهجومي</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished">القياسي</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished">الراحة</translation>
+    </message>
+    <message>
+        <source>Alt. Driving Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Style</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Flight Panel</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will show information such as pitch angle, altitude, compass on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Tesla-style Rainbow Path</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot driving path will be replaced with rainbow path and color will change based on the speed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation type="unfinished">الجهاز</translation>
+    </message>
+    <message>
+        <source>Disable Logging</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will not record any device or driving data.
+This will reduce power consumption and heat.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable On-Road Upload</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will not upload driving log/videos to comma connect when driving. 
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Std.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAIN+</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP+</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAIN-</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP-</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Std. - Stock behavior.
+MAIN+ - ACC MAIN on = display ON, otherwise OFF.
+OP+ - OP enabled = display ON, otherwise OFF.
+MAIN- - ACC MAIN on = display OFF, otherwise ON.
+OP- - OP enabled = display OFF, otherwise ON.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Free Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will display map panel without the need of prime or Mapbox key.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Free Routing</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will perform route calculation without the need of prime or Mapbox key.
+This will connect to dragonpilot.org.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road/Place Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will add road/place name to the map.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Traffic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will add traffic status to the map.
+This does not work in China.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota / Lexus</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Enhanced BSM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use diagnose CAN messages to receive unfiltered BSM signals, allowing detection of more objects.
+Tested on Prius TSS2 and RAV4 TSS1.
+ONLY WORK ON SOME VEHICLES.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Door Auto Locking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will attempt to lock the doors when drive above 10 km/h (6.2 mph).
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Door Auto Unlocking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will attempt to unlock the doors when shift to gear P.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Zorro-Steering-Sensor (ZSS) Support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use sensor outputs from ZSS for more accurate steering control.
+DO NOT ENABLE unless you have ZSS installed.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Longitudinal PCM compensation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, it will optimizes Toyota longitudinal control by improving response, eliminating dead zones, and enhancing overall driving smoothness and accuracy.
+See https://github.com/commaai/openpilot/pull/30697 for more information.
+Credits to cydia2020 https://github.com/cydia2020.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Automatic Brake Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will activate vehicle brake hold after 3 secs at standstill while openpilot is not engaging.
+(ONLY WORKS ON TSS2, USE AT YOUR OWN RISK!!).
+Credit to AlexandreSato: https://github.com/AlexandreSato/ 
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VAG</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SnG for A0</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Known supported vehicles: POLO_MK6, TCROSS_MK1, TROC_MK1, SKODA_KAMIQ_MK1, SKODA_SCALA_MK1, TRANSPORTER_T61.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Hyundai / Kia / Genesis</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Low Speed Turn Enhancement (CAN-FD)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use steering parameters found in &apos;Taco Bell&apos; for better low speed turns.
+Tested on Kia EV6 Only, may not work on other vehicles.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset dragonpilot settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>RESET</source>
+        <translation type="unfinished">إعادة الضبط</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset all dp settings?
+This will also reboot your device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DeclinePage</name>
     <message>
@@ -558,6 +922,34 @@
         <source>now</source>
         <translation>الآن</translation>
     </message>
+    <message>
+        <source>Vehicle Model:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[AUTO SELECT]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Debug Console</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error displaying tmux output.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished">الهجومي</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished">القياسي</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished">الراحة</translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -600,6 +992,17 @@ This may take up to a minute.</source>
         <translation>تم تفعيل إعادة ضبط النظام. اضغط على تأكيد لمسح جميع المحتويات والإعدادات. اضغط على إلغاء لاستئناف التمهيد.</translation>
     </message>
 </context>
+<context>
+    <name>RouteSettingsWidget</name>
+    <message>
+        <source>Avoid Toll Road</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Avoid Highway</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SettingsWindow</name>
     <message>
@@ -890,6 +1293,26 @@ This may take up to a minute.</source>
         <source>up to date, last checked %1</source>
         <translation>أحدث نسخة، آخر تحقق %1</translation>
     </message>
+    <message>
+        <source>Onroad/Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Go Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to switch driving mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CONFIRM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Go Onroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>

selfdrive/ui/translations/main_de.ts

@@ -113,6 +113,370 @@
         <translation>Abbrechen</translation>
     </message>
 </context>
+<context>
+    <name>DPCtrlPanel</name>
+    <message>
+        <source>Ctrl - Lateral</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable ALKA (Always-on LKA)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot lateral Control will be always on when ACC MAIN is ON.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lane Change Assist Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP - Original behavior
+Disable - Temporary disable steering control.
+Hold - Keep the steering control with no assist.
+Auto - Change lane automatically.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Road Edge Detection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will block lane change if road edge is detected.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lane Change Assist When Above</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When speed above the set value, openpilot will enable lane change assist.
+1 km/h = 0.62 mph.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> km/h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Any</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Perform Auto Lane Change After</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> secs</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Immediately</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <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>On-Screen Personality Button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will display an on-screen personality button.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Alt. Driving Personality When Below</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When speed below the set value, openpilot will change &quot;Driving Personality&quot; to defined mode.
+1 km/h = 0.62 mph.
+Once activate, the lead vehicle indicator will display an &quot;A&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFF</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Alt. Driving Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Style</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Flight Panel</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will show information such as pitch angle, altitude, compass on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Tesla-style Rainbow Path</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot driving path will be replaced with rainbow path and color will change based on the speed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation type="unfinished">Gerät</translation>
+    </message>
+    <message>
+        <source>Disable Logging</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will not record any device or driving data.
+This will reduce power consumption and heat.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable On-Road Upload</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will not upload driving log/videos to comma connect when driving. 
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Std.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAIN+</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP+</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAIN-</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP-</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Std. - Stock behavior.
+MAIN+ - ACC MAIN on = display ON, otherwise OFF.
+OP+ - OP enabled = display ON, otherwise OFF.
+MAIN- - ACC MAIN on = display OFF, otherwise ON.
+OP- - OP enabled = display OFF, otherwise ON.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Free Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will display map panel without the need of prime or Mapbox key.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Free Routing</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will perform route calculation without the need of prime or Mapbox key.
+This will connect to dragonpilot.org.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road/Place Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will add road/place name to the map.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Traffic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will add traffic status to the map.
+This does not work in China.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota / Lexus</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Enhanced BSM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use diagnose CAN messages to receive unfiltered BSM signals, allowing detection of more objects.
+Tested on Prius TSS2 and RAV4 TSS1.
+ONLY WORK ON SOME VEHICLES.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Door Auto Locking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will attempt to lock the doors when drive above 10 km/h (6.2 mph).
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Door Auto Unlocking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will attempt to unlock the doors when shift to gear P.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Zorro-Steering-Sensor (ZSS) Support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use sensor outputs from ZSS for more accurate steering control.
+DO NOT ENABLE unless you have ZSS installed.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Longitudinal PCM compensation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, it will optimizes Toyota longitudinal control by improving response, eliminating dead zones, and enhancing overall driving smoothness and accuracy.
+See https://github.com/commaai/openpilot/pull/30697 for more information.
+Credits to cydia2020 https://github.com/cydia2020.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Automatic Brake Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will activate vehicle brake hold after 3 secs at standstill while openpilot is not engaging.
+(ONLY WORKS ON TSS2, USE AT YOUR OWN RISK!!).
+Credit to AlexandreSato: https://github.com/AlexandreSato/ 
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VAG</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SnG for A0</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Known supported vehicles: POLO_MK6, TCROSS_MK1, TROC_MK1, SKODA_KAMIQ_MK1, SKODA_SCALA_MK1, TRANSPORTER_T61.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Hyundai / Kia / Genesis</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Low Speed Turn Enhancement (CAN-FD)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use steering parameters found in &apos;Taco Bell&apos; for better low speed turns.
+Tested on Kia EV6 Only, may not work on other vehicles.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset dragonpilot settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>RESET</source>
+        <translation type="unfinished">RESET</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset all dp settings?
+This will also reboot your device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DeclinePage</name>
     <message>
@@ -541,6 +905,34 @@
         <source>now</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Vehicle Model:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[AUTO SELECT]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Debug Console</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error displaying tmux output.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -582,6 +974,17 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>RouteSettingsWidget</name>
+    <message>
+        <source>Avoid Toll Road</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Avoid Highway</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SettingsWindow</name>
     <message>
@@ -874,6 +1277,26 @@ This may take up to a minute.</source>
         <source>never</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Onroad/Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Go Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to switch driving mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CONFIRM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Go Onroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>

selfdrive/ui/translations/main_es.ts

@@ -113,6 +113,370 @@
         <translation>Cancelar</translation>
     </message>
 </context>
+<context>
+    <name>DPCtrlPanel</name>
+    <message>
+        <source>Ctrl - Lateral</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable ALKA (Always-on LKA)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot lateral Control will be always on when ACC MAIN is ON.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lane Change Assist Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP - Original behavior
+Disable - Temporary disable steering control.
+Hold - Keep the steering control with no assist.
+Auto - Change lane automatically.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Road Edge Detection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will block lane change if road edge is detected.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lane Change Assist When Above</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When speed above the set value, openpilot will enable lane change assist.
+1 km/h = 0.62 mph.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> km/h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Any</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Perform Auto Lane Change After</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> secs</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Immediately</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <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>On-Screen Personality Button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will display an on-screen personality button.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Alt. Driving Personality When Below</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When speed below the set value, openpilot will change &quot;Driving Personality&quot; to defined mode.
+1 km/h = 0.62 mph.
+Once activate, the lead vehicle indicator will display an &quot;A&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFF</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished">Agresivo</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished">Estándar</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished">Relajado</translation>
+    </message>
+    <message>
+        <source>Alt. Driving Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Style</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Flight Panel</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will show information such as pitch angle, altitude, compass on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Tesla-style Rainbow Path</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot driving path will be replaced with rainbow path and color will change based on the speed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation type="unfinished">Dispositivo</translation>
+    </message>
+    <message>
+        <source>Disable Logging</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will not record any device or driving data.
+This will reduce power consumption and heat.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable On-Road Upload</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will not upload driving log/videos to comma connect when driving. 
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Std.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAIN+</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP+</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAIN-</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP-</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Std. - Stock behavior.
+MAIN+ - ACC MAIN on = display ON, otherwise OFF.
+OP+ - OP enabled = display ON, otherwise OFF.
+MAIN- - ACC MAIN on = display OFF, otherwise ON.
+OP- - OP enabled = display OFF, otherwise ON.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Free Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will display map panel without the need of prime or Mapbox key.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Free Routing</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will perform route calculation without the need of prime or Mapbox key.
+This will connect to dragonpilot.org.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road/Place Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will add road/place name to the map.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Traffic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will add traffic status to the map.
+This does not work in China.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota / Lexus</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Enhanced BSM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use diagnose CAN messages to receive unfiltered BSM signals, allowing detection of more objects.
+Tested on Prius TSS2 and RAV4 TSS1.
+ONLY WORK ON SOME VEHICLES.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Door Auto Locking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will attempt to lock the doors when drive above 10 km/h (6.2 mph).
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Door Auto Unlocking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will attempt to unlock the doors when shift to gear P.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Zorro-Steering-Sensor (ZSS) Support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use sensor outputs from ZSS for more accurate steering control.
+DO NOT ENABLE unless you have ZSS installed.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Longitudinal PCM compensation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, it will optimizes Toyota longitudinal control by improving response, eliminating dead zones, and enhancing overall driving smoothness and accuracy.
+See https://github.com/commaai/openpilot/pull/30697 for more information.
+Credits to cydia2020 https://github.com/cydia2020.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Automatic Brake Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will activate vehicle brake hold after 3 secs at standstill while openpilot is not engaging.
+(ONLY WORKS ON TSS2, USE AT YOUR OWN RISK!!).
+Credit to AlexandreSato: https://github.com/AlexandreSato/ 
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VAG</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SnG for A0</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Known supported vehicles: POLO_MK6, TCROSS_MK1, TROC_MK1, SKODA_KAMIQ_MK1, SKODA_SCALA_MK1, TRANSPORTER_T61.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Hyundai / Kia / Genesis</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Low Speed Turn Enhancement (CAN-FD)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use steering parameters found in &apos;Taco Bell&apos; for better low speed turns.
+Tested on Kia EV6 Only, may not work on other vehicles.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset dragonpilot settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>RESET</source>
+        <translation type="unfinished">REINICIAR</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset all dp settings?
+This will also reboot your device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DeclinePage</name>
     <message>
@@ -542,6 +906,34 @@
             <numerusform>hace %n días</numerusform>
         </translation>
     </message>
+    <message>
+        <source>Vehicle Model:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[AUTO SELECT]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Debug Console</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error displaying tmux output.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished">Agresivo</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished">Estándar</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished">Relajado</translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -584,6 +976,17 @@ Esto puede tardar hasta un minuto.</translation>
         <translation>No es posible montar una partición de datos. Partición corrompida. Confirme para borrar y reiniciar su dispositivo.</translation>
     </message>
 </context>
+<context>
+    <name>RouteSettingsWidget</name>
+    <message>
+        <source>Avoid Toll Road</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Avoid Highway</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SettingsWindow</name>
     <message>
@@ -874,6 +1277,26 @@ Esto puede tardar hasta un minuto.</translation>
         <source>up to date, last checked %1</source>
         <translation>actualizado, último chequeo %1</translation>
     </message>
+    <message>
+        <source>Onroad/Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Go Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to switch driving mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CONFIRM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Go Onroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>

selfdrive/ui/translations/main_fr.ts

@@ -113,6 +113,370 @@
         <translation>Annuler</translation>
     </message>
 </context>
+<context>
+    <name>DPCtrlPanel</name>
+    <message>
+        <source>Ctrl - Lateral</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable ALKA (Always-on LKA)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot lateral Control will be always on when ACC MAIN is ON.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lane Change Assist Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP - Original behavior
+Disable - Temporary disable steering control.
+Hold - Keep the steering control with no assist.
+Auto - Change lane automatically.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Road Edge Detection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will block lane change if road edge is detected.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lane Change Assist When Above</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When speed above the set value, openpilot will enable lane change assist.
+1 km/h = 0.62 mph.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> km/h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Any</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Perform Auto Lane Change After</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> secs</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Immediately</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <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>On-Screen Personality Button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will display an on-screen personality button.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Alt. Driving Personality When Below</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When speed below the set value, openpilot will change &quot;Driving Personality&quot; to defined mode.
+1 km/h = 0.62 mph.
+Once activate, the lead vehicle indicator will display an &quot;A&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFF</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished">Aggressif</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished">Standard</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished">Détendu</translation>
+    </message>
+    <message>
+        <source>Alt. Driving Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Style</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Flight Panel</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will show information such as pitch angle, altitude, compass on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Tesla-style Rainbow Path</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot driving path will be replaced with rainbow path and color will change based on the speed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation type="unfinished">Appareil</translation>
+    </message>
+    <message>
+        <source>Disable Logging</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will not record any device or driving data.
+This will reduce power consumption and heat.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable On-Road Upload</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will not upload driving log/videos to comma connect when driving. 
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Std.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAIN+</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP+</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAIN-</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP-</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Std. - Stock behavior.
+MAIN+ - ACC MAIN on = display ON, otherwise OFF.
+OP+ - OP enabled = display ON, otherwise OFF.
+MAIN- - ACC MAIN on = display OFF, otherwise ON.
+OP- - OP enabled = display OFF, otherwise ON.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Free Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will display map panel without the need of prime or Mapbox key.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Free Routing</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will perform route calculation without the need of prime or Mapbox key.
+This will connect to dragonpilot.org.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road/Place Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will add road/place name to the map.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Traffic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will add traffic status to the map.
+This does not work in China.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota / Lexus</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Enhanced BSM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use diagnose CAN messages to receive unfiltered BSM signals, allowing detection of more objects.
+Tested on Prius TSS2 and RAV4 TSS1.
+ONLY WORK ON SOME VEHICLES.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Door Auto Locking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will attempt to lock the doors when drive above 10 km/h (6.2 mph).
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Door Auto Unlocking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will attempt to unlock the doors when shift to gear P.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Zorro-Steering-Sensor (ZSS) Support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use sensor outputs from ZSS for more accurate steering control.
+DO NOT ENABLE unless you have ZSS installed.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Longitudinal PCM compensation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, it will optimizes Toyota longitudinal control by improving response, eliminating dead zones, and enhancing overall driving smoothness and accuracy.
+See https://github.com/commaai/openpilot/pull/30697 for more information.
+Credits to cydia2020 https://github.com/cydia2020.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Automatic Brake Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will activate vehicle brake hold after 3 secs at standstill while openpilot is not engaging.
+(ONLY WORKS ON TSS2, USE AT YOUR OWN RISK!!).
+Credit to AlexandreSato: https://github.com/AlexandreSato/ 
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VAG</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SnG for A0</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Known supported vehicles: POLO_MK6, TCROSS_MK1, TROC_MK1, SKODA_KAMIQ_MK1, SKODA_SCALA_MK1, TRANSPORTER_T61.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Hyundai / Kia / Genesis</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Low Speed Turn Enhancement (CAN-FD)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use steering parameters found in &apos;Taco Bell&apos; for better low speed turns.
+Tested on Kia EV6 Only, may not work on other vehicles.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset dragonpilot settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>RESET</source>
+        <translation type="unfinished">RÉINITIALISER</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset all dp settings?
+This will also reboot your device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DeclinePage</name>
     <message>
@@ -542,6 +906,34 @@
         <source>now</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Vehicle Model:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[AUTO SELECT]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Debug Console</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error displaying tmux output.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished">Aggressif</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished">Standard</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished">Détendu</translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -584,6 +976,17 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>RouteSettingsWidget</name>
+    <message>
+        <source>Avoid Toll Road</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Avoid Highway</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SettingsWindow</name>
     <message>
@@ -874,6 +1277,26 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>up to date, last checked %1</source>
         <translation>à jour, dernière vérification %1</translation>
     </message>
+    <message>
+        <source>Onroad/Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Go Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to switch driving mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CONFIRM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Go Onroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>

selfdrive/ui/translations/main_ja.ts

@@ -113,6 +113,370 @@
         <translation>キャンセル</translation>
     </message>
 </context>
+<context>
+    <name>DPCtrlPanel</name>
+    <message>
+        <source>Ctrl - Lateral</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable ALKA (Always-on LKA)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot lateral Control will be always on when ACC MAIN is ON.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lane Change Assist Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP - Original behavior
+Disable - Temporary disable steering control.
+Hold - Keep the steering control with no assist.
+Auto - Change lane automatically.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Road Edge Detection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will block lane change if road edge is detected.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lane Change Assist When Above</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When speed above the set value, openpilot will enable lane change assist.
+1 km/h = 0.62 mph.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> km/h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Any</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Perform Auto Lane Change After</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> secs</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Immediately</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <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>On-Screen Personality Button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will display an on-screen personality button.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Alt. Driving Personality When Below</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When speed below the set value, openpilot will change &quot;Driving Personality&quot; to defined mode.
+1 km/h = 0.62 mph.
+Once activate, the lead vehicle indicator will display an &quot;A&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFF</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Alt. Driving Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Style</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Flight Panel</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will show information such as pitch angle, altitude, compass on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Tesla-style Rainbow Path</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot driving path will be replaced with rainbow path and color will change based on the speed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation type="unfinished">デバイス</translation>
+    </message>
+    <message>
+        <source>Disable Logging</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will not record any device or driving data.
+This will reduce power consumption and heat.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable On-Road Upload</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will not upload driving log/videos to comma connect when driving. 
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Std.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAIN+</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP+</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAIN-</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP-</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Std. - Stock behavior.
+MAIN+ - ACC MAIN on = display ON, otherwise OFF.
+OP+ - OP enabled = display ON, otherwise OFF.
+MAIN- - ACC MAIN on = display OFF, otherwise ON.
+OP- - OP enabled = display OFF, otherwise ON.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Free Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will display map panel without the need of prime or Mapbox key.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Free Routing</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will perform route calculation without the need of prime or Mapbox key.
+This will connect to dragonpilot.org.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road/Place Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will add road/place name to the map.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Traffic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will add traffic status to the map.
+This does not work in China.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota / Lexus</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Enhanced BSM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use diagnose CAN messages to receive unfiltered BSM signals, allowing detection of more objects.
+Tested on Prius TSS2 and RAV4 TSS1.
+ONLY WORK ON SOME VEHICLES.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Door Auto Locking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will attempt to lock the doors when drive above 10 km/h (6.2 mph).
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Door Auto Unlocking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will attempt to unlock the doors when shift to gear P.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Zorro-Steering-Sensor (ZSS) Support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use sensor outputs from ZSS for more accurate steering control.
+DO NOT ENABLE unless you have ZSS installed.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Longitudinal PCM compensation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, it will optimizes Toyota longitudinal control by improving response, eliminating dead zones, and enhancing overall driving smoothness and accuracy.
+See https://github.com/commaai/openpilot/pull/30697 for more information.
+Credits to cydia2020 https://github.com/cydia2020.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Automatic Brake Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will activate vehicle brake hold after 3 secs at standstill while openpilot is not engaging.
+(ONLY WORKS ON TSS2, USE AT YOUR OWN RISK!!).
+Credit to AlexandreSato: https://github.com/AlexandreSato/ 
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VAG</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SnG for A0</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Known supported vehicles: POLO_MK6, TCROSS_MK1, TROC_MK1, SKODA_KAMIQ_MK1, SKODA_SCALA_MK1, TRANSPORTER_T61.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Hyundai / Kia / Genesis</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Low Speed Turn Enhancement (CAN-FD)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use steering parameters found in &apos;Taco Bell&apos; for better low speed turns.
+Tested on Kia EV6 Only, may not work on other vehicles.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset dragonpilot settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>RESET</source>
+        <translation type="unfinished">ﾘｾｯﾄ</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset all dp settings?
+This will also reboot your device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DeclinePage</name>
     <message>
@@ -537,6 +901,34 @@
         <source>now</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Vehicle Model:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[AUTO SELECT]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Debug Console</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error displaying tmux output.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -578,6 +970,17 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>RouteSettingsWidget</name>
+    <message>
+        <source>Avoid Toll Road</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Avoid Highway</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SettingsWindow</name>
     <message>
@@ -868,6 +1271,26 @@ This may take up to a minute.</source>
         <source>never</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Onroad/Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Go Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to switch driving mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CONFIRM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Go Onroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>

selfdrive/ui/translations/main_ko.ts

@@ -113,6 +113,370 @@
         <translation>취소</translation>
     </message>
 </context>
+<context>
+    <name>DPCtrlPanel</name>
+    <message>
+        <source>Ctrl - Lateral</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable ALKA (Always-on LKA)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot lateral Control will be always on when ACC MAIN is ON.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lane Change Assist Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP - Original behavior
+Disable - Temporary disable steering control.
+Hold - Keep the steering control with no assist.
+Auto - Change lane automatically.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Road Edge Detection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will block lane change if road edge is detected.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lane Change Assist When Above</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When speed above the set value, openpilot will enable lane change assist.
+1 km/h = 0.62 mph.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> km/h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Any</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Perform Auto Lane Change After</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> secs</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Immediately</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <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>On-Screen Personality Button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will display an on-screen personality button.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Alt. Driving Personality When Below</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When speed below the set value, openpilot will change &quot;Driving Personality&quot; to defined mode.
+1 km/h = 0.62 mph.
+Once activate, the lead vehicle indicator will display an &quot;A&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFF</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished">공격적</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished">표준</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished">편안한</translation>
+    </message>
+    <message>
+        <source>Alt. Driving Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Style</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Flight Panel</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will show information such as pitch angle, altitude, compass on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Tesla-style Rainbow Path</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot driving path will be replaced with rainbow path and color will change based on the speed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation type="unfinished">장치</translation>
+    </message>
+    <message>
+        <source>Disable Logging</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will not record any device or driving data.
+This will reduce power consumption and heat.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable On-Road Upload</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will not upload driving log/videos to comma connect when driving. 
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Std.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAIN+</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP+</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAIN-</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP-</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Std. - Stock behavior.
+MAIN+ - ACC MAIN on = display ON, otherwise OFF.
+OP+ - OP enabled = display ON, otherwise OFF.
+MAIN- - ACC MAIN on = display OFF, otherwise ON.
+OP- - OP enabled = display OFF, otherwise ON.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Free Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will display map panel without the need of prime or Mapbox key.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Free Routing</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will perform route calculation without the need of prime or Mapbox key.
+This will connect to dragonpilot.org.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road/Place Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will add road/place name to the map.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Traffic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will add traffic status to the map.
+This does not work in China.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota / Lexus</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Enhanced BSM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use diagnose CAN messages to receive unfiltered BSM signals, allowing detection of more objects.
+Tested on Prius TSS2 and RAV4 TSS1.
+ONLY WORK ON SOME VEHICLES.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Door Auto Locking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will attempt to lock the doors when drive above 10 km/h (6.2 mph).
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Door Auto Unlocking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will attempt to unlock the doors when shift to gear P.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Zorro-Steering-Sensor (ZSS) Support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use sensor outputs from ZSS for more accurate steering control.
+DO NOT ENABLE unless you have ZSS installed.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Longitudinal PCM compensation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, it will optimizes Toyota longitudinal control by improving response, eliminating dead zones, and enhancing overall driving smoothness and accuracy.
+See https://github.com/commaai/openpilot/pull/30697 for more information.
+Credits to cydia2020 https://github.com/cydia2020.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Automatic Brake Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will activate vehicle brake hold after 3 secs at standstill while openpilot is not engaging.
+(ONLY WORKS ON TSS2, USE AT YOUR OWN RISK!!).
+Credit to AlexandreSato: https://github.com/AlexandreSato/ 
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VAG</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SnG for A0</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Known supported vehicles: POLO_MK6, TCROSS_MK1, TROC_MK1, SKODA_KAMIQ_MK1, SKODA_SCALA_MK1, TRANSPORTER_T61.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Hyundai / Kia / Genesis</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Low Speed Turn Enhancement (CAN-FD)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use steering parameters found in &apos;Taco Bell&apos; for better low speed turns.
+Tested on Kia EV6 Only, may not work on other vehicles.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset dragonpilot settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>RESET</source>
+        <translation type="unfinished">초기화</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset all dp settings?
+This will also reboot your device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DeclinePage</name>
     <message>
@@ -538,6 +902,34 @@
         <source>now</source>
         <translation>now</translation>
     </message>
+    <message>
+        <source>Vehicle Model:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[AUTO SELECT]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Debug Console</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error displaying tmux output.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished">공격적</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished">표준</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished">편안한</translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -580,6 +972,17 @@ This may take up to a minute.</source>
         <translation>시스템 재설정이 시작되었습니다. 모든 콘텐츠와 설정을 지우려면 확인을 누르시고 부팅을 재개하려면 취소를 누르세요.</translation>
     </message>
 </context>
+<context>
+    <name>RouteSettingsWidget</name>
+    <message>
+        <source>Avoid Toll Road</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Avoid Highway</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SettingsWindow</name>
     <message>
@@ -870,6 +1273,26 @@ This may take up to a minute.</source>
         <source>never</source>
         <translation>업데이트 안함</translation>
     </message>
+    <message>
+        <source>Onroad/Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Go Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to switch driving mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CONFIRM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Go Onroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>

selfdrive/ui/translations/main_pt-BR.ts

@@ -113,6 +113,370 @@
         <translation>Cancelar</translation>
     </message>
 </context>
+<context>
+    <name>DPCtrlPanel</name>
+    <message>
+        <source>Ctrl - Lateral</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable ALKA (Always-on LKA)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot lateral Control will be always on when ACC MAIN is ON.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lane Change Assist Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP - Original behavior
+Disable - Temporary disable steering control.
+Hold - Keep the steering control with no assist.
+Auto - Change lane automatically.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Road Edge Detection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will block lane change if road edge is detected.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lane Change Assist When Above</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When speed above the set value, openpilot will enable lane change assist.
+1 km/h = 0.62 mph.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> km/h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Any</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Perform Auto Lane Change After</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> secs</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Immediately</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <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>On-Screen Personality Button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will display an on-screen personality button.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Alt. Driving Personality When Below</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When speed below the set value, openpilot will change &quot;Driving Personality&quot; to defined mode.
+1 km/h = 0.62 mph.
+Once activate, the lead vehicle indicator will display an &quot;A&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFF</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished">Disputa</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished">Neutro</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished">Calmo</translation>
+    </message>
+    <message>
+        <source>Alt. Driving Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Style</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Flight Panel</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will show information such as pitch angle, altitude, compass on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Tesla-style Rainbow Path</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot driving path will be replaced with rainbow path and color will change based on the speed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation type="unfinished">Dispositivo</translation>
+    </message>
+    <message>
+        <source>Disable Logging</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will not record any device or driving data.
+This will reduce power consumption and heat.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable On-Road Upload</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will not upload driving log/videos to comma connect when driving. 
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Std.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAIN+</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP+</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAIN-</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP-</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Std. - Stock behavior.
+MAIN+ - ACC MAIN on = display ON, otherwise OFF.
+OP+ - OP enabled = display ON, otherwise OFF.
+MAIN- - ACC MAIN on = display OFF, otherwise ON.
+OP- - OP enabled = display OFF, otherwise ON.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Free Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will display map panel without the need of prime or Mapbox key.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Free Routing</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will perform route calculation without the need of prime or Mapbox key.
+This will connect to dragonpilot.org.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road/Place Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will add road/place name to the map.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Traffic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will add traffic status to the map.
+This does not work in China.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota / Lexus</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Enhanced BSM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use diagnose CAN messages to receive unfiltered BSM signals, allowing detection of more objects.
+Tested on Prius TSS2 and RAV4 TSS1.
+ONLY WORK ON SOME VEHICLES.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Door Auto Locking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will attempt to lock the doors when drive above 10 km/h (6.2 mph).
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Door Auto Unlocking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will attempt to unlock the doors when shift to gear P.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Zorro-Steering-Sensor (ZSS) Support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use sensor outputs from ZSS for more accurate steering control.
+DO NOT ENABLE unless you have ZSS installed.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Longitudinal PCM compensation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, it will optimizes Toyota longitudinal control by improving response, eliminating dead zones, and enhancing overall driving smoothness and accuracy.
+See https://github.com/commaai/openpilot/pull/30697 for more information.
+Credits to cydia2020 https://github.com/cydia2020.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Automatic Brake Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will activate vehicle brake hold after 3 secs at standstill while openpilot is not engaging.
+(ONLY WORKS ON TSS2, USE AT YOUR OWN RISK!!).
+Credit to AlexandreSato: https://github.com/AlexandreSato/ 
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VAG</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SnG for A0</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Known supported vehicles: POLO_MK6, TCROSS_MK1, TROC_MK1, SKODA_KAMIQ_MK1, SKODA_SCALA_MK1, TRANSPORTER_T61.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Hyundai / Kia / Genesis</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Low Speed Turn Enhancement (CAN-FD)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use steering parameters found in &apos;Taco Bell&apos; for better low speed turns.
+Tested on Kia EV6 Only, may not work on other vehicles.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset dragonpilot settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>RESET</source>
+        <translation type="unfinished">RESET</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset all dp settings?
+This will also reboot your device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DeclinePage</name>
     <message>
@@ -542,6 +906,34 @@
         <source>now</source>
         <translation>agora</translation>
     </message>
+    <message>
+        <source>Vehicle Model:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[AUTO SELECT]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Debug Console</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error displaying tmux output.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished">Disputa</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished">Neutro</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished">Calmo</translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -584,6 +976,17 @@ Isso pode levar até um minuto.</translation>
         <translation>Reinicialização do sistema acionada. Pressione confirmar para apagar todo o conteúdo e configurações. Pressione cancel para retomar a inicialização.</translation>
     </message>
 </context>
+<context>
+    <name>RouteSettingsWidget</name>
+    <message>
+        <source>Avoid Toll Road</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Avoid Highway</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SettingsWindow</name>
     <message>
@@ -874,6 +1277,26 @@ Isso pode levar até um minuto.</translation>
         <source>never</source>
         <translation>nunca</translation>
     </message>
+    <message>
+        <source>Onroad/Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Go Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to switch driving mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CONFIRM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Go Onroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>

selfdrive/ui/translations/main_th.ts

@@ -113,6 +113,370 @@
         <translation>ยกเลิก</translation>
     </message>
 </context>
+<context>
+    <name>DPCtrlPanel</name>
+    <message>
+        <source>Ctrl - Lateral</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable ALKA (Always-on LKA)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot lateral Control will be always on when ACC MAIN is ON.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lane Change Assist Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP - Original behavior
+Disable - Temporary disable steering control.
+Hold - Keep the steering control with no assist.
+Auto - Change lane automatically.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Road Edge Detection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will block lane change if road edge is detected.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lane Change Assist When Above</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When speed above the set value, openpilot will enable lane change assist.
+1 km/h = 0.62 mph.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> km/h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Any</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Perform Auto Lane Change After</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> secs</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Immediately</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <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>On-Screen Personality Button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will display an on-screen personality button.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Alt. Driving Personality When Below</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When speed below the set value, openpilot will change &quot;Driving Personality&quot; to defined mode.
+1 km/h = 0.62 mph.
+Once activate, the lead vehicle indicator will display an &quot;A&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFF</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished">ดุดัน</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished">มาตรฐาน</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished">ผ่อนคลาย</translation>
+    </message>
+    <message>
+        <source>Alt. Driving Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Style</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Flight Panel</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will show information such as pitch angle, altitude, compass on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Tesla-style Rainbow Path</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot driving path will be replaced with rainbow path and color will change based on the speed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation type="unfinished">อุปกรณ์</translation>
+    </message>
+    <message>
+        <source>Disable Logging</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will not record any device or driving data.
+This will reduce power consumption and heat.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable On-Road Upload</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will not upload driving log/videos to comma connect when driving. 
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Std.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAIN+</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP+</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAIN-</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP-</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Std. - Stock behavior.
+MAIN+ - ACC MAIN on = display ON, otherwise OFF.
+OP+ - OP enabled = display ON, otherwise OFF.
+MAIN- - ACC MAIN on = display OFF, otherwise ON.
+OP- - OP enabled = display OFF, otherwise ON.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Free Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will display map panel without the need of prime or Mapbox key.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Free Routing</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will perform route calculation without the need of prime or Mapbox key.
+This will connect to dragonpilot.org.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road/Place Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will add road/place name to the map.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Traffic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will add traffic status to the map.
+This does not work in China.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota / Lexus</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Enhanced BSM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use diagnose CAN messages to receive unfiltered BSM signals, allowing detection of more objects.
+Tested on Prius TSS2 and RAV4 TSS1.
+ONLY WORK ON SOME VEHICLES.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Door Auto Locking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will attempt to lock the doors when drive above 10 km/h (6.2 mph).
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Door Auto Unlocking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will attempt to unlock the doors when shift to gear P.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Zorro-Steering-Sensor (ZSS) Support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use sensor outputs from ZSS for more accurate steering control.
+DO NOT ENABLE unless you have ZSS installed.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Longitudinal PCM compensation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, it will optimizes Toyota longitudinal control by improving response, eliminating dead zones, and enhancing overall driving smoothness and accuracy.
+See https://github.com/commaai/openpilot/pull/30697 for more information.
+Credits to cydia2020 https://github.com/cydia2020.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Automatic Brake Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will activate vehicle brake hold after 3 secs at standstill while openpilot is not engaging.
+(ONLY WORKS ON TSS2, USE AT YOUR OWN RISK!!).
+Credit to AlexandreSato: https://github.com/AlexandreSato/ 
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VAG</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SnG for A0</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Known supported vehicles: POLO_MK6, TCROSS_MK1, TROC_MK1, SKODA_KAMIQ_MK1, SKODA_SCALA_MK1, TRANSPORTER_T61.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Hyundai / Kia / Genesis</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Low Speed Turn Enhancement (CAN-FD)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use steering parameters found in &apos;Taco Bell&apos; for better low speed turns.
+Tested on Kia EV6 Only, may not work on other vehicles.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset dragonpilot settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>RESET</source>
+        <translation type="unfinished">รีเซ็ต</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset all dp settings?
+This will also reboot your device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DeclinePage</name>
     <message>
@@ -538,6 +902,34 @@
         <source>now</source>
         <translation>ตอนนี้</translation>
     </message>
+    <message>
+        <source>Vehicle Model:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[AUTO SELECT]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Debug Console</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error displaying tmux output.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished">ดุดัน</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished">มาตรฐาน</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished">ผ่อนคลาย</translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -580,6 +972,17 @@ This may take up to a minute.</source>
         <translation>ระบบถูกรีเซ็ต กดยืนยันเพื่อลบข้อมูลและการตั้งค่าทั้งหมด กดยกเลิกเพื่อบูตต่อ</translation>
     </message>
 </context>
+<context>
+    <name>RouteSettingsWidget</name>
+    <message>
+        <source>Avoid Toll Road</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Avoid Highway</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SettingsWindow</name>
     <message>
@@ -870,6 +1273,26 @@ This may take up to a minute.</source>
         <source>up to date, last checked %1</source>
         <translation>ล่าสุดแล้ว ตรวจสอบครั้งสุดท้ายเมื่อ %1</translation>
     </message>
+    <message>
+        <source>Onroad/Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Go Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to switch driving mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CONFIRM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Go Onroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>

selfdrive/ui/translations/main_tr.ts

@@ -113,6 +113,370 @@
         <translation>Vazgeç</translation>
     </message>
 </context>
+<context>
+    <name>DPCtrlPanel</name>
+    <message>
+        <source>Ctrl - Lateral</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable ALKA (Always-on LKA)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot lateral Control will be always on when ACC MAIN is ON.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lane Change Assist Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP - Original behavior
+Disable - Temporary disable steering control.
+Hold - Keep the steering control with no assist.
+Auto - Change lane automatically.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Road Edge Detection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will block lane change if road edge is detected.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lane Change Assist When Above</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When speed above the set value, openpilot will enable lane change assist.
+1 km/h = 0.62 mph.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> km/h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Any</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Perform Auto Lane Change After</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> secs</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Immediately</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <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>On-Screen Personality Button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will display an on-screen personality button.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Alt. Driving Personality When Below</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When speed below the set value, openpilot will change &quot;Driving Personality&quot; to defined mode.
+1 km/h = 0.62 mph.
+Once activate, the lead vehicle indicator will display an &quot;A&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFF</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Alt. Driving Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Style</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Flight Panel</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will show information such as pitch angle, altitude, compass on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Tesla-style Rainbow Path</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot driving path will be replaced with rainbow path and color will change based on the speed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation type="unfinished">Cihaz</translation>
+    </message>
+    <message>
+        <source>Disable Logging</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will not record any device or driving data.
+This will reduce power consumption and heat.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable On-Road Upload</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will not upload driving log/videos to comma connect when driving. 
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Std.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAIN+</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP+</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAIN-</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP-</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Std. - Stock behavior.
+MAIN+ - ACC MAIN on = display ON, otherwise OFF.
+OP+ - OP enabled = display ON, otherwise OFF.
+MAIN- - ACC MAIN on = display OFF, otherwise ON.
+OP- - OP enabled = display OFF, otherwise ON.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Free Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will display map panel without the need of prime or Mapbox key.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Free Routing</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will perform route calculation without the need of prime or Mapbox key.
+This will connect to dragonpilot.org.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road/Place Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will add road/place name to the map.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Traffic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will add traffic status to the map.
+This does not work in China.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota / Lexus</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Enhanced BSM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use diagnose CAN messages to receive unfiltered BSM signals, allowing detection of more objects.
+Tested on Prius TSS2 and RAV4 TSS1.
+ONLY WORK ON SOME VEHICLES.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Door Auto Locking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will attempt to lock the doors when drive above 10 km/h (6.2 mph).
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Door Auto Unlocking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will attempt to unlock the doors when shift to gear P.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Zorro-Steering-Sensor (ZSS) Support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use sensor outputs from ZSS for more accurate steering control.
+DO NOT ENABLE unless you have ZSS installed.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Longitudinal PCM compensation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, it will optimizes Toyota longitudinal control by improving response, eliminating dead zones, and enhancing overall driving smoothness and accuracy.
+See https://github.com/commaai/openpilot/pull/30697 for more information.
+Credits to cydia2020 https://github.com/cydia2020.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Automatic Brake Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will activate vehicle brake hold after 3 secs at standstill while openpilot is not engaging.
+(ONLY WORKS ON TSS2, USE AT YOUR OWN RISK!!).
+Credit to AlexandreSato: https://github.com/AlexandreSato/ 
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VAG</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SnG for A0</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Known supported vehicles: POLO_MK6, TCROSS_MK1, TROC_MK1, SKODA_KAMIQ_MK1, SKODA_SCALA_MK1, TRANSPORTER_T61.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Hyundai / Kia / Genesis</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Low Speed Turn Enhancement (CAN-FD)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use steering parameters found in &apos;Taco Bell&apos; for better low speed turns.
+Tested on Kia EV6 Only, may not work on other vehicles.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset dragonpilot settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>RESET</source>
+        <translation type="unfinished">SIFIRLA</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset all dp settings?
+This will also reboot your device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DeclinePage</name>
     <message>
@@ -537,6 +901,34 @@
         <source>now</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Vehicle Model:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[AUTO SELECT]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Debug Console</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error displaying tmux output.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -578,6 +970,17 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>RouteSettingsWidget</name>
+    <message>
+        <source>Avoid Toll Road</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Avoid Highway</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SettingsWindow</name>
     <message>
@@ -868,6 +1271,26 @@ This may take up to a minute.</source>
         <source>up to date, last checked %1</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Onroad/Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Go Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to switch driving mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CONFIRM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Go Onroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -113,6 +113,370 @@
         <translation>取消</translation>
     </message>
 </context>
+<context>
+    <name>DPCtrlPanel</name>
+    <message>
+        <source>Ctrl - Lateral</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable ALKA (Always-on LKA)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot lateral Control will be always on when ACC MAIN is ON.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lane Change Assist Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP - Original behavior
+Disable - Temporary disable steering control.
+Hold - Keep the steering control with no assist.
+Auto - Change lane automatically.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Road Edge Detection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will block lane change if road edge is detected.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lane Change Assist When Above</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When speed above the set value, openpilot will enable lane change assist.
+1 km/h = 0.62 mph.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> km/h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Any</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Perform Auto Lane Change After</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> secs</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Immediately</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <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>On-Screen Personality Button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will display an on-screen personality button.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Alt. Driving Personality When Below</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When speed below the set value, openpilot will change &quot;Driving Personality&quot; to defined mode.
+1 km/h = 0.62 mph.
+Once activate, the lead vehicle indicator will display an &quot;A&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OFF</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished">积极</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished">标准</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished">舒适</translation>
+    </message>
+    <message>
+        <source>Alt. Driving Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Style</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Flight Panel</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will show information such as pitch angle, altitude, compass on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Tesla-style Rainbow Path</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot driving path will be replaced with rainbow path and color will change based on the speed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation type="unfinished">设备</translation>
+    </message>
+    <message>
+        <source>Disable Logging</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will not record any device or driving data.
+This will reduce power consumption and heat.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disable On-Road Upload</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will not upload driving log/videos to comma connect when driving. 
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Std.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAIN+</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP+</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAIN-</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>OP-</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Std. - Stock behavior.
+MAIN+ - ACC MAIN on = display ON, otherwise OFF.
+OP+ - OP enabled = display ON, otherwise OFF.
+MAIN- - ACC MAIN on = display OFF, otherwise ON.
+OP- - OP enabled = display OFF, otherwise ON.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Free Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will display map panel without the need of prime or Mapbox key.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Free Routing</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will perform route calculation without the need of prime or Mapbox key.
+This will connect to dragonpilot.org.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road/Place Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will add road/place name to the map.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Traffic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will add traffic status to the map.
+This does not work in China.
+Internet required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota / Lexus</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Enhanced BSM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use diagnose CAN messages to receive unfiltered BSM signals, allowing detection of more objects.
+Tested on Prius TSS2 and RAV4 TSS1.
+ONLY WORK ON SOME VEHICLES.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Door Auto Locking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will attempt to lock the doors when drive above 10 km/h (6.2 mph).
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Door Auto Unlocking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will attempt to unlock the doors when shift to gear P.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Zorro-Steering-Sensor (ZSS) Support</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use sensor outputs from ZSS for more accurate steering control.
+DO NOT ENABLE unless you have ZSS installed.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Longitudinal PCM compensation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, it will optimizes Toyota longitudinal control by improving response, eliminating dead zones, and enhancing overall driving smoothness and accuracy.
+See https://github.com/commaai/openpilot/pull/30697 for more information.
+Credits to cydia2020 https://github.com/cydia2020.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Automatic Brake Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will activate vehicle brake hold after 3 secs at standstill while openpilot is not engaging.
+(ONLY WORKS ON TSS2, USE AT YOUR OWN RISK!!).
+Credit to AlexandreSato: https://github.com/AlexandreSato/ 
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>VAG</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SnG for A0</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Known supported vehicles: POLO_MK6, TCROSS_MK1, TROC_MK1, SKODA_KAMIQ_MK1, SKODA_SCALA_MK1, TRANSPORTER_T61.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Hyundai / Kia / Genesis</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Low Speed Turn Enhancement (CAN-FD)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use steering parameters found in &apos;Taco Bell&apos; for better low speed turns.
+Tested on Kia EV6 Only, may not work on other vehicles.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset dragonpilot settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>RESET</source>
+        <translation type="unfinished">重置</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset all dp settings?
+This will also reboot your device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DeclinePage</name>
     <message>
@@ -538,6 +902,34 @@
         <source>now</source>
         <translation>现在</translation>
     </message>
+    <message>
+        <source>Vehicle Model:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[AUTO SELECT]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Debug Console</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error displaying tmux output.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished">积极</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished">标准</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished">舒适</translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -580,6 +972,17 @@ This may take up to a minute.</source>
         <translation>系统重置已触发。按下“确认”以清除所有内容和设置，按下“取消”以继续启动。</translation>
     </message>
 </context>
+<context>
+    <name>RouteSettingsWidget</name>
+    <message>
+        <source>Avoid Toll Road</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Avoid Highway</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>SettingsWindow</name>
     <message>
@@ -870,6 +1273,26 @@ This may take up to a minute.</source>
         <source>never</source>
         <translation>从未更新</translation>
     </message>
+    <message>
+        <source>Onroad/Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Go Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to switch driving mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CONFIRM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Go Onroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -113,6 +113,419 @@
         <translation>取消</translation>
     </message>
 </context>
+<context>
+    <name>DPCtrlPanel</name>
+    <message>
+        <source>Ctrl - Lateral</source>
+        <translation>控制 - 方向盤</translation>
+    </message>
+    <message>
+        <source>Enable ALKA (Always-on LKA)</source>
+        <translation>啟用 ALKA（全時車道保持）</translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot lateral Control will be always on when ACC MAIN is ON.
+Reboot required.</source>
+        <translation>啟用後，當 ACC 主開關開啟時，Openpilot的方向盤控制將會一直開啟。
+需要重新啟動裝置。</translation>
+    </message>
+    <message>
+        <source>Disable</source>
+        <translation>停用</translation>
+    </message>
+    <message>
+        <source>Hold</source>
+        <translation>保持</translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation>自動</translation>
+    </message>
+    <message>
+        <source>Lane Change Assist Mode</source>
+        <translation>車道變換輔助模式</translation>
+    </message>
+    <message>
+        <source>Road Edge Detection</source>
+        <translation>道路邊緣偵測</translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will block lane change if road edge is detected.
+Reboot required.</source>
+        <translation>啟用後，如果偵測到道路邊緣，Openpilot 將會阻止車道變換。
+需要重新啟動裝置。</translation>
+    </message>
+    <message>
+        <source>Lane Change Assist When Above</source>
+        <translation>車道變換輔助啟動於</translation>
+    </message>
+    <message>
+        <source>When speed above the set value, openpilot will enable lane change assist.
+1 km/h = 0.62 mph.</source>
+        <translation>當速度超過設定值時，Openpilot 將啟用車道變換輔助。
+1 km/h = 0.62 mph。</translation>
+    </message>
+    <message>
+        <source>Any</source>
+        <translation>任何</translation>
+    </message>
+    <message>
+        <source>Perform Auto Lane Change After</source>
+        <translation>自動車道變更於</translation>
+    </message>
+    <message>
+        <source> secs</source>
+        <translation> 秒後</translation>
+    </message>
+    <message>
+        <source>Immediately</source>
+        <translation>立即</translation>
+    </message>
+    <message>
+        <source>Ctrl - Longitudinal</source>
+        <translation>控制 - 油門/剎車</translation>
+    </message>
+    <message>
+        <source>Enable Slow Down on Curve</source>
+        <translation>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。
+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>
+    </message>
+    <message>
+        <source>When enabled, openpilot will dynamically change between End-to-End or ACC mode.
+Your vehicle must support openpilot longitudinal control.</source>
+        <translation type="obsolete">啟用後，Openpilot 將動態切換端到端或 ACC 模式。</translation>
+    </message>
+    <message>
+        <source>On-Screen Personality Button</source>
+        <translation>顯示駕駛風格按鈕</translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will display an on-screen personality button.</source>
+        <translation>啟用後，ppenpilot 將在行車畫面上顯示駕駛風格按鈕。</translation>
+    </message>
+    <message>
+        <source>Use Alt. Driving Personality When Below</source>
+        <translation>使用代替駕駛風格當速度低於</translation>
+    </message>
+    <message>
+        <source>When speed below the set value, openpilot will change &quot;Driving Personality&quot; to defined mode.
+1 km/h = 0.62 mph.
+Once activate, the lead vehicle indicator will display an &quot;A&quot;</source>
+        <translation>當速度低於設定值時，openpilot將會切換到指定的「駕駛風格」。
+1 km/h = 0.62 mph。
+一旦啟用，前車指示將顯示一個「A」。</translation>
+    </message>
+    <message>
+        <source>OFF</source>
+        <translation>關閉</translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation>積極</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation>標準</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation>舒適</translation>
+    </message>
+    <message>
+        <source>Alt. Driving Personality</source>
+        <translation>代替駕駛風格</translation>
+    </message>
+    <message>
+        <source>Style</source>
+        <translation>界面風格</translation>
+    </message>
+    <message>
+        <source>Display Flight Panel</source>
+        <translation>顯示飛行面板</translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will show information such as pitch angle, altitude, compass on the driving screen.</source>
+        <translation>啟用後，openpilot 將在駕駛畫面上顯示俯仰角、海拔、指南針等資訊。</translation>
+    </message>
+    <message>
+        <source>Display Tesla-style Rainbow Path</source>
+        <translation>顯示特斯拉風格的彩虹路徑</translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot driving path will be replaced with rainbow path and color will change based on the speed.</source>
+        <translation>啟用後，openpilot 的駕駛路徑將會被彩虹路徑取代，顏色會根據速度變化。</translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation>裝置</translation>
+    </message>
+    <message>
+        <source>Disable Logging</source>
+        <translation>停用日誌記錄</translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will not record any device or driving data.
+This will reduce power consumption and heat.
+Reboot required.</source>
+        <translation>啟用後，openpilot 將不會記錄任何裝置或駕駛數據。
+這將降低功耗和熱量。
+需要重新啟動。</translation>
+    </message>
+    <message>
+        <source>Disable On-Road Upload</source>
+        <translation>行駛時停止記錄上傳</translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will not upload driving log/videos to comma connect when driving. 
+Reboot required.</source>
+        <translation>啟用後，openpilot 在行駛時不會將駕駛日誌或影片上傳至 comma connect。
+需要重新啟動。</translation>
+    </message>
+    <message>
+        <source>Std.</source>
+        <translation>Std.</translation>
+    </message>
+    <message>
+        <source>MAIN+</source>
+        <translation>MAIN+</translation>
+    </message>
+    <message>
+        <source>OP+</source>
+        <translation>OP+</translation>
+    </message>
+    <message>
+        <source>MAIN-</source>
+        <translation>MAIN-</translation>
+    </message>
+    <message>
+        <source>OP-</source>
+        <translation>OP-</translation>
+    </message>
+    <message>
+        <source>Display Mode</source>
+        <translation>顯示模式</translation>
+    </message>
+    <message>
+        <source>Std. - Stock behavior.
+MAIN+ - ACC MAIN on = display ON, otherwise OFF.
+OP+ - OP enabled = display ON, otherwise OFF.
+MAIN- - ACC MAIN on = display OFF, otherwise ON.
+OP- - OP enabled = display OFF, otherwise ON.
+Reboot required.</source>
+        <translation>Std. - 標準行為。
+MAIN+ - ACC 主開關開啟 = 顯示開啟，否則關閉。
+OP+ - openpilot 啟用 = 顯示開啟，否則關閉。
+MAIN- - ACC 主開關開啟 = 顯示關閉，否則開啟。
+OP- - openpilot 啟用 = 顯示關閉，否則開啟。
+需要重新啟動。</translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation>導航</translation>
+    </message>
+    <message>
+        <source>Display Free Map</source>
+        <translation>顯示免費地圖</translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will display map panel without the need of prime or Mapbox key.
+Internet required.</source>
+        <translation>啟用後，openpilot 將顯示地圖面板，無需使用 prime 或 Mapbox 金鑰。
+需要網路。</translation>
+    </message>
+    <message>
+        <source>Use Free Routing</source>
+        <translation>使用免費導航服務</translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will perform route calculation without the need of prime or Mapbox key.
+This will connect to dragonpilot.org.
+Internet required.</source>
+        <translation>啟用後，openpilot 將執行路線計算，無需 prime 或 Mapbox  金鑰。
+這將連接到 dragonpilot.org。
+需要網路。</translation>
+    </message>
+    <message>
+        <source>Display Road/Place Name</source>
+        <translation>顯示路名/地名</translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will add road/place name to the map.
+Internet required.</source>
+        <translation>啟用後，openpilot 會將道路/地點名稱加入地圖。
+需要網路。</translation>
+    </message>
+    <message>
+        <source>Display Traffic</source>
+        <translation>顯示交通狀態</translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will add traffic status to the map.
+This does not work in China.
+Internet required.</source>
+        <translation>啟用後，openpilot 會將交通狀態加入地圖。
+這在中國無法使用。
+需要網路。</translation>
+    </message>
+    <message>
+        <source>Toyota / Lexus</source>
+        <translation>Toyota / Lexus</translation>
+    </message>
+    <message>
+        <source>Enable Enhanced BSM</source>
+        <translation>啟用增強盲點輔助</translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use diagnose CAN messages to receive unfiltered BSM signals, allowing detection of more objects.
+Tested on Prius TSS2 and RAV4 TSS1.
+ONLY WORK ON SOME VEHICLES.
+Reboot Required.</source>
+        <translation>啟用後，openpilot 將使用診斷 CAN 訊息來接收未經過濾的 BSM 信號，以便偵測更多物件。
+在 Prius TSS2 和 RAV4 TSS1 上進行過測試。
+僅在部分車輛上適用。
+需要重新啟動。</translation>
+    </message>
+    <message>
+        <source>Enable Door Auto Locking</source>
+        <translation>啟用車門自動上鎖</translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will attempt to lock the doors when drive above 10 km/h (6.2 mph).
+Reboot Required.</source>
+        <translation>啟用後，當行駛速度超過10 km/h（6.2 mph）時，openpilot 將嘗試上鎖車門。
+需要重新啟動。</translation>
+    </message>
+    <message>
+        <source>Enable Door Auto Unlocking</source>
+        <translation>啟用車門自動解鎖</translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will attempt to unlock the doors when shift to gear P.
+Reboot Required.</source>
+        <translation>啟用後，當換到 P 檔時，openpilot 將嘗試解鎖車門。
+需要重新啟動。</translation>
+    </message>
+    <message>
+        <source>Enable Zorro-Steering-Sensor (ZSS) Support</source>
+        <translation>啟用 Zorro-Steering-Sensor（ZSS）支援</translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use sensor outputs from ZSS for more accurate steering control.
+DO NOT ENABLE unless you have ZSS installed.
+Reboot Required.</source>
+        <translation>啟用後，openpilot 將使用來自 ZSS 的感測器輸出，以提供更精確的方向控制。
+請勿啟用，除非您已安裝了ZSS。
+需要重新啟動。</translation>
+    </message>
+    <message>
+        <source>Enable Longitudinal PCM compensation</source>
+        <translation>啟用縱向動力補償</translation>
+    </message>
+    <message>
+        <source>When enabled, it will optimizes Toyota longitudinal control by improving response, eliminating dead zones, and enhancing overall driving smoothness and accuracy.
+See https://github.com/commaai/openpilot/pull/30697 for more information.
+Credits to cydia2020 https://github.com/cydia2020.
+Reboot Required.</source>
+        <translation>啟用後，將優化 Toyota 的縱向控制，改善響應速度，提升整體行駛平順度和準確性。
+詳細信息請參見 https://github.com/commaai/openpilot/pull/30697。
+感謝 cydia2020（https://github.com/cydia2020）的貢獻。
+需要重新啟動。</translation>
+    </message>
+    <message>
+        <source>VAG</source>
+        <translation>VW / Audi</translation>
+    </message>
+    <message>
+        <source>SnG for A0</source>
+        <translation>SnG for A0 平台</translation>
+    </message>
+    <message>
+        <source>Known supported vehicles: POLO_MK6, TCROSS_MK1, TROC_MK1, SKODA_KAMIQ_MK1, SKODA_SCALA_MK1, TRANSPORTER_T61.
+Reboot required.</source>
+        <translation>已知支持的車輛包括：POLO MK6、TCROSS MK1、TROC MK1、SKODA KAMIQ MK1、SKODA SCALA MK1、TRANSPORTER T61。
+需要重新啟動。</translation>
+    </message>
+    <message>
+        <source>Hyundai / Kia / Genesis</source>
+        <translation>Hyundai / Kia / Genesis</translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will use steering parameters found in &apos;Taco Bell&apos; for better low speed turns.
+Tested on Kia EV6 Only, may not work on other vehicles.
+Reboot required.</source>
+        <translation>啟用後，openpilot 將使用在「Taco Bell」中找到的方向盤參數，以改善低速轉彎表現。
+僅在Kia EV6上進行過測試，可能不適用於其他車輛。
+需要重新啟動。</translation>
+    </message>
+    <message>
+        <source>Reset dragonpilot settings</source>
+        <translation>重置 dragonpilot 設置</translation>
+    </message>
+    <message>
+        <source>RESET</source>
+        <translation>重設</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset all dp settings?
+This will also reboot your device.</source>
+        <translation>您確定要重置所有 dp 的設定嗎？
+這也會重新啟動您的裝置。</translation>
+    </message>
+    <message>
+        <source>Reset</source>
+        <translation type="vanished">重設</translation>
+    </message>
+    <message>
+        <source>Enable Low Speed Turn Enhancement (CAN-FD)</source>
+        <translation>啟用低速轉彎增強（CAN-FD）</translation>
+    </message>
+    <message>
+        <source>OP</source>
+        <translation>OP</translation>
+    </message>
+    <message>
+        <source>OP - Original behavior
+Disable - Temporary disable steering control.
+Hold - Keep the steering control with no assist.
+Auto - Change lane automatically.</source>
+        <translation>OP - 原始行為
+停用 - 暫時停用方向控制。
+保持 - 保持方向控制，但不提供輔助。
+自動 - 自動變換車道。</translation>
+    </message>
+    <message>
+        <source> km/h</source>
+        <translation></translation>
+    </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>
+    </message>
+    <message>
+        <source>Enable Automatic Brake Hold</source>
+        <translation>啟用自動煞車保持</translation>
+    </message>
+    <message>
+        <source>When enabled, openpilot will activate vehicle brake hold after 3 secs at standstill while openpilot is not engaging.
+(ONLY WORKS ON TSS2, USE AT YOUR OWN RISK!!).
+Credit to AlexandreSato: https://github.com/AlexandreSato/ 
+Reboot Required.</source>
+        <translation>啟用後，當 openpilot 未啟動且車輛靜止 3 秒後，openpilot 將啟動車輛的煞車保持功能（僅適用於 TSS2，使用風險自負！）。
+感謝 Alexandre Sato 的貢獻：https://github.com/AlexandreSato/
+需要重新啟動。</translation>
+    </message>
+</context>
 <context>
     <name>DeclinePage</name>
     <message>
@@ -488,7 +901,7 @@
     </message>
     <message>
         <source>Remote snapshots</source>
-        <translation type="unfinished"></translation>
+        <translation>遠端快照</translation>
     </message>
 </context>
 <context>
@@ -538,6 +951,34 @@
         <source>now</source>
         <translation>現在</translation>
     </message>
+    <message>
+        <source>Vehicle Model:</source>
+        <translation>車型選擇：</translation>
+    </message>
+    <message>
+        <source>[AUTO SELECT]</source>
+        <translation>自動偵測</translation>
+    </message>
+    <message>
+        <source>Debug Console</source>
+        <translation>除錯控制台</translation>
+    </message>
+    <message>
+        <source>Error displaying tmux output.</source>
+        <translation>無法顯示 tmux 輸出。</translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation>積極</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation>標準</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation>舒適</translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -580,6 +1021,17 @@ This may take up to a minute.</source>
         <translation>系統重設已啟動。按下「確認」以清除所有內容和設定，或按下「取消」以繼續開機。</translation>
     </message>
 </context>
+<context>
+    <name>RouteSettingsWidget</name>
+    <message>
+        <source>Avoid Toll Road</source>
+        <translation>避開收費道路</translation>
+    </message>
+    <message>
+        <source>Avoid Highway</source>
+        <translation>避開高速公路</translation>
+    </message>
+</context>
 <context>
     <name>SettingsWindow</name>
     <message>
@@ -870,6 +1322,26 @@ This may take up to a minute.</source>
         <source>never</source>
         <translation>從未更新</translation>
     </message>
+    <message>
+        <source>Onroad/Offroad Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Go Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to switch driving mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CONFIRM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Go Onroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>

selfdrive/ui/update_translations.py

@@ -5,6 +5,7 @@ import os
 
 from openpilot.common.basedir import BASEDIR
 
+DP_UI_DIR = os.path.join(BASEDIR, "dp_priv")
 UI_DIR = os.path.join(BASEDIR, "selfdrive", "ui")
 TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations")
 LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json")
@@ -33,7 +34,7 @@ def update_translations(vanish: bool = False, translation_files: None | list[str
 
   for file in translation_files:
     tr_file = os.path.join(translations_dir, f"{file}.ts")
-    args = f"lupdate -locations none -recursive {UI_DIR} -ts {tr_file} -I {BASEDIR}"
+    args = f"lupdate -locations none -recursive {UI_DIR} {DP_UI_DIR} -ts {tr_file} -I {BASEDIR}"
     if vanish:
       args += " -no-obsolete"
     if file in PLURAL_ONLY:

system/hardware/hardwared.py

@@ -338,7 +338,7 @@ def hardware_thread(end_event, hw_queue) -> None:
             pass
 
     # Handle offroad/onroad transition
-    should_start = all(onroad_conditions.values())
+    should_start = not params.get_bool("dp_device_offroad") and all(onroad_conditions.values())
     if started_ts is None:
       should_start = should_start and all(startup_conditions.values())
 

system/manager/manager.py

@@ -72,6 +72,8 @@ def manager_init() -> None:
     ("dp_toyota_pcm_compensation", "0"),
     ("dp_device_is_clone", "0"),
     ("dp_device_dm_unavailable", "0"),
+    ("dp_toyota_enhanced_bsm", "0"),
+    ("dp_toyota_auto_brake_hold", "0"),
   ]
   if not PC:
     default_params.append(("LastUpdateTime", datetime.datetime.now(datetime.UTC).replace(tzinfo=None).isoformat().encode('utf8')))