phase 1-5

docs_sp/settings/cruise.md

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+---
+title: Cruise Control Settings
+---
+
+# Cruise Control Settings
+
+Settings for adaptive cruise control behavior, including intelligent button management, smart cruise features, and custom speed increments.
+
+**Location:** Settings → sunnypilot → Cruise Control
+
+---
+
+## Intelligent Cruise Button Management (ICBM)
+
+| Property | Value |
+|----------|-------|
+| **Param** | `IntelligentCruiseButtonManagement` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+Allows sunnypilot to dynamically manage cruise speed by intercepting button presses on the steering wheel. When enabled, speed adjustments are handled intelligently to support features like Speed Limit Control.
+
+!!! info "Requirements"
+    - Vehicle must support ICBM (shown only when `intelligentCruiseButtonManagementAvailable` is true in car parameters)
+
+!!! note "Vehicle Compatibility"
+    Not all vehicles support ICBM. If this toggle does not appear, your vehicle does not support this feature.
+
+---
+
+## Smart Cruise Control — Vision (SCC-V)
+
+| Property | Value |
+|----------|-------|
+| **Param** | `SmartCruiseControlVision` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+Uses vision-based data to make smarter cruise control decisions, such as adjusting speed based on detected lead vehicles.
+
+!!! info "Requirements"
+    - ICBM must be enabled
+    - Vehicle must support ICBM
+
+---
+
+## Smart Cruise Control — Map (SCC-M)
+
+| Property | Value |
+|----------|-------|
+| **Param** | `SmartCruiseControlMap` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+Uses map data (curves, speed limits) to adjust cruise speed proactively.
+
+!!! info "Requirements"
+    - ICBM must be enabled
+    - Vehicle must support ICBM
+
+---
+
+## Custom ACC Increments
+
+| Property | Value |
+|----------|-------|
+| **Param** | `CustomAccIncrementsEnabled` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+Enables customization of how much the set speed changes with short and long button presses on the steering wheel.
+
+!!! info "Requirements"
+    - Longitudinal control must be available, **or** ICBM must be enabled
+    - PCM Cruise must not be active
+
+### Short Press Increment
+
+| Property | Value |
+|----------|-------|
+| **Param** | `CustomAccShortPressIncrement` |
+| **Type** | Option selector |
+| **Range** | 1–10 |
+| **Default** | 1 |
+
+Sets the speed change (in your unit preference: km/h or mph) for a short press of the cruise speed button.
+
+### Long Press Increment
+
+| Property | Value |
+|----------|-------|
+| **Param** | `CustomAccLongPressIncrement` |
+| **Type** | Option selector |
+| **Options** | 1 → 1, 2 → 5, 3 → 10 |
+| **Default** | 1 (value: 1) |
+
+Sets the speed change for a long press. The mapping is:
+
+| Selection | Speed Change |
+|-----------|-------------|
+| 1 | 1 km/h (or mph) |
+| 2 | 5 km/h (or mph) |
+| 3 | 10 km/h (or mph) |
+
+---
+
+## Dynamic Experimental Control (DEC)
+
+| Property | Value |
+|----------|-------|
+| **Param** | `DynamicExperimentalControl` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+Automatically switches between openpilot and experimental mode based on driving conditions. When enabled, the system uses real-time signals (speed, turn detection, stop signs, traffic lights) to determine the most appropriate driving mode.
+
+!!! info "Requirements"
+    - Longitudinal control must be available
+    - Device must be offroad to toggle
+
+---
+
+## Speed Limit Control
+
+Speed Limit Control settings are located in a sub-panel within Cruise Control. See the dedicated [Speed Limit Settings](speed-limit.md) page for full details.
+
+---
+
+## Related Features
+
+- [Intelligent Cruise Button Management](../features/icbm.md)
+- [Smart Cruise Control — Vision](../features/scc-v.md)
+- [Smart Cruise Control — Map](../features/scc-m.md)
+- [Custom ACC Increments](../features/custom-acc-increments.md)
+- [Dynamic Experimental Control](../features/dynamic-experimental-control.md)

docs_sp/settings/developer.md

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+---
+title: Developer Settings
+---
+
+# Developer Settings
+
+Advanced settings for developers and power users. Most of these settings are hidden behind the Advanced Controls toggle.
+
+**Location:** Settings → sunnypilot → Developer
+
+---
+
+## Show Advanced Controls
+
+| Property | Value |
+|----------|-------|
+| **Param** | `ShowAdvancedControls` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+Master toggle that reveals advanced settings throughout the sunnypilot UI. Many settings across different panels are only visible when this is enabled.
+
+**Settings gated by Advanced Controls:**
+
+- Models & AI → Lane Turn Value, LAGD Delay
+- Software → Disable Updates
+- Developer → GitHub Runner, Error Log, Copyparty, Quick Boot
+
+---
+
+## Enable GitHub Runner
+
+| Property | Value |
+|----------|-------|
+| **Param** | `EnableGithubRunner` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+Enables the GitHub Actions self-hosted runner on the device. This allows the device to execute CI/CD jobs.
+
+!!! info "Requirements"
+    - Advanced Controls must be enabled
+    - Only available on non-release branches
+
+---
+
+## Enable Copyparty
+
+| Property | Value |
+|----------|-------|
+| **Param** | `EnableCopyparty` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+Enables the Copyparty file sharing server on the device, allowing easy file transfer to and from the device over the network.
+
+!!! info "Requirements"
+    - Advanced Controls must be enabled
+
+---
+
+## Quick Boot
+
+| Property | Value |
+|----------|-------|
+| **Param** | `QuickBootToggle` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+Enables a faster boot sequence by skipping certain initialization steps. Can reduce the time from power-on to driving readiness.
+
+!!! info "Requirements"
+    - Advanced Controls must be enabled
+    - Updates must not be disabled (`DisableUpdates` must be Off)

docs_sp/settings/device.md

@@ -0,0 +1,94 @@
+---
+title: Device Settings
+---
+
+# Device Settings
+
+Configure device-level behavior including power management, upload settings, and boot options.
+
+**Location:** Settings → sunnypilot → Device
+
+---
+
+## Max Time Offroad
+
+| Property | Value |
+|----------|-------|
+| **Param** | `MaxTimeOffroad` |
+| **Type** | Option selector |
+| **Range** | 0–11 |
+| **Default** | 0 |
+
+Controls how long the device stays powered on after the vehicle is turned off (offroad). Useful for preserving battery or keeping the device ready for quick starts.
+
+| Value | Duration |
+|-------|----------|
+| 0 | Immediate shutdown |
+| 1 | 5 minutes |
+| 2 | 15 minutes |
+| 3 | 30 minutes |
+| 4 | 1 hour |
+| 5 | 2 hours |
+| 6 | 3 hours |
+| 7 | 6 hours |
+| 8 | 12 hours |
+| 9 | 24 hours |
+| 10 | 48 hours |
+| 11 | 30 hours (1800 minutes) |
+
+---
+
+## Device Boot Mode
+
+| Property | Value |
+|----------|-------|
+| **Param** | `DeviceBootMode` |
+| **Type** | Multi-button selector |
+| **Options** | Default · Offroad |
+| **Default** | Default |
+
+Controls the device's boot behavior:
+
+| Mode | Behavior |
+|------|----------|
+| **Default** | Normal boot process — device initializes all driving systems on start |
+| **Offroad** | Boot into offroad-only mode — useful for configuration and updates without driving |
+
+---
+
+## Quiet Mode
+
+| Property | Value |
+|----------|-------|
+| **Param** | `QuietMode` |
+| **Type** | Dual-button toggle |
+| **Default** | Off |
+
+Silences non-critical audible alerts from the device. Safety-critical alerts are never silenced.
+
+---
+
+## Onroad Uploads
+
+| Property | Value |
+|----------|-------|
+| **Param** | `OnroadUploads` |
+| **Type** | Dual-button toggle |
+| **Default** | Off |
+
+When enabled, allows the device to upload driving data (logs, video segments) while you're actively driving. When disabled, uploads only occur while parked.
+
+---
+
+## Always Offroad
+
+| Property | Value |
+|----------|-------|
+| **Param** | `OffroadMode` |
+| **Type** | Button |
+| **Default** | N/A |
+
+Forces the device into offroad mode, even if the vehicle is running. This is useful for changing settings that require the device to be offroad (like torque tuning or NNLC).
+
+!!! tip
+    Some vehicle-specific settings (e.g., Tesla Cooperative Steering, Subaru Stop and Go) require the device to be offroad. Use this button to access those settings without turning off the vehicle.

docs_sp/settings/display.md

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+---
+title: Display Settings
+---
+
+# Display Settings
+
+Control screen brightness, timeout, and interactivity behavior while driving.
+
+**Location:** Settings → sunnypilot → Display
+
+---
+
+## Onroad Screen Off Brightness
+
+| Property | Value |
+|----------|-------|
+| **Param** | `OnroadScreenOffBrightness` |
+| **Type** | Option selector |
+| **Range** | 0–22 |
+| **Default** | 0 (Auto) |
+
+Controls the screen brightness level when the display times out during driving.
+
+| Value | Label | Behavior |
+|-------|-------|----------|
+| 0 | Auto | Adjusts brightness automatically based on ambient conditions |
+| 1 | Auto Dark | Same as Auto, but dims more aggressively |
+| 2 | Screen Off | Turns the screen completely off |
+| 3–22 | 5%–100% | Fixed brightness percentage (increments of 5%) |
+
+---
+
+## Onroad Brightness Delay
+
+| Property | Value |
+|----------|-------|
+| **Param** | `OnroadScreenOffTimer` |
+| **Type** | Option selector |
+| **Range** | 0–15 |
+| **Default** | 0 |
+
+Sets how long the screen stays at full brightness before dimming to the "Screen Off Brightness" level. The values map to specific time durations.
+
+!!! info "Requirements"
+    - This setting is disabled when **Onroad Screen Off Brightness** is set to Auto or Auto Dark (values 0 or 1), since those modes manage brightness continuously
+
+---
+
+## Interactivity Timeout
+
+| Property | Value |
+|----------|-------|
+| **Param** | `InteractivityTimeout` |
+| **Type** | Option selector |
+| **Range** | 0–120 seconds (step: 10) |
+| **Default** | 0 (disabled) |
+
+Sets how long the screen remains interactive after the last touch. After this timeout, the screen becomes non-interactive (touch inputs are ignored) until you tap to wake it.
+
+- **0:** Disabled — screen always remains interactive
+- **10–120:** Screen becomes non-interactive after the specified number of seconds
+
+---
+
+## Related Features
+
+- [Onroad Display](../features/onroad-display.md)

docs_sp/settings/lane-change.md

@@ -0,0 +1,54 @@
+---
+title: Lane Change Settings
+---
+
+# Lane Change Settings
+
+Configure automatic lane change behavior and blind spot monitoring integration.
+
+**Location:** Settings → sunnypilot → Steering → Lane Change Settings
+
+---
+
+## Auto Lane Change Timer
+
+| Property | Value |
+|----------|-------|
+| **Param** | `AutoLaneChangeTimer` |
+| **Type** | Option selector |
+| **Options** | Off · Nudge · Nudgeless · 0.5s · 1s · 2s · 3s |
+| **Default** | Off (value: -1) |
+
+Controls how lane changes are initiated when the turn signal is activated:
+
+| Option | Value | Behavior |
+|--------|-------|----------|
+| **Off** | -1 | Auto lane change is disabled |
+| **Nudge** | 0 | Requires a light steering nudge in the desired direction to start the lane change |
+| **Nudgeless** | 1 | Lane change begins immediately when the turn signal is activated (no nudge needed) |
+| **0.5s** | 2 | Lane change begins 0.5 seconds after the turn signal is activated |
+| **1s** | 3 | Lane change begins 1 second after activation |
+| **2s** | 4 | Lane change begins 2 seconds after activation |
+| **3s** | 5 | Lane change begins 3 seconds after activation |
+
+---
+
+## BSM Delay
+
+| Property | Value |
+|----------|-------|
+| **Param** | `AutoLaneChangeBsmDelay` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+When enabled, the system waits for the blind spot to clear before executing a lane change. If a vehicle is detected in the blind spot, the lane change is delayed until the path is clear.
+
+!!! info "Requirements"
+    - Vehicle must support Blind Spot Monitoring (BSM) — only shown when `enableBsm` is true in car parameters
+    - Auto Lane Change Timer must be set to a mode beyond Nudge (i.e., Nudgeless or a timed option)
+
+---
+
+## Related Features
+
+- [Auto Lane Change](../features/auto-lane-change.md)

docs_sp/settings/mads.md

@@ -0,0 +1,73 @@
+---
+title: MADS Settings
+---
+
+# MADS Settings
+
+Fine-tune how the Modular Assistive Driving System (MADS) engages and disengages steering assistance.
+
+**Location:** Settings → sunnypilot → Steering → MADS Settings
+
+!!! info "Prerequisite"
+    The main **MADS** toggle must be enabled in [Steering Settings](steering.md) to access these settings.
+
+---
+
+## Main Cruise Allowed
+
+| Property | Value |
+|----------|-------|
+| **Param** | `MadsMainCruiseAllowed` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+When enabled, pressing the main cruise button (the on/off button on the steering wheel) can activate MADS steering assistance.
+
+!!! warning "Vehicle Restrictions"
+    - **Rivian:** Always forced OFF (limited settings mode)
+    - **Tesla (without vehicle bus):** Always forced OFF (limited settings mode)
+
+---
+
+## Unified Engagement Mode
+
+| Property | Value |
+|----------|-------|
+| **Param** | `MadsUnifiedEngagementMode` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+When enabled, engaging cruise control also automatically engages MADS lateral control in a single action, rather than requiring separate activation.
+
+!!! warning "Vehicle Restrictions"
+    - **Rivian:** Always forced ON (limited settings mode)
+    - **Tesla (without vehicle bus):** Always forced ON (limited settings mode)
+
+---
+
+## Steering Mode on Disengage
+
+| Property | Value |
+|----------|-------|
+| **Param** | `MadsSteeringMode` |
+| **Type** | Multi-button selector |
+| **Options** | Remain Active · Pause · Disengage |
+| **Default** | Remain Active |
+
+Controls what happens to MADS steering assistance when you disengage cruise control:
+
+| Mode | Behavior |
+|------|----------|
+| **Remain Active** | Steering assistance continues even after cruise is disengaged |
+| **Pause** | Steering assistance pauses but can be quickly resumed |
+| **Disengage** | Steering assistance fully disengages with cruise |
+
+!!! warning "Vehicle Restrictions"
+    - **Rivian:** Always forced to Disengage (limited settings mode)
+    - **Tesla (without vehicle bus):** Always forced to Disengage (limited settings mode)
+
+---
+
+## Related Features
+
+- [Modular Assistive Driving System](../features/mads.md)

docs_sp/settings/models.md

@@ -0,0 +1,78 @@
+---
+title: Models & AI Settings
+---
+
+# Models & AI Settings
+
+Configure driving model behavior and advanced AI parameters.
+
+**Location:** Settings → sunnypilot → Models & AI
+
+---
+
+## Model Selection
+
+Select which driving model to use. Different models may have different driving characteristics and capabilities.
+
+!!! warning "Offroad Only"
+    Model selection can only be changed while the vehicle is offroad (parked with ignition off).
+
+---
+
+## Lane Turn Desire
+
+| Property | Value |
+|----------|-------|
+| **Param** | `LaneTurnDesire` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+Enables lane-aware turn desire signals to the driving model. When active, the model receives enhanced lane positioning cues during turns.
+
+### Lane Turn Value
+
+| Property | Value |
+|----------|-------|
+| **Param** | `LaneTurnValue` |
+| **Type** | Option selector |
+| **Range** | 500–2000 (displayed with float scaling) |
+| **Default** | 500 |
+
+Adjusts the intensity of the lane turn desire signal sent to the model. Higher values produce a stronger turn desire.
+
+!!! info "Requirements"
+    - Lane Turn Desire must be enabled
+    - Advanced Controls must be enabled (`ShowAdvancedControls`)
+
+---
+
+## LAGD (Look-Ahead Generative Driving)
+
+| Property | Value |
+|----------|-------|
+| **Param** | `LagdToggle` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+Enables the Look-Ahead Generative Driving feature, which uses generative AI to anticipate road conditions ahead.
+
+### LAGD Delay
+
+| Property | Value |
+|----------|-------|
+| **Param** | `LagdToggleDelay` |
+| **Type** | Option selector |
+| **Range** | 5–50 (displayed with float scaling) |
+| **Default** | 5 |
+
+Configures the look-ahead delay for LAGD. Higher values make the system look further ahead.
+
+!!! info "Requirements"
+    - LAGD must be **disabled** (this setting is shown when LAGD is off to configure its parameters before enabling)
+    - Advanced Controls must be enabled (`ShowAdvancedControls`)
+
+---
+
+## Related Features
+
+- [Models & AI](../features/models.md)

docs_sp/settings/osm.md

@@ -0,0 +1,79 @@
+---
+title: OSM Maps Settings
+---
+
+# OSM Maps Settings
+
+Manage OpenStreetMap (OSM) data used for speed limit information, curve detection, and other map-aware features.
+
+**Location:** Settings → sunnypilot → OSM Maps
+
+---
+
+## Overview
+
+The OSM Maps panel provides tools for downloading and managing offline map data. Unlike other settings panels, this section is primarily action-based rather than toggle-based.
+
+---
+
+## Country Selection
+
+Select the country for which you want to download map data. This sets the regional map database used by sunnypilot for speed limit lookups and road information.
+
+| Property | Value |
+|----------|-------|
+| **Param (state)** | `OsmLocationName`, `OsmLocationTitle` |
+| **Type** | Selector |
+
+---
+
+## State Selection (US Only)
+
+If you selected the United States as your country, you can further narrow the download to a specific state. This reduces download size and improves performance.
+
+| Property | Value |
+|----------|-------|
+| **Param (state)** | `OsmStateName`, `OsmStateTitle` |
+| **Type** | Selector |
+| **Visibility** | Only shown when country is United States |
+
+---
+
+## Database Update
+
+Check for and download updates to your selected region's OSM map data.
+
+| Property | Value |
+|----------|-------|
+| **Param (state)** | `OsmDbUpdatesCheck` |
+| **Type** | Action button |
+
+---
+
+## Delete Maps
+
+Remove all downloaded map data from the device to free up storage space.
+
+| Property | Value |
+|----------|-------|
+| **Type** | Action button |
+
+---
+
+## Status Information
+
+The panel displays the following read-only information:
+
+| Field | Param | Description |
+|-------|-------|-------------|
+| **Local Maps** | `OsmLocal` | Whether map data is stored locally |
+| **Last Downloaded** | `OsmDownloadedDate` | When the map data was last downloaded |
+| **Map Daemon Version** | `MapdVersion` | Version of the map processing daemon |
+
+---
+
+## Related Features
+
+- [OSM Maps](../features/osm-maps.md)
+- [Speed Limit Control](../features/speed-limit.md)
+- [Smart Cruise Control — Map](../features/scc-m.md)

docs_sp/settings/software.md

@@ -0,0 +1,45 @@
+---
+title: Software Settings
+---
+
+# Software Settings
+
+Manage software updates and branch selection.
+
+**Location:** Settings → sunnypilot → Software
+
+---
+
+## Disable Updates
+
+| Property | Value |
+|----------|-------|
+| **Param** | `DisableUpdates` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+Prevents sunnypilot from checking for and applying software updates. When enabled, the device will remain on the current version indefinitely.
+
+!!! warning "Reboot Required"
+    Changing this setting requires a device reboot to take effect.
+
+!!! info "Requirements"
+    - Device must be offroad
+    - Advanced Controls must be enabled (`ShowAdvancedControls`)
+
+---
+
+## Branch Switching
+
+The Software panel also allows switching between different sunnypilot branches.
+
+| Property | Value |
+|----------|-------|
+| **Param (target)** | `UpdaterTargetBranch` |
+| **Param (available)** | `UpdaterAvailableBranches` |
+| **Type** | Branch selector |
+
+Select from available branches to switch your device to a different version of sunnypilot. See [Branch Definitions](../references/branch-definitions.md) and [Recommended Branches](../references/recommended-branches.md) for guidance on which branch to use.
+
+!!! tip
+    For daily driving, stick with the latest **release** branch. Only switch to staging or dev branches if you want to test new features.

docs_sp/settings/speed-limit.md

@@ -0,0 +1,84 @@
+---
+title: Speed Limit Settings
+---
+
+# Speed Limit Settings
+
+Configure how sunnypilot responds to detected speed limits from maps, signs, and navigation data.
+
+**Location:** Settings → sunnypilot → Cruise Control → Speed Limit Control
+
+---
+
+## Speed Limit Mode
+
+| Property | Value |
+|----------|-------|
+| **Param** | `SpeedLimitMode` |
+| **Type** | Multi-button selector |
+| **Options** | Off · Info · Warning · Assist |
+| **Default** | Off |
+
+Controls how sunnypilot uses speed limit information:
+
+| Mode | Behavior |
+|------|----------|
+| **Off** | Speed limit data is not used |
+| **Info** | Displays the current speed limit on the HUD |
+| **Warning** | Displays speed limit and alerts you when exceeding it |
+| **Assist** | Automatically adjusts cruise speed to match the speed limit (with optional offset) |
+
+!!! info "Requirements"
+    - Longitudinal control must be available, **or** ICBM must be enabled
+
+!!! warning "Vehicle Restrictions"
+    - **Tesla:** Speed Limit Assist mode is disabled on release branches
+    - **Rivian:** Speed Limit Assist mode is always disabled
+
+---
+
+## Speed Limit Offset Type
+
+| Property | Value |
+|----------|-------|
+| **Param** | `SpeedLimitOffsetType` |
+| **Type** | Multi-button selector |
+| **Options** | None · Fixed · % |
+| **Default** | None |
+
+Choose how the speed offset is calculated:
+
+| Type | Description |
+|------|-------------|
+| **None** | No offset — cruise matches exact speed limit |
+| **Fixed** | A fixed value (in km/h or mph) is added to or subtracted from the limit |
+| **%** | A percentage is applied to the speed limit |
+
+---
+
+## Speed Limit Value Offset
+
+| Property | Value |
+|----------|-------|
+| **Param** | `SpeedLimitValueOffset` |
+| **Type** | Option selector |
+| **Range** | -30 to +30 |
+| **Default** | 0 |
+
+The offset value applied to the detected speed limit. Only active when **Offset Type** is set to Fixed or %.
+
+- **Positive values:** Cruise faster than the limit (e.g., +5 means 5 over)
+- **Negative values:** Cruise slower than the limit (e.g., -5 means 5 under)
+
+---
+
+## Speed Limit Policy
+
+Speed Limit Policy is a sub-panel that controls the priority of speed limit data sources. See your device for available options.
+
+---
+
+## Related Features
+
+- [Speed Limit Control](../features/speed-limit.md)
+- [OSM Maps](../features/osm-maps.md)

docs_sp/settings/steering.md

@@ -0,0 +1,116 @@
+---
+title: Steering Settings
+---
+
+# Steering Settings
+
+Configure lateral (steering) control behavior including MADS, lane changes, and torque settings.
+
+**Location:** Settings → sunnypilot → Steering
+
+---
+
+## M.A.D.S. (Modular Assistive Driving System)
+
+| Property | Value |
+|----------|-------|
+| **Param** | `Mads` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+Enables the Modular Assistive Driving System, which decouples lateral (steering) control from longitudinal (speed) control. This means steering assistance can remain active even when cruise control is not engaged.
+
+See the dedicated [MADS Settings](mads.md) page for sub-panel options.
+
+---
+
+## Blinker Pause Lateral Control
+
+| Property | Value |
+|----------|-------|
+| **Param** | `BlinkerPauseLateralControl` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+When enabled, lateral (steering) control is temporarily paused while the turn signal is active. This gives you full manual steering control during turns without needing to disengage.
+
+---
+
+## Blinker Minimum Lateral Control Speed
+
+| Property | Value |
+|----------|-------|
+| **Param** | `BlinkerMinLateralControlSpeed` |
+| **Type** | Option selector |
+| **Range** | 0–255 km/h (step: 5) |
+| **Default** | 0 |
+
+Sets the minimum speed (in your preferred unit) below which lateral control pauses when the blinker is active. At 0, lateral control pauses at all speeds when the blinker is on.
+
+---
+
+## Blinker Lateral Re-engage Delay
+
+| Property | Value |
+|----------|-------|
+| **Param** | `BlinkerLateralReengageDelay` |
+| **Type** | Option selector |
+| **Range** | 0–10 seconds |
+| **Default** | 0 |
+
+Configures the delay (in seconds) before lateral control re-engages after the turn signal is turned off. Useful for completing a turn before steering assistance resumes.
+
+---
+
+## Enforce Torque Control
+
+| Property | Value |
+|----------|-------|
+| **Param** | `EnforceTorqueControl` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+Forces torque-based lateral control on your vehicle, even if it natively uses angle-based control.
+
+!!! info "Requirements"
+    - Not available on vehicles with angle-based steering (`steerControlType == angle`)
+    - Mutually exclusive with NNLC — enabling Torque Control disables NNLC
+    - Device must be offroad to toggle
+
+See the dedicated [Torque Settings](torque.md) page for advanced tuning.
+
+---
+
+## Neural Network Lateral Control (NNLC)
+
+| Property | Value |
+|----------|-------|
+| **Param** | `NeuralNetworkLateralControl` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+Enables a neural network model to handle lateral control instead of the traditional PID/torque controller. NNLC can provide smoother steering in some situations.
+
+!!! info "Requirements"
+    - Not available on vehicles with angle-based steering (`steerControlType == angle`)
+    - Mutually exclusive with Enforce Torque Control — enabling NNLC disables Torque Control
+    - Device must be offroad to toggle
+
+---
+
+## Sub-Panels
+
+The Steering section contains these additional sub-panels with their own settings:
+
+- **[MADS Settings](mads.md)** — Configure MADS engagement modes and behavior
+- **[Lane Change Settings](lane-change.md)** — Configure auto lane change timing and BSM integration
+- **[Torque Settings](torque.md)** — Fine-tune torque lateral control parameters
+
+---
+
+## Related Features
+
+- [Modular Assistive Driving System](../features/mads.md)
+- [Neural Network Lateral Control](../features/nnlc.md)
+- [Auto Lane Change](../features/auto-lane-change.md)
+- [Torque Control](../features/torque-control.md)

docs_sp/settings/torque.md

@@ -0,0 +1,124 @@
+---
+title: Torque Settings
+---
+
+# Torque Settings
+
+Advanced tuning parameters for torque-based lateral (steering) control. These settings allow fine-grained control over how the steering motor responds.
+
+**Location:** Settings → sunnypilot → Steering → Torque Settings
+
+!!! info "Prerequisite"
+    **Enforce Torque Control** must be enabled in [Steering Settings](steering.md) to access these settings. Not available on vehicles with angle-based steering.
+
+!!! warning "Offroad Only"
+    All torque settings can only be changed while the vehicle is offroad (parked with ignition off).
+
+---
+
+## Self-Tune (Live Torque)
+
+| Property | Value |
+|----------|-------|
+| **Param** | `LiveTorqueParamsToggle` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+Enables real-time self-tuning of torque parameters based on driving behavior. The system continuously adjusts lateral acceleration factor and friction values for optimal steering feel.
+
+---
+
+## Relaxed Self-Tune
+
+| Property | Value |
+|----------|-------|
+| **Param** | `LiveTorqueParamsRelaxedToggle` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+Uses a more relaxed (less aggressive) self-tuning profile. May provide a smoother but less responsive steering feel.
+
+!!! info "Requirements"
+    - Self-Tune (Live Torque) must be enabled
+
+---
+
+## Custom Tune
+
+| Property | Value |
+|----------|-------|
+| **Param** | `CustomTorqueParams` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+Enables manual override of torque control parameters. When enabled, you can set specific values for lateral acceleration and friction instead of relying on self-tuning.
+
+---
+
+## Override Enabled
+
+| Property | Value |
+|----------|-------|
+| **Param** | `TorqueParamsOverrideEnabled` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+Master switch for applying your custom torque parameter overrides.
+
+!!! info "Requirements"
+    - Custom Tune must be enabled
+
+---
+
+## Lateral Acceleration Factor
+
+| Property | Value |
+|----------|-------|
+| **Param** | `TorqueParamsOverrideLatAccelFactor` |
+| **Type** | Option selector |
+| **Range** | 1–500 (displayed as value ÷ 100) |
+| **Default** | 100 (displayed as 1.00) |
+
+Controls the lateral acceleration gain. Higher values produce more aggressive steering response; lower values produce softer response.
+
+- Display: The raw value is divided by 100 (e.g., 250 → 2.50)
+- Example: A value of 150 means 1.50× lateral acceleration factor
+
+!!! info "Requirements"
+    - Custom Tune must be enabled
+
+---
+
+## Friction
+
+| Property | Value |
+|----------|-------|
+| **Param** | `TorqueParamsOverrideFriction` |
+| **Type** | Option selector |
+| **Range** | 1–100 (displayed as value ÷ 100) |
+| **Default** | 50 (displayed as 0.50) |
+
+Controls the friction compensation factor. Adjusts how much the system compensates for steering friction in the vehicle.
+
+- Display: The raw value is divided by 100 (e.g., 75 → 0.75)
+
+!!! info "Requirements"
+    - Custom Tune must be enabled
+
+---
+
+## Torque Control Tune Version
+
+| Property | Value |
+|----------|-------|
+| **Param** | `TorqueControlTune` |
+| **Type** | Version selector |
+| **Default** | Latest available |
+
+Select which version of the torque control tuning algorithm to use. Newer versions may offer improved performance but can behave differently than what you're accustomed to.
+
+---
+
+## Related Features
+
+- [Torque Control](../features/torque-control.md)

docs_sp/settings/vehicle/hyundai.md

@@ -0,0 +1,41 @@
+---
+title: Hyundai Settings
+---
+
+# Hyundai / Kia / Genesis Vehicle Settings
+
+Settings specific to Hyundai, Kia, and Genesis vehicles. These settings only appear when a supported vehicle is connected.
+
+**Location:** Settings → sunnypilot → Vehicle
+
+---
+
+## Custom Longitudinal Tuning
+
+| Property | Value |
+|----------|-------|
+| **Param** | `HyundaiLongitudinalTuning` |
+| **Type** | Multi-button selector |
+| **Options** | Off · Dynamic · Predictive |
+| **Default** | Off (value: 0) |
+
+Selects a longitudinal (speed) control tuning profile optimized for Hyundai/Kia/Genesis vehicles:
+
+| Option | Behavior |
+|--------|----------|
+| **Off** | Default longitudinal tuning — standard acceleration and braking behavior |
+| **Dynamic** | More responsive acceleration and braking for a sportier feel |
+| **Predictive** | Smoother, anticipatory speed changes that prioritize comfort |
+
+!!! info "Requirements"
+    - sunnypilot Longitudinal Control (Alpha) must be enabled
+    - Device must be offroad to change
+    - Vehicle platform must support Alpha Longitudinal (not all Hyundai/Kia/Genesis models support this)
+
+!!! note "Platform Compatibility"
+    This setting is hidden for vehicles in the `UNSUPPORTED_LONGITUDINAL_CAR` or `CANFD_UNSUPPORTED_LONGITUDINAL_CAR` lists. If you don't see this option, your specific model does not support sunnypilot longitudinal control.
+
+When the setting is unavailable, the description indicates the reason:
+
+- "This feature is unavailable while the car is onroad." — Park and turn off the vehicle first
+- "This feature is unavailable because sunnypilot Longitudinal Control (Alpha) is not enabled." — Enable Alpha Longitudinal in openpilot settings

docs_sp/settings/vehicle/subaru.md

@@ -0,0 +1,60 @@
+---
+title: Subaru Settings
+---
+
+# Subaru Vehicle Settings
+
+Settings specific to Subaru vehicles. These settings only appear when a Subaru vehicle is connected.
+
+**Location:** Settings → sunnypilot → Vehicle
+
+---
+
+## Stop and Go (Beta)
+
+| Property | Value |
+|----------|-------|
+| **Param** | `SubaruStopAndGo` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+Enables auto-resume during stop-and-go traffic for certain supported Subaru platforms. Without this, you must manually resume after a full stop.
+
+!!! info "Requirements"
+    - Device must be offroad to toggle
+    - Vehicle platform must support Stop and Go (not available on Global Gen2 or Hybrid platforms)
+
+---
+
+## Stop and Go for Manual Parking Brake (Beta)
+
+| Property | Value |
+|----------|-------|
+| **Param** | `SubaruStopAndGoManualParkingBrake` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+Enables stop-and-go for Subaru Global models equipped with a **manual handbrake** (lever-type parking brake).
+
+!!! warning "Important"
+    Models with an **electric parking brake** should keep this **disabled**. This setting is specifically designed for vehicles with a manual/lever parking brake.
+
+!!! info "Requirements"
+    - Device must be offroad to toggle
+    - Vehicle platform must support Stop and Go (not available on Global Gen2 or Hybrid platforms)
+
+!!! note "Credits"
+    Thanks to martinl for this implementation.
+
+---
+
+## Platform Compatibility
+
+Both Stop and Go features are **not available** on:
+
+- Subaru Global Gen2 platforms
+- Subaru Hybrid platforms
+
+If your vehicle falls into these categories, the toggles will be hidden or disabled with the message: "This feature is currently not available on this platform."
+
+If the vehicle is onroad, you'll see: "Enable 'Always Offroad' in Device panel, or turn vehicle off to toggle."

docs_sp/settings/vehicle/tesla.md

@@ -0,0 +1,53 @@
+---
+title: Tesla Settings
+---
+
+# Tesla Vehicle Settings
+
+Settings specific to Tesla vehicles. These settings only appear when a Tesla vehicle is connected.
+
+**Location:** Settings → sunnypilot → Vehicle
+
+---
+
+## Cooperative Steering (Beta)
+
+| Property | Value |
+|----------|-------|
+| **Param** | `TeslaCoopSteering` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+Allows the driver to provide limited steering input while sunnypilot is engaged. Without this feature, the driver must fully override or disengage to steer manually.
+
+!!! warning "Important"
+    **May experience steering oscillations below 48 km/h (30 mph) during turns.** Recommend disabling this feature if you experience oscillations.
+
+- Only works above **23 km/h** (14 mph)
+- Speed thresholds are displayed in your preferred unit (km/h or mph)
+
+!!! info "Requirements"
+    - Device must be offroad to toggle
+    - Use "Always Offroad" in [Device Settings](../device.md) if you need to change this while the vehicle is running
+
+---
+
+## MADS Limitations
+
+Tesla vehicles **without a vehicle bus connection** operate in limited MADS mode:
+
+| Setting | Forced Value |
+|---------|-------------|
+| Main Cruise Allowed | Off (locked) |
+| Unified Engagement Mode | On (locked) |
+| Steering Mode on Disengage | Disengage (locked) |
+
+See [MADS Settings](../mads.md) for details on these settings.
+
+---
+
+## Speed Limit Control Restrictions
+
+On **release branches**, the Speed Limit Assist mode is disabled for Tesla vehicles. Info and Warning modes remain available.
+
+See [Speed Limit Settings](../speed-limit.md) for details.

docs_sp/settings/vehicle/toyota.md

@@ -0,0 +1,59 @@
+---
+title: Toyota Settings
+---
+
+# Toyota / Lexus Vehicle Settings
+
+Settings specific to Toyota and Lexus vehicles. These settings only appear when a Toyota or Lexus vehicle is connected.
+
+**Location:** Settings → sunnypilot → Vehicle
+
+---
+
+## Enforce Factory Longitudinal Control
+
+| Property | Value |
+|----------|-------|
+| **Param** | `ToyotaEnforceStockLongitudinal` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+When enabled, sunnypilot will **not** take over control of gas and brakes. The factory Toyota/Lexus adaptive cruise control system handles all longitudinal (speed) control.
+
+!!! warning "Side Effects"
+    Enabling this will:
+
+    - Disable sunnypilot longitudinal control
+    - Disable Alpha Longitudinal if it was enabled
+    - Force Stop and Go Hack to Off
+    - Trigger an onroad cycle (system restarts driving processes)
+
+!!! info "Requirements"
+    - Cannot be changed while the system is engaged (driving)
+    - A confirmation dialog is shown before enabling
+
+---
+
+## Stop and Go Hack (Alpha)
+
+| Property | Value |
+|----------|-------|
+| **Param** | `ToyotaStopAndGoHack` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+Allows some Toyota/Lexus cars to automatically resume from a stop during stop-and-go traffic. Without this, you must press the resume button or tap the gas to resume after a full stop.
+
+!!! warning "Alpha Feature"
+    This is an alpha feature. Use at your own risk. Only applicable to certain models that support sunnypilot longitudinal control.
+
+!!! info "Requirements"
+    - sunnypilot Longitudinal Control must be available and enabled
+    - Enforce Factory Longitudinal Control must be **Off**
+    - Cannot be changed while the system is engaged (driving)
+    - A confirmation dialog is shown before enabling
+
+When requirements are not met, the toggle is disabled and a message indicates what's needed:
+
+- If the vehicle is not connected: "Start the vehicle to check vehicle compatibility."
+- If longitudinal control is not available: "sunnypilot Longitudinal Control must be available and enabled for your vehicle to use this feature."

docs_sp/settings/visuals.md

@@ -0,0 +1,79 @@
+---
+title: Visuals & HUD Settings
+---
+
+# Visuals & HUD Settings
+
+Customize what information is displayed on the driving screen (HUD) while driving.
+
+**Location:** Settings → sunnypilot → Visuals & HUD
+
+---
+
+## Toggles
+
+These are on/off toggles for individual HUD elements.
+
+| Toggle | Param | Description |
+|--------|-------|-------------|
+| **Blind Spot Indicator** | `BlindSpot` | Shows a visual indicator when a vehicle is detected in your blind spot |
+| **Torque Bar** | `TorqueBar` | Displays a bar showing the current steering torque applied |
+| **Rainbow Mode** | `RainbowMode` | Adds a colorful visual effect to the driving path |
+| **Standstill Timer** | `StandstillTimer` | Shows how long you've been stopped at a standstill |
+| **Road Name** | `RoadNameToggle` | Displays the name of the road you're currently on |
+| **Green Light Alert** | `GreenLightAlert` | Alerts you when a traffic light turns green while you're stopped |
+| **Lead Depart Alert** | `LeadDepartAlert` | Alerts you when the car ahead starts moving while you're stopped |
+| **True Vehicle Speed** | `TrueVEgoUI` | Shows the true vehicle speed from the CAN bus (may differ from GPS speed) |
+| **Hide Speed** | `HideVEgoUI` | Hides the speed display from the HUD entirely |
+| **Turn Signals** | `ShowTurnSignals` | Shows the turn signal status on the HUD |
+| **Rocket Fuel** | `RocketFuel` | Enables the Rocket Fuel visual theme for the driving path |
+
+---
+
+## Chevron Info
+
+| Property | Value |
+|----------|-------|
+| **Param** | `ChevronInfo` |
+| **Type** | Multi-button selector |
+| **Options** | Off · Distance · Speed · Time · All |
+| **Default** | Off |
+
+Controls what information is displayed near the lead vehicle chevron (the triangle marker shown above the car ahead of you):
+
+| Option | What's Shown |
+|--------|-------------|
+| **Off** | No additional info near the chevron |
+| **Distance** | Distance to the lead vehicle |
+| **Speed** | Speed of the lead vehicle |
+| **Time** | Time gap to the lead vehicle |
+| **All** | All of the above |
+
+!!! info "Requirements"
+    - Longitudinal control must be available
+
+---
+
+## Developer UI Info
+
+| Property | Value |
+|----------|-------|
+| **Param** | `DevUIInfo` |
+| **Type** | Multi-button selector |
+| **Options** | Off · Bottom · Right · Right & Bottom |
+| **Default** | Off |
+
+Shows developer/debug information on the driving screen. Useful for diagnostics and troubleshooting.
+
+| Option | Display Location |
+|--------|-----------------|
+| **Off** | No developer info shown |
+| **Bottom** | Developer info at the bottom of the screen |
+| **Right** | Developer info on the right side |
+| **Right & Bottom** | Developer info on both right and bottom |
+
+---
+
+## Related Features
+
+- [HUD & Visuals](../features/hud-visuals.md)