chore: update CHANGELOG for 2026.001.007

Revert "DM: Lancia Delta HF Integrale model (#37696)"

This reverts commit d8569b07eb.

.github/workflows/cereal_validation.yaml

@@ -23,56 +23,43 @@ env:
   CI: 1
 
 jobs:
-  generate_cereal_artifact:
-    name: Generate cereal validation artifacts
-    runs-on: ubuntu-24.04
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          submodules: true
-      - run: ./tools/op.sh setup
-      - name: Build openpilot
-        run: scons -j$(nproc) cereal
-      - name: Dump sunnypilot schema
-        run: |
-          export PYTHONPATH=${{ github.workspace }}
-          python3 cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema.json
-      - name: 'Prepare artifact'
-        run: |
-          mkdir -p "cereal/messaging/tests/cereal_validations"
-          cp cereal/messaging/tests/validate_sp_cereal_upstream.py "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py"
-          cp schema.json "cereal/messaging/tests/cereal_validations/schema.json"
-      - name: 'Upload Artifact'
-        uses: actions/upload-artifact@v4
-        with:
-          name: cereal_validations
-          path: cereal/messaging/tests/cereal_validations
-
   validate_cereal_with_upstream:
     name: Validate cereal with Upstream
     runs-on: ubuntu-24.04
-    needs: generate_cereal_artifact
     steps:
-      - name: Checkout sunnypilot
+      - name: Checkout sunnypilot cereal
         uses: actions/checkout@v6
-      - name: Checkout upstream openpilot
+        with:
+          sparse-checkout: cereal
+
+      - name: Init sunnypilot opendbc submodule
+        run: git submodule update --init --depth 1 opendbc_repo
+
+      - name: Checkout upstream openpilot cereal
         uses: actions/checkout@v6
         with:
           repository: 'commaai/openpilot'
-          path: openpilot
-          submodules: true
+          path: upstream_openpilot
+          sparse-checkout: cereal
           ref: "refs/heads/master"
-      - run: ./tools/op.sh setup
-      - name: Build openpilot
-        working-directory: openpilot
-        run: scons -j$(nproc) cereal
-      - name: Download build artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: cereal_validations
-          path: openpilot/cereal/messaging/tests/cereal_validations
-      - name: 'Validate sunnypilot schema against upstream'
+
+      - name: Init upstream opendbc submodule
+        working-directory: upstream_openpilot
+        run: git submodule update --init --depth 1 opendbc_repo
+
+      - name: Install uv
+        run: pip install uv
+
+      - name: Generate sunnypilot schema
         run: |
-          export PYTHONPATH=${{ github.workspace }}/openpilot
-          chmod +x openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
-          python3 openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f openpilot/cereal/messaging/tests/cereal_validations/schema.json
+          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
+          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
+            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
+            -g -f /tmp/sp_schema.json --cereal-dir cereal
+
+      - name: Validate against upstream
+        run: |
+          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
+          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
+            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
+            -r -f /tmp/sp_schema.json --cereal-dir upstream_openpilot/cereal

CHANGELOG.md

@@ -1,3 +1,39 @@
+sunnypilot Version 2026.001.007 (2026-05-27)
+========================
+* What's Changed (sunnypilot/sunnypilot)
+  * Revert "DM: Lancia Delta HF Integrale model" by @sunnyhaibin
+
+sunnypilot Version 2026.001.006 (2026-05-17)
+========================
+* What's Changed (sunnypilot/sunnypilot)
+  * sunnylink SDUI: tweak DisableUpdate param for clarity by @sunnyhaibin
+
+sunnypilot Version 2026.001.005 (2026-05-13)
+========================
+* What's Changed (sunnypilot/sunnypilot)
+  * sunnylink: add CarParams fallback for brand-specific capabilities by @sunnyhaibin
+
+sunnypilot Version 2026.001.004 (2026-05-10)
+========================
+* What's Changed (sunnypilot/sunnypilot)
+  * sunnylink: switch athena domain by @DevTekVE
+  * sunnylink: fix max time offroad values by @nayan8teen
+
+sunnypilot Version 2026.001.003 (2026-05-08)
+========================
+* What's Changed (sunnypilot/sunnypilot)
+  * manager: disable DEVELOPMENT_ONLY reset by @sunnyhaibin
+
+sunnypilot Version 2026.001.002 (2026-05-07)
+========================
+* What's Changed (sunnypilot/sunnypilot)
+  * release: ignore upstream IsReleaseBranch by @sunnyhaibin
+
+sunnypilot Version 2026.001.001 (2026-05-06)
+========================
+* What's Changed (sunnypilot/sunnypilot)
+  * ui: update gates for certain toggles by @sunnyhaibin
+
 sunnypilot Version 2026.001.000 (2026-05-06)
 ========================
 * What's Changed (sunnypilot/sunnypilot)
@@ -170,6 +206,20 @@ sunnypilot Version 2026.001.000 (2026-05-06)
   * @royjr made their first contribution in "HKG: add KIA_FORTE_2019_NON_SCC fingerprint"
   * @ssysm made their first contribution in "Tesla: remove `TESLA_MODEL_X` from `dashcamOnly`"
 * Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2025.002.000...v2026.001.000
+************************
+* Synced with commaai's openpilot (v0.11.1)
+  * master commit c001f3c9b490a80e69539f0af6022f6e07ceb721 (April 16, 2026)
+* New driver monitoring model
+* Improved image processing pipeline for driver camera
+* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
+* New driving model #36798
+  * Fully trained using a learned simulator
+  * Improved longitudinal performance in Experimental mode
+* Reduce comma four standby power usage by 77% to 52 mW
+* Kia K7 2017 support thanks to royjr!
+* Lexus LS 2018 support thanks to Hacheoy!
+* Improved inter-process communication memory efficiency
+* comma four support
 
 sunnypilot Version 2025.002.000 (2025-11-06)
 ========================

cereal/log.capnp

@@ -2054,16 +2054,14 @@ struct DriverStateV2 {
     facePosition @2 :List(Float32);
     facePositionStd @3 :List(Float32);
     faceProb @4 :Float32;
-    eyesVisibleProb @14 :Float32;
-    eyesClosedProb @15 :Float32;
+    leftEyeProb @5 :Float32;
+    rightEyeProb @6 :Float32;
+    leftBlinkProb @7 :Float32;
+    rightBlinkProb @8 :Float32;
+    sunglassesProb @9 :Float32;
     phoneProb @13 :Float32;
 
     deprecated :group {
-      leftEyeProb @5 :Float32;
-      rightEyeProb @6 :Float32;
-      leftBlinkProb @7 :Float32;
-      rightBlinkProb @8 :Float32;
-      sunglassesProb @9 :Float32;
       notReadyProb @12 :List(Float32);
       occludedProb @10 :Float32;
       readyProb @11 :List(Float32);

cereal/messaging/tests/validate_sp_cereal_upstream.py

@@ -13,6 +13,7 @@ from __future__ import annotations
 
 import argparse
 import json
+import os
 import sys
 from typing import Any
 
@@ -104,8 +105,15 @@ def collect_schema(root: Any) -> dict[str, dict]:
   return structs
 
 
-def dump_schema(path: str) -> None:
-  from cereal import log
+def load_log(cereal_dir: str) -> Any:
+  import capnp
+  cereal_dir = os.path.abspath(cereal_dir)
+  capnp.remove_import_hook()
+  return capnp.load(os.path.join(cereal_dir, "log.capnp"), imports=[cereal_dir])
+
+
+def dump_schema(cereal_dir: str, path: str) -> None:
+  log = load_log(cereal_dir)
   payload = {
     "root": hex_id(log.Event.schema.node.id),
     "structs": collect_schema(log.Event.schema),
@@ -206,8 +214,8 @@ def load_peer(path: str) -> dict:
     return json.load(handle)
 
 
-def run_read(peer_path: str) -> int:
-  from cereal import log
+def run_read(cereal_dir: str, peer_path: str) -> int:
+  log = load_log(cereal_dir)
   peer_dump = load_peer(peer_path)
   local_dump = {
     "root": hex_id(log.Event.schema.node.id),
@@ -235,16 +243,13 @@ def main() -> int:
   mode.add_argument("-g", "--generate", action="store_true", help="dump local schema to JSON")
   mode.add_argument("-r", "--read", action="store_true", help="load peer JSON and diff against local")
   parser.add_argument("-f", "--file", default="schema.json", help="JSON file path (default: schema.json)")
+  parser.add_argument("--cereal-dir", required=True, help="path to cereal directory containing log.capnp")
   args = parser.parse_args()
 
-  try:
-    if args.generate:
-      dump_schema(args.file)
-      return 0
-    return run_read(args.file)
-  except ImportError as exc:
-    print(f"error: cannot import cereal ({exc}). did scons build cereal?")
-    return 2
+  if args.generate:
+    dump_schema(args.cereal_dir, args.file)
+    return 0
+  return run_read(args.cereal_dir, args.file)
 
 
 if __name__ == "__main__":

common/model.h

@@ -1 +1 @@
-#define DEFAULT_MODEL "POP model (Default)"
+#define DEFAULT_MODEL "CD210 (Default)"

selfdrive/car/card.py

@@ -86,7 +86,7 @@ class Car:
 
     self.can_callbacks = can_comm_callbacks(self.can_sock, self.pm.sock['sendcan'])
 
-    is_release = self.params.get_bool("IsReleaseBranch")
+    is_release = False  # self.params.get_bool("IsReleaseBranch")
     is_release_sp = self.params.get_bool("IsReleaseSpBranch")
 
     if CI is None:

selfdrive/modeld/dmonitoringmodeld.py

@@ -83,7 +83,7 @@ def parse_model_output(model_output):
     face_descs = model_output[f'face_descs_{ds_suffix}']
     parsed[f'face_descs_{ds_suffix}'] = face_descs[:, :-6]
     parsed[f'face_descs_{ds_suffix}_std'] = safe_exp(face_descs[:, -6:])
-    for key in ['face_prob', 'eyes_visible_prob', 'eyes_closed_prob', 'using_phone_prob']:
+    for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob']:
       parsed[f'{key}_{ds_suffix}'] = sigmoid(model_output[f'{key}_{ds_suffix}'])
   return parsed
 
@@ -93,8 +93,11 @@ def fill_driver_data(msg, model_output, ds_suffix):
   msg.facePosition = model_output[f'face_descs_{ds_suffix}'][0, 3:5].tolist()
   msg.facePositionStd = model_output[f'face_descs_{ds_suffix}_std'][0, 3:5].tolist()
   msg.faceProb = model_output[f'face_prob_{ds_suffix}'][0, 0].item()
-  msg.eyesVisibleProb = model_output[f'eyes_visible_prob_{ds_suffix}'][0, 0].item()
-  msg.eyesClosedProb = model_output[f'eyes_closed_prob_{ds_suffix}'][0, 0].item()
+  msg.leftEyeProb = model_output[f'left_eye_prob_{ds_suffix}'][0, 0].item()
+  msg.rightEyeProb = model_output[f'right_eye_prob_{ds_suffix}'][0, 0].item()
+  msg.leftBlinkProb = model_output[f'left_blink_prob_{ds_suffix}'][0, 0].item()
+  msg.rightBlinkProb = model_output[f'right_blink_prob_{ds_suffix}'][0, 0].item()
+  msg.sunglassesProb = model_output[f'sunglasses_prob_{ds_suffix}'][0, 0].item()
   msg.phoneProb = model_output[f'using_phone_prob_{ds_suffix}'][0, 0].item()
 
 def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_time: float, gpu_exec_time: float):

selfdrive/monitoring/helpers.py

@@ -32,8 +32,9 @@ class DRIVER_MONITOR_SETTINGS:
     self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
 
     self._FACE_THRESHOLD = 0.7
-    self._EYE_THRESHOLD = 0.5
-    self._BLINK_THRESHOLD = 0.5
+    self._EYE_THRESHOLD = 0.65
+    self._SG_THRESHOLD = 0.9
+    self._BLINK_THRESHOLD = 0.865
     self._PHONE_THRESH = 0.5
 
     self._POSE_PITCH_THRESHOLD = 0.3133
@@ -110,6 +111,11 @@ class DriverProb:
     self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
     self.prob_calibrated = False
 
+class DriverBlink:
+  def __init__(self):
+    self.left = 0.
+    self.right = 0.
+
 
 # model output refers to center of undistorted+leveled image
 EFL = 598.0 # focal length in K
@@ -144,7 +150,7 @@ class DriverMonitoring:
     wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
     self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
     self.pose = DriverPose(settings=self.settings)
-    self.blink_prob = 0.
+    self.blink = DriverBlink()
     self.phone_prob = 0.
 
     self.always_on = always_on
@@ -247,7 +253,7 @@ class DriverMonitoring:
     if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
       distracted_types.append(DistractedType.DISTRACTED_POSE)
 
-    if self.blink_prob > self.settings._BLINK_THRESHOLD:
+    if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
       distracted_types.append(DistractedType.DISTRACTED_BLINK)
 
     if self.phone_prob > self.settings._PHONE_THRESH:
@@ -288,7 +294,10 @@ class DriverMonitoring:
     self.pose.yaw_std = driver_data.faceOrientationStd[1]
     model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
     self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
-    self.blink_prob = driver_data.eyesClosedProb * (driver_data.eyesVisibleProb > self.settings._EYE_THRESHOLD)
+    self.blink.left = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \
+                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
+    self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
+                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
     self.phone_prob = driver_data.phoneProb
 
     self.distracted_types = self._get_distracted_types()

selfdrive/monitoring/test_monitoring.py

@@ -20,8 +20,10 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
   ds.leftDriverData.faceOrientation = [0., 0., 0.]
   ds.leftDriverData.facePosition = [0., 0.]
   ds.leftDriverData.faceProb = 1. * face_detected
-  ds.leftDriverData.eyesVisibleProb = 1.
-  ds.leftDriverData.eyesClosedProb = 1. * distracted
+  ds.leftDriverData.leftEyeProb = 1.
+  ds.leftDriverData.rightEyeProb = 1.
+  ds.leftDriverData.leftBlinkProb = 1. * distracted
+  ds.leftDriverData.rightBlinkProb = 1. * distracted
   ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
   ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
   # TODO: test both separately when e2e is used

selfdrive/test/process_replay/model_replay.py

@@ -76,7 +76,7 @@ def generate_report(proposed, master, tmp, commit):
                      (lambda x: get_idx_if_non_empty(x.wheelOnRightProb), "wheelOnRightProb"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.faceProb), "leftDriverData.faceProb"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.faceOrientation, 0), "leftDriverData.faceOrientation0"),
-                     (lambda x: get_idx_if_non_empty(x.leftDriverData.eyesClosedProb), "leftDriverData.eyesClosedProb"),
+                     (lambda x: get_idx_if_non_empty(x.leftDriverData.leftBlinkProb), "leftDriverData.leftBlinkProb"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.phoneProb), "leftDriverData.phoneProb"),
                      (lambda x: get_idx_if_non_empty(x.rightDriverData.faceProb), "rightDriverData.faceProb"),
                     ], "driverStateV2")

selfdrive/ui/layouts/settings/developer.py

@@ -36,7 +36,7 @@ class DeveloperLayout(Widget):
   def __init__(self):
     super().__init__()
     self._params = Params()
-    self._is_release = self._params.get_bool("IsReleaseBranch")
+    self._is_release = False  # self._params.get_bool("IsReleaseBranch")
 
     # Build items and keep references for callbacks/state updates
     self._adb_toggle = toggle_item(

selfdrive/ui/layouts/settings/toggles.py

@@ -42,7 +42,7 @@ class TogglesLayout(Widget):
   def __init__(self):
     super().__init__()
     self._params = Params()
-    self._is_release = self._params.get_bool("IsReleaseBranch")
+    self._is_release = False  # self._params.get_bool("IsReleaseBranch")
 
     # param, title, desc, icon, needs_restart
     self._toggle_defs = {

selfdrive/ui/mici/onroad/driver_camera_dialog.py

@@ -39,6 +39,8 @@ class BaseDriverCameraDialog(Widget):
     self._eye_fill_texture = None
     self._eye_orange_texture = None
     self._eye_size = 74
+    self._glasses_texture = None
+    self._glasses_size = 171
 
     self._load_eye_textures()
 
@@ -152,6 +154,8 @@ class BaseDriverCameraDialog(Widget):
       self._eye_fill_texture = gui_app.texture("icons_mici/onroad/eye_fill.png", self._eye_size, self._eye_size)
     if self._eye_orange_texture is None:
       self._eye_orange_texture = gui_app.texture("icons_mici/onroad/eye_orange.png", self._eye_size, self._eye_size)
+    if self._glasses_texture is None:
+      self._glasses_texture = gui_app.texture("icons_mici/onroad/glasses.png", self._glasses_size, self._glasses_size)
 
   def _draw_face_detection(self, rect: rl.Rectangle):
     dm_state = ui_state.sm["driverMonitoringState"]
@@ -198,21 +202,31 @@ class BaseDriverCameraDialog(Widget):
     eye_offset_x = 10
     eye_offset_y = 10
     eye_spacing = self._eye_size + 15
-    eyes_prob = driver_data.eyesVisibleProb
 
     left_eye_x = rect.x + eye_offset_x
     left_eye_y = rect.y + eye_offset_y
+    left_eye_prob = driver_data.leftEyeProb
 
     right_eye_x = rect.x + eye_offset_x + eye_spacing
     right_eye_y = rect.y + eye_offset_y
+    right_eye_prob = driver_data.rightEyeProb
 
     # Draw eyes with opacity based on probability
-    fill_opacity = eyes_prob
-    orange_opacity = 1.0 - eyes_prob
-    for eye_x, eye_y in [(left_eye_x, left_eye_y), (right_eye_x, right_eye_y)]:
+    for eye_x, eye_y, eye_prob in [(left_eye_x, left_eye_y, left_eye_prob), (right_eye_x, right_eye_y, right_eye_prob)]:
+      fill_opacity = eye_prob
+      orange_opacity = 1.0 - eye_prob
+
       rl.draw_texture_v(self._eye_orange_texture, (eye_x, eye_y), rl.Color(255, 255, 255, int(255 * orange_opacity)))
       rl.draw_texture_v(self._eye_fill_texture, (eye_x, eye_y), rl.Color(255, 255, 255, int(255 * fill_opacity)))
 
+    # Draw sunglasses indicator based on sunglasses probability
+    # Position glasses centered between the two eyes at top left
+    glasses_x = rect.x + eye_offset_x - 4
+    glasses_y = rect.y
+    glasses_pos = rl.Vector2(glasses_x, glasses_y)
+    glasses_prob = driver_data.sunglassesProb
+    rl.draw_texture_v(self._glasses_texture, glasses_pos, rl.Color(70, 80, 161, int(255 * glasses_prob)))
+
 
 class DriverCameraDialog(NavWidget, BaseDriverCameraDialog):
   def __init__(self):

selfdrive/ui/sunnypilot/ui_state.py

@@ -159,7 +159,6 @@ class UIStateSP:
 
   def _enforce_constraints(self) -> None:
     has_long = self.has_longitudinal_control
-    has_icbm = self.has_icbm
     CP = self.CP
 
     if CP is not None:
@@ -168,8 +167,8 @@ class UIStateSP:
         self.params.remove("EnforceTorqueControl")
         self.params.remove("NeuralNetworkLateralControl")
 
-      # Alpha longitudinal: clear if not available or on release branch
-      if not CP.alphaLongitudinalAvailable or self.params.get_bool("IsReleaseBranch"):
+      # Alpha longitudinal: clear if not available
+      if not CP.alphaLongitudinalAvailable:
         self.params.remove("AlphaLongitudinalEnabled")
 
       # BSM not available: clear BSM-dependent settings
@@ -181,21 +180,23 @@ class UIStateSP:
       self.params.remove("NeuralNetworkLateralControl")
       self.params.remove("AlphaLongitudinalEnabled")
 
-    # No longitudinal control: no experimental mode
+    # No longitudinal control: no experimental mode or DEC
     if not has_long:
       self.params.remove("ExperimentalMode")
+      self.params.remove("DynamicExperimentalControl")
 
     # ICBM: clear if not available or if full longitudinal control is active
     if self.CP_SP is not None:
       if not self.CP_SP.intelligentCruiseButtonManagementAvailable or has_long:
         self.params.remove("IntelligentCruiseButtonManagement")
+        self.has_icbm = False
     else:
       self.params.remove("IntelligentCruiseButtonManagement")
+      self.has_icbm = False
 
     # Cruise features requiring longitudinal or ICBM
-    if not (has_long or has_icbm):
+    if not (has_long or self.has_icbm):
       self.params.remove("CustomAccIncrementsEnabled")
-      self.params.remove("DynamicExperimentalControl")
       self.params.remove("SmartCruiseControlVision")
       self.params.remove("SmartCruiseControlMap")
 

selfdrive/ui/ui_state.py

@@ -74,7 +74,7 @@ class UIState(UIStateSP):
 
     # Core state variables
     self.is_metric: bool = self.params.get_bool("IsMetric")
-    self.is_release = self.params.get_bool("IsReleaseBranch")
+    self.is_release = False  # self.params.get_bool("IsReleaseBranch")
     self.always_on_dm: bool = self.params.get_bool("AlwaysOnDM")
     self.started: bool = False
     self.ignition: bool = False

sunnypilot/common/version.h

@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2026.001.000"
+#define SUNNYPILOT_VERSION "2026.001.007"

sunnypilot/models/tests/model_hash

@@ -1 +1 @@
-5d4d21f1899de21137f69d74a4602c44cc5a6b04cf4e4aa9d0ec9206f8c30350
+32f57bdc91f910df1f48ddae7c59aaf6e751f9df6756da481a210577dbce8bcf

sunnypilot/sunnylink/capabilities.py

@@ -78,6 +78,38 @@ def _bundle_field(bundle: dict | None, key: str) -> str:
   return bundle.get(key, "") if isinstance(bundle, dict) else ""
 
 
+def _resolve_brand_capabilities(caps: dict, bundle_platform: str, CP) -> None:
+  """Set brand-specific capabilities from bundle platform or CarParams fallback.
+
+  Bundle (manual car selection) is a pre-fingerprint approximation.
+  CarParams (auto-fingerprint) is the authoritative post-fingerprint source.
+  Mirrors the per-brand update_settings() logic in device UI layouts.
+  """
+  brand = caps["brand"]
+
+  if brand == "hyundai":
+    if bundle_platform:
+      try:
+        unsupported = set().union(*UNSUPPORTED_LONGITUDINAL_CAR.values())
+        caps["hyundai_alpha_long_available"] = HYUNDAI_CAR[bundle_platform] not in unsupported
+      except KeyError:
+        cloudlog.exception(f"capabilities: unknown hyundai platform {bundle_platform!r}")
+    elif CP is not None:
+      caps["hyundai_alpha_long_available"] = bool(CP.alphaLongitudinalAvailable)
+
+  elif brand == "subaru":
+    if bundle_platform:
+      try:
+        flags = SUBARU_CAR[bundle_platform].config.flags
+        caps["subaru_has_sng"] = not bool(flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
+        caps["has_stop_and_go"] = caps["subaru_has_sng"]
+      except KeyError:
+        cloudlog.exception(f"capabilities: unknown subaru platform {bundle_platform!r}")
+    elif CP is not None:
+      caps["subaru_has_sng"] = not bool(CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
+      caps["has_stop_and_go"] = caps["subaru_has_sng"]
+
+
 def generate_capabilities(params: Params | None = None) -> dict:
   """Generate a SettingsCapabilities dict from CarParams + boolean params.
 
@@ -94,7 +126,7 @@ def generate_capabilities(params: Params | None = None) -> dict:
 
   # Hardware + boolean params (no CarParams dependency)
   caps["device_type"] = HARDWARE.get_device_type()
-  caps["is_release"] = params.get_bool("IsReleaseBranch")
+  caps["is_release"] = False  # params.get_bool("IsReleaseBranch")
   caps["is_sp_release"] = params.get_bool("IsReleaseSpBranch")
   caps["is_development"] = params.get_bool("IsDevelopmentBranch")
   caps["stock_longitudinal"] = params.get_bool("ToyotaEnforceStockLongitudinal")
@@ -108,6 +140,7 @@ def generate_capabilities(params: Params | None = None) -> dict:
     caps["brand"] = bundle_brand
 
   # CarParams-derived capabilities
+  CP = None
   CP_bytes = params.get("CarParamsPersistent")
   if CP_bytes is not None:
     try:
@@ -129,6 +162,7 @@ def generate_capabilities(params: Params | None = None) -> dict:
       # Generic SnG fallback. Brand-specific opaque flags below override.
       caps["has_stop_and_go"] = bool(CP.openpilotLongitudinalControl)
     except Exception:
+      CP = None
       cloudlog.exception("capabilities: failed to deserialize CarParamsPersistent")
 
   # CarParamsSP-derived capabilities
@@ -142,23 +176,7 @@ def generate_capabilities(params: Params | None = None) -> dict:
     except Exception:
       cloudlog.exception("capabilities: failed to deserialize CarParamsSPPersistent")
 
-  # Brand-specific opaque flags. Mirror Raylib brand-settings logic so the
-  # device and the dashboard agree on per-platform availability without
-  # leaking the platform identifier over the wire.
-  if caps["brand"] == "subaru" and bundle_platform:
-    try:
-      flags = SUBARU_CAR[bundle_platform].config.flags
-      caps["subaru_has_sng"] = not bool(flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
-      caps["has_stop_and_go"] = caps["subaru_has_sng"]
-    except KeyError:
-      cloudlog.exception(f"capabilities: unknown subaru platform {bundle_platform!r}")
-
-  if caps["brand"] == "hyundai" and bundle_platform:
-    try:
-      unsupported = set().union(*UNSUPPORTED_LONGITUDINAL_CAR.values())
-      caps["hyundai_alpha_long_available"] = HYUNDAI_CAR[bundle_platform] not in unsupported
-    except KeyError:
-      cloudlog.exception(f"capabilities: unknown hyundai platform {bundle_platform!r}")
+  _resolve_brand_capabilities(caps, bundle_platform, CP)
 
   return caps
 

sunnypilot/sunnylink/settings_ui.json

@@ -574,19 +574,9 @@
               "description": "Let the model decide when to use sunnypilot ACC or sunnypilot End to End Longitudinal.",
               "visibility": [
                 {
-                  "type": "any",
-                  "conditions": [
-                    {
-                      "type": "capability",
-                      "field": "has_longitudinal_control",
-                      "equals": true
-                    },
-                    {
-                      "type": "capability",
-                      "field": "has_icbm",
-                      "equals": true
-                    }
-                  ]
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
                 }
               ],
               "enablement": [
@@ -1603,47 +1593,47 @@
                   "label": "Always On"
                 },
                 {
-                  "value": 1,
+                  "value": 5,
                   "label": "5m"
                 },
                 {
-                  "value": 2,
+                  "value": 10,
                   "label": "10m"
                 },
                 {
-                  "value": 3,
+                  "value": 15,
                   "label": "15m"
                 },
                 {
-                  "value": 4,
+                  "value": 30,
                   "label": "30m"
                 },
                 {
-                  "value": 5,
+                  "value": 60,
                   "label": "1h"
                 },
                 {
-                  "value": 6,
+                  "value": 120,
                   "label": "2h"
                 },
                 {
-                  "value": 7,
+                  "value": 180,
                   "label": "3h"
                 },
                 {
-                  "value": 8,
+                  "value": 300,
                   "label": "5h"
                 },
                 {
-                  "value": 9,
+                  "value": 600,
                   "label": "10h"
                 },
                 {
-                  "value": 10,
+                  "value": 1440,
                   "label": "24h"
                 },
                 {
-                  "value": 11,
+                  "value": 1800,
                   "label": "30h (Default)"
                 }
               ]
@@ -1674,13 +1664,13 @@
         {
           "id": "updates",
           "title": "Updates",
-          "description": "Control automatic software updates",
+          "description": "Control software updates",
           "items": [
             {
               "key": "DisableUpdates",
               "widget": "toggle",
               "title": "Disable Updates",
-              "description": "When enabled, automatic software updates will be off. This requires a reboot to take effect.",
+              "description": "When enabled, software updates will be off. This requires a reboot to take effect.",
               "enablement": [
                 {
                   "type": "offroad_only"
@@ -1731,26 +1721,6 @@
               "key": "JoystickDebugMode",
               "widget": "toggle",
               "title": "Joystick Debug Mode",
-              "visibility": [
-                {
-                  "type": "not",
-                  "condition": {
-                    "type": "any",
-                    "conditions": [
-                      {
-                        "type": "capability",
-                        "field": "is_release",
-                        "equals": true
-                      },
-                      {
-                        "type": "capability",
-                        "field": "is_sp_release",
-                        "equals": true
-                      }
-                    ]
-                  }
-                }
-              ],
               "enablement": [
                 {
                   "type": "offroad_only"
@@ -1775,19 +1745,9 @@
                     {
                       "type": "not",
                       "condition": {
-                        "type": "any",
-                        "conditions": [
-                          {
-                            "type": "capability",
-                            "field": "is_release",
-                            "equals": true
-                          },
-                          {
-                            "type": "capability",
-                            "field": "is_sp_release",
-                            "equals": true
-                          }
-                        ]
+                        "type": "capability",
+                        "field": "has_icbm",
+                        "equals": true
                       }
                     }
                   ]
@@ -1900,19 +1860,9 @@
                 {
                   "type": "not",
                   "condition": {
-                    "type": "any",
-                    "conditions": [
-                      {
-                        "type": "capability",
-                        "field": "is_release",
-                        "equals": true
-                      },
-                      {
-                        "type": "capability",
-                        "field": "is_sp_release",
-                        "equals": true
-                      }
-                    ]
+                    "type": "capability",
+                    "field": "is_sp_release",
+                    "equals": true
                   }
                 }
               ],
@@ -1947,11 +1897,6 @@
                   "condition": {
                     "type": "any",
                     "conditions": [
-                      {
-                        "type": "capability",
-                        "field": "is_release",
-                        "equals": true
-                      },
                       {
                         "type": "capability",
                         "field": "is_sp_release",

sunnypilot/sunnylink/settings_ui_src/_macros.yaml

@@ -59,12 +59,7 @@ macros:
             - type: not
               condition: {type: capability, field: tesla_has_vehicle_bus, equals: true}
 
-  # Hide everything but a clearly-marked release branch (matches Raylib
-  # _is_release_branch = is_release OR is_sp_release).
+  # Hide on sunnypilot release branches (is_release is hardcoded False everywhere; is_sp_release is the active gate).
   release_branches_hide:
     - type: not
-      condition:
-        type: any
-        conditions:
-          - {type: capability, field: is_release, equals: true}
-          - {type: capability, field: is_sp_release, equals: true}
+      condition: {type: capability, field: is_sp_release, equals: true}

sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml

@@ -21,14 +21,7 @@ sections:
     title: Dynamic Experimental Control
     description: Let the model decide when to use sunnypilot ACC or sunnypilot End to End Longitudinal.
     visibility:
-    - type: any
-      conditions:
-      - type: capability
-        field: has_longitudinal_control
-        equals: true
-      - type: capability
-        field: has_icbm
-        equals: true
+    - $ref: '#/macros/longitudinal'
     enablement:
     - $ref: '#/macros/longitudinal'
   - key: DisengageOnAccelerator

sunnypilot/sunnylink/settings_ui_src/pages/developer.yaml

@@ -26,8 +26,6 @@ sections:
   - key: JoystickDebugMode
     widget: toggle
     title: Joystick Debug Mode
-    visibility:
-    - $ref: '#/macros/release_branches_hide'
     enablement:
     - $ref: '#/macros/offroad'
   - key: AlphaLongitudinalEnabled
@@ -46,14 +44,9 @@ sections:
         equals: true
       - type: not
         condition:
-          type: any
-          conditions:
-          - type: capability
-            field: is_release
-            equals: true
-          - type: capability
-            field: is_sp_release
-            equals: true
+          type: capability
+          field: has_icbm
+          equals: true
     enablement:
     - $ref: '#/macros/not_engaged'
   - key: ShowDebugInfo
@@ -131,9 +124,6 @@ sections:
       condition:
         type: any
         conditions:
-        - type: capability
-          field: is_release
-          equals: true
         - type: capability
           field: is_sp_release
           equals: true

sunnypilot/sunnylink/settings_ui_src/pages/device.yaml

@@ -37,27 +37,27 @@ sections:
     options:
     - value: 0
       label: Always On
-    - value: 1
-      label: 5m
-    - value: 2
-      label: 10m
-    - value: 3
-      label: 15m
-    - value: 4
-      label: 30m
     - value: 5
-      label: 1h
-    - value: 6
-      label: 2h
-    - value: 7
-      label: 3h
-    - value: 8
-      label: 5h
-    - value: 9
-      label: 10h
+      label: 5m
     - value: 10
+      label: 10m
+    - value: 15
+      label: 15m
+    - value: 30
+      label: 30m
+    - value: 60
+      label: 1h
+    - value: 120
+      label: 2h
+    - value: 180
+      label: 3h
+    - value: 300
+      label: 5h
+    - value: 600
+      label: 10h
+    - value: 1440
       label: 24h
-    - value: 11
+    - value: 1800
       label: 30h (Default)
 - id: language
   title: Language

sunnypilot/sunnylink/settings_ui_src/pages/software.yaml

@@ -9,12 +9,12 @@ description: Software update preferences
 sections:
 - id: updates
   title: Updates
-  description: Control automatic software updates
+  description: Control software updates
   items:
   - key: DisableUpdates
     widget: toggle
     title: Disable Updates
-    description: When enabled, automatic software updates will be off. This requires a reboot to take effect.
+    description: When enabled, software updates will be off. This requires a reboot to take effect.
     enablement:
     - $ref: '#/macros/offroad'
     - $ref: '#/macros/advanced_only'

sunnypilot/sunnylink/tests/test_compile_settings_ui.py

@@ -15,6 +15,7 @@ compiled output once the compiler has produced it.
 """
 from __future__ import annotations
 
+import difflib
 import json
 import os
 
@@ -44,7 +45,16 @@ def committed() -> dict:
 class TestRoundtrip:
   def test_compiled_matches_committed(self, compiled, committed):
     """Compiled output must match the checked-in JSON."""
-    assert compiled == committed
+    if compiled == committed:
+      return
+    diff = "\n".join(difflib.unified_diff(
+      json.dumps(committed, indent=2).splitlines(),
+      json.dumps(compiled, indent=2).splitlines(),
+      fromfile="settings_ui.json (committed)",
+      tofile="settings_ui.json (freshly compiled)",
+      lineterm="",
+    ))
+    pytest.fail(f"settings_ui.json schema mismatch — run compile_settings_ui.py\n\n{diff}")
 
   def test_committed_file_is_canonical(self):
     """Compiled output must byte-match the checked-in file (including trailing newline).
@@ -53,7 +63,16 @@ class TestRoundtrip:
     rendered = json.dumps(schema, indent=2) + "\n"
     with open(DEFAULT_OUT) as f:
       current = f.read()
-    assert current == rendered, "settings_ui.json out of sync — run compile_settings_ui.py"
+    if current == rendered:
+      return
+    diff = "\n".join(difflib.unified_diff(
+      current.splitlines(),
+      rendered.splitlines(),
+      fromfile="settings_ui.json (on disk)",
+      tofile="settings_ui.json (freshly compiled)",
+      lineterm="",
+    ))
+    pytest.fail(f"settings_ui.json out of sync — run compile_settings_ui.py\n\n{diff}")
 
 
 class TestRefResolution:

sunnypilot/sunnylink/tests/test_settings_changes.py

@@ -181,17 +181,14 @@ class TestTorqueOptionGeneration:
 
 class TestReleaseBranchGates:
   @pytest.mark.parametrize("key", [
-    "JoystickDebugMode",
-    "AlphaLongitudinalEnabled",
     "EnableGithubRunner",
     "QuickBootToggle",
   ])
   def test_sp_dev_items_gate_on_is_sp_release(self, schema, key):
-    """SP dev items must hide on either release branch (is_release OR is_sp_release)."""
+    """sunnypilot dev items must hide on sunnypilot release branches (is_sp_release gate)."""
     item = _find_item(schema, key)
     assert item is not None, f"{key} not found in schema"
     rules = (item.get("visibility") or []) + (item.get("enablement") or [])
-    assert _references_capability_field(rules, "is_release"), f"{key} missing is_release gate"
     assert _references_capability_field(rules, "is_sp_release"), f"{key} missing is_sp_release gate"
 
 

system/manager/manager.py

@@ -35,8 +35,8 @@ def manager_init() -> None:
   params.clear_all(ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION)
   params.clear_all(ParamKeyFlag.CLEAR_ON_OFFROAD_TRANSITION)
   params.clear_all(ParamKeyFlag.CLEAR_ON_IGNITION_ON)
-  if build_metadata.release_channel:
-    params.clear_all(ParamKeyFlag.DEVELOPMENT_ONLY)
+  # if build_metadata.release_channel:
+  #   params.clear_all(ParamKeyFlag.DEVELOPMENT_ONLY)
 
   # device boot mode
   if params.get("DeviceBootMode") == 1:  # start in Always Offroad mode