From 082cf39d736ad10a10ca33c7ba3f01f12e0a9f00 Mon Sep 17 00:00:00 2001
From: Christopher Haucke <132518562+CHaucke89@users.noreply.github.com>
Date: Sat, 21 Feb 2026 20:01:27 -0500
Subject: [PATCH 01/10] UI: Fix option control display for floating point
 params (#1711)

---
 system/ui/sunnypilot/widgets/option_control.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/system/ui/sunnypilot/widgets/option_control.py b/system/ui/sunnypilot/widgets/option_control.py
index 91e9650eb..291d8f6ff 100644
--- a/system/ui/sunnypilot/widgets/option_control.py
+++ b/system/ui/sunnypilot/widgets/option_control.py
@@ -44,7 +44,8 @@ class OptionControlSP(ItemAction):
           self.current_value = int(key)
           break
     else:
-      self.current_value = int(self.params.get(self.param_key, return_default=True))
+      value = self.params.get(self.param_key, return_default=True)
+      self.current_value = int(float(value) * 100.0) if self.use_float_scaling else int(value)
 
     # Initialize font and button styles
     self._font = gui_app.font(FontWeight.MEDIUM)

From 111e8897be79f4c99734e77d0c389612f14a8e50 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Mon, 23 Feb 2026 22:23:08 -0500
Subject: [PATCH 02/10] models: fix default & index "0" (#1718)

* default be gone

* zero is the most significant number, don't ignore it.

* thanks sentry!!
---
 common/params_keys.h         | 2 +-
 sunnypilot/models/manager.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 6f27d9582..8f3ee858f 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -190,7 +190,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     // Model Manager params
     {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
     {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT, "0"}},
+    {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT}},
     {"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
     {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
     {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
diff --git a/sunnypilot/models/manager.py b/sunnypilot/models/manager.py
index 2d3d670bf..8fee0798b 100644
--- a/sunnypilot/models/manager.py
+++ b/sunnypilot/models/manager.py
@@ -171,7 +171,7 @@ class ModelManagerSP:
         self.available_models = self.model_fetcher.get_available_bundles()
         self.active_bundle = get_active_bundle(self.params)
 
-        if index_to_download := self.params.get("ModelManager_DownloadIndex"):
+        if (index_to_download := self.params.get("ModelManager_DownloadIndex")) is not None:
           if model_to_download := next((model for model in self.available_models if model.index == index_to_download), None):
             try:
               self.download(model_to_download, Paths.model_root())

From 8a64cc57a96845c1ea67b537d648441631f97a6d Mon Sep 17 00:00:00 2001
From: Angus Dippenaar <angusdippenaar@gmail.com>
Date: Tue, 24 Feb 2026 06:22:40 +0100
Subject: [PATCH 03/10] [TIZI/TICI] visuals: Improved speed limit (#1713)

improved speed limit

Co-authored-by: royjr <royjr96@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/sunnypilot/onroad/speed_limit.py | 47 +++++++++----------
 1 file changed, 22 insertions(+), 25 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/onroad/speed_limit.py b/selfdrive/ui/sunnypilot/onroad/speed_limit.py
index e8b5c5cfc..39a9848d3 100644
--- a/selfdrive/ui/sunnypilot/onroad/speed_limit.py
+++ b/selfdrive/ui/sunnypilot/onroad/speed_limit.py
@@ -4,6 +4,7 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+
 from dataclasses import dataclass
 import math
 import pyray as rl
@@ -33,7 +34,7 @@ SpeedLimitSource = custom.LongitudinalPlanSP.SpeedLimit.Source
 class Colors:
   WHITE = rl.WHITE
   BLACK = rl.BLACK
-  RED = rl.RED
+  RED = rl.Color(235, 32, 32, 255)
   GREY = rl.Color(145, 155, 149, 255)
   DARK_GREY = rl.Color(77, 77, 77, 255)
   SUB_BG = rl.Color(0, 0, 0, 180)
@@ -201,22 +202,17 @@ class SpeedLimitRenderer(Widget):
     center = rl.Vector2(rect.x + rect.width / 2, rect.y + rect.height / 2)
     radius = (rect.width + 18) / 2
 
-    white = rl.Color(255, 255, 255, int(255 * alpha))
-    red = rl.Color(255, 0, 0, int(255 * alpha))
-
-    if hasattr(color, 'r'):
-      text_color = rl.Color(color.r, color.g, color.b, int(255 * alpha))
-    else:
-      text_color = rl.Color(color[0], color[1], color[2], int(255 * alpha))
-
-    black = rl.Color(0, 0, 0, int(255 * alpha))
-    dark_grey = rl.Color(77, 77, 77, int(255 * alpha))
+    white = rl.color_alpha(Colors.WHITE, alpha)
+    red = rl.color_alpha(Colors.RED, alpha)
+    black = rl.color_alpha(Colors.BLACK, alpha)
+    dark_grey = rl.color_alpha(Colors.DARK_GREY, alpha)
+    text_color = rl.color_alpha(color, alpha)
 
     rl.draw_circle_v(center, radius, white)
-    rl.draw_ring(center, radius * 0.80, radius, 0, 360, 36, red)
+    rl.draw_ring(center, radius * 0.75, radius, 0, 360, 36, red)
 
-    f_size = 70 if len(val) >= 3 else 85
-    self._draw_text_centered(self.font_bold, val, f_size, center, text_color)
+    font_size = 70 if len(val) >= 3 else 85
+    self._draw_text_centered(self.font_bold, val, font_size, center, text_color)
 
     if sub and has_limit:
       s_radius = radius * 0.4
@@ -225,22 +221,23 @@ class SpeedLimitRenderer(Widget):
       rl.draw_circle_v(s_center, s_radius, black)
       rl.draw_ring(s_center, s_radius - 3, s_radius, 0, 360, 36, dark_grey)
 
-      f_scale = 0.5 if len(sub) < 3 else 0.45
-      self._draw_text_centered(self.font_bold, sub, int(s_radius * 2 * f_scale), s_center, white)
+      font_scale = 0.5 if len(sub) < 3 else 0.45
+      self._draw_text_centered(self.font_bold, sub, int(s_radius * 2 * font_scale), s_center, white)
 
   def _render_mutcd(self, rect, val, sub, color, has_limit, alpha=1.0):
-    white = rl.Color(255, 255, 255, int(255 * alpha))
-    black = rl.Color(0, 0, 0, int(255 * alpha))
-    dark_grey = rl.Color(77, 77, 77, int(255 * alpha))
-
-    if hasattr(color, 'r'):
-      text_color = rl.Color(color.r, color.g, color.b, int(255 * alpha))
-    else:
-      text_color = rl.Color(color[0], color[1], color[2], int(255 * alpha))
+    white = rl.color_alpha(Colors.WHITE, alpha)
+    black = rl.color_alpha(Colors.BLACK, alpha)
+    dark_grey = rl.color_alpha(Colors.DARK_GREY, alpha)
+    text_color = rl.color_alpha(color, alpha)
 
     rl.draw_rectangle_rounded(rect, 0.35, 10, white)
+
     inner = rl.Rectangle(rect.x + 10, rect.y + 10, rect.width - 20, rect.height - 20)
-    rl.draw_rectangle_rounded_lines_ex(inner, 0.35, 10, 4, black)
+    outer_radius = 0.35 * rect.width / 2.0
+    inner_radius = outer_radius - 10.0
+    inner_roundness = inner_radius / (inner.width / 2.0)
+
+    rl.draw_rectangle_rounded_lines_ex(inner, inner_roundness, 10, 4, black)
 
     self._draw_text_centered(self.font_demi, "SPEED", 40, rl.Vector2(rect.x + rect.width / 2, rect.y + 40), black)
     self._draw_text_centered(self.font_demi, "LIMIT", 40, rl.Vector2(rect.x + rect.width / 2, rect.y + 80), black)

From c48b724de1e3f44e0eaea43b1c2cf79c9b5ece1e Mon Sep 17 00:00:00 2001
From: James Mikesell <james.mikesell@gmail.com>
Date: Tue, 24 Feb 2026 02:38:19 -0500
Subject: [PATCH 04/10] ICBM: ensure button timers update on disable to clear
 stale presses (#1688)

* ICBM: ensure button timers update on disable to clear stale presses

* fix race condition

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/car/cruise.py | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py
index 9973862b8..572dfabc0 100644
--- a/selfdrive/car/cruise.py
+++ b/selfdrive/car/cruise.py
@@ -48,14 +48,14 @@ class VCruiseHelper(VCruiseHelperSP):
 
     self.get_minimum_set_speed(is_metric)
 
+    _enabled = self.update_enabled_state(CS, enabled)
+
     if CS.cruiseState.available:
-      _enabled = self.update_enabled_state(CS, enabled)
       if not self.CP.pcmCruise or (not self.CP_SP.pcmCruiseSpeed and _enabled):
         # if stock cruise is completely disabled, then we can use our own set speed logic
         self._update_v_cruise_non_pcm(CS, _enabled, is_metric)
         self.update_speed_limit_assist_v_cruise_non_pcm()
         self.v_cruise_cluster_kph = self.v_cruise_kph
-        self.update_button_timers(CS, enabled)
       else:
         self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
         self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
@@ -69,6 +69,9 @@ class VCruiseHelper(VCruiseHelperSP):
       self.v_cruise_kph = V_CRUISE_UNSET
       self.v_cruise_cluster_kph = V_CRUISE_UNSET
 
+    if not self.CP.pcmCruise or not self.CP_SP.pcmCruiseSpeed:
+      self.update_button_timers(CS, enabled)
+
   def _update_v_cruise_non_pcm(self, CS, enabled, is_metric):
     # handle button presses. TODO: this should be in state_control, but a decelCruise press
     # would have the effect of both enabling and changing speed is checked after the state transition

From 03a14ff864af684f9f894a4f8b207e76e690c3b6 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 24 Feb 2026 03:02:36 -0500
Subject: [PATCH 05/10] [TIZI/TICI] ui: simplify Smart Cruise Control text
 rendering (#1719)

---
 .../sunnypilot/onroad/smart_cruise_control.py | 35 ++++---------------
 1 file changed, 7 insertions(+), 28 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py b/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py
index ca71fcac4..b4848141e 100644
--- a/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py
+++ b/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py
@@ -25,7 +25,6 @@ class SmartCruiseControlRenderer(Widget):
     self.long_override = False
 
     self.font = gui_app.font(FontWeight.BOLD)
-    self.scc_tex = rl.load_render_texture(256, 128)
 
   def update(self):
     sm = ui_state.sm
@@ -65,44 +64,24 @@ class SmartCruiseControlRenderer(Widget):
     sz = measure_text_cached(self.font, text, font_size)
     box_height = int(sz.y + padding_v * 2)
 
-    texture_width = 256
-    texture_height = 128
-
-    rl.begin_texture_mode(self.scc_tex)
-    rl.clear_background(rl.Color(0, 0, 0, 0))
-
     if self.long_override:
       box_color = COLORS.OVERRIDE
     else:
       box_color = rl.Color(0, 255, 0, 255)
 
-    # Center box in texture
-    box_x = (texture_width - box_width) // 2
-    box_y = (texture_height - box_height) // 2
+    screen_y = rect_height / 4 + y_offset
 
+    box_x = rect_center_x + x_offset - box_width / 2
+    box_y = screen_y - box_height / 2
+
+    # Draw rounded background box
     rl.draw_rectangle_rounded(rl.Rectangle(box_x, box_y, box_width, box_height), 0.2, 10, box_color)
 
-    # Draw text with custom blend mode to punch hole
-    rl.rl_set_blend_factors(rl.RL_ZERO, rl.RL_ONE_MINUS_SRC_ALPHA, 0x8006)
-    rl.rl_set_blend_mode(rl.BLEND_CUSTOM)
-
+    # Draw text centered in the box (black color for contrast against bright green/grey)
     text_pos_x = box_x + (box_width - sz.x) / 2
     text_pos_y = box_y + (box_height - sz.y) / 2
 
-    rl.draw_text_ex(self.font, text, rl.Vector2(text_pos_x, text_pos_y), font_size, 0, rl.WHITE)
-
-    rl.rl_set_blend_mode(rl.BLEND_ALPHA)  # Reset
-    rl.end_texture_mode()
-
-    screen_y = rect_height / 4 + y_offset
-
-    dest_x = rect_center_x + x_offset - texture_width / 2
-    dest_y = screen_y - texture_height / 2
-
-    src_rect = rl.Rectangle(0, 0, texture_width, -texture_height)
-    dst_rect = rl.Rectangle(dest_x, dest_y, texture_width, texture_height)
-
-    rl.draw_texture_pro(self.scc_tex.texture, src_rect, dst_rect, rl.Vector2(0, 0), 0, rl.WHITE)
+    rl.draw_text_ex(self.font, text, rl.Vector2(text_pos_x, text_pos_y), font_size, 0, rl.BLACK)
 
   def _render(self, rect: rl.Rectangle):
     x_offset = -260

From 7a43e2cb6736421e45b4b5e2e51cb381ac3ecd9e Mon Sep 17 00:00:00 2001
From: Zeph <zephleggett@gmail.com>
Date: Wed, 25 Feb 2026 00:52:48 -0600
Subject: [PATCH 06/10] controlsd: fix steer_limited_by_safety not updating
 under MADS (#1716)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The `steer_limited_by_safety` update in `publish()` is gated by
`selfdriveState.active`, which is False during MADS lateral-only
control. This causes the flag to never update once cruise deactivates
— it stays stuck at whatever value it had during the last ramp-up
(typically True), permanently suppressing the saturation timer in
`_check_saturation` and preventing the "Turn Exceeds Steering Limit"
alert from firing.

Use `CC.latActive` instead, which already accounts for MADS via
`get_lat_active()` in ControlsExt.

Bug was introduced in #446 (MADS), which updated `CC.latActive` to
use `mads.active` but missed updating the `steer_limited_by_safety`
gate in `publish()`.
---
 selfdrive/controls/controlsd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 12b146e80..1c8e9f76b 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -185,7 +185,7 @@ class Controls(ControlsExt):
       hudControl.leftLaneDepart = self.sm['driverAssistance'].leftLaneDeparture
       hudControl.rightLaneDepart = self.sm['driverAssistance'].rightLaneDeparture
 
-    if self.sm['selfdriveState'].active:
+    if self.get_lat_active(self.sm):
       CO = self.sm['carOutput']
       if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
         self.steer_limited_by_safety = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \

From 538e1e8a9a77ababf8492108867b8adccc59e7d3 Mon Sep 17 00:00:00 2001
From: Zeph <zephleggett@gmail.com>
Date: Wed, 25 Feb 2026 01:00:07 -0600
Subject: [PATCH 07/10] soundd: trigger timeout warning during MADS
 lateral-only (#1717)

* soundd: trigger timeout warning during MADS lateral-only

The selfdrive timeout alert (warningImmediate) only fires when
selfdriveState.enabled is True. During MADS lateral-only mode,
enabled is False even though the system is actively steering.

If selfdrived stops publishing while MADS lateral is active, the
driver gets no audible warning that steering has become unresponsive.

Add selfdriveStateSP to the SubMaster and check mads.active alongside
selfdriveState.enabled so the timeout alert fires whenever the system
is actuating steering.

* test_soundd: add MADS lateral-only timeout test

Test that the selfdrive timeout warning fires when selfdriveState.enabled
is False but selfdriveStateSP.mads.active is True.

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/ui/soundd.py            |  4 ++--
 selfdrive/ui/tests/test_soundd.py | 30 ++++++++++++++++++++++++++++--
 2 files changed, 30 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py
index c41fec267..edf28b712 100644
--- a/selfdrive/ui/soundd.py
+++ b/selfdrive/ui/soundd.py
@@ -65,7 +65,7 @@ def check_selfdrive_timeout_alert(sm):
   ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
 
   if ss_missing > SELFDRIVE_STATE_TIMEOUT:
-    if sm['selfdriveState'].enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < 10:
+    if (sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.enabled) and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < 10:
       return True
 
   return False
@@ -158,7 +158,7 @@ class Soundd(QuietMode):
     # sounddevice must be imported after forking processes
     import sounddevice as sd
 
-    sm = messaging.SubMaster(['selfdriveState', 'soundPressure'])
+    sm = messaging.SubMaster(['selfdriveState', 'selfdriveStateSP', 'soundPressure'])
 
     with self.get_stream(sd) as stream:
       rk = Ratekeeper(20)
diff --git a/selfdrive/ui/tests/test_soundd.py b/selfdrive/ui/tests/test_soundd.py
index a9da8455e..226117ae8 100644
--- a/selfdrive/ui/tests/test_soundd.py
+++ b/selfdrive/ui/tests/test_soundd.py
@@ -10,8 +10,8 @@ AudibleAlert = car.CarControl.HUDControl.AudibleAlert
 
 class TestSoundd:
   def test_check_selfdrive_timeout_alert(self):
-    sm = SubMaster(['selfdriveState'])
-    pm = PubMaster(['selfdriveState'])
+    sm = SubMaster(['selfdriveState', 'selfdriveStateSP'])
+    pm = PubMaster(['selfdriveState', 'selfdriveStateSP'])
 
     for _ in range(100):
       cs = messaging.new_message('selfdriveState')
@@ -31,5 +31,31 @@ class TestSoundd:
 
     assert check_selfdrive_timeout_alert(sm)
 
+  def test_check_selfdrive_timeout_alert_mads_lateral_only(self):
+    sm = SubMaster(['selfdriveState', 'selfdriveStateSP'])
+    pm = PubMaster(['selfdriveState', 'selfdriveStateSP'])
+
+    for _ in range(100):
+      cs = messaging.new_message('selfdriveState')
+      cs.selfdriveState.enabled = False
+
+      ss_sp = messaging.new_message('selfdriveStateSP')
+      ss_sp.selfdriveStateSP.mads.enabled = True
+
+      pm.send("selfdriveState", cs)
+      pm.send("selfdriveStateSP", ss_sp)
+
+      time.sleep(0.01)
+
+      sm.update(0)
+
+      assert not check_selfdrive_timeout_alert(sm)
+
+    for _ in range(SELFDRIVE_STATE_TIMEOUT * 110):
+      sm.update(0)
+      time.sleep(0.01)
+
+    assert check_selfdrive_timeout_alert(sm)
+
   # TODO: add test with micd for checking that soundd actually outputs sounds
 

From a4166563e1fe28d9f64637f7049ebe65cc59bfed Mon Sep 17 00:00:00 2001
From: Lukas Heintz <61192133+lukasloetkolben@users.noreply.github.com>
Date: Wed, 25 Feb 2026 08:39:50 +0100
Subject: [PATCH 08/10] pandad: flasher for Rivian long upgrade module (#1712)

* flasher for Rivian long upgrade

* self-contained no dependency on Panda.F4_DEVICES

* standalone flasher

* move to sp module

* use brand field directly

* use brand field directly

* use brand field directly

* bump

* add some logging

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 opendbc_repo                                  |   2 +-
 selfdrive/pandad/pandad.py                    |   5 +
 sunnypilot/selfdrive/pandad/__init__.py       |   0
 .../selfdrive/pandad/rivian_long_flasher.py   |  96 ++++++++++++++++++
 .../pandad/rivian_long_fw.bin.signed          | Bin 0 -> 59500 bytes
 5 files changed, 102 insertions(+), 1 deletion(-)
 create mode 100644 sunnypilot/selfdrive/pandad/__init__.py
 create mode 100755 sunnypilot/selfdrive/pandad/rivian_long_flasher.py
 create mode 100644 sunnypilot/selfdrive/pandad/rivian_long_fw.bin.signed

diff --git a/opendbc_repo b/opendbc_repo
index 613a562bb..cbcd12695 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 613a562bba80997b5c1c74cd799641d06fb2b38c
+Subproject commit cbcd126951094311ab5a43dd384a495cd881c080
diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py
index d21e60f83..c9ddfd633 100755
--- a/selfdrive/pandad/pandad.py
+++ b/selfdrive/pandad/pandad.py
@@ -12,6 +12,8 @@ from openpilot.common.params import Params
 from openpilot.system.hardware import HARDWARE
 from openpilot.common.swaglog import cloudlog
 
+from openpilot.sunnypilot.selfdrive.pandad.rivian_long_flasher import flash_rivian_long
+
 
 def get_expected_signature() -> bytes:
   try:
@@ -129,6 +131,9 @@ def main() -> None:
       for serial in panda_serials:
         pandas.append(flash_panda(serial))
 
+      # flash Rivian longitudinal upgrade panda
+      flash_rivian_long(pandas)
+
       # Ensure internal panda is present if expected
       internal_pandas = [panda for panda in pandas if panda.is_internal()]
       if HARDWARE.has_internal_panda() and len(internal_pandas) == 0:
diff --git a/sunnypilot/selfdrive/pandad/__init__.py b/sunnypilot/selfdrive/pandad/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/sunnypilot/selfdrive/pandad/rivian_long_flasher.py b/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
new file mode 100755
index 000000000..58ff0683b
--- /dev/null
+++ b/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
@@ -0,0 +1,96 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import os
+from itertools import accumulate
+
+from cereal import car, messaging
+from panda import Panda
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+
+FW_PATH = os.path.join(os.path.dirname(os.path.abspath(__file__)), "rivian_long_fw.bin.signed")
+SECTOR_SIZES = [0x4000] * 4 + [0x10000] + [0x20000] * 11
+
+
+def _is_rivian() -> bool:
+  params = Params()
+
+  # check fixed fingerprint
+  if bundle := params.get("CarPlatformBundle"):
+    if bundle.get("brand") == "rivian":
+      return True
+
+  # check cached fingerprint
+  CP_bytes = params.get("CarParamsPersistent")
+  if CP_bytes is not None:
+    CP = messaging.log_from_bytes(CP_bytes, car.CarParams)
+    if CP.brand == "rivian":
+      return True
+
+  return False
+
+
+def _flash_static(handle, code):
+  assert Panda.flasher_present(handle)
+  last_sector = next((i + 1 for i, v in enumerate(accumulate(SECTOR_SIZES[1:])) if v > len(code)), -1)
+  assert 1 <= last_sector < 7, "Invalid firmware size"
+
+  handle.controlWrite(Panda.REQUEST_IN, 0xb1, 0, 0, b'')
+  for i in range(1, last_sector + 1):
+    handle.controlWrite(Panda.REQUEST_IN, 0xb2, i, 0, b'')
+  for i in range(0, len(code), 0x10):
+    handle.bulkWrite(2, code[i:i + 0x10])
+  try:
+    handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'', expect_disconnect=True)
+  except Exception:
+    pass
+
+
+def _flash_panda(panda: Panda) -> None:
+  expected_sig = Panda.get_signature_from_firmware(FW_PATH)
+  if not panda.bootstub and panda.get_signature() == expected_sig:
+    cloudlog.info(f"F4 panda {panda.get_usb_serial()} already up to date")
+    return
+
+  cloudlog.info(f"Flashing F4 panda {panda.get_usb_serial()}")
+  with open(FW_PATH, "rb") as f:
+    code = f.read()
+
+  if not panda.bootstub:
+    # enter bootstub directly, panda.reset() rejects deprecated hw types
+    try:
+      panda._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 1, 0, b'', timeout=15000, expect_disconnect=True)
+    except Exception:
+      pass
+    panda.close()
+    panda.reconnect()
+
+  _flash_static(panda._handle, code)
+  panda.reconnect()
+
+
+def flash_rivian_long(pandas: list[Panda]) -> None:
+  if not os.path.isfile(FW_PATH):
+    cloudlog.error(f"Rivian longitudinal upgrade firmware not found at {FW_PATH}")
+    return
+
+  if not _is_rivian():
+    cloudlog.info("Not a Rivian, skipping longitudinal upgrade...")
+    return
+
+  for panda in pandas:
+    # only flash external black pandas (HW_TYPE_BLACK = 0x03)
+    if panda.get_type() == b'\x03' and not panda.is_internal():
+      try:
+        _flash_panda(panda)
+      except Exception:
+        cloudlog.exception(f"Failed to flash F4 panda {panda.get_usb_serial()}")
+
+
+if __name__ == '__main__':
+  flash_rivian_long([Panda(s) for s in Panda.list()])
diff --git a/sunnypilot/selfdrive/pandad/rivian_long_fw.bin.signed b/sunnypilot/selfdrive/pandad/rivian_long_fw.bin.signed
new file mode 100644
index 0000000000000000000000000000000000000000..bdbd237ba99589813bdda2199ad71f42bfc2937a
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From 06a5a380df70244a2a7c82218ca7748095aa9d6d Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 25 Feb 2026 02:51:39 -0500
Subject: [PATCH 09/10] bump

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index a95e060e8..7b9eb4b24 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit a95e060e855dc59898dd3bf2274a598dacdd2571
+Subproject commit 7b9eb4b247e09e4aa40b78394e45d92f5b42a569

From f43dc93bd91ef16fb374954b4c106d2aa1bb9cc8 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 25 Feb 2026 03:34:05 -0500
Subject: [PATCH 10/10] Revert "bump"

This reverts commit 06a5a380df70244a2a7c82218ca7748095aa9d6d.
---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 7b9eb4b24..a95e060e8 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 7b9eb4b247e09e4aa40b78394e45d92f5b42a569
+Subproject commit a95e060e855dc59898dd3bf2274a598dacdd2571