yes

docs_sp/features/blinker-pause.md

@@ -0,0 +1,36 @@
+---
+title: Blinker Pause Lateral Control
+---
+
+# Blinker Pause Lateral Control
+
+## What It Does
+
+Temporarily pauses lateral (steering) control when you activate a turn signal. This gives you full manual steering control during the blinker activation, useful for situations where you want to make a manual lane adjustment or turn without the system fighting your steering input.
+
+## How It Works
+
+1. You activate a turn signal (left or right blinker)
+2. If your speed is **below** the configured speed threshold, sunnypilot pauses lateral control
+3. Lateral control stays paused while the blinker is active
+4. After the blinker is deactivated, lateral control re-engages after the configured delay
+
+## Configuration Options
+
+### Speed Threshold
+
+The maximum speed at which Blinker Pause activates. Above this speed, lateral control remains active even with the blinker on (this allows Auto Lane Change to work at highway speeds).
+
+### Re-Engage Delay
+
+How long after the blinker is deactivated before lateral control re-engages. A short delay prevents abrupt steering corrections immediately after turning off the signal.
+
+## How to Configure
+
+**Settings** > **sunnypilot** > **Steering**
+
+Look for the Blinker Pause Lateral Control toggle and its sub-settings.
+
+## Settings Reference
+
+See [Steering Settings](../settings/steering.md) for all configuration options.

docs_sp/features/hud-visuals.md

@@ -20,6 +20,8 @@ Customize the heads-up display (HUD) elements and visual overlays shown on the d
 | **Lead Depart Alert** | Alerts when the car ahead starts moving |
 | **True Vehicle Speed** | CAN bus speed (may differ from GPS) |
 | **Turn Signals** | Shows turn signal status on the HUD |
+| **Rocket Fuel** | Real-time acceleration/deceleration bar on the left side of the screen |
+| **Rainbow Mode** | Animated rainbow-gradient overlay on the model driving path |
 | **Chevron Info** | Distance, speed, or time gap to lead vehicle |
 | **Developer UI** | Debug information for diagnostics |
 

docs_sp/features/index.md

@@ -12,7 +12,7 @@ Adaptive cruise control enhancements including intelligent button management, vi
 
 ## Steering
 
-Lateral control features including the Modular Assistive Driving System (MADS), neural network lateral control (NNLC), automatic lane changes, and torque-based steering control.
+Lateral control features including the Modular Assistive Driving System (MADS), neural network lateral control (NNLC), automatic lane changes, torque-based steering control, and blinker pause lateral for temporarily pausing steering during turn signal activation.
 
 ## Display & Visuals
 
@@ -22,6 +22,6 @@ Onroad display customizations and HUD visual enhancements for real-time driving
 
 Driving model selection and AI-related configuration options.
 
-## OSM Maps
+## Connected Services
 
-OpenStreetMap integration for speed limit data and map-based features.
+Cloud and map integrations including sunnylink (settings backup/restore, sponsor tiers, GitHub account pairing, remote device management) and OpenStreetMap (speed limit data and map-based features).

docs_sp/features/models.md

@@ -12,14 +12,14 @@ Select and configure the driving model used by sunnypilot. Different models offe
 
 - **Model Selection** — Choose from available driving models (offroad only)
 - **Lane Turn Desire** — Enhance lane positioning during turns
-- **LAGD (Look-Ahead Generative Driving)** — Anticipate road conditions ahead using generative AI
+- **LAGD (Live Lateral Delay Compensation)** — Dynamically measures and compensates for steering actuator delay using real-time signal correlation
 
 ## Advanced Parameters
 
 Advanced parameters are only visible when **Show Advanced Controls** is enabled in [Developer Settings](../settings/developer.md):
 
 - **Lane Turn Value** — Intensity of lane turn desire (500–2000)
-- **LAGD Delay** — Look-ahead distance configuration (5–50)
+- **LAGD Delay** — Fixed steering delay offset in milliseconds when LAGD is disabled (5–50)
 
 ## How to Configure
 

docs_sp/features/sunnylink.md

@@ -0,0 +1,67 @@
+---
+title: sunnylink
+---
+
+# sunnylink
+
+## What It Does
+
+sunnylink is sunnypilot's cloud backend integration system. It connects your device to the sunnypilot cloud infrastructure, enabling settings backup and restore, sponsor benefits, remote device management, and optional driving data uploads.
+
+## Key Features
+
+### Settings Backup & Restore
+
+Securely back up your device configuration to the cloud and restore it on the same or a different device.
+
+- **Backup** compresses and encrypts all your sunnypilot settings using AES-256-CBC encryption derived from your device's unique RSA key
+- **Restore** downloads and decrypts your backup, applying only recognized sunnypilot parameters
+- Progress is displayed in real-time (0-100%) during both operations
+- Backups include all sunnypilot-specific parameters (toggles, tuning values, preferences)
+
+!!! note
+    Backups are device-key encrypted. A backup created on one device can only be restored to the same device or by using the same device keys.
+
+### Sponsor Tiers
+
+sunnylink has a sponsorship system with multiple tiers:
+
+| Tier | Color |
+|------|-------|
+| Guardian | Gold |
+| Benefactor | Green |
+| Contributor | Steel Blue |
+| Supporter | Purple |
+| Free / Novice | Default |
+
+Sponsor status is displayed in the sunnylink settings panel. Higher tiers may unlock additional features (such as the infrastructure uploader).
+
+### GitHub Account Pairing
+
+Link your GitHub account to your device for sponsor verification and identity management. The pairing status is displayed in the sunnylink settings panel as "Paired" or "Not Paired".
+
+### Data Upload (Infrastructure Test)
+
+When enabled, sunnylink can upload driving logs and camera data to sunnypilot's cloud infrastructure. This feature prioritizes crash and boot logs, respects metered connections (skips video on cellular), and uses signed S3 URLs for secure uploads.
+
+!!! warning
+    The uploader is currently an infrastructure test feature available to high-tier sponsors only. It provides no direct user benefit at this time.
+
+### Remote Device Management
+
+sunnylink maintains a persistent WebSocket connection to the backend, enabling:
+
+- Remote parameter viewing and modification
+- Log upload control
+- Local port proxying for SSH-like access
+- Queued message processing
+
+## How to Configure
+
+**Settings** > **sunnypilot** > **sunnylink**
+
+sunnylink requires explicit user consent before activation. On first enable, a consent dialog explains what data is collected and how it is used.
+
+## Settings Reference
+
+See [sunnylink Settings](../settings/sunnylink.md) for all configuration options.

docs_sp/settings/cruise.md

@@ -36,11 +36,10 @@ Allows sunnypilot to dynamically manage cruise speed by intercepting button pres
 | **Type** | Toggle (On/Off) |
 | **Default** | Off |
 
-Uses vision-based data to make smarter cruise control decisions, such as adjusting speed based on detected lead vehicles.
+Uses vision-based data to automatically reduce cruise speed when approaching curves. Monitors predicted lateral acceleration and smoothly decelerates when entering turns, then accelerates back to set speed when exiting.
 
 !!! info "Requirements"
-    - ICBM must be enabled
-    - Vehicle must support ICBM
+    - Longitudinal control must be available, **or** ICBM must be enabled
 
 ---
 
@@ -52,11 +51,10 @@ Uses vision-based data to make smarter cruise control decisions, such as adjusti
 | **Type** | Toggle (On/Off) |
 | **Default** | Off |
 
-Uses map data (curves, speed limits) to adjust cruise speed proactively.
+Uses map data to proactively adjust cruise speed before speed-restricted areas and mapped turns. Calculates deceleration distance based on current speed and upcoming waypoint target velocities.
 
 !!! info "Requirements"
-    - ICBM must be enabled
-    - Vehicle must support ICBM
+    - Longitudinal control must be available, **or** ICBM must be enabled
 
 ---
 

docs_sp/settings/developer.md

@@ -59,6 +59,20 @@ Enables the Copyparty file sharing server on the device, allowing easy file tran
 
 ---
 
+## Error Log
+
+| Property | Value |
+|----------|-------|
+| **Param** | N/A (action button) |
+| **Type** | Button |
+
+Opens the error log viewer, showing recent system errors and warnings. Useful for diagnosing issues with sunnypilot features or vehicle communication.
+
+!!! info "Requirements"
+    - Advanced Controls must be enabled
+
+---
+
 ## Quick Boot
 
 | Property | Value |

docs_sp/settings/device.md

@@ -92,3 +92,46 @@ Forces the device into offroad mode, even if the vehicle is running. This is use
 
 !!! tip
     Some vehicle-specific settings (e.g., Tesla Cooperative Steering, Subaru Stop and Go) require the device to be offroad. Use this button to access those settings without turning off the vehicle.
+
+---
+
+## Reset Settings
+
+| Property | Value |
+|----------|-------|
+| **Type** | Button (double confirmation) |
+
+Resets all sunnypilot-specific settings to their default values. Requires a second confirmation tap to execute. Does not affect upstream openpilot settings or calibration data.
+
+!!! warning
+    This action cannot be undone. Consider creating a sunnylink backup before resetting.
+
+---
+
+## Driver Camera Preview
+
+| Property | Value |
+|----------|-------|
+| **Type** | Button |
+
+Opens a live preview of the driver-facing camera. Useful for verifying camera alignment and driver monitoring positioning.
+
+---
+
+## Reboot / Power Off
+
+| Property | Value |
+|----------|-------|
+| **Type** | Buttons |
+
+Standard device power management buttons for rebooting or shutting down the device.
+
+---
+
+## Regulatory / Training Guide
+
+| Property | Value |
+|----------|-------|
+| **Type** | Buttons |
+
+Access regulatory information and the interactive training guide that walks through sunnypilot's driving assist features and safety requirements.

docs_sp/settings/index.md

@@ -6,19 +6,56 @@ title: Settings
 
 Complete reference for every configurable option in sunnypilot. Each section corresponds to a settings panel on your device.
 
+## Cruise Control
+
 | Section | Description |
 |---------|-------------|
 | [Cruise Control](cruise.md) | ACC behavior, following distance, and cruise button logic |
 | [Speed Limit](speed-limit.md) | Speed limit source, offset, and assist configuration |
+
+## Steering
+
+| Section | Description |
+|---------|-------------|
 | [Steering](steering.md) | Lateral control mode and steering parameters |
 | [MADS](mads.md) | Modular Assistive Driving System toggle and behavior |
 | [Lane Change](lane-change.md) | Automatic lane change settings and safety thresholds |
 | [Torque](torque.md) | Torque-based lateral control tuning |
+
+## Display & Visuals
+
+| Section | Description |
+|---------|-------------|
 | [Display](display.md) | Onroad display layout and elements |
 | [Visuals & HUD](visuals.md) | HUD overlays and visual customization |
-| [Device](device.md) | Device-level settings (screen, storage, power) |
+
+## Models & AI
+
+| Section | Description |
+|---------|-------------|
 | [Models & AI](models.md) | Driving model and AI configuration |
-| [OSM Maps](osm.md) | OpenStreetMap data and map features |
+
+## Device & System
+
+| Section | Description |
+|---------|-------------|
+| [Device](device.md) | Device-level settings (screen, storage, power) |
 | [Software](software.md) | Update channel and branch management |
 | [Developer](developer.md) | Developer and debug options |
-| [Vehicle-Specific](vehicle/tesla.md) | Per-vehicle overrides (Tesla, Toyota, Hyundai, Subaru) |
+
+## Connected Services
+
+| Section | Description |
+|---------|-------------|
+| [sunnylink](sunnylink.md) | Cloud backend integration, backup/restore, sponsor status |
+| [Trips](trips.md) | Drive statistics and trip history |
+| [OSM Maps](osm.md) | OpenStreetMap data and map features |
+
+## Vehicle-Specific
+
+| Section | Description |
+|---------|-------------|
+| [Tesla](vehicle/tesla.md) | Tesla-specific overrides |
+| [Toyota](vehicle/toyota.md) | Toyota-specific overrides |
+| [Hyundai](vehicle/hyundai.md) | Hyundai-specific overrides |
+| [Subaru](vehicle/subaru.md) | Subaru-specific overrides |

docs_sp/settings/models.md

@@ -46,7 +46,7 @@ Adjusts the intensity of the lane turn desire signal sent to the model. Higher v
 
 ---
 
-## LAGD (Look-Ahead Generative Driving)
+## LAGD (Live Lateral Delay Compensation)
 
 | Property | Value |
 |----------|-------|
@@ -54,7 +54,7 @@ Adjusts the intensity of the lane turn desire signal sent to the model. Higher v
 | **Type** | Toggle (On/Off) |
 | **Default** | Off |
 
-Enables the Look-Ahead Generative Driving feature, which uses generative AI to anticipate road conditions ahead.
+Enables live steering delay compensation. When enabled, sunnypilot continuously measures the actual steering actuator delay via cross-correlation of desired vs. actual lateral acceleration, and uses the measured value to improve steering responsiveness. When disabled, a fixed delay value is used instead (base actuator delay + the LAGD Delay offset below).
 
 ### LAGD Delay
 
@@ -62,13 +62,13 @@ Enables the Look-Ahead Generative Driving feature, which uses generative AI to a
 |----------|-------|
 | **Param** | `LagdToggleDelay` |
 | **Type** | Option selector |
-| **Range** | 5–50 (displayed with float scaling) |
+| **Range** | 5–50 (displayed with float scaling, in milliseconds) |
 | **Default** | 5 |
 
-Configures the look-ahead delay for LAGD. Higher values make the system look further ahead.
+Sets an additional fixed steering delay offset (in milliseconds) added to the base steering actuator delay. This value is used **when LAGD is disabled** as the total fixed delay for steering compensation. Useful for fine-tuning steering feel on vehicles where the default actuator delay is slightly off.
 
 !!! info "Requirements"
-    - LAGD must be **disabled** (this setting is shown when LAGD is off to configure its parameters before enabling)
+    - LAGD must be **disabled** (this setting configures the fixed fallback delay used when LAGD is off)
     - Advanced Controls must be enabled (`ShowAdvancedControls`)
 
 ---

docs_sp/settings/sunnylink.md

@@ -0,0 +1,91 @@
+---
+title: sunnylink Settings
+---
+
+# sunnylink Settings
+
+Configure the sunnylink cloud backend integration for backup/restore, sponsorship, and data upload.
+
+**Location:** Settings > sunnypilot > sunnylink
+
+---
+
+## Enable sunnylink
+
+| Property | Value |
+|----------|-------|
+| **Param** | `SunnylinkEnabled` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+Master toggle for the sunnylink cloud integration. When disabled, all sunnylink features (backup, sponsor status, uploader, remote management) are inactive. Enabling sunnylink requires completing a consent flow on first activation.
+
+---
+
+## Sponsor Status
+
+| Property | Value |
+|----------|-------|
+| **Type** | Status display / Button |
+
+Displays your current sponsor tier and color. If you are a sponsor, shows your tier name. Tapping opens the sponsor status dialog.
+
+!!! info "Requirements"
+    - sunnylink must be enabled
+
+---
+
+## Pair GitHub Account
+
+| Property | Value |
+|----------|-------|
+| **Type** | Button |
+
+Opens the GitHub pairing dialog to link your GitHub account to this device. Displays current pairing status: "Paired" or "Not Paired".
+
+!!! info "Requirements"
+    - sunnylink must be enabled
+
+---
+
+## Enable sunnylink Uploader
+
+| Property | Value |
+|----------|-------|
+| **Param** | `EnableSunnylinkUploader` |
+| **Type** | Toggle (On/Off) |
+| **Default** | Off |
+
+Enables driving data upload to sunnypilot cloud infrastructure. Uploads include logs, camera data, and crash reports. Respects metered connections by skipping video on cellular networks.
+
+!!! warning "Infrastructure Test"
+    This feature is currently available to high-tier sponsors only and provides no direct user benefit. It exists for infrastructure testing purposes.
+
+!!! info "Requirements"
+    - sunnylink must be enabled
+
+---
+
+## Backup / Restore Settings
+
+| Property | Value |
+|----------|-------|
+| **Type** | Dual button |
+
+Two action buttons for managing settings backups:
+
+- **Backup**: Encrypts and uploads all sunnypilot settings to the cloud. Progress shown in real-time.
+- **Restore**: Downloads and restores the most recent backup. Progress shown in real-time.
+
+!!! info "Requirements"
+    - sunnylink must be enabled
+    - Device must be offroad (not actively driving)
+
+!!! note
+    Backups are encrypted with your device's unique keys using AES-256-CBC. Only the same device (or one with the same keys) can decrypt a backup.
+
+---
+
+## Related Features
+
+- [sunnylink](../features/sunnylink.md)

docs_sp/settings/trips.md

@@ -0,0 +1,27 @@
+---
+title: Trips Settings
+---
+
+# Trips Settings
+
+View your driving statistics and trip history.
+
+**Location:** Settings > sunnypilot > Trips
+
+---
+
+## Drive Statistics
+
+The Trips panel displays cumulative and recent driving statistics:
+
+| Statistic | Description |
+|-----------|-------------|
+| **All-Time Routes** | Total number of driving routes recorded |
+| **All-Time Distance** | Total distance driven (km or miles, based on unit preference) |
+| **All-Time Hours** | Total hours of driving time |
+| **Past Week Routes** | Number of routes in the last 7 days |
+| **Past Week Distance** | Distance driven in the last 7 days |
+| **Past Week Hours** | Hours driven in the last 7 days |
+
+!!! note
+    Statistics are computed from locally stored driving logs. Clearing device storage will reset these values.

docs_sp/settings/visuals.md

@@ -26,7 +26,7 @@ These are on/off toggles for individual HUD elements.
 | **True Vehicle Speed** | `TrueVEgoUI` | Shows the true vehicle speed from the CAN bus (may differ from GPS speed) |
 | **Hide Speed** | `HideVEgoUI` | Hides the speed display from the HUD entirely |
 | **Turn Signals** | `ShowTurnSignals` | Shows the turn signal status on the HUD |
-| **Rocket Fuel** | `RocketFuel` | Enables the Rocket Fuel visual theme for the driving path |
+| **Rocket Fuel** | `RocketFuel` | Displays a real-time acceleration bar on the left side of the driving screen. Green indicates acceleration, red indicates deceleration. |
 
 ---
 

zensical.toml

@@ -40,29 +40,47 @@ nav = [
       { "Neural Network Lateral Control" = "features/nnlc.md" },
       { "Auto Lane Change" = "features/auto-lane-change.md" },
       { "Torque Control" = "features/torque-control.md" },
+      { "Blinker Pause Lateral" = "features/blinker-pause.md" },
     ]},
     { "Display & Visuals" = [
       { "Onroad Display" = "features/onroad-display.md" },
       { "HUD & Visuals" = "features/hud-visuals.md" },
     ]},
     { "Models & AI" = "features/models.md" },
-    { "OSM Maps" = "features/osm-maps.md" },
+    { "Connected Services" = [
+      { "sunnylink" = "features/sunnylink.md" },
+      { "OSM Maps" = "features/osm-maps.md" },
+    ]},
   ]},
   { "Settings" = [
     "settings/index.md",
-    { "Cruise Control" = "settings/cruise.md" },
-    { "Speed Limit" = "settings/speed-limit.md" },
-    { "Steering" = "settings/steering.md" },
-    { "MADS" = "settings/mads.md" },
-    { "Lane Change" = "settings/lane-change.md" },
-    { "Torque" = "settings/torque.md" },
-    { "Display" = "settings/display.md" },
-    { "Visuals & HUD" = "settings/visuals.md" },
-    { "Device" = "settings/device.md" },
-    { "Models & AI" = "settings/models.md" },
-    { "OSM Maps" = "settings/osm.md" },
-    { "Software" = "settings/software.md" },
-    { "Developer" = "settings/developer.md" },
+    { "Cruise Control" = [
+      { "Cruise Control" = "settings/cruise.md" },
+      { "Speed Limit" = "settings/speed-limit.md" },
+    ]},
+    { "Steering" = [
+      { "Steering" = "settings/steering.md" },
+      { "MADS" = "settings/mads.md" },
+      { "Lane Change" = "settings/lane-change.md" },
+      { "Torque" = "settings/torque.md" },
+    ]},
+    { "Display & Visuals" = [
+      { "Display" = "settings/display.md" },
+      { "Visuals & HUD" = "settings/visuals.md" },
+    ]},
+    { "Models & AI" = [
+      { "Models & AI" = "settings/models.md" },
+    ]},
+    { "Device & System" = [
+      { "Device" = "settings/device.md" },
+      { "Software" = "settings/software.md" },
+      { "Developer" = "settings/developer.md" },
+    ]},
+    { "Connected Services" = [
+      { "sunnylink" = "settings/sunnylink.md" },
+      { "Trips" = "settings/trips.md" },
+      { "OSM Maps" = "settings/osm.md" },
+    ]},
     { "Vehicle-Specific" = [
       { "Tesla" = "settings/vehicle/tesla.md" },
       { "Toyota" = "settings/vehicle/toyota.md" },
@@ -106,7 +124,7 @@ features = [
   "navigation.tabs",
   "navigation.tabs.sticky",
   "navigation.sections",
-  "navigation.prune",
+  "navigation.expand",
   "navigation.indexes",
   "navigation.path",
   "navigation.instant",
@@ -143,7 +161,21 @@ accent = "teal"
 toggle.icon = "material/brightness-4"
 toggle.name = "Switch to system preference"
 
-# Markdown extensions (only non-defaults; admonition, attr_list, etc. are built-in)
+# Markdown extensions
+# When specifying any extensions, defaults are overridden, so we must list all needed extensions.
+[project.markdown_extensions.admonition]
+
+[project.markdown_extensions.attr_list]
+
+[project.markdown_extensions.def_list]
+
+[project.markdown_extensions.footnotes]
+
+[project.markdown_extensions.md_in_html]
+
+[project.markdown_extensions.toc]
+permalink = true
+
 [project.markdown_extensions.pymdownx.details]
 
 [project.markdown_extensions.pymdownx.emoji]