From 1fe5c0a3da59a8ddde5a75bfc722d5c4c1661936 Mon Sep 17 00:00:00 2001
From: rav4kumar <meetkumardesai@gmail.com>
Date: Mon, 17 Feb 2025 17:23:48 -0700
Subject: [PATCH] eco, abh,

---
 common/params.cc                    |  3 +++
 selfdrive/car/card.py               |  4 ++++
 selfdrive/ui/qt/offroad/settings.cc | 24 ++++++++++++++++++++++++
 system/manager/manager.py           |  6 +++++-
 4 files changed, 36 insertions(+), 1 deletion(-)

diff --git a/common/params.cc b/common/params.cc
index 9924f677b4..8b929747b4 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -239,6 +239,9 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"HyundaiRadarTracksToggle", PERSISTENT},
 
     {"DynamicExperimentalControl", PERSISTENT},
+    {"ToyotaAutoHold", PERSISTENT},
+    {"ToyotaEnhancedBsm", PERSISTENT},
+    {"ToyotaTSS2Long", PERSISTENT},
 };
 
 } // namespace
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index e7c450737b..0d0dce6c13 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -121,9 +121,13 @@ class Car:
 
     # set alternative experiences from parameters
     disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
+    sp_toyota_auto_brake_hold = self.params.get_bool("ToyotaAutoHold")
     self.CP.alternativeExperience = 0
     if not disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
+    if sp_toyota_auto_brake_hold:
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
+
 
     # mads
     MadsParams().set_alternative_experience(self.CP)
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 076ba99b12..74e869318f 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -36,6 +36,30 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
       "../assets/offroad/icon_blank.png",
     },
+    {
+      "FastTakeOff",
+      tr("Very fast prius"),
+      tr("When prius goes faster then sunnys car :) vroom"),
+      "../assets/offroad/icon_blank.png",
+    },
+    {
+      "ToyotaAutoHold",
+      tr("Toyota: Auto Brake Hold"),
+      tr("umm auto brake hold?"),
+      "../assets/offroad/icon_blank.png",
+    },
+    {
+      "ToyotaEnhancedBsm",
+      tr("Toyota: Enhanced BSM"),
+      tr("like blind spot monitoring but better?"),
+      "../assets/offroad/icon_blank.png",
+    },
+    {
+      "ToyotaTSS2Long",
+      tr("Toyota: custom tune"),
+      tr("idk something gas and brake"),
+      "../assets/offroad/icon_blank.png",
+    },
     {
       "DisengageOnAccelerator",
       tr("Disengage on Accelerator Pedal"),
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 499ed6474b..0338abde19 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -49,7 +49,11 @@ def manager_init() -> None:
     ("MadsPauseLateralOnBrake", "0"),
     ("MadsUnifiedEngagementMode", "1"),
     ("ModelManager_LastSyncTime", "0"),
-    ("ModelManager_ModelsCache", "")
+    ("ModelManager_ModelsCache", ""),
+
+    ("ToyotaAutoHold", "0"),
+    ("ToyotaEnhancedBsm", "0"),
+    ("ToyotaTSS2Long", "0"),
   ]
 
   if params.get_bool("RecordFrontLock"):