From dc5dfe7f3ba353a084b801cb04ff00374e00552a Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 11 Feb 2026 00:27:57 -0500 Subject: [PATCH 1/2] maneuversd: keep services happy (#1685) --- tools/longitudinal_maneuvers/maneuversd.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py index c17ae23757..9044afaa8f 100755 --- a/tools/longitudinal_maneuvers/maneuversd.py +++ b/tools/longitudinal_maneuvers/maneuversd.py @@ -132,7 +132,7 @@ def main(): CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams) sm = messaging.SubMaster(['carState', 'carControl', 'controlsState', 'selfdriveState', 'modelV2'], poll='modelV2') - pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'alertDebug']) + pm = messaging.PubMaster(['longitudinalPlan', 'longitudinalPlanSP', 'driverAssistance', 'alertDebug']) maneuvers = iter(MANEUVERS) maneuver = None @@ -177,6 +177,10 @@ def main(): pm.send('longitudinalPlan', plan_send) + plan_sp_send = messaging.new_message('longitudinalPlanSP') + plan_sp_send.valid = True + pm.send('longitudinalPlanSP', plan_sp_send) + assistance_send = messaging.new_message('driverAssistance') assistance_send.valid = True pm.send('driverAssistance', assistance_send) From decd7d4c1c71913b7ab579344eed0b0f29ab7f89 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 11 Feb 2026 00:35:03 -0500 Subject: [PATCH 2/2] [TIZI/TICI] ui: exclude angleState from fade effects when rendering torque bar (#1686) --- selfdrive/ui/sunnypilot/onroad/augmented_road_view.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py b/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py index c7dedee540..64d7a3d946 100644 --- a/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py +++ b/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py @@ -23,7 +23,7 @@ class AugmentedRoadViewSP: def update_fade_out_bottom_overlay(self, _content_rect): # Fade out bottom of overlays for looks (only when engaged) fade_alpha = self._fade_alpha_filter.update(ui_state.status != UIStatus.DISENGAGED) - if ui_state.torque_bar and fade_alpha > 1e-2: + if ui_state.torque_bar and ui_state.sm['controlsState'].lateralControlState.which() != 'angleState' and fade_alpha > 1e-2: # Scale the fade texture to the content rect rl.draw_texture_pro(self._fade_texture, rl.Rectangle(0, 0, self._fade_texture.width, self._fade_texture.height),