From 80494ec3cf21ff639dfb21339592789cd0ce5e80 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Fri, 16 Oct 2026 16:50:38 -0400
Subject: [PATCH 01/54] init

---
 openpilot/common/params_keys.h                |   1 +
 .../ui/mici/onroad/model_renderer.py          |   2 +
 .../ui/sunnypilot/mici/onroad/laneful.py      | 107 ++++++++++++++++++
 .../sunnypilot/mici/onroad/model_renderer.py  |   2 +
 openpilot/sunnypilot/modeld_v2/laneful.py     |  79 +++++++++++++
 openpilot/sunnypilot/modeld_v2/modeld.py      |  12 +-
 6 files changed, 201 insertions(+), 2 deletions(-)
 create mode 100644 openpilot/selfdrive/ui/sunnypilot/mici/onroad/laneful.py
 create mode 100644 openpilot/sunnypilot/modeld_v2/laneful.py

diff --git a/openpilot/common/params_keys.h b/openpilot/common/params_keys.h
index 82725e807e..019f3090ae 100644
--- a/openpilot/common/params_keys.h
+++ b/openpilot/common/params_keys.h
@@ -249,6 +249,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
     {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
+    {"LanefulStrength", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
     {"PlanplusControl", {PERSISTENT | BACKUP, FLOAT, "1.0"}},
 
     // mapd
diff --git a/openpilot/selfdrive/ui/mici/onroad/model_renderer.py b/openpilot/selfdrive/ui/mici/onroad/model_renderer.py
index 805bdcc335..eaabd5f630 100644
--- a/openpilot/selfdrive/ui/mici/onroad/model_renderer.py
+++ b/openpilot/selfdrive/ui/mici/onroad/model_renderer.py
@@ -153,6 +153,7 @@ class ModelRenderer(Widget, ModelRendererSP):
     if ui_state.status != UIStatus.DISENGAGED:
       self._draw_lane_lines()
       self._draw_path(sm)
+      self.laneful.draw(self._rect)
 
     # if render_lead_indicator and radar_state:
     #   self._draw_lead_indicator()
@@ -204,6 +205,7 @@ class ModelRenderer(Widget, ModelRendererSP):
     # Update road edges using raw points
     for road_edge in self._road_edges:
       road_edge.projected_points = self._map_line_to_polygon(road_edge.raw_points, line_width_factor, 0.0, max_idx)
+    self.laneful.update(self, max_idx)
 
     # Update path using raw points
     if lead and lead.present:
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/laneful.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/laneful.py
new file mode 100644
index 0000000000..e0c43951c9
--- /dev/null
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/laneful.py
@@ -0,0 +1,107 @@
+"""
+Copyright (c) 2021-, sunnypilot, and a number of other contributors.
+
+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.
+
+Laneful visuals: cyan lane-center target, thin white "after" path (model path bent by laneful's nudge),
+and a top-center readout of the pull. Mirrors the math in sunnypilot/modeld_v2/laneful.py.
+"""
+import numpy as np
+import pyray as rl
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.shader_polygon import draw_polygon
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+
+CENTER_COLOR = (0, 200, 255)
+AFTER_COLOR = (255, 255, 255)
+# keep in sync with sunnypilot/modeld_v2/laneful.py
+LOOKAHEAD_TIME = 1.5
+MIN_LOOKAHEAD = 10.0
+MAX_ERROR = 0.5
+
+
+class LanefulRenderer:
+  def __init__(self):
+    self._center_points = np.empty((0, 2), dtype=np.float32)
+    self._after_points = np.empty((0, 2), dtype=np.float32)
+    self._trust = 0.0
+    self._strength = 0.0
+    self._frame = 0
+    self._font = gui_app.font(FontWeight.BOLD)
+    # smoothed copies for the readout so the numbers don't flicker
+    self._pull_display = FirstOrderFilter(0.0, 0.5, DT_MDL)
+    self._trust_display = FirstOrderFilter(0.0, 0.5, DT_MDL)
+
+  def update(self, renderer, max_idx: int) -> None:
+    """Called from the model renderer's update with its lane lines and path already in raw points."""
+    if self._frame % 60 == 0:
+      self._strength = ui_state.params.get("LanefulStrength", return_default=True)
+    self._frame += 1
+
+    left, right = renderer._lane_lines[1].raw_points, renderer._lane_lines[2].raw_points
+    stds = list(ui_state.sm['modelV2'].laneLineStds)
+    if self._strength <= 0.0 or len(left) == 0 or len(right) != len(left) or len(stds) < 3:
+      self._center_points = np.empty((0, 2), dtype=np.float32)
+      self._after_points = np.empty((0, 2), dtype=np.float32)
+      return
+
+    probs = renderer._lane_line_probs
+    l_prob = float(probs[1] * np.interp(stds[1], [0.15, 0.3], [1.0, 0.0]))
+    r_prob = float(probs[2] * np.interp(stds[2], [0.15, 0.3], [1.0, 0.0]))
+    width = np.clip(right[:, 1] - left[:, 1], 2.8, 4.5) if l_prob * r_prob > 0.5 else 3.7
+    center = left.copy()
+    center[:, 1] = (l_prob * (left[:, 1] + width / 2) + r_prob * (right[:, 1] - width / 2)) / (l_prob + r_prob + 1e-4)
+    self._trust = l_prob + r_prob - l_prob * r_prob
+    self._center_points = renderer._map_line_to_polygon(center, 0.1, 0.0, max_idx)
+
+    # "after" path: model path bent toward center the way laneful's pure-pursuit term steers, ending at the lookahead
+    path = renderer._path.raw_points
+    lookahead = max(ui_state.sm['carState'].vEgo * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
+    error = float(np.clip(np.interp(lookahead, center[:, 0], center[:, 1]) - np.interp(lookahead, path[:, 0], path[:, 1]),
+                          -MAX_ERROR, MAX_ERROR))
+    self._pull_display.update(self._trust * error)  # what laneful actually pulls, 0 when lines are untrusted
+    self._trust_display.update(self._trust)
+    after = path.copy()
+    after[:, 1] += self._strength * self._trust * error * (path[:, 0] / lookahead) ** 2
+    self._after_points = renderer._map_line_to_polygon(after, 0.15, renderer._path_offset_z,
+                                                       renderer._get_path_length_idx(path[:, 0], lookahead))
+
+  def draw(self, rect: rl.Rectangle) -> None:
+    if self._center_points.size and self._trust > 0.05:
+      draw_polygon(rect, self._center_points, rl.Color(*CENTER_COLOR, int(np.clip(self._trust, 0.2, 1.0) * 255)))
+    if self._after_points.size:
+      draw_polygon(rect, self._after_points, rl.Color(*AFTER_COLOR, 200))
+    if self._strength > 0.0:
+      self._draw_readout(rect)
+
+  def _draw_readout(self, rect: rl.Rectangle) -> None:
+    """Top-center pill: pull toward lane center in cm (capped at 50), arrow = side,
+    bar grows from center toward the pull (full at the cap), brighter with more lane line trust."""
+    pull, trust = self._pull_display.x, self._trust_display.x
+    w, h = 190, 76
+    x, y = rect.x + (rect.width - w) / 2, rect.y + 10
+    cx, cy = x + w / 2, y + 30
+    rl.draw_rectangle_rounded(rl.Rectangle(x, y, w, h), 0.5, 12, rl.Color(0, 0, 0, 170))
+
+    text = f"{abs(pull) * 100:.0f}"
+    text_w = measure_text_cached(self._font, text, 44, 0).x
+    rl.draw_text_ex(self._font, text, rl.Vector2(cx - text_w / 2, cy - 24), 44, 0, rl.WHITE)
+
+    active = rl.Color(*CENTER_COLOR, int(np.clip(abs(pull) / 0.1, 0.0, 1.0) * 255))
+    idle = rl.Color(255, 255, 255, 40)
+    lx, rx = x + 18, x + w - 18
+    rl.draw_triangle(rl.Vector2(lx, cy), rl.Vector2(lx + 16, cy + 12), rl.Vector2(lx + 16, cy - 12), active if pull < 0 else idle)
+    rl.draw_triangle(rl.Vector2(rx - 16, cy - 12), rl.Vector2(rx - 16, cy + 12), rl.Vector2(rx, cy), active if pull > 0 else idle)
+
+    bar = rl.Rectangle(x + 24, y + h - 16, w - 48, 6)
+    rl.draw_rectangle_rounded(bar, 1.0, 6, rl.Color(255, 255, 255, 40))
+    rl.draw_rectangle(int(cx - 1), int(bar.y - 2), 2, int(bar.height + 4), rl.Color(255, 255, 255, 120))
+    fill = bar.width / 2 * float(np.clip(abs(pull) / MAX_ERROR, 0.0, 1.0))
+    if fill > 1:
+      fill_x = cx if pull > 0 else cx - fill
+      rl.draw_rectangle_rounded(rl.Rectangle(fill_x, bar.y, fill, bar.height), 1.0, 6,
+                                rl.Color(*CENTER_COLOR, int(np.clip(0.3 + 0.7 * trust, 0.0, 1.0) * 255)))
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py
index e3de9401ce..b3471042f4 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py
@@ -6,6 +6,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 import pyray as rl
 from openpilot.selfdrive.ui.ui_state import UIStatus
+from openpilot.selfdrive.ui.sunnypilot.mici.onroad.laneful import LanefulRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
 
 LANE_LINE_COLORS_SP = {
@@ -17,3 +18,4 @@ LANE_LINE_COLORS_SP = {
 class ModelRendererSP:
   def __init__(self):
     self.rainbow_path = RainbowPath()
+    self.laneful = LanefulRenderer()
diff --git a/openpilot/sunnypilot/modeld_v2/laneful.py b/openpilot/sunnypilot/modeld_v2/laneful.py
new file mode 100644
index 0000000000..c6ec77a79b
--- /dev/null
+++ b/openpilot/sunnypilot/modeld_v2/laneful.py
@@ -0,0 +1,79 @@
+"""
+Copyright (c) 2021-, sunnypilot, and a number of other contributors.
+
+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.
+
+Laneful: nudge the model's curvature toward the lane center seen by the lane lines.
+The model stays in charge; this only adds a pure-pursuit correction weighted by lane line confidence,
+and fades to zero (plain laneless) when the lines are weak.
+"""
+import numpy as np
+
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.realtime import DT_MDL
+from openpilot.sunnypilot.modeld_v2.constants import ModelConstants, Plan
+
+LANE_WIDTH_DEFAULT = 3.7  # m
+LANE_WIDTH_CLIP = (2.8, 4.5)  # m
+LOOKAHEAD_TIME = 1.5  # s
+MIN_LOOKAHEAD = 10.0  # m
+MAX_ERROR = 0.5  # m, cap on how far laneful can pull
+MIN_SPEED = 9.0  # m/s
+
+
+class Laneful:
+  def __init__(self):
+    self.lane_width = FirstOrderFilter(LANE_WIDTH_DEFAULT, 10.0, DT_MDL)
+
+  def update(self, model_output: dict[str, np.ndarray], v_ego: float, strength: float, desire_active: bool) -> float:
+    """Returns a curvature offset to add to the model's raw desired curvature."""
+    if strength <= 0.0 or desire_active or v_ego < MIN_SPEED or 'lane_lines' not in model_output:
+      return 0.0
+
+    lookahead = max(v_ego * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
+    lines = model_output['lane_lines'][0, :, :, 0]
+    left_y = np.interp(lookahead, ModelConstants.X_IDXS, lines[1])
+    right_y = np.interp(lookahead, ModelConstants.X_IDXS, lines[2])
+
+    # line confidence, discounted when the model is unsure where the line is
+    probs = model_output['lane_lines_prob'][0, 1::2]
+    stds = model_output['lane_lines_stds'][0, :, 0, 0]
+    l_prob = float(probs[1] * np.interp(stds[1], [0.15, 0.3], [1.0, 0.0]))
+    r_prob = float(probs[2] * np.interp(stds[2], [0.15, 0.3], [1.0, 0.0]))
+
+    if l_prob * r_prob > 0.5:
+      self.lane_width.update(float(np.clip(right_y - left_y, *LANE_WIDTH_CLIP)))
+    half_width = self.lane_width.x / 2
+
+    # one weak line -> hug the strong one at half a lane width
+    center_y = (l_prob * (left_y + half_width) + r_prob * (right_y - half_width)) / (l_prob + r_prob + 1e-4)
+    lane_trust = l_prob + r_prob - l_prob * r_prob
+
+    plan = model_output['plan'][0, :, Plan.POSITION]
+    plan_y = np.interp(lookahead, plan[:, 0], plan[:, 1])
+
+    error = np.clip(center_y - plan_y, -MAX_ERROR, MAX_ERROR)
+    return float(strength * lane_trust * 2.0 * error / lookahead ** 2)
+
+
+if __name__ == "__main__":
+  def fake_output(left_y, right_y, prob=0.9, std=0.1, plan_y=0.0):
+    x = np.array(ModelConstants.X_IDXS)
+    lines = np.zeros((1, 4, len(x), 2), dtype=np.float32)
+    lines[0, 1, :, 0], lines[0, 2, :, 0] = left_y, right_y
+    plan = np.zeros((1, len(x), 15), dtype=np.float32)
+    plan[0, :, 0], plan[0, :, 1] = x, plan_y
+    return {'lane_lines': lines, 'plan': plan,
+            'lane_lines_prob': np.full((1, 8), prob, dtype=np.float32),
+            'lane_lines_stds': np.full((1, 4, len(x), 2), std, dtype=np.float32)}
+
+  lf = Laneful()
+  assert abs(lf.update(fake_output(-1.85, 1.85), 25.0, 1.0, False)) < 1e-6, "centered -> no nudge"
+  assert lf.update(fake_output(-1.0, 2.7), 25.0, 1.0, False) > 0, "lane center to the +y side -> nudge toward +y"
+  assert lf.update(fake_output(-2.7, 1.0), 25.0, 1.0, False) < 0, "lane center to the -y side -> nudge toward -y"
+  assert lf.update(fake_output(-1.0, 2.7), 25.0, 1.0, True) == 0.0, "off during lane change/turn"
+  assert lf.update(fake_output(-1.0, 2.7, std=0.5), 25.0, 1.0, False) == 0.0, "blurry lines -> laneless"
+  assert lf.update(fake_output(-1.0, 2.7), 25.0, 0.0, False) == 0.0, "strength 0 -> off"
+  assert lf.update(fake_output(-1.0, 2.7), 25.0, 0.5, False) < lf.update(fake_output(-1.0, 2.7), 25.0, 1.0, False)
+  print("laneful self-check ok")
diff --git a/openpilot/sunnypilot/modeld_v2/modeld.py b/openpilot/sunnypilot/modeld_v2/modeld.py
index 2fd1baf999..161b9c9a37 100755
--- a/openpilot/sunnypilot/modeld_v2/modeld.py
+++ b/openpilot/sunnypilot/modeld_v2/modeld.py
@@ -37,6 +37,7 @@ from openpilot.selfdrive.modeld.modeld import ChestnutGpuState
 
 from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState, get_curvature_from_output
 from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser
+from openpilot.sunnypilot.modeld_v2.laneful import Laneful
 from openpilot.sunnypilot.modeld_v2.constants import ModelConstants, Plan
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
@@ -224,7 +225,8 @@ class ModelState(ModelStateBase):
     return outputs
 
   def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
-                            lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
+                            lat_action_t: float, long_action_t: float, v_ego: float,
+                            laneful_curvature: float = 0.0) -> log.ModelDataV2.Action:
     if 'action' not in model_output:
       plan = model_output['plan'][0]
       desired_accel = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
@@ -236,6 +238,7 @@ class ModelState(ModelStateBase):
     else:
       desired_accel = model_output['action'][0, 1]
       desired_curvature = model_output['action'][0, 0] / (max(1.0, v_ego))**2
+    desired_curvature += laneful_curvature
 
     stop = v_ego < 0.3 and desired_accel < 0.1
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
@@ -350,6 +353,8 @@ def main(demo=False):
   DH = DesireHelper()
   meta_constants = load_meta_constants()
   RELC = RoadEdgeLaneChangeController()
+  laneful = Laneful()
+  laneful_strength = 0.0
 
   while True:
     # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -393,6 +398,7 @@ def main(demo=False):
       model.lat_delay = get_lat_delay(params, sm["lateralDelay"].lateralDelay)
       model.PLANPLUS_CONTROL = params.get("PlanplusControl", return_default=True)
       camera_offset_helper.set_offset(params.get("CameraOffset", return_default=True))
+      laneful_strength = params.get("LanefulStrength", return_default=True)
     lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
     if sm.updated["extrinsicsCalibration"] and sm.seen['narrowRoadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["extrinsicsCalibration"].rpyCalib, dtype=np.float32)
@@ -464,7 +470,9 @@ def main(demo=False):
       posenet_send = messaging.new_message('cameraOdometry')
       mdv2sp_send = messaging.new_message('modelDataV2SP')
 
-      action = model.get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego)
+      laneful_curvature = laneful.update(model_output, v_ego, laneful_strength,
+                                         desire != log.Desire.none or DH.lane_change_state != log.LaneChangeState.off)
+      action = model.get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego, laneful_curvature)
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,

From f54f2d462e1f22035bd0acb15725a957981d7d3f Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Sat, 17 Oct 2026 13:31:59 -0400
Subject: [PATCH 02/54] settings

---
 .../ui/mici/onroad/augmented_road_view.py     |  2 +
 .../ui/sunnypilot/mici/layouts/laneful.py     | 45 +++++++++++++++++++
 .../ui/sunnypilot/mici/layouts/settings.py    |  8 +++-
 .../ui/sunnypilot/mici/onroad/laneful.py      | 17 ++++++-
 4 files changed, 70 insertions(+), 2 deletions(-)
 create mode 100644 openpilot/selfdrive/ui/sunnypilot/mici/layouts/laneful.py

diff --git a/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py b/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py
index 71ea7e8f8f..bcdf183ef2 100644
--- a/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -181,6 +181,8 @@ class AugmentedRoadView(CameraView):
   def _handle_mouse_release(self, mouse_pos: MousePos):
     # Don't trigger click callback if bookmark was triggered
     if not self._bookmark_icon.interacting():
+      if self._model_renderer.laneful.handle_tap(mouse_pos):
+        return
       super()._handle_mouse_release(mouse_pos)
 
   def _render(self, _):
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/laneful.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/laneful.py
new file mode 100644
index 0000000000..4425428200
--- /dev/null
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/laneful.py
@@ -0,0 +1,45 @@
+"""
+Copyright (c) 2021-, sunnypilot, and a number of other contributors.
+
+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.
+"""
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, GreyBigButton
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.widgets.scroller import NavScroller
+
+# above 1.0 the pull overshoots lane center and ping-pongs
+STRENGTHS = {"off": 0.0, "0.25": 0.25, "0.5": 0.5, "0.75": 0.75, "1.0": 1.0}
+
+
+class LanefulStrengthToggle(BigMultiToggle):
+  """Tap to cycle LanefulStrength. Value shown as text, so no option pills."""
+  def __init__(self):
+    super().__init__("laneful strength", list(STRENGTHS), select_callback=self._on_select)
+    self.refresh()
+
+  def refresh(self):
+    strength = ui_state.params.get("LanefulStrength", return_default=True)
+    self.set_value(min(STRENGTHS, key=lambda k: abs(STRENGTHS[k] - strength)))
+
+  def _on_select(self, value: str):
+    ui_state.params.put("LanefulStrength", STRENGTHS[value])
+
+  def _draw_content(self, btn_y: float):
+    BigButton._draw_content(self, btn_y)
+
+
+class LanefulLayoutMici(NavScroller):
+  def __init__(self):
+    super().__init__()
+    self._strength = LanefulStrengthToggle()
+    self._scroller.add_widgets([
+      self._strength,
+      GreyBigButton("", "Nudges the car toward the center of the lane lines."),
+      GreyBigButton("", "Fades out when the lines are unclear and during lane changes."),
+      GreyBigButton("", "0.5 is gentle. 1.0 centers fastest."),
+    ])
+
+  def show_event(self):
+    super().show_event()
+    self._strength.refresh()
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py
index 4c0eba41ea..4351d9bc20 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py
@@ -11,6 +11,7 @@ from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.models import ModelsLayoutMici
+from openpilot.selfdrive.ui.sunnypilot.mici.layouts.laneful import LanefulLayoutMici
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
@@ -50,6 +51,10 @@ class SettingsLayoutSP(OP.SettingsLayout):
     models_btn = SettingsBigButton(tr("models"), "", gui_app.texture("../../sunnypilot/selfdrive/assets/offroad/icon_models.png", ICON_SIZE, ICON_SIZE))
     models_btn.set_click_callback(lambda: gui_app.push_widget(models_panel))
 
+    laneful_panel = LanefulLayoutMici()
+    laneful_btn = SettingsBigButton(tr("laneful"), "", gui_app.texture("icons_mici/settings/device/lkas.png", ICON_SIZE, ICON_SIZE))
+    laneful_btn.set_click_callback(lambda: gui_app.push_widget(laneful_panel))
+
     # onroad: enable button sits at the front (left of toggles)
     self._enable_offroad_btn_onroad = BigCircleButton(self.icon_offroad_enable, red=True)
     self._enable_offroad_btn_onroad.set_click_callback(lambda: self._handle_always_offroad(True))
@@ -67,7 +72,8 @@ class SettingsLayoutSP(OP.SettingsLayout):
     items = self._scroller._items.copy()
 
     items.insert(1, models_btn)
-    items.insert(5, sunnylink_btn)
+    items.insert(2, laneful_btn)
+    items.insert(6, sunnylink_btn)
 
     # front slots (only one ever visible at a time): exit-always-offroad, then enable-onroad
     items.insert(0, self._enable_offroad_btn_onroad)
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/laneful.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/laneful.py
index e0c43951c9..2a9ed0da26 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/laneful.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/laneful.py
@@ -35,6 +35,8 @@ class LanefulRenderer:
     # smoothed copies for the readout so the numbers don't flicker
     self._pull_display = FirstOrderFilter(0.0, 0.5, DT_MDL)
     self._trust_display = FirstOrderFilter(0.0, 0.5, DT_MDL)
+    self._readout_rect: rl.Rectangle | None = None
+    self._settings_page = None
 
   def update(self, renderer, max_idx: int) -> None:
     """Called from the model renderer's update with its lane lines and path already in raw points."""
@@ -75,9 +77,21 @@ class LanefulRenderer:
       draw_polygon(rect, self._center_points, rl.Color(*CENTER_COLOR, int(np.clip(self._trust, 0.2, 1.0) * 255)))
     if self._after_points.size:
       draw_polygon(rect, self._after_points, rl.Color(*AFTER_COLOR, 200))
+    self._readout_rect = None
     if self._strength > 0.0:
       self._draw_readout(rect)
 
+  def handle_tap(self, pos) -> bool:
+    """Tapping the readout opens the laneful settings page. Returns True if the tap was consumed."""
+    r = self._readout_rect
+    if r is None or not (r.x - 20 <= pos.x <= r.x + r.width + 20 and r.y - 20 <= pos.y <= r.y + r.height + 20):
+      return False
+    if self._settings_page is None:
+      from openpilot.selfdrive.ui.sunnypilot.mici.layouts.laneful import LanefulLayoutMici
+      self._settings_page = LanefulLayoutMici()
+    gui_app.push_widget(self._settings_page)
+    return True
+
   def _draw_readout(self, rect: rl.Rectangle) -> None:
     """Top-center pill: pull toward lane center in cm (capped at 50), arrow = side,
     bar grows from center toward the pull (full at the cap), brighter with more lane line trust."""
@@ -85,7 +99,8 @@ class LanefulRenderer:
     w, h = 190, 76
     x, y = rect.x + (rect.width - w) / 2, rect.y + 10
     cx, cy = x + w / 2, y + 30
-    rl.draw_rectangle_rounded(rl.Rectangle(x, y, w, h), 0.5, 12, rl.Color(0, 0, 0, 170))
+    self._readout_rect = rl.Rectangle(x, y, w, h)
+    rl.draw_rectangle_rounded(self._readout_rect, 0.5, 12, rl.Color(0, 0, 0, 170))
 
     text = f"{abs(pull) * 100:.0f}"
     text_w = measure_text_cached(self._font, text, 44, 0).x

From bf93807e7b62e9127caec4f7d8126afcd75e2d81 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Sun, 18 Oct 2026 01:05:59 -0400
Subject: [PATCH 03/54] simple

---
 .../ui/sunnypilot/mici/layouts/laneful.py     | 20 +++++++------------
 1 file changed, 7 insertions(+), 13 deletions(-)

diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/laneful.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/laneful.py
index 4425428200..404165ccf5 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/laneful.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/laneful.py
@@ -4,18 +4,20 @@ Copyright (c) 2021-, sunnypilot, and a number of other contributors.
 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.
 """
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, GreyBigButton
+from openpilot.selfdrive.ui.mici.widgets.button import BigMultiToggle
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.widgets.scroller import NavScroller
 
 # above 1.0 the pull overshoots lane center and ping-pongs
-STRENGTHS = {"off": 0.0, "0.25": 0.25, "0.5": 0.5, "0.75": 0.75, "1.0": 1.0}
+STRENGTHS = {"off": 0.0, "gentle": 0.5, "firm": 1.0}
 
 
 class LanefulStrengthToggle(BigMultiToggle):
-  """Tap to cycle LanefulStrength. Value shown as text, so no option pills."""
+  """Tap to cycle LanefulStrength, like the driving personality toggle."""
   def __init__(self):
-    super().__init__("laneful strength", list(STRENGTHS), select_callback=self._on_select)
+    super().__init__("laneful strength", list(STRENGTHS), select_callback=self._on_select,
+                     description="Nudges the car toward lane center.\n" +
+                                 "Firm centers faster than gentle.")
     self.refresh()
 
   def refresh(self):
@@ -25,20 +27,12 @@ class LanefulStrengthToggle(BigMultiToggle):
   def _on_select(self, value: str):
     ui_state.params.put("LanefulStrength", STRENGTHS[value])
 
-  def _draw_content(self, btn_y: float):
-    BigButton._draw_content(self, btn_y)
-
 
 class LanefulLayoutMici(NavScroller):
   def __init__(self):
     super().__init__()
     self._strength = LanefulStrengthToggle()
-    self._scroller.add_widgets([
-      self._strength,
-      GreyBigButton("", "Nudges the car toward the center of the lane lines."),
-      GreyBigButton("", "Fades out when the lines are unclear and during lane changes."),
-      GreyBigButton("", "0.5 is gentle. 1.0 centers fastest."),
-    ])
+    self._scroller.add_widget(self._strength)
 
   def show_event(self):
     super().show_event()

From 9c7655c45e7bb87efb360f7a6eb3e7af582aebae Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Mon, 19 Oct 2026 12:11:27 -0700
Subject: [PATCH 04/54] modeld_v2: blended laneful using weighted stds

---
 openpilot/cereal/custom.capnp                 |  1 +
 .../ui/sunnypilot/mici/onroad/laneful.py      | 18 ++---
 openpilot/selfdrive/ui/sunnypilot/ui_state.py |  2 +-
 openpilot/sunnypilot/modeld_v2/laneful.py     | 71 ++++++++-----------
 openpilot/sunnypilot/modeld_v2/modeld.py      | 13 ++--
 5 files changed, 47 insertions(+), 58 deletions(-)

diff --git a/openpilot/cereal/custom.capnp b/openpilot/cereal/custom.capnp
index b8c833ed80..c281fec3af 100644
--- a/openpilot/cereal/custom.capnp
+++ b/openpilot/cereal/custom.capnp
@@ -465,6 +465,7 @@ struct ModelDataV2SP @0xa1680744031fdb2d {
   laneTurnDirection @0 :TurnDirection;
   leftLaneChangeEdgeBlock @1 :Bool;
   rightLaneChangeEdgeBlock @2 :Bool;
+  lanefulCurvature @3 :Float32;
 
   enum TurnDirection {
     none @0;
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/laneful.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/laneful.py
index 2a9ed0da26..94c5b9cba4 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/laneful.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/laneful.py
@@ -5,23 +5,20 @@ 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.
 
 Laneful visuals: cyan lane-center target, thin white "after" path (model path bent by laneful's nudge),
-and a top-center readout of the pull. Mirrors the math in sunnypilot/modeld_v2/laneful.py.
+and a top-center readout of the pull, from the curvature modeld publishes in modelDataV2SP.lanefulCurvature.
 """
 import numpy as np
 import pyray as rl
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.sunnypilot.modeld_v2.laneful import LOOKAHEAD_TIME, MIN_LOOKAHEAD, MAX_ERROR
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.shader_polygon import draw_polygon
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 
 CENTER_COLOR = (0, 200, 255)
 AFTER_COLOR = (255, 255, 255)
-# keep in sync with sunnypilot/modeld_v2/laneful.py
-LOOKAHEAD_TIME = 1.5
-MIN_LOOKAHEAD = 10.0
-MAX_ERROR = 0.5
 
 
 class LanefulRenderer:
@@ -60,15 +57,14 @@ class LanefulRenderer:
     self._trust = l_prob + r_prob - l_prob * r_prob
     self._center_points = renderer._map_line_to_polygon(center, 0.1, 0.0, max_idx)
 
-    # "after" path: model path bent toward center the way laneful's pure-pursuit term steers, ending at the lookahead
+    # "after" path: model path bent by laneful's curvature, ending at the lookahead
     path = renderer._path.raw_points
     lookahead = max(ui_state.sm['carState'].vEgo * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
-    error = float(np.clip(np.interp(lookahead, center[:, 0], center[:, 1]) - np.interp(lookahead, path[:, 0], path[:, 1]),
-                          -MAX_ERROR, MAX_ERROR))
-    self._pull_display.update(self._trust * error)  # what laneful actually pulls, 0 when lines are untrusted
+    laneful_curvature = ui_state.sm['modelDataV2SP'].lanefulCurvature
+    self._pull_display.update(laneful_curvature * lookahead ** 2 / 2)  # how far laneful moves the car at the lookahead
     self._trust_display.update(self._trust)
     after = path.copy()
-    after[:, 1] += self._strength * self._trust * error * (path[:, 0] / lookahead) ** 2
+    after[:, 1] += laneful_curvature * path[:, 0] ** 2 / 2
     self._after_points = renderer._map_line_to_polygon(after, 0.15, renderer._path_offset_z,
                                                        renderer._get_path_length_idx(path[:, 0], lookahead))
 
@@ -93,7 +89,7 @@ class LanefulRenderer:
     return True
 
   def _draw_readout(self, rect: rl.Rectangle) -> None:
-    """Top-center pill: pull toward lane center in cm (capped at 50), arrow = side,
+    """Top-center pill: pull toward lane center in cm at the lookahead, arrow = side,
     bar grows from center toward the pull (full at the cap), brighter with more lane line trust."""
     pull, trust = self._pull_display.x, self._trust_display.x
     w, h = 190, 76
diff --git a/openpilot/selfdrive/ui/sunnypilot/ui_state.py b/openpilot/selfdrive/ui/sunnypilot/ui_state.py
index e5ddd70400..f6d44fa952 100644
--- a/openpilot/selfdrive/ui/sunnypilot/ui_state.py
+++ b/openpilot/selfdrive/ui/sunnypilot/ui_state.py
@@ -36,7 +36,7 @@ class UIStateSP:
     self.is_sp_release: bool = self.params.get_bool("IsReleaseSpBranch")
     self.sm_services_ext = [
       "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
-      "lateralTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP", "lateralDelay"
+      "lateralTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP", "lateralDelay", "modelDataV2SP"
     ]
 
     self.sunnylink_state = SunnylinkState()
diff --git a/openpilot/sunnypilot/modeld_v2/laneful.py b/openpilot/sunnypilot/modeld_v2/laneful.py
index c6ec77a79b..d4c5190d1f 100644
--- a/openpilot/sunnypilot/modeld_v2/laneful.py
+++ b/openpilot/sunnypilot/modeld_v2/laneful.py
@@ -12,68 +12,57 @@ import numpy as np
 
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot.modeld_v2.constants import ModelConstants, Plan
+from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
 
 LANE_WIDTH_DEFAULT = 3.7  # m
 LANE_WIDTH_CLIP = (2.8, 4.5)  # m
 LOOKAHEAD_TIME = 1.5  # s
 MIN_LOOKAHEAD = 10.0  # m
-MAX_ERROR = 0.5  # m, cap on how far laneful can pull
+MAX_ERROR = 1.0  # m, cap on how far laneful can pull
 MIN_SPEED = 9.0  # m/s
+LINE_STD = (0.15, 0.4)
+POINT_STD = 0.1
+X_IDXS = np.array(ModelConstants.X_IDXS)
 
 
 class Laneful:
   def __init__(self):
     self.lane_width = FirstOrderFilter(LANE_WIDTH_DEFAULT, 10.0, DT_MDL)
+    self.curvature = 0.0
 
-  def update(self, model_output: dict[str, np.ndarray], v_ego: float, strength: float, desire_active: bool) -> float:
-    """Returns a curvature offset to add to the model's raw desired curvature."""
+  def update(self, model_output: dict[str, np.ndarray], v_ego: float, strength: float, desire_active: bool,
+             model_curvature: float) -> float:
+    self.curvature = 0.0
     if strength <= 0.0 or desire_active or v_ego < MIN_SPEED or 'lane_lines' not in model_output:
       return 0.0
 
     lookahead = max(v_ego * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
     lines = model_output['lane_lines'][0, :, :, 0]
-    left_y = np.interp(lookahead, ModelConstants.X_IDXS, lines[1])
-    right_y = np.interp(lookahead, ModelConstants.X_IDXS, lines[2])
+    stds = model_output['lane_lines_stds'][0, :, :, 0]
 
-    # line confidence, discounted when the model is unsure where the line is
     probs = model_output['lane_lines_prob'][0, 1::2]
-    stds = model_output['lane_lines_stds'][0, :, 0, 0]
-    l_prob = float(probs[1] * np.interp(stds[1], [0.15, 0.3], [1.0, 0.0]))
-    r_prob = float(probs[2] * np.interp(stds[2], [0.15, 0.3], [1.0, 0.0]))
+    l_prob = float(probs[1] * np.interp(np.interp(lookahead, X_IDXS, stds[1]), LINE_STD, [1.0, 0.0]))
+    r_prob = float(probs[2] * np.interp(np.interp(lookahead, X_IDXS, stds[2]), LINE_STD, [1.0, 0.0]))
+    lane_trust = l_prob + r_prob - l_prob * r_prob
+    if lane_trust <= 0.0:
+      return 0.0
 
     if l_prob * r_prob > 0.5:
-      self.lane_width.update(float(np.clip(right_y - left_y, *LANE_WIDTH_CLIP)))
+      width = np.interp(lookahead, X_IDXS, lines[2]) - np.interp(lookahead, X_IDXS, lines[1])
+      self.lane_width.update(float(np.clip(width, *LANE_WIDTH_CLIP)))
     half_width = self.lane_width.x / 2
 
-    # one weak line -> hug the strong one at half a lane width
-    center_y = (l_prob * (left_y + half_width) + r_prob * (right_y - half_width)) / (l_prob + r_prob + 1e-4)
-    lane_trust = l_prob + r_prob - l_prob * r_prob
+    win = (X_IDXS >= 0.5 * lookahead) & (X_IDXS <= 1.5 * lookahead)
+    x = X_IDXS[win]
+    l_var = stds[1, win] ** 2 / max(l_prob, 1e-4)
+    r_var = stds[2, win] ** 2 / max(r_prob, 1e-4)
+    center = (r_var * (lines[1, win] + half_width) + l_var * (lines[2, win] - half_width)) / (l_var + r_var)
+    weight = 1.0 / (l_var * r_var / (l_var + r_var) + POINT_STD ** 2)
 
-    plan = model_output['plan'][0, :, Plan.POSITION]
-    plan_y = np.interp(lookahead, plan[:, 0], plan[:, 1])
-
-    error = np.clip(center_y - plan_y, -MAX_ERROR, MAX_ERROR)
-    return float(strength * lane_trust * 2.0 * error / lookahead ** 2)
-
-
-if __name__ == "__main__":
-  def fake_output(left_y, right_y, prob=0.9, std=0.1, plan_y=0.0):
-    x = np.array(ModelConstants.X_IDXS)
-    lines = np.zeros((1, 4, len(x), 2), dtype=np.float32)
-    lines[0, 1, :, 0], lines[0, 2, :, 0] = left_y, right_y
-    plan = np.zeros((1, len(x), 15), dtype=np.float32)
-    plan[0, :, 0], plan[0, :, 1] = x, plan_y
-    return {'lane_lines': lines, 'plan': plan,
-            'lane_lines_prob': np.full((1, 8), prob, dtype=np.float32),
-            'lane_lines_stds': np.full((1, 4, len(x), 2), std, dtype=np.float32)}
-
-  lf = Laneful()
-  assert abs(lf.update(fake_output(-1.85, 1.85), 25.0, 1.0, False)) < 1e-6, "centered -> no nudge"
-  assert lf.update(fake_output(-1.0, 2.7), 25.0, 1.0, False) > 0, "lane center to the +y side -> nudge toward +y"
-  assert lf.update(fake_output(-2.7, 1.0), 25.0, 1.0, False) < 0, "lane center to the -y side -> nudge toward -y"
-  assert lf.update(fake_output(-1.0, 2.7), 25.0, 1.0, True) == 0.0, "off during lane change/turn"
-  assert lf.update(fake_output(-1.0, 2.7, std=0.5), 25.0, 1.0, False) == 0.0, "blurry lines -> laneless"
-  assert lf.update(fake_output(-1.0, 2.7), 25.0, 0.0, False) == 0.0, "strength 0 -> off"
-  assert lf.update(fake_output(-1.0, 2.7), 25.0, 0.5, False) < lf.update(fake_output(-1.0, 2.7), 25.0, 1.0, False)
-  print("laneful self-check ok")
+    # the error is against the arc the car will drive on the model's curvature, not the model's plan: the plan already
+    # bends back to where the model wants to be while the car follows the slower action, so a plan error vanishes exactly
+    # when the car is drifting, worst on curves. Fit the curvature change that lays that arc onto the center: e ~ dk x^2 / 2
+    error = np.clip(center - model_curvature * x ** 2 / 2, -MAX_ERROR, MAX_ERROR)
+    dk = 2.0 * np.sum(weight * error * x ** 2) / np.sum(weight * x ** 4)
+    self.curvature = float(strength * lane_trust * dk)
+    return self.curvature
diff --git a/openpilot/sunnypilot/modeld_v2/modeld.py b/openpilot/sunnypilot/modeld_v2/modeld.py
index 8ccc8f223a..7102882b5f 100755
--- a/openpilot/sunnypilot/modeld_v2/modeld.py
+++ b/openpilot/sunnypilot/modeld_v2/modeld.py
@@ -7,6 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 
 from collections.abc import Callable
+from functools import partial
 import gc
 import os
 os.environ['GMMU'] = '0'
@@ -230,7 +231,7 @@ class ModelState(ModelStateBase):
 
   def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                             lat_action_t: float, long_action_t: float, v_ego: float,
-                            laneful_curvature: float = 0.0) -> log.ModelDataV2.Action:
+                            laneful: Callable[[float], float] | None = None) -> log.ModelDataV2.Action:
     if 'action' not in model_output:
       plan = model_output['plan'][0]
       desired_accel = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
@@ -242,7 +243,8 @@ class ModelState(ModelStateBase):
     else:
       desired_accel = model_output['action'][0, 1]
       desired_curvature = model_output['action'][0, 0] / (max(1.0, v_ego))**2
-    desired_curvature += laneful_curvature
+    if laneful is not None:
+      desired_curvature += laneful(desired_curvature)
 
     stop = v_ego < 0.3 and desired_accel < 0.1
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
@@ -488,9 +490,9 @@ def main(demo=False):
 
       if not sm['carControl'].latActive:
         prev_action.desiredCurvature = sm['controlsState'].curvature
-      laneful_curvature = laneful.update(model_output, v_ego, laneful_strength,
-                                         desire != log.Desire.none or DH.lane_change_state != log.LaneChangeState.off)
-      action = model.get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego, laneful_curvature)
+      desire_active = desire != log.Desire.none or DH.lane_change_state != log.LaneChangeState.off
+      action = model.get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego,
+                                           partial(laneful.update, model_output, v_ego, laneful_strength, desire_active))
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
@@ -507,6 +509,7 @@ def main(demo=False):
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
       mdv2sp_send.valid = modelv2_send.valid
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
+      mdv2sp_send.modelDataV2SP.lanefulCurvature = laneful.curvature
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 

From e64f67ec7e21115d2bc284bffb3db0992dcfc443 Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Mon, 19 Oct 2026 12:36:35 -0700
Subject: [PATCH 05/54] red diff that

---
 openpilot/common/params_keys.h                |  2 +-
 .../ui/sunnypilot/mici/layouts/laneful.py     | 30 ++++------------
 .../ui/sunnypilot/mici/onroad/laneful.py      | 35 +++++++++----------
 openpilot/sunnypilot/modeld_v2/modeld.py      |  8 ++---
 4 files changed, 28 insertions(+), 47 deletions(-)

diff --git a/openpilot/common/params_keys.h b/openpilot/common/params_keys.h
index b03ecba18c..fb19536c7f 100644
--- a/openpilot/common/params_keys.h
+++ b/openpilot/common/params_keys.h
@@ -256,7 +256,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
     {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
-    {"LanefulStrength", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
+    {"Laneful", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"PlanplusControl", {PERSISTENT | BACKUP, FLOAT, "1.0"}},
 
     // mapd
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/laneful.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/laneful.py
index 404165ccf5..7960fc6f0a 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/laneful.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/laneful.py
@@ -4,36 +4,18 @@ Copyright (c) 2021-, sunnypilot, and a number of other contributors.
 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.
 """
-from openpilot.selfdrive.ui.mici.widgets.button import BigMultiToggle
-from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.mici.widgets.button import BigParamControl
 from openpilot.system.ui.widgets.scroller import NavScroller
 
-# above 1.0 the pull overshoots lane center and ping-pongs
-STRENGTHS = {"off": 0.0, "gentle": 0.5, "firm": 1.0}
-
-
-class LanefulStrengthToggle(BigMultiToggle):
-  """Tap to cycle LanefulStrength, like the driving personality toggle."""
-  def __init__(self):
-    super().__init__("laneful strength", list(STRENGTHS), select_callback=self._on_select,
-                     description="Nudges the car toward lane center.\n" +
-                                 "Firm centers faster than gentle.")
-    self.refresh()
-
-  def refresh(self):
-    strength = ui_state.params.get("LanefulStrength", return_default=True)
-    self.set_value(min(STRENGTHS, key=lambda k: abs(STRENGTHS[k] - strength)))
-
-  def _on_select(self, value: str):
-    ui_state.params.put("LanefulStrength", STRENGTHS[value])
-
 
 class LanefulLayoutMici(NavScroller):
   def __init__(self):
     super().__init__()
-    self._strength = LanefulStrengthToggle()
-    self._scroller.add_widget(self._strength)
+    self._toggle = BigParamControl("laneful", "Laneful",
+                                   description="Keeps the car centered in its lane.\n" +
+                                               "Leans on the lane lines when they are clear, drives laneless when they are not.")
+    self._scroller.add_widget(self._toggle)
 
   def show_event(self):
     super().show_event()
-    self._strength.refresh()
+    self._toggle.refresh()
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/laneful.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/laneful.py
index 94c5b9cba4..19275a5724 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/laneful.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/laneful.py
@@ -26,24 +26,22 @@ class LanefulRenderer:
     self._center_points = np.empty((0, 2), dtype=np.float32)
     self._after_points = np.empty((0, 2), dtype=np.float32)
     self._trust = 0.0
-    self._strength = 0.0
-    self._frame = 0
     self._font = gui_app.font(FontWeight.BOLD)
     # smoothed copies for the readout so the numbers don't flicker
     self._pull_display = FirstOrderFilter(0.0, 0.5, DT_MDL)
     self._trust_display = FirstOrderFilter(0.0, 0.5, DT_MDL)
+    self._alpha = FirstOrderFilter(0.0, 0.3, DT_MDL) # fades that hoe
     self._readout_rect: rl.Rectangle | None = None
     self._settings_page = None
 
   def update(self, renderer, max_idx: int) -> None:
     """Called from the model renderer's update with its lane lines and path already in raw points."""
-    if self._frame % 60 == 0:
-      self._strength = ui_state.params.get("LanefulStrength", return_default=True)
-    self._frame += 1
+    laneful_curvature = ui_state.sm['modelDataV2SP'].lanefulCurvature
+    self._alpha.update(float(laneful_curvature != 0.0))
 
     left, right = renderer._lane_lines[1].raw_points, renderer._lane_lines[2].raw_points
     stds = list(ui_state.sm['modelV2'].laneLineStds)
-    if self._strength <= 0.0 or len(left) == 0 or len(right) != len(left) or len(stds) < 3:
+    if self._alpha.x < 0.01 or len(left) == 0 or len(right) != len(left) or len(stds) < 3:
       self._center_points = np.empty((0, 2), dtype=np.float32)
       self._after_points = np.empty((0, 2), dtype=np.float32)
       return
@@ -60,7 +58,6 @@ class LanefulRenderer:
     # "after" path: model path bent by laneful's curvature, ending at the lookahead
     path = renderer._path.raw_points
     lookahead = max(ui_state.sm['carState'].vEgo * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
-    laneful_curvature = ui_state.sm['modelDataV2SP'].lanefulCurvature
     self._pull_display.update(laneful_curvature * lookahead ** 2 / 2)  # how far laneful moves the car at the lookahead
     self._trust_display.update(self._trust)
     after = path.copy()
@@ -68,13 +65,15 @@ class LanefulRenderer:
     self._after_points = renderer._map_line_to_polygon(after, 0.15, renderer._path_offset_z,
                                                        renderer._get_path_length_idx(path[:, 0], lookahead))
 
+  def _color(self, rgb, alpha: float) -> rl.Color:
+    return rl.Color(*rgb, int(alpha * self._alpha.x))
+
   def draw(self, rect: rl.Rectangle) -> None:
     if self._center_points.size and self._trust > 0.05:
-      draw_polygon(rect, self._center_points, rl.Color(*CENTER_COLOR, int(np.clip(self._trust, 0.2, 1.0) * 255)))
-    if self._after_points.size:
-      draw_polygon(rect, self._after_points, rl.Color(*AFTER_COLOR, 200))
+      draw_polygon(rect, self._center_points, self._color(CENTER_COLOR, np.clip(self._trust, 0.2, 1.0) * 255))
     self._readout_rect = None
-    if self._strength > 0.0:
+    if self._after_points.size:
+      draw_polygon(rect, self._after_points, self._color(AFTER_COLOR, 200))
       self._draw_readout(rect)
 
   def handle_tap(self, pos) -> bool:
@@ -96,23 +95,23 @@ class LanefulRenderer:
     x, y = rect.x + (rect.width - w) / 2, rect.y + 10
     cx, cy = x + w / 2, y + 30
     self._readout_rect = rl.Rectangle(x, y, w, h)
-    rl.draw_rectangle_rounded(self._readout_rect, 0.5, 12, rl.Color(0, 0, 0, 170))
+    rl.draw_rectangle_rounded(self._readout_rect, 0.5, 12, self._color((0, 0, 0), 170))
 
     text = f"{abs(pull) * 100:.0f}"
     text_w = measure_text_cached(self._font, text, 44, 0).x
-    rl.draw_text_ex(self._font, text, rl.Vector2(cx - text_w / 2, cy - 24), 44, 0, rl.WHITE)
+    rl.draw_text_ex(self._font, text, rl.Vector2(cx - text_w / 2, cy - 24), 44, 0, self._color((255, 255, 255), 255))
 
-    active = rl.Color(*CENTER_COLOR, int(np.clip(abs(pull) / 0.1, 0.0, 1.0) * 255))
-    idle = rl.Color(255, 255, 255, 40)
+    active = self._color(CENTER_COLOR, np.clip(abs(pull) / 0.1, 0.0, 1.0) * 255)
+    idle = self._color((255, 255, 255), 40)
     lx, rx = x + 18, x + w - 18
     rl.draw_triangle(rl.Vector2(lx, cy), rl.Vector2(lx + 16, cy + 12), rl.Vector2(lx + 16, cy - 12), active if pull < 0 else idle)
     rl.draw_triangle(rl.Vector2(rx - 16, cy - 12), rl.Vector2(rx - 16, cy + 12), rl.Vector2(rx, cy), active if pull > 0 else idle)
 
     bar = rl.Rectangle(x + 24, y + h - 16, w - 48, 6)
-    rl.draw_rectangle_rounded(bar, 1.0, 6, rl.Color(255, 255, 255, 40))
-    rl.draw_rectangle(int(cx - 1), int(bar.y - 2), 2, int(bar.height + 4), rl.Color(255, 255, 255, 120))
+    rl.draw_rectangle_rounded(bar, 1.0, 6, self._color((255, 255, 255), 40))
+    rl.draw_rectangle(int(cx - 1), int(bar.y - 2), 2, int(bar.height + 4), self._color((255, 255, 255), 120))
     fill = bar.width / 2 * float(np.clip(abs(pull) / MAX_ERROR, 0.0, 1.0))
     if fill > 1:
       fill_x = cx if pull > 0 else cx - fill
       rl.draw_rectangle_rounded(rl.Rectangle(fill_x, bar.y, fill, bar.height), 1.0, 6,
-                                rl.Color(*CENTER_COLOR, int(np.clip(0.3 + 0.7 * trust, 0.0, 1.0) * 255)))
+                                self._color(CENTER_COLOR, np.clip(0.3 + 0.7 * trust, 0.0, 1.0) * 255))
diff --git a/openpilot/sunnypilot/modeld_v2/modeld.py b/openpilot/sunnypilot/modeld_v2/modeld.py
index 7102882b5f..6be1919eb5 100755
--- a/openpilot/sunnypilot/modeld_v2/modeld.py
+++ b/openpilot/sunnypilot/modeld_v2/modeld.py
@@ -372,7 +372,7 @@ def main(demo=False):
   meta_constants = load_meta_constants()
   RELC = RoadEdgeLaneChangeController()
   laneful = Laneful()
-  laneful_strength = 0.0
+  laneful_enabled = False
 
   while True:
     # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -416,7 +416,7 @@ def main(demo=False):
       model.lat_delay = get_lat_delay(params, sm["lateralDelay"].lateralDelay)
       model.PLANPLUS_CONTROL = params.get("PlanplusControl", return_default=True)
       camera_offset_helper.set_offset(params.get("CameraOffset", return_default=True))
-      laneful_strength = params.get("LanefulStrength", return_default=True)
+      laneful_enabled = params.get_bool("Laneful")
     lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
     if sm.updated["extrinsicsCalibration"] and sm.seen['narrowRoadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["extrinsicsCalibration"].rpyCalib, dtype=np.float32)
@@ -490,9 +490,9 @@ def main(demo=False):
 
       if not sm['carControl'].latActive:
         prev_action.desiredCurvature = sm['controlsState'].curvature
-      desire_active = desire != log.Desire.none or DH.lane_change_state != log.LaneChangeState.off
+      laneful_active = laneful_enabled and desire == log.Desire.none and DH.lane_change_state == log.LaneChangeState.off
       action = model.get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego,
-                                           partial(laneful.update, model_output, v_ego, laneful_strength, desire_active))
+                                           partial(laneful.update, model_output, v_ego, laneful_active))
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,

From 6c674810eec10befc8c399b5ba2017515eaae063 Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Mon, 19 Oct 2026 12:38:16 -0700
Subject: [PATCH 06/54] default to 1.0 while i test variable weighting

---
 openpilot/sunnypilot/modeld_v2/laneful.py | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/openpilot/sunnypilot/modeld_v2/laneful.py b/openpilot/sunnypilot/modeld_v2/laneful.py
index d4c5190d1f..fbb4366e4f 100644
--- a/openpilot/sunnypilot/modeld_v2/laneful.py
+++ b/openpilot/sunnypilot/modeld_v2/laneful.py
@@ -30,10 +30,9 @@ class Laneful:
     self.lane_width = FirstOrderFilter(LANE_WIDTH_DEFAULT, 10.0, DT_MDL)
     self.curvature = 0.0
 
-  def update(self, model_output: dict[str, np.ndarray], v_ego: float, strength: float, desire_active: bool,
-             model_curvature: float) -> float:
+  def update(self, model_output: dict[str, np.ndarray], v_ego: float, active: bool, model_curvature: float) -> float:
     self.curvature = 0.0
-    if strength <= 0.0 or desire_active or v_ego < MIN_SPEED or 'lane_lines' not in model_output:
+    if not active or v_ego < MIN_SPEED or 'lane_lines' not in model_output:
       return 0.0
 
     lookahead = max(v_ego * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
@@ -64,5 +63,5 @@ class Laneful:
     # when the car is drifting, worst on curves. Fit the curvature change that lays that arc onto the center: e ~ dk x^2 / 2
     error = np.clip(center - model_curvature * x ** 2 / 2, -MAX_ERROR, MAX_ERROR)
     dk = 2.0 * np.sum(weight * error * x ** 2) / np.sum(weight * x ** 4)
-    self.curvature = float(strength * lane_trust * dk)
+    self.curvature = float(lane_trust * dk)
     return self.curvature

From 54a22bd8bd394dbc1e3a4d2f17bd34fbd38662b5 Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Mon, 19 Oct 2026 12:54:53 -0700
Subject: [PATCH 07/54] blended correction over .3 s

---
 openpilot/sunnypilot/modeld_v2/laneful.py | 13 ++++++-------
 1 file changed, 6 insertions(+), 7 deletions(-)

diff --git a/openpilot/sunnypilot/modeld_v2/laneful.py b/openpilot/sunnypilot/modeld_v2/laneful.py
index fbb4366e4f..6522ab7e77 100644
--- a/openpilot/sunnypilot/modeld_v2/laneful.py
+++ b/openpilot/sunnypilot/modeld_v2/laneful.py
@@ -1,12 +1,8 @@
 """
-Copyright (c) 2021-, sunnypilot, and a number of other contributors.
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 
 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.
-
-Laneful: nudge the model's curvature toward the lane center seen by the lane lines.
-The model stays in charge; this only adds a pure-pursuit correction weighted by lane line confidence,
-and fades to zero (plain laneless) when the lines are weak.
 """
 import numpy as np
 
@@ -20,6 +16,7 @@ LOOKAHEAD_TIME = 1.5  # s
 MIN_LOOKAHEAD = 10.0  # m
 MAX_ERROR = 1.0  # m, cap on how far laneful can pull
 MIN_SPEED = 9.0  # m/s
+SMOOTH_TAU = 0.3  # s
 LINE_STD = (0.15, 0.4)
 POINT_STD = 0.1
 X_IDXS = np.array(ModelConstants.X_IDXS)
@@ -28,11 +25,12 @@ X_IDXS = np.array(ModelConstants.X_IDXS)
 class Laneful:
   def __init__(self):
     self.lane_width = FirstOrderFilter(LANE_WIDTH_DEFAULT, 10.0, DT_MDL)
+    self.correction = FirstOrderFilter(0.0, SMOOTH_TAU, DT_MDL) # correcting over .3s reduces jerk
     self.curvature = 0.0
 
   def update(self, model_output: dict[str, np.ndarray], v_ego: float, active: bool, model_curvature: float) -> float:
-    self.curvature = 0.0
     if not active or v_ego < MIN_SPEED or 'lane_lines' not in model_output:
+      self.curvature = self.correction.x = 0.0
       return 0.0
 
     lookahead = max(v_ego * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
@@ -44,6 +42,7 @@ class Laneful:
     r_prob = float(probs[2] * np.interp(np.interp(lookahead, X_IDXS, stds[2]), LINE_STD, [1.0, 0.0]))
     lane_trust = l_prob + r_prob - l_prob * r_prob
     if lane_trust <= 0.0:
+      self.curvature = self.correction.x = 0.0
       return 0.0
 
     if l_prob * r_prob > 0.5:
@@ -63,5 +62,5 @@ class Laneful:
     # when the car is drifting, worst on curves. Fit the curvature change that lays that arc onto the center: e ~ dk x^2 / 2
     error = np.clip(center - model_curvature * x ** 2 / 2, -MAX_ERROR, MAX_ERROR)
     dk = 2.0 * np.sum(weight * error * x ** 2) / np.sum(weight * x ** 4)
-    self.curvature = float(lane_trust * dk)
+    self.curvature = float(self.correction.update(lane_trust * dk))
     return self.curvature

From 0b3459fbdc7018c312d0431f89f7a9e312f9b3da Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Mon, 19 Oct 2026 13:10:03 -0700
Subject: [PATCH 08/54] decay trust when model intends to move plant off lane.
 think going around cones and stuff

---
 openpilot/sunnypilot/modeld_v2/laneful.py | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/openpilot/sunnypilot/modeld_v2/laneful.py b/openpilot/sunnypilot/modeld_v2/laneful.py
index 6522ab7e77..109953f517 100644
--- a/openpilot/sunnypilot/modeld_v2/laneful.py
+++ b/openpilot/sunnypilot/modeld_v2/laneful.py
@@ -17,6 +17,7 @@ MIN_LOOKAHEAD = 10.0  # m
 MAX_ERROR = 1.0  # m, cap on how far laneful can pull
 MIN_SPEED = 9.0  # m/s
 SMOOTH_TAU = 0.3  # s
+YIELD = (0.5, 1.0)  # m
 LINE_STD = (0.15, 0.4)
 POINT_STD = 0.1
 X_IDXS = np.array(ModelConstants.X_IDXS)
@@ -57,10 +58,14 @@ class Laneful:
     center = (r_var * (lines[1, win] + half_width) + l_var * (lines[2, win] - half_width)) / (l_var + r_var)
     weight = 1.0 / (l_var * r_var / (l_var + r_var) + POINT_STD ** 2)
 
-    # the error is against the arc the car will drive on the model's curvature, not the model's plan: the plan already
-    # bends back to where the model wants to be while the car follows the slower action, so a plan error vanishes exactly
-    # when the car is drifting, worst on curves. Fit the curvature change that lays that arc onto the center: e ~ dk x^2 / 2
+    # Fit curvature to place the plant in center: e ~ dk x^2 / 2
     error = np.clip(center - model_curvature * x ** 2 / 2, -MAX_ERROR, MAX_ERROR)
     dk = 2.0 * np.sum(weight * error * x ** 2) / np.sum(weight * x ** 4)
+
+    # A model planning to end up further off center than the plant is now is likely going around something
+    center_now = (l_prob * (lines[1, 0] + half_width) + r_prob * (lines[2, 0] - half_width)) / (l_prob + r_prob)
+    plan_y = np.interp(lookahead, model_output['plan'][0, :, 0], model_output['plan'][0, :, 1])
+    away = abs(plan_y - np.interp(lookahead, x, center)) - abs(center_now)
+    lane_trust *= np.interp(away, YIELD, [1.0, 0.0])
     self.curvature = float(self.correction.update(lane_trust * dk))
     return self.curvature

From 563fa3c7825ed1d18f4b4afde2f793a86895c788 Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Mon, 19 Oct 2026 13:38:52 -0700
Subject: [PATCH 09/54] sharp curvies have some issues :O

---
 openpilot/sunnypilot/modeld_v2/laneful.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/openpilot/sunnypilot/modeld_v2/laneful.py b/openpilot/sunnypilot/modeld_v2/laneful.py
index 109953f517..5c582b1c3d 100644
--- a/openpilot/sunnypilot/modeld_v2/laneful.py
+++ b/openpilot/sunnypilot/modeld_v2/laneful.py
@@ -18,7 +18,7 @@ MAX_ERROR = 1.0  # m, cap on how far laneful can pull
 MIN_SPEED = 9.0  # m/s
 SMOOTH_TAU = 0.3  # s
 YIELD = (0.5, 1.0)  # m
-LINE_STD = (0.15, 0.4)
+LINE_STD = (0.2, 0.6)
 POINT_STD = 0.1
 X_IDXS = np.array(ModelConstants.X_IDXS)
 
@@ -39,8 +39,8 @@ class Laneful:
     stds = model_output['lane_lines_stds'][0, :, :, 0]
 
     probs = model_output['lane_lines_prob'][0, 1::2]
-    l_prob = float(probs[1] * np.interp(np.interp(lookahead, X_IDXS, stds[1]), LINE_STD, [1.0, 0.0]))
-    r_prob = float(probs[2] * np.interp(np.interp(lookahead, X_IDXS, stds[2]), LINE_STD, [1.0, 0.0]))
+    l_prob = float(probs[1] * np.interp(np.interp(0.5 * lookahead, X_IDXS, stds[1]), LINE_STD, [1.0, 0.0]))
+    r_prob = float(probs[2] * np.interp(np.interp(0.5 * lookahead, X_IDXS, stds[2]), LINE_STD, [1.0, 0.0]))
     lane_trust = l_prob + r_prob - l_prob * r_prob
     if lane_trust <= 0.0:
       self.curvature = self.correction.x = 0.0
@@ -65,7 +65,7 @@ class Laneful:
     # A model planning to end up further off center than the plant is now is likely going around something
     center_now = (l_prob * (lines[1, 0] + half_width) + r_prob * (lines[2, 0] - half_width)) / (l_prob + r_prob)
     plan_y = np.interp(lookahead, model_output['plan'][0, :, 0], model_output['plan'][0, :, 1])
-    away = abs(plan_y - np.interp(lookahead, x, center)) - abs(center_now)
+    away = abs(plan_y - np.interp(lookahead, x, center)) - abs(center_now) - 0.15 * abs(model_curvature) * lookahead ** 2 / 2
     lane_trust *= np.interp(away, YIELD, [1.0, 0.0])
     self.curvature = float(self.correction.update(lane_trust * dk))
     return self.curvature

From 8a508606483d2615e53a23744c3f69582b01a854 Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Mon, 19 Oct 2026 14:16:46 -0700
Subject: [PATCH 10/54] quicker entry

---
 openpilot/sunnypilot/modeld_v2/laneful.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/openpilot/sunnypilot/modeld_v2/laneful.py b/openpilot/sunnypilot/modeld_v2/laneful.py
index 5c582b1c3d..1f2d29a027 100644
--- a/openpilot/sunnypilot/modeld_v2/laneful.py
+++ b/openpilot/sunnypilot/modeld_v2/laneful.py
@@ -16,7 +16,7 @@ LOOKAHEAD_TIME = 1.5  # s
 MIN_LOOKAHEAD = 10.0  # m
 MAX_ERROR = 1.0  # m, cap on how far laneful can pull
 MIN_SPEED = 9.0  # m/s
-SMOOTH_TAU = 0.3  # s
+SMOOTH_TAU = 0.15  # s
 YIELD = (0.5, 1.0)  # m
 LINE_STD = (0.2, 0.6)
 POINT_STD = 0.1
@@ -65,7 +65,7 @@ class Laneful:
     # A model planning to end up further off center than the plant is now is likely going around something
     center_now = (l_prob * (lines[1, 0] + half_width) + r_prob * (lines[2, 0] - half_width)) / (l_prob + r_prob)
     plan_y = np.interp(lookahead, model_output['plan'][0, :, 0], model_output['plan'][0, :, 1])
-    away = abs(plan_y - np.interp(lookahead, x, center)) - abs(center_now) - 0.15 * abs(model_curvature) * lookahead ** 2 / 2
+    away = abs(plan_y - np.interp(lookahead, x, center)) - abs(center_now) - 0.25 * abs(model_curvature) * lookahead ** 2 / 2
     lane_trust *= np.interp(away, YIELD, [1.0, 0.0])
     self.curvature = float(self.correction.update(lane_trust * dk))
     return self.curvature

From 46c0b319975c64d46318a7f44f2755bb1b2a3ace Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Mon, 19 Oct 2026 16:28:07 -0700
Subject: [PATCH 11/54] blend 30% plan with action  projeciton

---
 openpilot/sunnypilot/modeld_v2/laneful.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/openpilot/sunnypilot/modeld_v2/laneful.py b/openpilot/sunnypilot/modeld_v2/laneful.py
index 1f2d29a027..5cf6c218c7 100644
--- a/openpilot/sunnypilot/modeld_v2/laneful.py
+++ b/openpilot/sunnypilot/modeld_v2/laneful.py
@@ -59,7 +59,8 @@ class Laneful:
     weight = 1.0 / (l_var * r_var / (l_var + r_var) + POINT_STD ** 2)
 
     # Fit curvature to place the plant in center: e ~ dk x^2 / 2
-    error = np.clip(center - model_curvature * x ** 2 / 2, -MAX_ERROR, MAX_ERROR)
+    plan_x = np.interp(x, model_output['plan'][0, :, 0], model_output['plan'][0, :, 1])
+    error = np.clip(center - (0.7 * model_curvature * x ** 2 / 2 + 0.3 * plan_x), -MAX_ERROR, MAX_ERROR)
     dk = 2.0 * np.sum(weight * error * x ** 2) / np.sum(weight * x ** 4)
 
     # A model planning to end up further off center than the plant is now is likely going around something

From a3ed6bd2f08bd27e30b73143d81af2a457bcd842 Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Mon, 19 Oct 2026 16:49:48 -0700
Subject: [PATCH 12/54] blending 50% on sharp curvaruerqw

---
 openpilot/sunnypilot/modeld_v2/laneful.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/openpilot/sunnypilot/modeld_v2/laneful.py b/openpilot/sunnypilot/modeld_v2/laneful.py
index 5cf6c218c7..5bb3452b7a 100644
--- a/openpilot/sunnypilot/modeld_v2/laneful.py
+++ b/openpilot/sunnypilot/modeld_v2/laneful.py
@@ -60,7 +60,8 @@ class Laneful:
 
     # Fit curvature to place the plant in center: e ~ dk x^2 / 2
     plan_x = np.interp(x, model_output['plan'][0, :, 0], model_output['plan'][0, :, 1])
-    error = np.clip(center - (0.7 * model_curvature * x ** 2 / 2 + 0.3 * plan_x), -MAX_ERROR, MAX_ERROR)
+    plan_share = np.interp(abs(model_curvature) * lookahead ** 2 / 2, [0.5, 2.0], [0.3, 0.5]) # blending up to 50% plan with action during sharp curvature
+    error = np.clip(center - ((1 - plan_share) * model_curvature * x ** 2 / 2 + plan_share * plan_x), -MAX_ERROR, MAX_ERROR)
     dk = 2.0 * np.sum(weight * error * x ** 2) / np.sum(weight * x ** 4)
 
     # A model planning to end up further off center than the plant is now is likely going around something

From ed4e8aeea685a174af5a9db9b87ede8bdbbf9847 Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Mon, 19 Oct 2026 20:20:45 -0700
Subject: [PATCH 13/54] jerk limiting correctin strength so that hecker doesnt
 spin spin yo wheel

---
 openpilot/sunnypilot/modeld_v2/laneful.py | 26 ++++++++++++++---------
 1 file changed, 16 insertions(+), 10 deletions(-)

diff --git a/openpilot/sunnypilot/modeld_v2/laneful.py b/openpilot/sunnypilot/modeld_v2/laneful.py
index 5bb3452b7a..22b50906c0 100644
--- a/openpilot/sunnypilot/modeld_v2/laneful.py
+++ b/openpilot/sunnypilot/modeld_v2/laneful.py
@@ -16,7 +16,7 @@ LOOKAHEAD_TIME = 1.5  # s
 MIN_LOOKAHEAD = 10.0  # m
 MAX_ERROR = 1.0  # m, cap on how far laneful can pull
 MIN_SPEED = 9.0  # m/s
-SMOOTH_TAU = 0.15  # s
+JERK_LIMIT = 0.5  # m/s^3
 YIELD = (0.5, 1.0)  # m
 LINE_STD = (0.2, 0.6)
 POINT_STD = 0.1
@@ -26,24 +26,31 @@ X_IDXS = np.array(ModelConstants.X_IDXS)
 class Laneful:
   def __init__(self):
     self.lane_width = FirstOrderFilter(LANE_WIDTH_DEFAULT, 10.0, DT_MDL)
-    self.correction = FirstOrderFilter(0.0, SMOOTH_TAU, DT_MDL) # correcting over .3s reduces jerk
+    self.line_probs = FirstOrderFilter(np.zeros(2), 0.5, DT_MDL)
     self.curvature = 0.0
 
   def update(self, model_output: dict[str, np.ndarray], v_ego: float, active: bool, model_curvature: float) -> float:
-    if not active or v_ego < MIN_SPEED or 'lane_lines' not in model_output:
-      self.curvature = self.correction.x = 0.0
+    if not active:
+      self.curvature = 0.0
+      return 0.0
+    target = self._target(model_output, v_ego, model_curvature)
+    step = JERK_LIMIT / max(v_ego, 1.0) ** 2 * DT_MDL
+    self.curvature = float(np.clip(target, self.curvature - step, self.curvature + step))
+    return self.curvature
+
+  def _target(self, model_output: dict[str, np.ndarray], v_ego: float, model_curvature: float) -> float:
+    if v_ego < MIN_SPEED or 'lane_lines' not in model_output:
       return 0.0
 
     lookahead = max(v_ego * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
     lines = model_output['lane_lines'][0, :, :, 0]
     stds = model_output['lane_lines_stds'][0, :, :, 0]
 
-    probs = model_output['lane_lines_prob'][0, 1::2]
-    l_prob = float(probs[1] * np.interp(np.interp(0.5 * lookahead, X_IDXS, stds[1]), LINE_STD, [1.0, 0.0]))
-    r_prob = float(probs[2] * np.interp(np.interp(0.5 * lookahead, X_IDXS, stds[2]), LINE_STD, [1.0, 0.0]))
+    probs = self.line_probs.update(model_output['lane_lines_prob'][0, 1::2][1:3])
+    l_prob = float(probs[0] * np.interp(np.interp(0.5 * lookahead, X_IDXS, stds[1]), LINE_STD, [1.0, 0.0]))
+    r_prob = float(probs[1] * np.interp(np.interp(0.5 * lookahead, X_IDXS, stds[2]), LINE_STD, [1.0, 0.0]))
     lane_trust = l_prob + r_prob - l_prob * r_prob
     if lane_trust <= 0.0:
-      self.curvature = self.correction.x = 0.0
       return 0.0
 
     if l_prob * r_prob > 0.5:
@@ -69,5 +76,4 @@ class Laneful:
     plan_y = np.interp(lookahead, model_output['plan'][0, :, 0], model_output['plan'][0, :, 1])
     away = abs(plan_y - np.interp(lookahead, x, center)) - abs(center_now) - 0.25 * abs(model_curvature) * lookahead ** 2 / 2
     lane_trust *= np.interp(away, YIELD, [1.0, 0.0])
-    self.curvature = float(self.correction.update(lane_trust * dk))
-    return self.curvature
+    return float(lane_trust * dk)

From 61154655cdfcae298dcec91f3e32f2a564758e20 Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Mon, 19 Oct 2026 20:25:29 -0700
Subject: [PATCH 14/54] =?UTF-8?q?handle=20one=20line=20flicker=20by=20trus?=
 =?UTF-8?q?t=C3=B72?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 openpilot/sunnypilot/modeld_v2/laneful.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/openpilot/sunnypilot/modeld_v2/laneful.py b/openpilot/sunnypilot/modeld_v2/laneful.py
index 22b50906c0..6f5f126f3a 100644
--- a/openpilot/sunnypilot/modeld_v2/laneful.py
+++ b/openpilot/sunnypilot/modeld_v2/laneful.py
@@ -49,7 +49,7 @@ class Laneful:
     probs = self.line_probs.update(model_output['lane_lines_prob'][0, 1::2][1:3])
     l_prob = float(probs[0] * np.interp(np.interp(0.5 * lookahead, X_IDXS, stds[1]), LINE_STD, [1.0, 0.0]))
     r_prob = float(probs[1] * np.interp(np.interp(0.5 * lookahead, X_IDXS, stds[2]), LINE_STD, [1.0, 0.0]))
-    lane_trust = l_prob + r_prob - l_prob * r_prob
+    lane_trust = (l_prob + r_prob) / 2
     if lane_trust <= 0.0:
       return 0.0
 

From e9fc7a24653121f8dba7dc05e1da02c26ec6a1ee Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Mon, 19 Oct 2026 21:43:35 -0700
Subject: [PATCH 15/54] less is more

---
 openpilot/sunnypilot/modeld_v2/laneful.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/openpilot/sunnypilot/modeld_v2/laneful.py b/openpilot/sunnypilot/modeld_v2/laneful.py
index 6f5f126f3a..40b869d92d 100644
--- a/openpilot/sunnypilot/modeld_v2/laneful.py
+++ b/openpilot/sunnypilot/modeld_v2/laneful.py
@@ -15,7 +15,7 @@ LANE_WIDTH_CLIP = (2.8, 4.5)  # m
 LOOKAHEAD_TIME = 1.5  # s
 MIN_LOOKAHEAD = 10.0  # m
 MAX_ERROR = 1.0  # m, cap on how far laneful can pull
-MIN_SPEED = 9.0  # m/s
+MIN_SPEED = 5.0  # m/s
 JERK_LIMIT = 0.5  # m/s^3
 YIELD = (0.5, 1.0)  # m
 LINE_STD = (0.2, 0.6)

From 4d2d3f69f514f707c159e5e476059c23fa38bf4e Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Mon, 19 Oct 2026 23:11:22 -0700
Subject: [PATCH 16/54] winner takes all trust system in lane lines

---
 openpilot/sunnypilot/modeld_v2/laneful.py | 28 +++++++++++++++--------
 1 file changed, 19 insertions(+), 9 deletions(-)

diff --git a/openpilot/sunnypilot/modeld_v2/laneful.py b/openpilot/sunnypilot/modeld_v2/laneful.py
index 40b869d92d..02f7331b6a 100644
--- a/openpilot/sunnypilot/modeld_v2/laneful.py
+++ b/openpilot/sunnypilot/modeld_v2/laneful.py
@@ -10,22 +10,21 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
 
-LANE_WIDTH_DEFAULT = 3.7  # m
+LANE_WIDTH_DEFAULT = 3.2914  # m (averaged narrow lane in downtown streets, ~10.8ft usable)
 LANE_WIDTH_CLIP = (2.8, 4.5)  # m
 LOOKAHEAD_TIME = 1.5  # s
 MIN_LOOKAHEAD = 10.0  # m
-MAX_ERROR = 1.0  # m, cap on how far laneful can pull
 MIN_SPEED = 5.0  # m/s
-JERK_LIMIT = 0.5  # m/s^3
-YIELD = (0.5, 1.0)  # m
 LINE_STD = (0.2, 0.6)
 POINT_STD = 0.1
 X_IDXS = np.array(ModelConstants.X_IDXS)
 
 
-class Laneful:
+class Laneful: # TODO-SP: Rename this to blendful or something similar because it is not pure laneful anymore.
   def __init__(self):
     self.lane_width = FirstOrderFilter(LANE_WIDTH_DEFAULT, 10.0, DT_MDL)
+    self.line_gone = FirstOrderFilter(np.zeros(2), 2.0, DT_MDL)
+    self.line_probs_slow = FirstOrderFilter(np.zeros(2), 3.0, DT_MDL)
     self.line_probs = FirstOrderFilter(np.zeros(2), 0.5, DT_MDL)
     self.curvature = 0.0
 
@@ -34,7 +33,8 @@ class Laneful:
       self.curvature = 0.0
       return 0.0
     target = self._target(model_output, v_ego, model_curvature)
-    step = JERK_LIMIT / max(v_ego, 1.0) ** 2 * DT_MDL
+    releasing = abs(target) < abs(self.curvature) or target * self.curvature < 0
+    step = (2.0 if releasing else 0.5) / max(v_ego, 1.0) ** 2 * DT_MDL  # jerk over 1 second
     self.curvature = float(np.clip(target, self.curvature - step, self.curvature + step))
     return self.curvature
 
@@ -47,9 +47,19 @@ class Laneful:
     stds = model_output['lane_lines_stds'][0, :, :, 0]
 
     probs = self.line_probs.update(model_output['lane_lines_prob'][0, 1::2][1:3])
+    gone = self.line_gone.update((model_output['lane_lines_prob'][0, 1::2][1:3] < 0.3).astype(float))
+    dropping = bool(np.any(probs < 0.6 * self.line_probs_slow.update(model_output['lane_lines_prob'][0, 1::2][1:3])))
     l_prob = float(probs[0] * np.interp(np.interp(0.5 * lookahead, X_IDXS, stds[1]), LINE_STD, [1.0, 0.0]))
     r_prob = float(probs[1] * np.interp(np.interp(0.5 * lookahead, X_IDXS, stds[2]), LINE_STD, [1.0, 0.0]))
-    lane_trust = (l_prob + r_prob) / 2
+    # one line steadily on its own still centers at half say conf. a line that is disappearing gives control back to laneless
+    if gone[1] > 0.8 and l_prob > 0.5:
+      lane_trust = l_prob / 2
+    elif gone[0] > 0.8 and r_prob > 0.5:
+      lane_trust = r_prob / 2
+    elif dropping:
+      lane_trust = min(l_prob, r_prob)
+    else:
+      lane_trust = l_prob + r_prob - l_prob * r_prob
     if lane_trust <= 0.0:
       return 0.0
 
@@ -68,12 +78,12 @@ class Laneful:
     # Fit curvature to place the plant in center: e ~ dk x^2 / 2
     plan_x = np.interp(x, model_output['plan'][0, :, 0], model_output['plan'][0, :, 1])
     plan_share = np.interp(abs(model_curvature) * lookahead ** 2 / 2, [0.5, 2.0], [0.3, 0.5]) # blending up to 50% plan with action during sharp curvature
-    error = np.clip(center - ((1 - plan_share) * model_curvature * x ** 2 / 2 + plan_share * plan_x), -MAX_ERROR, MAX_ERROR)
+    error = np.clip(center - ((1 - plan_share) * model_curvature * x ** 2 / 2 + plan_share * plan_x), -1.0, 1.0)
     dk = 2.0 * np.sum(weight * error * x ** 2) / np.sum(weight * x ** 4)
 
     # A model planning to end up further off center than the plant is now is likely going around something
     center_now = (l_prob * (lines[1, 0] + half_width) + r_prob * (lines[2, 0] - half_width)) / (l_prob + r_prob)
     plan_y = np.interp(lookahead, model_output['plan'][0, :, 0], model_output['plan'][0, :, 1])
     away = abs(plan_y - np.interp(lookahead, x, center)) - abs(center_now) - 0.25 * abs(model_curvature) * lookahead ** 2 / 2
-    lane_trust *= np.interp(away, YIELD, [1.0, 0.0])
+    lane_trust *= np.interp(away, (0.5, 1.0), [1.0, 0.0])
     return float(lane_trust * dk)

From 77d0c2d665680b078cc2b5a3a92768b31dd86b55 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Tue, 20 Oct 2026 07:16:14 -0700
Subject: [PATCH 17/54] Ui fix

---
 openpilot/sunnypilot/modeld_v2/laneful.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/openpilot/sunnypilot/modeld_v2/laneful.py b/openpilot/sunnypilot/modeld_v2/laneful.py
index 02f7331b6a..d25582d838 100644
--- a/openpilot/sunnypilot/modeld_v2/laneful.py
+++ b/openpilot/sunnypilot/modeld_v2/laneful.py
@@ -17,6 +17,7 @@ MIN_LOOKAHEAD = 10.0  # m
 MIN_SPEED = 5.0  # m/s
 LINE_STD = (0.2, 0.6)
 POINT_STD = 0.1
+MAX_ERROR = 1.0
 X_IDXS = np.array(ModelConstants.X_IDXS)
 
 

From 0af369cae0ed6f4be4bb1c5b2a17e14f62b19707 Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Tue, 20 Oct 2026 13:28:20 -0700
Subject: [PATCH 18/54] blendful

---
 openpilot/sunnypilot/modeld_v2/laneful.py | 61 ++++++++++++++++-------
 1 file changed, 44 insertions(+), 17 deletions(-)

diff --git a/openpilot/sunnypilot/modeld_v2/laneful.py b/openpilot/sunnypilot/modeld_v2/laneful.py
index d25582d838..7a39343612 100644
--- a/openpilot/sunnypilot/modeld_v2/laneful.py
+++ b/openpilot/sunnypilot/modeld_v2/laneful.py
@@ -10,7 +10,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
 
-LANE_WIDTH_DEFAULT = 3.2914  # m (averaged narrow lane in downtown streets, ~10.8ft usable)
+LANE_WIDTH_DEFAULT = 3.6  # m (reseeded to model's lane width upon initialization)
 LANE_WIDTH_CLIP = (2.8, 4.5)  # m
 LOOKAHEAD_TIME = 1.5  # s
 MIN_LOOKAHEAD = 10.0  # m
@@ -18,23 +18,30 @@ MIN_SPEED = 5.0  # m/s
 LINE_STD = (0.2, 0.6)
 POINT_STD = 0.1
 MAX_ERROR = 1.0
+YIELD = (0.2, 0.45)
 X_IDXS = np.array(ModelConstants.X_IDXS)
 
 
 class Laneful: # TODO-SP: Rename this to blendful or something similar because it is not pure laneful anymore.
   def __init__(self):
-    self.lane_width = FirstOrderFilter(LANE_WIDTH_DEFAULT, 10.0, DT_MDL)
+    self.lane_width = FirstOrderFilter(LANE_WIDTH_DEFAULT, 10.0, DT_MDL, initialized=False)
     self.line_gone = FirstOrderFilter(np.zeros(2), 2.0, DT_MDL)
     self.line_probs_slow = FirstOrderFilter(np.zeros(2), 3.0, DT_MDL)
     self.line_probs = FirstOrderFilter(np.zeros(2), 0.5, DT_MDL)
+    self.usual_offset = FirstOrderFilter(0.0, 10.0, DT_MDL, initialized=False)
+    self.going_around = False
+    self.trust = 0.0
     self.curvature = 0.0
 
   def update(self, model_output: dict[str, np.ndarray], v_ego: float, active: bool, model_curvature: float) -> float:
-    if not active:
-      self.curvature = 0.0
-      return 0.0
-    target = self._target(model_output, v_ego, model_curvature)
-    releasing = abs(target) < abs(self.curvature) or target * self.curvature < 0
+    fading = not active or v_ego < MIN_SPEED
+    if fading:
+      self.trust = 0.0
+      self.usual_offset.initialized = False
+      self.lane_width.initialized = False
+      self.going_around = False
+    target = 0.0 if fading else self._target(model_output, v_ego, model_curvature)
+    releasing = not fading and (abs(target) < abs(self.curvature) or target * self.curvature < 0)
     step = (2.0 if releasing else 0.5) / max(v_ego, 1.0) ** 2 * DT_MDL  # jerk over 1 second
     self.curvature = float(np.clip(target, self.curvature - step, self.curvature + step))
     return self.curvature
@@ -62,15 +69,16 @@ class Laneful: # TODO-SP: Rename this to blendful or something similar because i
     else:
       lane_trust = l_prob + r_prob - l_prob * r_prob
     if lane_trust <= 0.0:
+      self.trust = 0.0
       return 0.0
 
-    if l_prob * r_prob > 0.5:
-      width = np.interp(lookahead, X_IDXS, lines[2]) - np.interp(lookahead, X_IDXS, lines[1])
-      self.lane_width.update(float(np.clip(width, *LANE_WIDTH_CLIP)))
-    half_width = self.lane_width.x / 2
-
     win = (X_IDXS >= 0.5 * lookahead) & (X_IDXS <= 1.5 * lookahead)
     x = X_IDXS[win]
+    half_width = self.lane_width.x / 2
+    if l_prob * r_prob > 0.5:
+      width = np.interp(lookahead, X_IDXS, lines[2]) - np.interp(lookahead, X_IDXS, lines[1])
+      self.lane_width.update(float(np.clip(width, *LANE_WIDTH_CLIP)))
+      half_width = np.clip(lines[2, win] - lines[1, win], *LANE_WIDTH_CLIP) / 2
     l_var = stds[1, win] ** 2 / max(l_prob, 1e-4)
     r_var = stds[2, win] ** 2 / max(r_prob, 1e-4)
     center = (r_var * (lines[1, win] + half_width) + l_var * (lines[2, win] - half_width)) / (l_var + r_var)
@@ -82,9 +90,28 @@ class Laneful: # TODO-SP: Rename this to blendful or something similar because i
     error = np.clip(center - ((1 - plan_share) * model_curvature * x ** 2 / 2 + plan_share * plan_x), -1.0, 1.0)
     dk = 2.0 * np.sum(weight * error * x ** 2) / np.sum(weight * x ** 4)
 
-    # A model planning to end up further off center than the plant is now is likely going around something
-    center_now = (l_prob * (lines[1, 0] + half_width) + r_prob * (lines[2, 0] - half_width)) / (l_prob + r_prob)
+    # A model planning to end up further from its usual spot in the lane than the plant is now is likely going around something
+    hw_now = np.clip(lines[2, 0] - lines[1, 0], *LANE_WIDTH_CLIP) / 2 if l_prob * r_prob > 0.5 else self.lane_width.x / 2
+    center_now = (l_prob * (lines[1, 0] + hw_now) + r_prob * (lines[2, 0] - hw_now)) / (l_prob + r_prob)
     plan_y = np.interp(lookahead, model_output['plan'][0, :, 0], model_output['plan'][0, :, 1])
-    away = abs(plan_y - np.interp(lookahead, x, center)) - abs(center_now) - 0.25 * abs(model_curvature) * lookahead ** 2 / 2
-    lane_trust *= np.interp(away, (0.5, 1.0), [1.0, 0.0])
-    return float(lane_trust * dk)
+    offset = plan_y - np.interp(lookahead, x, center)
+    usual = self.usual_offset.x if self.usual_offset.initialized else offset
+    swerve = abs(offset - usual) - 0.25 * abs(model_curvature) * lookahead ** 2 / 2
+    away = swerve - abs(-center_now - usual)
+    lane_curvature = 2.0 * np.polyfit(x, center, 2)[0]
+    inside_curve = abs(lane_curvature) * lookahead ** 2 / 2 > 0.1 and (offset - usual) * lane_curvature > 0
+    if inside_curve:
+      self.going_around = False
+    elif away > YIELD[0]:
+      self.going_around = True
+    elif swerve < YIELD[0] / 2:
+      self.going_around = False
+    self.usual_offset.update_alpha(20.0 if self.going_around else 10.0)
+    self.usual_offset.update(offset)
+    if inside_curve:
+      lane_trust *= np.interp(abs(offset) - abs(center_now) - 0.25 * abs(model_curvature) * lookahead ** 2 / 2, (0.5, 1.0), [1.0, 0.0])
+    else:
+      lane_trust *= np.interp(swerve, (YIELD[0] / 2, YIELD[0]), [1.0, 0.0]) if self.going_around else np.interp(away, YIELD, [1.0, 0.0])
+
+    self.trust = lane_trust if lane_trust < self.trust else self.trust + (lane_trust - self.trust) * DT_MDL / (1.5 + DT_MDL)
+    return float(self.trust * dk)

From 7847dbf148e196eed3ba0bd01d2bf5815b8139c4 Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Tue, 20 Oct 2026 15:47:46 -0700
Subject: [PATCH 19/54] sm logging + qlog logging

---
 openpilot/cereal/custom.capnp             | 3 +++
 openpilot/cereal/services.py              | 2 +-
 openpilot/sunnypilot/modeld_v2/laneful.py | 2 ++
 openpilot/sunnypilot/modeld_v2/modeld.py  | 3 +++
 4 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/openpilot/cereal/custom.capnp b/openpilot/cereal/custom.capnp
index c281fec3af..0a5f431545 100644
--- a/openpilot/cereal/custom.capnp
+++ b/openpilot/cereal/custom.capnp
@@ -466,6 +466,9 @@ struct ModelDataV2SP @0xa1680744031fdb2d {
   leftLaneChangeEdgeBlock @1 :Bool;
   rightLaneChangeEdgeBlock @2 :Bool;
   lanefulCurvature @3 :Float32;
+  lanefulTrust @4 :Float32;
+  modelCurvature @5 :Float32;
+  lanefulGoingAround @6 :Bool;
 
   enum TurnDirection {
     none @0;
diff --git a/openpilot/cereal/services.py b/openpilot/cereal/services.py
index 541a06298a..449778ba2a 100755
--- a/openpilot/cereal/services.py
+++ b/openpilot/cereal/services.py
@@ -94,7 +94,7 @@ _services: dict[str, tuple] = {
   "carControlSP": (True, 100., 10),
   "carStateSP": (True, 100., 10),
   "liveMapDataSP": (True, 1., 1),
-  "modelDataV2SP": (True, 20., None, QueueSize.BIG),
+  "modelDataV2SP": (True, 20., 10, QueueSize.BIG),
   "liveLocationKalman": (True, 20.),
 
   # debug
diff --git a/openpilot/sunnypilot/modeld_v2/laneful.py b/openpilot/sunnypilot/modeld_v2/laneful.py
index 7a39343612..1ef2777da3 100644
--- a/openpilot/sunnypilot/modeld_v2/laneful.py
+++ b/openpilot/sunnypilot/modeld_v2/laneful.py
@@ -31,6 +31,7 @@ class Laneful: # TODO-SP: Rename this to blendful or something similar because i
     self.usual_offset = FirstOrderFilter(0.0, 10.0, DT_MDL, initialized=False)
     self.going_around = False
     self.trust = 0.0
+    self.model_curvature = 0.0
     self.curvature = 0.0
 
   def update(self, model_output: dict[str, np.ndarray], v_ego: float, active: bool, model_curvature: float) -> float:
@@ -40,6 +41,7 @@ class Laneful: # TODO-SP: Rename this to blendful or something similar because i
       self.usual_offset.initialized = False
       self.lane_width.initialized = False
       self.going_around = False
+    self.model_curvature = model_curvature
     target = 0.0 if fading else self._target(model_output, v_ego, model_curvature)
     releasing = not fading and (abs(target) < abs(self.curvature) or target * self.curvature < 0)
     step = (2.0 if releasing else 0.5) / max(v_ego, 1.0) ** 2 * DT_MDL  # jerk over 1 second
diff --git a/openpilot/sunnypilot/modeld_v2/modeld.py b/openpilot/sunnypilot/modeld_v2/modeld.py
index 6be1919eb5..2804f8b8e0 100755
--- a/openpilot/sunnypilot/modeld_v2/modeld.py
+++ b/openpilot/sunnypilot/modeld_v2/modeld.py
@@ -510,6 +510,9 @@ def main(demo=False):
       mdv2sp_send.valid = modelv2_send.valid
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
       mdv2sp_send.modelDataV2SP.lanefulCurvature = laneful.curvature
+      mdv2sp_send.modelDataV2SP.lanefulTrust = laneful.trust
+      mdv2sp_send.modelDataV2SP.modelCurvature = laneful.model_curvature
+      mdv2sp_send.modelDataV2SP.lanefulGoingAround = laneful.going_around
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 

From 644e23f8ef2f3af51ed04c9b85d08ce70e2fb65f Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Tue, 20 Oct 2026 17:55:15 -0700
Subject: [PATCH 20/54] Update modeld.py

---
 openpilot/sunnypilot/modeld_v2/modeld.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/openpilot/sunnypilot/modeld_v2/modeld.py b/openpilot/sunnypilot/modeld_v2/modeld.py
index 2804f8b8e0..0d6341460d 100755
--- a/openpilot/sunnypilot/modeld_v2/modeld.py
+++ b/openpilot/sunnypilot/modeld_v2/modeld.py
@@ -511,7 +511,7 @@ def main(demo=False):
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
       mdv2sp_send.modelDataV2SP.lanefulCurvature = laneful.curvature
       mdv2sp_send.modelDataV2SP.lanefulTrust = laneful.trust
-      mdv2sp_send.modelDataV2SP.modelCurvature = laneful.model_curvature
+      mdv2sp_send.modelDataV2SP.modelCurvature = float(laneful.model_curvature)
       mdv2sp_send.modelDataV2SP.lanefulGoingAround = laneful.going_around
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction

From 11603b2de7489b16afe4855681f22871bcca2aed Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Tue, 20 Oct 2026 18:02:52 -0700
Subject: [PATCH 21/54] Update modeld.py

---
 openpilot/sunnypilot/modeld_v2/modeld.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/openpilot/sunnypilot/modeld_v2/modeld.py b/openpilot/sunnypilot/modeld_v2/modeld.py
index 0d6341460d..ba22ccec71 100755
--- a/openpilot/sunnypilot/modeld_v2/modeld.py
+++ b/openpilot/sunnypilot/modeld_v2/modeld.py
@@ -510,9 +510,9 @@ def main(demo=False):
       mdv2sp_send.valid = modelv2_send.valid
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
       mdv2sp_send.modelDataV2SP.lanefulCurvature = laneful.curvature
-      mdv2sp_send.modelDataV2SP.lanefulTrust = laneful.trust
+      mdv2sp_send.modelDataV2SP.lanefulTrust = float(laneful.trust)
       mdv2sp_send.modelDataV2SP.modelCurvature = float(laneful.model_curvature)
-      mdv2sp_send.modelDataV2SP.lanefulGoingAround = laneful.going_around
+      mdv2sp_send.modelDataV2SP.lanefulGoingAround = bool(laneful.going_around)
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 

From e87a605fb2829b62c86b972104f0f5812c679e12 Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Tue, 20 Oct 2026 18:39:44 -0700
Subject: [PATCH 22/54] relearn ideal sim pose

---
 openpilot/sunnypilot/modeld_v2/laneful.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/openpilot/sunnypilot/modeld_v2/laneful.py b/openpilot/sunnypilot/modeld_v2/laneful.py
index 1ef2777da3..62222f7080 100644
--- a/openpilot/sunnypilot/modeld_v2/laneful.py
+++ b/openpilot/sunnypilot/modeld_v2/laneful.py
@@ -97,6 +97,8 @@ class Laneful: # TODO-SP: Rename this to blendful or something similar because i
     center_now = (l_prob * (lines[1, 0] + hw_now) + r_prob * (lines[2, 0] - hw_now)) / (l_prob + r_prob)
     plan_y = np.interp(lookahead, model_output['plan'][0, :, 0], model_output['plan'][0, :, 1])
     offset = plan_y - np.interp(lookahead, x, center)
+    if min(gone) > 0.5:  # both lines gone: turns, intersections, relearn ideal model position
+      self.usual_offset.initialized = False
     usual = self.usual_offset.x if self.usual_offset.initialized else offset
     swerve = abs(offset - usual) - 0.25 * abs(model_curvature) * lookahead ** 2 / 2
     away = swerve - abs(-center_now - usual)

From 7707a3e3842a22395585dd60f8d6056a557ff321 Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Tue, 20 Oct 2026 22:56:10 -0700
Subject: [PATCH 23/54] interpolate smoothness on straights to reduce mr kumar
 and his mdv3 jiggle shennanigans

---
 openpilot/sunnypilot/modeld_v2/laneful.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/openpilot/sunnypilot/modeld_v2/laneful.py b/openpilot/sunnypilot/modeld_v2/laneful.py
index 62222f7080..59ca6f2518 100644
--- a/openpilot/sunnypilot/modeld_v2/laneful.py
+++ b/openpilot/sunnypilot/modeld_v2/laneful.py
@@ -32,6 +32,7 @@ class Laneful: # TODO-SP: Rename this to blendful or something similar because i
     self.going_around = False
     self.trust = 0.0
     self.model_curvature = 0.0
+    self.smooth = 0.0 # smoothens lanelines below .53 lat accel
     self.curvature = 0.0
 
   def update(self, model_output: dict[str, np.ndarray], v_ego: float, active: bool, model_curvature: float) -> float:
@@ -43,6 +44,7 @@ class Laneful: # TODO-SP: Rename this to blendful or something similar because i
       self.going_around = False
     self.model_curvature = model_curvature
     target = 0.0 if fading else self._target(model_output, v_ego, model_curvature)
+    target = self.smooth = self.smooth + (target - self.smooth) * DT_MDL / (DT_MDL + np.interp(abs(model_curvature) * v_ego ** 2, [0.18, 0.53], [0.25, 0.0]))
     releasing = not fading and (abs(target) < abs(self.curvature) or target * self.curvature < 0)
     step = (2.0 if releasing else 0.5) / max(v_ego, 1.0) ** 2 * DT_MDL  # jerk over 1 second
     self.curvature = float(np.clip(target, self.curvature - step, self.curvature + step))

From 62cf10ff05d9755e0a2ed82bbf5a14219377f229 Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Wed, 21 Oct 2026 08:17:55 -0700
Subject: [PATCH 24/54] let unwind be handled by laneless

---
 openpilot/sunnypilot/modeld_v2/laneful.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/openpilot/sunnypilot/modeld_v2/laneful.py b/openpilot/sunnypilot/modeld_v2/laneful.py
index 59ca6f2518..d30336e168 100644
--- a/openpilot/sunnypilot/modeld_v2/laneful.py
+++ b/openpilot/sunnypilot/modeld_v2/laneful.py
@@ -30,6 +30,7 @@ class Laneful: # TODO-SP: Rename this to blendful or something similar because i
     self.line_probs = FirstOrderFilter(np.zeros(2), 0.5, DT_MDL)
     self.usual_offset = FirstOrderFilter(0.0, 10.0, DT_MDL, initialized=False)
     self.going_around = False
+    self.since_turning = 0.0
     self.trust = 0.0
     self.model_curvature = 0.0
     self.smooth = 0.0 # smoothens lanelines below .53 lat accel
@@ -106,9 +107,10 @@ class Laneful: # TODO-SP: Rename this to blendful or something similar because i
     away = swerve - abs(-center_now - usual)
     lane_curvature = 2.0 * np.polyfit(x, center, 2)[0]
     inside_curve = abs(lane_curvature) * lookahead ** 2 / 2 > 0.1 and (offset - usual) * lane_curvature > 0
+    self.since_turning = 0.0 if abs(model_curvature) * lookahead ** 2 / 2 > 0.5 else self.since_turning + DT_MDL
     if inside_curve:
       self.going_around = False
-    elif away > YIELD[0]:
+    elif away > YIELD[0] and self.since_turning > 2.0:
       self.going_around = True
     elif swerve < YIELD[0] / 2:
       self.going_around = False

From ee7bf203fe2088b1c40fe7b4997fea6fce4b5bd4 Mon Sep 17 00:00:00 2001
From: nayan <nayan8teen@gmail.com>
Date: Wed, 21 Oct 2026 17:20:08 -0400
Subject: [PATCH 25/54] ffs

---
 openpilot/sunnypilot/sunnylink/settings_ui.json           | 8 +++++++-
 .../sunnylink/settings_ui_src/pages/models.yaml           | 8 +++++++-
 2 files changed, 14 insertions(+), 2 deletions(-)

diff --git a/openpilot/sunnypilot/sunnylink/settings_ui.json b/openpilot/sunnypilot/sunnylink/settings_ui.json
index c9d4c826f4..4799456354 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui.json
+++ b/openpilot/sunnypilot/sunnylink/settings_ui.json
@@ -2021,8 +2021,14 @@
         {
           "id": "model_behavior",
           "title": "Model Behavior",
-          "description": "Lane desire and lead-vehicle awareness tuning",
+          "description": "Lane desire, blended laneful, and lead-vehicle awareness tuning",
           "items": [
+            {
+              "key": "Laneful",
+              "widget": "toggle",
+              "title": "Use Blended Laneful Mode",
+              "description": "Nudges the model's path toward lane center with a smoothly ramped correction that scales with lane-line confidence. It fades out automatically when lines are unclear, mid-lane-change, during turns, or when the model is going around something, so you keep laneless behavior plus extra centering."
+            },
             {
               "key": "LaneTurnDesire",
               "widget": "toggle",
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml
index bcb8b895b9..3820467c7c 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml
@@ -9,8 +9,14 @@ description: Driving model behavior and camera calibration
 sections:
 - id: model_behavior
   title: Model Behavior
-  description: Lane desire and lead-vehicle awareness tuning
+  description: Lane desire, blended laneful, and lead-vehicle awareness tuning
   items:
+  - key: Laneful
+    widget: toggle
+    title: Use Blended Laneful Mode
+    description: Nudges the model's path toward lane center with a smoothly ramped correction that scales with
+      lane-line confidence. It fades out automatically when lines are unclear, mid-lane-change, during turns,
+      or when the model is going around something, so you keep laneless behavior plus extra centering.
   - key: LaneTurnDesire
     widget: toggle
     title: Use Lane Turn Desires

From 5854346c2ffd5fdcaca0ebd1e15e3f3addb40401 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Thu, 22 Oct 2026 17:39:50 -0400
Subject: [PATCH 26/54] blendful

---
 openpilot/cereal/custom.capnp                 |  6 ++---
 openpilot/common/params_keys.h                |  2 +-
 .../ui/mici/onroad/augmented_road_view.py     |  2 +-
 .../ui/mici/onroad/model_renderer.py          |  4 +--
 .../mici/layouts/{laneful.py => blendful.py}  |  4 +--
 .../ui/sunnypilot/mici/layouts/settings.py    | 10 +++----
 .../mici/onroad/{laneful.py => blendful.py}   | 24 ++++++++---------
 .../sunnypilot/mici/onroad/model_renderer.py  |  4 +--
 .../modeld_v2/{laneful.py => blendful.py}     |  2 +-
 openpilot/sunnypilot/modeld_v2/modeld.py      | 26 +++++++++----------
 .../sunnypilot/sunnylink/settings_ui.json     |  6 ++---
 .../settings_ui_src/pages/models.yaml         |  6 ++---
 12 files changed, 48 insertions(+), 48 deletions(-)
 rename openpilot/selfdrive/ui/sunnypilot/mici/layouts/{laneful.py => blendful.py} (88%)
 rename openpilot/selfdrive/ui/sunnypilot/mici/onroad/{laneful.py => blendful.py} (85%)
 rename openpilot/sunnypilot/modeld_v2/{laneful.py => blendful.py} (98%)

diff --git a/openpilot/cereal/custom.capnp b/openpilot/cereal/custom.capnp
index 9e28948352..ca4cee003f 100644
--- a/openpilot/cereal/custom.capnp
+++ b/openpilot/cereal/custom.capnp
@@ -468,10 +468,10 @@ struct ModelDataV2SP @0xa1680744031fdb2d {
   laneTurnDirection @0 :TurnDirection;
   leftLaneChangeEdgeBlock @1 :Bool;
   rightLaneChangeEdgeBlock @2 :Bool;
-  lanefulCurvature @3 :Float32;
-  lanefulTrust @4 :Float32;
+  blendfulCurvature @3 :Float32;
+  blendfulTrust @4 :Float32;
   modelCurvature @5 :Float32;
-  lanefulGoingAround @6 :Bool;
+  blendfulGoingAround @6 :Bool;
 
   enum TurnDirection {
     none @0;
diff --git a/openpilot/common/params_keys.h b/openpilot/common/params_keys.h
index fb19536c7f..bed8e93b6a 100644
--- a/openpilot/common/params_keys.h
+++ b/openpilot/common/params_keys.h
@@ -256,7 +256,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
     {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
-    {"Laneful", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"Blendful", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"PlanplusControl", {PERSISTENT | BACKUP, FLOAT, "1.0"}},
 
     // mapd
diff --git a/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py b/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py
index 1ec48ad981..7d102306a1 100644
--- a/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -206,7 +206,7 @@ class AugmentedRoadView(CameraView):
   def _handle_mouse_release(self, mouse_pos: MousePos):
     # Don't trigger click callback if bookmark was triggered
     if not self._bookmark_icon.interacting():
-      if self._model_renderer.laneful.handle_tap(mouse_pos):
+      if self._model_renderer.blendful.handle_tap(mouse_pos):
         return
       super()._handle_mouse_release(mouse_pos)
 
diff --git a/openpilot/selfdrive/ui/mici/onroad/model_renderer.py b/openpilot/selfdrive/ui/mici/onroad/model_renderer.py
index c9a524ecc3..d86b31aff5 100644
--- a/openpilot/selfdrive/ui/mici/onroad/model_renderer.py
+++ b/openpilot/selfdrive/ui/mici/onroad/model_renderer.py
@@ -141,7 +141,7 @@ class ModelRenderer(Widget, ModelRendererSP):
     if ui_state.status != UIStatus.DISENGAGED:
       self._draw_lane_lines()
       self._draw_path()
-      self.laneful.draw(self._rect)
+      self.blendful.draw(self._rect)
 
     if render_lead_indicator:
       self._update_leads(sm)
@@ -220,7 +220,7 @@ class ModelRenderer(Widget, ModelRendererSP):
     # Update road edges using raw points
     for road_edge in self._road_edges:
       road_edge.projected_points = self._map_line_to_polygon(road_edge.raw_points, line_width_factor, 0.0, max_idx)
-    self.laneful.update(self, max_idx)
+    self.blendful.update(self, max_idx)
 
     # Update path using raw points
     if lead and lead.present:
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/laneful.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/blendful.py
similarity index 88%
rename from openpilot/selfdrive/ui/sunnypilot/mici/layouts/laneful.py
rename to openpilot/selfdrive/ui/sunnypilot/mici/layouts/blendful.py
index 7960fc6f0a..f06676299e 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/laneful.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/blendful.py
@@ -8,10 +8,10 @@ from openpilot.selfdrive.ui.mici.widgets.button import BigParamControl
 from openpilot.system.ui.widgets.scroller import NavScroller
 
 
-class LanefulLayoutMici(NavScroller):
+class BlendfulLayoutMici(NavScroller):
   def __init__(self):
     super().__init__()
-    self._toggle = BigParamControl("laneful", "Laneful",
+    self._toggle = BigParamControl("blendful", "Blendful",
                                    description="Keeps the car centered in its lane.\n" +
                                                "Leans on the lane lines when they are clear, drives laneless when they are not.")
     self._scroller.add_widget(self._toggle)
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py
index 7471cff7d1..46559931c2 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py
@@ -11,7 +11,7 @@ from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.models import ModelsLayoutMici
-from openpilot.selfdrive.ui.sunnypilot.mici.layouts.laneful import LanefulLayoutMici
+from openpilot.selfdrive.ui.sunnypilot.mici.layouts.blendful import BlendfulLayoutMici
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
@@ -51,9 +51,9 @@ class SettingsLayoutSP(OP.SettingsLayout):
     models_btn = SettingsBigButton(tr("models"), "", gui_app.texture("../../sunnypilot/selfdrive/assets/offroad/icon_models.png", ICON_SIZE, ICON_SIZE))
     models_btn.set_click_callback(lambda: gui_app.push_widget(models_panel))
 
-    laneful_panel = LanefulLayoutMici()
-    laneful_btn = SettingsBigButton(tr("laneful"), "", gui_app.texture("icons_mici/settings/device/lkas.png", ICON_SIZE, ICON_SIZE))
-    laneful_btn.set_click_callback(lambda: gui_app.push_widget(laneful_panel))
+    blendful_panel = BlendfulLayoutMici()
+    blendful_btn = SettingsBigButton(tr("blendful"), "", gui_app.texture("icons_mici/settings/device/lkas.png", ICON_SIZE, ICON_SIZE))
+    blendful_btn.set_click_callback(lambda: gui_app.push_widget(blendful_panel))
 
     # onroad: enable button sits at the front (left of toggles)
     self._enable_offroad_btn_onroad = BigCircleButton(self.icon_offroad_enable, red=True)
@@ -72,7 +72,7 @@ class SettingsLayoutSP(OP.SettingsLayout):
     items = self._scroller._items.copy()
 
     items.insert(1, models_btn)
-    items.insert(2, laneful_btn)
+    items.insert(2, blendful_btn)
     items.insert(6, sunnylink_btn)
 
     # front slots (only one ever visible at a time): exit-always-offroad, then enable-onroad
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/laneful.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
similarity index 85%
rename from openpilot/selfdrive/ui/sunnypilot/mici/onroad/laneful.py
rename to openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
index 19275a5724..fc639e3054 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/laneful.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
@@ -4,15 +4,15 @@ Copyright (c) 2021-, sunnypilot, and a number of other contributors.
 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.
 
-Laneful visuals: cyan lane-center target, thin white "after" path (model path bent by laneful's nudge),
-and a top-center readout of the pull, from the curvature modeld publishes in modelDataV2SP.lanefulCurvature.
+Blendful visuals: cyan lane-center target, thin white "after" path (model path bent by blendful's nudge),
+and a top-center readout of the pull, from the curvature modeld publishes in modelDataV2SP.blendfulCurvature.
 """
 import numpy as np
 import pyray as rl
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.sunnypilot.modeld_v2.laneful import LOOKAHEAD_TIME, MIN_LOOKAHEAD, MAX_ERROR
+from openpilot.sunnypilot.modeld_v2.blendful import LOOKAHEAD_TIME, MIN_LOOKAHEAD, MAX_ERROR
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.shader_polygon import draw_polygon
 from openpilot.system.ui.lib.text_measure import measure_text_cached
@@ -21,7 +21,7 @@ CENTER_COLOR = (0, 200, 255)
 AFTER_COLOR = (255, 255, 255)
 
 
-class LanefulRenderer:
+class BlendfulRenderer:
   def __init__(self):
     self._center_points = np.empty((0, 2), dtype=np.float32)
     self._after_points = np.empty((0, 2), dtype=np.float32)
@@ -36,8 +36,8 @@ class LanefulRenderer:
 
   def update(self, renderer, max_idx: int) -> None:
     """Called from the model renderer's update with its lane lines and path already in raw points."""
-    laneful_curvature = ui_state.sm['modelDataV2SP'].lanefulCurvature
-    self._alpha.update(float(laneful_curvature != 0.0))
+    blendful_curvature = ui_state.sm['modelDataV2SP'].blendfulCurvature
+    self._alpha.update(float(blendful_curvature != 0.0))
 
     left, right = renderer._lane_lines[1].raw_points, renderer._lane_lines[2].raw_points
     stds = list(ui_state.sm['modelV2'].laneLineStds)
@@ -55,13 +55,13 @@ class LanefulRenderer:
     self._trust = l_prob + r_prob - l_prob * r_prob
     self._center_points = renderer._map_line_to_polygon(center, 0.1, 0.0, max_idx)
 
-    # "after" path: model path bent by laneful's curvature, ending at the lookahead
+    # "after" path: model path bent by blendful's curvature, ending at the lookahead
     path = renderer._path.raw_points
     lookahead = max(ui_state.sm['carState'].vEgo * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
-    self._pull_display.update(laneful_curvature * lookahead ** 2 / 2)  # how far laneful moves the car at the lookahead
+    self._pull_display.update(blendful_curvature * lookahead ** 2 / 2)  # how far blendful moves the car at the lookahead
     self._trust_display.update(self._trust)
     after = path.copy()
-    after[:, 1] += laneful_curvature * path[:, 0] ** 2 / 2
+    after[:, 1] += blendful_curvature * path[:, 0] ** 2 / 2
     self._after_points = renderer._map_line_to_polygon(after, 0.15, renderer._path_offset_z,
                                                        renderer._get_path_length_idx(path[:, 0], lookahead))
 
@@ -77,13 +77,13 @@ class LanefulRenderer:
       self._draw_readout(rect)
 
   def handle_tap(self, pos) -> bool:
-    """Tapping the readout opens the laneful settings page. Returns True if the tap was consumed."""
+    """Tapping the readout opens the blendful settings page. Returns True if the tap was consumed."""
     r = self._readout_rect
     if r is None or not (r.x - 20 <= pos.x <= r.x + r.width + 20 and r.y - 20 <= pos.y <= r.y + r.height + 20):
       return False
     if self._settings_page is None:
-      from openpilot.selfdrive.ui.sunnypilot.mici.layouts.laneful import LanefulLayoutMici
-      self._settings_page = LanefulLayoutMici()
+      from openpilot.selfdrive.ui.sunnypilot.mici.layouts.blendful import BlendfulLayoutMici
+      self._settings_page = BlendfulLayoutMici()
     gui_app.push_widget(self._settings_page)
     return True
 
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py
index b3471042f4..3ea80e3259 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py
@@ -6,7 +6,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 import pyray as rl
 from openpilot.selfdrive.ui.ui_state import UIStatus
-from openpilot.selfdrive.ui.sunnypilot.mici.onroad.laneful import LanefulRenderer
+from openpilot.selfdrive.ui.sunnypilot.mici.onroad.blendful import BlendfulRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
 
 LANE_LINE_COLORS_SP = {
@@ -18,4 +18,4 @@ LANE_LINE_COLORS_SP = {
 class ModelRendererSP:
   def __init__(self):
     self.rainbow_path = RainbowPath()
-    self.laneful = LanefulRenderer()
+    self.blendful = BlendfulRenderer()
diff --git a/openpilot/sunnypilot/modeld_v2/laneful.py b/openpilot/sunnypilot/modeld_v2/blendful.py
similarity index 98%
rename from openpilot/sunnypilot/modeld_v2/laneful.py
rename to openpilot/sunnypilot/modeld_v2/blendful.py
index d30336e168..93718fc595 100644
--- a/openpilot/sunnypilot/modeld_v2/laneful.py
+++ b/openpilot/sunnypilot/modeld_v2/blendful.py
@@ -22,7 +22,7 @@ YIELD = (0.2, 0.45)
 X_IDXS = np.array(ModelConstants.X_IDXS)
 
 
-class Laneful: # TODO-SP: Rename this to blendful or something similar because it is not pure laneful anymore.
+class Blendful:
   def __init__(self):
     self.lane_width = FirstOrderFilter(LANE_WIDTH_DEFAULT, 10.0, DT_MDL, initialized=False)
     self.line_gone = FirstOrderFilter(np.zeros(2), 2.0, DT_MDL)
diff --git a/openpilot/sunnypilot/modeld_v2/modeld.py b/openpilot/sunnypilot/modeld_v2/modeld.py
index ba22ccec71..f8fbecc7ab 100755
--- a/openpilot/sunnypilot/modeld_v2/modeld.py
+++ b/openpilot/sunnypilot/modeld_v2/modeld.py
@@ -40,7 +40,7 @@ from openpilot.selfdrive.modeld.modeld import ChestnutGpuState
 
 from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState, get_curvature_from_output
 from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser
-from openpilot.sunnypilot.modeld_v2.laneful import Laneful
+from openpilot.sunnypilot.modeld_v2.blendful import Blendful
 from openpilot.sunnypilot.modeld_v2.constants import ModelConstants, Plan
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
@@ -231,7 +231,7 @@ class ModelState(ModelStateBase):
 
   def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                             lat_action_t: float, long_action_t: float, v_ego: float,
-                            laneful: Callable[[float], float] | None = None) -> log.ModelDataV2.Action:
+                            blendful: Callable[[float], float] | None = None) -> log.ModelDataV2.Action:
     if 'action' not in model_output:
       plan = model_output['plan'][0]
       desired_accel = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
@@ -243,8 +243,8 @@ class ModelState(ModelStateBase):
     else:
       desired_accel = model_output['action'][0, 1]
       desired_curvature = model_output['action'][0, 0] / (max(1.0, v_ego))**2
-    if laneful is not None:
-      desired_curvature += laneful(desired_curvature)
+    if blendful is not None:
+      desired_curvature += blendful(desired_curvature)
 
     stop = v_ego < 0.3 and desired_accel < 0.1
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
@@ -371,8 +371,8 @@ def main(demo=False):
   DH = DesireHelper()
   meta_constants = load_meta_constants()
   RELC = RoadEdgeLaneChangeController()
-  laneful = Laneful()
-  laneful_enabled = False
+  blendful = Blendful()
+  blendful_enabled = False
 
   while True:
     # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -416,7 +416,7 @@ def main(demo=False):
       model.lat_delay = get_lat_delay(params, sm["lateralDelay"].lateralDelay)
       model.PLANPLUS_CONTROL = params.get("PlanplusControl", return_default=True)
       camera_offset_helper.set_offset(params.get("CameraOffset", return_default=True))
-      laneful_enabled = params.get_bool("Laneful")
+      blendful_enabled = params.get_bool("Blendful")
     lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
     if sm.updated["extrinsicsCalibration"] and sm.seen['narrowRoadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["extrinsicsCalibration"].rpyCalib, dtype=np.float32)
@@ -490,9 +490,9 @@ def main(demo=False):
 
       if not sm['carControl'].latActive:
         prev_action.desiredCurvature = sm['controlsState'].curvature
-      laneful_active = laneful_enabled and desire == log.Desire.none and DH.lane_change_state == log.LaneChangeState.off
+      blendful_active = blendful_enabled and desire == log.Desire.none and DH.lane_change_state == log.LaneChangeState.off
       action = model.get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego,
-                                           partial(laneful.update, model_output, v_ego, laneful_active))
+                                           partial(blendful.update, model_output, v_ego, blendful_active))
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
@@ -509,10 +509,10 @@ def main(demo=False):
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
       mdv2sp_send.valid = modelv2_send.valid
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
-      mdv2sp_send.modelDataV2SP.lanefulCurvature = laneful.curvature
-      mdv2sp_send.modelDataV2SP.lanefulTrust = float(laneful.trust)
-      mdv2sp_send.modelDataV2SP.modelCurvature = float(laneful.model_curvature)
-      mdv2sp_send.modelDataV2SP.lanefulGoingAround = bool(laneful.going_around)
+      mdv2sp_send.modelDataV2SP.blendfulCurvature = blendful.curvature
+      mdv2sp_send.modelDataV2SP.blendfulTrust = float(blendful.trust)
+      mdv2sp_send.modelDataV2SP.modelCurvature = float(blendful.model_curvature)
+      mdv2sp_send.modelDataV2SP.blendfulGoingAround = bool(blendful.going_around)
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui.json b/openpilot/sunnypilot/sunnylink/settings_ui.json
index 4799456354..6bd156d250 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui.json
+++ b/openpilot/sunnypilot/sunnylink/settings_ui.json
@@ -2021,12 +2021,12 @@
         {
           "id": "model_behavior",
           "title": "Model Behavior",
-          "description": "Lane desire, blended laneful, and lead-vehicle awareness tuning",
+          "description": "Lane desire, blendful, and lead-vehicle awareness tuning",
           "items": [
             {
-              "key": "Laneful",
+              "key": "Blendful",
               "widget": "toggle",
-              "title": "Use Blended Laneful Mode",
+              "title": "Use Blendful Mode",
               "description": "Nudges the model's path toward lane center with a smoothly ramped correction that scales with lane-line confidence. It fades out automatically when lines are unclear, mid-lane-change, during turns, or when the model is going around something, so you keep laneless behavior plus extra centering."
             },
             {
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml
index 3820467c7c..123a71d7e5 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml
@@ -9,11 +9,11 @@ description: Driving model behavior and camera calibration
 sections:
 - id: model_behavior
   title: Model Behavior
-  description: Lane desire, blended laneful, and lead-vehicle awareness tuning
+  description: Lane desire, blendful, and lead-vehicle awareness tuning
   items:
-  - key: Laneful
+  - key: Blendful
     widget: toggle
-    title: Use Blended Laneful Mode
+    title: Use Blendful Mode
     description: Nudges the model's path toward lane center with a smoothly ramped correction that scales with
       lane-line confidence. It fades out automatically when lines are unclear, mid-lane-change, during turns,
       or when the model is going around something, so you keep laneless behavior plus extra centering.

From afd0ce66c9193b0a8456d7dacae70be0ad423668 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Thu, 22 Oct 2026 17:41:10 -0400
Subject: [PATCH 27/54] no tap

---
 .../ui/mici/onroad/augmented_road_view.py       |  2 --
 .../ui/sunnypilot/mici/onroad/blendful.py       | 17 +----------------
 2 files changed, 1 insertion(+), 18 deletions(-)

diff --git a/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py b/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py
index 7d102306a1..ffd7d94b2e 100644
--- a/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -206,8 +206,6 @@ class AugmentedRoadView(CameraView):
   def _handle_mouse_release(self, mouse_pos: MousePos):
     # Don't trigger click callback if bookmark was triggered
     if not self._bookmark_icon.interacting():
-      if self._model_renderer.blendful.handle_tap(mouse_pos):
-        return
       super()._handle_mouse_release(mouse_pos)
 
   def _render(self, _):
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
index fc639e3054..b4cdf0ca01 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
@@ -31,8 +31,6 @@ class BlendfulRenderer:
     self._pull_display = FirstOrderFilter(0.0, 0.5, DT_MDL)
     self._trust_display = FirstOrderFilter(0.0, 0.5, DT_MDL)
     self._alpha = FirstOrderFilter(0.0, 0.3, DT_MDL) # fades that hoe
-    self._readout_rect: rl.Rectangle | None = None
-    self._settings_page = None
 
   def update(self, renderer, max_idx: int) -> None:
     """Called from the model renderer's update with its lane lines and path already in raw points."""
@@ -71,22 +69,10 @@ class BlendfulRenderer:
   def draw(self, rect: rl.Rectangle) -> None:
     if self._center_points.size and self._trust > 0.05:
       draw_polygon(rect, self._center_points, self._color(CENTER_COLOR, np.clip(self._trust, 0.2, 1.0) * 255))
-    self._readout_rect = None
     if self._after_points.size:
       draw_polygon(rect, self._after_points, self._color(AFTER_COLOR, 200))
       self._draw_readout(rect)
 
-  def handle_tap(self, pos) -> bool:
-    """Tapping the readout opens the blendful settings page. Returns True if the tap was consumed."""
-    r = self._readout_rect
-    if r is None or not (r.x - 20 <= pos.x <= r.x + r.width + 20 and r.y - 20 <= pos.y <= r.y + r.height + 20):
-      return False
-    if self._settings_page is None:
-      from openpilot.selfdrive.ui.sunnypilot.mici.layouts.blendful import BlendfulLayoutMici
-      self._settings_page = BlendfulLayoutMici()
-    gui_app.push_widget(self._settings_page)
-    return True
-
   def _draw_readout(self, rect: rl.Rectangle) -> None:
     """Top-center pill: pull toward lane center in cm at the lookahead, arrow = side,
     bar grows from center toward the pull (full at the cap), brighter with more lane line trust."""
@@ -94,8 +80,7 @@ class BlendfulRenderer:
     w, h = 190, 76
     x, y = rect.x + (rect.width - w) / 2, rect.y + 10
     cx, cy = x + w / 2, y + 30
-    self._readout_rect = rl.Rectangle(x, y, w, h)
-    rl.draw_rectangle_rounded(self._readout_rect, 0.5, 12, self._color((0, 0, 0), 170))
+    rl.draw_rectangle_rounded(rl.Rectangle(x, y, w, h), 0.5, 12, self._color((0, 0, 0), 170))
 
     text = f"{abs(pull) * 100:.0f}"
     text_w = measure_text_cached(self._font, text, 44, 0).x

From cb71cdc54dbacf83b97955aa3e24f258ef46946e Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Thu, 22 Oct 2026 17:46:26 -0400
Subject: [PATCH 28/54] use constants

---
 openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
index b4cdf0ca01..b3c134cbc6 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
@@ -12,7 +12,7 @@ import pyray as rl
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.sunnypilot.modeld_v2.blendful import LOOKAHEAD_TIME, MIN_LOOKAHEAD, MAX_ERROR
+from openpilot.sunnypilot.modeld_v2.blendful import LANE_WIDTH_CLIP, LANE_WIDTH_DEFAULT, LINE_STD, LOOKAHEAD_TIME, MIN_LOOKAHEAD, MAX_ERROR
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.shader_polygon import draw_polygon
 from openpilot.system.ui.lib.text_measure import measure_text_cached
@@ -45,9 +45,9 @@ class BlendfulRenderer:
       return
 
     probs = renderer._lane_line_probs
-    l_prob = float(probs[1] * np.interp(stds[1], [0.15, 0.3], [1.0, 0.0]))
-    r_prob = float(probs[2] * np.interp(stds[2], [0.15, 0.3], [1.0, 0.0]))
-    width = np.clip(right[:, 1] - left[:, 1], 2.8, 4.5) if l_prob * r_prob > 0.5 else 3.7
+    l_prob = float(probs[1] * np.interp(stds[1], LINE_STD, [1.0, 0.0]))
+    r_prob = float(probs[2] * np.interp(stds[2], LINE_STD, [1.0, 0.0]))
+    width = np.clip(right[:, 1] - left[:, 1], *LANE_WIDTH_CLIP) if l_prob * r_prob > 0.5 else LANE_WIDTH_DEFAULT
     center = left.copy()
     center[:, 1] = (l_prob * (left[:, 1] + width / 2) + r_prob * (right[:, 1] - width / 2)) / (l_prob + r_prob + 1e-4)
     self._trust = l_prob + r_prob - l_prob * r_prob

From fd39f4f820efa9e79c55667f553bba6a918e16ec Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Thu, 22 Oct 2026 17:46:44 -0400
Subject: [PATCH 29/54] fade on trust

---
 openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
index b3c134cbc6..97af853e50 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
@@ -35,7 +35,7 @@ class BlendfulRenderer:
   def update(self, renderer, max_idx: int) -> None:
     """Called from the model renderer's update with its lane lines and path already in raw points."""
     blendful_curvature = ui_state.sm['modelDataV2SP'].blendfulCurvature
-    self._alpha.update(float(blendful_curvature != 0.0))
+    self._alpha.update(float(ui_state.sm['modelDataV2SP'].blendfulTrust > 0.0))
 
     left, right = renderer._lane_lines[1].raw_points, renderer._lane_lines[2].raw_points
     stds = list(ui_state.sm['modelV2'].laneLineStds)

From 21f45673fda8240b5b8941ccb29458dce65cc1ce Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Thu, 22 Oct 2026 17:47:36 -0400
Subject: [PATCH 30/54] use blendful trust

---
 openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
index 97af853e50..7e4f4dce63 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
@@ -34,8 +34,9 @@ class BlendfulRenderer:
 
   def update(self, renderer, max_idx: int) -> None:
     """Called from the model renderer's update with its lane lines and path already in raw points."""
-    blendful_curvature = ui_state.sm['modelDataV2SP'].blendfulCurvature
-    self._alpha.update(float(ui_state.sm['modelDataV2SP'].blendfulTrust > 0.0))
+    blendful = ui_state.sm['modelDataV2SP']
+    blendful_curvature = blendful.blendfulCurvature
+    self._alpha.update(float(blendful.blendfulTrust > 0.0))
 
     left, right = renderer._lane_lines[1].raw_points, renderer._lane_lines[2].raw_points
     stds = list(ui_state.sm['modelV2'].laneLineStds)
@@ -50,7 +51,7 @@ class BlendfulRenderer:
     width = np.clip(right[:, 1] - left[:, 1], *LANE_WIDTH_CLIP) if l_prob * r_prob > 0.5 else LANE_WIDTH_DEFAULT
     center = left.copy()
     center[:, 1] = (l_prob * (left[:, 1] + width / 2) + r_prob * (right[:, 1] - width / 2)) / (l_prob + r_prob + 1e-4)
-    self._trust = l_prob + r_prob - l_prob * r_prob
+    self._trust = blendful.blendfulTrust
     self._center_points = renderer._map_line_to_polygon(center, 0.1, 0.0, max_idx)
 
     # "after" path: model path bent by blendful's curvature, ending at the lookahead

From a3ef498512175d497885d68d7373f299f1e24183 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Thu, 22 Oct 2026 17:53:47 -0400
Subject: [PATCH 31/54] dont guess

---
 openpilot/cereal/custom.capnp                        |  3 +++
 .../selfdrive/ui/sunnypilot/mici/onroad/blendful.py  | 12 ++++++------
 openpilot/sunnypilot/modeld_v2/blendful.py           |  4 ++++
 openpilot/sunnypilot/modeld_v2/modeld.py             |  3 +++
 4 files changed, 16 insertions(+), 6 deletions(-)

diff --git a/openpilot/cereal/custom.capnp b/openpilot/cereal/custom.capnp
index ca4cee003f..430aa140d9 100644
--- a/openpilot/cereal/custom.capnp
+++ b/openpilot/cereal/custom.capnp
@@ -472,6 +472,9 @@ struct ModelDataV2SP @0xa1680744031fdb2d {
   blendfulTrust @4 :Float32;
   modelCurvature @5 :Float32;
   blendfulGoingAround @6 :Bool;
+  blendfulLeftProb @7 :Float32;
+  blendfulRightProb @8 :Float32;
+  blendfulLaneWidth @9 :Float32;
 
   enum TurnDirection {
     none @0;
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
index 7e4f4dce63..32d683bae2 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
@@ -12,7 +12,7 @@ import pyray as rl
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.sunnypilot.modeld_v2.blendful import LANE_WIDTH_CLIP, LANE_WIDTH_DEFAULT, LINE_STD, LOOKAHEAD_TIME, MIN_LOOKAHEAD, MAX_ERROR
+from openpilot.sunnypilot.modeld_v2.blendful import LANE_WIDTH_CLIP, LOOKAHEAD_TIME, MIN_LOOKAHEAD, MAX_ERROR
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.shader_polygon import draw_polygon
 from openpilot.system.ui.lib.text_measure import measure_text_cached
@@ -45,12 +45,12 @@ class BlendfulRenderer:
       self._after_points = np.empty((0, 2), dtype=np.float32)
       return
 
-    probs = renderer._lane_line_probs
-    l_prob = float(probs[1] * np.interp(stds[1], LINE_STD, [1.0, 0.0]))
-    r_prob = float(probs[2] * np.interp(stds[2], LINE_STD, [1.0, 0.0]))
-    width = np.clip(right[:, 1] - left[:, 1], *LANE_WIDTH_CLIP) if l_prob * r_prob > 0.5 else LANE_WIDTH_DEFAULT
+    l_prob, r_prob = blendful.blendfulLeftProb, blendful.blendfulRightProb
+    half_width = np.clip(right[:, 1] - left[:, 1], *LANE_WIDTH_CLIP) / 2 if l_prob * r_prob > 0.5 else blendful.blendfulLaneWidth / 2
+    l_var = stds[1] ** 2 / max(l_prob, 1e-4)
+    r_var = stds[2] ** 2 / max(r_prob, 1e-4)
     center = left.copy()
-    center[:, 1] = (l_prob * (left[:, 1] + width / 2) + r_prob * (right[:, 1] - width / 2)) / (l_prob + r_prob + 1e-4)
+    center[:, 1] = (r_var * (left[:, 1] + half_width) + l_var * (right[:, 1] - half_width)) / (l_var + r_var)
     self._trust = blendful.blendfulTrust
     self._center_points = renderer._map_line_to_polygon(center, 0.1, 0.0, max_idx)
 
diff --git a/openpilot/sunnypilot/modeld_v2/blendful.py b/openpilot/sunnypilot/modeld_v2/blendful.py
index 93718fc595..f4388de62e 100644
--- a/openpilot/sunnypilot/modeld_v2/blendful.py
+++ b/openpilot/sunnypilot/modeld_v2/blendful.py
@@ -32,11 +32,14 @@ class Blendful:
     self.going_around = False
     self.since_turning = 0.0
     self.trust = 0.0
+    self.l_prob = 0.0
+    self.r_prob = 0.0
     self.model_curvature = 0.0
     self.smooth = 0.0 # smoothens lanelines below .53 lat accel
     self.curvature = 0.0
 
   def update(self, model_output: dict[str, np.ndarray], v_ego: float, active: bool, model_curvature: float) -> float:
+    self.l_prob = self.r_prob = 0.0
     fading = not active or v_ego < MIN_SPEED
     if fading:
       self.trust = 0.0
@@ -64,6 +67,7 @@ class Blendful:
     dropping = bool(np.any(probs < 0.6 * self.line_probs_slow.update(model_output['lane_lines_prob'][0, 1::2][1:3])))
     l_prob = float(probs[0] * np.interp(np.interp(0.5 * lookahead, X_IDXS, stds[1]), LINE_STD, [1.0, 0.0]))
     r_prob = float(probs[1] * np.interp(np.interp(0.5 * lookahead, X_IDXS, stds[2]), LINE_STD, [1.0, 0.0]))
+    self.l_prob, self.r_prob = l_prob, r_prob
     # one line steadily on its own still centers at half say conf. a line that is disappearing gives control back to laneless
     if gone[1] > 0.8 and l_prob > 0.5:
       lane_trust = l_prob / 2
diff --git a/openpilot/sunnypilot/modeld_v2/modeld.py b/openpilot/sunnypilot/modeld_v2/modeld.py
index f8fbecc7ab..5ad1732437 100755
--- a/openpilot/sunnypilot/modeld_v2/modeld.py
+++ b/openpilot/sunnypilot/modeld_v2/modeld.py
@@ -513,6 +513,9 @@ def main(demo=False):
       mdv2sp_send.modelDataV2SP.blendfulTrust = float(blendful.trust)
       mdv2sp_send.modelDataV2SP.modelCurvature = float(blendful.model_curvature)
       mdv2sp_send.modelDataV2SP.blendfulGoingAround = bool(blendful.going_around)
+      mdv2sp_send.modelDataV2SP.blendfulLeftProb = blendful.l_prob
+      mdv2sp_send.modelDataV2SP.blendfulRightProb = blendful.r_prob
+      mdv2sp_send.modelDataV2SP.blendfulLaneWidth = float(blendful.lane_width.x)
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 

From d45d7e2de7e8768751fc1ca144f13c581e044c0f Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Thu, 22 Oct 2026 17:54:31 -0400
Subject: [PATCH 32/54] white is model path

---
 .../ui/sunnypilot/mici/onroad/blendful.py     | 20 +++++++++----------
 1 file changed, 9 insertions(+), 11 deletions(-)

diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
index 32d683bae2..57b3dffe8c 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
@@ -4,7 +4,7 @@ Copyright (c) 2021-, sunnypilot, and a number of other contributors.
 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.
 
-Blendful visuals: cyan lane-center target, thin white "after" path (model path bent by blendful's nudge),
+Blendful visuals: cyan lane-center target, thin white line down the middle of the model path,
 and a top-center readout of the pull, from the curvature modeld publishes in modelDataV2SP.blendfulCurvature.
 """
 import numpy as np
@@ -18,13 +18,13 @@ from openpilot.system.ui.lib.shader_polygon import draw_polygon
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 
 CENTER_COLOR = (0, 200, 255)
-AFTER_COLOR = (255, 255, 255)
+PATH_COLOR = (255, 255, 255)
 
 
 class BlendfulRenderer:
   def __init__(self):
     self._center_points = np.empty((0, 2), dtype=np.float32)
-    self._after_points = np.empty((0, 2), dtype=np.float32)
+    self._path_points = np.empty((0, 2), dtype=np.float32)
     self._trust = 0.0
     self._font = gui_app.font(FontWeight.BOLD)
     # smoothed copies for the readout so the numbers don't flicker
@@ -42,7 +42,7 @@ class BlendfulRenderer:
     stds = list(ui_state.sm['modelV2'].laneLineStds)
     if self._alpha.x < 0.01 or len(left) == 0 or len(right) != len(left) or len(stds) < 3:
       self._center_points = np.empty((0, 2), dtype=np.float32)
-      self._after_points = np.empty((0, 2), dtype=np.float32)
+      self._path_points = np.empty((0, 2), dtype=np.float32)
       return
 
     l_prob, r_prob = blendful.blendfulLeftProb, blendful.blendfulRightProb
@@ -54,15 +54,13 @@ class BlendfulRenderer:
     self._trust = blendful.blendfulTrust
     self._center_points = renderer._map_line_to_polygon(center, 0.1, 0.0, max_idx)
 
-    # "after" path: model path bent by blendful's curvature, ending at the lookahead
+    # middle of the model path, ending at the lookahead
     path = renderer._path.raw_points
     lookahead = max(ui_state.sm['carState'].vEgo * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
     self._pull_display.update(blendful_curvature * lookahead ** 2 / 2)  # how far blendful moves the car at the lookahead
     self._trust_display.update(self._trust)
-    after = path.copy()
-    after[:, 1] += blendful_curvature * path[:, 0] ** 2 / 2
-    self._after_points = renderer._map_line_to_polygon(after, 0.15, renderer._path_offset_z,
-                                                       renderer._get_path_length_idx(path[:, 0], lookahead))
+    self._path_points = renderer._map_line_to_polygon(path, 0.15, renderer._path_offset_z,
+                                                      renderer._get_path_length_idx(path[:, 0], lookahead))
 
   def _color(self, rgb, alpha: float) -> rl.Color:
     return rl.Color(*rgb, int(alpha * self._alpha.x))
@@ -70,8 +68,8 @@ class BlendfulRenderer:
   def draw(self, rect: rl.Rectangle) -> None:
     if self._center_points.size and self._trust > 0.05:
       draw_polygon(rect, self._center_points, self._color(CENTER_COLOR, np.clip(self._trust, 0.2, 1.0) * 255))
-    if self._after_points.size:
-      draw_polygon(rect, self._after_points, self._color(AFTER_COLOR, 200))
+    if self._path_points.size:
+      draw_polygon(rect, self._path_points, self._color(PATH_COLOR, 200))
       self._draw_readout(rect)
 
   def _draw_readout(self, rect: rl.Rectangle) -> None:

From 6e0ce4a6f90ee4efaa2c8282f8aad74b224d5b60 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Thu, 22 Oct 2026 18:03:21 -0400
Subject: [PATCH 33/54] match width

---
 openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
index 57b3dffe8c..8aaad6d4e7 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
@@ -52,7 +52,7 @@ class BlendfulRenderer:
     center = left.copy()
     center[:, 1] = (r_var * (left[:, 1] + half_width) + l_var * (right[:, 1] - half_width)) / (l_var + r_var)
     self._trust = blendful.blendfulTrust
-    self._center_points = renderer._map_line_to_polygon(center, 0.1, 0.0, max_idx)
+    self._center_points = renderer._map_line_to_polygon(center, 0.15, 0.0, max_idx)
 
     # middle of the model path, ending at the lookahead
     path = renderer._path.raw_points

From 15bf3dcd94d1c83d3b3a23d622c99bfb1ae9191b Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Thu, 22 Oct 2026 18:04:10 -0400
Subject: [PATCH 34/54] fade out blue

---
 .../ui/sunnypilot/mici/onroad/blendful.py       | 17 +++++++++--------
 1 file changed, 9 insertions(+), 8 deletions(-)

diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
index 8aaad6d4e7..22c8cf73dc 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
@@ -45,14 +45,15 @@ class BlendfulRenderer:
       self._path_points = np.empty((0, 2), dtype=np.float32)
       return
 
-    l_prob, r_prob = blendful.blendfulLeftProb, blendful.blendfulRightProb
-    half_width = np.clip(right[:, 1] - left[:, 1], *LANE_WIDTH_CLIP) / 2 if l_prob * r_prob > 0.5 else blendful.blendfulLaneWidth / 2
-    l_var = stds[1] ** 2 / max(l_prob, 1e-4)
-    r_var = stds[2] ** 2 / max(r_prob, 1e-4)
-    center = left.copy()
-    center[:, 1] = (r_var * (left[:, 1] + half_width) + l_var * (right[:, 1] - half_width)) / (l_var + r_var)
-    self._trust = blendful.blendfulTrust
-    self._center_points = renderer._map_line_to_polygon(center, 0.15, 0.0, max_idx)
+    if blendful.blendfulTrust > 0.0:
+      l_prob, r_prob = blendful.blendfulLeftProb, blendful.blendfulRightProb
+      half_width = np.clip(right[:, 1] - left[:, 1], *LANE_WIDTH_CLIP) / 2 if l_prob * r_prob > 0.5 else blendful.blendfulLaneWidth / 2
+      l_var = stds[1] ** 2 / max(l_prob, 1e-4)
+      r_var = stds[2] ** 2 / max(r_prob, 1e-4)
+      center = left.copy()
+      center[:, 1] = (r_var * (left[:, 1] + half_width) + l_var * (right[:, 1] - half_width)) / (l_var + r_var)
+      self._trust = blendful.blendfulTrust
+      self._center_points = renderer._map_line_to_polygon(center, 0.15, 0.0, max_idx)
 
     # middle of the model path, ending at the lookahead
     path = renderer._path.raw_points

From c4f1dc179f2b2e98b6f3d92c3ece61f1f7c51770 Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Thu, 22 Oct 2026 20:17:03 -0700
Subject: [PATCH 35/54] dead

---
 openpilot/sunnypilot/modeld_v2/blendful.py | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/openpilot/sunnypilot/modeld_v2/blendful.py b/openpilot/sunnypilot/modeld_v2/blendful.py
index f4388de62e..90783d3e3d 100644
--- a/openpilot/sunnypilot/modeld_v2/blendful.py
+++ b/openpilot/sunnypilot/modeld_v2/blendful.py
@@ -55,9 +55,6 @@ class Blendful:
     return self.curvature
 
   def _target(self, model_output: dict[str, np.ndarray], v_ego: float, model_curvature: float) -> float:
-    if v_ego < MIN_SPEED or 'lane_lines' not in model_output:
-      return 0.0
-
     lookahead = max(v_ego * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
     lines = model_output['lane_lines'][0, :, :, 0]
     stds = model_output['lane_lines_stds'][0, :, :, 0]

From 2ffb986f3b8690c907eecf73030c1f720476de52 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Thu, 22 Oct 2026 22:42:07 -0400
Subject: [PATCH 36/54] blue only

---
 .../ui/sunnypilot/mici/onroad/blendful.py     | 21 ++++++-------------
 1 file changed, 6 insertions(+), 15 deletions(-)

diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
index 22c8cf73dc..8eab6da489 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
@@ -4,8 +4,7 @@ Copyright (c) 2021-, sunnypilot, and a number of other contributors.
 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.
 
-Blendful visuals: cyan lane-center target, thin white line down the middle of the model path,
-and a top-center readout of the pull, from the curvature modeld publishes in modelDataV2SP.blendfulCurvature.
+Blendful visuals: cyan lane-center target and a top-center readout of the pull, from the curvature modeld publishes in modelDataV2SP.blendfulCurvature.
 """
 import numpy as np
 import pyray as rl
@@ -17,14 +16,12 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.shader_polygon import draw_polygon
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 
-CENTER_COLOR = (0, 200, 255)
-PATH_COLOR = (255, 255, 255)
+BLENDFUL_COLOR = (0, 200, 255)
 
 
 class BlendfulRenderer:
   def __init__(self):
     self._center_points = np.empty((0, 2), dtype=np.float32)
-    self._path_points = np.empty((0, 2), dtype=np.float32)
     self._trust = 0.0
     self._font = gui_app.font(FontWeight.BOLD)
     # smoothed copies for the readout so the numbers don't flicker
@@ -42,7 +39,6 @@ class BlendfulRenderer:
     stds = list(ui_state.sm['modelV2'].laneLineStds)
     if self._alpha.x < 0.01 or len(left) == 0 or len(right) != len(left) or len(stds) < 3:
       self._center_points = np.empty((0, 2), dtype=np.float32)
-      self._path_points = np.empty((0, 2), dtype=np.float32)
       return
 
     if blendful.blendfulTrust > 0.0:
@@ -55,22 +51,17 @@ class BlendfulRenderer:
       self._trust = blendful.blendfulTrust
       self._center_points = renderer._map_line_to_polygon(center, 0.15, 0.0, max_idx)
 
-    # middle of the model path, ending at the lookahead
-    path = renderer._path.raw_points
     lookahead = max(ui_state.sm['carState'].vEgo * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
     self._pull_display.update(blendful_curvature * lookahead ** 2 / 2)  # how far blendful moves the car at the lookahead
     self._trust_display.update(self._trust)
-    self._path_points = renderer._map_line_to_polygon(path, 0.15, renderer._path_offset_z,
-                                                      renderer._get_path_length_idx(path[:, 0], lookahead))
 
   def _color(self, rgb, alpha: float) -> rl.Color:
     return rl.Color(*rgb, int(alpha * self._alpha.x))
 
   def draw(self, rect: rl.Rectangle) -> None:
     if self._center_points.size and self._trust > 0.05:
-      draw_polygon(rect, self._center_points, self._color(CENTER_COLOR, np.clip(self._trust, 0.2, 1.0) * 255))
-    if self._path_points.size:
-      draw_polygon(rect, self._path_points, self._color(PATH_COLOR, 200))
+      draw_polygon(rect, self._center_points, self._color(BLENDFUL_COLOR, np.clip(self._trust, 0.2, 1.0) * 255))
+    if self._center_points.size:
       self._draw_readout(rect)
 
   def _draw_readout(self, rect: rl.Rectangle) -> None:
@@ -86,7 +77,7 @@ class BlendfulRenderer:
     text_w = measure_text_cached(self._font, text, 44, 0).x
     rl.draw_text_ex(self._font, text, rl.Vector2(cx - text_w / 2, cy - 24), 44, 0, self._color((255, 255, 255), 255))
 
-    active = self._color(CENTER_COLOR, np.clip(abs(pull) / 0.1, 0.0, 1.0) * 255)
+    active = self._color(BLENDFUL_COLOR, np.clip(abs(pull) / 0.1, 0.0, 1.0) * 255)
     idle = self._color((255, 255, 255), 40)
     lx, rx = x + 18, x + w - 18
     rl.draw_triangle(rl.Vector2(lx, cy), rl.Vector2(lx + 16, cy + 12), rl.Vector2(lx + 16, cy - 12), active if pull < 0 else idle)
@@ -99,4 +90,4 @@ class BlendfulRenderer:
     if fill > 1:
       fill_x = cx if pull > 0 else cx - fill
       rl.draw_rectangle_rounded(rl.Rectangle(fill_x, bar.y, fill, bar.height), 1.0, 6,
-                                self._color(CENTER_COLOR, np.clip(0.3 + 0.7 * trust, 0.0, 1.0) * 255))
+                                self._color(BLENDFUL_COLOR, np.clip(0.3 + 0.7 * trust, 0.0, 1.0) * 255))

From d904487eedca0e98bc288144c3dd0a86d2c5d554 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Thu, 22 Oct 2026 22:46:56 -0400
Subject: [PATCH 37/54] sqrt bar

---
 openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
index 8eab6da489..10d8c9c9b4 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
@@ -86,7 +86,7 @@ class BlendfulRenderer:
     bar = rl.Rectangle(x + 24, y + h - 16, w - 48, 6)
     rl.draw_rectangle_rounded(bar, 1.0, 6, self._color((255, 255, 255), 40))
     rl.draw_rectangle(int(cx - 1), int(bar.y - 2), 2, int(bar.height + 4), self._color((255, 255, 255), 120))
-    fill = bar.width / 2 * float(np.clip(abs(pull) / MAX_ERROR, 0.0, 1.0))
+    fill = bar.width / 2 * float(np.sqrt(np.clip(abs(pull) / MAX_ERROR, 0.0, 1.0)))
     if fill > 1:
       fill_x = cx if pull > 0 else cx - fill
       rl.draw_rectangle_rounded(rl.Rectangle(fill_x, bar.y, fill, bar.height), 1.0, 6,

From 5de324ab962ee272f4df05a6226dfb1640c5ff35 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Thu, 22 Oct 2026 23:04:59 -0400
Subject: [PATCH 38/54] ill take it from here thanks

---
 openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py | 5 +++--
 openpilot/sunnypilot/modeld_v2/blendful.py                | 1 -
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
index 10d8c9c9b4..02cb8883de 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
@@ -11,12 +11,13 @@ import pyray as rl
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.sunnypilot.modeld_v2.blendful import LANE_WIDTH_CLIP, LOOKAHEAD_TIME, MIN_LOOKAHEAD, MAX_ERROR
+from openpilot.sunnypilot.modeld_v2.blendful import LANE_WIDTH_CLIP, LOOKAHEAD_TIME, MIN_LOOKAHEAD
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.shader_polygon import draw_polygon
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 
 BLENDFUL_COLOR = (0, 200, 255)
+FULL_BAR = 1.0
 
 
 class BlendfulRenderer:
@@ -86,7 +87,7 @@ class BlendfulRenderer:
     bar = rl.Rectangle(x + 24, y + h - 16, w - 48, 6)
     rl.draw_rectangle_rounded(bar, 1.0, 6, self._color((255, 255, 255), 40))
     rl.draw_rectangle(int(cx - 1), int(bar.y - 2), 2, int(bar.height + 4), self._color((255, 255, 255), 120))
-    fill = bar.width / 2 * float(np.sqrt(np.clip(abs(pull) / MAX_ERROR, 0.0, 1.0)))
+    fill = bar.width / 2 * float(np.sqrt(np.clip(abs(pull) / FULL_BAR, 0.0, 1.0)))
     if fill > 1:
       fill_x = cx if pull > 0 else cx - fill
       rl.draw_rectangle_rounded(rl.Rectangle(fill_x, bar.y, fill, bar.height), 1.0, 6,
diff --git a/openpilot/sunnypilot/modeld_v2/blendful.py b/openpilot/sunnypilot/modeld_v2/blendful.py
index 90783d3e3d..3f7a0a94b1 100644
--- a/openpilot/sunnypilot/modeld_v2/blendful.py
+++ b/openpilot/sunnypilot/modeld_v2/blendful.py
@@ -17,7 +17,6 @@ MIN_LOOKAHEAD = 10.0  # m
 MIN_SPEED = 5.0  # m/s
 LINE_STD = (0.2, 0.6)
 POINT_STD = 0.1
-MAX_ERROR = 1.0
 YIELD = (0.2, 0.45)
 X_IDXS = np.array(ModelConstants.X_IDXS)
 

From 4dbb49430b53aa954a894d2b7b2f9381b8e5c579 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Thu, 22 Oct 2026 23:20:10 -0400
Subject: [PATCH 39/54] tizi

---
 openpilot/selfdrive/ui/onroad/model_renderer.py          | 2 ++
 .../selfdrive/ui/sunnypilot/layouts/settings/models.py   | 9 ++++++++-
 .../ui/sunnypilot/mici/onroad/model_renderer.py          | 2 +-
 .../ui/sunnypilot/{mici => }/onroad/blendful.py          | 9 +++++----
 .../selfdrive/ui/sunnypilot/onroad/model_renderer.py     | 2 ++
 5 files changed, 18 insertions(+), 6 deletions(-)
 rename openpilot/selfdrive/ui/sunnypilot/{mici => }/onroad/blendful.py (95%)

diff --git a/openpilot/selfdrive/ui/onroad/model_renderer.py b/openpilot/selfdrive/ui/onroad/model_renderer.py
index 6db7d348a2..84573b7732 100644
--- a/openpilot/selfdrive/ui/onroad/model_renderer.py
+++ b/openpilot/selfdrive/ui/onroad/model_renderer.py
@@ -123,6 +123,7 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
     # Draw elements
     self._draw_lane_lines()
     self._draw_path()
+    self.blendful.draw(self._rect)
 
     if render_lead_indicator and radar_state:
       self._draw_lead_indicator()
@@ -172,6 +173,7 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
     # Update road edges using raw points
     for road_edge in self._road_edges:
       road_edge.projected_points = self._map_line_to_polygon(road_edge.raw_points, 0.025, 0.0, max_idx, max_distance)
+    self.blendful.update(self, max_idx, max_distance)
 
     # Update path using raw points
     if lead and lead.present:
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py
index 22cc818ff4..2e804f469d 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py
@@ -102,13 +102,19 @@ class ModelsLayout(Widget):
 
     self.lagd_toggle = toggle_item_sp(tr("Live Learning Steer Delay"), "", param="LagdToggle")
 
+    self.blendful_toggle = toggle_item_sp(tr("Blendful"),
+                                          tr("Keeps the car centered in its lane. " +
+                                             "Leans on the lane lines when they are clear, drives laneless when they are not."),
+                                          param="Blendful")
+
     self.camera_offset = option_item_sp(tr("Adjust Camera Offset"), "CameraOffset", -35, 35,
                                         tr("Virtually shift camera's perspective to move model's center to Left(+ values) or Right (- values)"),
                                         1, None, True, "", style.BUTTON_ACTION_WIDTH, None, True,
                                         lambda v: f"{v / 100:.2f} m")
 
     self.items = [self.small_model_item, self.big_model_item, self.cancel_download_item, self.download_item, self.refresh_item, self.clear_cache_item,
-                  self.lane_turn_desire_toggle, self.lane_turn_value_control, self.lagd_toggle, self.delay_control, self.camera_offset]
+                  self.blendful_toggle, self.lane_turn_desire_toggle, self.lane_turn_value_control, self.lagd_toggle, self.delay_control,
+                  self.camera_offset]
 
   def _update_lagd_description(self, lagd_toggle: bool):
     desc = tr("Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. " +
@@ -322,6 +328,7 @@ class ModelsLayout(Widget):
     self.lane_turn_desire_toggle.action_item.set_state(turn_desire)
     self.lane_turn_value_control.set_visible(turn_desire and advanced_controls)
     self.lagd_toggle.action_item.set_state(live_delay)
+    self.blendful_toggle.action_item.set_state(ui_state.params.get_bool("Blendful"))
     self.delay_control.set_visible(not live_delay and advanced_controls)
     new_step = int(round(100 / CV.MPH_TO_KPH)) if ui_state.is_metric else 100
     if self.lane_turn_value_control.action_item is not None and self.lane_turn_value_control.action_item.value_change_step != new_step:
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py
index 3ea80e3259..b185693584 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py
@@ -6,7 +6,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 import pyray as rl
 from openpilot.selfdrive.ui.ui_state import UIStatus
-from openpilot.selfdrive.ui.sunnypilot.mici.onroad.blendful import BlendfulRenderer
+from openpilot.selfdrive.ui.sunnypilot.onroad.blendful import BlendfulRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
 
 LANE_LINE_COLORS_SP = {
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py b/openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py
similarity index 95%
rename from openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py
index 02cb8883de..0de64b6ae5 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/onroad/blendful.py
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py
@@ -21,7 +21,8 @@ FULL_BAR = 1.0
 
 
 class BlendfulRenderer:
-  def __init__(self):
+  def __init__(self, readout: bool = True):
+    self._readout = readout
     self._center_points = np.empty((0, 2), dtype=np.float32)
     self._trust = 0.0
     self._font = gui_app.font(FontWeight.BOLD)
@@ -30,7 +31,7 @@ class BlendfulRenderer:
     self._trust_display = FirstOrderFilter(0.0, 0.5, DT_MDL)
     self._alpha = FirstOrderFilter(0.0, 0.3, DT_MDL) # fades that hoe
 
-  def update(self, renderer, max_idx: int) -> None:
+  def update(self, renderer, max_idx: int, *map_args) -> None:
     """Called from the model renderer's update with its lane lines and path already in raw points."""
     blendful = ui_state.sm['modelDataV2SP']
     blendful_curvature = blendful.blendfulCurvature
@@ -50,7 +51,7 @@ class BlendfulRenderer:
       center = left.copy()
       center[:, 1] = (r_var * (left[:, 1] + half_width) + l_var * (right[:, 1] - half_width)) / (l_var + r_var)
       self._trust = blendful.blendfulTrust
-      self._center_points = renderer._map_line_to_polygon(center, 0.15, 0.0, max_idx)
+      self._center_points = renderer._map_line_to_polygon(center, 0.15, 0.0, max_idx, *map_args)
 
     lookahead = max(ui_state.sm['carState'].vEgo * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
     self._pull_display.update(blendful_curvature * lookahead ** 2 / 2)  # how far blendful moves the car at the lookahead
@@ -62,7 +63,7 @@ class BlendfulRenderer:
   def draw(self, rect: rl.Rectangle) -> None:
     if self._center_points.size and self._trust > 0.05:
       draw_polygon(rect, self._center_points, self._color(BLENDFUL_COLOR, np.clip(self._trust, 0.2, 1.0) * 255))
-    if self._center_points.size:
+    if self._center_points.size and self._readout:
       self._draw_readout(rect)
 
   def _draw_readout(self, rect: rl.Rectangle) -> None:
diff --git a/openpilot/selfdrive/ui/sunnypilot/onroad/model_renderer.py b/openpilot/selfdrive/ui/sunnypilot/onroad/model_renderer.py
index 4be82bef4a..db868d777a 100644
--- a/openpilot/selfdrive/ui/sunnypilot/onroad/model_renderer.py
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/model_renderer.py
@@ -6,6 +6,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
+from openpilot.selfdrive.ui.sunnypilot.onroad.blendful import BlendfulRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.chevron_metrics import ChevronMetrics
 from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
 from openpilot.selfdrive.ui.sunnypilot.ui_state import MADSState
@@ -16,6 +17,7 @@ class ModelRendererSP:
   def __init__(self):
     self.rainbow_path = RainbowPath()
     self.chevron_metrics = ChevronMetrics()
+    self.blendful = BlendfulRenderer(readout=False)
     self._width_filter = FirstOrderFilter(0.9, 0.1, 1 / gui_app.target_fps)
 
   @property

From 6ac88a7be0b7a586f0a790a6fade173d1414fba8 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Thu, 22 Oct 2026 23:21:53 -0400
Subject: [PATCH 40/54] move to models

---
 .../ui/sunnypilot/mici/layouts/blendful.py    | 21 -------------------
 .../ui/sunnypilot/mici/layouts/models.py      | 13 ++++++++++--
 .../ui/sunnypilot/mici/layouts/settings.py    |  8 +------
 3 files changed, 12 insertions(+), 30 deletions(-)
 delete mode 100644 openpilot/selfdrive/ui/sunnypilot/mici/layouts/blendful.py

diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/blendful.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/blendful.py
deleted file mode 100644
index f06676299e..0000000000
--- a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/blendful.py
+++ /dev/null
@@ -1,21 +0,0 @@
-"""
-Copyright (c) 2021-, sunnypilot, and a number of other contributors.
-
-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.
-"""
-from openpilot.selfdrive.ui.mici.widgets.button import BigParamControl
-from openpilot.system.ui.widgets.scroller import NavScroller
-
-
-class BlendfulLayoutMici(NavScroller):
-  def __init__(self):
-    super().__init__()
-    self._toggle = BigParamControl("blendful", "Blendful",
-                                   description="Keeps the car centered in its lane.\n" +
-                                               "Leans on the lane lines when they are clear, drives laneless when they are not.")
-    self._scroller.add_widget(self._toggle)
-
-  def show_event(self):
-    super().show_event()
-    self._toggle.refresh()
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/models.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/models.py
index c1f1f09155..98c1fef33c 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/models.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/models.py
@@ -11,7 +11,7 @@ import pyray as rl
 from openpilot.cereal import custom
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog
 from openpilot.sunnypilot.models.helpers import ACTIVE_BUNDLE_KEYS, get_selected_bundle
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigParamControl
 from openpilot.selfdrive.ui.ui_state import ui_state, device
 from openpilot.selfdrive.ui.sunnypilot.model_info import (active_source, big_model_state, bundles_for_source, carrying_model,
                                                            default_model_name, model_cache_size_mb, model_info, queued_name,
@@ -95,7 +95,12 @@ class ModelsLayoutMici(NavScroller):
     self.clear_cache_btn.set_click_callback(self._confirm_clear_cache)
     self._cache_size_time = 0.0
 
-    self.main_items = [self.current_model_info, self.select_model_btn, self.cancel_download_btn, self.refresh_btn, self.clear_cache_btn]
+    self.blendful_toggle = BigParamControl("blendful", "Blendful",
+                                           description="Keeps the car centered in its lane.\n" +
+                                                       "Leans on the lane lines when they are clear, drives laneless when they are not.")
+
+    self.main_items = [self.current_model_info, self.select_model_btn, self.cancel_download_btn, self.refresh_btn, self.clear_cache_btn,
+                       self.blendful_toggle]
     self._scroller.add_widgets(self.main_items)
 
   @property
@@ -205,6 +210,10 @@ class ModelsLayoutMici(NavScroller):
       device.set_override_interactive_timeout(None)
       self._was_downloading = False
 
+  def show_event(self):
+    super().show_event()
+    self.blendful_toggle.refresh()
+
   def _update_state(self):
     super()._update_state()
 
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py
index 46559931c2..d38e7596fa 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py
@@ -11,7 +11,6 @@ from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.models import ModelsLayoutMici
-from openpilot.selfdrive.ui.sunnypilot.mici.layouts.blendful import BlendfulLayoutMici
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
@@ -51,10 +50,6 @@ class SettingsLayoutSP(OP.SettingsLayout):
     models_btn = SettingsBigButton(tr("models"), "", gui_app.texture("../../sunnypilot/selfdrive/assets/offroad/icon_models.png", ICON_SIZE, ICON_SIZE))
     models_btn.set_click_callback(lambda: gui_app.push_widget(models_panel))
 
-    blendful_panel = BlendfulLayoutMici()
-    blendful_btn = SettingsBigButton(tr("blendful"), "", gui_app.texture("icons_mici/settings/device/lkas.png", ICON_SIZE, ICON_SIZE))
-    blendful_btn.set_click_callback(lambda: gui_app.push_widget(blendful_panel))
-
     # onroad: enable button sits at the front (left of toggles)
     self._enable_offroad_btn_onroad = BigCircleButton(self.icon_offroad_enable, red=True)
     self._enable_offroad_btn_onroad.set_click_callback(lambda: self._handle_always_offroad(True))
@@ -72,8 +67,7 @@ class SettingsLayoutSP(OP.SettingsLayout):
     items = self._scroller._items.copy()
 
     items.insert(1, models_btn)
-    items.insert(2, blendful_btn)
-    items.insert(6, sunnylink_btn)
+    items.insert(5, sunnylink_btn)
 
     # front slots (only one ever visible at a time): exit-always-offroad, then enable-onroad
     items.insert(0, self._enable_offroad_btn_onroad)

From 9c391b48422c7ae8983646a81d8f1ac9a4b67326 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Thu, 22 Oct 2026 23:46:50 -0400
Subject: [PATCH 41/54] cleanup

---
 .../selfdrive/ui/sunnypilot/layouts/settings/models.py |  3 +--
 .../selfdrive/ui/sunnypilot/mici/layouts/models.py     |  4 ++--
 openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py   | 10 ++--------
 openpilot/sunnypilot/sunnylink/settings_ui.json        |  6 +++---
 .../sunnylink/settings_ui_src/pages/models.yaml        |  8 +++-----
 5 files changed, 11 insertions(+), 20 deletions(-)

diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py
index 2e804f469d..28a83598b8 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py
@@ -103,8 +103,7 @@ class ModelsLayout(Widget):
     self.lagd_toggle = toggle_item_sp(tr("Live Learning Steer Delay"), "", param="LagdToggle")
 
     self.blendful_toggle = toggle_item_sp(tr("Blendful"),
-                                          tr("Keeps the car centered in its lane. " +
-                                             "Leans on the lane lines when they are clear, drives laneless when they are not."),
+                                          tr("Nudges the car toward the lane center when the lane lines are clear. Drives laneless when they are not."),
                                           param="Blendful")
 
     self.camera_offset = option_item_sp(tr("Adjust Camera Offset"), "CameraOffset", -35, 35,
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/models.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/models.py
index 98c1fef33c..6440accd0c 100644
--- a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/models.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/models.py
@@ -96,8 +96,8 @@ class ModelsLayoutMici(NavScroller):
     self._cache_size_time = 0.0
 
     self.blendful_toggle = BigParamControl("blendful", "Blendful",
-                                           description="Keeps the car centered in its lane.\n" +
-                                                       "Leans on the lane lines when they are clear, drives laneless when they are not.")
+                                           description="Nudges the car toward the lane center when the lane lines are clear.\n" +
+                                                       "Drives laneless when they are not.")
 
     self.main_items = [self.current_model_info, self.select_model_btn, self.cancel_download_btn, self.refresh_btn, self.clear_cache_btn,
                        self.blendful_toggle]
diff --git a/openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py b/openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py
index 0de64b6ae5..9d06202766 100644
--- a/openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py
@@ -3,8 +3,6 @@ Copyright (c) 2021-, sunnypilot, and a number of other contributors.
 
 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.
-
-Blendful visuals: cyan lane-center target and a top-center readout of the pull, from the curvature modeld publishes in modelDataV2SP.blendfulCurvature.
 """
 import numpy as np
 import pyray as rl
@@ -26,13 +24,11 @@ class BlendfulRenderer:
     self._center_points = np.empty((0, 2), dtype=np.float32)
     self._trust = 0.0
     self._font = gui_app.font(FontWeight.BOLD)
-    # smoothed copies for the readout so the numbers don't flicker
     self._pull_display = FirstOrderFilter(0.0, 0.5, DT_MDL)
     self._trust_display = FirstOrderFilter(0.0, 0.5, DT_MDL)
-    self._alpha = FirstOrderFilter(0.0, 0.3, DT_MDL) # fades that hoe
+    self._alpha = FirstOrderFilter(0.0, 0.3, DT_MDL)
 
   def update(self, renderer, max_idx: int, *map_args) -> None:
-    """Called from the model renderer's update with its lane lines and path already in raw points."""
     blendful = ui_state.sm['modelDataV2SP']
     blendful_curvature = blendful.blendfulCurvature
     self._alpha.update(float(blendful.blendfulTrust > 0.0))
@@ -54,7 +50,7 @@ class BlendfulRenderer:
       self._center_points = renderer._map_line_to_polygon(center, 0.15, 0.0, max_idx, *map_args)
 
     lookahead = max(ui_state.sm['carState'].vEgo * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
-    self._pull_display.update(blendful_curvature * lookahead ** 2 / 2)  # how far blendful moves the car at the lookahead
+    self._pull_display.update(blendful_curvature * lookahead ** 2 / 2)
     self._trust_display.update(self._trust)
 
   def _color(self, rgb, alpha: float) -> rl.Color:
@@ -67,8 +63,6 @@ class BlendfulRenderer:
       self._draw_readout(rect)
 
   def _draw_readout(self, rect: rl.Rectangle) -> None:
-    """Top-center pill: pull toward lane center in cm at the lookahead, arrow = side,
-    bar grows from center toward the pull (full at the cap), brighter with more lane line trust."""
     pull, trust = self._pull_display.x, self._trust_display.x
     w, h = 190, 76
     x, y = rect.x + (rect.width - w) / 2, rect.y + 10
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui.json b/openpilot/sunnypilot/sunnylink/settings_ui.json
index 6bd156d250..fe6d631b27 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui.json
+++ b/openpilot/sunnypilot/sunnylink/settings_ui.json
@@ -2021,13 +2021,13 @@
         {
           "id": "model_behavior",
           "title": "Model Behavior",
-          "description": "Lane desire, blendful, and lead-vehicle awareness tuning",
+          "description": "Lane desire, Blendful lane centering, and lead-vehicle awareness tuning",
           "items": [
             {
               "key": "Blendful",
               "widget": "toggle",
-              "title": "Use Blendful Mode",
-              "description": "Nudges the model's path toward lane center with a smoothly ramped correction that scales with lane-line confidence. It fades out automatically when lines are unclear, mid-lane-change, during turns, or when the model is going around something, so you keep laneless behavior plus extra centering."
+              "title": "Blendful",
+              "description": "Nudges the car toward the lane center when the lane lines are clear. Drives laneless when they are not."
             },
             {
               "key": "LaneTurnDesire",
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml
index 123a71d7e5..dbad2f0692 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml
@@ -9,14 +9,12 @@ description: Driving model behavior and camera calibration
 sections:
 - id: model_behavior
   title: Model Behavior
-  description: Lane desire, blendful, and lead-vehicle awareness tuning
+  description: Lane desire, Blendful lane centering, and lead-vehicle awareness tuning
   items:
   - key: Blendful
     widget: toggle
-    title: Use Blendful Mode
-    description: Nudges the model's path toward lane center with a smoothly ramped correction that scales with
-      lane-line confidence. It fades out automatically when lines are unclear, mid-lane-change, during turns,
-      or when the model is going around something, so you keep laneless behavior plus extra centering.
+    title: Blendful
+    description: Nudges the car toward the lane center when the lane lines are clear. Drives laneless when they are not.
   - key: LaneTurnDesire
     widget: toggle
     title: Use Lane Turn Desires

From 8efe325a716e189c4e047864de5901c6ab99ca5d Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Thu, 22 Oct 2026 23:51:03 -0400
Subject: [PATCH 42/54] gate like rainbow

---
 openpilot/selfdrive/ui/onroad/model_renderer.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/openpilot/selfdrive/ui/onroad/model_renderer.py b/openpilot/selfdrive/ui/onroad/model_renderer.py
index 84573b7732..f9c1dc161e 100644
--- a/openpilot/selfdrive/ui/onroad/model_renderer.py
+++ b/openpilot/selfdrive/ui/onroad/model_renderer.py
@@ -123,7 +123,8 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
     # Draw elements
     self._draw_lane_lines()
     self._draw_path()
-    self.blendful.draw(self._rect)
+    if self._lateral_active:
+      self.blendful.draw(self._rect)
 
     if render_lead_indicator and radar_state:
       self._draw_lead_indicator()

From 16b17e051ffc5f9501363323382d6f65469e85a3 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Fri, 23 Oct 2026 00:03:15 -0400
Subject: [PATCH 43/54] tick on new data

---
 openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py b/openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py
index 9d06202766..f2e61b0401 100644
--- a/openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py
@@ -30,8 +30,9 @@ class BlendfulRenderer:
 
   def update(self, renderer, max_idx: int, *map_args) -> None:
     blendful = ui_state.sm['modelDataV2SP']
-    blendful_curvature = blendful.blendfulCurvature
-    self._alpha.update(float(blendful.blendfulTrust > 0.0))
+    new_data = ui_state.sm.updated['modelDataV2SP']
+    if new_data:
+      self._alpha.update(float(blendful.blendfulTrust > 0.0))
 
     left, right = renderer._lane_lines[1].raw_points, renderer._lane_lines[2].raw_points
     stds = list(ui_state.sm['modelV2'].laneLineStds)
@@ -49,9 +50,10 @@ class BlendfulRenderer:
       self._trust = blendful.blendfulTrust
       self._center_points = renderer._map_line_to_polygon(center, 0.15, 0.0, max_idx, *map_args)
 
-    lookahead = max(ui_state.sm['carState'].vEgo * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
-    self._pull_display.update(blendful_curvature * lookahead ** 2 / 2)
-    self._trust_display.update(self._trust)
+    if new_data:
+      lookahead = max(ui_state.sm['carState'].vEgo * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
+      self._pull_display.update(blendful.blendfulCurvature * lookahead ** 2 / 2)
+      self._trust_display.update(self._trust)
 
   def _color(self, rgb, alpha: float) -> rl.Color:
     return rl.Color(*rgb, int(alpha * self._alpha.x))

From f179460982cf357495547ffbbeb458a066ac227f Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Fri, 23 Oct 2026 00:05:04 -0400
Subject: [PATCH 44/54] so I can sleep at night

---
 openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py b/openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py
index f2e61b0401..1df175a04c 100644
--- a/openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py
@@ -50,7 +50,7 @@ class BlendfulRenderer:
       self._trust = blendful.blendfulTrust
       self._center_points = renderer._map_line_to_polygon(center, 0.15, 0.0, max_idx, *map_args)
 
-    if new_data:
+    if new_data and self._readout:
       lookahead = max(ui_state.sm['carState'].vEgo * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
       self._pull_display.update(blendful.blendfulCurvature * lookahead ** 2 / 2)
       self._trust_display.update(self._trust)

From d28e027943049e3794b0a224b52b3ecf29b27c56 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Fri, 23 Oct 2026 00:12:41 -0400
Subject: [PATCH 45/54] keep pill current

---
 .../selfdrive/ui/sunnypilot/onroad/blendful.py    | 15 +++++++--------
 1 file changed, 7 insertions(+), 8 deletions(-)

diff --git a/openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py b/openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py
index 1df175a04c..f50fbea0c8 100644
--- a/openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py
@@ -30,9 +30,14 @@ class BlendfulRenderer:
 
   def update(self, renderer, max_idx: int, *map_args) -> None:
     blendful = ui_state.sm['modelDataV2SP']
-    new_data = ui_state.sm.updated['modelDataV2SP']
-    if new_data:
+    if ui_state.sm.updated['modelDataV2SP']:
       self._alpha.update(float(blendful.blendfulTrust > 0.0))
+      if blendful.blendfulTrust > 0.0:
+        self._trust = blendful.blendfulTrust
+      if self._readout:
+        lookahead = max(ui_state.sm['carState'].vEgo * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
+        self._pull_display.update(blendful.blendfulCurvature * lookahead ** 2 / 2)
+        self._trust_display.update(self._trust)
 
     left, right = renderer._lane_lines[1].raw_points, renderer._lane_lines[2].raw_points
     stds = list(ui_state.sm['modelV2'].laneLineStds)
@@ -47,14 +52,8 @@ class BlendfulRenderer:
       r_var = stds[2] ** 2 / max(r_prob, 1e-4)
       center = left.copy()
       center[:, 1] = (r_var * (left[:, 1] + half_width) + l_var * (right[:, 1] - half_width)) / (l_var + r_var)
-      self._trust = blendful.blendfulTrust
       self._center_points = renderer._map_line_to_polygon(center, 0.15, 0.0, max_idx, *map_args)
 
-    if new_data and self._readout:
-      lookahead = max(ui_state.sm['carState'].vEgo * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
-      self._pull_display.update(blendful.blendfulCurvature * lookahead ** 2 / 2)
-      self._trust_display.update(self._trust)
-
   def _color(self, rgb, alpha: float) -> rl.Color:
     return rl.Color(*rgb, int(alpha * self._alpha.x))
 

From 02c7b6060067e08e94b2f85cc7b39af2b997b9ef Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Fri, 23 Oct 2026 00:35:06 -0400
Subject: [PATCH 46/54] fine

---
 openpilot/sunnypilot/sunnylink/settings_ui.json                 | 2 +-
 .../sunnypilot/sunnylink/settings_ui_src/pages/models.yaml      | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/openpilot/sunnypilot/sunnylink/settings_ui.json b/openpilot/sunnypilot/sunnylink/settings_ui.json
index fe6d631b27..d7854560f3 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui.json
+++ b/openpilot/sunnypilot/sunnylink/settings_ui.json
@@ -2026,7 +2026,7 @@
             {
               "key": "Blendful",
               "widget": "toggle",
-              "title": "Blendful",
+              "title": "Blendful Mode",
               "description": "Nudges the car toward the lane center when the lane lines are clear. Drives laneless when they are not."
             },
             {
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml
index dbad2f0692..741b348019 100644
--- a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml
@@ -13,7 +13,7 @@ sections:
   items:
   - key: Blendful
     widget: toggle
-    title: Blendful
+    title: Blendful Mode
     description: Nudges the car toward the lane center when the lane lines are clear. Drives laneless when they are not.
   - key: LaneTurnDesire
     widget: toggle

From aa559e48a207a1b2d17c1c8dcbb137003d5f8604 Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Thu, 22 Oct 2026 23:51:09 -0700
Subject: [PATCH 47/54] smoother release authority

---
 openpilot/sunnypilot/modeld_v2/blendful.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/openpilot/sunnypilot/modeld_v2/blendful.py b/openpilot/sunnypilot/modeld_v2/blendful.py
index 3f7a0a94b1..e302e1a667 100644
--- a/openpilot/sunnypilot/modeld_v2/blendful.py
+++ b/openpilot/sunnypilot/modeld_v2/blendful.py
@@ -48,9 +48,10 @@ class Blendful:
     self.model_curvature = model_curvature
     target = 0.0 if fading else self._target(model_output, v_ego, model_curvature)
     target = self.smooth = self.smooth + (target - self.smooth) * DT_MDL / (DT_MDL + np.interp(abs(model_curvature) * v_ego ** 2, [0.18, 0.53], [0.25, 0.0]))
-    releasing = not fading and (abs(target) < abs(self.curvature) or target * self.curvature < 0)
-    step = (2.0 if releasing else 0.5) / max(v_ego, 1.0) ** 2 * DT_MDL  # jerk over 1 second
-    self.curvature = float(np.clip(target, self.curvature - step, self.curvature + step))
+    build = 0.5 / max(v_ego, 1.0) ** 2 * DT_MDL  # jerk over 1 second
+    release = (0.5 if fading else 2.0) / max(v_ego, 1.0) ** 2 * DT_MDL  # lets go fast, but past zero it builds like any other pull
+    c = self.curvature
+    self.curvature = float(np.clip(target, max(c - release, -build) if c > 0 else c - build, min(c + release, build) if c < 0 else c + build))
     return self.curvature
 
   def _target(self, model_output: dict[str, np.ndarray], v_ego: float, model_curvature: float) -> float:

From cda505ea6dd654a5686df4f4167033d552170f66 Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Thu, 22 Oct 2026 23:54:18 -0700
Subject: [PATCH 48/54] satisfy royjr

---
 openpilot/sunnypilot/modeld_v2/blendful.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/openpilot/sunnypilot/modeld_v2/blendful.py b/openpilot/sunnypilot/modeld_v2/blendful.py
index e302e1a667..4430be00be 100644
--- a/openpilot/sunnypilot/modeld_v2/blendful.py
+++ b/openpilot/sunnypilot/modeld_v2/blendful.py
@@ -14,7 +14,7 @@ LANE_WIDTH_DEFAULT = 3.6  # m (reseeded to model's lane width upon initializatio
 LANE_WIDTH_CLIP = (2.8, 4.5)  # m
 LOOKAHEAD_TIME = 1.5  # s
 MIN_LOOKAHEAD = 10.0  # m
-MIN_SPEED = 5.0  # m/s
+MIN_SPEED = 1.0  # m/s
 LINE_STD = (0.2, 0.6)
 POINT_STD = 0.1
 YIELD = (0.2, 0.45)

From 0ce9fca933fdf59ba14edce67e49726a907a8fd1 Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Fri, 23 Oct 2026 11:54:58 -0700
Subject: [PATCH 49/54] decay one line and give full authority in curvy curves;
 kappa=curv

---
 openpilot/sunnypilot/modeld_v2/blendful.py | 32 +++++++++++++++-------
 1 file changed, 22 insertions(+), 10 deletions(-)

diff --git a/openpilot/sunnypilot/modeld_v2/blendful.py b/openpilot/sunnypilot/modeld_v2/blendful.py
index 4430be00be..725861e8d8 100644
--- a/openpilot/sunnypilot/modeld_v2/blendful.py
+++ b/openpilot/sunnypilot/modeld_v2/blendful.py
@@ -10,7 +10,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
 
-LANE_WIDTH_DEFAULT = 3.6  # m (reseeded to model's lane width upon initialization)
+LANE_WIDTH_DEFAULT = 3.6  # m
 LANE_WIDTH_CLIP = (2.8, 4.5)  # m
 LOOKAHEAD_TIME = 1.5  # s
 MIN_LOOKAHEAD = 10.0  # m
@@ -31,6 +31,8 @@ class Blendful:
     self.going_around = False
     self.since_turning = 0.0
     self.trust = 0.0
+    self.line_trust = 0.0
+    self.dk = 0.0 # delta kappa; difference between lane center and model plan
     self.l_prob = 0.0
     self.r_prob = 0.0
     self.model_curvature = 0.0
@@ -41,7 +43,7 @@ class Blendful:
     self.l_prob = self.r_prob = 0.0
     fading = not active or v_ego < MIN_SPEED
     if fading:
-      self.trust = 0.0
+      self.trust = self.line_trust = 0.0
       self.usual_offset.initialized = False
       self.lane_width.initialized = False
       self.going_around = False
@@ -50,8 +52,8 @@ class Blendful:
     target = self.smooth = self.smooth + (target - self.smooth) * DT_MDL / (DT_MDL + np.interp(abs(model_curvature) * v_ego ** 2, [0.18, 0.53], [0.25, 0.0]))
     build = 0.5 / max(v_ego, 1.0) ** 2 * DT_MDL  # jerk over 1 second
     release = (0.5 if fading else 2.0) / max(v_ego, 1.0) ** 2 * DT_MDL  # lets go fast, but past zero it builds like any other pull
-    c = self.curvature
-    self.curvature = float(np.clip(target, max(c - release, -build) if c > 0 else c - build, min(c + release, build) if c < 0 else c + build))
+    k = self.curvature
+    self.curvature = float(np.clip(target, max(k - release, -build) if k > 0 else k - build, min(k + release, build) if k < 0 else k + build))
     return self.curvature
 
   def _target(self, model_output: dict[str, np.ndarray], v_ego: float, model_curvature: float) -> float:
@@ -59,24 +61,33 @@ class Blendful:
     lines = model_output['lane_lines'][0, :, :, 0]
     stds = model_output['lane_lines_stds'][0, :, :, 0]
 
+    lone_weight = np.interp(abs(model_curvature) * v_ego ** 2, [0.18, 0.53], [0.5, 1.0])  # 0.5 on straights, 1.0 in curves
     probs = self.line_probs.update(model_output['lane_lines_prob'][0, 1::2][1:3])
+    absent = (probs < 0.3) & (lone_weight > 0.5)
     gone = self.line_gone.update((model_output['lane_lines_prob'][0, 1::2][1:3] < 0.3).astype(float))
-    dropping = bool(np.any(probs < 0.6 * self.line_probs_slow.update(model_output['lane_lines_prob'][0, 1::2][1:3])))
+    missing = np.where(absent, 1.0, gone)
+    dropping = bool(np.any((probs < 0.6 * self.line_probs_slow.update(model_output['lane_lines_prob'][0, 1::2][1:3])) & ~absent))
     l_prob = float(probs[0] * np.interp(np.interp(0.5 * lookahead, X_IDXS, stds[1]), LINE_STD, [1.0, 0.0]))
     r_prob = float(probs[1] * np.interp(np.interp(0.5 * lookahead, X_IDXS, stds[2]), LINE_STD, [1.0, 0.0]))
     self.l_prob, self.r_prob = l_prob, r_prob
-    # one line steadily on its own still centers at half say conf. a line that is disappearing gives control back to laneless
-    if gone[1] > 0.8 and l_prob > 0.5:
-      lane_trust = l_prob / 2
-    elif gone[0] > 0.8 and r_prob > 0.5:
-      lane_trust = r_prob / 2
+    # one line steadily on its own still centers at lone_weight. a line that is disappearing gives control back to laneless
+    if missing[1] > 0.8 and l_prob > 0.5:
+      lane_trust = l_prob * lone_weight
+    elif missing[0] > 0.8 and r_prob > 0.5:
+      lane_trust = r_prob * lone_weight
     elif dropping:
       lane_trust = min(l_prob, r_prob)
     else:
       lane_trust = l_prob + r_prob - l_prob * r_prob
+    if lone_weight > 0.5 and lane_trust < self.line_trust:
+      lane_trust = self.line_trust + (lane_trust - self.line_trust) * DT_MDL / (lone_weight - 0.5 + DT_MDL)
+    self.line_trust = lane_trust
     if lane_trust <= 0.0:
       self.trust = 0.0
       return 0.0
+    if l_prob + r_prob <= 0.0:  # keep the last fit while trust lets go
+      self.trust = min(self.trust, lane_trust)
+      return float(self.trust * self.dk)
 
     win = (X_IDXS >= 0.5 * lookahead) & (X_IDXS <= 1.5 * lookahead)
     x = X_IDXS[win]
@@ -123,4 +134,5 @@ class Blendful:
       lane_trust *= np.interp(swerve, (YIELD[0] / 2, YIELD[0]), [1.0, 0.0]) if self.going_around else np.interp(away, YIELD, [1.0, 0.0])
 
     self.trust = lane_trust if lane_trust < self.trust else self.trust + (lane_trust - self.trust) * DT_MDL / (1.5 + DT_MDL)
+    self.dk = dk
     return float(self.trust * dk)

From 9d98fe43764dbccfbba58bba3b897d8658e708e6 Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Fri, 23 Oct 2026 11:56:25 -0700
Subject: [PATCH 50/54] he does not like 1ms

---
 openpilot/sunnypilot/modeld_v2/blendful.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/openpilot/sunnypilot/modeld_v2/blendful.py b/openpilot/sunnypilot/modeld_v2/blendful.py
index 725861e8d8..a74e78fa33 100644
--- a/openpilot/sunnypilot/modeld_v2/blendful.py
+++ b/openpilot/sunnypilot/modeld_v2/blendful.py
@@ -14,7 +14,7 @@ LANE_WIDTH_DEFAULT = 3.6  # m
 LANE_WIDTH_CLIP = (2.8, 4.5)  # m
 LOOKAHEAD_TIME = 1.5  # s
 MIN_LOOKAHEAD = 10.0  # m
-MIN_SPEED = 1.0  # m/s
+MIN_SPEED = 5.0  # m/s
 LINE_STD = (0.2, 0.6)
 POINT_STD = 0.1
 YIELD = (0.2, 0.45)

From 10b508929d0d223d5e1dab84db4a1e7c7906480c Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Fri, 23 Oct 2026 23:17:33 -0700
Subject: [PATCH 51/54] smoother

---
 openpilot/sunnypilot/modeld_v2/blendful.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/openpilot/sunnypilot/modeld_v2/blendful.py b/openpilot/sunnypilot/modeld_v2/blendful.py
index a74e78fa33..32209f45c6 100644
--- a/openpilot/sunnypilot/modeld_v2/blendful.py
+++ b/openpilot/sunnypilot/modeld_v2/blendful.py
@@ -49,7 +49,7 @@ class Blendful:
       self.going_around = False
     self.model_curvature = model_curvature
     target = 0.0 if fading else self._target(model_output, v_ego, model_curvature)
-    target = self.smooth = self.smooth + (target - self.smooth) * DT_MDL / (DT_MDL + np.interp(abs(model_curvature) * v_ego ** 2, [0.18, 0.53], [0.25, 0.0]))
+    target = self.smooth = self.smooth + (target - self.smooth) * DT_MDL / (DT_MDL + np.interp(abs(model_curvature) * v_ego ** 2, [0.18, 0.53], [0.5, 0.0]))
     build = 0.5 / max(v_ego, 1.0) ** 2 * DT_MDL  # jerk over 1 second
     release = (0.5 if fading else 2.0) / max(v_ego, 1.0) ** 2 * DT_MDL  # lets go fast, but past zero it builds like any other pull
     k = self.curvature
@@ -133,6 +133,8 @@ class Blendful:
     else:
       lane_trust *= np.interp(swerve, (YIELD[0] / 2, YIELD[0]), [1.0, 0.0]) if self.going_around else np.interp(away, YIELD, [1.0, 0.0])
 
+    if lane_trust < self.trust:
+      dk = float(np.clip(dk, min(self.dk, 0.0), max(self.dk, 0.0)))
     self.trust = lane_trust if lane_trust < self.trust else self.trust + (lane_trust - self.trust) * DT_MDL / (1.5 + DT_MDL)
     self.dk = dk
     return float(self.trust * dk)

From e063ce146e4d28908c81777784bc42a6fee9a496 Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Sat, 24 Oct 2026 11:25:51 -0700
Subject: [PATCH 52/54] force tg

---
 .github/workflows/build-single-tinygrad-model.yaml |  5 +++++
 .github/workflows/sunnypilot-build-model.yaml      | 11 ++++++++++-
 2 files changed, 15 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/build-single-tinygrad-model.yaml b/.github/workflows/build-single-tinygrad-model.yaml
index 077077a714..ef505f92df 100644
--- a/.github/workflows/build-single-tinygrad-model.yaml
+++ b/.github/workflows/build-single-tinygrad-model.yaml
@@ -117,6 +117,10 @@ on:
         required: false
         type: string
         default: 'sunnypilot/sunnypilot-models'
+      tinygrad_ref:
+        description: 'Tinygrad commit to convert a precompiled upstream pkl with, when it differs from the upstream pin'
+        required: false
+        type: string
 env:
   RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
   JSON_FILE: docs/docs/driving_models_${{ inputs.target_hardware == 'chestnut' && 'chestnut_v' || 'v' }}${{ inputs.json_version }}.json
@@ -130,6 +134,7 @@ jobs:
       is_20hz: ${{ inputs.is_20hz }}
       artifact_suffix: ${{ inputs.artifact_suffix }}
       target_hardware: ${{ inputs.target_hardware }}
+      tinygrad_ref: ${{ inputs.tinygrad_ref }}
     secrets: inherit
 
   publish_model:
diff --git a/.github/workflows/sunnypilot-build-model.yaml b/.github/workflows/sunnypilot-build-model.yaml
index 8276c40136..28899b13f1 100644
--- a/.github/workflows/sunnypilot-build-model.yaml
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -35,6 +35,10 @@ on:
         required: false
         type: string
         default: 'qcom'
+      tinygrad_ref:
+        description: 'Tinygrad commit to convert a precompiled upstream pkl with, when it differs from the upstream pin'
+        required: false
+        type: string
   workflow_dispatch:
     inputs:
       upstream_branch:
@@ -58,6 +62,10 @@ on:
         options:
           - qcom
           - chestnut
+      tinygrad_ref:
+        description: 'Tinygrad commit to convert a precompiled upstream pkl with, when it differs from the upstream pin'
+        required: false
+        type: string
         default: 'qcom'
 
 
@@ -224,11 +232,12 @@ jobs:
 
           if [ -f "${{ env.MODELS_DIR }}/upstream_pkl.txt" ]; then
             read -r TG_URL TG_SHA _ < "${{ env.MODELS_DIR }}/upstream_pkl.txt"
+            if [ -n "${{ inputs.tinygrad_ref }}" ]; then TG_SHA="${{ inputs.tinygrad_ref }}"; fi
             echo "Converting commaai's precompiled model with tinygrad $TG_SHA"
             UPSTREAM_TG="${{ runner.temp }}/upstream_tinygrad"
             rm -rf "$UPSTREAM_TG" && git init -q "$UPSTREAM_TG" && git -C "$UPSTREAM_TG" fetch -q --depth 1 "$TG_URL" "$TG_SHA" && git -C "$UPSTREAM_TG" checkout -q FETCH_HEAD
             CONVERTED="${{ runner.temp }}/big_driving_tinygrad_plain.pkl"
-            env DEV=USB+AMD PYTHONPATH="$UPSTREAM_TG:${{ github.workspace }}" taskset -c 7 python3 openpilot/sunnypilot/modeld_v2/convert_upstream_pkl.py \
+            env DEV=USB+AMD PYTHONPATH="$UPSTREAM_TG:${{ github.workspace }}" taskset -c 7 python3 -u -X faulthandler openpilot/sunnypilot/modeld_v2/convert_upstream_pkl.py \
               "${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl" "$CONVERTED"
             mv "$CONVERTED" "$OUTPUT_PKL"
           elif NEW_ARCH_ONNX=$(find "${{ env.MODELS_DIR }}" -maxdepth 1 -name "${{ inputs.target_hardware == 'chestnut' && 'big_' || '' }}*driving*.onnx" -print -quit) &&

From c2f980f769a4b78369434a7cded9726e11d27963 Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Sat, 24 Oct 2026 11:31:06 -0700
Subject: [PATCH 53/54] oop

---
 .github/workflows/build-single-tinygrad-model.yaml | 2 +-
 .github/workflows/sunnypilot-build-model.yaml      | 7 ++++---
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/build-single-tinygrad-model.yaml b/.github/workflows/build-single-tinygrad-model.yaml
index ef505f92df..5b10d8dd9f 100644
--- a/.github/workflows/build-single-tinygrad-model.yaml
+++ b/.github/workflows/build-single-tinygrad-model.yaml
@@ -118,7 +118,7 @@ on:
         type: string
         default: 'sunnypilot/sunnypilot-models'
       tinygrad_ref:
-        description: 'Tinygrad commit to convert a precompiled upstream pkl with, when it differs from the upstream pin'
+        description: 'Full tinygrad commit sha to convert a precompiled upstream pkl with, when it differs from the upstream pin'
         required: false
         type: string
 env:
diff --git a/.github/workflows/sunnypilot-build-model.yaml b/.github/workflows/sunnypilot-build-model.yaml
index 28899b13f1..c1ae211e44 100644
--- a/.github/workflows/sunnypilot-build-model.yaml
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -36,7 +36,7 @@ on:
         type: string
         default: 'qcom'
       tinygrad_ref:
-        description: 'Tinygrad commit to convert a precompiled upstream pkl with, when it differs from the upstream pin'
+        description: 'Full tinygrad commit sha to convert a precompiled upstream pkl with, when it differs from the upstream pin'
         required: false
         type: string
   workflow_dispatch:
@@ -63,7 +63,7 @@ on:
           - qcom
           - chestnut
       tinygrad_ref:
-        description: 'Tinygrad commit to convert a precompiled upstream pkl with, when it differs from the upstream pin'
+        description: 'Full tinygrad commit sha to convert a precompiled upstream pkl with, when it differs from the upstream pin'
         required: false
         type: string
         default: 'qcom'
@@ -235,7 +235,8 @@ jobs:
             if [ -n "${{ inputs.tinygrad_ref }}" ]; then TG_SHA="${{ inputs.tinygrad_ref }}"; fi
             echo "Converting commaai's precompiled model with tinygrad $TG_SHA"
             UPSTREAM_TG="${{ runner.temp }}/upstream_tinygrad"
-            rm -rf "$UPSTREAM_TG" && git init -q "$UPSTREAM_TG" && git -C "$UPSTREAM_TG" fetch -q --depth 1 "$TG_URL" "$TG_SHA" && git -C "$UPSTREAM_TG" checkout -q FETCH_HEAD
+            rm -rf "$UPSTREAM_TG" && git init -q "$UPSTREAM_TG" && git -C "$UPSTREAM_TG" fetch -q --depth 1 "$TG_URL" "$TG_SHA" && git -C "$UPSTREAM_TG" checkout -q FETCH_HEAD \
+              || { echo "::error::could not fetch tinygrad $TG_SHA from $TG_URL (a full 40-character commit sha is required)"; exit 1; }
             CONVERTED="${{ runner.temp }}/big_driving_tinygrad_plain.pkl"
             env DEV=USB+AMD PYTHONPATH="$UPSTREAM_TG:${{ github.workspace }}" taskset -c 7 python3 -u -X faulthandler openpilot/sunnypilot/modeld_v2/convert_upstream_pkl.py \
               "${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl" "$CONVERTED"

From 99700587d8b153b9520312f8665fd474ae7d5d89 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Sun, 25 Oct 2026 08:52:02 -0400
Subject: [PATCH 54/54] hold blue

---
 openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py b/openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py
index f50fbea0c8..bd4b8511fa 100644
--- a/openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py
@@ -45,8 +45,8 @@ class BlendfulRenderer:
       self._center_points = np.empty((0, 2), dtype=np.float32)
       return
 
-    if blendful.blendfulTrust > 0.0:
-      l_prob, r_prob = blendful.blendfulLeftProb, blendful.blendfulRightProb
+    l_prob, r_prob = blendful.blendfulLeftProb, blendful.blendfulRightProb
+    if blendful.blendfulTrust > 0.0 and l_prob + r_prob > 0.0:
       half_width = np.clip(right[:, 1] - left[:, 1], *LANE_WIDTH_CLIP) / 2 if l_prob * r_prob > 0.5 else blendful.blendfulLaneWidth / 2
       l_var = stds[1] ** 2 / max(l_prob, 1e-4)
       r_var = stds[2] ** 2 / max(r_prob, 1e-4)