Merge remote-tracking branch 'sunnypilot/sunnypilot/master' into hkg-angle-steering-2025

.github/workflows/tests.yaml

@@ -107,6 +107,7 @@ jobs:
 
   build_mac:
     name: build macOS
+    if: false # tmp disable due to brew install not working
     runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
     steps:
     - uses: actions/checkout@v6

selfdrive/ui/sunnypilot/onroad/augmented_road_view.py

@@ -23,7 +23,7 @@ class AugmentedRoadViewSP:
   def update_fade_out_bottom_overlay(self, _content_rect):
     # Fade out bottom of overlays for looks (only when engaged)
     fade_alpha = self._fade_alpha_filter.update(ui_state.status != UIStatus.DISENGAGED)
-    if ui_state.torque_bar and fade_alpha > 1e-2:
+    if ui_state.torque_bar and ui_state.sm['controlsState'].lateralControlState.which() != 'angleState' and fade_alpha > 1e-2:
       # Scale the fade texture to the content rect
       rl.draw_texture_pro(self._fade_texture,
                           rl.Rectangle(0, 0, self._fade_texture.width, self._fade_texture.height),

tools/longitudinal_maneuvers/maneuversd.py

@@ -132,7 +132,7 @@ def main():
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
 
   sm = messaging.SubMaster(['carState', 'carControl', 'controlsState', 'selfdriveState', 'modelV2'], poll='modelV2')
-  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'alertDebug'])
+  pm = messaging.PubMaster(['longitudinalPlan', 'longitudinalPlanSP', 'driverAssistance', 'alertDebug'])
 
   maneuvers = iter(MANEUVERS)
   maneuver = None
@@ -177,6 +177,10 @@ def main():
 
     pm.send('longitudinalPlan', plan_send)
 
+    plan_sp_send = messaging.new_message('longitudinalPlanSP')
+    plan_sp_send.valid = True
+    pm.send('longitudinalPlanSP', plan_sp_send)
+
     assistance_send = messaging.new_message('driverAssistance')
     assistance_send.valid = True
     pm.send('driverAssistance', assistance_send)