Merge branch 'master-new' of https://github.com/sunnypilot/sunnypilot into master-new

2026-09-10 02:03:42 +08:00 · 2025-05-11 12:36:23 +02:00
parent 69998a67b6 5c9ce2a042
commit 7924e418f8
35 changed files with 156 additions and 250 deletions
@@ -170,6 +170,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
    {"BackupManager_RestoreVersion", PERSISTENT},

    // sunnypilot car specific params
+    {"HyundaiLongitudinalTuning", PERSISTENT},
    {"HyundaiRadarTracks", PERSISTENT},
    {"HyundaiRadarTracksConfirmed", PERSISTENT},
    {"HyundaiRadarTracksPersistent", PERSISTENT},
@@ -17,7 +17,7 @@ static const QStringList supportedBrands = {
  "mazda",
  "nissan",
  "rivian",
-  "subaru"
+  "subaru",
  "tesla",
  "toyota",
  "volkswagen",
@@ -6,3 +6,16 @@
 */

 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+BrandSettingsInterface::BrandSettingsInterface(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  list = new ListWidget(this, false);
+  main_layout->addWidget(list);
+}
+
+void BrandSettingsInterface::updatePanel(bool _offroad) {
+  offroad = _offroad;
+  updateSettings();
+}
@@ -7,15 +7,22 @@

 #pragma once

-#include <QWidget>
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"

 class BrandSettingsInterface : public QWidget {
  Q_OBJECT

 public:
-  explicit BrandSettingsInterface(QWidget *parent = nullptr) : QWidget(parent) {}
+  explicit BrandSettingsInterface(QWidget *parent = nullptr);
  virtual ~BrandSettingsInterface() = default;

-  virtual void updatePanel(bool offroad) = 0;
+  void updatePanel(bool _offroad);
  virtual void updateSettings() = 0;
+
+protected:
+  ListWidget *list = nullptr;
+  Params params;
+  bool offroad = false;
 };
@@ -7,25 +7,8 @@

 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h"

-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
 ChryslerSettings::ChryslerSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  ListWidget *list = new ListWidget(this, false);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void ChryslerSettings::updatePanel(bool _offroad) {
-  updateSettings();
-
-  offroad = _offroad;
 }

 void ChryslerSettings::updateSettings() {
-  if (!isVisible()) {
-    return;
-  }
 }
@@ -19,8 +19,7 @@ class ChryslerSettings : public BrandSettingsInterface {

 public:
  explicit ChryslerSettings(QWidget *parent = nullptr);
-  void updatePanel(bool _offroad);
-  void updateSettings();
+  void updateSettings() override;

 private:
  bool offroad = false;
@@ -7,25 +7,8 @@

 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h"

-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
 FordSettings::FordSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  ListWidget *list = new ListWidget(this, false);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void FordSettings::updatePanel(bool _offroad) {
-  updateSettings();
-
-  offroad = _offroad;
 }

 void FordSettings::updateSettings() {
-  if (!isVisible()) {
-    return;
-  }
 }
@@ -19,8 +19,7 @@ class FordSettings : public BrandSettingsInterface {

 public:
  explicit FordSettings(QWidget *parent = nullptr);
-  void updatePanel(bool _offroad);
-  void updateSettings();
+  void updateSettings() override;

 private:
  bool offroad = false;
@@ -7,25 +7,8 @@

 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h"

-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
 GMSettings::GMSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  ListWidget *list = new ListWidget(this, false);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void GMSettings::updatePanel(bool _offroad) {
-  updateSettings();
-
-  offroad = _offroad;
 }

 void GMSettings::updateSettings() {
-  if (!isVisible()) {
-    return;
-  }
 }
@@ -19,8 +19,7 @@ class GMSettings : public BrandSettingsInterface {

 public:
  explicit GMSettings(QWidget *parent = nullptr);
-  void updatePanel(bool _offroad);
-  void updateSettings();
+  void updateSettings() override;

 private:
  bool offroad = false;
@@ -7,25 +7,8 @@

 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h"

-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
 HondaSettings::HondaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  ListWidget *list = new ListWidget(this, false);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void HondaSettings::updatePanel(bool _offroad) {
-  updateSettings();
-
-  offroad = _offroad;
 }

 void HondaSettings::updateSettings() {
-  if (!isVisible()) {
-    return;
-  }
 }
@@ -19,8 +19,7 @@ class HondaSettings : public BrandSettingsInterface {

 public:
  explicit HondaSettings(QWidget *parent = nullptr);
-  void updatePanel(bool _offroad);
-  void updateSettings();
+  void updateSettings() override;

 private:
  bool offroad = false;
@@ -7,25 +7,51 @@

 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h"

-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
 HyundaiSettings::HyundaiSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  ListWidget *list = new ListWidget(this, false);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void HyundaiSettings::updatePanel(bool _offroad) {
-  updateSettings();
-
-  offroad = _offroad;
+  std::vector<QString> tuning_texts{ tr("Off"), tr("Dynamic"), tr("Predictive") };
+  longitudinalTuningToggle = new ButtonParamControl(
+    "HyundaiLongitudinalTuning",
+    tr("Custom Longitudinal Tuning"),
+    "",
+    "",
+    tuning_texts,
+    500
+  );
+  QObject::connect(longitudinalTuningToggle, &ButtonParamControlSP::buttonToggled, this, &HyundaiSettings::updateSettings);
+  list->addItem(longitudinalTuningToggle);
+  longitudinalTuningToggle->showDescription();
 }

 void HyundaiSettings::updateSettings() {
-  if (!isVisible()) {
-    return;
+  auto longitudinal_tuning_param = std::atoi(params.get("HyundaiLongitudinalTuning").c_str());
+
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    has_longitudinal_control = hasLongitudinalControl(CP);
+  } else {
+    has_longitudinal_control = false;
  }
+
+  LongitudinalTuningOption longitudinal_tuning_option;
+  if (longitudinal_tuning_param == int(LongitudinalTuningOption::PREDICTIVE)) {
+    longitudinal_tuning_option = LongitudinalTuningOption::PREDICTIVE;
+  } else if (longitudinal_tuning_param == int(LongitudinalTuningOption::DYNAMIC)) {
+    longitudinal_tuning_option = LongitudinalTuningOption::DYNAMIC;
+  } else {
+    longitudinal_tuning_option = LongitudinalTuningOption::OFF;
+  }
+
+  bool longitudinal_tuning_disabled = !offroad || !has_longitudinal_control;
+  QString longitudinal_tuning_description = longitudinalTuningDescription(longitudinal_tuning_option);
+  if (longitudinal_tuning_disabled) {
+    longitudinal_tuning_description = toggleDisableMsg(offroad, has_longitudinal_control);
+  }
+
+  longitudinalTuningToggle->setEnabled(!longitudinal_tuning_disabled);
+  longitudinalTuningToggle->setDescription(longitudinal_tuning_description);
+  longitudinalTuningToggle->showDescription();
 }
@@ -14,14 +14,52 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"

+enum class LongitudinalTuningOption {
+  OFF,
+  DYNAMIC,
+  PREDICTIVE,
+};
+
 class HyundaiSettings : public BrandSettingsInterface {
  Q_OBJECT

 public:
  explicit HyundaiSettings(QWidget *parent = nullptr);
-  void updatePanel(bool _offroad);
-  void updateSettings();
+  void updateSettings() override;

 private:
-  bool offroad = false;
+  bool has_longitudinal_control = false;
+  ButtonParamControl *longitudinalTuningToggle = nullptr;
+
+  static QString toggleDisableMsg(bool _offroad, bool _has_longitudinal_control) {
+    if (!_has_longitudinal_control) {
+      return tr("This feature can only be used with openpilot longitudinal control enabled.");
+    }
+
+    if (!_offroad) {
+      return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to select an option.");
+    }
+
+    return QString();
+  }
+
+  static QString longitudinalTuningDescription(LongitudinalTuningOption option = LongitudinalTuningOption::OFF) {
+    QString off_str = tr("Off: Uses default tuning");
+    QString dynamic_str = tr("Dynamic: Adjusts acceleration limits based on current speed");
+    QString predictive_str = tr("Predictive: Uses future trajectory data to anticipate needed adjustments");
+
+    if (option == LongitudinalTuningOption::PREDICTIVE) {
+      predictive_str = "<font color='white'><b>" + predictive_str + "</b></font>";
+    } else if (option == LongitudinalTuningOption::DYNAMIC) {
+      dynamic_str = "<font color='white'><b>" + dynamic_str + "</b></font>";
+    } else {
+      off_str = "<font color='white'><b>" + off_str + "</b></font>";
+    }
+
+    return QString("%1<br><br>%2<br>%3<br>%4<br>")
+             .arg(tr("Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control."))
+             .arg(off_str)
+             .arg(dynamic_str)
+             .arg(predictive_str);
+  }
 };
@@ -7,25 +7,8 @@

 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h"

-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
 MazdaSettings::MazdaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  ListWidget *list = new ListWidget(this, false);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void MazdaSettings::updatePanel(bool _offroad) {
-  updateSettings();
-
-  offroad = _offroad;
 }

 void MazdaSettings::updateSettings() {
-  if (!isVisible()) {
-    return;
-  }
 }
@@ -19,8 +19,7 @@ class MazdaSettings : public BrandSettingsInterface {

 public:
  explicit MazdaSettings(QWidget *parent = nullptr);
-  void updatePanel(bool _offroad);
-  void updateSettings();
+  void updateSettings() override;

 private:
  bool offroad = false;
@@ -7,25 +7,8 @@

 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h"

-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
 NissanSettings::NissanSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  ListWidget *list = new ListWidget(this, false);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void NissanSettings::updatePanel(bool _offroad) {
-  updateSettings();
-
-  offroad = _offroad;
 }

 void NissanSettings::updateSettings() {
-  if (!isVisible()) {
-    return;
-  }
 }
@@ -19,8 +19,7 @@ class NissanSettings : public BrandSettingsInterface {

 public:
  explicit NissanSettings(QWidget *parent = nullptr);
-  void updatePanel(bool _offroad);
-  void updateSettings();
+  void updateSettings() override;

 private:
  bool offroad = false;
@@ -72,7 +72,6 @@ void PlatformSelector::refresh(bool _offroad) {

      for (auto it = platforms.constBegin(); it != platforms.constEnd(); ++it) {
        if (it.value()["platform"].toString() == platform) {
-          platform = it.key();
          brand = it.value()["brand"].toString();
          break;
        }
@@ -7,25 +7,8 @@

 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h"

-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
 RivianSettings::RivianSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  ListWidget *list = new ListWidget(this, false);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void RivianSettings::updatePanel(bool _offroad) {
-  updateSettings();
-
-  offroad = _offroad;
 }

 void RivianSettings::updateSettings() {
-  if (!isVisible()) {
-    return;
-  }
 }
@@ -19,8 +19,7 @@ class RivianSettings : public BrandSettingsInterface {

 public:
  explicit RivianSettings(QWidget *parent = nullptr);
-  void updatePanel(bool _offroad);
-  void updateSettings();
+  void updateSettings() override;

 private:
  bool offroad = false;
@@ -7,25 +7,8 @@

 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h"

-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
 SubaruSettings::SubaruSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  ListWidget *list = new ListWidget(this, false);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void SubaruSettings::updatePanel(bool _offroad) {
-  updateSettings();
-
-  offroad = _offroad;
 }

 void SubaruSettings::updateSettings() {
-  if (!isVisible()) {
-    return;
-  }
 }
@@ -19,8 +19,7 @@ class SubaruSettings : public BrandSettingsInterface {

 public:
  explicit SubaruSettings(QWidget *parent = nullptr);
-  void updatePanel(bool _offroad);
-  void updateSettings();
+  void updateSettings() override;

 private:
  bool offroad = false;
@@ -7,25 +7,8 @@

 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h"

-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
 TeslaSettings::TeslaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  ListWidget *list = new ListWidget(this, false);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void TeslaSettings::updatePanel(bool _offroad) {
-  updateSettings();
-
-  offroad = _offroad;
 }

 void TeslaSettings::updateSettings() {
-  if (!isVisible()) {
-    return;
-  }
 }
@@ -19,8 +19,7 @@ class TeslaSettings : public BrandSettingsInterface {

 public:
  explicit TeslaSettings(QWidget *parent = nullptr);
-  void updatePanel(bool _offroad);
-  void updateSettings();
+  void updateSettings() override;

 private:
  bool offroad = false;
@@ -7,25 +7,8 @@

 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h"

-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
 ToyotaSettings::ToyotaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  ListWidget *list = new ListWidget(this, false);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void ToyotaSettings::updatePanel(bool _offroad) {
-  updateSettings();
-
-  offroad = _offroad;
 }

 void ToyotaSettings::updateSettings() {
-  if (!isVisible()) {
-    return;
-  }
 }
@@ -19,8 +19,7 @@ class ToyotaSettings : public BrandSettingsInterface {

 public:
  explicit ToyotaSettings(QWidget *parent = nullptr);
-  void updatePanel(bool _offroad);
-  void updateSettings();
+  void updateSettings() override;

 private:
  bool offroad = false;
@@ -7,25 +7,8 @@

 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h"

-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
 VolkswagenSettings::VolkswagenSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  ListWidget *list = new ListWidget(this, false);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void VolkswagenSettings::updatePanel(bool _offroad) {
-  updateSettings();
-
-  offroad = _offroad;
 }

 void VolkswagenSettings::updateSettings() {
-  if (!isVisible()) {
-    return;
-  }
 }
@@ -19,8 +19,7 @@ class VolkswagenSettings : public BrandSettingsInterface {

 public:
  explicit VolkswagenSettings(QWidget *parent = nullptr);
-  void updatePanel(bool _offroad);
-  void updateSettings();
+  void updateSettings() override;

 private:
  bool offroad = false;
@@ -12,26 +12,27 @@
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"

 VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) {
-  main_layout = new QStackedLayout(this);
-  ListWidget *list = new ListWidget(this);
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 20, 50, 20);

-  vehicleScreen = new QWidget(this);
-  QVBoxLayout *vlayout = new QVBoxLayout(vehicleScreen);
-  vlayout->setContentsMargins(50, 20, 50, 20);
+  ListWidget *list = new ListWidget(this);

  platformSelector = new PlatformSelector();
  QObject::connect(platformSelector, &PlatformSelector::refreshPanel, this, &VehiclePanel::updateBrandSettings);
  list->addItem(platformSelector);

+  brandSettingsContainer = new QWidget(this);
+  brandSettingsContainerLayout = new QVBoxLayout(brandSettingsContainer);
+  brandSettingsContainerLayout->setContentsMargins(0, 0, 0, 0);
+  brandSettingsContainerLayout->setSpacing(0);
+  list->addItem(brandSettingsContainer);
+
  ScrollViewSP *scroller = new ScrollViewSP(list, this);
-  vlayout->addWidget(scroller);
+  main_layout->addWidget(scroller);

  currentBrandSettings = nullptr;

  QObject::connect(uiState(), &UIState::offroadTransition, this, &VehiclePanel::updatePanel);
-
-  main_layout->addWidget(vehicleScreen);
-  main_layout->setCurrentWidget(vehicleScreen);
 }

 void VehiclePanel::showEvent(QShowEvent *event) {
@@ -39,9 +40,9 @@ void VehiclePanel::showEvent(QShowEvent *event) {
 }

 void VehiclePanel::updatePanel(bool _offroad) {
+  offroad = _offroad;
  platformSelector->refresh(_offroad);
  updateBrandSettings();
-  offroad = _offroad;
 }

 void VehiclePanel::updateBrandSettings() {
@@ -50,7 +51,7 @@ void VehiclePanel::updateBrandSettings() {
  }

  if (currentBrandSettings) {
-    vehicleScreen->layout()->removeWidget(currentBrandSettings);
+    brandSettingsContainerLayout->removeWidget(currentBrandSettings);
    delete currentBrandSettings;
    currentBrandSettings = nullptr;
  }
@@ -58,7 +59,8 @@ void VehiclePanel::updateBrandSettings() {
  if (BrandSettingsFactory::isBrandSupported(platformSelector->brand)) {
    currentBrandSettings = BrandSettingsFactory::createBrandSettings(platformSelector->brand, this);
    if (currentBrandSettings) {
-      vehicleScreen->layout()->addWidget(currentBrandSettings);
+      currentBrandSettings->setContentsMargins(0, 0, 0, 0);
+      brandSettingsContainerLayout->addWidget(currentBrandSettings);
      currentBrandSettings->updatePanel(offroad);
    }
  }
@@ -23,10 +23,10 @@ public slots:
  void updatePanel(bool _offroad);

 private:
-  QStackedLayout* main_layout = nullptr;
-  QWidget* vehicleScreen = nullptr;
  PlatformSelector* platformSelector = nullptr;
  BrandSettingsInterface* currentBrandSettings = nullptr;
+  QWidget* brandSettingsContainer = nullptr;
+  QVBoxLayout* brandSettingsContainerLayout = nullptr;
  bool offroad = false;

 private slots:
@@ -148,7 +148,7 @@ AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, con

  // description
  description = new QLabel(desc);
-  description->setContentsMargins(0, 20, 40, 20);
+  description->setContentsMargins(40, 20, 40, 20);
  description->setStyleSheet("font-size: 40px; color: grey");
  description->setWordWrap(true);
  description->setVisible(false);
@@ -72,7 +72,7 @@ class ModularAssistiveDrivingSystem:
      if self.events.has(EventName.seatbeltNotLatched):
        replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched)
        transition_paused_state()
-      if self.events.has(EventName.wrongGear) and (CS.standstill or CS.gearShifter == GearShifter.reverse):
+      if self.events.has(EventName.wrongGear) and (CS.vEgo < 2.5 or CS.gearShifter == GearShifter.reverse):
        replace_event(EventName.wrongGear, EventNameSP.silentWrongGear)
        transition_paused_state()
      if self.events.has(EventName.reverseGear):
@@ -11,6 +11,7 @@ from opendbc.car.car_helpers import can_fingerprint
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
 from opendbc.car.hyundai.values import HyundaiFlags, DBC as HYUNDAI_DBC
+from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
@@ -25,6 +26,21 @@ def log_fingerprint(CP: structs.CarParams) -> None:
  else:
    sentry.capture_fingerprint(CP.carFingerprint, CP.brand)

+def _initialize_custom_longitudinal_tuning(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
+                                           params: Params = None) -> None:
+  if params is None:
+    params = Params()
+
+  # Hyundai Custom Longitudinal Tuning
+  if CP.brand == 'hyundai':
+    hyundai_longitudinal_tuning = int(params.get("HyundaiLongitudinalTuning", encoding="utf8") or 0)
+    if hyundai_longitudinal_tuning == LongitudinalTuningType.DYNAMIC:
+      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_DYNAMIC.value
+    if hyundai_longitudinal_tuning == LongitudinalTuningType.PREDICTIVE:
+      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_PREDICTIVE.value
+
+  CP_SP = CI.get_longitudinal_tuning_sp(CP, CP_SP)
+

 def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
                                               params: Params = None, enabled: bool = False) -> None:
@@ -61,10 +77,11 @@ def _initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP,
          CP.radarUnavailable = False


-def setup_interfaces(CI: CarInterfaceBase, params: Params = None):
+def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
  CP = CI.CP
  CP_SP = CI.CP_SP

+  _initialize_custom_longitudinal_tuning(CI, CP, CP_SP, params)
  _initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
  _initialize_radar_tracks(CP, CP_SP, params)

@@ -45,6 +45,7 @@ def manager_init() -> None:
    ("AutoLaneChangeTimer", "0"),
    ("AutoLaneChangeBsmDelay", "0"),
    ("DynamicExperimentalControl", "0"),
+    ("HyundaiLongitudinalTuning", "0"),
    ("Mads", "1"),
    ("MadsMainCruiseAllowed", "1"),
    ("MadsPauseLateralOnBrake", "0"),