chore: update CHANGELOG for 2026.001.002

* don't use upstream's

* clean

* update schema

* fix

* mismatch test and fix

.github/workflows/cereal_validation.yaml

@@ -23,43 +23,56 @@ 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 cereal
+      - name: Checkout sunnypilot
         uses: actions/checkout@v6
-        with:
-          sparse-checkout: cereal
-
-      - name: Init sunnypilot opendbc submodule
-        run: git submodule update --init --depth 1 opendbc_repo
-
-      - name: Checkout upstream openpilot cereal
+      - name: Checkout upstream openpilot
         uses: actions/checkout@v6
         with:
           repository: 'commaai/openpilot'
-          path: upstream_openpilot
-          sparse-checkout: cereal
+          path: openpilot
+          submodules: true
           ref: "refs/heads/master"
-
-      - 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: ./tools/op.sh setup
+      - name: Build openpilot
+        working-directory: openpilot
+        run: scons -j$(nproc) cereal
+      - name: Download build artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: cereal_validations
+          path: openpilot/cereal/messaging/tests/cereal_validations
+      - name: 'Validate sunnypilot schema against upstream'
         run: |
-          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
-          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
-            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-            -g -f /tmp/sp_schema.json --cereal-dir cereal
-
-      - name: Validate against upstream
-        run: |
-          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
-          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
-            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-            -r -f /tmp/sp_schema.json --cereal-dir upstream_openpilot/cereal
+          export PYTHONPATH=${{ 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

CHANGELOG.md

@@ -1,5 +1,12 @@
-sunnypilot Version 2026.002.000 (2026-xx-xx)
+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)
 ========================

cereal/custom.capnp

@@ -194,13 +194,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   aTarget @5 :Float32;
   events @6 :List(OnroadEventSP.Event);
   e2eAlerts @7 :E2eAlerts;
-  accelPersonality @8 :AccelerationPersonality;
-
-  enum AccelerationPersonality {
-    sport @0;
-    normal @1;
-    eco @2;
-  }
 
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;

cereal/log.capnp

@@ -2054,14 +2054,16 @@ struct DriverStateV2 {
     facePosition @2 :List(Float32);
     facePositionStd @3 :List(Float32);
     faceProb @4 :Float32;
-    leftEyeProb @5 :Float32;
-    rightEyeProb @6 :Float32;
-    leftBlinkProb @7 :Float32;
-    rightBlinkProb @8 :Float32;
-    sunglassesProb @9 :Float32;
+    eyesVisibleProb @14 :Float32;
+    eyesClosedProb @15 :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

@@ -13,7 +13,6 @@ from __future__ import annotations
 
 import argparse
 import json
-import os
 import sys
 from typing import Any
 
@@ -105,15 +104,8 @@ def collect_schema(root: Any) -> dict[str, dict]:
   return structs
 
 
-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)
+def dump_schema(path: str) -> None:
+  from cereal import log
   payload = {
     "root": hex_id(log.Event.schema.node.id),
     "structs": collect_schema(log.Event.schema),
@@ -214,8 +206,8 @@ def load_peer(path: str) -> dict:
     return json.load(handle)
 
 
-def run_read(cereal_dir: str, peer_path: str) -> int:
-  log = load_log(cereal_dir)
+def run_read(peer_path: str) -> int:
+  from cereal import log
   peer_dump = load_peer(peer_path)
   local_dump = {
     "root": hex_id(log.Event.schema.node.id),
@@ -243,13 +235,16 @@ 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()
 
-  if args.generate:
-    dump_schema(args.cereal_dir, args.file)
-    return 0
-  return run_read(args.cereal_dir, args.file)
+  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 __name__ == "__main__":

common/model.h

@@ -0,0 +1 @@
+#define DEFAULT_MODEL "CD210 (Default)"

common/params_keys.h

@@ -135,8 +135,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"Version", {PERSISTENT, STRING}},
 
     // --- sunnypilot params --- //
-    {"AccelPersonality", {PERSISTENT | BACKUP, INT, std::to_string(static_cast<int>(cereal::LongitudinalPlanSP::AccelerationPersonality::NORMAL))}},
-    {"AccelPersonalityEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ApiCache_DriveStats", {PERSISTENT, JSON}},
     {"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -313,14 +313,11 @@ class LongitudinalMpc:
     lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
     return lead_xv
 
-  def update(self, radarstate, v_cruise, personality=log.LongitudinalPersonality.standard, a_cruise_min=None):
+  def update(self, radarstate, v_cruise, personality=log.LongitudinalPersonality.standard):
     t_follow = get_T_FOLLOW(personality)
     v_ego = self.x0[1]
     self.status = radarstate.leadOne.status or radarstate.leadTwo.status
 
-    if a_cruise_min is None:
-      a_cruise_min = CRUISE_MIN_ACCEL
-
     lead_xv_0 = self.process_lead(radarstate.leadOne)
     lead_xv_1 = self.process_lead(radarstate.leadTwo)
 
@@ -332,7 +329,7 @@ class LongitudinalMpc:
 
     # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
     # when the leads are no factor.
-    v_lower = v_ego + (T_IDXS * a_cruise_min * 1.05)
+    v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05)
     # TODO does this make sense when max_a is negative?
     v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05)
     v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), v_lower, v_upper)

selfdrive/controls/lib/longitudinal_planner.py

@@ -110,7 +110,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
 
-    accel_clip = self.get_accel_clip(v_ego) or [ACCEL_MIN, get_max_accel(v_ego)]
+    accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
     steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
     accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
 
@@ -138,8 +138,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
 
     self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
-    self.mpc.update(sm['radarState'], v_cruise, personality=sm['selfdriveState'].personality,
-                    a_cruise_min=self.get_cruise_min_accel(v_ego))
+    self.mpc.update(sm['radarState'], v_cruise, personality=sm['selfdriveState'].personality)
 
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)

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', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob']:
+    for key in ['face_prob', 'eyes_visible_prob', 'eyes_closed_prob', 'using_phone_prob']:
       parsed[f'{key}_{ds_suffix}'] = sigmoid(model_output[f'{key}_{ds_suffix}'])
   return parsed
 
@@ -93,11 +93,8 @@ 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.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.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.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

@@ -32,9 +32,8 @@ class DRIVER_MONITOR_SETTINGS:
     self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
 
     self._FACE_THRESHOLD = 0.7
-    self._EYE_THRESHOLD = 0.65
-    self._SG_THRESHOLD = 0.9
-    self._BLINK_THRESHOLD = 0.865
+    self._EYE_THRESHOLD = 0.5
+    self._BLINK_THRESHOLD = 0.5
     self._PHONE_THRESH = 0.5
 
     self._POSE_PITCH_THRESHOLD = 0.3133
@@ -111,11 +110,6 @@ 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
@@ -150,7 +144,7 @@ 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 = DriverBlink()
+    self.blink_prob = 0.
     self.phone_prob = 0.
 
     self.always_on = always_on
@@ -253,7 +247,7 @@ class DriverMonitoring:
     if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
       distracted_types.append(DistractedType.DISTRACTED_POSE)
 
-    if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
+    if self.blink_prob > self.settings._BLINK_THRESHOLD:
       distracted_types.append(DistractedType.DISTRACTED_BLINK)
 
     if self.phone_prob > self.settings._PHONE_THRESH:
@@ -294,10 +288,7 @@ 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.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.blink_prob = driver_data.eyesClosedProb * (driver_data.eyesVisibleProb > self.settings._EYE_THRESHOLD)
     self.phone_prob = driver_data.phoneProb
 
     self.distracted_types = self._get_distracted_types()

selfdrive/monitoring/test_monitoring.py

@@ -20,10 +20,8 @@ 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.leftEyeProb = 1.
-  ds.leftDriverData.rightEyeProb = 1.
-  ds.leftDriverData.leftBlinkProb = 1. * distracted
-  ds.leftDriverData.rightBlinkProb = 1. * distracted
+  ds.leftDriverData.eyesVisibleProb = 1.
+  ds.leftDriverData.eyesClosedProb = 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.leftBlinkProb), "leftDriverData.leftBlinkProb"),
+                     (lambda x: get_idx_if_non_empty(x.leftDriverData.eyesClosedProb), "leftDriverData.eyesClosedProb"),
                      (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/mici/onroad/driver_camera_dialog.py

@@ -39,8 +39,6 @@ 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()
 
@@ -154,8 +152,6 @@ 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"]
@@ -202,31 +198,21 @@ 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
-    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
-
+    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)]:
       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/layouts/settings/models.py

@@ -10,7 +10,6 @@ import time
 import pyray as rl
 
 from cereal import custom
-from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
 from openpilot.common.constants import CV
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.system.ui.lib.multilang import tr
@@ -208,7 +207,7 @@ class ModelsLayout(Widget):
     for bundle in bundles:
       folders.setdefault(next((ov_ride.value for ov_ride in bundle.overrides if ov_ride.key == "folder"), ""), []).append(bundle)
 
-    folders_list = [TreeFolder("", [TreeNode("Default", {'display_name': f"{DEFAULT_MODEL} (Default)", 'short_name': "Default"})])]
+    folders_list = [TreeFolder("", [TreeNode("Default", {'display_name': tr("Default Model"), 'short_name': "Default"})])]
     for folder, folder_bundles in sorted(folders.items(), key=lambda x: max((bundle.index for bundle in x[1]), default=-1), reverse=True):
       folder_bundles.sort(key=lambda bundle: bundle.index, reverse=True)
       name = folder + (f" - (Updated: {m.group(1)})" if folder_bundles and (m := re.search(r'\(([^)]*)\)[^(]*$', folder_bundles[0].displayName)) else "")
@@ -244,7 +243,7 @@ class ModelsLayout(Widget):
     self._update_lagd_description(live_delay)
     self.model_manager = ui_state.sm["modelManagerSP"]
     self._handle_bundle_download_progress()
-    active_name = self.model_manager.activeBundle.internalName if self.model_manager and self.model_manager.activeBundle.ref else f"{DEFAULT_MODEL} (Default)"
+    active_name = self.model_manager.activeBundle.internalName if self.model_manager and self.model_manager.activeBundle.ref else tr("Default Model")
     self.current_model_item.action_item.set_value(active_name)
 
     if not ui_state.is_offroad():

selfdrive/ui/sunnypilot/mici/layouts/models.py

@@ -8,7 +8,6 @@ from collections.abc import Callable
 import pyray as rl
 
 from cereal import custom
-from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.models import ModelsLayout
 from openpilot.selfdrive.ui.ui_state import ui_state, device
@@ -28,8 +27,7 @@ class CurrentModelInfo(Widget):
     subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
     max_width = int(self._rect.width - 20)
     self.current_model_header = UnifiedLabel(tr("active model"), 48, max_width=max_width, text_color=header_color, font_weight=FontWeight.DISPLAY)
-    default_text = f"{DEFAULT_MODEL} (Default)".lower()
-    self.current_model_text = UnifiedLabel(default_text, 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN, scroll=True)
+    self.current_model_text = UnifiedLabel(tr("default model"), 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN, scroll=True)
 
     self.info_header = UnifiedLabel("cache size", 48, max_width=max_width, text_color=header_color, font_weight=FontWeight.DISPLAY)
     self.info_text = UnifiedLabel("0 mb", 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN)
@@ -100,7 +98,7 @@ class ModelsLayoutMici(NavScroller):
 
     folders = self._get_grouped_bundles(favorites)
     folder_buttons = []
-    default_btn = BigButton(f"{DEFAULT_MODEL} (Default)".lower())
+    default_btn = BigButton(tr("default model"))
     default_btn.set_click_callback(self._select_default)
     folder_buttons.append(default_btn)
 
@@ -170,8 +168,7 @@ class ModelsLayoutMici(NavScroller):
     self._was_downloading = is_downloading
 
     self.current_model_info.current_model_header.set_text(tr("active model"))
-    model_text = manager.activeBundle.displayName.lower() if manager.activeBundle.index > 0 else f"{DEFAULT_MODEL} (Default)".lower()
-    self.current_model_info.current_model_text.set_text(model_text)
+    self.current_model_info.current_model_text.set_text(manager.activeBundle.displayName.lower() if manager.activeBundle.index > 0 else tr("default model"))
     self.current_model_info.info_header.set_text(tr("cache size"))
     self.current_model_info.info_text.set_text(f"{ModelsLayout.calculate_cache_size():.2f} MB")
 

sunnypilot/common/version.h

@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2026.002.000"
+#define SUNNYPILOT_VERSION "2026.001.002"

sunnypilot/models/default_model.py

@@ -4,9 +4,8 @@ import hashlib
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.sunnypilot import get_file_hash
-from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL
 
-DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "model_name.py")
+DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "common", "model.h")
 MODEL_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "tests", "model_hash")
 VISION_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_vision.onnx")
 POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_policy.onnx")
@@ -26,7 +25,8 @@ def update_model_hash():
 
 def get_current_default_model_name():
   print("[GET DEFAULT MODEL NAME]")
-  name = DEFAULT_MODEL
+  with open(DEFAULT_MODEL_NAME_PATH) as f:
+    name = f.read().split('"')[1]
   print(f'Current default model name: "{name}"')
 
   return name
@@ -35,7 +35,7 @@ def get_current_default_model_name():
 def update_default_model_name(name: str):
   print("[CHANGE DEFAULT MODEL NAME]")
   with open(DEFAULT_MODEL_NAME_PATH, "w") as f:
-    f.write(f'DEFAULT_MODEL = "{name}"\n')
+    f.write(f'#define DEFAULT_MODEL "{name}"\n')
   print(f'New default model name: "{name}"')
   print("[DONE]")
 
@@ -51,7 +51,7 @@ if __name__ == "__main__":
     exit(0)
 
   current_name = get_current_default_model_name()
-  new_name = args.new_name
+  new_name = f"{args.new_name} (Default)"
   if current_name == new_name:
     print(f'Proposed default model name: "{new_name}"')
     confirm = input("Proposed default model name is the same as the current default model name. Confirm? (y/n): ").upper().strip()

sunnypilot/models/model_name.py

@@ -1 +0,0 @@
-DEFAULT_MODEL = "POP model"

sunnypilot/models/tests/model_hash

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

sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py

@@ -1,156 +0,0 @@
-"""
-Copyright (c) 2021-, rav4kumar, 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.
-"""
-
-from cereal import custom
-import numpy as np
-from openpilot.common.realtime import DT_MDL
-from openpilot.common.params import Params
-from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
-
-AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
-
-
-A_MAX_BP = [0.0, 4.0, 8.0, 16.0, 40.0]
-A_MAX_V = {
-  AccelPersonality.eco:    [1.20, 1.40, 1.20, 0.40, 0.08],
-  AccelPersonality.normal: [1.80, 1.80, 1.35, 0.50, 0.15],
-  AccelPersonality.sport:  [2.20, 2.20, 1.60, 0.70, 0.25],
-}
-
-COAST_DRAG_BP = [0.0, 10.0, 25.0, 40.0]
-COAST_DRAG_V = {
-  AccelPersonality.eco:    [-0.03, -0.05, -0.08, -0.12],
-  AccelPersonality.normal: [-0.04, -0.07, -0.12, -0.18],
-  AccelPersonality.sport:  [-0.06, -0.10, -0.18, -0.28],
-}
-
-A_MIN_FLOOR_BP = [0.0, 5.0, 15.0, 40.0]
-A_MIN_FLOOR_V = {
-  AccelPersonality.eco:    [-0.20, -0.35, -0.55, -0.50],
-  AccelPersonality.normal: [-0.25, -0.45, -0.75, -0.65],
-  AccelPersonality.sport:  [-0.35, -0.65, -1.00, -0.95],
-}
-
-DEFICIT_TO_FLOOR = 8.5
-COAST_DEADBAND = 1.0
-RAMP_OFF_RANGE = 5.0
-
-A_MIN_TIGHTEN_RATE = 0.6
-A_MIN_RELAX_RATE = 0.9
-A_MAX_RATE_UP = 1.5
-A_MAX_RATE_DOWN = 0.6
-
-MIN_MAX_GAP = 0.05
-
-PARAM_REFRESH_FRAMES = max(1, int(1.0 / DT_MDL))
-
-
-class AccelPersonalityController:
-  def __init__(self):
-    self.params = Params()
-    self.frame = 0
-    self._first = True
-
-    val = self.params.get('AccelPersonality')
-    self._personality = val if val is not None else AccelPersonality.normal
-    self._enabled = self.params.get_bool('AccelPersonalityEnabled')
-
-    self._v_cruise = 0.0
-    self._a_min = -0.05
-    self._a_max = 1.50
-
-    self._cache_v: float | None = None
-    self._cache_v_cruise: float | None = None
-    self._cache_a_min = self._a_min
-    self._cache_a_max = self._a_max
-
-  def update(self, sm=None):
-    self.frame += 1
-    self._cache_v = None
-    self._cache_v_cruise = None
-
-    if sm is not None:
-      vc = sm['carState'].vCruise
-      self._v_cruise = float(vc) * (1000.0 / 3600.0) if vc != V_CRUISE_UNSET else 0.0
-
-    if self.frame % PARAM_REFRESH_FRAMES == 0:
-      val = self.params.get('AccelPersonality')
-      self._personality = val if val is not None else AccelPersonality.normal
-      new_enabled = self.params.get_bool('AccelPersonalityEnabled')
-      if new_enabled and not self._enabled:
-        self._first = True
-      self._enabled = new_enabled
-
-  def get_accel_personality(self) -> int:
-    return int(self._personality)
-
-  def is_enabled(self) -> bool:
-    return self._enabled
-
-  def get_accel_limits(self, v_ego: float) -> tuple[float, float]:
-    v_ego = max(0.0, v_ego)
-    if (self._cache_v is not None
-        and abs(self._cache_v - v_ego) < 0.01
-        and self._cache_v_cruise == self._v_cruise):
-      return self._cache_a_min, self._cache_a_max
-    self._cache_a_min, self._cache_a_max = self._step(v_ego)
-    self._cache_v = v_ego
-    self._cache_v_cruise = self._v_cruise
-    return self._cache_a_min, self._cache_a_max
-
-  def get_min_accel(self, v_ego: float) -> float:
-    return self.get_accel_limits(v_ego)[0]
-
-  def get_max_accel(self, v_ego: float) -> float:
-    return self.get_accel_limits(v_ego)[1]
-
-  def _ramp_off(self, v_ego: float) -> float:
-    if self._v_cruise <= 0.0:
-      return 1.0
-    return float(np.clip((self._v_cruise - v_ego) / RAMP_OFF_RANGE, 0.0, 1.0))
-
-  def _target_max(self, v_ego: float) -> float:
-    base = float(np.interp(v_ego, A_MAX_BP, A_MAX_V[self._personality]))
-    return base * self._ramp_off(v_ego)
-
-  def _target_min(self, v_ego: float) -> float:
-    coast = float(np.interp(v_ego, COAST_DRAG_BP, COAST_DRAG_V[self._personality]))
-    if self._v_cruise <= 0.0 or v_ego >= self._v_cruise:
-      return coast
-    floor = float(np.interp(v_ego, A_MIN_FLOOR_BP, A_MIN_FLOOR_V[self._personality]))
-    deficit = self._v_cruise - v_ego
-    t = float(np.clip(deficit / DEFICIT_TO_FLOOR, 0.0, 1.0)) ** 1.5
-    return coast + t * (floor - coast)
-
-  def _apply_coast_deadband(self, v_ego: float, t_min: float, t_max: float) -> tuple[float, float]:
-    if self._v_cruise <= 0.0 or abs(v_ego - self._v_cruise) >= COAST_DEADBAND:
-      return t_min, t_max
-    coast = float(np.interp(v_ego, COAST_DRAG_BP, COAST_DRAG_V[self._personality]))
-    return coast, max(0.05, t_max * 0.25)
-
-  def _rate_limit(self, last: float, target: float, rate_down: float, rate_up: float) -> float:
-    rate = rate_up if target > last else rate_down
-    step = rate * DT_MDL
-    return float(np.clip(target, last - step, last + step))
-
-  def _step(self, v_ego: float) -> tuple[float, float]:
-    t_max = self._target_max(v_ego)
-    t_min = self._target_min(v_ego)
-    t_min, t_max = self._apply_coast_deadband(v_ego, t_min, t_max)
-
-    if self._first:
-      self._a_min, self._a_max = t_min, t_max
-      self._first = False
-      return self._a_min, self._a_max
-
-    new_min = self._rate_limit(self._a_min, t_min, rate_down=A_MIN_TIGHTEN_RATE, rate_up=A_MIN_RELAX_RATE)
-    new_max = self._rate_limit(self._a_max, t_max, rate_down=A_MAX_RATE_DOWN, rate_up=A_MAX_RATE_UP)
-
-    new_min = min(new_min, new_max - MIN_MAX_GAP)
-
-    self._a_min, self._a_max = new_min, new_max
-    return self._a_min, self._a_max

sunnypilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -17,9 +17,6 @@ from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_resolve
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 
-from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import AccelPersonalityController
-from opendbc.car.interfaces import ACCEL_MIN
-
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
 LongitudinalPlanSource = custom.LongitudinalPlanSP.LongitudinalPlanSource
 
@@ -29,7 +26,6 @@ class LongitudinalPlannerSP:
     self.events_sp = EventsSP()
     self.resolver = SpeedLimitResolver()
     self.dec = DynamicExperimentalController(CP, mpc)
-    self.accel_controller = AccelPersonalityController()
     self.scc = SmartCruiseControl()
     self.resolver = SpeedLimitResolver()
     self.sla = SpeedLimitAssist(CP, CP_SP)
@@ -47,17 +43,6 @@ class LongitudinalPlannerSP:
 
     return experimental_mode and self.dec.mode() == "blended"
 
-  def get_accel_clip(self, v_ego: float) -> list[float] | None:
-    if not self.accel_controller.is_enabled():
-      return None
-    a_max = self.accel_controller.get_max_accel(v_ego)
-    return [ACCEL_MIN, max(ACCEL_MIN, a_max)]
-
-  def get_cruise_min_accel(self, v_ego: float) -> float | None:
-    if self.accel_controller.is_enabled():
-      return self.accel_controller.get_min_accel(v_ego)
-    return None
-
   def update_targets(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise: float) -> tuple[float, float]:
     CS = sm['carState']
     v_cruise_cluster_kph = min(CS.vCruiseCluster, V_CRUISE_MAX)
@@ -92,7 +77,6 @@ class LongitudinalPlannerSP:
     self.events_sp.clear()
     self.dec.update(sm)
     self.e2e_alerts_helper.update(sm, self.events_sp)
-    self.accel_controller.update(sm)
 
   def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
     plan_sp_send = messaging.new_message('longitudinalPlanSP')
@@ -111,8 +95,6 @@ class LongitudinalPlannerSP:
     dec.enabled = self.dec.enabled()
     dec.active = self.dec.active()
 
-    longitudinalPlanSP.accelPersonality = int(self.accel_controller.get_accel_personality())
-
     # Smart Cruise Control
     smartCruiseControl = longitudinalPlanSP.smartCruiseControl
     # Vision Control

sunnypilot/selfdrive/controls/lib/tests/test_accel_controller.py

@@ -1,147 +0,0 @@
-"""
-Copyright (c) 2021-, rav4kumar, 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.
-
-Coverage for AccelPersonalityController:
-- live param flip via auto-refresh (no Python set_enabled() call needed)
-- V_CRUISE_UNSET guard
-- enable-transition snap to fresh target
-- per-personality accel limit deltas vs stock get_max_accel
-"""
-import numpy as np
-
-from cereal import custom
-
-from openpilot.common.params import Params
-from opendbc.car.interfaces import ACCEL_MIN
-from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
-from openpilot.selfdrive.controls.lib.longitudinal_planner import get_max_accel as stock_get_max_accel
-
-from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import (
-  AccelPersonalityController,
-  PARAM_REFRESH_FRAMES,
-)
-
-
-AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
-
-
-class FakeCarState:
-  def __init__(self, v_cruise=30.0):
-    self.vCruise = v_cruise
-
-
-class FakeSM:
-  def __init__(self, v_cruise=30.0):
-    self._data = {'carState': FakeCarState(v_cruise)}
-
-  def __getitem__(self, k):
-    return self._data[k]
-
-
-def _print_table(title, header, rows):
-  print(f"\n--- {title} ---")
-  print(" | ".join(f"{h:>12}" for h in header))
-  print("-" * (15 * len(header)))
-  for row in rows:
-    print(" | ".join(f"{v:>12.3f}" if isinstance(v, float) else f"{v:>12}" for v in row))
-
-
-class TestAccelLiveFlip:
-  def test_enable_via_param(self):
-    Params().put_bool('AccelPersonalityEnabled', False)
-    c = AccelPersonalityController()
-    assert not c.is_enabled()
-    Params().put_bool('AccelPersonalityEnabled', True)
-    for _ in range(PARAM_REFRESH_FRAMES + 1):
-      c.update(FakeSM())
-    assert c.is_enabled()
-
-  def test_disable_via_param(self):
-    Params().put_bool('AccelPersonalityEnabled', True)
-    c = AccelPersonalityController()
-    assert c.is_enabled()
-    Params().put_bool('AccelPersonalityEnabled', False)
-    for _ in range(PARAM_REFRESH_FRAMES + 1):
-      c.update(FakeSM())
-    assert not c.is_enabled()
-
-  def test_personality_change_via_param(self):
-    Params().put('AccelPersonality', AccelPersonality.normal)
-    c = AccelPersonalityController()
-    assert c.get_accel_personality() == AccelPersonality.normal
-    Params().put('AccelPersonality', AccelPersonality.sport)
-    for _ in range(PARAM_REFRESH_FRAMES + 1):
-      c.update(FakeSM())
-    assert c.get_accel_personality() == AccelPersonality.sport
-
-  def test_refresh_boundary_below_threshold(self):
-    Params().put_bool('AccelPersonalityEnabled', False)
-    c = AccelPersonalityController()
-    Params().put_bool('AccelPersonalityEnabled', True)
-    for _ in range(PARAM_REFRESH_FRAMES - 1):
-      c.update(FakeSM())
-    assert not c.is_enabled()
-
-  def test_enable_transition_snaps_to_target(self):
-    Params().put_bool('AccelPersonalityEnabled', True)
-    Params().put('AccelPersonality', AccelPersonality.sport)
-    c = AccelPersonalityController()
-    for _ in range(PARAM_REFRESH_FRAMES + 1):
-      c.update(FakeSM(v_cruise=35.0))
-    c.get_accel_limits(25.0)
-
-    Params().put_bool('AccelPersonalityEnabled', False)
-    for _ in range(PARAM_REFRESH_FRAMES + 1):
-      c.update(FakeSM(v_cruise=35.0))
-    assert not c.is_enabled()
-
-    Params().put('AccelPersonality', AccelPersonality.eco)
-    Params().put_bool('AccelPersonalityEnabled', True)
-    for _ in range(PARAM_REFRESH_FRAMES + 1):
-      c.update(FakeSM(v_cruise=35.0))
-    assert c._first
-
-  def test_vcruise_unset_treated_as_zero(self):
-    Params().put_bool('AccelPersonalityEnabled', True)
-    c = AccelPersonalityController()
-    c.update(FakeSM(v_cruise=V_CRUISE_UNSET))
-    assert c._v_cruise == 0.0
-
-
-class TestAccelUsageDiff:
-  def test_accel_clip_per_personality(self, capsys):
-    rows = []
-    speeds = [3.0, 10.0, 20.0, 30.0]
-    personalities = [
-      ('eco', AccelPersonality.eco),
-      ('normal', AccelPersonality.normal),
-      ('sport', AccelPersonality.sport),
-    ]
-
-    Params().put_bool('AccelPersonalityEnabled', True)
-    sm = FakeSM(v_cruise=35.0)
-
-    any_delta = False
-    for label, p in personalities:
-      Params().put('AccelPersonality', p)
-      c = AccelPersonalityController()
-      c.update(sm)
-      for v_ego in speeds:
-        stock_hi = float(stock_get_max_accel(v_ego))
-        c_lo, c_hi = c.get_accel_limits(v_ego)
-        delta_hi = c_hi - stock_hi
-        delta_lo = c_lo - ACCEL_MIN
-        if abs(delta_hi) > 0.01 or abs(delta_lo) > 0.01:
-          any_delta = True
-        rows.append((label, v_ego, stock_hi, c_hi, delta_hi, c_lo, delta_lo))
-
-    with capsys.disabled():
-      _print_table(
-        "AccelPersonalityController: a_max stock vs controller",
-        ["personality", "v_ego", "stock_hi", "ctrl_hi", "delta_hi", "ctrl_lo", "delta_lo"],
-        rows,
-      )
-    assert any_delta

sunnypilot/sunnylink/athena/sunnylinkd.py

@@ -28,14 +28,13 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
                        create_connection, WebSocketConnectionClosedException)
 
 import cereal.messaging as messaging
-from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
-from openpilot.sunnypilot.selfdrive.car.sync_sunnylink_params import update_car_list_param
+from openpilot.sunnypilot.selfdrive.car.sync_car_list_param import update_car_list_param
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
 from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte, save_param_from_base64_encoded_string
 from openpilot.sunnypilot.sunnylink.capabilities import generate_capabilities, CAPABILITY_LABELS
 from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import generate_schema
 
-SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://athena.sunnylink.ai')
+SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://ws.stg.api.sunnypilot.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
 LOCAL_PORT_WHITELIST = {8022}
 SUNNYLINK_LOG_ATTR_NAME = "user.sunny.upload"
@@ -215,7 +214,6 @@ def getParamsMetadata() -> str:
     schema = generate_schema()
     schema["capabilities"] = generate_capabilities()
     schema["capability_labels"] = CAPABILITY_LABELS
-    schema["default_model"] = DEFAULT_MODEL
     raw = json.dumps(schema, separators=(",", ":")).encode("utf-8")
     return base64.b64encode(gzip.compress(raw)).decode("utf-8")
   except Exception:

sunnypilot/sunnylink/capabilities.py

@@ -78,38 +78,6 @@ 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.
 
@@ -140,7 +108,6 @@ 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:
@@ -162,7 +129,6 @@ 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
@@ -176,7 +142,23 @@ def generate_capabilities(params: Params | None = None) -> dict:
     except Exception:
       cloudlog.exception("capabilities: failed to deserialize CarParamsSPPersistent")
 
-  _resolve_brand_capabilities(caps, bundle_platform, CP)
+  # 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}")
 
   return caps
 

sunnypilot/sunnylink/docs/README.md

@@ -2,6 +2,8 @@
 
 > One YAML file per page. Edit, run the compiler, commit. The sunnylink frontend updates automatically.
 
+For detailed architecture, capability fields, parity analysis, and dialog mappings, see [REFERENCE.md](REFERENCE.md).
+
 ## What you edit (and what's generated)
 
 | File | What | When to edit |

sunnypilot/sunnylink/params_metadata.json

@@ -1,26 +1,4 @@
 {
-  "AccelPersonality": {
-    "title": "Acceleration Personality",
-    "description": "Select the acceleration personality profile. Sport provides more aggressive acceleration, Eco provides gentler acceleration.",
-    "options": [
-      {
-        "value": 0,
-        "label": "Sport"
-      },
-      {
-        "value": 1,
-        "label": "Normal"
-      },
-      {
-        "value": 2,
-        "label": "Eco"
-      }
-    ]
-  },
-  "AccelPersonalityEnabled": {
-    "title": "Custom Acceleration Personality",
-    "description": "Enable custom acceleration and braking profiles that adjust max acceleration and min deceleration based on speed and selected personality."
-  },
   "AccessToken": {
     "title": "AccessTokenIsNice",
     "description": ""

sunnypilot/sunnylink/settings_ui.json

@@ -620,65 +620,6 @@
                 }
               ]
             },
-            {
-              "key": "AccelPersonalityEnabled",
-              "widget": "toggle",
-              "title": "Acceleration Personality",
-              "description": "Enable per-personality acceleration profiles. Sport allows stronger acceleration; Eco is gentler.",
-              "visibility": [
-                {
-                  "type": "capability",
-                  "field": "has_longitudinal_control",
-                  "equals": true
-                }
-              ],
-              "enablement": [
-                {
-                  "type": "capability",
-                  "field": "has_longitudinal_control",
-                  "equals": true
-                }
-              ]
-            },
-            {
-              "key": "AccelPersonality",
-              "widget": "multiple_button",
-              "title": "Acceleration Profile",
-              "description": "Sport allows the most aggressive acceleration; Eco the gentlest. Normal sits between.",
-              "options": [
-                {
-                  "value": 0,
-                  "label": "Sport"
-                },
-                {
-                  "value": 1,
-                  "label": "Normal"
-                },
-                {
-                  "value": 2,
-                  "label": "Eco"
-                }
-              ],
-              "visibility": [
-                {
-                  "type": "param",
-                  "key": "AccelPersonalityEnabled",
-                  "equals": true
-                }
-              ],
-              "enablement": [
-                {
-                  "type": "capability",
-                  "field": "has_longitudinal_control",
-                  "equals": true
-                },
-                {
-                  "type": "param",
-                  "key": "AccelPersonalityEnabled",
-                  "equals": true
-                }
-              ]
-            },
             {
               "key": "IntelligentCruiseButtonManagement",
               "widget": "toggle",
@@ -1652,47 +1593,47 @@
                   "label": "Always On"
                 },
                 {
-                  "value": 5,
+                  "value": 1,
                   "label": "5m"
                 },
                 {
-                  "value": 10,
+                  "value": 2,
                   "label": "10m"
                 },
                 {
-                  "value": 15,
+                  "value": 3,
                   "label": "15m"
                 },
                 {
-                  "value": 30,
+                  "value": 4,
                   "label": "30m"
                 },
                 {
-                  "value": 60,
+                  "value": 5,
                   "label": "1h"
                 },
                 {
-                  "value": 120,
+                  "value": 6,
                   "label": "2h"
                 },
                 {
-                  "value": 180,
+                  "value": 7,
                   "label": "3h"
                 },
                 {
-                  "value": 300,
+                  "value": 8,
                   "label": "5h"
                 },
                 {
-                  "value": 600,
+                  "value": 9,
                   "label": "10h"
                 },
                 {
-                  "value": 1440,
+                  "value": 10,
                   "label": "24h"
                 },
                 {
-                  "value": 1800,
+                  "value": 11,
                   "label": "30h (Default)"
                 }
               ]
@@ -1723,13 +1664,13 @@
         {
           "id": "updates",
           "title": "Updates",
-          "description": "Control software updates",
+          "description": "Control automatic software updates",
           "items": [
             {
               "key": "DisableUpdates",
               "widget": "toggle",
               "title": "Disable Updates",
-              "description": "When enabled, software updates will be off. This requires a reboot to take effect.",
+              "description": "When enabled, automatic software updates will be off. This requires a reboot to take effect.",
               "enablement": [
                 {
                   "type": "offroad_only"

sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml

@@ -43,34 +43,6 @@ sections:
       label: Relaxed
     enablement:
     - $ref: '#/macros/longitudinal'
-  - key: AccelPersonalityEnabled
-    widget: toggle
-    title: Acceleration Personality
-    description: Enable per-personality acceleration profiles. Sport allows stronger acceleration; Eco is gentler.
-    visibility:
-    - $ref: '#/macros/longitudinal'
-    enablement:
-    - $ref: '#/macros/longitudinal'
-  - key: AccelPersonality
-    widget: multiple_button
-    title: Acceleration Profile
-    description: Sport allows the most aggressive acceleration; Eco the gentlest. Normal sits between.
-    options:
-    - value: 0
-      label: Sport
-    - value: 1
-      label: Normal
-    - value: 2
-      label: Eco
-    visibility:
-    - type: param
-      key: AccelPersonalityEnabled
-      equals: true
-    enablement:
-    - $ref: '#/macros/longitudinal'
-    - type: param
-      key: AccelPersonalityEnabled
-      equals: true
   - key: IntelligentCruiseButtonManagement
     widget: toggle
     title: Intelligent Cruise Button Management (ICBM) (Alpha)

sunnypilot/sunnylink/settings_ui_src/pages/device.yaml

@@ -37,27 +37,27 @@ sections:
     options:
     - value: 0
       label: Always On
-    - value: 5
+    - value: 1
       label: 5m
-    - value: 10
+    - value: 2
       label: 10m
-    - value: 15
+    - value: 3
       label: 15m
-    - value: 30
+    - value: 4
       label: 30m
-    - value: 60
+    - value: 5
       label: 1h
-    - value: 120
+    - value: 6
       label: 2h
-    - value: 180
+    - value: 7
       label: 3h
-    - value: 300
+    - value: 8
       label: 5h
-    - value: 600
+    - value: 9
       label: 10h
-    - value: 1440
+    - value: 10
       label: 24h
-    - value: 1800
+    - value: 11
       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 software updates
+  description: Control automatic software updates
   items:
   - key: DisableUpdates
     widget: toggle
     title: Disable Updates
-    description: When enabled, software updates will be off. This requires a reboot to take effect.
+    description: When enabled, automatic software updates will be off. This requires a reboot to take effect.
     enablement:
     - $ref: '#/macros/offroad'
     - $ref: '#/macros/advanced_only'

sunnypilot/system/params_migration.py

@@ -7,7 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 import json
 
 from openpilot.common.swaglog import cloudlog
-from openpilot.sunnypilot.selfdrive.car.sync_sunnylink_params import CAR_LIST_JSON_OUT
+from openpilot.sunnypilot.selfdrive.car.sync_car_list_param import CAR_LIST_JSON_OUT
 
 ONROAD_BRIGHTNESS_MIGRATION_VERSION: str = "1.0"
 ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION: str = "1.0"

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

uv.lock

@@ -116,12 +116,12 @@ wheels = [
 [[package]]
 name = "bzip2"
 version = "1.0.8"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#346fa1e479d7324d446f32b2cbe2913897372745" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#7876f40b7a3e9f0d634a60586043395169ef1a82" }
 
 [[package]]
 name = "capnproto"
 version = "1.0.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#b4fd14982cbff568be0e021f55c0ef90c29da934" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#bcd0c43cb9dbd3b48aad36812bae9498fb5c7be1" }
 
 [[package]]
 name = "casadi"
@@ -251,26 +251,26 @@ wheels = [
 
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+version = "7.13.5"
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 [[package]]
 name = "zeromq"
 version = "4.3.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#10f97237e00e5fabf3c1fa54a2ca1a1da39de461" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#39acf5d6cbd996fe61e8e8727e1b403e79bc2b7b" }
 
 [[package]]
 name = "zstandard"
@@ -1665,4 +1661,4 @@ wheels = [
 [[package]]
 name = "zstd"
 version = "1.5.6"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#eb147476324db97737c31cd63e71a4f44b0d0723" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#59e9ca4ecfda299d4861ea53a5fcc1eacadc5524" }