From 27a220677a2aecaf419d85a007c9bc4fc1ab01a5 Mon Sep 17 00:00:00 2001
From: Isaac Barham <development@isaacbarham.com>
Date: Sat, 29 Aug 2026 07:45:40 -0400
Subject: [PATCH] Productionize assisted driving milestones

Assisted-by: OpenAI Codex
---
 openpilot/cereal/custom.capnp                 |  25 +-
 openpilot/cereal/log.capnp                    |   2 +-
 openpilot/cereal/services.py                  |   1 +
 openpilot/common/params.cc                    |   4 +
 openpilot/common/params.h                     |   1 +
 openpilot/common/params.py                    |   5 +
 openpilot/common/params_c.cc                  |   6 +
 openpilot/common/params_keys.h                |   4 +-
 openpilot/common/tests/test_params.py         |   7 +
 openpilot/selfdrive/selfdrived/selfdrived.py  |  67 ++++-
 openpilot/selfdrive/ui/mici/layouts/main.py   |   6 +-
 .../ui/mici/layouts/settings/toggles.py       |   3 +
 .../ui/mici/onroad/augmented_road_view.py     |  20 +-
 openpilot/selfdrive/ui/soundd.py              |  14 +-
 .../ui/sunnypilot/mici/layouts/home.py        |  62 ++++-
 ..._prototype.py => milestone_celebration.py} | 123 ++++-----
 .../onroad/milestone_tracker_prototype.py     | 140 ----------
 openpilot/selfdrive/ui/sunnypilot/ui_state.py |   3 +-
 .../ui/tests/generate_milestone_sound.py      |   2 +-
 .../selfdrive/ui/tests/milestone_preview.py   |  38 +++
 .../ui/tests/run_milestone_celebration.sh     |  27 ++
 .../run_milestone_celebration_prototype.sh    |  24 --
 .../tests/test_milestone_tracker_prototype.py | 106 -------
 openpilot/selfdrive/ui/tests/test_soundd.py   |  51 +++-
 .../selfdrived/assisted_driving_milestones.py | 260 ++++++++++++++++++
 .../tests/test_assisted_driving_milestones.py | 123 +++++++++
 .../sunnypilot/sunnylink/settings_ui.json     |   6 +
 .../settings_ui_src/pages/visuals.yaml        |   4 +
 .../sunnypilot/system/params_migration.py     |  31 ++-
 .../system/tests/test_params_migration.py     |  18 +-
 30 files changed, 793 insertions(+), 390 deletions(-)
 rename openpilot/selfdrive/ui/sunnypilot/onroad/{milestone_celebration_prototype.py => milestone_celebration.py} (68%)
 delete mode 100644 openpilot/selfdrive/ui/sunnypilot/onroad/milestone_tracker_prototype.py
 create mode 100755 openpilot/selfdrive/ui/tests/milestone_preview.py
 create mode 100755 openpilot/selfdrive/ui/tests/run_milestone_celebration.sh
 delete mode 100644 openpilot/selfdrive/ui/tests/run_milestone_celebration_prototype.sh
 delete mode 100644 openpilot/selfdrive/ui/tests/test_milestone_tracker_prototype.py
 create mode 100644 openpilot/sunnypilot/selfdrive/selfdrived/assisted_driving_milestones.py
 create mode 100644 openpilot/sunnypilot/selfdrive/selfdrived/tests/test_assisted_driving_milestones.py

diff --git a/openpilot/cereal/custom.capnp b/openpilot/cereal/custom.capnp
index 26165962f5..b670651edc 100644
--- a/openpilot/cereal/custom.capnp
+++ b/openpilot/cereal/custom.capnp
@@ -478,7 +478,30 @@ struct ModelDataV2SP @0xa1680744031fdb2d {
   }
 }
 
-struct CustomReserved10 @0xcb9fd56c7057593a {
+struct AssistedDrivingMilestoneState @0xcb9fd56c7057593a {
+  enabled @0 :Bool;
+  madsDistanceMeters @1 :Float64;
+  fullAssistDistanceMeters @2 :Float64;
+  event @3 :Event;
+
+  struct Event {
+    id @0 :UInt64;
+    category @1 :Category;
+    distanceMeters @2 :Float64;
+    previousDistanceMeters @3 :Float64;
+    unit @4 :Unit;
+  }
+
+  enum Category {
+    none @0;
+    mads @1;
+    fullAssist @2;
+  }
+
+  enum Unit {
+    imperial @0;
+    metric @1;
+  }
 }
 
 struct CustomReserved11 @0xc2243c65e0340384 {
diff --git a/openpilot/cereal/log.capnp b/openpilot/cereal/log.capnp
index b87499806f..36bd45a0be 100644
--- a/openpilot/cereal/log.capnp
+++ b/openpilot/cereal/log.capnp
@@ -2640,7 +2640,7 @@ struct Event {
     carStateSP @114 :Custom.CarStateSP;
     liveMapDataSP @115 :Custom.LiveMapDataSP;
     modelDataV2SP @116 :Custom.ModelDataV2SP;
-    customReserved10 @136 :Custom.CustomReserved10;
+    assistedDrivingMilestoneState @136 :Custom.AssistedDrivingMilestoneState;
     customReserved11 @137 :Custom.CustomReserved11;
     customReserved12 @138 :Custom.CustomReserved12;
     customReserved13 @139 :Custom.CustomReserved13;
diff --git a/openpilot/cereal/services.py b/openpilot/cereal/services.py
index ed718506f3..a6a2b93a8d 100755
--- a/openpilot/cereal/services.py
+++ b/openpilot/cereal/services.py
@@ -90,6 +90,7 @@ _services: dict[str, tuple] = {
   "carParamsSP": (True, 0.02, 1),
   "carControlSP": (True, 100., 10),
   "carStateSP": (True, 100., 10),
+  "assistedDrivingMilestoneState": (True, 10., 1),
   "liveMapDataSP": (True, 1., 1),
   "modelDataV2SP": (True, 20., None, QueueSize.BIG),
   "liveLocationKalman": (True, 20.),
diff --git a/openpilot/common/params.cc b/openpilot/common/params.cc
index bed6827e5a..1a42a96871 100644
--- a/openpilot/common/params.cc
+++ b/openpilot/common/params.cc
@@ -97,6 +97,10 @@ Params::Params(const std::string &path) {
 }
 
 Params::~Params() {
+  flushNonBlockingWrites();
+}
+
+void Params::flushNonBlockingWrites() {
   if (future.valid()) {
     future.wait();
   }
diff --git a/openpilot/common/params.h b/openpilot/common/params.h
index de4f9b435f..eeda7a9de1 100644
--- a/openpilot/common/params.h
+++ b/openpilot/common/params.h
@@ -75,6 +75,7 @@ public:
     return put(key.c_str(), val ? "1" : "0", 1);
   }
   void putNonBlocking(const std::string &key, const std::string &val);
+  void flushNonBlockingWrites();
   inline void putBoolNonBlocking(const std::string &key, bool val) {
     putNonBlocking(key, val ? "1" : "0");
   }
diff --git a/openpilot/common/params.py b/openpilot/common/params.py
index e14937207a..98c9032089 100644
--- a/openpilot/common/params.py
+++ b/openpilot/common/params.py
@@ -73,6 +73,7 @@ params_get = _bind("params_get", [ParamsHandle, ctypes.c_char_p, ctypes.c_bool],
 params_get_bool = _bind("params_get_bool", [ParamsHandle, ctypes.c_char_p, ctypes.c_bool], ctypes.c_bool)
 params_put = _bind("params_put", [ParamsHandle, ctypes.c_char_p, ctypes.c_char_p, ctypes.c_size_t, ctypes.c_bool], ctypes.c_int)
 params_put_bool = _bind("params_put_bool", [ParamsHandle, ctypes.c_char_p, ctypes.c_bool, ctypes.c_bool], ctypes.c_int)
+params_flush = _bind("params_flush", [ParamsHandle])
 params_remove = _bind("params_remove", [ParamsHandle, ctypes.c_char_p], ctypes.c_int)
 params_get_path = _bind("params_get_path", [ParamsHandle, ctypes.c_char_p, ctypes.c_size_t], ParamsBuffer)
 params_keys_size = _bind("params_keys_size", [ParamsHandle], ctypes.c_size_t)
@@ -178,6 +179,10 @@ class Params:
   def put_bool(self, key, val, block=False):
     params_put_bool(self.p, self.check_key(key), val, block)
 
+  def flush(self):
+    """Wait for all prior nonblocking writes from this Params instance."""
+    params_flush(self.p)
+
   def remove(self, key):
     params_remove(self.p, self.check_key(key))
 
diff --git a/openpilot/common/params_c.cc b/openpilot/common/params_c.cc
index a52adb09da..5cf8815dcc 100644
--- a/openpilot/common/params_c.cc
+++ b/openpilot/common/params_c.cc
@@ -133,6 +133,12 @@ int params_put_bool(ParamsHandle *handle, const char *key, bool value, bool bloc
   });
 }
 
+void params_flush(ParamsHandle *handle) noexcept {
+  translate_exceptions([&]() {
+    handle->params.flushNonBlockingWrites();
+  });
+}
+
 int params_remove(ParamsHandle *handle, const char *key) noexcept {
   return translate_exceptions(-1, [&]() {
     return handle->params.remove(key);
diff --git a/openpilot/common/params_keys.h b/openpilot/common/params_keys.h
index 0d6078b30f..e76d2890d3 100644
--- a/openpilot/common/params_keys.h
+++ b/openpilot/common/params_keys.h
@@ -136,7 +136,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
 
     // --- sunnypilot params --- //
     {"ApiCache_DriveStats", {PERSISTENT, JSON}},
-    {"AssistedDistanceMilestoneResetVersion", {PERSISTENT, STRING, "0"}},
+    {"AssistedDrivingMilestonesEnabled", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"AssistedDrivingMilestoneState", {PERSISTENT, JSON, "{}"}},
     {"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},
     {"BlinkerLateralReengageDelay", {PERSISTENT | BACKUP, INT, "0"}},  // seconds
@@ -167,6 +168,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsReleaseSpBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"LastGPSPositionLLK", {PERSISTENT, STRING}},
+    {"LastDriveAssistedDrivingSummary", {PERSISTENT, JSON, "{}"}},
     {"LeadDepartAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"MadsDrivenDistanceMeters", {PERSISTENT, FLOAT, "0.0"}},
     {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
diff --git a/openpilot/common/tests/test_params.py b/openpilot/common/tests/test_params.py
index a81d346b06..c388060574 100644
--- a/openpilot/common/tests/test_params.py
+++ b/openpilot/common/tests/test_params.py
@@ -106,6 +106,13 @@ class TestParams(OpenpilotTestCase):
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"1"
 
+  def test_flush_non_blocking_writes(self):
+    self.params.put("DongleId", "first")
+    self.params.put("DongleId", "last")
+    self.params.flush()
+
+    assert self.params.get("DongleId") == "last"
+
   def test_params_all_keys(self):
     keys = Params().all_keys()
 
diff --git a/openpilot/selfdrive/selfdrived/selfdrived.py b/openpilot/selfdrive/selfdrived/selfdrived.py
index d1bc57c856..b612fd8669 100755
--- a/openpilot/selfdrive/selfdrived/selfdrived.py
+++ b/openpilot/selfdrive/selfdrived/selfdrived.py
@@ -32,7 +32,14 @@ from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
 from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
 from openpilot.sunnypilot.selfdrive.selfdrived.button_state_tracker import ButtonStateTracker
+from openpilot.sunnypilot.selfdrive.selfdrived.assisted_driving_milestones import (
+  AssistCategory,
+  AssistedDrivingMilestones,
+  MilestoneEvent,
+  MilestoneStore,
+)
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+from openpilot.sunnypilot.system.statsd import statlog
 
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
@@ -88,7 +95,8 @@ class SelfdriveD(CruiseHelper):
     self.big_model_ready_t = 0.
 
     # Setup sockets
-    self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'] + ['selfdriveStateSP', 'onroadEventsSP'])
+    self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'] +
+                                  ['selfdriveStateSP', 'onroadEventsSP', 'assistedDrivingMilestoneState'])
 
     self.gps_location_service = get_gps_location_service(self.params)
     self.gps_packets = [self.gps_location_service]
@@ -127,6 +135,7 @@ class SelfdriveD(CruiseHelper):
       self.params.remove("ExperimentalMode")
 
     self.CS_prev = car.CarState.new_message()
+    self.car_state_log_mono_time = 0
     self.AM = AlertManager()
     self.events = Events()
 
@@ -137,6 +146,11 @@ class SelfdriveD(CruiseHelper):
     self.cruise_mismatch_counter = 0
     self.last_steering_pressed_frame = 0
     self.distance_traveled = 0
+    self.assisted_driving_milestones = AssistedDrivingMilestones(MilestoneStore(self.params))
+    self.assisted_driving_milestones_enabled = bool(self.params.get("AssistedDrivingMilestonesEnabled", return_default=True))
+    self.assisted_driving_milestone_drive_id = ""
+    self._milestone_event: MilestoneEvent | None = None
+    self._milestone_event_expires_ns = 0
     self.last_functional_fan_frame = 0
     self.events_prev = []
     self.logged_comm_issue = None
@@ -527,6 +541,8 @@ class SelfdriveD(CruiseHelper):
   def data_sample(self):
     _car_state = messaging.recv_one(self.car_state_sock)
     CS = _car_state.carState if _car_state else self.CS_prev
+    if _car_state is not None:
+      self.car_state_log_mono_time = _car_state.logMonoTime
 
     self.sm.update(0)
 
@@ -645,6 +661,31 @@ class SelfdriveD(CruiseHelper):
       self.pm.send('onroadEventsSP', ce_send_sp)
     self.events_sp_prev = self.events_sp.names.copy()
 
+  def publish_assisted_driving_milestones(self, now_ns: int, event: MilestoneEvent | None) -> None:
+    if event is not None:
+      self._milestone_event = event
+      self._milestone_event_expires_ns = now_ns + 1_000_000_000
+    elif now_ns >= self._milestone_event_expires_ns:
+      self._milestone_event = None
+
+    if event is None and self.sm.frame % 10 != 0:
+      return
+
+    snapshot = self.assisted_driving_milestones.snapshot()
+    msg = messaging.new_message("assistedDrivingMilestoneState")
+    msg.valid = True
+    state = msg.assistedDrivingMilestoneState
+    state.enabled = self.assisted_driving_milestones_enabled
+    state.madsDistanceMeters = snapshot.distances_meters[AssistCategory.MADS]
+    state.fullAssistDistanceMeters = snapshot.distances_meters[AssistCategory.FULL_ASSIST]
+    if self._milestone_event is not None:
+      state.event.id = self._milestone_event.event_id
+      state.event.category = self._milestone_event.category.value
+      state.event.distanceMeters = self._milestone_event.distance_meters
+      state.event.previousDistanceMeters = self._milestone_event.previous_distance_meters
+      state.event.unit = self._milestone_event.unit.value
+    self.pm.send("assistedDrivingMilestoneState", msg)
+
   def step(self):
     CS = self.data_sample()
     self.update_events(CS)
@@ -654,6 +695,28 @@ class SelfdriveD(CruiseHelper):
       self.mads.update(CS)
     self.update_alerts(CS)
 
+    now_ns = time.monotonic_ns()
+    if not self.assisted_driving_milestone_drive_id:
+      self.assisted_driving_milestone_drive_id = self.params.get("CurrentRoute") or ""
+      self.assisted_driving_milestones.set_drive_id(self.assisted_driving_milestone_drive_id)
+    car_control = self.sm['carControl']
+    milestone_event = self.assisted_driving_milestones.update(
+      self.car_state_log_mono_time,
+      CS.vEgo,
+      lat_active=car_control.latActive,
+      long_active=car_control.longActive,
+      is_metric=self.is_metric,
+      enabled=self.assisted_driving_milestones_enabled,
+    )
+    if milestone_event is not None:
+      cloudlog.event("assisted_driving_milestone_reached",
+                     event_id=milestone_event.event_id,
+                     category=milestone_event.category.value,
+                     distance_meters=milestone_event.distance_meters)
+      statlog.gauge(f"assisted_driving_milestone.{milestone_event.category.value}.meters",
+                    milestone_event.distance_meters)
+    self.publish_assisted_driving_milestones(now_ns, milestone_event)
+
     self.button_state_tracker.update(CS)
     self.publish_selfdriveState(CS)
 
@@ -666,6 +729,7 @@ class SelfdriveD(CruiseHelper):
       self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
       self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
       self.personality = self.params.get("LongitudinalPersonality", return_default=True)
+      self.assisted_driving_milestones_enabled = bool(self.params.get("AssistedDrivingMilestonesEnabled", return_default=True))
 
       self.mads.read_params()
       time.sleep(0.1)
@@ -679,6 +743,7 @@ class SelfdriveD(CruiseHelper):
         self.step()
         self.rk.monitor_time()
     finally:
+      self.assisted_driving_milestones.close()
       e.set()
       t.join()
 
diff --git a/openpilot/selfdrive/ui/mici/layouts/main.py b/openpilot/selfdrive/ui/mici/layouts/main.py
index cb116469d7..3c07ea02c0 100644
--- a/openpilot/selfdrive/ui/mici/layouts/main.py
+++ b/openpilot/selfdrive/ui/mici/layouts/main.py
@@ -64,8 +64,8 @@ class MiciMainLayout(Scroller):
 
     # Start onboarding if terms or training not completed, make sure to push after self
     self._onboarding_window = OnboardingWindow(lambda: gui_app.pop_widgets_to(self))
-    skip_onboarding_for_local_prototype = PC and os.getenv("SP_MILESTONE_PROTOTYPE") == "1"
-    if not self._onboarding_window.completed and not skip_onboarding_for_local_prototype:
+    skip_onboarding_for_milestone_preview = PC and os.getenv("SP_MILESTONE_PREVIEW") == "1"
+    if not self._onboarding_window.completed and not skip_onboarding_for_milestone_preview:
       gui_app.push_widget(self._onboarding_window)
 
     # initialize correct onroad layout
@@ -123,6 +123,8 @@ class MiciMainLayout(Scroller):
         self._onroad_time_delay = rl.get_time()
       else:
         self._scroll_to(self._home_layout)
+        if hasattr(self._home_layout, "request_drive_summary"):
+          self._home_layout.request_drive_summary()
 
     # FIXME: these two pops can interrupt user interacting in the settings
     if self._onroad_time_delay is not None and rl.get_time() - self._onroad_time_delay >= ONROAD_DELAY:
diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/toggles.py b/openpilot/selfdrive/ui/mici/layouts/settings/toggles.py
index 2dba124df5..4d901057fc 100644
--- a/openpilot/selfdrive/ui/mici/layouts/settings/toggles.py
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/toggles.py
@@ -47,6 +47,7 @@ class TogglesLayoutMici(NavScroller):
     is_metric_toggle = BigParamControl("use metric units", "IsMetric")
     ldw_toggle = BigParamControl("lane departure warnings", "IsLdwEnabled")
     always_on_dm_toggle = BigParamControl("always-on driver monitor", "AlwaysOnDM")
+    milestone_celebrations_toggle = BigParamControl("assisted driving milestones", "AssistedDrivingMilestonesEnabled")
     record_front = BigParamControl("record & upload cabin camera", "RecordFront", toggle_callback=restart_needed_callback)
     record_mic = BigParamControl("record & upload mic audio", "RecordAudio", toggle_callback=restart_needed_callback)
     enable_openpilot = BigParamControl("enable sunnypilot", "OpenpilotEnabledToggle", toggle_callback=restart_needed_callback)
@@ -57,6 +58,7 @@ class TogglesLayoutMici(NavScroller):
       is_metric_toggle,
       ldw_toggle,
       always_on_dm_toggle,
+      milestone_celebrations_toggle,
       record_front,
       record_mic,
       enable_openpilot,
@@ -68,6 +70,7 @@ class TogglesLayoutMici(NavScroller):
       ("IsMetric", is_metric_toggle),
       ("IsLdwEnabled", ldw_toggle),
       ("AlwaysOnDM", always_on_dm_toggle),
+      ("AssistedDrivingMilestonesEnabled", milestone_celebrations_toggle),
       ("RecordFront", record_front),
       ("RecordAudio", record_mic),
       ("OpenpilotEnabledToggle", enable_openpilot),
diff --git a/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py b/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py
index 607978a73e..ba7e9dd886 100644
--- a/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -19,14 +19,14 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCamera
 from openpilot.common.transformations.orientation import rot_from_euler
 from enum import IntEnum
 
-MILESTONE_PROTOTYPE_ENABLED = gui_app.sunnypilot_ui()
+MILESTONE_CELEBRATION_ENABLED = gui_app.sunnypilot_ui()
 
 if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.mici.onroad.hud_renderer import HudRendererSP as HudRenderer
   from openpilot.selfdrive.ui.sunnypilot.ui_state import OnroadTimerStatus
 
-  if MILESTONE_PROTOTYPE_ENABLED:
-    from openpilot.selfdrive.ui.sunnypilot.onroad.milestone_celebration_prototype import MilestoneCelebrationPrototype
+  if MILESTONE_CELEBRATION_ENABLED:
+    from openpilot.selfdrive.ui.sunnypilot.onroad.milestone_celebration import MilestoneCelebration
 
 OpState = log.SelfdriveState.OpenpilotState
 CALIBRATED = log.ExtrinsicsCalibration.Status.calibrated
@@ -161,7 +161,7 @@ class AugmentedRoadView(CameraView):
     self._alert_renderer = AlertRenderer()
     self._driver_state_renderer = DriverStateRenderer()
     self._confidence_ball = ConfidenceBall()
-    self._milestone_celebration = self._child(MilestoneCelebrationPrototype()) if MILESTONE_PROTOTYPE_ENABLED else None
+    self._milestone_celebration = self._child(MilestoneCelebration()) if MILESTONE_CELEBRATION_ENABLED else None
     self._offroad_label = UnifiedLabel("start the car to\nuse sunnypilot", 54, FontWeight.DISPLAY,
                                        text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
                                        alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
@@ -227,11 +227,14 @@ class AugmentedRoadView(CameraView):
     # Fade out bottom of overlays for looks
     rl.draw_texture_ex(self._fade_texture, rl.Vector2(self._content_rect.x, self._content_rect.y), 0.0, 1.0, rl.WHITE)
 
-    if self._milestone_celebration is not None:
-      self._milestone_celebration.render(self._content_rect)
-
     alert_to_render, not_animating_out = self._alert_renderer.will_render()
 
+    if self._milestone_celebration is not None:
+      if alert_to_render is not None:
+        self._milestone_celebration.cancel_for_alert()
+      else:
+        self._milestone_celebration.render(self._content_rect)
+
     # Hide DMoji when disengaged unless AlwaysOnDM is enabled
     should_draw_dmoji = (not self._hud_renderer.drawing_top_icons() and
                          (ui_state.status != UIStatus.DISENGAGED or ui_state.always_on_dm))
@@ -256,9 +259,6 @@ class AugmentedRoadView(CameraView):
     self._confidence_ball.render(self.rect)
 
     self._bookmark_icon.render(self.rect)
-    if self._milestone_celebration is not None:
-      self._milestone_celebration.capture_screenshot()
-
   def _switch_stream_if_needed(self, sm):
     if sm['selfdriveState'].experimentalMode and WIDE_CAM in self.available_streams:
       v_ego = sm['carState'].vEgo
diff --git a/openpilot/selfdrive/ui/soundd.py b/openpilot/selfdrive/ui/soundd.py
index d173fb97ff..8404e9af98 100644
--- a/openpilot/selfdrive/ui/soundd.py
+++ b/openpilot/selfdrive/ui/soundd.py
@@ -15,7 +15,6 @@ from openpilot.system import micd
 from openpilot.common.hardware import HARDWARE
 
 from openpilot.sunnypilot.selfdrive.ui.quiet_mode import QuietMode
-from openpilot.selfdrive.ui.sunnypilot.onroad.milestone_tracker_prototype import MILESTONE_EVENT_PAYLOAD
 
 SAMPLE_RATE = 48000
 SAMPLE_BUFFER = 4096 # (approx 100ms)
@@ -90,6 +89,7 @@ class Soundd(QuietMode):
 
     self.selfdrive_timeout_alert = False
     self.pending_stop = False
+    self.last_milestone_event_id = 0
 
     self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
 
@@ -170,8 +170,14 @@ class Soundd(QuietMode):
       self.selfdrive_timeout_alert = False
 
   def update_milestone_alert(self, sm):
-    milestone_event = sm.updated['customReservedRawData0'] and bytes(sm['customReservedRawData0']) == MILESTONE_EVENT_PAYLOAD
-    if milestone_event and self.current_alert == AudibleAlert.none and not self.enabled:
+    if not sm.updated['assistedDrivingMilestoneState']:
+      return
+    milestone_state = sm['assistedDrivingMilestoneState']
+    event_id = milestone_state.event.id
+    if not milestone_state.enabled or event_id == 0 or event_id == self.last_milestone_event_id:
+      return
+    self.last_milestone_event_id = event_id
+    if self.current_alert == AudibleAlert.none and not self.enabled:
       self.update_alert(AudibleAlert.complete)
 
   def calculate_volume(self, weighted_db):
@@ -189,7 +195,7 @@ class Soundd(QuietMode):
     import sounddevice as sd
     micd.patch_sounddevice(sd)
 
-    sm = messaging.SubMaster(['selfdriveState', 'selfdriveStateSP', 'soundPressure', 'customReservedRawData0'])
+    sm = messaging.SubMaster(['selfdriveState', 'selfdriveStateSP', 'soundPressure', 'assistedDrivingMilestoneState'])
 
     with self.get_stream(sd) as stream:
       rk = Ratekeeper(20)
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/home.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/home.py
index b261373947..52dec62638 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/home.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/home.py
@@ -5,14 +5,28 @@ 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 math
+import time
 
 import pyray as rl
 
 from openpilot.selfdrive.ui.mici.layouts.home import MiciHomeLayout
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.application import FontWeight
+from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets.icon_widget import IconWidget
-from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
+
+METERS_PER_MILE = 1609.344
+METERS_PER_KILOMETER = 1000.0
+SUMMARY_DURATION_SECONDS = 10.0
+SUMMARY_WAIT_SECONDS = 3.0
+
+
+def _nonnegative_float(value) -> float:
+  try:
+    return max(0.0, float(value))
+  except (TypeError, ValueError):
+    return 0.0
 
 
 class MiciHomeLayoutSP(MiciHomeLayout):
@@ -26,6 +40,52 @@ class MiciHomeLayoutSP(MiciHomeLayout):
     gray_idx = self._status_bar_layout.widgets.index(self._egpu_icon_gray)
     self._status_bar_layout.widgets.insert(gray_idx + 1, self._egpu_icon_default)
     self._status_bar_layout.widgets.insert(gray_idx + 2, self._egpu_icon_orange)
+    initial_summary = ui_state.params.get("LastDriveAssistedDrivingSummary", return_default=True) or {}
+    self._last_summary_id = initial_summary.get("id", 0)
+    self._summary_wait_until = 0.0
+    self._summary_visible_until = 0.0
+    self._drive_summary = {}
+
+  def request_drive_summary(self) -> None:
+    self._summary_wait_until = time.monotonic() + SUMMARY_WAIT_SECONDS
+
+  def _render(self, _: rl.Rectangle) -> None:
+    super()._render(_)
+    now = time.monotonic()
+    if now < self._summary_wait_until:
+      summary = ui_state.params.get("LastDriveAssistedDrivingSummary", return_default=True) or {}
+      summary_id = summary.get("id", 0)
+      if summary_id and summary_id != self._last_summary_id:
+        self._last_summary_id = summary_id
+        distances = summary.get("distancesMeters", {})
+        enabled = ui_state.params.get_bool("AssistedDrivingMilestonesEnabled")
+        if enabled and any(_nonnegative_float(distances.get(category, 0.0)) > 0.0 for category in ("mads", "fullAssist")):
+          self._drive_summary = summary
+          self._summary_visible_until = now + SUMMARY_DURATION_SECONDS
+        self._summary_wait_until = 0.0
+
+    if now < self._summary_visible_until:
+      self._draw_drive_summary(_)
+
+  def _draw_drive_summary(self, rect: rl.Rectangle) -> None:
+    distances = self._drive_summary.get("distancesMeters", {})
+    metric = self._drive_summary.get("unit") == "metric"
+    meters_per_unit = METERS_PER_KILOMETER if metric else METERS_PER_MILE
+    unit = "KM" if metric else "MI"
+    mads = _nonnegative_float(distances.get("mads", 0.0)) / meters_per_unit
+    full_assist = _nonnegative_float(distances.get("fullAssist", 0.0)) / meters_per_unit
+
+    rl.draw_rectangle_rec(rect, rl.Color(0, 0, 0, 235))
+    gui_label(rl.Rectangle(rect.x, rect.y + 14, rect.width, 52), tr("DRIVE COMPLETE"), 42,
+              font_weight=FontWeight.SEMI_BOLD, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+    gui_label(rl.Rectangle(rect.x + 20, rect.y + 78, rect.width / 2 - 30, 42), tr("MADS"), 28,
+              color=rl.Color(255, 255, 255, 184), alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+    gui_label(rl.Rectangle(rect.x + rect.width / 2 + 10, rect.y + 78, rect.width / 2 - 30, 42), tr("FULL ASSIST"), 28,
+              color=rl.Color(255, 255, 255, 184), alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+    gui_label(rl.Rectangle(rect.x + 20, rect.y + 116, rect.width / 2 - 30, 72), f"{mads:.1f} {unit}", 48,
+              font_weight=FontWeight.DISPLAY, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+    gui_label(rl.Rectangle(rect.x + rect.width / 2 + 10, rect.y + 116, rect.width / 2 - 30, 72), f"{full_assist:.1f} {unit}", 48,
+              font_weight=FontWeight.DISPLAY, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
 
   def _set_egpu_visibility(self):
     chestnut = ui_state.sm["deviceState"].chestnutPresent
diff --git a/openpilot/selfdrive/ui/sunnypilot/onroad/milestone_celebration_prototype.py b/openpilot/selfdrive/ui/sunnypilot/onroad/milestone_celebration.py
similarity index 68%
rename from openpilot/selfdrive/ui/sunnypilot/onroad/milestone_celebration_prototype.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/milestone_celebration.py
index 08cf3a8fd1..de5de4b6a6 100644
--- a/openpilot/selfdrive/ui/sunnypilot/onroad/milestone_celebration_prototype.py
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/milestone_celebration.py
@@ -1,7 +1,6 @@
-"""Tesla-style persistent assisted-distance milestones over the on-road view."""
+"""Render assisted-driving milestone celebrations over the on-road view."""
 
 import math
-import os
 import random
 import time
 from collections import deque
@@ -9,27 +8,20 @@ from dataclasses import dataclass
 
 import pyray as rl
 
-from openpilot.cereal import messaging
-from openpilot.common.hardware import PC
+from openpilot.cereal import custom
 from openpilot.selfdrive.ui.mici.onroad.alert_renderer import ALERT_BACKGROUND_OPACITY
 from openpilot.selfdrive.ui.mici.onroad.hud_renderer import FONT_SIZES
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.ui.sunnypilot.onroad.milestone_tracker_prototype import (
-  AssistCategory,
-  AssistedDistanceMilestoneTracker,
-  DistanceMilestone,
-  MILESTONE_EVENT_PAYLOAD,
-  MilestoneStore,
-  assist_category,
-)
 from openpilot.system.ui.lib.application import FontWeight, gui_app
+from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.widgets import Widget
 
 
 CELEBRATION_DURATION = 4.5
 PARTICLE_COUNT = 150
-PERSIST_INTERVAL_SECONDS = 60.0
+METERS_PER_MILE = 1609.344
+METERS_PER_KILOMETER = 1000.0
 
 CONFETTI_COLORS = (
   rl.Color(255, 55, 95, 255),
@@ -55,23 +47,25 @@ class ConfettiParticle:
   color: rl.Color
 
 
-class MilestoneCelebrationPrototype(Widget):
-  """Throwaway visual spike enabled on the sunnypilot comma four UI."""
+@dataclass(frozen=True)
+class CelebrationMilestone:
+  event_id: int
+  full_assist: bool
+  distance_meters: float
+  previous_distance_meters: float
+  metric: bool
+
+
+class MilestoneCelebration(Widget):
+  """Pure renderer for typed assisted-driving milestone events."""
 
   def __init__(self):
     super().__init__()
     self._drive_started_time = -1.0
     self._celebration_started_time: float | None = None
-    self._current_milestone: DistanceMilestone | None = None
-    self._pending_milestones: deque[DistanceMilestone] = deque()
-    self._store = MilestoneStore()
-    stored_distances = self._store.reset() if PC and os.getenv("SP_MILESTONE_RESET") == "1" else self._store.load()
-    self._tracker = AssistedDistanceMilestoneTracker(stored_distances)
-    self._pm = messaging.PubMaster(["customReservedRawData0"])
-    self._last_persisted_distances = stored_distances
-    self._last_persist_time = time.monotonic()
-    self._screenshot_taken = False
-    self._screenshot_ready = False
+    self._current_milestone: CelebrationMilestone | None = None
+    self._pending_milestones: deque[CelebrationMilestone] = deque()
+    self._last_event_id = 0
     self._particles = self._make_particles()
 
   @staticmethod
@@ -96,32 +90,16 @@ class MilestoneCelebrationPrototype(Widget):
   def _render(self, rect: rl.Rectangle, /) -> None:
     now = time.monotonic()
     if ui_state.started_time != self._drive_started_time:
-      self._persist_distances(force=True)
       self._drive_started_time = ui_state.started_time
       self._celebration_started_time = None
       self._current_milestone = None
       self._pending_milestones.clear()
-      self._tracker.reset_sampling()
-      self._screenshot_taken = False
-      self._screenshot_ready = False
 
-    car_control = ui_state.sm["carControl"]
-    category = assist_category(car_control.latActive, car_control.longActive)
-
-    milestones = self._tracker.update(
-      ui_state.sm.logMonoTime["carState"],
-      ui_state.sm["carState"].vEgo,
-      category,
-    )
-    self._pending_milestones.extend(milestones)
-    self._persist_distances(force=bool(milestones))
+    self._consume_event(suppress=False)
 
     if self._current_milestone is None and self._pending_milestones:
       self._current_milestone = self._pending_milestones.popleft()
       self._celebration_started_time = now
-      milestone_event = messaging.new_message("customReservedRawData0", size=len(MILESTONE_EVENT_PAYLOAD), valid=True)
-      milestone_event.customReservedRawData0 = MILESTONE_EVENT_PAYLOAD
-      self._pm.send("customReservedRawData0", milestone_event)
 
     if self._celebration_started_time is None or self._current_milestone is None:
       return
@@ -136,28 +114,35 @@ class MilestoneCelebrationPrototype(Widget):
     self._draw_background_scrim(rect, alpha)
     self._draw_confetti(rect, elapsed, alpha)
     self._draw_milestone(rect, elapsed, alpha, self._current_milestone)
-    self._screenshot_ready = elapsed >= 1.0
 
-  def hide_event(self) -> None:
-    self._persist_distances(force=True)
-    super().hide_event()
+  def cancel_for_alert(self) -> None:
+    self._consume_event(suppress=True)
+    self._celebration_started_time = None
+    self._current_milestone = None
+    self._pending_milestones.clear()
 
-  def _persist_distances(self, force: bool = False) -> None:
-    distances = self._tracker.distances_meters()
-    if distances == self._last_persisted_distances:
+  def _consume_event(self, suppress: bool) -> None:
+    if not ui_state.sm.updated["assistedDrivingMilestoneState"]:
       return
-    now = time.monotonic()
-    if force or now - self._last_persist_time >= PERSIST_INTERVAL_SECONDS:
-      self._store.save(distances)
-      self._last_persisted_distances = distances
-      self._last_persist_time = now
-
-  def capture_screenshot(self) -> None:
-    screenshot_path = os.getenv("SP_MILESTONE_SCREENSHOT")
-    if screenshot_path and self._screenshot_ready and not self._screenshot_taken:
-      rl.rl_draw_render_batch_active()
-      rl.take_screenshot(screenshot_path)
-      self._screenshot_taken = True
+    state = ui_state.sm["assistedDrivingMilestoneState"]
+    event = state.event
+    if not state.enabled:
+      self._celebration_started_time = None
+      self._current_milestone = None
+      self._pending_milestones.clear()
+      return
+    if event.id == 0 or event.id == self._last_event_id:
+      return
+    self._last_event_id = event.id
+    if suppress:
+      return
+    self._pending_milestones.append(CelebrationMilestone(
+      event_id=event.id,
+      full_assist=event.category == custom.AssistedDrivingMilestoneState.Category.fullAssist,
+      distance_meters=event.distanceMeters,
+      previous_distance_meters=event.previousDistanceMeters,
+      metric=event.unit == custom.AssistedDrivingMilestoneState.Unit.metric,
+    ))
 
   def _draw_confetti(self, rect: rl.Rectangle, elapsed: float, alpha: float) -> None:
     travel_height = rect.height * 1.45
@@ -174,7 +159,7 @@ class MilestoneCelebrationPrototype(Widget):
       rl.draw_rectangle_pro(particle_rect, origin, particle.angle + particle.spin * elapsed, color)
 
   @staticmethod
-  def _draw_milestone(rect: rl.Rectangle, elapsed: float, alpha: float, milestone: DistanceMilestone) -> None:
+  def _draw_milestone(rect: rl.Rectangle, elapsed: float, alpha: float, milestone: CelebrationMilestone) -> None:
     # Match the comma four set-speed hierarchy: DISPLAY number with a MAX-sized label.
     scale = rect.height / 240.0
     pulse = 1.0 + 0.025 * math.sin(min(elapsed, 0.6) / 0.6 * math.pi)
@@ -187,15 +172,17 @@ class MilestoneCelebrationPrototype(Widget):
     semibold_font = gui_app.font(FontWeight.SEMI_BOLD)
     tween_progress = min(elapsed / 0.85, 1.0)
     tween_progress = 1.0 - (1.0 - tween_progress) ** 3
-    previous_distance = milestone.previous_distance_miles
-    displayed_distance = previous_distance + (milestone.distance_miles - previous_distance) * tween_progress
+    meters_per_unit = METERS_PER_KILOMETER if milestone.metric else METERS_PER_MILE
+    previous_distance = milestone.previous_distance_meters / meters_per_unit
+    milestone_distance = milestone.distance_meters / meters_per_unit
+    displayed_distance = previous_distance + (milestone_distance - previous_distance) * tween_progress
     if tween_progress >= 1.0:
-      number = f"{round(milestone.distance_miles):,}"
+      number = f"{round(milestone_distance):,}"
     else:
       number = f"{displayed_distance:,.1f}"
-    unit = "MI"
-    category = "FULL ASSIST" if milestone.category == AssistCategory.FULL_ASSIST else "MADS"
-    milestone_label = "MILESTONE"
+    unit = tr("KM") if milestone.metric else tr("MI")
+    category = tr("FULL ASSIST") if milestone.full_assist else tr("MADS")
+    milestone_label = tr("MILESTONE")
 
     unit_bounds = measure_text_cached(semibold_font, unit, unit_size)
     number_bounds = measure_text_cached(display_font, number, number_size)
diff --git a/openpilot/selfdrive/ui/sunnypilot/onroad/milestone_tracker_prototype.py b/openpilot/selfdrive/ui/sunnypilot/onroad/milestone_tracker_prototype.py
deleted file mode 100644
index 62d2ce0bb5..0000000000
--- a/openpilot/selfdrive/ui/sunnypilot/onroad/milestone_tracker_prototype.py
+++ /dev/null
@@ -1,140 +0,0 @@
-"""Persistent assisted-distance milestone tracking."""
-
-import math
-from collections.abc import Mapping
-from dataclasses import dataclass
-from enum import StrEnum
-
-from openpilot.common.params import Params
-
-
-METERS_PER_MILE = 1609.344
-MAX_SAMPLE_INTERVAL_SECONDS = 0.5
-MILESTONE_EVENT_PAYLOAD = b"sunnypilot-milestone-v1"
-
-
-class AssistCategory(StrEnum):
-  MADS = "mads"
-  FULL_ASSIST = "full_assist"
-
-
-PARAM_KEYS = {
-  AssistCategory.MADS: "MadsDrivenDistanceMeters",
-  AssistCategory.FULL_ASSIST: "FullAssistDrivenDistanceMeters",
-}
-
-
-def assist_category(lat_active: bool, long_active: bool) -> AssistCategory | None:
-  if not lat_active:
-    return None
-  return AssistCategory.FULL_ASSIST if long_active else AssistCategory.MADS
-
-
-def next_milestone_miles(distance_miles: float) -> float:
-  """Return the next value in the 1, 2, 5 × 10ⁿ milestone ladder."""
-  distance_miles = max(0.0, distance_miles)
-  magnitude = 10.0 ** math.floor(math.log10(max(1.0, distance_miles)))
-  for multiplier in (1.0, 2.0, 5.0):
-    candidate = multiplier * magnitude
-    if candidate > distance_miles + 1e-9:
-      return candidate
-  return 10.0 * magnitude
-
-
-def previous_milestone_miles(milestone_miles: float) -> float:
-  if milestone_miles <= 1.0:
-    return 0.0
-  magnitude = 10.0 ** math.floor(math.log10(milestone_miles))
-  normalized = milestone_miles / magnitude
-  if normalized <= 1.0 + 1e-9:
-    return 5.0 * magnitude / 10.0
-  if normalized <= 2.0 + 1e-9:
-    return magnitude
-  return 2.0 * magnitude
-
-
-@dataclass(frozen=True)
-class DistanceMilestone:
-  category: AssistCategory
-  distance_meters: float
-  previous_distance_meters: float
-
-  @property
-  def distance_miles(self) -> float:
-    return self.distance_meters / METERS_PER_MILE
-
-  @property
-  def previous_distance_miles(self) -> float:
-    return self.previous_distance_meters / METERS_PER_MILE
-
-
-class MilestoneStore:
-  def __init__(self, params: Params | None = None):
-    self._params = params or Params()
-
-  def load(self) -> dict[AssistCategory, float]:
-    return {
-      category: max(0.0, self._params.get(key, return_default=True) or 0.0)
-      for category, key in PARAM_KEYS.items()
-    }
-
-  def save(self, distances_meters: Mapping[AssistCategory, float]) -> None:
-    for category, key in PARAM_KEYS.items():
-      self._params.put(key, max(0.0, distances_meters.get(category, 0.0)))
-
-  def reset(self) -> dict[AssistCategory, float]:
-    distances = dict.fromkeys(AssistCategory, 0.0)
-    self.save(distances)
-    return distances
-
-
-class AssistedDistanceMilestoneTracker:
-  def __init__(self, initial_distances_meters: Mapping[AssistCategory, float] | None = None):
-    initial_distances_meters = initial_distances_meters or {}
-    self._distance_meters = {
-      category: max(0.0, initial_distances_meters.get(category, 0.0))
-      for category in AssistCategory
-    }
-    self._next_milestone_meters = {
-      category: next_milestone_miles(distance / METERS_PER_MILE) * METERS_PER_MILE
-      for category, distance in self._distance_meters.items()
-    }
-    self.reset_sampling()
-
-  def reset_sampling(self) -> None:
-    self._last_timestamp_ns: int | None = None
-    self._last_speed_mps = 0.0
-    self._last_category: AssistCategory | None = None
-
-  def distance_meters(self, category: AssistCategory) -> float:
-    return self._distance_meters[category]
-
-  def distances_meters(self) -> dict[AssistCategory, float]:
-    return self._distance_meters.copy()
-
-  def update(self, timestamp_ns: int, speed_mps: float, category: AssistCategory | None) -> list[DistanceMilestone]:
-    milestones: list[DistanceMilestone] = []
-    speed_mps = max(0.0, speed_mps)
-
-    if self._last_timestamp_ns is not None and timestamp_ns != self._last_timestamp_ns:
-      dt = (timestamp_ns - self._last_timestamp_ns) / 1e9
-      if 0 < dt <= MAX_SAMPLE_INTERVAL_SECONDS and self._last_category is not None:
-        delta_meters = (self._last_speed_mps + speed_mps) / 2.0 * dt
-        active_category = self._last_category
-        self._distance_meters[active_category] += delta_meters
-
-        next_milestone = self._next_milestone_meters[active_category]
-        while self._distance_meters[active_category] >= next_milestone:
-          milestone_miles = next_milestone / METERS_PER_MILE
-          milestones.append(DistanceMilestone(
-            active_category,
-            next_milestone,
-            previous_milestone_miles(milestone_miles) * METERS_PER_MILE,
-          ))
-          next_milestone = next_milestone_miles(milestone_miles) * METERS_PER_MILE
-        self._next_milestone_meters[active_category] = next_milestone
-
-    self._last_timestamp_ns = timestamp_ns
-    self._last_speed_mps = speed_mps
-    self._last_category = category
-    return milestones
diff --git a/openpilot/selfdrive/ui/sunnypilot/ui_state.py b/openpilot/selfdrive/ui/sunnypilot/ui_state.py
index 9bed533d3f..2d20e1e8d9 100644
--- a/openpilot/selfdrive/ui/sunnypilot/ui_state.py
+++ b/openpilot/selfdrive/ui/sunnypilot/ui_state.py
@@ -35,7 +35,8 @@ class UIStateSP:
     self.is_sp_release: bool = self.params.get_bool("IsReleaseSpBranch")
     self.sm_services_ext = [
       "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
-      "gpsLocation", "lateralTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP", "lateralDelay"
+      "gpsLocation", "lateralTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP", "lateralDelay",
+      "assistedDrivingMilestoneState",
     ]
 
     self.sunnylink_state = SunnylinkState()
diff --git a/openpilot/selfdrive/ui/tests/generate_milestone_sound.py b/openpilot/selfdrive/ui/tests/generate_milestone_sound.py
index 5d7fc7b86c..103032e9b0 100644
--- a/openpilot/selfdrive/ui/tests/generate_milestone_sound.py
+++ b/openpilot/selfdrive/ui/tests/generate_milestone_sound.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-"""Generate the temporary milestone celebration chime."""
+"""Generate the assisted-driving milestone celebration chime."""
 
 import math
 import wave
diff --git a/openpilot/selfdrive/ui/tests/milestone_preview.py b/openpilot/selfdrive/ui/tests/milestone_preview.py
new file mode 100755
index 0000000000..b55b3cb76c
--- /dev/null
+++ b/openpilot/selfdrive/ui/tests/milestone_preview.py
@@ -0,0 +1,38 @@
+#!/usr/bin/env python3
+"""Publish deterministic milestone events for the local comma-four UI preview."""
+
+import itertools
+import time
+
+from openpilot.cereal import messaging
+
+
+def main() -> None:
+  pm = messaging.PubMaster(["assistedDrivingMilestoneState"])
+  milestones = itertools.cycle(((1, 0, "mads"), (2, 1, "fullAssist"), (5, 2, "mads"), (10, 5, "fullAssist")))
+  event_id = 0
+  milestone, previous_milestone, category = 0, 0, "mads"
+  next_event_time = time.monotonic() + 1.0
+
+  while True:
+    now = time.monotonic()
+    if now >= next_event_time:
+      event_id += 1
+      milestone, previous_milestone, category = next(milestones)
+      next_event_time = now + 6.0
+
+    msg = messaging.new_message("assistedDrivingMilestoneState")
+    state = msg.assistedDrivingMilestoneState
+    state.enabled = True
+    if event_id:
+      state.event.id = event_id
+      state.event.category = category
+      state.event.distanceMeters = milestone * 1609.344
+      state.event.previousDistanceMeters = previous_milestone * 1609.344
+      state.event.unit = "imperial"
+    pm.send("assistedDrivingMilestoneState", msg)
+    time.sleep(0.1)
+
+
+if __name__ == "__main__":
+  main()
diff --git a/openpilot/selfdrive/ui/tests/run_milestone_celebration.sh b/openpilot/selfdrive/ui/tests/run_milestone_celebration.sh
new file mode 100755
index 0000000000..b2493cdebe
--- /dev/null
+++ b/openpilot/selfdrive/ui/tests/run_milestone_celebration.sh
@@ -0,0 +1,27 @@
+#!/usr/bin/env bash
+set -e
+
+repo_root="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../../.." && pwd)"
+replay_pid=""
+preview_pid=""
+
+cleanup() {
+  for pid in "$preview_pid" "$replay_pid"; do
+    if [[ -n "$pid" ]]; then
+      kill "$pid" 2>/dev/null || true
+      wait "$pid" 2>/dev/null || true
+    fi
+  done
+}
+trap cleanup EXIT INT TERM
+
+export PATH="$repo_root/.venv/bin:$PATH"
+export SP_MILESTONE_PREVIEW=1
+playback="${SP_MILESTONE_PLAYBACK:-1}"
+
+"$repo_root/openpilot/tools/replay/replay" --demo --playback "$playback" &
+replay_pid=$!
+"$repo_root/.venv/bin/python" "$repo_root/openpilot/selfdrive/ui/tests/milestone_preview.py" &
+preview_pid=$!
+
+"$repo_root/.venv/bin/python" "$repo_root/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py"
diff --git a/openpilot/selfdrive/ui/tests/run_milestone_celebration_prototype.sh b/openpilot/selfdrive/ui/tests/run_milestone_celebration_prototype.sh
deleted file mode 100644
index 54cb7dedf7..0000000000
--- a/openpilot/selfdrive/ui/tests/run_milestone_celebration_prototype.sh
+++ /dev/null
@@ -1,24 +0,0 @@
-#!/usr/bin/env bash
-# PROTOTYPE: launch the demo replay and comma four milestone celebration together.
-set -e
-
-prototype_root="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../../.." && pwd)"
-prototype_replay_pid=""
-
-cleanup_prototype() {
-  if [[ -n "$prototype_replay_pid" ]]; then
-    kill "$prototype_replay_pid" 2>/dev/null || true
-    wait "$prototype_replay_pid" 2>/dev/null || true
-  fi
-}
-trap cleanup_prototype EXIT INT TERM
-
-export PATH="$prototype_root/.venv/bin:$PATH"
-export SP_MILESTONE_PROTOTYPE=1
-export SP_MILESTONE_RESET=1
-prototype_playback="${SP_MILESTONE_PLAYBACK:-1}"
-
-"$prototype_root/openpilot/tools/replay/replay" --demo --playback "$prototype_playback" &
-prototype_replay_pid=$!
-
-"$prototype_root/.venv/bin/python" "$prototype_root/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py"
diff --git a/openpilot/selfdrive/ui/tests/test_milestone_tracker_prototype.py b/openpilot/selfdrive/ui/tests/test_milestone_tracker_prototype.py
deleted file mode 100644
index b368951b9a..0000000000
--- a/openpilot/selfdrive/ui/tests/test_milestone_tracker_prototype.py
+++ /dev/null
@@ -1,106 +0,0 @@
-import unittest
-
-from openpilot.selfdrive.ui.sunnypilot.onroad.milestone_tracker_prototype import (
-  METERS_PER_MILE,
-  PARAM_KEYS,
-  AssistCategory,
-  AssistedDistanceMilestoneTracker,
-  MilestoneStore,
-  assist_category,
-  next_milestone_miles,
-)
-
-
-class TestAssistedDistanceMilestoneTracker(unittest.TestCase):
-  def test_store_round_trips_each_category(self):
-    class ParamsStub:
-      def __init__(self):
-        self.values = {
-          PARAM_KEYS[AssistCategory.MADS]: 123.0,
-          PARAM_KEYS[AssistCategory.FULL_ASSIST]: 456.0,
-        }
-
-      def get(self, key, return_default=False):
-        return self.values.get(key, 0.0 if return_default else None)
-
-      def put(self, key, value):
-        self.values[key] = value
-
-    params = ParamsStub()
-    store = MilestoneStore(params)  # type: ignore[arg-type]
-    self.assertEqual(store.load(), {
-      AssistCategory.MADS: 123.0,
-      AssistCategory.FULL_ASSIST: 456.0,
-    })
-
-    store.save({AssistCategory.MADS: 789.0, AssistCategory.FULL_ASSIST: 987.0})
-    self.assertEqual(store.load(), {
-      AssistCategory.MADS: 789.0,
-      AssistCategory.FULL_ASSIST: 987.0,
-    })
-
-  def test_classifies_actual_actuation(self):
-    self.assertIsNone(assist_category(False, False))
-    self.assertIsNone(assist_category(False, True))
-    self.assertEqual(assist_category(True, False), AssistCategory.MADS)
-    self.assertEqual(assist_category(True, True), AssistCategory.FULL_ASSIST)
-
-  def test_uses_a_one_two_five_milestone_ladder(self):
-    cases = (
-      (0.0, 1.0),
-      (1.0, 2.0),
-      (2.0, 5.0),
-      (5.0, 10.0),
-      (10.0, 20.0),
-      (49.9, 50.0),
-      (50.0, 100.0),
-      (999.0, 1000.0),
-      (1000.0, 2000.0),
-    )
-    for distance, expected in cases:
-      with self.subTest(distance=distance):
-        self.assertEqual(next_milestone_miles(distance), expected)
-
-  def test_tracks_categories_and_emits_dynamic_milestones(self):
-    tracker = AssistedDistanceMilestoneTracker({
-      AssistCategory.MADS: METERS_PER_MILE - 5.0,
-      AssistCategory.FULL_ASSIST: 2 * METERS_PER_MILE - 5.0,
-    })
-
-    self.assertEqual(tracker.update(0, 10.0, AssistCategory.MADS), [])
-    milestones = tracker.update(500_000_000, 10.0, AssistCategory.FULL_ASSIST)
-    self.assertEqual(len(milestones), 1)
-    self.assertEqual(milestones[0].category, AssistCategory.MADS)
-    self.assertAlmostEqual(milestones[0].previous_distance_miles, 0.0)
-    self.assertAlmostEqual(milestones[0].distance_miles, 1.0)
-
-    milestones = tracker.update(1_000_000_000, 10.0, AssistCategory.FULL_ASSIST)
-    self.assertEqual(len(milestones), 1)
-    self.assertEqual(milestones[0].category, AssistCategory.FULL_ASSIST)
-    self.assertAlmostEqual(milestones[0].previous_distance_miles, 1.0)
-    self.assertAlmostEqual(milestones[0].distance_miles, 2.0)
-
-  def test_does_not_count_unassisted_time_or_timestamp_gaps(self):
-    tracker = AssistedDistanceMilestoneTracker()
-
-    tracker.update(0, 20.0, None)
-    tracker.update(500_000_000, 20.0, AssistCategory.MADS)
-    self.assertEqual(tracker.distance_meters(AssistCategory.MADS), 0.0)
-
-    tracker.update(2_000_000_000, 20.0, AssistCategory.MADS)
-    self.assertEqual(tracker.distance_meters(AssistCategory.MADS), 0.0)
-
-  def test_drive_reset_preserves_persistent_distance(self):
-    tracker = AssistedDistanceMilestoneTracker()
-    tracker.update(0, 10.0, AssistCategory.MADS)
-    tracker.update(500_000_000, 10.0, AssistCategory.MADS)
-    distance_before_reset = tracker.distance_meters(AssistCategory.MADS)
-
-    tracker.reset_sampling()
-
-    self.assertEqual(tracker.distance_meters(AssistCategory.MADS), distance_before_reset)
-    self.assertEqual(tracker.update(1_000_000_000, 10.0, AssistCategory.MADS), [])
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/openpilot/selfdrive/ui/tests/test_soundd.py b/openpilot/selfdrive/ui/tests/test_soundd.py
index aa15010c52..34783c0d1e 100644
--- a/openpilot/selfdrive/ui/tests/test_soundd.py
+++ b/openpilot/selfdrive/ui/tests/test_soundd.py
@@ -5,12 +5,26 @@ from openpilot.common.test import OpenpilotTestCase
 from openpilot.cereal import log, messaging
 from openpilot.cereal.messaging import SubMaster, PubMaster
 from openpilot.selfdrive.ui.soundd import SELFDRIVE_STATE_TIMEOUT, Soundd, calculate_volume_for_device, check_selfdrive_timeout_alert
-from openpilot.selfdrive.ui.sunnypilot.onroad.milestone_tracker_prototype import MILESTONE_EVENT_PAYLOAD
 
 AudibleAlert = log.SelfdriveState.AudibleAlert
 
 
 class TestSoundd(OpenpilotTestCase):
+  @staticmethod
+  def milestone_submaster(event_id=42):
+    class SubMasterStub:
+      def __init__(self):
+        self.updated = {'assistedDrivingMilestoneState': True}
+        msg = messaging.new_message('assistedDrivingMilestoneState')
+        msg.assistedDrivingMilestoneState.enabled = True
+        msg.assistedDrivingMilestoneState.event.id = event_id
+        self.data = {'assistedDrivingMilestoneState': msg.assistedDrivingMilestoneState}
+
+      def __getitem__(self, service):
+        return self.data[service]
+
+    return SubMasterStub()
+
   def test_comma_four_volume_is_50_percent_louder_than_comma_three_x(self):
     for weighted_db in (20.0, 30.0, 40.0, 50.0):
       with self.subTest(weighted_db=weighted_db):
@@ -18,21 +32,34 @@ class TestSoundd(OpenpilotTestCase):
         comma_four_volume = calculate_volume_for_device(weighted_db, "mici")
         assert comma_four_volume == min(1.0, comma_three_x_volume * 1.5)
 
-  def test_milestone_chime_uses_ui_milestone_event(self):
+  def test_milestone_chime_uses_typed_milestone_event_once(self):
     soundd = Soundd()
-
-    class SubMasterStub:
-      def __init__(self):
-        self.updated = {'customReservedRawData0': True}
-        self.data = {'customReservedRawData0': MILESTONE_EVENT_PAYLOAD}
-
-      def __getitem__(self, service):
-        return self.data[service]
-
-    sm = SubMasterStub()
+    sm = self.milestone_submaster()
     soundd.update_milestone_alert(sm)
 
     assert soundd.current_alert == AudibleAlert.complete
+    soundd.current_alert = AudibleAlert.none
+    soundd.update_milestone_alert(sm)
+    assert soundd.current_alert == AudibleAlert.none
+
+  def test_safety_alert_consumes_milestone_without_replaying_it(self):
+    soundd = Soundd()
+    sm = self.milestone_submaster()
+    soundd.current_alert = AudibleAlert.warningImmediate
+
+    soundd.update_milestone_alert(sm)
+    soundd.current_alert = AudibleAlert.none
+    soundd.update_milestone_alert(sm)
+
+    assert soundd.current_alert == AudibleAlert.none
+
+  def test_quiet_mode_consumes_milestone_without_playing_it(self):
+    soundd = Soundd()
+    soundd.enabled = True
+
+    soundd.update_milestone_alert(self.milestone_submaster())
+
+    assert soundd.current_alert == AudibleAlert.none
 
   def test_check_selfdrive_timeout_alert(self, mocker):
     sm = SubMaster(['selfdriveState', 'selfdriveStateSP'])
diff --git a/openpilot/sunnypilot/selfdrive/selfdrived/assisted_driving_milestones.py b/openpilot/sunnypilot/selfdrive/selfdrived/assisted_driving_milestones.py
new file mode 100644
index 0000000000..6578512ba2
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/selfdrived/assisted_driving_milestones.py
@@ -0,0 +1,260 @@
+"""Authoritative assisted-driving distance and milestone tracking."""
+
+import math
+from collections.abc import Mapping
+from dataclasses import dataclass
+from enum import StrEnum
+
+from openpilot.common.params import Params
+
+
+METERS_PER_MILE = 1609.344
+METERS_PER_KILOMETER = 1000.0
+MAX_SAMPLE_INTERVAL_SECONDS = 0.5
+PERSIST_INTERVAL_NS = 10_000_000_000
+STATE_VERSION = 1
+STATE_PARAM = "AssistedDrivingMilestoneState"
+LAST_DRIVE_SUMMARY_PARAM = "LastDriveAssistedDrivingSummary"
+
+
+class AssistCategory(StrEnum):
+  MADS = "mads"
+  FULL_ASSIST = "fullAssist"
+
+
+class MilestoneUnit(StrEnum):
+  IMPERIAL = "imperial"
+  METRIC = "metric"
+
+
+@dataclass(frozen=True)
+class MilestoneEvent:
+  event_id: int
+  category: AssistCategory
+  distance_meters: float
+  previous_distance_meters: float
+  unit: MilestoneUnit
+
+
+@dataclass(frozen=True)
+class MilestoneSnapshot:
+  distances_meters: dict[AssistCategory, float]
+  drive_start_distances_meters: dict[AssistCategory, float]
+  next_event_id: int
+  next_summary_id: int
+  unit: MilestoneUnit
+  active_drive_id: str
+
+
+def assist_category(lat_active: bool, long_active: bool) -> AssistCategory | None:
+  if not lat_active:
+    return None
+  return AssistCategory.FULL_ASSIST if long_active else AssistCategory.MADS
+
+
+def _meters_per_unit(unit: MilestoneUnit) -> float:
+  return METERS_PER_KILOMETER if unit == MilestoneUnit.METRIC else METERS_PER_MILE
+
+
+def _next_ladder_value(value: float) -> float:
+  value = max(0.0, value)
+  magnitude = 10.0 ** math.floor(math.log10(max(1.0, value)))
+  for multiplier in (1.0, 2.0, 5.0):
+    candidate = multiplier * magnitude
+    if candidate > value + 1e-9:
+      return candidate
+  return 10.0 * magnitude
+
+
+def _previous_ladder_value(value: float) -> float:
+  if value <= 1.0:
+    return 0.0
+  magnitude = 10.0 ** math.floor(math.log10(value))
+  normalized = value / magnitude
+  if normalized <= 1.0 + 1e-9:
+    return 5.0 * magnitude / 10.0
+  if normalized <= 2.0 + 1e-9:
+    return magnitude
+  return 2.0 * magnitude
+
+
+def next_milestone_meters(distance_meters: float, unit: MilestoneUnit) -> float:
+  meters_per_unit = _meters_per_unit(unit)
+  return _next_ladder_value(distance_meters / meters_per_unit) * meters_per_unit
+
+
+class MilestoneStore:
+  def __init__(self, params: Params | None = None):
+    self._params = params or Params()
+
+  def load(self) -> MilestoneSnapshot:
+    raw = self._params.get(STATE_PARAM, return_default=True)
+    raw = raw if isinstance(raw, dict) else {}
+    raw_distances = raw.get("distancesMeters", {})
+    raw_distances = raw_distances if isinstance(raw_distances, dict) else {}
+    try:
+      unit = MilestoneUnit(raw.get("unit", MilestoneUnit.IMPERIAL))
+    except ValueError:
+      unit = MilestoneUnit.IMPERIAL
+
+    def distance(category: AssistCategory) -> float:
+      try:
+        return max(0.0, float(raw_distances.get(category.value, 0.0)))
+      except (TypeError, ValueError):
+        return 0.0
+
+    distances = {category: distance(category) for category in AssistCategory}
+    raw_drive_start = raw.get("driveStartDistancesMeters", {})
+    raw_drive_start = raw_drive_start if isinstance(raw_drive_start, dict) else {}
+
+    def drive_start_distance(category: AssistCategory) -> float:
+      try:
+        return max(0.0, min(float(raw_drive_start.get(category.value, distances[category])), distances[category]))
+      except (TypeError, ValueError):
+        return distances[category]
+
+    try:
+      next_event_id = max(1, int(raw.get("nextEventId", 1)))
+    except (TypeError, ValueError):
+      next_event_id = 1
+    try:
+      next_summary_id = max(1, int(raw.get("nextSummaryId", 1)))
+    except (TypeError, ValueError):
+      next_summary_id = 1
+
+    return MilestoneSnapshot(
+      distances_meters=distances,
+      drive_start_distances_meters={category: drive_start_distance(category) for category in AssistCategory},
+      next_event_id=next_event_id,
+      next_summary_id=next_summary_id,
+      unit=unit,
+      active_drive_id=str(raw.get("activeDriveId", "")),
+    )
+
+  def save(self, snapshot: MilestoneSnapshot, block: bool = False) -> None:
+    if block:
+      self._params.flush()
+    self._params.put(STATE_PARAM, {
+      "version": STATE_VERSION,
+      "distancesMeters": {category.value: max(0.0, snapshot.distances_meters.get(category, 0.0)) for category in AssistCategory},
+      "driveStartDistancesMeters": {
+        category.value: max(0.0, snapshot.drive_start_distances_meters.get(category, 0.0)) for category in AssistCategory
+      },
+      "nextEventId": max(1, snapshot.next_event_id),
+      "nextSummaryId": max(1, snapshot.next_summary_id),
+      "unit": snapshot.unit.value,
+      "activeDriveId": snapshot.active_drive_id,
+    }, block=block)
+
+  def save_drive_summary(self, summary_id: int, distances_meters: Mapping[AssistCategory, float], unit: MilestoneUnit) -> None:
+    self._params.put(LAST_DRIVE_SUMMARY_PARAM, {
+      "version": STATE_VERSION,
+      "id": summary_id,
+      "distancesMeters": {category.value: max(0.0, distances_meters.get(category, 0.0)) for category in AssistCategory},
+      "unit": unit.value,
+    }, block=True)
+
+
+class AssistedDrivingMilestones:
+  """Tracks, persists, and emits milestones through one small interface."""
+
+  def __init__(self, store: MilestoneStore | None = None):
+    self._store = store or MilestoneStore()
+    snapshot = self._store.load()
+    self._distances_meters = snapshot.distances_meters
+    self._drive_start_distances_meters = snapshot.drive_start_distances_meters
+    self._next_event_id = snapshot.next_event_id
+    self._next_summary_id = snapshot.next_summary_id
+    self._unit = snapshot.unit
+    self._active_drive_id = snapshot.active_drive_id
+    self._next_milestone_meters = {
+      category: next_milestone_meters(distance, self._unit)
+      for category, distance in self._distances_meters.items()
+    }
+    self._last_timestamp_ns: int | None = None
+    self._last_persist_timestamp_ns: int | None = None
+    self._last_speed_mps = 0.0
+    self._last_category: AssistCategory | None = None
+    self._enabled = False
+    self._closed = False
+
+  def snapshot(self) -> MilestoneSnapshot:
+    return MilestoneSnapshot(
+      self._distances_meters.copy(),
+      self._drive_start_distances_meters.copy(),
+      self._next_event_id,
+      self._next_summary_id,
+      self._unit,
+      self._active_drive_id,
+    )
+
+  def set_drive_id(self, drive_id: str) -> None:
+    if not drive_id or drive_id == self._active_drive_id:
+      return
+    self._active_drive_id = drive_id
+    self._drive_start_distances_meters = self._distances_meters.copy()
+    self._persist()
+
+  def update(self, timestamp_ns: int, speed_mps: float, *, lat_active: bool, long_active: bool,
+             is_metric: bool, enabled: bool) -> MilestoneEvent | None:
+    self._enabled = enabled
+    unit = MilestoneUnit.METRIC if is_metric else MilestoneUnit.IMPERIAL
+    if unit != self._unit:
+      self._unit = unit
+      self._next_milestone_meters = {
+        category: next_milestone_meters(distance, unit)
+        for category, distance in self._distances_meters.items()
+      }
+
+    speed_mps = max(0.0, speed_mps)
+    category = assist_category(lat_active, long_active) if enabled else None
+    event = None
+
+    if self._last_timestamp_ns is not None and timestamp_ns != self._last_timestamp_ns:
+      dt = (timestamp_ns - self._last_timestamp_ns) / 1e9
+      if 0 < dt <= MAX_SAMPLE_INTERVAL_SECONDS and self._last_category is not None:
+        active_category = self._last_category
+        self._distances_meters[active_category] += (self._last_speed_mps + speed_mps) / 2.0 * dt
+        threshold_meters = self._next_milestone_meters[active_category]
+        if self._distances_meters[active_category] >= threshold_meters:
+          meters_per_unit = _meters_per_unit(self._unit)
+          threshold_units = threshold_meters / meters_per_unit
+          event = MilestoneEvent(
+            event_id=self._next_event_id,
+            category=active_category,
+            distance_meters=threshold_meters,
+            previous_distance_meters=_previous_ladder_value(threshold_units) * meters_per_unit,
+            unit=self._unit,
+          )
+          self._next_event_id += 1
+          self._next_milestone_meters[active_category] = next_milestone_meters(threshold_meters, self._unit)
+          self._persist(timestamp_ns=timestamp_ns)
+
+    self._last_timestamp_ns = timestamp_ns
+    self._last_speed_mps = speed_mps
+    self._last_category = category
+
+    if self._last_persist_timestamp_ns is None:
+      self._last_persist_timestamp_ns = timestamp_ns
+    elif timestamp_ns - self._last_persist_timestamp_ns >= PERSIST_INTERVAL_NS:
+      self._persist(timestamp_ns=timestamp_ns)
+
+    return event
+
+  def close(self) -> None:
+    if self._closed:
+      return
+    self._closed = True
+    drive_distances = {
+      category: self._distances_meters[category] - self._drive_start_distances_meters[category]
+      for category in AssistCategory
+    }
+    summary_id = self._next_summary_id
+    self._next_summary_id += 1
+    self._persist(block=True)
+    if self._enabled:
+      self._store.save_drive_summary(summary_id, drive_distances, self._unit)
+
+  def _persist(self, block: bool = False, timestamp_ns: int | None = None) -> None:
+    self._store.save(self.snapshot(), block=block)
+    self._last_persist_timestamp_ns = self._last_timestamp_ns if timestamp_ns is None else timestamp_ns
diff --git a/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_assisted_driving_milestones.py b/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_assisted_driving_milestones.py
new file mode 100644
index 0000000000..8b37d81def
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_assisted_driving_milestones.py
@@ -0,0 +1,123 @@
+import unittest
+
+from openpilot.sunnypilot.selfdrive.selfdrived.assisted_driving_milestones import (
+  METERS_PER_MILE,
+  AssistCategory,
+  AssistedDrivingMilestones,
+  MilestoneStore,
+  MilestoneUnit,
+)
+
+
+class ParamsStub:
+  def __init__(self, state=None):
+    self.values = {"AssistedDrivingMilestoneState": state or {}}
+    self.writes = []
+
+  def get(self, key, return_default=False):
+    return self.values.get(key, {} if return_default else None)
+
+  def put(self, key, value, block=False):
+    self.values[key] = value
+    self.writes.append((key, value, block))
+
+  def flush(self):
+    pass
+
+
+class TestAssistedDrivingMilestones(unittest.TestCase):
+  def test_emits_and_asynchronously_persists_first_imperial_milestone(self):
+    params = ParamsStub({
+      "version": 1,
+      "distancesMeters": {"mads": METERS_PER_MILE - 5.0, "fullAssist": 0.0},
+      "nextEventId": 7,
+      "unit": "imperial",
+    })
+    milestones = AssistedDrivingMilestones(MilestoneStore(params))  # type: ignore[arg-type]
+
+    self.assertIsNone(milestones.update(0, 10.0, lat_active=True, long_active=False, is_metric=False, enabled=True))
+    event = milestones.update(500_000_000, 10.0, lat_active=True, long_active=False, is_metric=False, enabled=True)
+
+    self.assertIsNotNone(event)
+    assert event is not None
+    self.assertEqual(event.event_id, 7)
+    self.assertEqual(event.category, AssistCategory.MADS)
+    self.assertEqual(event.unit, MilestoneUnit.IMPERIAL)
+    self.assertAlmostEqual(event.distance_meters, METERS_PER_MILE)
+    self.assertFalse(params.writes[-1][2])
+
+  def test_switching_units_schedules_only_a_future_milestone(self):
+    params = ParamsStub({
+      "version": 1,
+      "distancesMeters": {"mads": 9_500.0, "fullAssist": 0.0},
+      "nextEventId": 2,
+      "unit": "imperial",
+    })
+    milestones = AssistedDrivingMilestones(MilestoneStore(params))  # type: ignore[arg-type]
+
+    self.assertIsNone(milestones.update(0, 1_000.0, lat_active=True, long_active=False, is_metric=True, enabled=True))
+    event = milestones.update(500_000_000, 1_000.0, lat_active=True, long_active=False, is_metric=True, enabled=True)
+
+    self.assertIsNotNone(event)
+    assert event is not None
+    self.assertEqual(event.unit, MilestoneUnit.METRIC)
+    self.assertAlmostEqual(event.distance_meters, 10_000.0)
+
+  def test_ignores_disabled_reverse_and_timestamp_gaps(self):
+    params = ParamsStub()
+    milestones = AssistedDrivingMilestones(MilestoneStore(params))  # type: ignore[arg-type]
+
+    milestones.update(0, 20.0, lat_active=True, long_active=False, is_metric=False, enabled=False)
+    milestones.update(500_000_000, 20.0, lat_active=True, long_active=False, is_metric=False, enabled=False)
+    milestones.update(1_000_000_000, -20.0, lat_active=True, long_active=False, is_metric=False, enabled=True)
+    milestones.update(2_000_000_000, 20.0, lat_active=True, long_active=False, is_metric=False, enabled=True)
+
+    self.assertEqual(milestones.snapshot().distances_meters[AssistCategory.MADS], 0.0)
+
+  def test_close_persists_totals_and_last_drive_summary(self):
+    params = ParamsStub()
+    milestones = AssistedDrivingMilestones(MilestoneStore(params))  # type: ignore[arg-type]
+    milestones.update(0, 10.0, lat_active=True, long_active=True, is_metric=False, enabled=True)
+    milestones.update(500_000_000, 10.0, lat_active=True, long_active=True, is_metric=False, enabled=True)
+
+    milestones.close()
+
+    summary = params.values["LastDriveAssistedDrivingSummary"]
+    self.assertAlmostEqual(summary["distancesMeters"]["fullAssist"], 5.0)
+    self.assertTrue(params.writes[-1][2])
+
+    write_count = len(params.writes)
+    milestones.close()
+    self.assertEqual(len(params.writes), write_count)
+
+  def test_process_restart_preserves_the_current_drive_start(self):
+    params = ParamsStub()
+    first_process = AssistedDrivingMilestones(MilestoneStore(params))  # type: ignore[arg-type]
+    first_process.set_drive_id("route-1")
+    first_process.update(0, 10.0, lat_active=True, long_active=False, is_metric=False, enabled=True)
+    first_process.update(500_000_000, 10.0, lat_active=True, long_active=False, is_metric=False, enabled=True)
+    first_process.close()
+
+    second_process = AssistedDrivingMilestones(MilestoneStore(params))  # type: ignore[arg-type]
+    second_process.set_drive_id("route-1")
+    second_process.update(1_000_000_000, 10.0, lat_active=True, long_active=False, is_metric=False, enabled=True)
+    second_process.update(1_500_000_000, 10.0, lat_active=True, long_active=False, is_metric=False, enabled=True)
+    second_process.close()
+
+    summary = params.values["LastDriveAssistedDrivingSummary"]
+    self.assertAlmostEqual(summary["distancesMeters"]["mads"], 10.0)
+
+  def test_disabled_feature_does_not_publish_drive_summary(self):
+    params = ParamsStub()
+    milestones = AssistedDrivingMilestones(MilestoneStore(params))  # type: ignore[arg-type]
+    milestones.update(0, 10.0, lat_active=True, long_active=False, is_metric=False, enabled=True)
+    milestones.update(500_000_000, 10.0, lat_active=True, long_active=False, is_metric=False, enabled=True)
+    milestones.update(1_000_000_000, 10.0, lat_active=True, long_active=False, is_metric=False, enabled=False)
+
+    milestones.close()
+
+    self.assertNotIn("LastDriveAssistedDrivingSummary", params.values)
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui.json b/openpilot/sunnypilot/sunnylink/settings_ui.json
index 63bf342fcb..01f8c0de66 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui.json
+++ b/openpilot/sunnypilot/sunnylink/settings_ui.json
@@ -1383,6 +1383,12 @@
               "title": "Steering Arc",
               "description": "Display steering arc on the driving screen when lateral control is enabled."
             },
+            {
+              "key": "AssistedDrivingMilestonesEnabled",
+              "widget": "toggle",
+              "title": "Assisted Driving Milestones",
+              "description": "Celebrate cumulative MADS and full-assist distance milestones while driving."
+            },
             {
               "key": "ShowTurnSignals",
               "widget": "toggle",
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/visuals.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/visuals.yaml
index 3170991157..fd2038f2a2 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/visuals.yaml
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/visuals.yaml
@@ -20,6 +20,10 @@ sections:
     widget: toggle
     title: Steering Arc
     description: Display steering arc on the driving screen when lateral control is enabled.
+  - key: AssistedDrivingMilestonesEnabled
+    widget: toggle
+    title: Assisted Driving Milestones
+    description: Celebrate cumulative MADS and full-assist distance milestones while driving.
   - key: ShowTurnSignals
     widget: toggle
     title: Display Turn Signals
diff --git a/openpilot/sunnypilot/system/params_migration.py b/openpilot/sunnypilot/system/params_migration.py
index 2143e13289..297c7b6ab5 100644
--- a/openpilot/sunnypilot/system/params_migration.py
+++ b/openpilot/sunnypilot/system/params_migration.py
@@ -11,7 +11,6 @@ from openpilot.sunnypilot.selfdrive.car.sync_sunnylink_params import CAR_LIST_JS
 
 ONROAD_BRIGHTNESS_MIGRATION_VERSION: str = "1.0"
 ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION: str = "1.0"
-ASSISTED_DISTANCE_MILESTONE_RESET_VERSION: str = "1"
 
 # index → seconds mapping for OnroadScreenOffTimer (SSoT)
 ONROAD_BRIGHTNESS_TIMER_VALUES = {0: 3, 1: 5, 2: 7, 3: 10, 4: 15, 5: 30, **{i: (i - 5) * 60 for i in range(6, 16)}}
@@ -100,17 +99,30 @@ def _migrate_model_bundle_slots(_params):
     cloudlog.exception(f"Error migrating model bundle slots: {e}")
 
 
-def _reset_assisted_distance_milestones(_params):
+def _migrate_assisted_driving_milestones(_params):
   try:
-    if _params.get("AssistedDistanceMilestoneResetVersion", return_default=True) == ASSISTED_DISTANCE_MILESTONE_RESET_VERSION:
+    state = _params.get("AssistedDrivingMilestoneState", return_default=True)
+    if isinstance(state, dict) and state.get("version") == 1:
       return
 
-    _params.put("MadsDrivenDistanceMeters", 0.0, block=True)
-    _params.put("FullAssistDrivenDistanceMeters", 0.0, block=True)
-    _params.put("AssistedDistanceMilestoneResetVersion", ASSISTED_DISTANCE_MILESTONE_RESET_VERSION, block=True)
-    cloudlog.info("params_migration: reset assisted-distance milestone counters")
+    _params.put("AssistedDrivingMilestoneState", {
+      "version": 1,
+      "distancesMeters": {
+        "mads": max(0.0, _params.get("MadsDrivenDistanceMeters", return_default=True) or 0.0),
+        "fullAssist": max(0.0, _params.get("FullAssistDrivenDistanceMeters", return_default=True) or 0.0),
+      },
+      "driveStartDistancesMeters": {
+        "mads": max(0.0, _params.get("MadsDrivenDistanceMeters", return_default=True) or 0.0),
+        "fullAssist": max(0.0, _params.get("FullAssistDrivenDistanceMeters", return_default=True) or 0.0),
+      },
+      "nextEventId": 1,
+      "nextSummaryId": 1,
+      "unit": "metric" if _params.get_bool("IsMetric") else "imperial",
+      "activeDriveId": "",
+    }, block=True)
+    cloudlog.info("params_migration: migrated assisted-driving milestone state")
   except Exception as e:
-    cloudlog.exception(f"Error resetting assisted-distance milestone counters: {e}")
+    cloudlog.exception(f"Error migrating assisted-driving milestone state: {e}")
 
 
 def run_migration(_params):
@@ -153,5 +165,4 @@ def run_migration(_params):
   # seed the usbgpu model slot from the pre-split single slot
   _migrate_model_bundle_slots(_params)
 
-  # reset prototype milestone counters once for the next test cycle
-  _reset_assisted_distance_milestones(_params)
+  _migrate_assisted_driving_milestones(_params)
diff --git a/openpilot/sunnypilot/system/tests/test_params_migration.py b/openpilot/sunnypilot/system/tests/test_params_migration.py
index 380a075370..6a8cb78899 100644
--- a/openpilot/sunnypilot/system/tests/test_params_migration.py
+++ b/openpilot/sunnypilot/system/tests/test_params_migration.py
@@ -10,8 +10,8 @@ from openpilot.common.test import OpenpilotTestCase
 from openpilot.sunnypilot.system.params_migration import _migrate_model_bundle_slots, run_migration
 
 
-class TestAssistedDistanceMilestoneReset(OpenpilotTestCase):
-  def test_resets_existing_distances_once(self):
+class TestAssistedDrivingMilestoneMigration(OpenpilotTestCase):
+  def test_preserves_prototype_distances_once(self):
     class ParamsStub:
       def __init__(self):
         self.values = {
@@ -19,7 +19,8 @@ class TestAssistedDistanceMilestoneReset(OpenpilotTestCase):
           "FullAssistDrivenDistanceMeters": 456.0,
           "OnroadScreenOffBrightness": 0,
           "OnroadScreenOffTimer": 15,
-          "AssistedDistanceMilestoneResetVersion": "0",
+          "AssistedDrivingMilestoneState": {},
+          "IsMetric": False,
         }
 
       def get(self, key, return_default=False):
@@ -28,19 +29,22 @@ class TestAssistedDistanceMilestoneReset(OpenpilotTestCase):
       def put(self, key, value, block=False):
         self.values[key] = value
 
+      def get_bool(self, key):
+        return bool(self.values.get(key, False))
+
     params = ParamsStub()
 
     run_migration(params)
 
-    assert params.get("MadsDrivenDistanceMeters") == 0.0
-    assert params.get("FullAssistDrivenDistanceMeters") == 0.0
+    state = params.get("AssistedDrivingMilestoneState")
+    assert state["distancesMeters"] == {"mads": 123.0, "fullAssist": 456.0}
 
     params.put("MadsDrivenDistanceMeters", 12.0, block=True)
     params.put("FullAssistDrivenDistanceMeters", 34.0, block=True)
     run_migration(params)
 
-    assert params.get("MadsDrivenDistanceMeters") == 12.0
-    assert params.get("FullAssistDrivenDistanceMeters") == 34.0
+    state = params.get("AssistedDrivingMilestoneState")
+    assert state["distancesMeters"] == {"mads": 123.0, "fullAssist": 456.0}
 
 
 class TestModelBundleSlotMigration(OpenpilotTestCase):