IQ.Pilot Release Commit @ c10126b

2026-04-24 08:30:50 -05:00
2363 changed files with 169178 additions and 166581 deletions
@@ -1,18 +0,0 @@
 **/.git
 .DS_Store
 *.dylib
 *.DSYM
 *.d
 *.pyc
 *.pyo
 .*.swp
 .*.swo
 .*.un~
 *.tmp
 *.o
 *.o-*
 *.os
 *.os-*
 venv/
 .venv/
@@ -1,11 +0,0 @@
 root = true
 [*]
 end_of_line = lf
 insert_final_newline = true
 trim_trailing_whitespace = true
 [*.{py,pyx,pxd}]
 charset = utf-8
 indent_style = space
 indent_size = 2
@@ -0,0 +1,30 @@
 * text=auto eol=lf
 # to move existing files into LFS:
 # git add --renormalize .
 # Keep this icon in regular git (not LFS) for lightweight branding iteration.
 selfdrive/assets/icons_mici/experimental_mode_mici.png -filter -diff -merge -text
 selfdrive/assets/icons_mici/experimental_mode_tizi.png -filter -diff -merge -text
 selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_center.png -filter -diff -merge -text
 selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_cone.png -filter -diff -merge -text
 selfdrive/assets/icons_mici/settings/konn3kt_icon.png -filter -diff -merge -text
 selfdrive/assets/icons_mici/buttons/toggle_dot_enabled.png -filter -diff -merge -text
 iqpilot/selfdrive/assets -filter -diff -merge -text
 selfdrive/assets/icons_mici/buttons/toggle_pill_enabled.png -filter -diff -merge -text
 selfdrive/assets/icons_mici/offroad_alerts/green_wheel.png -filter -diff -merge -text
 selfdrive/assets/icons_mici/setup/green_button.png -filter -diff -merge -text
 selfdrive/assets/icons_mici/setup/green_button_pressed.png -filter -diff -merge -text
 selfdrive/assets/icons_mici/setup/green_dm.png -filter -diff -merge -text
 selfdrive/assets/icons_mici/setup/green_info.png -filter -diff -merge -text
 selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle.png -filter -diff -merge -text
 selfdrive/assets/images/spinner_comma.png -filter -diff -merge -text
 selfdrive/assets/images/k3_spinner.png -filter -diff -merge -text
 selfdrive/assets/icons/camera.png -filter -diff -merge -text
 selfdrive/assets/fonts/Syncopate-Regular.ttf -filter -diff -merge -text
 selfdrive/assets/fonts/Tektur-Variable.ttf -filter -diff -merge -text
 # IQ assets, including icon_longitudinal.png, should stay in normal git (not LFS).
 iqpilot/selfdrive/assets/** -filter -diff -merge -text
@@ -1,47 +0,0 @@
 name: Bug report
 description: For issues with running openpilot on your comma device
 labels: ["bug"]
 body:
  - type: markdown
    attributes:
      value: >
        Before creating a **bug report**, please check the following:
          * If the issue likely only affects your car model or make, go back and open a **car bug report** instead.
          * If the issue is related to the driving or driver monitoring models, you should open a [discussion](https://github.com/commaai/openpilot/discussions/categories/model-feedback) instead.
          * Ensure you're running the latest openpilot release.
          * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
  - type: textarea
    attributes:
      label: Describe the bug
      description: Also include a description of how to reproduce the bug
    validations:
      required: true
  - type: input
    id: route
    attributes:
      label: Provide a route where the issue occurs
      description: Ensure the route is fully uploaded at https://useradmin.comma.ai. We cannot look into issues without routes, or at least a Dongle ID.
      placeholder: 77611a1fac303767|2020-05-11--16-37-07
    validations:
      required: true
  - type: input
    id: version
    attributes:
      label: openpilot version
      description: If you're not on release, provide the commit hash
      placeholder: 0.8.10
    validations:
      required: true
  - type: textarea
    attributes:
      label: Additional info
@@ -1,14 +0,0 @@
 blank_issues_enabled: false
 contact_links:
  - name: Car bug report
    url: https://github.com/commaai/opendbc/issues/new
    about: For issues with a particular car make or model
  - name: Join the Discord
    url: https://discord.comma.ai
    about: The community Discord is for both openpilot development and experience discussion
  - name: Report driving behavior feedback
    url: https://discord.com/channels/469524606043160576/1254834193066623017
    about: Feedback for the driving and driver monitoring models goes in the #driving-feedback in Discord
  - name: Community Wiki
    url: https://github.com/commaai/openpilot/wiki
    about: Check out our community wiki
@@ -1,8 +0,0 @@
 ---
 name: Enhancement
 about: For openpilot enhancement suggestions
 title: ''
 labels: 'enhancement'
 assignees: ''
 ---
@@ -1,42 +0,0 @@
 name: PC bug report
 description: For issues with running openpilot on PC
 labels: ["PC"]
 body:
  - type: markdown
    attributes:
      value: >
        Before creating a **bug report**, please check the following:
          * Ensure you're running the latest openpilot release.
          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
  - type: textarea
    attributes:
      label: Describe the bug
      description: Also include a description of how to reproduce the bug
    validations:
      required: true
  - type: input
    id: os-version
    attributes:
      label: OS Version
      placeholder: Ubuntu 24.04
    validations:
      required: true
  - type: input
    id: version
    attributes:
      label: openpilot version or commit
      placeholder: bd36f2ec8d3559909678eff2690c10a520938367
    validations:
      required: false
  - type: textarea
    attributes:
      label: Additional info
@@ -1,27 +0,0 @@
 CI / testing:
  - changed-files:
    - any-glob-to-all-files: "{.github/**,**/test_*,**/test/**,Jenkinsfile}"
 car:
  - changed-files:
    - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
 simulation:
  - changed-files:
    - any-glob-to-all-files: 'tools/sim/**'
 ui:
  - changed-files:
    - any-glob-to-all-files: '{selfdrive/assets/**,selfdrive/ui/**,system/ui/**}'
 tools:
  - changed-files:
    - any-glob-to-all-files: 'tools/**'
 multilanguage:
  - changed-files:
    - any-glob-to-all-files: 'selfdrive/ui/translations/**'
 autonomy:
  - changed-files:
    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"
@@ -1,68 +0,0 @@
 <!-- Please copy and paste the relevant template -->
 <!--- ***** Template: Fingerprint *****
 **Car**
 Which car (make, model, year) this fingerprint is for
 **Route**
 A route with the fingerprint
 -->
 <!--- ***** Template: Car Bugfix *****
 **Description**
 A description of the bug and the fix. Also link the issue if it exists. 
 **Verification**
 Explain how you tested this bug fix. 
 **Route**
 Route: [a route with the bug fix]
 -->
 <!--- ***** Template: Bugfix *****
 **Description**
 A description of the bug and the fix. Also link the issue if it exists. 
 **Verification**
 Explain how you tested this bug fix. 
 -->
 <!--- ***** Template: Car Port *****
 **Checklist**
 - [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:
 - [ ] car harness used (if comma doesn't sell it, put N/A):
 -->
 <!--- ***** Template: Refactor *****
 **Description**
 A description of the refactor, including the goals it accomplishes. 
 **Verification**
 Explain how you tested the refactor for regressions. 
 -->
@@ -1,5 +1,7 @@
 venv/
 .venv/
 !artifacts/runtime/ble/rootfs/usr/local/venv/
 !artifacts/runtime/ble/rootfs/usr/local/venv/**
 .ci_cache
 .env
 .clang-format
@@ -13,14 +15,17 @@ venv/
 a.out
 .hypothesis
 .cache/
-bin/
+
 /docs_site/
 *.mp4
 *.dylib
 *.DSYM
 *.d
-*.pem
+!artifacts/runtime/ble/rootfs/etc/udev/rules.d/
 !artifacts/runtime/ble/rootfs/etc/udev/rules.d/**
 *.pyc
 !artifacts/iqpilot_*_private/**/*.pyc
 *.pyo
 .*.swp
 .*.swo
@@ -31,6 +36,10 @@ bin/
 *.os
 *.os-*
 *.so
 !artifacts/iqpilot_*_private/**/*.so
 !artifacts/runtime/ble/rootfs/usr/local/venv/**/*.so
 artifacts/iqpilot_private/
 artifacts/iqpilot_*_private/python/iqpilot_private/**/*.cpython-*-darwin.so
 *.a
 *.clb
 *.class
@@ -39,13 +48,11 @@ bin/
 *.mo
 *_pyx.cpp
 *.stats
 *.pkl
 *.pkl*
 config.json
 clcache
 compile_commands.json
 compare_runtime*.html
 # build artifacts
 selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
@@ -58,34 +65,54 @@ system/camerad/test/ae_gray_test
 .coverage*
 coverage.xml
 htmlcov
 pandaextra
 .mypy_cache/
 flycheck_*
 cppcheck_report.txt
 comma*.sh
 selfdrive/modeld/models/*.pkl
 iqpilot/modeld*/thneed/compile
 iqpilot/modeld*/models/*.thneed
 iqpilot/modeld*/models/*.pkl
 # openpilot log files
 *.bz2
 *.zst
 *.rlog
 build/
 !**/.gitkeep
 poetry.toml
 Pipfile
 ### VisualStudioCode ###
 *.vsix
 .history
 .ionide
 .vscode/*
 .history/
 !.vscode/settings.json
 !.vscode/tasks.json
 !.vscode/launch.json
 !.vscode/extensions.json
 !.vscode/*.code-snippets
-# agents
+# Local History for Visual Studio Code
 .history/
 # Built Visual Studio Code Extensions
 *.vsix
 ### VisualStudioCode Patch ###
 # Ignore all local history of files
 .history
 .ionide
 .claude/
 .context/
 PLAN.md
 TASK.md
-# rick - keep panda_tici standalone
+### JetBrains ###
-panda_tici/
+!.idea/customTargets.xml
 !.idea/tools/*
 !.run/*
@@ -0,0 +1,4 @@
 [lfs]
 	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
 	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
 	locksverify = false
@@ -1,11 +0,0 @@
 {
  "recommendations": [
    "ms-python.python",
    "ms-vscode.cpptools",
    "elagil.pre-commit-helper",
    "charliermarsh.ruff",
    "JamiTech.simply-blame",
    "k--kato.intellij-idea-keybindings",
    "trinm1709.dracula-theme-from-intellij"
  ]
 }
@@ -1,85 +0,0 @@
 {
  "version": "0.2.0",
  "inputs": [
    {
      "id": "python_process",
      "type": "pickString",
      "description": "Select the process to debug",
      "options": [
        "selfdrive/controls/controlsd.py",
        "system/timed/timed.py",
        "tools/sim/run_bridge.py"
      ]
    },
    {
      "id": "cpp_process",
      "type": "pickString",
      "description": "Select the process to debug",
      "options": [
        "selfdrive/ui/ui"
      ]
    },
    {
      "id": "args",
      "description": "Arguments to pass to the process",
      "type": "promptString"
    },
    {
      "id": "replayArg",
      "type": "promptString",
      "description": "Enter route or segment to replay."
    }
  ],
  "configurations": [
    {
      "name": "Python: openpilot Process",
      "type": "debugpy",
      "request": "launch",
      "program": "${input:python_process}",
      "console": "integratedTerminal",
      "justMyCode": true,
      "args": "${input:args}"
    },
    {
      "name": "C++: openpilot Process",
      "type": "cppdbg",
      "request": "launch",
      "program": "${workspaceFolder}/${input:cpp_process}",
      "cwd": "${workspaceFolder}"
    },
    {
      "name": "Attach LLDB to Replay drive",
      "type": "lldb",
      "request": "attach",
      "pid": "${command:pickMyProcess}",
      "initCommands": [
        "script import time; time.sleep(3)"
      ]
    },
    {
      "name": "Replay drive",
      "type": "debugpy",
      "request": "launch",
      "program": "${workspaceFolder}/opendbc/safety/tests/safety_replay/replay_drive.py",
      "args": [
        "${input:replayArg}"
      ],
      "console": "integratedTerminal",
      "justMyCode": false,
      "env": {
        "PYTHONPATH": "${workspaceFolder}"
      },
      "subProcess": true,
      "stopOnEntry": false
    }
  ],
  "compounds": [
    {
      "name": "Replay drive + Safety LLDB",
      "configurations": [
        "Replay drive",
        "Attach LLDB to Replay drive"
      ]
    }
  ]
 }
@@ -1,41 +0,0 @@
 {
  "editor.tabSize": 2,
  "editor.insertSpaces": true,
  "editor.renderWhitespace": "trailing",
  "files.trimTrailingWhitespace": true,
  "terminal.integrated.defaultProfile.linux": "dragonpilot",
  "terminal.integrated.profiles.linux": {
    "dragonpilot": {
      "path": "bash",
      "args": ["-c", "distrobox enter dp"]
    }
  },
  "search.exclude": {
    "**/.git": true,
    "**/.venv": true,
    "**/__pycache__": true,
    "msgq_repo/": true,
    "rednose/": true,
    "rednose_repo/": true,
    "openpilot/": true,
    "teleoprtc_repo/": true,
    "tinygrad/": true,
    "tinygrad_repo/": true
  },
  "files.exclude": {
    "**/.git": true,
    "**/.venv": true,
    "**/__pycache__": true
  },
  "python.analysis.exclude": [
    "**/.git",
    "**/.venv",
    "**/__pycache__",
    // exclude directories that should be using the symlinked version
    "common/**",
    "selfdrive/**",
    "system/**",
    "third_party/**",
    "tools/**",
  ]
 }
@@ -1,140 +0,0 @@
 # ALKA (Always-on Lane Keeping Assist) Design v3
 ## Overview
 ALKA enables lateral control (steering) when ACC Main is ON, without requiring cruise to be engaged. This allows lane keeping assist to function independently of longitudinal control.
 **Simplified Behavior (v3):**
 - All brands use direct tracking: `lkas_on = acc_main_on`
 - No button/toggle tracking (removed TJA, LKAS button, LKAS HUD)
 - ACC Main ON = ALKA enabled, ACC Main OFF = ALKA disabled
 ---
 ## Per-Brand Summary
 | Brand | Status | ACC Main Source | Notes |
 |-------|--------|-----------------|-------|
 | Body | Disabled | - | No steering capability |
 | Chrysler | Disabled | - | Needs special handling |
 | Ford | Enabled | EngBrakeData (0x165) CcStat | |
 | GM | Disabled | - | No ACC Main signal |
 | Honda Nidec | Enabled | SCM_FEEDBACK (0x326) MAIN_ON | |
 | Honda Bosch | Enabled | SCM_FEEDBACK (0x326) MAIN_ON | |
 | Hyundai | Enabled | SCC11 (0x420) bit 0 | |
 | Hyundai CAN-FD | Enabled | SCC_CONTROL (0x1A0) bit 66 | |
 | Hyundai Legacy | Enabled | SCC11 (0x420) bit 0 | |
 | Mazda | Enabled | CRZ_CTRL (0x21C) bit 17 | |
 | Nissan | Enabled | CRUISE_THROTTLE (0x239) bit 17 | |
 | PSA | Disabled | - | Not implemented |
 | Rivian | Disabled | - | Different architecture |
 | Subaru | Enabled | CruiseControl (0x240) bit 40 | |
 | Subaru Preglobal | Enabled | CruiseControl (0x144) bit 48 | |
 | Tesla | Disabled | - | Different architecture |
 | Toyota | Enabled | PCM_CRUISE_2 (0x1D3) bit 15 | |
 | Toyota (UNSUPPORTED_DSU) | Enabled | DSU_CRUISE (0x365) bit 0 | |
 | VW MQB | Enabled | TSK_06 TSK_Status (>=2) | |
 | VW PQ | Enabled | Motor_5 (0x480) bit 50 (long) | |
 ---
 ## Permission Model
 Lateral control requires checks at both layers. Normal path uses `controls_allowed`, ALKA path uses additional checks.
 | Check | Panda | openpilot | Notes |
 |-------|:-----:|:---------:|-------|
 | **Normal Path** |
 | `controls_allowed` (cruise engaged) | ✓ | ✓ | Either this OR ALKA path |
 | **ALKA Path** |
 | `alka_allowed` (brand supports) | ✓ | ✓ | Set per brand in safety init |
 | `ALT_EXP_ALKA` (user enabled) | ✓ | ✓ | alternativeExperience flag |
 | `lkas_on` (ACC Main ON) | ✓ | ✓ | Tracked via CAN messages |
 | `vehicle_moving` / `!standstill` | ✓ | ✓ | |
 | **openpilot Additional** |
 | `gear_ok` (not P/N/R) | ✗ | ✓ | Python layer only |
 | `calibrated` | ✗ | ✓ | Python layer only |
 | `seatbelt latched` | ✗ | ✓ | Python layer only |
 | `doors closed` | ✗ | ✓ | Python layer only |
 | `!steerFaultTemporary` | ✗ | ✓ | Python layer only |
 | `!steerFaultPermanent` | ✗ | ✓ | Python layer only |
 ---
 ## Data Flow
 ```
 ┌─────────────────────────────────────────────────────────────────────┐
 │                         CAN Bus                                      │
 └─────────────────────────────────────────────────────────────────────┘
                    │                              │
                    ▼                              ▼
 ┌─────────────────────────────────┐  ┌─────────────────────────────────┐
 │  Safety Layer (panda C code)    │  │  Python Layer                   │
 │                                 │  │                                 │
 │  rx_hook:                       │  │  carstate.py:                   │
 │  - Parse ACC Main signal        │  │  - Parse cruiseState.available  │
 │  - Set lkas_on = acc_main_on    │  │  - Set self.lkas_on             │
 │                                 │  │                                 │
 │  lat_control_allowed():         │  └─────────────┬───────────────────┘
 │  - Check lkas_on + other flags  │                │
 │  - Gate steering commands       │                ▼
 └─────────────────────────────────┘  ┌─────────────────────────────────┐
                                     │  card.py:                       │
                                     │  - Publish carStateExt.lkasOn   │
                                     └─────────────┬───────────────────┘
                                                   │
                                                   ▼
                                     ┌─────────────────────────────────┐
                                     │  controlsd.py:                  │
                                     │  - Read carStateExt.lkasOn      │
                                     │  - Check ALKA conditions        │
                                     │  - Set CC.latActive             │
                                     └─────────────────────────────────┘
 ```
 ### Key Files
 | File | Purpose |
 |------|---------|
 | `custom.capnp` | Defines `CarStateExt` struct with `lkasOn` field |
 | `log.capnp` | Includes `carStateExt` in event union |
 | `interfaces.py` | Defines `self.lkas_on = False` default in `CarStateBase` |
 | `carstate.py` (per brand) | Tracks `lkas_on` based on ACC Main |
 | `card.py` | Publishes `carStateExt.lkasOn` from `CI.CS.lkas_on` |
 | `controlsd.py` | Reads `carStateExt.lkasOn` to determine `alka_active` |
 ---
 ## ACC Main Tracking
 All brands use simple direct tracking:
 ```c
 // Panda (C code)
 if (alka_allowed && (alternative_experience & ALT_EXP_ALKA)) {
  lkas_on = acc_main_on;  // or GET_BIT(msg, bit_position)
 }
 ```
 ```python
 # Python carstate.py
 self.lkas_on = ret.cruiseState.available
 ```
 This guard ensures:
 1. Brand supports ALKA (`alka_allowed`)
 2. User enabled ALKA (`ALT_EXP_ALKA`)
 Without both conditions, no ACC Main tracking occurs, and ALKA remains disabled.
 ---
 ## Testing
 Safety tests verify:
 - `alka_allowed` flag set correctly per brand
 - ACC Main tracking updates `lkas_on` directly
 - `lat_control_allowed()` returns true only when all conditions met
 - Steering TX blocked when ALKA conditions not met
 - Bus routing variants (camera_scc, unsupported_dsu)
@@ -0,0 +1,106 @@
 # IQ.Pilot User Changelog
 This changelog is written for everyday drivers and focuses on what you will notice on the road.
 ## February 9, 2026 - IQ.Pilot Launch
 - IQ.Pilot v1.0a launched.
 - You got first-release IQ.Pilot + Konn3kt integration.
 - The UI was rebranded and cleaned up for a more consistent look.
 - Unused legacy UI/debug elements were removed.
 - Early setup and reliability issues were fixed (better error handling and cleaner setup flow).
 ## February 10, 2026 - Device Support and Stability
 - Better mici and tizi device support.
 - You can now use manual QR registration.
 - Volkswagen PQ support was enabled and expanded.
 - A major bugfix pass improved stability and controls behavior.
 - Cruise/button behavior was refined for more consistent response.
 ## February 11, 2026 - Major Vehicle Expansion
 - Tesla control support was expanded.
 - Honda MVL tuning (lateral + longitudinal) was added.
 - Volkswagen support grew across PQ and MLB with multiple fixes.
 - PQ bring-up continued, including Passat NMS-focused improvements.
 - More runtime fixes landed (including joystick and icon issues).
 ## February 12, 2026 - Sensor/Data Fixes
 - Steering-angle offset tolerance was increased, helping with temporary steering sensor misalignment.
 - Fuel level handling was fixed and improved.
 - Additional Volkswagen PQ follow-up fixes were added.
 ## February 13, 2026 - Driver Monitoring Rollback
 - Driver Monitoring was rolled back to previous behavior to reduce over aggressive alerts from a regression caused by a new comma DM model.
 ## February 15-16, 2026 - Volkswagen PQ Maturity
 - Volkswagen PQ received heavy control tuning and bugfixes.
 - You should see more consistent engagement and smoother overall behavior.
 - Lateral/longitudinal interaction and cruise response were improved.
 ## February 17, 2026 - Volkswagen Stopping Behavior Tuning
 - Volkswagen stopping and braking behavior received additional tuning.
 - Comfort and stop-response were further refined for real-world driving.
 ## February 27, 2026 - Major Refactor
 - IQ.Pilot completed a major refactor and is now independent of any other fork.
 - Driving logic cleanup removed legacy compatibility paths that could cause inconsistent behavior between vehicles and branches.
 - New (way better) Always On Lateral logic!
 - Better longitudinal controls for clearer choices for everyday use: `IQ.Pilot`, `IQ.Dynamic`, `IQ.Standard`, and your vehicles `Stock ACC`.
 - Device/System controls were reworked for better offroad management, including a timed Force On-Road workflow for diagnostics/testing.
 - Volkswagen MEB/MQBEvo platform support!
 - Offroad UI and settings UI rework!
 ## March 16th - IQ.Pilot 1.0c Pre-Release
 - IQ.Pilot has continued refactoring componenets to be more efficient, and better written, with better logic.
 - Navigation, with On-Screen maps, online routing, fully offline routing
 ## April 21, 2026 - IQ.Pilot 1.0c
 **Speed Limit Control (SLC)**
 IQ.Pilot can now read and act on speed limits from your dash, Mapbox, and offline maps. You pick what mode you want in settings: display only, warn you when you're over, or actually adjust your cruise speed. You also pick which source wins when they disagree (dash, Mapbox, map data, highest, or lowest reported limit). There's a look-ahead setting so IQ.Pilot can start reacting to an upcoming speed change before you hit the sign. GPS fix is required before any speed limit data is trusted.
 **IQ.Dynamic Force Stop**
 In IQ.Dynamic blended mode, when IQ.Pilot sees a stop light ahead, the model agrees you need to stop, and there's no lead car to track, it will now commit to stopping on its own without needing lead car confirmation. Gas pedal overrides it instantly. The stop prediction horizon is adjustable in IQ.Dynamic settings.
 **Dashcam toggle**
 You can now fully disable dashcam recording from settings. Turning it off stops all recording, no logs, no video, no audio. Default is on.
 **Konn3kt app theme syncs to your device**
 Whatever accent color you pick in the Konn3kt app's appearance settings now flows to your device in real time. The IQ.Pilot UI glows match your color within a couple of seconds of changing it in the app.
 **Volkswagen improvements**
 - MQBevo (Golf 8, etc.) now has IQ.Pilot Longitudinal, not just lateral
 - MQB got standstill! + VW Tuning, smoother accelerator overrides, less phantom cruise faults, better overall longitudinal control logic.
 - Konn3kt can now code LKAS, including enabling, disabling, and checking status and EPS compatibility with Comma Power plugged into your IQ.Pilot devices hardware relay!
 **Tesla updates**
 Tesla control got another pass of improvements (lateral and longitudinal behavior), including updates to support the new Tesla fingerprint in the latest Tesla software update.
 **More vehicle fingerprints**
 Hyundai/Kia fingerprint coverage was expanded to cover more variants that were previously unrecognized.
 **Toyota Stop-and-Go**
 New support added for Stop and Go for Toyota/Lexus!
 **New driving model**
 IQ.Pilot updated to a new driving model `Pop!`, as always we support all models ASAP to be on the bleeding edge in our pre-release branches.
 **Settings expanded**
 - IQ.Dynamic got its own dedicated settings page with controls for stop prediction horizon and force stop tuning
 - Cruise settings gained speed limit mode, SLC source priority, speed limit look-ahead, lane turn desire speed threshold, and steer actuator delay adjustment
 - Steer delay settings now show the value formatted in seconds
 **Laying groundwork for future hardware**
 eSIM management is now fully built into the device settings on supported hardware. The app can detect whether your device has an embedded SIM, provision it, and manage profiles without needing a physical SIM swap.
@@ -1,38 +0,0 @@
 FROM ubuntu:24.04
 ENV PYTHONUNBUFFERED=1
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && \
    apt-get install -y --no-install-recommends sudo tzdata locales && \
    rm -rf /var/lib/apt/lists/*
 RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
 ENV LANG=en_US.UTF-8
 ENV LANGUAGE=en_US:en
 ENV LC_ALL=en_US.UTF-8
 ENV NVIDIA_VISIBLE_DEVICES=all
 ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
 ARG USER=batman
 ARG USER_UID=1001
 RUN useradd -m -s /bin/bash -u $USER_UID $USER
 RUN usermod -aG sudo $USER
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 USER $USER
 ENV OPENPILOT_PATH=/home/$USER/openpilot
 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}
 COPY --chown=$USER . ${OPENPILOT_PATH}/
 ENV UV_BIN="/home/$USER/.local/bin/"
 ENV VIRTUAL_ENV=${OPENPILOT_PATH}/.venv
 ENV PATH="$UV_BIN:$VIRTUAL_ENV/bin:$PATH"
 RUN tools/setup_dependencies.sh && \
    sudo rm -rf /var/lib/apt/lists/*
 USER root
 RUN git config --global --add safe.directory '*'
@@ -210,23 +210,30 @@ node {
      'HW + Unit Tests': {
        deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
          step("test manager", "pytest system/manager/test/test_manager.py"),
        ])
      },
      'loopback': {
        deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [
          step("build openpilot", "cd system/manager && ./build.py"),
          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
        ])
      },
      'camerad OX03C10': {
        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
+          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
        ])
      },
      'camerad OS04C10': {
        deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
+          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
        ])
      },
      'sensord': {
@@ -244,9 +251,11 @@ node {
      'tizi': {
        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
+          step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
          // TODO: enable once new AGNOS is available
          // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),
          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
        ])
      },
@@ -1,7 +1,98 @@
-Copyright (c) 2018, Comma.ai, Inc.
+IQ.Lvbs License v0.1a
-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:
+Copyright (c) 2026 IQ.Lvbs LLC, a part of Project Teal Lvbs Inc. All Rights Reserved.
-The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+DEFINITIONS
-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.
+"Software" refers to IQ.Pilot, konn3kt, and all associated source code,
 documentation, and assets owned by the Copyright Holder.
 "Open Components" refers to portions of the Software explicitly marked as
 open source.
 "Proprietary Components" refers to all portions of the Software not made
 available to the public in source form.
 "Copyright Holder" refers to IQ.Lvbs LLC, a part of Project Teal Lvbs Inc.
 GRANT OF LICENSE
 Subject to the terms of this license, you are granted a limited,
 non-exclusive, revocable license to:
 1. View, study, and learn from the Open Components
 2. Modify the Open Components for personal, internal, or open-source public use
 3. Run the Software for personal, non-commercial purposes
 RESTRICTIONS
 You may NOT:
 1. Claim ownership of any part of the Software, excluding your own
   modifications that do not incorporate Proprietary Components.
 2. Reverse engineer, decompile, disassemble, or in any way attempt to
   circumvent the obfuscation of the Proprietary Components.
 3. Use the Software or any derivative for commercial purposes without
   explicit written permission from the Copyright Holder.
 4. Remove or alter any copyright notices or this license.
 5. Sublicense, sell, or transfer rights to the Software.
 6. Use the Software and/or its source code to compete with or create a
   substantially similar product.
 7. Use the Software in closed source software not licensed by IQ.Lvbs LLC.
 CONSEQUENCES OF VIOLATION
 In the event any Restriction is violated, any product created using inspiration from, or source code from, IQ.Pilot or Konn3kt shall be subject to a licensing fee determined solely by the Copyright Holder. Additionally, the violating party hereby grants IQ.Lvbs LLC an exclusive, irrevocable, worldwide, royalty-free license to use any and all assets from the infringing product on IQ.Lvbs webpages, advertising materials, and in any other manner IQ.Lvbs sees fit.
 OWNERSHIP
 All rights, title, and interest in the Software remain exclusively with the
 Copyright Holder. Any modifications, improvements, or derivative works you
 create based on the Software are owned by the Copyright Holder. By
 contributing modifications, you irrevocably assign all rights to the
 Copyright Holder.
 PROPRIETARY COMPONENTS
 The Proprietary Components are provided in binary or obfuscated form only.
 Reverse engineering, decompilation, or disassembly of Proprietary Components
 is strictly prohibited. Violation of this provision entitles IQ.Lvbs LLC to
 pursue all available legal remedies to protect its intellectual property and
 trade secrets.
 NO WARRANTY
 THE SOFTWARE IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND. THE COPYRIGHT
 HOLDER DISCLAIMS ALL WARRANTIES, EXPRESS OR IMPLIED, INCLUDING BUT NOT
 LIMITED TO MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
 NON-INFRINGEMENT.
 LIMITATION OF LIABILITY
 IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES, OR
 OTHER LIABILITY ARISING FROM THE USE OF THE SOFTWARE. THE USER ACCEPTS FULL
 RESPONSIBILITY FOR ANY AND ALL LIABILITIES WHEN USING IQ.LVBS SOFTWARE.
 TERMINATION
 This license terminates automatically if you violate any of its terms. Upon
 termination, you must destroy all copies of the Software in your possession.
 The Copyright Holder reserves the right to revoke this license at any time
 for any reason.
 GOVERNING LAW
 This license shall be governed by the laws of the State of Illinois, United
 States of America. Any disputes arising under this license shall be subject
 to the exclusive jurisdiction of the courts located in The State of Illinois, United States.
 ---
 For commercial licensing inquiries, contact: support@iqlvbs.com
@@ -1,30 +1,98 @@
-Copyright (c) 2019, Rick Lan
+IQ.Lvbs License v0.1a
-Permission is hereby granted, free of charge, to any person obtaining a copy
+Copyright (c) 2026 IQ.Lvbs LLC, a part of Project Teal Lvbs Inc. All Rights Reserved.
 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, and/or sublicense, 
 for non-commercial purposes only, subject to the following conditions:
- The above copyright notice and this permission notice shall be included in 
+DEFINITIONS
  all copies or substantial portions of the Software.
 - Commercial use (e.g. use in a product, service, or activity intended to 
  generate revenue) is prohibited without explicit written permission from 
  the copyright holder.
-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.
+"Software" refers to IQ.Pilot, konn3kt, and all associated source code,
 documentation, and assets owned by the Copyright Holder.
 "Open Components" refers to portions of the Software explicitly marked as
 open source.
 "Proprietary Components" refers to all portions of the Software not made
 available to the public in source form.
 "Copyright Holder" refers to IQ.Lvbs LLC, a part of Project Teal Lvbs Inc.
 GRANT OF LICENSE
 Subject to the terms of this license, you are granted a limited,
 non-exclusive, revocable license to:
 1. View, study, and learn from the Open Components
 2. Modify the Open Components for personal, internal, or open-source public use
 3. Run the Software for personal, non-commercial purposes
 RESTRICTIONS
 You may NOT:
 1. Claim ownership of any part of the Software, excluding your own
   modifications that do not incorporate Proprietary Components.
 2. Reverse engineer, decompile, disassemble, or in any way attempt to
   circumvent the obfuscation of the Proprietary Components.
 3. Use the Software or any derivative for commercial purposes without
   explicit written permission from the Copyright Holder.
 4. Remove or alter any copyright notices or this license.
 5. Sublicense, sell, or transfer rights to the Software.
 6. Use the Software and/or its source code to compete with or create a
   substantially similar product.
 7. Use the Software in closed source software not licensed by IQ.Lvbs LLC.
 CONSEQUENCES OF VIOLATION
 In the event any Restriction is violated, any product created using inspiration from, or source code from, IQ.Pilot or Konn3kt shall be subject to a licensing fee determined solely by the Copyright Holder. Additionally, the violating party hereby grants IQ.Lvbs LLC an exclusive, irrevocable, worldwide, royalty-free license to use any and all assets from the infringing product on IQ.Lvbs webpages, advertising materials, and in any other manner IQ.Lvbs sees fit.
 OWNERSHIP
 All rights, title, and interest in the Software remain exclusively with the
 Copyright Holder. Any modifications, improvements, or derivative works you
 create based on the Software are owned by the Copyright Holder. By
 contributing modifications, you irrevocably assign all rights to the
 Copyright Holder.
 PROPRIETARY COMPONENTS
 The Proprietary Components are provided in binary or obfuscated form only.
 Reverse engineering, decompilation, or disassembly of Proprietary Components
 is strictly prohibited. Violation of this provision entitles IQ.Lvbs LLC to
 pursue all available legal remedies to protect its intellectual property and
 trade secrets.
 NO WARRANTY
 THE SOFTWARE IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND. THE COPYRIGHT
 HOLDER DISCLAIMS ALL WARRANTIES, EXPRESS OR IMPLIED, INCLUDING BUT NOT
 LIMITED TO MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
 NON-INFRINGEMENT.
 LIMITATION OF LIABILITY
 IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES, OR
 OTHER LIABILITY ARISING FROM THE USE OF THE SOFTWARE. THE USER ACCEPTS FULL
 RESPONSIBILITY FOR ANY AND ALL LIABILITIES WHEN USING IQ.LVBS SOFTWARE.
 TERMINATION
 This license terminates automatically if you violate any of its terms. Upon
 termination, you must destroy all copies of the Software in your possession.
 The Copyright Holder reserves the right to revoke this license at any time
 for any reason.
 GOVERNING LAW
 This license shall be governed by the laws of the State of Illinois, United
 States of America. Any disputes arising under this license shall be subject
 to the exclusive jurisdiction of the courts located in Henry County, Illinois.
 ---
 Copyright (c) 2018, Comma.ai, Inc.
-Permission is hereby granted, free of charge, to any person obtaining a copy 
+For commercial licensing inquiries, contact: support@iqlvbs.com
 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.
@@ -1,74 +1,56 @@
-![](dragonpilot/selfdrive/assets/dragonpilot.png)
+# IQ.Pilot:
 [Read this in English](README_EN.md)
 # **🐲 dragonpilot - 賦予您的愛車「龍」之魂**
-**我們與您一同翱翔於更智慧、更貼心的駕駛旅程。**
+## Join Our Public Beta at: https://discord.iqlvbs.com
-## **👋 嘿, 朋友，歡迎您的到來！**
+## Running IQ.Pilot
 * A modern comma device to run this software (3, 3x, 4)
 * One of [the supported cars](https://gitlvb.teallvbs.xyz/IQ.Lvbs/IQ.Pilot/src/branch/release/opendbc_repo/docs/CARS.md).
 * A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
 #### Side Note: Volkswagen Group, and Tesla vehicles are the ONLY fully supported vehicles for use with IQ.Pilot, other manufacturers are supported but not a top priority while we are in beta.
 ## Installation
 #### Installing Via Installer URL:
 #### Enter the following into your comma device custom URL box to install IQ.Pilot:
 `IQ-Lvbs/release`
 #### Having Trouble? If your device is currently running AGNOS 13.1 or older, you should install latest stock, then install IQ.Pilot, or try one of the alternative methods listed below!
 `dragonpilot` 誕生於 2019 年，由三位早期的 openpilot 華人玩家共同創立。初衷很簡單：為廣大的華人用戶、玩家們提供一個友善的交流環境、更簡便的設定協助，並加入更多適合在地使用的貼心功能。
-我們深知在地化的重要性，特別是語言的親切感。因此，我們率先導入了完整的中文介面，讓 `dragonpilot` 迅速在華語地區累積了口碑，也讓華人的使用者數量在全球名列前茅。這份來自在地的支持，是我們持續前進的最大動力。
+## Alternative Methods of Installation:
 #### Enabling SSH:
 * In your comma device's settings, go into "Developer Settings"
 * Enable the "Enable SSH" toggle if it is not already on.
 * Next to "SSH Keys", click on "Add" and then enter your GitHub username.
 * Run the command below (replace your_email@example.com with your GitHub account email, then paste the output [here](https://github.com/settings/keys) after clicking on "New SSH Key", then reboot your comma device.
 #### SSH Key Command: `ssh-keygen -t ed25519 -C "your_email@example.com" -f ~/.ssh/id_ed25519 -N "" && cat ~/.ssh/id_ed25519.pub`
 #### Side Note: If you have already setup SSH and can SSH into your comma device, skip this section.
-我們以功能強大的 [openpilot](https://github.com/commaai/openpilot) 為基礎——這套據美國消費者報告評測優於市售車方案的開源輔助駕駛系統——融入了更多在地化的巧思與客製化的溫度，希望能打造出最符合您需求的駕駛夥伴。(您也可以參考我們 repo 中保留的 [openpilot 原始說明檔案](README_OPENPILOT.md))
+#### Installing Via SSH:
 #### Once you are connected to your device via SSH, you can paste the following command below to install IQ.Pilot:
 `cd .. && git clone https://gitlvb.teallvbs.xyz/IQ.Lvbs/IQ.Pilot.git && mv IQ.Pilot openpilot && cd openpilot && git submodule update --init && sudo reboot`
 #### If you'd like to backup your previous installation as well, paste the following command below to install IQ.Pilot:
 `cd .. && mv openpilot openpilot_backup_X && git clone https://gitlvb.teallvbs.xyz/IQ.Lvbs/IQ.Pilot.git && mv IQ.Pilot openpilot && cd openpilot && git submodule update --init && sudo reboot`
 #### Alternatively, you can use your existing fork's built in tools to switch your branch as well:
 `git remote add iqpilot https://gitlvb.teallvbs.xyz/IQ.Lvbs/IQ.Pilot.git && op switch iqpilot release`
-取名 `dragonpilot`，是因為我們希望它能像神話中的「龍」一樣，既強大又充滿智慧，為您的行車安全保駕護航。龍，在我們華人文化中，更是吉祥與力量的象徵，也代表著我們的根源與驕傲。
+## Releases:
 #### IQ.Pilot's Beta Is Currently At Release 1.0b
 |  Version  | Installation URL  |
 |:---------:|:-----------------:|
 | `release` | `IQ-Lvbs/release` |
-## **✨ dragonpilot 的里程碑**
+## 📊 User Data
 ### IQ.Pilot uploads your data to Konn3kt, by IQ.Lvbs.
 #### Konn3kt is a secure, encrypted, feature rich management experience for your IQ.Pilot device. Konn3kt has dual end-to-end encryption, your data is encrypted in transit, and at rest, you, and only you have access to your device, and your data.
-我們不僅保留了 openpilot 的核心優勢，更達成了許多從社群回饋中誕生的里程碑，這些是我們引以為傲的足跡：
+#### IQ.Pilot allows users to disable uploading entirely if they wish.
 #### Konn3kt doesn't collect driver camera, microphone data, and parses your logs with dual end-to-end encryption, ensuring that your data is accessible to you, and only you, not even accessible to IQ.Lvbs.
-* **🚘 全時置中車道維持 (ALKA)**
+## Terms of Service / Privacy Policy / Licensing
 #### IQ.Pilot is subject to the License found in this repository, [Terms of Service](https://konn3kt.com/tos), and, [Privacy Policy](https://konn3kt.com/privacy).
  這不只是一個功能，更是 `dragonpilot` 的哲學。我們最早於 [0.6.2 版本](https://github.com/dragonpilot-community/dragonpilot/blob/2861467183d62151024320447ba04d18fc3fe1e6/selfdrive/car/toyota/carstate.py#L199) 時便實現了這個功能，其開發歷程始於 2017 Lexus IS300h，接著擴展至 Toyota 全車系，並逐步延伸到其他支援的品牌。它能溫柔地輔助您，讓車輛始終穩定地保持在車道中央，提供一份額外的安心與從容。
-* **🌐 率先導入多國語言介面**
+## Support IQ.Pilot?
 Sorry, I have better things to do than ask my users for donations. - Teal
-  在官方 openpilot 還未支援前，我們便已將多國語言介面實現。`dragonpilot` 完整支援繁體中文、簡體中文與英文，讓操作毫無隔閡。
+<span>-</span> IQ.Lvbs, by Project Teal Lvbs
 * **💻 唯一同時支援多硬體平台**
  我們是唯一曾致力於讓專案同時兼容 EON、comma two、comma 3 與 Jetson 平台的社群分支，這份努力是為了服務最廣大的玩家社群。
  此外，在 comma.ai 團隊於 0.10.0 版本宣布停止支持 comma 3 後，我們仍是唯一一個完整同時支援 comma 3、comma 3X 以及 O3、O3L、O3XL（O3 系列為副廠硬體）的社群分支。
 * **📜 曾榮獲官方認證第一大分支**
  基於活躍的社群與功能創新，`dragonpilot` 曾一度成長為 comma ai 官方認證的第一大 openpilot 分支，這份榮耀屬於每一位參與者。
 ## **🧑‍💻 設計理念 - 少即是多 (Less is More)**
 隨著 openpilot 的 AI 模型日益強大，許多過去需要手動微調的功能，現在都已能透過更先進的模型來實現。因此，我們現在的開發重心回歸到 **「最小化修改」(minimal changes)** 的核心原則上。
 我們的目標是為您提供最純粹、最接近官方的 openpilot 駕駛感受，同時保留 `dragonpilot` 那些經過時間考驗、最受社群喜愛的經典功能。我們相信，在強大的 AI 基礎上，簡潔即是力量。
 ## **🛠️ 硬件的足跡 - 一路走來的夥伴們**
 從最早的 **EON**，到官方的 **comma two / three (C2/C3/C3X)**，再到社群中各式各樣充滿智慧的**副廠機 (如 C1.5, O2, O3, O3L, O3XL 等)**，甚至我們也曾探索過在 [**Jetson Xavier NX**](https://github.com/eFiniLan/xnxpilot) 上的可能性。
 目前最新版本主要支援： comma3 / 3X 以及 O3 / O3L / O3XL 等社群硬體。
 針對 EON / C1.5 / C2 等舊款硬體，最後支援的版本位於 [d2 分支](https://github.com/dragonpilot-community/dragonpilot/tree/d2)。
 無論您手上是哪一款設備，都代表著您對開源駕駛輔助的一份熱情。
 ## **🫂 加入我們，成為「尋龍者」的一份子**
 `dragonpilot` 的成長，離不開每一位使用者的貢獻與回饋。我們是一個以**公開、透明**為原則的溫暖社群，希望在這裡能與所有對 openpilot / dragonpilot 有興趣的用戶分享、交流開發與使用上的經驗。
 [**歡迎加入我們的 Facebook 社團進行交流！**](https://www.facebook.com/groups/930190251238639)
 ## **❤️ 特別感謝**
 `dragonpilot` 從創立至今，從未打算透過 Patreon 等平台進行任何形式的募資。我們的初衷是建立一個讓大家能一起學習、一起成長的社群。It's all about fun, not money.
 然而，我們仍要對那些自發性支持本專案的朋友們，致上最誠摯的感謝。正是因為有您們的鼓勵，我們才有更大的動力持續前進。
 [**我們的贊助者名單**](SPONSORS.md)
 ### **安全聲明**
 `dragonpilot` 是一種駕駛**輔助**系統，並非全自動駕駛。它旨在減輕您的駕駛疲勞，提升行車安全，但駕駛人仍需時刻保持專注，並隨時準備接管車輛。請務必遵守您所在地區的交通法規。
 **最後，再次感謝您的到來。**
 **期待與您一同在智慧駕駛的道路上，乘「龍」而行！**
@@ -1,74 +0,0 @@
 ![](dragonpilot/selfdrive/assets/dragonpilot.png)
 [Read this in Chinese](README.md)
 # **🐲 dragonpilot - Bringing the Spirit of the Dragon to Your Car**
 **Join us on a smarter, more thoughtful driving journey.**
 ## **👋 Welcome, friend!**
 `dragonpilot` was launched in 2019 by three early openpilot enthusiasts from the Chinese community. Our mission was simple: create a friendly space for users to share experiences, provide easier setup help, and add features tailored for local needs.
 Localization has always been at the heart of what we do—starting with a fully Chinese interface. This made `dragonpilot` quickly popular in Chinese-speaking regions and helped our user base grow into one of the largest worldwide. That community support is what keeps us moving forward.
 Built on top of the powerful [openpilot](https://github.com/commaai/openpilot)—an open-source driver assistance system rated by Consumer Reports as outperforming commercial offerings—we add localized refinements and user-focused features to create a driving companion that truly fits your needs. (You can also see the [original openpilot README](README_OPENPILOT.md) preserved in our repo.)
 The name `dragonpilot` reflects our vision: like the dragon of mythology, it is strong and wise, guarding your safety on the road. In Chinese culture, the dragon is also a symbol of luck and strength, representing our roots and pride.
 ## **✨ Milestones**
 Beyond carrying forward openpilot's core strengths, we've reached several milestones inspired by community feedback:
 * **🚘 Always Lane Keep Assist (ALKA)**
  More than a feature—it's part of the `dragonpilot` philosophy. Introduced as early as [version 0.6.2](https://github.com/dragonpilot-community/dragonpilot/blob/2861467183d62151024320447ba04d18fc3fe1e6/selfdrive/car/toyota/carstate.py#L199), first tested on a 2017 Lexus IS300h, then expanded to Toyota's lineup and beyond. ALKA helps keep your vehicle steadily centered, giving you extra confidence on the road.
 * **🌐 First to add multilingual support**
  Before openpilot officially supported it, we had already introduced multiple languages. `dragonpilot` fully supports Traditional Chinese, Simplified Chinese, and English.
 * **💻 Only community fork to support multiple hardware platforms at once**
  We uniquely worked to make the project run on EON, comma two, comma 3, and Jetson—serving the widest range of users possible.
  Additionally, after the comma.ai team deprecated the comma 3 in version 0.10.0, we remain the only community fork to offer full, simultaneous support for the comma 3, comma 3X, and the O3, O3L, and O3XL (the O3 series being third-party hardware).
 * **📜 Once recognized as the #1 openpilot fork**
  Thanks to an active community and continuous innovation, `dragonpilot` was once the largest openpilot fork officially recognized by comma ai. This honor belongs to everyone who contributed.
 ## **🧑‍💻 Design Philosophy - Less is More**
 As openpilot's AI grows stronger, many features that once required manual tuning are now handled by advanced models. That's why our focus has returned to **“minimal changes.”**
 We aim to give you the purest, most official-like openpilot driving experience—while preserving `dragonpilot`'s classic, community-loved features. With a solid AI foundation, simplicity is strength.
 ## **🛠️ Hardware Journey**
 From the early **EON**, to official devices like **comma two / three (C2/C3/C3X)**, to creative community builds (**C1.5, O2, O3, O3L, O3XL, etc.**), and even experiments with [**Jetson Xavier NX**](https://github.com/eFiniLan/xnxpilot).
 Currently, the latest versions support: **comma3 / 3X** and community hardware like **O3 / O3L / O3XL**.
 Older devices such as **EON / C1.5 / C2** are supported in the [d2 branch](https://github.com/dragonpilot-community/dragonpilot/tree/d2).
 Whatever device you're on, it represents your passion for open-source driver assistance.
 ## **🫂 Join Us – Become a “Dragon Seeker”**
 `dragonpilot` thrives thanks to every user's contributions and feedback. We're an open, transparent, and welcoming community where enthusiasts can share experiences with openpilot and `dragonpilot`.
 [**Join our Facebook group here!**](https://www.facebook.com/groups/930190251238639)
 ## **❤️ Special Thanks**
 Since day one, `dragonpilot` has never asked for funding through Patreon or similar platforms. Our vision is a community where everyone learns and grows together. It's about fun, not money.
 That said, we're deeply grateful to those who voluntarily supported the project. Your encouragement keeps us motivated to keep building.
 [**See our sponsors**](SPONSORS.md)
 ### **Safety Notice**
 `dragonpilot` is a driver **assistance** system, not full self-driving. It reduces fatigue and improves safety, but you must remain alert and ready to take control at all times. Always follow your local traffic laws.
 **Thanks again for being here.**
 **We look forward to riding the “dragon” with you on the road to smarter driving!**
@@ -1,111 +0,0 @@
 <div align="center" style="text-align: center;">
 <h1>openpilot</h1>
 <p>
  <b>openpilot is an operating system for robotics.</b>
  <br>
  Currently, it upgrades the driver assistance system in 300+ supported cars.
 </p>
 <h3>
  <a href="https://docs.comma.ai">Docs</a>
  <span> · </span>
  <a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
  <span> · </span>
  <a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
  <span> · </span>
  <a href="https://discord.comma.ai">Community</a>
  <span> · </span>
  <a href="https://comma.ai/shop">Try it on a comma 3X</a>
 </h3>
 Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
 [![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/tests.yaml/badge.svg)](https://github.com/commaai/openpilot/actions/workflows/tests.yaml)
 [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](LICENSE)
 [![X Follow](https://img.shields.io/twitter/follow/comma_ai)](https://x.com/comma_ai)
 [![Discord](https://img.shields.io/discord/469524606043160576)](https://discord.comma.ai)
 </div>
 <table>
  <tr>
    <td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://github.com/commaai/openpilot/assets/8762862/2f7112ae-f748-4f39-b617-fabd689c3772"></a></td>
    <td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://github.com/commaai/openpilot/assets/8762862/92351544-2833-40d7-9e0b-7ef7ae37ec4c"></a></td>
    <td><a href="https://youtu.be/SUIZYzxtMQs" title="A drive to Taco Bell"><img src="https://github.com/commaai/openpilot/assets/8762862/05ceefc5-2628-439c-a9b2-89ce77dc6f63"></a></td>
  </tr>
 </table>
 Using openpilot in a car
 ------
 To use openpilot in a car, you need four things:
 1. **Supported Device:** a comma 3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
 2. **Software:** The setup procedure for the comma 3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
 3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
 4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3X to your car.
 We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
 ### Branches
 Running `master` and other branches directly is supported, but it's recommended to run one of the following prebuilt branches:
 | comma four branch      | comma 3X branch        | URL                                    | description                                                                         |
 |------------------------|------------------------|----------------------------------------|-------------------------------------------------------------------------------------|
 | `release-mici`         | `release-tizi`         | openpilot.comma.ai                     | This is openpilot's release branch.                                                 |
 | `release-mici-staging` | `release-tizi-staging` | openpilot-test.comma.ai                | This is the staging branch for releases. Use it to get new releases slightly early. |
 | `nightly`              | `nightly`              | openpilot-nightly.comma.ai             | This is the bleeding edge development branch. Do not expect this to be stable.      |
 | `nightly-dev`          | `nightly-dev`          | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars.      |
 To start developing openpilot
 ------
 openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot).
 * Join the [community Discord](https://discord.comma.ai)
 * Check out [the contributing docs](docs/CONTRIBUTING.md)
 * Check out the [openpilot tools](tools/)
 * Code documentation lives at https://docs.comma.ai
 * Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)
 Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](https://comma.ai/bounties) for external contributors.
 Safety and Testing
 ----
 * openpilot observes [ISO26262](https://en.wikipedia.org/wiki/ISO_26262) guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
 * openpilot has software-in-the-loop [tests](.github/workflows/tests.yaml) that run on every commit.
 * The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
 * panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
 * Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
 * panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
 * We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
 <details>
 <summary>MIT Licensed</summary>
 openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
 Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
 **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
 YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
 NO WARRANTY EXPRESSED OR IMPLIED.**
 </details>
 <details>
 <summary>User Data and comma Account</summary>
 By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
 openpilot is open source software: the user is free to disable data collection if they wish to do so.
 openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
 The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.
 By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
 </details>
@@ -4,7 +4,6 @@ import sys
 import sysconfig
 import platform
 import shlex
 import importlib
 import numpy as np
 import SCons.Errors
@@ -19,7 +18,6 @@ AddOption('--asan', action='store_true', help='turn on ASAN')
 AddOption('--ubsan', action='store_true', help='turn on UBSan')
 AddOption('--mutation', action='store_true', help='generate mutation-ready code')
 AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
 AddOption('--verbose', action='store_true', default=False, help='show full build commands')
 AddOption('--minimal',
          action='store_false',
          dest='extras',
@@ -30,6 +28,7 @@ AddOption('--minimal',
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
  arch = "Darwin"
  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
 elif arch == "aarch64" and os.path.isfile('/TICI'):
  arch = "larch64"
 assert arch in [
@@ -39,10 +38,6 @@ assert arch in [
  "Darwin",   # macOS arm64 (x86 not supported)
 ]
 pkg_names = ['bzip2', 'capnproto', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 py_include = importlib.import_module('python3_dev').INCLUDE_DIR
 env = Environment(
  ENV={
    "PATH": os.environ['PATH'],
@@ -51,13 +46,15 @@ env = Environment(
    "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
    "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
  },
  CC='clang',
  CXX='clang++',
  CCFLAGS=[
    "-g",
    "-fPIC",
    "-O2",
    "-Wunused",
    "-Werror",
-    "-Wshadow" if arch in ("Darwin", "larch64") else "-Wshadow=local",
+    "-Wshadow",
    "-Wno-unknown-warning-option",
    "-Wno-inconsistent-missing-override",
    "-Wno-c99-designator",
@@ -76,16 +73,16 @@ env = Environment(
    "#third_party/acados/include/blasfeo/include",
    "#third_party/acados/include/hpipm/include",
    "#third_party/catch2/include",
-    [x.INCLUDE_DIR for x in pkgs],
+    "#third_party/libyuv/include",
  ],
  LIBPATH=[
    "#common",
    "#msgq_repo",
    "#third_party",
-    "#selfdrive/pandad_tici" if "TICI_DOS" in os.environ else "#selfdrive/pandad",
+    "#selfdrive/pandad",
    "#rednose/helpers",
    f"#third_party/libyuv/{arch}/lib",
    f"#third_party/acados/{arch}/lib",
    [x.LIB_DIR for x in pkgs],
  ],
  RPATH=[],
  CYTHONCFILESUFFIX=".cpp",
@@ -97,22 +94,31 @@ env = Environment(
 # Arch-specific flags and paths
 if arch == "larch64":
-  env["CC"] = "clang"
+  env.Append(CPPPATH=[
-  env["CXX"] = "clang++"
+    "#third_party/opencl/include",
    "/usr/include/aarch64-linux-gnu",
  ])
  env.Append(LIBPATH=[
    "/usr/local/lib",
    "/system/vendor/lib64",
    "/usr/lib/aarch64-linux-gnu",
    "/system/vendor/lib64",
  ])
-  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57"]
+  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57", "-DQCOM2"]
  env.Append(CCFLAGS=arch_flags)
  env.Append(CXXFLAGS=arch_flags)
 elif arch == "Darwin":
  env.Append(LIBPATH=[
    f"{brew_prefix}/lib",
    f"{brew_prefix}/opt/openssl@3.0/lib",
    f"{brew_prefix}/opt/llvm/lib/c++",
    "/System/Library/Frameworks/OpenGL.framework/Libraries",
  ])
  env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
  env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
  env.Append(CPPPATH=[
    f"{brew_prefix}/include",
    f"{brew_prefix}/opt/openssl@3.0/include",
  ])
 else:
  env.Append(LIBPATH=[
    "/usr/lib",
@@ -135,22 +141,6 @@ if _extra_cc:
 if arch != "Darwin":
  env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])
 # Shorter build output: show brief descriptions instead of full commands.
 # Full command lines are still printed on failure by scons.
 if not GetOption('verbose'):
  for action, short in (
    ("CC",     "CC"),
    ("CXX",    "CXX"),
    ("LINK",   "LINK"),
    ("SHCC",   "CC"),
    ("SHCXX",  "CXX"),
    ("SHLINK", "LINK"),
    ("AR",     "AR"),
    ("RANLIB", "RANLIB"),
    ("AS",     "AS"),
  ):
    env[f"{action}COMSTR"] = f"  [{short}] $TARGET"
 # progress output
 node_interval = 5
 node_count = 0
@@ -162,9 +152,10 @@ if os.environ.get('SCONS_PROGRESS'):
  Progress(progress_function, interval=node_interval)
 # ********** Cython build environment **********
 py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
 envCython["CPPPATH"] += [py_include, np.get_include()]
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
 envCython["CCFLAGS"].remove("-Werror")
 envCython["LIBS"] = []
@@ -179,16 +170,11 @@ Export('envCython', 'np_version')
 Export('env', 'arch')
 # Setup cache dir
-cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
+default_cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
 cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
 CacheDir(cache_dir)
 Clean(["."], cache_dir)
 # dragonpilot settings generation — runs every scons invocation, idempotent.
 # Writes common/params_keys.h in place; we don't declare a target so scons
 # treats it purely as a pre-build side effect.
 if env.Execute('./generate_settings.py') != 0:
  Exit('generate_settings.py failed')
 # ********** start building stuff **********
 # Build common module
@@ -213,7 +199,6 @@ Export('messaging')
 # Build other submodules
 SConscript(['panda/SConscript'])
 SConscript(['panda_tici/SConscript'])
 # Build rednose library
 SConscript(['rednose/SConscript'])
@@ -231,8 +216,12 @@ SConscript(['third_party/SConscript'])
 SConscript(['selfdrive/SConscript'])
-if Dir('#tools/cabana/').exists() and arch != "larch64":
+SConscript(['iqpilot/SConscript'])
-  SConscript(['tools/cabana/SConscript'])
+
 if Dir('#tools/cabana/').exists() and GetOption('extras'):
  SConscript(['tools/replay/SConscript'])
  if arch != "larch64":
    SConscript(['tools/cabana/SConscript'])
 env.CompilationDatabase('compile_commands.json')
@@ -1,5 +1,52 @@
 # Security Policy
 ## Supported Versions
 | Component | Version | Supported |
 | --------- | ------- | --------- |
 | IQ.Pilot  | latest  |  TRUE     |
 | konn3kt   | latest  |  TRUE     |
 ## Scope
 This security policy covers the following components, but applies to all IQ.Lvbs software:
 - **IQ.Pilot**
 - **konn3kt**
 ## Reporting a Vulnerability
-Suspected vulnerabilities can be reported to both `adeeb@comma.ai` and `security@comma.ai`.
+If you discover a security vulnerability in IQ.Pilot or konn3kt, please report it responsibly, abuse is against the terms of service for IQ.Lvbs software.
 **Email:** security@iqlvbs.com
 Please include:
 - A description of the vulnerability and its impact, and potential impact
 - Steps to reproduce the issue
 - Affected component(s)
 - Any relevant logs, screenshots, or proof of concept code that can assist with reproduction.
 ## Response Timeline
 - **Acknowledgment:** Within 168 hours of receipt
 - **Initial Assessment:** Within 1-14 days
 - **Resolution Target:** Depends on severity; critical issues are prioritized immediately
 ## Responsible Disclosure
 We ask that you:
 - Allow reasonable time for us to investigate and address the issue.
 - Avoid accessing or modifying other users' data, this is against IQ.Lvbs policy, and illegal in many jurisdictions.
 - Do not exploit vulnerabilities beyond what is necessary to demonstrate the issue.
 ## Out of Scope
 - Issues in third-party dependencies unless the vulnerability is triggered by our specific usage
 ## Recognition
 We appreciate and recognize security researchers who help keep IQ.Lvbs software safe. With your permission, we will credit you in our release notes when a reported vulnerability is fixed.
 - IQ.Lvbs, a part of Project Teal Lvbs Inc ©️
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 """
 Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
 """
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 """
 Copyright ©️ Project Teal Lvbs Licensed Under MIT License
 """
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 }
--- a/Show More
+++ b/Show More