diff --git a/common/libcommon.a b/common/libcommon.a
index adac862e..4a5f3490 100644
Binary files a/common/libcommon.a and b/common/libcommon.a differ
diff --git a/common/params_pyx.so b/common/params_pyx.so
index ddfd9e62..0c02c0f0 100755
Binary files a/common/params_pyx.so and b/common/params_pyx.so differ
diff --git a/frogpilot/common/frogpilot_variables.py b/frogpilot/common/frogpilot_variables.py
index fa383a62..cd8305bb 100644
--- a/frogpilot/common/frogpilot_variables.py
+++ b/frogpilot/common/frogpilot_variables.py
@@ -263,6 +263,7 @@ def update_frogpilot_toggles():
 class FrogPilotVariables:
   def __init__(self):
     self.params = Params(return_defaults=True)
+    self.params_raw = Params()
     self.params_memory = Params(memory=True)
 
     self.frogpilot_toggles = SimpleNamespace()
@@ -487,10 +488,10 @@ class FrogPilotVariables:
     ev_vehicle = gm_ev_vehicle or (toggle.car_make == "hyundai" and CP.carFingerprint in HYUNDAI_EV_CAR)
     ev_vehicle |= CP.transmissionType == car.CarParams.TransmissionType.direct
 
-    if self.params.get("EVTuning") == b"":
+    if self.params_raw.get("EVTuning") in (None, b""):
       self.params.put_bool("EVTuning", ev_vehicle)
 
-    if self.params.get("TruckTuning") == b"":
+    if self.params_raw.get("TruckTuning") in (None, b""):
       self.params.put_bool("TruckTuning", False)
 
     ev_tuning_param = self.params.get_bool("EVTuning")
@@ -504,7 +505,7 @@ class FrogPilotVariables:
     toggle.ev_tuning = ev_tuning_param if advanced_longitudinal_tuning else ev_vehicle
     toggle.truck_tuning = truck_tuning_param if advanced_longitudinal_tuning else False
     toggle.longitudinalActuatorDelay = self.get_value("LongitudinalActuatorDelay", cast=float, condition=advanced_longitudinal_tuning, default=longitudinalActuatorDelay, min=0, max=1)
-    toggle.max_desired_acceleration = self.get_value("MaxDesiredAcceleration", cast=float, condition=advanced_longitudinal_tuning, min=0.1, max=MAX_ACCELERATION)
+    toggle.max_desired_acceleration = self.get_value("MaxDesiredAcceleration", cast=float, condition=advanced_longitudinal_tuning, default=MAX_ACCELERATION, min=0.1, max=MAX_ACCELERATION)
     toggle.startAccel = self.get_value("StartAccel", cast=float, condition=advanced_longitudinal_tuning, default=startAccel, min=0, max=MAX_ACCELERATION)
     toggle.stopAccel = self.get_value("StopAccel", cast=float, condition=advanced_longitudinal_tuning, default=stopAccel, min=-MAX_ACCELERATION, max=0)
     toggle.stoppingDecelRate = self.get_value("StoppingDecelRate", cast=float, condition=advanced_longitudinal_tuning, default=toggle.stoppingDecelRate, min=0.001, max=1)
diff --git a/frogpilot/controls/frogpilot_planner.py b/frogpilot/controls/frogpilot_planner.py
index 9905b630..cf8e5632 100644
--- a/frogpilot/controls/frogpilot_planner.py
+++ b/frogpilot/controls/frogpilot_planner.py
@@ -20,6 +20,7 @@ from openpilot.frogpilot.controls.lib.frogpilot_following import FrogPilotFollow
 from openpilot.frogpilot.controls.lib.frogpilot_vcruise import FrogPilotVCruise
 from openpilot.frogpilot.controls.lib.weather_checker import WeatherChecker
 
+
 class FrogPilotPlanner:
   def __init__(self, error_log, ThemeManager):
     self.params = Params(return_defaults=True)
diff --git a/frogpilot/controls/lib/frogpilot_following.py b/frogpilot/controls/lib/frogpilot_following.py
index 8c236b8d..176a4fe8 100644
--- a/frogpilot/controls/lib/frogpilot_following.py
+++ b/frogpilot/controls/lib/frogpilot_following.py
@@ -2,7 +2,7 @@
 import numpy as np
 
 from openpilot.common.constants import CV
-from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import COMFORT_BRAKE, LEAD_DANGER_FACTOR, STOP_DISTANCE, desired_follow_distance, get_jerk_factor, get_T_FOLLOW
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import COMFORT_BRAKE, LEAD_DANGER_FACTOR, desired_follow_distance, get_jerk_factor, get_T_FOLLOW
 
 from openpilot.frogpilot.common.frogpilot_variables import CITY_SPEED_LIMIT, MAX_T_FOLLOW
 
@@ -25,8 +25,6 @@ class FrogPilotFollowing:
     self.t_follow = 0
 
   def update(self, long_control_active, v_ego, sm, frogpilot_toggles):
-    stop_distance = max(float(getattr(frogpilot_toggles, "stop_distance", STOP_DISTANCE)), 4.0)
-
     if long_control_active and sm["frogpilotCarState"].trafficModeEnabled:
       if sm["carState"].aEgo >= 0:
         self.base_acceleration_jerk = np.interp(v_ego, TRAFFIC_MODE_BP, frogpilot_toggles.traffic_mode_jerk_acceleration)
@@ -85,43 +83,41 @@ class FrogPilotFollowing:
       lead_distance = self.frogpilot_planner.lead_one.dRel
       v_lead = self.frogpilot_planner.lead_one.vLead
       closing_speed = max(0.0, v_ego - v_lead)
-      desired_gap = float(desired_follow_distance(v_ego, v_lead, self.t_follow, stop_distance))
+      desired_gap = float(desired_follow_distance(v_ego, v_lead, self.t_follow))
       ttc = lead_distance / max(closing_speed, 1e-3) if closing_speed > 0.1 else 1e6
 
       coast_window_open = lead_distance > desired_gap + max(4.0, 0.2 * v_ego)
       coast_window_far = lead_distance < desired_gap + max(25.0, 1.2 * v_ego)
       gentle_closing = closing_speed < max(2.0, 0.12 * v_ego)
+
       self.disable_throttle = (not self.following_lead and v_ego > HIGHWAY_DISABLE_THROTTLE_MIN_SPEED and coast_window_open and
                                coast_window_far and gentle_closing)
       self.disable_throttle &= ttc > 6.0 and lead_distance > desired_gap + 6.0
 
     if long_control_active and self.frogpilot_planner.tracking_lead:
-      if not sm["frogpilotCarState"].trafficModeEnabled:
-        self.update_follow_values(self.frogpilot_planner.lead_one.dRel, v_ego, self.frogpilot_planner.lead_one.vLead, frogpilot_toggles)
-      self.desired_follow_distance = int(desired_follow_distance(v_ego, self.frogpilot_planner.lead_one.vLead, self.t_follow, stop_distance))
+      self.update_follow_values(self.frogpilot_planner.lead_one.dRel, v_ego, self.frogpilot_planner.lead_one.vLead, frogpilot_toggles)
+      self.desired_follow_distance = int(desired_follow_distance(v_ego, self.frogpilot_planner.lead_one.vLead, self.t_follow))
     else:
       self.desired_follow_distance = 0
 
   def update_follow_values(self, lead_distance, v_ego, v_lead, frogpilot_toggles):
-    stop_distance = max(float(getattr(frogpilot_toggles, "stop_distance", STOP_DISTANCE)), 4.0)
-
-    # Keep StarPilot behavior for lead response, while still honoring stop distance/weather offsets.
     if frogpilot_toggles.human_following and v_lead > v_ego:
       distance_factor = max(lead_distance - (v_ego * self.t_follow), 1)
-      accelerating_offset = np.clip(stop_distance - v_ego, 1, distance_factor)
+      from frogpilot.common.frogpilot_variables import get_frogpilot_toggles
+      fp_toggles = get_frogpilot_toggles()
+      accelerating_offset = float(np.clip(fp_toggles.stop_distance - v_ego, 1, distance_factor))
 
       self.acceleration_jerk /= accelerating_offset
       self.speed_jerk /= accelerating_offset
       self.t_follow /= accelerating_offset
 
-    # Only apply the stronger slower-lead follow tightening for human-following, like StarPilot.
     if (frogpilot_toggles.conditional_slower_lead or frogpilot_toggles.human_following) and v_lead < v_ego:
       distance_factor = max(lead_distance - (v_lead * self.t_follow), 1)
-      braking_offset = np.clip(min(v_ego - v_lead, v_lead) - COMFORT_BRAKE, 1, distance_factor)
+      braking_offset = float(np.clip(min(v_ego - v_lead, v_lead) - COMFORT_BRAKE, 1, distance_factor))
 
       if frogpilot_toggles.human_following:
-        far_lead_offset = 0.0
-        if lead_distance >= 100:
-          far_lead_offset = max(lead_distance - (v_ego * self.t_follow) - stop_distance, 0)
+        from frogpilot.common.frogpilot_variables import get_frogpilot_toggles
+        fp_toggles = get_frogpilot_toggles()
+        far_lead_offset = max(lead_distance - (v_ego * self.t_follow) - fp_toggles.stop_distance, 0)
         self.t_follow /= braking_offset + far_lead_offset
       self.slower_lead = braking_offset > 1
diff --git a/frogpilot/controls/lib/frogpilot_vcruise.py b/frogpilot/controls/lib/frogpilot_vcruise.py
index 6a560082..b17260f0 100644
--- a/frogpilot/controls/lib/frogpilot_vcruise.py
+++ b/frogpilot/controls/lib/frogpilot_vcruise.py
@@ -8,6 +8,7 @@ from openpilot.frogpilot.controls.lib.speed_limit_controller import SpeedLimitCo
 
 OVERRIDE_FORCE_STOP_TIMER = 10
 
+
 class FrogPilotVCruise:
   def __init__(self, FrogPilotPlanner):
     self.frogpilot_planner = FrogPilotPlanner
diff --git a/opendbc_repo/opendbc/car/gm/carcontroller.py b/opendbc_repo/opendbc/car/gm/carcontroller.py
index b60bc9c6..6fa99105 100644
--- a/opendbc_repo/opendbc/car/gm/carcontroller.py
+++ b/opendbc_repo/opendbc/car/gm/carcontroller.py
@@ -178,7 +178,7 @@ class CarController(CarControllerBase):
     else:
       small_cmd_scale = np.interp(abs(accel), [0.0, 0.35, 0.8, 1.5, 2.5], [0.44, 0.54, 0.70, 0.89, 1.0])
     accel_cmd = accel * small_cmd_scale
-    if (not press_regen_paddle) and accel < -2.0:
+    if accel < -2.0:
       accel_cmd *= np.interp(abs(accel), [2.0, 2.5, 3.0], [1.0, 1.03, 1.06])
     raw_pedal_gas = float(np.clip(pedaloffset + accel_cmd * accel_gain * accel_term_scale, 0.0, 1.0))
 
@@ -428,12 +428,7 @@ class CarController(CarControllerBase):
 
           if self.CP.carFingerprint in CC_ONLY_CAR:
             # gas interceptor only used for full long control on cars without ACC
-            pedal_accel_cmd = actuators.accel
-            if (long_pitch_for_powertrain and
-                len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping):
-              pedal_accel_cmd += math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
-
-            interceptor_gas_cmd, press_regen_paddle = self.calc_pedal_command(pedal_accel_cmd, CC.longActive, CS.out.vEgo)
+            interceptor_gas_cmd, press_regen_paddle = self.calc_pedal_command(actuators.accel, CC.longActive, CS.out.vEgo)
 
         if self.CP.enableGasInterceptorDEPRECATED and self.apply_gas > self.params.INACTIVE_REGEN and CS.out.cruiseState.standstill:
           interceptor_gas_cmd = self.params.SNG_INTERCEPTOR_GAS
@@ -493,7 +488,7 @@ class CarController(CarControllerBase):
           # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
           can_sends.append(gmcan.create_gas_regen_command(
             self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, acc_engaged, at_full_stop,
-            include_always_one3=self.CP.carFingerprint in kaofui_cars))
+            include_always_one3=self.CP.carFingerprint in kaofui_cars, use_volt_layout=self.is_volt))
           can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake,
                                                              idx, CC.enabled, near_stop, at_full_stop, self.CP))
 
diff --git a/opendbc_repo/opendbc/car/gm/gmcan.py b/opendbc_repo/opendbc/car/gm/gmcan.py
index df10e8cf..3faaf11d 100644
--- a/opendbc_repo/opendbc/car/gm/gmcan.py
+++ b/opendbc_repo/opendbc/car/gm/gmcan.py
@@ -115,9 +115,29 @@ def create_adas_keepalive(bus):
   return [CanData(0x409, dat, bus), CanData(0x40a, dat, bus)]
 
 
-def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop, include_always_one3=False):
-  # Keep GM camera-long GasRegen bytes aligned with StarPilot's legacy layout.
-  # The regenerated DBC shape does not pack to the same wire format on Global A.
+def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop, include_always_one3=False, use_volt_layout=False):
+  if use_volt_layout:
+    values = {
+      "GasRegenCmdActive": enabled,
+      "RollingCounter": idx,
+      "GasRegenCmdActiveInv": 1 - enabled,
+      "GasRegenCmd": throttle,
+      "GasRegenFullStopActive": at_full_stop,
+      "GasRegenAlwaysOne": 1,
+      "GasRegenAlwaysOne2": 1,
+    }
+    if include_always_one3:
+      values["GasRegenAlwaysOne3"] = 1
+
+    dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[1]
+    values["GasRegenChecksum"] = (((0xff - dat[1]) & 0xff) << 16) | \
+                                 (((0xff - dat[2]) & 0xff) << 8) | \
+                                 ((0x100 - dat[3] - idx) & 0xff)
+
+    return packer.make_can_msg("ASCMGasRegenCmd", bus, values)
+
+  # Keep GM Global A camera-long GasRegen bytes aligned with StarPilot's legacy layout.
+  # The regenerated DBC shape does not expose the same wire-format helper fields.
   throttle = int(throttle)
   dat = bytearray(8)
   dat[0] = ((idx & 0x3) << 6) | int(enabled)
diff --git a/opendbc_repo/opendbc/safety/modes/gm.h b/opendbc_repo/opendbc/safety/modes/gm.h
index 39e2fb4a..6e550053 100644
--- a/opendbc_repo/opendbc/safety/modes/gm.h
+++ b/opendbc_repo/opendbc/safety/modes/gm.h
@@ -317,7 +317,6 @@ static void gm_rx_hook(const CANPacket_t *msg) {
         gm_update_periodic_phase(&gm_bd_state, now_us, GM_PADDLE_PERIOD_US, GM_PADDLE_LOCK_TOLERANCE_US);
         gm_bd_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
         gm_try_send_periodic_spoof(now_us, 0xBDU, 7U, &gm_bd_state, GM_PADDLE_PERIOD_US);
-        gm_try_send_periodic_spoof(now_us, 0x1F5U, 8U, &gm_prndl2_state, GM_PADDLE_PERIOD_US);
       }
     }
 
@@ -326,7 +325,6 @@ static void gm_rx_hook(const CANPacket_t *msg) {
       gm_update_periodic_phase(&gm_prndl2_state, now_us, GM_PADDLE_PERIOD_US, GM_PADDLE_LOCK_TOLERANCE_US);
       gm_prndl2_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
       gm_try_send_periodic_spoof(now_us, 0x1F5U, 8U, &gm_prndl2_state, GM_PADDLE_PERIOD_US);
-      gm_try_send_periodic_spoof(now_us, 0xBDU, 7U, &gm_bd_state, GM_PADDLE_PERIOD_US);
     }
 
     // Pedal Interceptor
diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed
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diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin
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diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin
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diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin
index 180c6273..b6dcac36 100755
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diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin
index f785c32a..0b0e1826 100755
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diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin
index e7929e1b..3e63a65e 100755
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diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h
index 074a85a8..697cfb96 100644
--- a/panda/board/obj/gitversion.h
+++ b/panda/board/obj/gitversion.h
@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-6a639c86-DEBUG";
+const uint8_t gitversion[19] = "DEV-10d7d7d1-DEBUG";
diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed
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index 652b6b96..4c2e5d76 100755
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index 2460d22c..5aeb0998 100755
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diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed
index c8c33bf9..f1b0509f 100644
Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ
diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf
index 25dbad77..7bb7c1a6 100755
Binary files a/panda/board/obj/panda_remote/bootstub.elf and b/panda/board/obj/panda_remote/bootstub.elf differ
diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin
index 44535f30..c10a6dd7 100755
Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ
diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf
index 93371214..ab1a676d 100755
Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ
diff --git a/panda/board/obj/version b/panda/board/obj/version
index 76455bbe..5cd3cf67 100644
--- a/panda/board/obj/version
+++ b/panda/board/obj/version
@@ -1 +1 @@
-DEV-6a639c86-DEBUG
\ No newline at end of file
+DEV-10d7d7d1-DEBUG
\ No newline at end of file
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index fd096c27..e7caee56 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -105,8 +105,6 @@ FCW_IDXS = T_IDXS < 5.0
 T_DIFFS = np.diff(T_IDXS, prepend=[0.])
 COMFORT_BRAKE = 2.5
 STOP_DISTANCE = 6.0
-CRUISE_MIN_ACCEL = -1.2
-CRUISE_MAX_ACCEL = 1.6
 
 def get_jerk_factor(aggressive_jerk_acceleration=0.5, aggressive_jerk_danger=0.5, aggressive_jerk_speed=0.5,
                     standard_jerk_acceleration=1.0, standard_jerk_danger=1.0, standard_jerk_speed=1.0,
@@ -155,13 +153,17 @@ def get_T_FOLLOW(aggressive_follow=1.25, standard_follow=1.45, relaxed_follow=1.
 def get_stopped_equivalence_factor(v_lead):
   return (v_lead**2) / (2 * COMFORT_BRAKE)
 
-def get_safe_obstacle_distance(v_ego, t_follow, stop_distance=STOP_DISTANCE):
+def get_safe_obstacle_distance(v_ego, t_follow):
+  from openpilot.common.params import Params
+  params = Params()
+  stop_str = params.get("StopDistance", encoding="utf8")
+  stop_distance = float(stop_str) if stop_str else STOP_DISTANCE
   return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + stop_distance
 
-def desired_follow_distance(v_ego, v_lead, t_follow=None, stop_distance=STOP_DISTANCE):
+def desired_follow_distance(v_ego, v_lead, t_follow=None):
   if t_follow is None:
     t_follow = get_T_FOLLOW()
-  return get_safe_obstacle_distance(v_ego, t_follow, stop_distance) - get_stopped_equivalence_factor(v_lead)
+  return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead)
 
 
 def gen_long_model():
@@ -303,7 +305,6 @@ class LongitudinalMpc:
     self.source = SOURCES[2]
     # Initialize smoothing filters with default time constants
     self.current_filter_time = LEAD_FILTER_TIME_LOW
-    self.prev_filter_time = self.current_filter_time
     self.lead_a_filter = FirstOrderFilter(0.0, self.current_filter_time, self.dt)
     self.lead_v_filter = FirstOrderFilter(0.0, self.current_filter_time, self.dt)
     # Slew-limited filter factor to avoid abrupt 0.50↔1.00 jumps
@@ -318,7 +319,6 @@ class LongitudinalMpc:
     # Initialize acceleration limits to prevent AttributeError
     self.cruise_min_a = ACCEL_MIN
     self.max_a = min(ACCEL_MAX, 1.2)
-    self.stop_distance = STOP_DISTANCE
     self.reset()
 
   def reset(self):
@@ -368,9 +368,7 @@ class LongitudinalMpc:
 
   def set_weights(self, acceleration_jerk=1.0, danger_jerk=1.0, speed_jerk=1.0, prev_accel_constraint=True,
                   personality=log.LongitudinalPersonality.standard, v_ego=0.0, lead_dist=50.0,
-                  uncertainty=0.0, accel_reengage=False, panic_bypass=False, stop_distance=STOP_DISTANCE):
-    self.stop_distance = max(float(stop_distance), 4.0)
-
+                  uncertainty=0.0, accel_reengage=False, panic_bypass=False):
     # Update parameters based on current speed with interpolation for smooth scaling
     speed_mph = v_ego * CV.MS_TO_MPH  # Convert m/s to mph
 
@@ -527,7 +525,7 @@ class LongitudinalMpc:
     self.status = (lead_one.status and tracking_lead) or lead_two.status
 
     lead_xv_0 = self.process_lead(lead_one, tracking_lead)
-    lead_xv_1 = self.process_lead(lead_two, True)
+    lead_xv_1 = self.process_lead(lead_two, v_ego)
 
     # To estimate a safe distance from a moving lead, we calculate how much stopping
     # distance that lead needs as a minimum. We can add that to the current distance
@@ -550,7 +548,7 @@ class LongitudinalMpc:
       v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
                                  v_lower,
                                  v_upper)
-      cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow, self.stop_distance)
+      cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow)
       x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
       self.source = SOURCES[np.argmin(x_obstacles[0])]
 
@@ -596,9 +594,9 @@ class LongitudinalMpc:
     # Check if it got within lead comfort range
     # TODO This should be done cleaner
     if self.mode == 'blended':
-      if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow, self.stop_distance))- self.x_sol[:,0] < 0.0):
+      if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0):
         self.source = 'lead0'
-      if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow, self.stop_distance))- self.x_sol[:,0] < 0.0) and \
+      if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0) and \
          (lead_1_obstacle[0] - lead_0_obstacle[0]):
         self.source = 'lead1'
 
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 24b97a42..5311a3b5 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -145,8 +145,6 @@ class LongitudinalPlanner:
         return float(np.clip(model_msg.temporalPose.trans[0] - v_ego, -5.0, 5.0))
     except AttributeError:
       pass
-    if len(model_msg.velocity.x) == ModelConstants.IDX_N:
-      return float(np.clip(model_msg.velocity.x[0] - v_ego, -5.0, 5.0))
     return 0.0
 
   @staticmethod
@@ -345,8 +343,7 @@ class LongitudinalPlanner:
                          v_ego=v_ego,
                          lead_dist=self.lead_dist_f if self.lead_dist_f is not None else lead_dist,
                          uncertainty=uncertainty,
-                         panic_bypass=panic_bypass,
-                         stop_distance=getattr(frogpilot_toggles, "stop_distance", 6.0))
+                         panic_bypass=panic_bypass)
     self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
     # After deciding the MPC mode via get_mpc_mode(), ensure MPC uses that mode when not mlsim
@@ -398,20 +395,33 @@ class LongitudinalPlanner:
     if -0.05 < self.a_desired < 0.05:
       self.a_desired = 0.0
 
-    action_t = frogpilot_toggles.longitudinalActuatorDelay + DT_MDL
-    output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory,
-                                                                       action_t=action_t, vEgoStopping=frogpilot_toggles.vEgoStopping)
-    output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
-    output_should_stop_e2e = sm['modelV2'].action.shouldStop
+    classic_model = bool(getattr(frogpilot_toggles, "classic_model", False))
+    tinygrad_model = bool(getattr(frogpilot_toggles, "tinygrad_model", False))
+    action_t = self.CP.longitudinalActuatorDelay + DT_MDL
 
-    if self.mode == 'acc' or self.generation == 'v9':
-      output_a_target = output_a_target_mpc
-      self.output_should_stop = output_should_stop_mpc
+    if classic_model:
+      output_a_target, output_should_stop = get_accel_from_plan_classic(
+        self.CP, self.v_desired_trajectory, self.a_desired_trajectory, frogpilot_toggles.vEgoStopping)
+    elif tinygrad_model:
+      output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(
+        self.v_desired_trajectory, self.a_desired_trajectory,
+        action_t=action_t, vEgoStopping=frogpilot_toggles.vEgoStopping)
+      output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
+      output_should_stop_e2e = sm['modelV2'].action.shouldStop
+
+      if self.mode == 'acc' or self.generation == 'v9':
+        output_a_target = output_a_target_mpc
+        output_should_stop = output_should_stop_mpc
+      else:
+        output_a_target = min(output_a_target_mpc, output_a_target_e2e)
+        output_should_stop = output_should_stop_e2e or output_should_stop_mpc
     else:
-      output_a_target = min(output_a_target_mpc, output_a_target_e2e)
-      self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
+      output_a_target, output_should_stop = get_accel_from_plan(
+        self.v_desired_trajectory, self.a_desired_trajectory,
+        action_t=action_t, vEgoStopping=frogpilot_toggles.vEgoStopping)
 
     self.output_a_target = float(output_a_target)
+    self.output_should_stop = bool(output_should_stop)
 
   def publish(self, sm, pm):
     plan_send = messaging.new_message('longitudinalPlan')
diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad
index acfc5148..5340e20f 100755
Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 112f58c0..0698ae15 100644
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -418,8 +418,9 @@ class SelfdriveD:
       desired_lateral_accel = self.sm['modelV2'].action.desiredCurvature * (clipped_speed**2)
       undershooting = abs(desired_lateral_accel) / abs(1e-3 + actual_lateral_accel) > 1.2
       turning = abs(desired_lateral_accel) > 1.0
+      commanded_torque_at_max = abs(lac.output) > 0.99
       # TODO: lac.saturated includes speed and other checks, should be pulled out
-      if undershooting and turning and lac.saturated:
+      if undershooting and turning and (lac.saturated or commanded_torque_at_max):
         if self.frogpilot_toggles.goat_scream_alert:
           self.frogpilot_events.add(FrogPilotEventName.goatSteerSaturated)
         else:
diff --git a/selfdrive/ui/qt/onroad/hud.cc b/selfdrive/ui/qt/onroad/hud.cc
index c08072da..1e376bc4 100644
--- a/selfdrive/ui/qt/onroad/hud.cc
+++ b/selfdrive/ui/qt/onroad/hud.cc
@@ -28,6 +28,10 @@ void HudRenderer::updateState(const UIState &s) {
   is_cruise_set = set_speed > 0 && set_speed != SET_SPEED_NA;
   is_cruise_available = set_speed != -1;
 
+  if (is_cruise_set && frogpilot_toggles.value("set_speed_offset").toDouble() > 0) {
+    set_speed += frogpilot_toggles.value("set_speed_offset").toDouble();
+  }
+
   if (is_cruise_set && !is_metric) {
     set_speed *= KM_TO_MILE;
   }
diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui
index 7cbb5242..1a47393c 100755
Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ
diff --git a/system/camerad/camerad b/system/camerad/camerad
index 29777620..daa4c808 100755
Binary files a/system/camerad/camerad and b/system/camerad/camerad differ
diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog
index be5da2c8..41c64ec9 100755
Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ
diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd
index be0a7528..132b781b 100755
Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ
diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd
index a63c4372..b7c1a173 100755
Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 007e6ca1..4702d1a3 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -126,6 +126,20 @@ def migrate_starpilot_default_parity(params: Params, params_cache: Params) -> No
   params.put_float("CEModelStopTime", 7.0)
   params_cache.put_float("CEModelStopTime", 7.0)
 
+  # Rebase default regression fix:
+  # EVTuning must default to enabled on EV/direct-drive platforms to preserve
+  # StarPilot acceleration profile behavior.
+  carparams_blob = params.get("CarParamsPersistent") or params.get("CarParams")
+  if carparams_blob is not None:
+    try:
+      with car.CarParams.from_bytes(carparams_blob) as cp:
+        is_ev_platform = cp.transmissionType == car.CarParams.TransmissionType.direct
+      if is_ev_platform and not params.get_bool("TruckTuning"):
+        params.put_bool("EVTuning", True)
+        params_cache.put_bool("EVTuning", True)
+    except Exception:
+      cloudlog.exception("Failed EVTuning EV default parity migration")
+
   cloudlog.warning("Applied one-time StarPilot default parity migration for lateral/longitudinal toggles")
 
   try: