Re enable sentry and swaglog handler for device metadata & crash information

This reverts commit a9f2f54bcc.

CHANGELOGS.md

@@ -5,9 +5,16 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
 * UPDATED: Synced with commaai's openpilot
   * master commit 4ef757c (July 06, 2024)
 * NEW❗: Default Driving Model: Notre Dame (July 01, 2024)
-* NEW❗: Longitudinal: Acceleration Personality thanks to kegman, rav4kumar, and arne1282!
+* NEW❗: Longitudinal: Acceleration Personality thanks to kegman, rav4kumar, and arne1282! (CTV 2.0: GlideTech)
   * Select from three distinct acceleration personalities: Eco, Normal, and Sport
   * Acceleration personalities are integrated directly into the model's acceleration matrix and can be activated in real-time!
+* NEW❗: Toyota - Drive Mode Selector
+  *  When enabled you can control acceleration personality just with press of button!
+* UPDATED: Dynamic Experimental Control
+  * Switched to weighted moving averages to enhance responsiveness to recent data.
+  * Goal is to improve real-time detection accuracy in dynamic conditions.
+  * Capable of handling the increased complexity that comes with this approach.
+  * Particularly beneficial in environments where recent changes are critical to performance.
 * NEW❗: Longitudinal: Dynamic Personality thanks to rav4kumar!
   * Dynamically adjusts following distance and reaction based on your "Driving Personality" setting
   * Personalities adapt in real-time to your speed and the distance to the lead car
@@ -26,8 +33,8 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
     * Toyota TSS1/1.5, equipped with factory Blind Spot Monitoring (BSM)
     * Prius TSS2, equipped with factory Blind Spot Monitoring (BSM)
   * NOTE: Only enable this feature if your Toyota/Lexus vehicle has factory Blind Spot Monitor equipped, and mentioned in the supported platforms list
-* UPDATED: Toyota: TSS2 longitudinal: Custom Tuning
-  * Re-tuned and tested by the community (July 1, 2024)
+* UPDATED: Toyota: TSS2 longitudinal: Custom Tuning (CTV 2.0: GlideTech)
+  * Re-tuned and tested by the community (September 29, 2024)
 * UPDATED: Driving Model Selector v5
   * NEW❗: Driving Model additions
     * Notre Dame (July 01, 2024) - NDv3

cereal/custom.capnp

@@ -212,24 +212,7 @@ struct ModelDataV2SP @0xf98d843bfd7004a3 {
   modelCapabilities @4 :UInt32;
 }
 
-struct CarControlSP @0xb86e6369214c01c8 {
-  customStockLongitudinalControl @0 :CustomStockLongitudinalControl;
-
-  struct CustomStockLongitudinalControl {
-    state @0 :ButtonControlState;
-    cruiseButton @1 :Int16;
-    finalSpeedKphDEPRECATED @2 :Float32;
-    vTarget @3 :Float32;
-    vCruiseCluster @4 :Float32;
-
-    enum ButtonControlState {
-      inactive @0;        # No button press or default state
-      loading @1;         # Loading state before transitioning to accelerating or decelerating
-      accelerating @2;    # Increasing speed
-      decelerating @3;    # Decreasing speed
-      holding @4;         # Holding steady speed
-    }
-  }
+struct CustomReserved7 @0xb86e6369214c01c8 {
 }
 
 struct CustomReserved8 @0xf416ec09499d9d19 {

cereal/log.capnp

@@ -2388,7 +2388,7 @@ struct Event {
     liveMapDataSP @111 :Custom.LiveMapDataSP;
     e2eLongStateSP @112 :Custom.E2eLongStateSP;
     modelV2SP @113 :Custom.ModelDataV2SP;
-    carControlSP @114 :Custom.CarControlSP;
+    customReserved7 @114 :Custom.CustomReserved7;
     customReserved8 @115 :Custom.CustomReserved8;
     customReserved9 @116 :Custom.CustomReserved9;
 

cereal/services.py

@@ -83,7 +83,6 @@ _services: dict[str, tuple] = {
   "liveMapDataSP": (True, 0.),
   "e2eLongStateSP": (True, 0.),
   "modelV2SP": (True, 20., 40),
-  "carControlSP": (True, 100., 10),
 
   # debug
   "uiDebug": (True, 0., 1),

common/params.cc

@@ -332,6 +332,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"TorquedOverride", PERSISTENT | BACKUP},
     {"ToyotaAutoLockBySpeed", PERSISTENT | BACKUP},
     {"ToyotaAutoUnlockByShifter", PERSISTENT | BACKUP},
+    {"ToyotaDriveMode", PERSISTENT | BACKUP},
     {"ToyotaEnhancedBsm", PERSISTENT | BACKUP},
     {"ToyotaSnG", PERSISTENT | BACKUP},
     {"ToyotaTSS2Long", PERSISTENT | BACKUP},

openpilot/sunnypilot

@@ -1 +0,0 @@
-../sunnypilot/

selfdrive/car/card.py

@@ -31,7 +31,7 @@ class Car:
   def __init__(self, CI=None):
     self.can_sock = messaging.sub_sock('can', timeout=20)
     self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'])
-    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'carControlSP'])
+    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput'])
 
     self.can_rcv_cum_timeout_counter = 0
 
@@ -70,12 +70,6 @@ class Car:
 
     if self.CP.customStockLongAvailable and self.CP.pcmCruise and self.params.get_bool("CustomStockLong"):
       self.CP.pcmCruiseSpeed = False
-      services = self.sm.data.keys() | {'longitudinalPlanSP'}
-      self.sm = messaging.SubMaster(list(services))
-
-      cslc_path = f'openpilot.sunnypilot.selfdrive.car.{self.CP.carName}.custom_stock_longitudinal_controller'
-      CustomStockLongitudinalController = __import__(cslc_path + '.controller', fromlist=['CustomStockLongitudinalController']).CustomStockLongitudinalController
-      self.custom_stock_longitudinal_controller = CustomStockLongitudinalController(self, self.CI.CC, self.CI.CS, self.CP)
 
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 
@@ -181,16 +175,8 @@ class Car:
       # send car controls over can
       now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
       self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
-      if not self.CP.pcmCruiseSpeed:
-        can_sends.extend(self.custom_stock_longitudinal_controller.update(CS, CC))
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
-      cc_send_sp = messaging.new_message('carControlSP')
-      cc_send_sp.valid = self.sm.all_checks(['carControl'])
-      if not self.CP.pcmCruiseSpeed:
-        cc_send_sp.carControlSP.customStockLongitudinalControl = self.custom_stock_longitudinal_controller.state_publish()
-      self.pm.send('carControlSP', cc_send_sp)
-
       self.CC_prev = CC
 
   def step(self):

selfdrive/car/chrysler/carcontroller.py

@@ -1,10 +1,14 @@
 from cereal import car
 
+import cereal.messaging as messaging
+from common.conversions import Conversions as CV
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_meas_steer_torque_limits
+from openpilot.common.params import Params
+from openpilot.selfdrive.car import DT_CTRL, apply_meas_steer_torque_limits
 from openpilot.selfdrive.car.chrysler import chryslercan
 from openpilot.selfdrive.car.chrysler.values import RAM_CARS, RAM_DT, CarControllerParams, ChryslerFlags, ChryslerFlagsSP
 from openpilot.selfdrive.car.interfaces import CarControllerBase, FORWARD_GEARS
+from openpilot.selfdrive.controls.lib.drive_helpers import FCA_V_CRUISE_MIN
 
 ButtonType = car.CarState.ButtonEvent.Type
 
@@ -22,9 +26,64 @@ class CarController(CarControllerBase):
     self.packer = CANPacker(dbc_name)
     self.params = CarControllerParams(CP)
 
+    self.sm = messaging.SubMaster(['longitudinalPlanSP'])
+    self.param_s = Params()
+    self.last_speed_limit_sign_tap_prev = False
+    self.speed_limit = 0.
+    self.speed_limit_offset = 0
+    self.timer = 0
+    self.final_speed_kph = 0
+    self.init_speed = 0
+    self.current_speed = 0
+    self.v_set_dis = 0
+    self.v_cruise_min = 0
+    self.button_type = 0
+    self.button_select = 0
+    self.button_count = 0
+    self.target_speed = 0
+    self.t_interval = 7
+    self.slc_active_stock = False
+    self.sl_force_active_timer = 0
+    self.v_tsc_state = 0
+    self.slc_state = 0
+    self.m_tsc_state = 0
+    self.cruise_button = None
+    self.speed_diff = 0
+    self.v_tsc = 0
+    self.m_tsc = 0
+    self.steady_speed = 0
+    self.button_frame = 0
+
   def update(self, CC, CS, now_nanos):
+    if not self.CP.pcmCruiseSpeed:
+      self.sm.update(0)
+
+      if self.sm.updated['longitudinalPlanSP']:
+        self.v_tsc_state = self.sm['longitudinalPlanSP'].visionTurnControllerState
+        self.slc_state = self.sm['longitudinalPlanSP'].speedLimitControlState
+        self.m_tsc_state = self.sm['longitudinalPlanSP'].turnSpeedControlState
+        self.speed_limit = self.sm['longitudinalPlanSP'].speedLimit
+        self.speed_limit_offset = self.sm['longitudinalPlanSP'].speedLimitOffset
+        self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
+        self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed
+
+      self.v_cruise_min = FCA_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)
+
     can_sends = []
 
+    if not self.CP.pcmCruiseSpeed:
+      if not self.last_speed_limit_sign_tap_prev and CS.params_list.last_speed_limit_sign_tap:
+        self.sl_force_active_timer = self.frame
+        self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False)
+      self.last_speed_limit_sign_tap_prev = CS.params_list.last_speed_limit_sign_tap
+
+      sl_force_active = CS.params_list.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
+      sl_inactive = not sl_force_active and (not CS.params_list.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
+      sl_temp_inactive = not sl_force_active and (CS.params_list.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
+      slc_active = not sl_inactive and not sl_temp_inactive
+
+      self.slc_active_stock = slc_active
+
     lkas_active = CC.latActive and CS.madsEnabled
 
     if self.frame % 10 == 0 and self.CP.carFingerprint not in RAM_CARS:
@@ -55,6 +114,20 @@ class CarController(CarControllerBase):
         self.last_button_frame = self.frame
         can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, self.CP, resume=True))
 
+      if not (CC.cruiseControl.cancel or CC.cruiseControl.resume) and not self.CP.pcmCruiseSpeed and CS.out.cruiseState.enabled:
+        self.button_frame += 1
+        button_counter_offset = [1, 1, 0, None][self.button_frame % 4]
+        if ram_cars:
+          self.cruise_button = self.get_cruise_buttons(CS, CC.vCruise)
+        elif button_counter_offset is not None:
+          self.cruise_button = self.get_cruise_buttons(CS, CC.vCruise)
+
+        if self.cruise_button is not None:
+          if ram_cars:
+            can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter, das_bus, self.CP, buttons=self.cruise_button))
+          elif button_counter_offset is not None:
+            can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + button_counter_offset, das_bus, self.CP, buttons=self.cruise_button))
+
     # HUD alerts
     if self.frame % 25 == 0:
       if CS.lkas_car_model != -1:
@@ -106,3 +179,122 @@ class CarController(CarControllerBase):
     new_actuators.steerOutputCan = self.apply_steer_last
 
     return new_actuators, can_sends
+
+  # multikyd methods, sunnyhaibin logic
+  def get_cruise_buttons_status(self, CS):
+    if not CS.out.cruiseState.enabled:
+      for be in CS.out.buttonEvents:
+        if be.type in (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.resumeCruise) and be.pressed:
+          self.timer = 40
+    elif self.timer:
+      self.timer -= 1
+    else:
+      return 1
+    return 0
+
+  def get_target_speed(self, v_cruise_kph_prev):
+    v_cruise_kph = v_cruise_kph_prev
+    if self.slc_state > 1:
+      v_cruise_kph = (self.speed_limit + self.speed_limit_offset) * CV.MS_TO_KPH
+      if not self.slc_active_stock:
+        v_cruise_kph = v_cruise_kph_prev
+    return v_cruise_kph
+
+  def get_button_type(self, button_type):
+    self.type_status = "type_" + str(button_type)
+    self.button_picker = getattr(self, self.type_status, lambda: "default")
+    return self.button_picker()
+
+  def reset_button(self):
+    if self.button_type != 3:
+      self.button_type = 0
+
+  def type_default(self):
+    self.button_type = 0
+    return None
+
+  def type_0(self):
+    self.button_count = 0
+    self.target_speed = self.init_speed
+    self.speed_diff = self.target_speed - self.v_set_dis
+    if self.target_speed > self.v_set_dis:
+      self.button_type = 1
+    elif self.target_speed < self.v_set_dis and self.v_set_dis > self.v_cruise_min:
+      self.button_type = 2
+    return None
+
+  def type_1(self):
+    cruise_button = 1
+    self.button_count += 1
+    if self.target_speed <= self.v_set_dis:
+      self.button_count = 0
+      self.button_type = 3
+    elif self.button_count > 5:
+      self.button_count = 0
+      self.button_type = 3
+    return cruise_button
+
+  def type_2(self):
+    cruise_button = 2
+    self.button_count += 1
+    if self.target_speed >= self.v_set_dis or self.v_set_dis <= self.v_cruise_min:
+      self.button_count = 0
+      self.button_type = 3
+    elif self.button_count > 5:
+      self.button_count = 0
+      self.button_type = 3
+    return cruise_button
+
+  def type_3(self):
+    cruise_button = None
+    self.button_count += 1
+    if self.button_count > self.t_interval:
+      self.button_type = 0
+    return cruise_button
+
+  def get_curve_speed(self, target_speed_kph, v_cruise_kph_prev):
+    if self.v_tsc_state != 0:
+      vision_v_cruise_kph = self.v_tsc * CV.MS_TO_KPH
+      if int(vision_v_cruise_kph) == int(v_cruise_kph_prev):
+        vision_v_cruise_kph = 255
+    else:
+      vision_v_cruise_kph = 255
+    if self.m_tsc_state > 1:
+      map_v_cruise_kph = self.m_tsc * CV.MS_TO_KPH
+      if int(map_v_cruise_kph) == 0.0:
+        map_v_cruise_kph = 255
+    else:
+      map_v_cruise_kph = 255
+    curve_speed = self.curve_speed_hysteresis(min(vision_v_cruise_kph, map_v_cruise_kph) + 2 * CV.MPH_TO_KPH)
+    return min(target_speed_kph, curve_speed)
+
+  def get_button_control(self, CS, final_speed, v_cruise_kph_prev):
+    self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1))
+    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not CS.params_list.is_metric else CV.MS_TO_KPH))
+    cruise_button = self.get_button_type(self.button_type)
+    return cruise_button
+
+  def curve_speed_hysteresis(self, cur_speed: float, hyst=(0.75 * CV.MPH_TO_KPH)):
+    if cur_speed > self.steady_speed:
+      self.steady_speed = cur_speed
+    elif cur_speed < self.steady_speed - hyst:
+      self.steady_speed = cur_speed
+    return self.steady_speed
+
+  def get_cruise_buttons(self, CS, v_cruise_kph_prev):
+    cruise_button = None
+    if not self.get_cruise_buttons_status(CS):
+      pass
+    elif CS.out.cruiseState.enabled:
+      set_speed_kph = self.get_target_speed(v_cruise_kph_prev)
+      if self.slc_state > 1:
+        target_speed_kph = set_speed_kph
+      else:
+        target_speed_kph = min(v_cruise_kph_prev, set_speed_kph)
+      if self.v_tsc_state != 0 or self.m_tsc_state > 1:
+        self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev)
+      else:
+        self.final_speed_kph = target_speed_kph
+
+      cruise_button = self.get_button_control(CS, self.final_speed_kph, v_cruise_kph_prev)  # MPH/KPH based button presses
+    return cruise_button

selfdrive/car/chrysler/chryslercan.py

@@ -65,9 +65,14 @@ def create_lkas_command(packer, CP, apply_steer, lkas_control_bit):
 
 def create_cruise_buttons(packer, frame, bus, CP, cruise_buttons_msg=None, buttons=0, cancel=False, resume=False):
 
+  acc_accel = 1 if buttons == 1 else 0
+  acc_decel = 1 if buttons == 2 else 0
+
   values = {
     "ACC_Cancel": cancel,
     "ACC_Resume": resume,
+    "ACC_Accel": acc_accel,
+    "ACC_Decel": acc_decel,
     "COUNTER": frame % 0x10,
   }
 

selfdrive/car/chrysler/interface.py

@@ -161,6 +161,8 @@ class CarInterface(CarInterfaceBase):
     if self.low_speed_alert:
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 
+    ret.customStockLong = self.update_custom_stock_long()
+
     ret.events = events.to_msg()
 
     return ret

selfdrive/car/ford/interface.py

@@ -24,7 +24,6 @@ class CarInterface(CarInterfaceBase):
     ret.steerControlType = car.CarParams.SteerControlType.angle
     ret.steerActuatorDelay = 0.2
     ret.steerLimitTimer = 1.0
-    ret.customStockLongAvailable = True
 
     if Params().get("DongleId", encoding='utf8') in ("4fde83db16dc0802", "112e4d6e0cad05e1", "e36b272d5679115f", "24574459dd7fb3e0", "83a4e056c7072678"):
       ret.spFlags |= FordFlagsSP.SP_ENHANCED_LAT_CONTROL.value

selfdrive/car/honda/carcontroller.py

@@ -1,12 +1,16 @@
 from collections import namedtuple
 
 from cereal import car
+import cereal.messaging as messaging
+from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip, interp
+from openpilot.common.params import Params
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import DT_CTRL, rate_limit, make_tester_present_msg, create_gas_interceptor_command
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
+from openpilot.selfdrive.controls.lib.drive_helpers import HONDA_V_CRUISE_MIN
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -124,7 +128,48 @@ class CarController(CarControllerBase):
     self.last_steer = 0.0
     self.last_button_frame = 0
 
+    self.sm = messaging.SubMaster(['longitudinalPlanSP'])
+    self.param_s = Params()
+    self.last_speed_limit_sign_tap_prev = False
+    self.speed_limit = 0.
+    self.speed_limit_offset = 0
+    self.timer = 0
+    self.final_speed_kph = 0
+    self.init_speed = 0
+    self.current_speed = 0
+    self.v_set_dis = 0
+    self.v_cruise_min = 0
+    self.button_type = 0
+    self.button_select = 0
+    self.button_count = 0
+    self.target_speed = 0
+    self.t_interval = 7
+    self.slc_active_stock = False
+    self.sl_force_active_timer = 0
+    self.v_tsc_state = 0
+    self.slc_state = 0
+    self.m_tsc_state = 0
+    self.cruise_button = None
+    self.speed_diff = 0
+    self.v_tsc = 0
+    self.m_tsc = 0
+    self.steady_speed = 0
+
   def update(self, CC, CS, now_nanos):
+    if not self.CP.pcmCruiseSpeed:
+      self.sm.update(0)
+
+      if self.sm.updated['longitudinalPlanSP']:
+        self.v_tsc_state = self.sm['longitudinalPlanSP'].visionTurnControllerState
+        self.slc_state = self.sm['longitudinalPlanSP'].speedLimitControlState
+        self.m_tsc_state = self.sm['longitudinalPlanSP'].turnSpeedControlState
+        self.speed_limit = self.sm['longitudinalPlanSP'].speedLimit
+        self.speed_limit_offset = self.sm['longitudinalPlanSP'].speedLimitOffset
+        self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
+        self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed
+
+      self.v_cruise_min = HONDA_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)
+
     actuators = CC.actuators
     hud_control = CC.hudControl
     conversion = hondacan.get_cruise_speed_conversion(self.CP.carFingerprint, CS.is_metric)
@@ -158,6 +203,19 @@ class CarController(CarControllerBase):
     apply_steer = int(interp(-limited_steer * self.params.STEER_MAX,
                              self.params.STEER_LOOKUP_BP, self.params.STEER_LOOKUP_V))
 
+    if not self.CP.pcmCruiseSpeed:
+      if not self.last_speed_limit_sign_tap_prev and CS.params_list.last_speed_limit_sign_tap:
+        self.sl_force_active_timer = self.frame
+        self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False)
+      self.last_speed_limit_sign_tap_prev = CS.params_list.last_speed_limit_sign_tap
+
+      sl_force_active = CS.params_list.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
+      sl_inactive = not sl_force_active and (not CS.params_list.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
+      sl_temp_inactive = not sl_force_active and (CS.params_list.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
+      slc_active = not sl_inactive and not sl_temp_inactive
+
+      self.slc_active_stock = slc_active
+
     # Send CAN commands
     can_sends = []
 
@@ -207,6 +265,15 @@ class CarController(CarControllerBase):
         can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.CANCEL, self.CP.carFingerprint))
       elif CC.cruiseControl.resume:
         can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.RES_ACCEL, self.CP.carFingerprint))
+      elif CS.out.cruiseState.enabled and not self.CP.pcmCruiseSpeed:
+        self.cruise_button = self.get_cruise_buttons(CS, CC.vCruise)
+        if self.cruise_button is not None:
+          send_freq = 1
+          if not (self.v_tsc_state != 0 or self.m_tsc_state > 1) and abs(self.target_speed - self.v_set_dis) <= 2:
+            send_freq = 3
+          if (self.frame - self.last_button_frame) * DT_CTRL > 0.01 * send_freq:
+            can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, self.cruise_button, self.CP.carFingerprint))
+            self.last_button_frame = self.frame
 
     else:
       # Send gas and brake commands.
@@ -268,3 +335,120 @@ class CarController(CarControllerBase):
 
     self.frame += 1
     return new_actuators, can_sends
+
+  # multikyd methods, sunnyhaibin logic
+  def get_cruise_buttons_status(self, CS):
+    if not CS.out.cruiseState.enabled or CS.cruise_buttons != 0:
+      self.timer = 40
+    elif self.timer:
+      self.timer -= 1
+    else:
+      return 1
+    return 0
+
+  def get_target_speed(self, v_cruise_kph_prev):
+    v_cruise_kph = v_cruise_kph_prev
+    if self.slc_state > 1:
+      v_cruise_kph = (self.speed_limit + self.speed_limit_offset) * CV.MS_TO_KPH
+      if not self.slc_active_stock:
+        v_cruise_kph = v_cruise_kph_prev
+    return v_cruise_kph
+
+  def get_button_type(self, button_type):
+    self.type_status = "type_" + str(button_type)
+    self.button_picker = getattr(self, self.type_status, lambda: "default")
+    return self.button_picker()
+
+  def reset_button(self):
+    if self.button_type != 3:
+      self.button_type = 0
+
+  def type_default(self):
+    self.button_type = 0
+    return None
+
+  def type_0(self):
+    self.button_count = 0
+    self.target_speed = self.init_speed
+    self.speed_diff = self.target_speed - self.v_set_dis
+    if self.target_speed > self.v_set_dis:
+      self.button_type = 1
+    elif self.target_speed < self.v_set_dis and self.v_set_dis > self.v_cruise_min:
+      self.button_type = 2
+    return None
+
+  def type_1(self):
+    cruise_button = CruiseButtons.RES_ACCEL
+    self.button_count += 1
+    if self.target_speed <= self.v_set_dis:
+      self.button_count = 0
+      self.button_type = 3
+    elif self.button_count > 5:
+      self.button_count = 0
+      self.button_type = 3
+    return cruise_button
+
+  def type_2(self):
+    cruise_button = CruiseButtons.DECEL_SET
+    self.button_count += 1
+    if self.target_speed >= self.v_set_dis or self.v_set_dis <= self.v_cruise_min:
+      self.button_count = 0
+      self.button_type = 3
+    elif self.button_count > 5:
+      self.button_count = 0
+      self.button_type = 3
+    return cruise_button
+
+  def type_3(self):
+    cruise_button = None
+    self.button_count += 1
+    if self.button_count > self.t_interval:
+      self.button_type = 0
+    return cruise_button
+
+  def get_curve_speed(self, target_speed_kph, v_cruise_kph_prev):
+    if self.v_tsc_state != 0:
+      vision_v_cruise_kph = self.v_tsc * CV.MS_TO_KPH
+      if int(vision_v_cruise_kph) == int(v_cruise_kph_prev):
+        vision_v_cruise_kph = 255
+    else:
+      vision_v_cruise_kph = 255
+    if self.m_tsc_state > 1:
+      map_v_cruise_kph = self.m_tsc * CV.MS_TO_KPH
+      if int(map_v_cruise_kph) == 0.0:
+        map_v_cruise_kph = 255
+    else:
+      map_v_cruise_kph = 255
+    curve_speed = self.curve_speed_hysteresis(min(vision_v_cruise_kph, map_v_cruise_kph) + 2 * CV.MPH_TO_KPH)
+    return min(target_speed_kph, curve_speed)
+
+  def get_button_control(self, CS, final_speed, v_cruise_kph_prev):
+    self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1))
+    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not CS.params_list.is_metric else CV.MS_TO_KPH))
+    cruise_button = self.get_button_type(self.button_type)
+    return cruise_button
+
+  def curve_speed_hysteresis(self, cur_speed: float, hyst=(0.75 * CV.MPH_TO_KPH)):
+    if cur_speed > self.steady_speed:
+      self.steady_speed = cur_speed
+    elif cur_speed < self.steady_speed - hyst:
+      self.steady_speed = cur_speed
+    return self.steady_speed
+
+  def get_cruise_buttons(self, CS, v_cruise_kph_prev):
+    cruise_button = None
+    if not self.get_cruise_buttons_status(CS):
+      pass
+    elif CS.out.cruiseState.enabled:
+      set_speed_kph = self.get_target_speed(v_cruise_kph_prev)
+      if self.slc_state > 1:
+        target_speed_kph = set_speed_kph
+      else:
+        target_speed_kph = min(v_cruise_kph_prev, set_speed_kph)
+      if self.v_tsc_state != 0 or self.m_tsc_state > 1:
+        self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev)
+      else:
+        self.final_speed_kph = target_speed_kph
+
+      cruise_button = self.get_button_control(CS, self.final_speed_kph, v_cruise_kph_prev)  # MPH/KPH based button presses
+    return cruise_button

selfdrive/car/honda/interface.py

@@ -329,6 +329,8 @@ class CarInterface(CarInterfaceBase):
     if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
       events.add(EventName.manualRestart)
 
+    ret.customStockLong = self.update_custom_stock_long()
+
     ret.events = events.to_msg()
 
     return ret

selfdrive/car/hyundai/interface.py

@@ -296,6 +296,8 @@ class CarInterface(CarInterfaceBase):
     if self.CS.params_list.hyundai_radar_tracks_available and not self.CS.params_list.hyundai_radar_tracks_available_cache:
       events.add(car.CarEvent.EventName.hyundaiRadarTracksAvailable)
 
+    ret.customStockLong = self.update_custom_stock_long()
+
     ret.events = events.to_msg()
 
     return ret

selfdrive/car/mazda/carcontroller.py

@@ -1,9 +1,14 @@
 from cereal import car
+import cereal.messaging as messaging
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.mazda import mazdacan
 from openpilot.selfdrive.car.mazda.values import CarControllerParams, Buttons
+from openpilot.selfdrive.controls.lib.drive_helpers import MAZDA_V_CRUISE_MIN
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 ButtonType = car.CarState.ButtonEvent.Type
@@ -16,9 +21,63 @@ class CarController(CarControllerBase):
     self.packer = CANPacker(dbc_name)
     self.brake_counter = 0
 
+    self.sm = messaging.SubMaster(['longitudinalPlanSP'])
+    self.param_s = Params()
+    self.last_speed_limit_sign_tap_prev = False
+    self.speed_limit = 0.
+    self.speed_limit_offset = 0
+    self.timer = 0
+    self.final_speed_kph = 0
+    self.init_speed = 0
+    self.current_speed = 0
+    self.v_set_dis = 0
+    self.v_cruise_min = 0
+    self.button_type = 0
+    self.button_select = 0
+    self.button_count = 0
+    self.target_speed = 0
+    self.t_interval = 7
+    self.slc_active_stock = False
+    self.sl_force_active_timer = 0
+    self.v_tsc_state = 0
+    self.slc_state = 0
+    self.m_tsc_state = 0
+    self.cruise_button = None
+    self.speed_diff = 0
+    self.v_tsc = 0
+    self.m_tsc = 0
+    self.steady_speed = 0
+
   def update(self, CC, CS, now_nanos):
+    if not self.CP.pcmCruiseSpeed:
+      self.sm.update(0)
+
+      if self.sm.updated['longitudinalPlanSP']:
+        self.v_tsc_state = self.sm['longitudinalPlanSP'].visionTurnControllerState
+        self.slc_state = self.sm['longitudinalPlanSP'].speedLimitControlState
+        self.m_tsc_state = self.sm['longitudinalPlanSP'].turnSpeedControlState
+        self.speed_limit = self.sm['longitudinalPlanSP'].speedLimit
+        self.speed_limit_offset = self.sm['longitudinalPlanSP'].speedLimitOffset
+        self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
+        self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed
+
+      self.v_cruise_min = MAZDA_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)
+
     can_sends = []
 
+    if not self.CP.pcmCruiseSpeed:
+      if not self.last_speed_limit_sign_tap_prev and CS.params_list.last_speed_limit_sign_tap:
+        self.sl_force_active_timer = self.frame
+        self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False)
+      self.last_speed_limit_sign_tap_prev = CS.params_list.last_speed_limit_sign_tap
+
+      sl_force_active = CS.params_list.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
+      sl_inactive = not sl_force_active and (not CS.params_list.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
+      sl_temp_inactive = not sl_force_active and (CS.params_list.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
+      slc_active = not sl_inactive and not sl_temp_inactive
+
+      self.slc_active_stock = slc_active
+
     apply_steer = 0
 
     if CC.latActive:
@@ -43,6 +102,11 @@ class CarController(CarControllerBase):
         # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
         # Send Resume button when planner wants car to move
         can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.RESUME))
+      elif CS.out.cruiseState.enabled and not self.CP.pcmCruiseSpeed:
+        self.cruise_button = self.get_cruise_buttons(CS, CC.vCruise)
+        if self.cruise_button is not None:
+          if self.frame % 10 == 0:
+            can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, self.frame // 10, self.cruise_button))
 
     self.apply_steer_last = apply_steer
 
@@ -64,3 +128,125 @@ class CarController(CarControllerBase):
 
     self.frame += 1
     return new_actuators, can_sends
+
+  # multikyd methods, sunnyhaibin logic
+  def get_cruise_buttons_status(self, CS):
+    if not CS.out.cruiseState.enabled:
+      for be in CS.out.buttonEvents:
+        if be.type in (ButtonType.accelCruise, ButtonType.resumeCruise,
+                       ButtonType.decelCruise, ButtonType.setCruise) and be.pressed:
+          self.timer = 40
+    elif self.timer:
+      self.timer -= 1
+    else:
+      return 1
+    return 0
+
+  def get_target_speed(self, v_cruise_kph_prev):
+    v_cruise_kph = v_cruise_kph_prev
+    if self.slc_state > 1:
+      v_cruise_kph = (self.speed_limit + self.speed_limit_offset) * CV.MS_TO_KPH
+      if not self.slc_active_stock:
+        v_cruise_kph = v_cruise_kph_prev
+    return v_cruise_kph
+
+  def get_button_type(self, button_type):
+    self.type_status = "type_" + str(button_type)
+    self.button_picker = getattr(self, self.type_status, lambda: "default")
+    return self.button_picker()
+
+  def reset_button(self):
+    if self.button_type != 3:
+      self.button_type = 0
+
+  def type_default(self):
+    self.button_type = 0
+    return None
+
+  def type_0(self):
+    self.button_count = 0
+    self.target_speed = self.init_speed
+    self.speed_diff = self.target_speed - self.v_set_dis
+    if self.target_speed > self.v_set_dis:
+      return Buttons.SET_PLUS
+      self.button_type = 1
+    elif self.target_speed < self.v_set_dis and self.v_set_dis > self.v_cruise_min:
+      return Buttons.SET_MINUS
+      self.button_type = 2
+    return None
+
+  def type_1(self):
+    cruise_button = Buttons.SET_PLUS
+    self.button_count += 1
+    if self.target_speed <= self.v_set_dis:
+      self.button_count = 0
+      self.button_type = 3
+    elif self.button_count > 5:
+      self.button_count = 0
+      self.button_type = 3
+    return cruise_button
+
+  def type_2(self):
+    cruise_button = Buttons.SET_MINUS
+    self.button_count += 1
+    if self.target_speed >= self.v_set_dis or self.v_set_dis <= self.v_cruise_min:
+      self.button_count = 0
+      self.button_type = 3
+    elif self.button_count > 5:
+      self.button_count = 0
+      self.button_type = 3
+    return cruise_button
+
+  def type_3(self):
+    cruise_button = None
+    self.button_count += 1
+    if self.button_count > self.t_interval:
+      self.button_type = 0
+    return cruise_button
+
+  def get_curve_speed(self, target_speed_kph, v_cruise_kph_prev):
+    if self.v_tsc_state != 0:
+      vision_v_cruise_kph = self.v_tsc * CV.MS_TO_KPH
+      if int(vision_v_cruise_kph) == int(v_cruise_kph_prev):
+        vision_v_cruise_kph = 255
+    else:
+      vision_v_cruise_kph = 255
+    if self.m_tsc_state > 1:
+      map_v_cruise_kph = self.m_tsc * CV.MS_TO_KPH
+      if int(map_v_cruise_kph) == 0.0:
+        map_v_cruise_kph = 255
+    else:
+      map_v_cruise_kph = 255
+    curve_speed = self.curve_speed_hysteresis(min(vision_v_cruise_kph, map_v_cruise_kph) + 2 * CV.MPH_TO_KPH)
+    return min(target_speed_kph, curve_speed)
+
+  def get_button_control(self, CS, final_speed, v_cruise_kph_prev):
+    self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1))
+    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not CS.params_list.is_metric else CV.MS_TO_KPH))
+    cruise_button = self.get_button_type(self.button_type)
+    return cruise_button
+
+  def curve_speed_hysteresis(self, cur_speed: float, hyst=(0.75 * CV.MPH_TO_KPH)):
+    if cur_speed > self.steady_speed:
+      self.steady_speed = cur_speed
+    elif cur_speed < self.steady_speed - hyst:
+      self.steady_speed = cur_speed
+    return self.steady_speed
+
+  def get_cruise_buttons(self, CS, v_cruise_kph_prev):
+    cruise_button = None
+    if not self.get_cruise_buttons_status(CS):
+      pass
+    elif CS.out.cruiseState.enabled:
+      set_speed_kph = self.get_target_speed(v_cruise_kph_prev)
+      if self.slc_state > 1:
+        target_speed_kph = set_speed_kph
+      else:
+        target_speed_kph = min(v_cruise_kph_prev, set_speed_kph)
+      if self.v_tsc_state != 0 or self.m_tsc_state > 1:
+        self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev)
+      else:
+        self.final_speed_kph = target_speed_kph
+
+      cruise_button = self.get_button_control(CS, self.final_speed_kph, v_cruise_kph_prev)  # MPH/KPH based button presses
+    return cruise_button

selfdrive/car/mazda/interface.py

@@ -89,6 +89,8 @@ class CarInterface(CarInterfaceBase):
     if self.CS.low_speed_alert:
       events.add(EventName.belowSteerSpeed)
 
+    ret.customStockLong = self.update_custom_stock_long()
+
     ret.events = events.to_msg()
 
     return ret

selfdrive/car/mazda/mazdacan.py

@@ -92,20 +92,22 @@ def create_button_cmd(packer, CP, counter, button):
 
   can = int(button == Buttons.CANCEL)
   res = int(button == Buttons.RESUME)
+  inc = int(button == Buttons.SET_PLUS)
+  dec = int(button == Buttons.SET_MINUS)
 
   if CP.flags & MazdaFlags.GEN1:
     values = {
       "CAN_OFF": can,
       "CAN_OFF_INV": (can + 1) % 2,
 
-      "SET_P": 0,
-      "SET_P_INV": 1,
+      "SET_P": inc,
+      "SET_P_INV": (inc + 1) % 2,
 
       "RES": res,
       "RES_INV": (res + 1) % 2,
 
-      "SET_M": 0,
-      "SET_M_INV": 1,
+      "SET_M": dec,
+      "SET_M_INV": (dec + 1) % 2,
 
       "DISTANCE_LESS": 0,
       "DISTANCE_LESS_INV": 1,

selfdrive/car/toyota/carstate.py

@@ -1,18 +1,19 @@
 import copy
 
-from cereal import car
+from cereal import car, custom
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import mean
 from openpilot.common.filter_simple import FirstOrderFilter
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.params import Params
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.toyota.values import ToyotaFlags, ToyotaFlagsSP, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                   TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
 
 SteerControlType = car.CarParams.SteerControlType
-
+AccelPersonality = custom.AccelerationPersonality
 # These steering fault definitions seem to be common across LKA (torque) and LTA (angle):
 # - high steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds
 # - lka/lta msg drop out: goes to 9 then 11 for a combined total of 2 seconds, then 3.
@@ -79,6 +80,13 @@ class CarState(CarStateBase):
     self._right_blindspot_d2 = 0
     self._right_blindspot_counter = 0
 
+    self.signals_checked = False
+    self.sport_signal_seen = False
+    self.eco_signal_seen = False
+    self.accel_profile = None
+    self.prev_accel_profile = None
+    self.accel_profile_init = False
+    self.toyota_drive_mode = Params().get_bool('ToyotaDriveMode')
     self.frame = 0
 
   def update(self, cp, cp_cam):
@@ -176,6 +184,51 @@ class CarState(CarStateBase):
     ret.leftBlinker = ret.leftBlinkerOn = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 1
     ret.rightBlinker = ret.rightBlinkerOn = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 2
 
+    if self.toyota_drive_mode:
+      # Determine sport signal based on car model
+      sport_signal = 'SPORT_ON_2' if self.CP.carFingerprint in (CAR.TOYOTA_RAV4_TSS2, CAR.LEXUS_ES_TSS2, CAR.TOYOTA_HIGHLANDER_TSS2) else 'SPORT_ON'
+
+      # Check signals once
+      if not self.signals_checked:
+        self.signals_checked = True
+
+        # Try to detect sport mode signal, handle missing signal with a fallback
+        try:
+          sport_mode = cp.vl["GEAR_PACKET"][sport_signal]
+          self.sport_signal_seen = True
+        except KeyError:
+          sport_mode = 0
+          self.sport_signal_seen = False
+
+        # Try to detect eco mode signal, handle missing signal with a fallback
+        try:
+          eco_mode = cp.vl["GEAR_PACKET"]['ECON_ON']
+          self.eco_signal_seen = True
+        except KeyError:
+          eco_mode = 0
+          self.eco_signal_seen = False
+      else:
+        # Always re-check the signals to account for mode changes
+        sport_mode = cp.vl["GEAR_PACKET"][sport_signal] if self.sport_signal_seen else 0
+        eco_mode = cp.vl["GEAR_PACKET"]['ECON_ON'] if self.eco_signal_seen else 0
+
+      # Set acceleration profile based on detected modes, with sport mode having higher priority
+      if sport_mode == 1:
+        self.accel_profile = AccelPersonality.sport
+      elif eco_mode == 1:
+        self.accel_profile = AccelPersonality.eco
+      else:
+        self.accel_profile = AccelPersonality.normal
+
+      print(f"Accel profile set to: {self.accel_profile}")
+
+      # If not initialized, sync profile with the current mode on the car
+      if not self.accel_profile_init or self.accel_profile != self.prev_accel_profile:
+        Params().put_nonblocking('AccelPersonality', str(self.accel_profile))
+        self.accel_profile_init = True
+        # Update the previous profile to prevent unnecessary re-syncing
+        self.prev_accel_profile = self.accel_profile
+
     if self.CP.carFingerprint != CAR.TOYOTA_MIRAI:
       ret.engineRpm = cp.vl["ENGINE_RPM"]["RPM"]
 

selfdrive/car/toyota/interface.py

@@ -160,26 +160,26 @@ class CarInterface(CarInterfaceBase):
 
     sp_tss2_long_tune = Params().get_bool("ToyotaTSS2Long")
 
-    # hand tuned (August 26, 2024)
-    def custom_tss2_longitudinal_tuning():
+    # Last updated: September 29, 2024
+    def custom_tss2_longitudinal_tuning(): # hand tuned
       ret.vEgoStopping = 0.25
-      ret.vEgoStarting = 0.25
-      ret.stoppingDecelRate = 0.0074
+      ret.vEgoStarting = 0.01
+      ret.stoppingDecelRate = 0.006
 
-    def default_tss2_longitudinal_tuning():
+    def default_tss2_longitudinal_tuning(): # stock comma
       ret.vEgoStopping = 0.25
-      ret.vEgoStarting = 0.25
-      ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
+      ret.vEgoStarting = 0.10
+      ret.stoppingDecelRate = 0.007  # reach stopping target smoothly
 
-    def default_longitudinal_tuning():
+    def default_longitudinal_tuning(): # stock comma
       tune.kiBP = [0., 5., 35.]
       tune.kiV = [3.6, 2.4, 1.5]
 
     tune = ret.longitudinalTuning
     if candidate in TSS2_CAR or ret.enableGasInterceptorDEPRECATED:
       if sp_tss2_long_tune:
-        tune.kiBP = [0.,   3.,    8.,    12.,  20.,  27.,  36.,  50]
-        tune.kiV = [0.322, 0.244, 0.224, 0.202, 0.17, 0.12, 0.08, 0.06]
+        tune.kiBP = [0.,  5.,   12.,  20.,  27.,  36.,  40.]
+        tune.kiV = [0.34, 0.234, 0.20, 0.17, 0.105, 0.09, 0.08]
         custom_tss2_longitudinal_tuning()
       else:
         tune.kpV = [0.0]

selfdrive/car/volkswagen/carcontroller.py

@@ -1,11 +1,14 @@
 from cereal import car
+import cereal.messaging as messaging
 from opendbc.can.packer import CANPacker
 from openpilot.common.numpy_fast import clip
 from openpilot.common.conversions import Conversions as CV
+from openpilot.common.params import Params
 from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
 from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags
+from openpilot.selfdrive.controls.lib.drive_helpers import VOLKSWAGEN_V_CRUISE_MIN
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -25,12 +28,70 @@ class CarController(CarControllerBase):
     self.eps_timer_soft_disable_alert = False
     self.hca_frame_timer_running = 0
     self.hca_frame_same_torque = 0
+    self.last_button_frame = 0
+
+    self.sm = messaging.SubMaster(['longitudinalPlanSP'])
+    self.param_s = Params()
+    self.last_speed_limit_sign_tap_prev = False
+    self.speed_limit = 0.
+    self.speed_limit_offset = 0
+    self.timer = 0
+    self.final_speed_kph = 0
+    self.init_speed = 0
+    self.current_speed = 0
+    self.v_set_dis = 0
+    self.v_set_dis_prev = 0
+    self.v_cruise_min = 0
+    self.button_type = 0
+    self.button_select = 0
+    self.button_count = 0
+    self.target_speed = 0
+    self.t_interval = 7
+    self.slc_active_stock = False
+    self.sl_force_active_timer = 0
+    self.v_tsc_state = 0
+    self.slc_state = 0
+    self.m_tsc_state = 0
+    self.cruise_button = None
+    self.last_cruise_button = None
+    self.speed_diff = 0
+    self.v_tsc = 0
+    self.m_tsc = 0
+    self.steady_speed = 0
+    self.acc_type = -1
+    self.send_count = 0
 
   def update(self, CC, CS, now_nanos):
+    if not self.CP.pcmCruiseSpeed:
+      self.sm.update(0)
+
+      if self.sm.updated['longitudinalPlanSP']:
+        self.v_tsc_state = self.sm['longitudinalPlanSP'].visionTurnControllerState
+        self.slc_state = self.sm['longitudinalPlanSP'].speedLimitControlState
+        self.m_tsc_state = self.sm['longitudinalPlanSP'].turnSpeedControlState
+        self.speed_limit = self.sm['longitudinalPlanSP'].speedLimit
+        self.speed_limit_offset = self.sm['longitudinalPlanSP'].speedLimitOffset
+        self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
+        self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed
+
+      self.v_cruise_min = VOLKSWAGEN_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)
     actuators = CC.actuators
     hud_control = CC.hudControl
     can_sends = []
 
+    if not self.CP.pcmCruiseSpeed:
+      if not self.last_speed_limit_sign_tap_prev and CS.params_list.last_speed_limit_sign_tap:
+        self.sl_force_active_timer = self.frame
+        self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False)
+      self.last_speed_limit_sign_tap_prev = CS.params_list.last_speed_limit_sign_tap
+
+      sl_force_active = CS.params_list.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
+      sl_inactive = not sl_force_active and (not CS.params_list.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
+      sl_temp_inactive = not sl_force_active and (CS.params_list.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
+      slc_active = not sl_inactive and not sl_temp_inactive
+
+      self.slc_active_stock = slc_active
+
     # **** Steering Controls ************************************************ #
 
     if self.frame % self.CCP.STEER_STEP == 0:
@@ -110,11 +171,155 @@ class CarController(CarControllerBase):
     if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume):
       can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, self.ext_bus, CS.gra_stock_values,
                                                            cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
+    if not (CC.cruiseControl.cancel or CC.cruiseControl.resume) and CS.out.cruiseState.enabled:
+      if not self.CP.pcmCruiseSpeed:
+        self.cruise_button = self.get_cruise_buttons(CS, CC.vCruise)
+        if self.cruise_button is not None:
+          if self.acc_type == -1:
+            if self.button_count >= 2 and self.v_set_dis_prev != self.v_set_dis:
+              self.acc_type = 1 if abs(self.v_set_dis - self.v_set_dis_prev) >= 10 and self.last_cruise_button in (1, 2) else \
+                              0 if abs(self.v_set_dis - self.v_set_dis_prev) < 10 and self.last_cruise_button not in (1, 2) else 1
+            if self.send_count >= 10 and self.v_set_dis_prev == self.v_set_dis:
+              self.cruise_button = 3 if self.cruise_button == 1 else 4
+          if self.acc_type == 0:
+            self.cruise_button = 1 if self.cruise_button == 1 else 2  # accel, decel
+          elif self.acc_type == 1:
+            self.cruise_button = 3 if self.cruise_button == 1 else 4  # resume, set
+          if self.frame % self.CCP.BTN_STEP == 0:
+            can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, CS.gra_stock_values, frame=(self.frame // self.CCP.BTN_STEP),
+                                                                 buttons=self.cruise_button, custom_stock_long=True))
+            self.send_count += 1
+        else:
+          self.send_count = 0
+        self.last_cruise_button = self.cruise_button
 
     new_actuators = actuators.as_builder()
     new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX
     new_actuators.steerOutputCan = self.apply_steer_last
 
     self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
+    self.v_set_dis_prev = self.v_set_dis
     self.frame += 1
     return new_actuators, can_sends
+
+  # multikyd methods, sunnyhaibin logic
+  def get_cruise_buttons_status(self, CS):
+    if not CS.out.cruiseState.enabled:
+      for be in CS.out.buttonEvents:
+        if be.type in (ButtonType.accelCruise, ButtonType.resumeCruise,
+                       ButtonType.decelCruise, ButtonType.setCruise) and be.pressed:
+          self.timer = 40
+        elif be.type == ButtonType.gapAdjustCruise and be.pressed:
+          self.timer = 300
+    elif self.timer:
+      self.timer -= 1
+    else:
+      return 1
+    return 0
+
+  def get_target_speed(self, v_cruise_kph_prev):
+    v_cruise_kph = v_cruise_kph_prev
+    if self.slc_state > 1:
+      v_cruise_kph = (self.speed_limit + self.speed_limit_offset) * CV.MS_TO_KPH
+      if not self.slc_active_stock:
+        v_cruise_kph = v_cruise_kph_prev
+    return v_cruise_kph
+
+  def get_button_type(self, button_type):
+    self.type_status = "type_" + str(button_type)
+    self.button_picker = getattr(self, self.type_status, lambda: "default")
+    return self.button_picker()
+
+  def reset_button(self):
+    if self.button_type != 3:
+      self.button_type = 0
+
+  def type_default(self):
+    self.button_type = 0
+    return None
+
+  def type_0(self):
+    self.button_count = 0
+    self.target_speed = self.init_speed
+    self.speed_diff = self.target_speed - self.v_set_dis
+    if self.target_speed > self.v_set_dis:
+      self.button_type = 1
+    elif self.target_speed < self.v_set_dis and self.v_set_dis > self.v_cruise_min:
+      self.button_type = 2
+    return None
+
+  def type_1(self):
+    cruise_button = 1
+    self.button_count += 1
+    if self.target_speed <= self.v_set_dis:
+      self.button_count = 0
+      self.button_type = 3
+    elif self.button_count > 5:
+      self.button_count = 0
+      self.button_type = 3
+    return cruise_button
+
+  def type_2(self):
+    cruise_button = 2
+    self.button_count += 1
+    if self.target_speed >= self.v_set_dis or self.v_set_dis <= self.v_cruise_min:
+      self.button_count = 0
+      self.button_type = 3
+    elif self.button_count > 5:
+      self.button_count = 0
+      self.button_type = 3
+    return cruise_button
+
+  def type_3(self):
+    cruise_button = None
+    self.button_count += 1
+    if self.button_count > self.t_interval:
+      self.button_type = 0
+    return cruise_button
+
+  def get_curve_speed(self, target_speed_kph, v_cruise_kph_prev):
+    if self.v_tsc_state != 0:
+      vision_v_cruise_kph = self.v_tsc * CV.MS_TO_KPH
+      if int(vision_v_cruise_kph) == int(v_cruise_kph_prev):
+        vision_v_cruise_kph = 255
+    else:
+      vision_v_cruise_kph = 255
+    if self.m_tsc_state > 1:
+      map_v_cruise_kph = self.m_tsc * CV.MS_TO_KPH
+      if int(map_v_cruise_kph) == 0.0:
+        map_v_cruise_kph = 255
+    else:
+      map_v_cruise_kph = 255
+    curve_speed = self.curve_speed_hysteresis(min(vision_v_cruise_kph, map_v_cruise_kph) + 2 * CV.MPH_TO_KPH)
+    return min(target_speed_kph, curve_speed)
+
+  def get_button_control(self, CS, final_speed, v_cruise_kph_prev):
+    self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1))
+    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not CS.params_list.is_metric else CV.MS_TO_KPH))
+    cruise_button = self.get_button_type(self.button_type)
+    return cruise_button
+
+  def curve_speed_hysteresis(self, cur_speed: float, hyst=(0.75 * CV.MPH_TO_KPH)):
+    if cur_speed > self.steady_speed:
+      self.steady_speed = cur_speed
+    elif cur_speed < self.steady_speed - hyst:
+      self.steady_speed = cur_speed
+    return self.steady_speed
+
+  def get_cruise_buttons(self, CS, v_cruise_kph_prev):
+    cruise_button = None
+    if not self.get_cruise_buttons_status(CS):
+      pass
+    elif CS.out.cruiseState.enabled:
+      set_speed_kph = self.get_target_speed(v_cruise_kph_prev)
+      if self.slc_state > 1:
+        target_speed_kph = set_speed_kph
+      else:
+        target_speed_kph = min(v_cruise_kph_prev, set_speed_kph)
+      if self.v_tsc_state != 0 or self.m_tsc_state > 1:
+        self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev)
+      else:
+        self.final_speed_kph = target_speed_kph
+
+      cruise_button = self.get_button_control(CS, self.final_speed_kph, v_cruise_kph_prev)  # MPH/KPH based button presses
+    return cruise_button

selfdrive/car/volkswagen/interface.py

@@ -171,6 +171,8 @@ class CarInterface(CarInterfaceBase):
     if self.CC.eps_timer_soft_disable_alert:
       events.add(EventName.steerTimeLimit)
 
+    ret.customStockLong = self.update_custom_stock_long()
+
     ret.events = events.to_msg()
 
     return ret

selfdrive/car/volkswagen/mqbcan.py

@@ -49,7 +49,7 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, lat_active, steering_p
   return packer.make_can_msg("LDW_02", bus, values)
 
 
-def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False):
+def create_acc_buttons_control(packer, bus, gra_stock_values, frame=0, buttons=0, cancel=False, resume=False, custom_stock_long=False):
   values = {s: gra_stock_values[s] for s in [
     "GRA_Hauptschalter",           # ACC button, on/off
     "GRA_Typ_Hauptschalter",       # ACC main button type
@@ -58,10 +58,18 @@ def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resu
     "GRA_ButtonTypeInfo",          # unknown related to stalk type
   ]}
 
+  accel_cruise = 1 if buttons == 1 else 0
+  decel_cruise = 1 if buttons == 2 else 0
+  resume_cruise = 1 if buttons == 3 else 0
+  set_cruise = 1 if buttons == 4 else 0
+
   values.update({
-    "COUNTER": (gra_stock_values["COUNTER"] + 1) % 16,
+    "COUNTER": (frame + 1) % 0x10 if custom_stock_long else (gra_stock_values["COUNTER"] + 1) % 16,
     "GRA_Abbrechen": cancel,
-    "GRA_Tip_Wiederaufnahme": resume,
+    "GRA_Tip_Wiederaufnahme": resume or resume_cruise,
+    "GRA_Tip_Setzen": set_cruise,
+    "GRA_Tip_Runter": decel_cruise,
+    "GRA_Tip_Hoch": accel_cruise,
   })
 
   return packer.make_can_msg("GRA_ACC_01", bus, values)

selfdrive/car/volkswagen/pqcan.py

@@ -31,7 +31,7 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, lat_active, steering_p
   return packer.make_can_msg("LDW_Status", bus, values)
 
 
-def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False):
+def create_acc_buttons_control(packer, bus, gra_stock_values, frame=0, buttons=0, cancel=False, resume=False, custom_stock_long=False):
   values = {s: gra_stock_values[s] for s in [
     "GRA_Hauptschalt",      # ACC button, on/off
     "GRA_Typ_Hauptschalt",  # ACC button, momentary vs latching
@@ -39,10 +39,18 @@ def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resu
     "GRA_Sender",           # ACC button, CAN message originator
   ]}
 
+  accel_cruise = 1 if buttons == 1 else 0
+  decel_cruise = 1 if buttons == 2 else 0
+  resume_cruise = 1 if buttons == 3 else 0
+  set_cruise = 1 if buttons == 4 else 0
+
   values.update({
-    "COUNTER": (gra_stock_values["COUNTER"] + 1) % 16,
+    "COUNTER": (frame + 1) % 0x10 if custom_stock_long else (gra_stock_values["COUNTER"] + 1) % 16,
     "GRA_Abbrechen": cancel,
-    "GRA_Recall": resume,
+    "GRA_Recall": resume or resume_cruise,
+    "GRA_Neu_Setzen": set_cruise,
+    "GRA_Down_kurz": decel_cruise,
+    "GRA_Up_kurz": accel_cruise,
   })
 
   return packer.make_can_msg("GRA_Neu", bus, values)

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -63,7 +63,7 @@ def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
   elif personality==custom.LongitudinalPersonalitySP.standard:
     return 1.0
   elif personality==custom.LongitudinalPersonalitySP.moderate:
-    return 0.85
+    return 0.9
   elif personality==custom.LongitudinalPersonalitySP.aggressive:
     return 0.8
   elif personality==custom.LongitudinalPersonalitySP.overtake:
@@ -86,20 +86,20 @@ def get_T_FOLLOW(personality=custom.LongitudinalPersonalitySP.standard):
   else:
     raise NotImplementedError("Longitudinal personality not supported")
 
-
+# Last updated: September 29, 2024
 def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP.standard):
   if personality==custom.LongitudinalPersonalitySP.relaxed:
-    x_vel =  [0,    5.,   5.01,  20.,   27.7]
-    y_dist = [1.0,  1.0,  1.75,  1.75,  1.83]
+    x_vel =  [0,    14.,   27.7]
+    y_dist = [1.75, 1.75,  2.00]
   elif personality==custom.LongitudinalPersonalitySP.standard:
-    x_vel =  [0,    20.,   27.7]
+    x_vel =  [0,    14.,   27.7]
     y_dist = [1.75, 1.75,  1.70]
   elif personality==custom.LongitudinalPersonalitySP.moderate:
-    x_vel =  [0,    27.69, 27.7]
-    y_dist = [1.45, 1.45,  1.40]
+    x_vel =  [0,    14.,   27.7]
+    y_dist = [1.45, 1.45,  1.48]
   elif personality==custom.LongitudinalPersonalitySP.aggressive:
-    x_vel =  [0,    20.0, 20.01, 27.69, 27.7]
-    y_dist = [1.07, 1.07, 1.12,  1.12,  1.20]
+    x_vel =  [0,    14.,   27.7]
+    y_dist = [1.25, 1.25,  1.28]
   else:
     raise NotImplementedError("Dynamic personality not supported")
   return np.interp(v_ego, x_vel, y_dist)

selfdrive/controls/lib/sunnypilot/accel_controller.py

@@ -21,7 +21,7 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
 
-# Last updated: August 12, 2024
+# Last updated: September 29, 2024
 
 from cereal import custom
 from openpilot.common.numpy_fast import interp
@@ -29,15 +29,15 @@ from openpilot.common.numpy_fast import interp
 AccelPersonality = custom.AccelerationPersonality
 
 # accel personality by @arne182 modified by cgw and kumar
-_DP_CRUISE_MIN_V =       [-0.031, -0.031, -0.080, -0.080, -0.19, -0.19, -0.59, -0.59, -0.79, -0.79, -1.0,  -1.0]
-_DP_CRUISE_MIN_V_ECO =   [-0.030, -0.030, -0.075, -0.075, -0.18, -0.18, -0.58, -0.58, -0.78, -0.78, -1.0,  -1.0]
-_DP_CRUISE_MIN_V_SPORT = [-0.102, -0.102, -0.085, -0.085, -0.20, -0.20, -0.60, -0.60, -0.80, -0.80, -1.0,  -1.0]
-_DP_CRUISE_MIN_BP =      [0.,     3.0,    3.01,   10.,    10.01, 14.,   14.01, 18.,   18.01,  22.,  22.01, 30.]
+_DP_CRUISE_MIN_V =       [-1.0, -1.0,  -0.88]
+_DP_CRUISE_MIN_V_ECO =   [-1.0, -1.0,  -0.76]
+_DP_CRUISE_MIN_V_SPORT = [-1.0, -1.0,  -1.0]
+_DP_CRUISE_MIN_BP =      [0.,   11.1,  20.]
 
-_DP_CRUISE_MAX_V =       [2.0, 2.0, 2.0, 1.70, 1.11, .70,  .54,  .38,  .17]
-_DP_CRUISE_MAX_V_ECO =   [2.0, 2.0, 1.8, 1.40, 0.90, .53,  .43,  .32,  .09]
-_DP_CRUISE_MAX_V_SPORT = [2.0, 2.0, 2.0, 2.00, 1.40, .90,  .70,  .50,  .30]
-_DP_CRUISE_MAX_BP =      [0.,  4.,  6.,  8.,   11.,  20.,  25.,  30.,  40.]
+_DP_CRUISE_MAX_V =       [2.0, 2.0, 2.0, 1.75, 1.03, .72,  .53,  .42,  .13]
+_DP_CRUISE_MAX_V_ECO =   [2.0, 2.0, 2.0, 1.50, 0.92, .54,  .43,  .32,  .088]
+_DP_CRUISE_MAX_V_SPORT = [2.0, 2.0, 2.0, 2.00, 1.25, .96,  .78,  .60,  .4]
+_DP_CRUISE_MAX_BP =      [0.,  1.,  6.,  8.,   11.,  20.,  25.,  30.,  55.]
 
 
 class AccelController:

selfdrive/controls/lib/sunnypilot/dynamic_experimental_controller.py

@@ -21,7 +21,7 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
 #
-# Version = 2024-8-26
+# Version = 2024-9-28
 from common.numpy_fast import interp
 import numpy as np
 
@@ -31,11 +31,11 @@ TRAJECTORY_SIZE = 33
 LEAD_WINDOW_SIZE = 4
 LEAD_PROB = 0.6
 
-SLOW_DOWN_WINDOW_SIZE = 5
+SLOW_DOWN_WINDOW_SIZE = 4
 SLOW_DOWN_PROB = 0.6
 
 SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
-SLOW_DOWN_DIST = [20, 30., 50., 70., 80., 90., 105., 120.]
+SLOW_DOWN_DIST = [25., 38., 55., 75., 95., 115., 130., 150.]
 
 SLOWNESS_WINDOW_SIZE = 12
 SLOWNESS_PROB = 0.5
@@ -87,7 +87,7 @@ class WeightedMovingAverageCalculator:
   def __init__(self, window_size):
     self.window_size = window_size
     self.data = []
-    self.weights = np.linspace(1, 2, window_size)  # Linear weights, adjust as needed
+    self.weights = np.linspace(1, 3, window_size)  # Linear weights, adjust as needed
 
   def add_data(self, value):
     if len(self.data) == self.window_size:
@@ -112,6 +112,7 @@ class DynamicExperimentalController:
     self._mode_changed = False
     self._frame = 0
 
+    # Use weighted moving average for filtering leads
     self._lead_gmac = WeightedMovingAverageCalculator(window_size=LEAD_WINDOW_SIZE)
     self._has_lead_filtered = False
     self._has_lead_filtered_prev = False
@@ -152,17 +153,21 @@ class DynamicExperimentalController:
     """
     Adapts the slow down threshold based on vehicle speed and recent behavior.
     """
-    return interp(self._v_ego_kph, SLOW_DOWN_BP, SLOW_DOWN_DIST) * (1.0 + 0.05 * np.log(1 + len(self._slow_down_gmac.data)))
+    return interp(self._v_ego_kph, SLOW_DOWN_BP, SLOW_DOWN_DIST) * (1.0 + 0.03 * np.log(1 + len(self._slow_down_gmac.data)))
 
-  def _anomaly_detection(self, recent_data, threshold=2.0):
+  def _anomaly_detection(self, recent_data, threshold=2.0, context_check=True):
     """
     Basic anomaly detection using standard deviation.
     """
-    if len(recent_data) < 3:
+    if len(recent_data) < 5:
       return False
     mean = np.mean(recent_data)
     std_dev = np.std(recent_data)
     anomaly = recent_data[-1] > mean + threshold * std_dev
+
+    # Context check to ensure repeated anomaly
+    if context_check:
+      return np.count_nonzero(np.array(recent_data) > mean + threshold * std_dev) > 1
     return anomaly
 
   def _smoothed_lead_detection(self, lead_prob, smoothing_factor=0.2):

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_settings.cc

@@ -191,6 +191,14 @@ SPVehiclesTogglesPanel::SPVehiclesTogglesPanel(VehiclePanel *parent) : ListWidge
   toyotaAutoUnlock->setConfirmation(true, false);
   addItem(toyotaAutoUnlock);
 
+  auto toyotaDriveMode = new ParamControlSP(
+    "ToyotaDriveMode",
+    tr("Enable Toyota Drive Mode Button"),
+    tr("Sunnypilot will link the Acceleration Personality to the car's physical drive mode selector.\nReboot Required."),
+    "../assets/offroad/icon_blank.png");
+  toyotaDriveMode->setConfirmation(true, false);
+  addItem(toyotaDriveMode);
+
   // Volkswagen
   addItem(new LabelControlSP(tr("Volkswagen")));
   auto volkswagenCCOnly = new ParamControlSP(

selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc

@@ -1290,46 +1290,25 @@ void AnnotatedCameraWidgetSP::drawDriverState(QPainter &painter, const UIStateSP
 }
 
 void AnnotatedCameraWidgetSP::rocketFuel(QPainter &p) {
+  UIState *s = uiState();
+  float accel = (*s->sm)["carControl"].getCarControl().getActuators().getAccel();
+  int widgetHeight = rect().height();
+  float halfHeightAbs = std::abs(accel) * widgetHeight / 2.0f;
+  const float scannerWidth = 15;
+  QRect scannerRect;
 
-  static const int ct_n = 1;
-  static float ct;
-
-  int rect_w = rect().width();
-  int rect_h = rect().height();
-
-  const int n = 15 + 1; //Add one off screen due to timing issues
-  static float t[n];
-  int dim_n = (sin(ct / 5) + 1) * (n - 0.01);
-  t[dim_n] = 1.0;
-  t[(int)(ct/ct_n)] = 1.0;
-
-  UIStateSP *s = uiStateSP();
-  float vc_accel0 = (*s->sm)["carState"].getCarState().getAEgo();
-  static float vc_accel;
-  vc_accel = vc_accel + (vc_accel0 - vc_accel) / 5;
-  float hha = 0;
-  if (vc_accel > 0) {
-    hha = 0.85 - 0.1 / vc_accel;  // only extend up to 85%
+  if (accel > 0) {
     p.setBrush(QColor(0, 245, 0, 200));
-  }
-  if (vc_accel < 0) {
-    hha = 0.85 + 0.1 / vc_accel; // only extend up to 85%
-    p.setBrush(QColor(245, 0, 0, 200));
-  }
-  if (hha < 0) {
-    hha = 0;
-  }
-  hha = hha * rect_h;
-  float wp = 28;
-  if (vc_accel > 0) {
-    QRect ra = QRect(rect_w - wp, rect_h / 2 - hha / 2, wp, hha / 2);
-    p.drawRect(ra);
+    scannerRect = QRect(0, widgetHeight / 2 - halfHeightAbs, scannerWidth, halfHeightAbs);
   } else {
-    QRect ra = QRect(rect_w - wp, rect_h / 2, wp, hha / 2);
-    p.drawRect(ra);
+    p.setBrush(QColor(245, 0, 0, 200));
+    scannerRect = QRect(0, widgetHeight / 2, scannerWidth, halfHeightAbs);
   }
+
+  p.drawRect(scannerRect);
 }
 
+
 void AnnotatedCameraWidgetSP::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd,
                                      int num, const cereal::CarState::Reader &car_data, int chevron_data) {
   painter.save();

selfdrive/ui/ui.cc

@@ -326,7 +326,7 @@ void Device::resetInteractiveTimeout(int timeout) {
 
 void Device::updateBrightness(const UIState &s) {
   clipped_brightness = offroad_brightness;
-  if (s.scene.started && s.scene.light_sensor > 0) {
+  if (s.scene.started && s.scene.light_sensor >= 0) {
     clipped_brightness = s.scene.light_sensor;
 
     // CIE 1931 - https://www.photonstophotos.net/GeneralTopics/Exposure/Psychometric_Lightness_and_Gamma.htm
@@ -337,7 +337,7 @@ void Device::updateBrightness(const UIState &s) {
     }
 
     // Scale back to 10% to 100%
-    clipped_brightness = std::clamp(100.0f * clipped_brightness, 10.0f, 100.0f);
+    clipped_brightness = std::clamp(100.0f * clipped_brightness, 5.0f, 100.0f);
   }
   RETURN_IF_SUNNYPILOT
   
@@ -377,4 +377,4 @@ Device *device() {
   static Device _device;
   return &_device;
 }
-#endif
+#endif

sunnypilot/controls/lib/custom_stock_longitudinal_controller/controllers.py

@@ -1,127 +0,0 @@
-from abc import abstractmethod, ABC
-
-from cereal import car, custom
-from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.controls.lib.sunnypilot.speed_limit_controller import ACTIVE_STATES
-from openpilot.sunnypilot.controls.lib.custom_stock_longitudinal_controller.states import InactiveState, \
-  LoadingState, AcceleratingState, DeceleratingState, HoldingState
-from openpilot.sunnypilot.controls.lib.custom_stock_longitudinal_controller.helpers import get_set_point, \
-  speed_hysteresis, update_manual_button_timers
-
-ButtonType = car.CarState.ButtonEvent.Type
-ButtonControlState = custom.CarControlSP.CustomStockLongitudinalControl.ButtonControlState
-SpeedLimitControlState = custom.LongitudinalPlanSP.SpeedLimitControlState
-TurnSpeedControlState = custom.LongitudinalPlanSP.SpeedLimitControlState
-VisionTurnControllerState = custom.LongitudinalPlanSP.VisionTurnControllerState
-
-SendCan = tuple[int, bytes, int]
-
-
-class CustomStockLongitudinalControllerBase(ABC):
-  def __init__(self, car, car_controller, car_state, CP):
-    self.car = car
-    self.car_controller = car_controller
-    self.car_state = car_state
-    self.CP = CP
-
-    self.v_target = 0
-    self.v_cruise_cluster = 0
-    self.v_cruise_min = 0
-    self.cruise_button = None
-    self.button_state = ButtonControlState.inactive
-
-    self.v_tsc_state = VisionTurnControllerState.disabled
-    self.slc_state = SpeedLimitControlState.inactive
-    self.m_tsc_state = TurnSpeedControlState.inactive
-    self.v_tsc = 0
-    self.speed_limit_offseted = 0
-    self.m_tsc = 0
-
-    self.is_ready = False
-    self.is_ready_prev = False
-    self.speed_steady = 0
-
-    self.accel_button = None
-    self.decel_button = None
-    self.cruise_buttons = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0}
-
-    self.button_states = {
-      ButtonControlState.inactive: InactiveState(self),
-      ButtonControlState.loading: LoadingState(self),
-      ButtonControlState.accelerating: AcceleratingState(self),
-      ButtonControlState.decelerating: DeceleratingState(self),
-      ButtonControlState.holding: HoldingState(self),
-    }
-
-  @abstractmethod
-  def create_mock_button_messages(self) -> list[SendCan]:
-    pass
-
-  def state_publish(self) -> custom.CarControlSP.CustomStockLongitudinalControl:
-    customStockLongitudinalControl = custom.CarControlSP.CustomStockLongitudinalControl.new_message()
-    customStockLongitudinalControl.state = self.button_state
-    customStockLongitudinalControl.cruiseButton = 0 if self.cruise_button is None else int(self.cruise_button)
-    customStockLongitudinalControl.vTarget = float(self.v_target)
-    customStockLongitudinalControl.vCruiseCluster = float(self.v_cruise_cluster)
-    return customStockLongitudinalControl
-
-  def update_msgs(self) -> None:
-    if self.car.sm.updated['longitudinalPlanSP']:
-      self.v_tsc_state = self.car.sm['longitudinalPlanSP'].visionTurnControllerState
-      self.slc_state = self.car.sm['longitudinalPlanSP'].speedLimitControlState
-      self.m_tsc_state = self.car.sm['longitudinalPlanSP'].turnSpeedControlState
-      self.v_tsc = self.car.sm['longitudinalPlanSP'].visionTurnSpeed
-
-      speed_limit = self.car.sm['longitudinalPlanSP'].speedLimit
-      speed_limit_offset = self.car.sm['longitudinalPlanSP'].speedLimitOffset
-      self.speed_limit_offseted = speed_limit + speed_limit_offset
-
-      self.m_tsc = self.car.sm['longitudinalPlanSP'].turnSpeed
-
-  def update_calculations(self, CS: car.CarState, CC: car.CarControl) -> None:
-    is_metric = self.car_state.params_list.is_metric
-    v_cruise_kph = CC.vCruise
-    v_cruise = v_cruise_kph * CV.KPH_TO_MS
-    self.v_cruise_min = get_set_point(is_metric)
-    self.v_cruise_cluster = round(CS.cruiseState.speed * (CV.MS_TO_KPH if is_metric else CV.MS_TO_MPH))
-
-    v_targets = {'cruise': CC.vCruise}
-
-    if self.v_tsc_state != VisionTurnControllerState.disabled:
-      v_targets['v_tsc'] = self.v_tsc
-
-    if self.slc_state in ACTIVE_STATES:
-      v_targets['slc'] = self.speed_limit_offseted
-
-    if self.m_tsc_state > TurnSpeedControlState.tempInactive:
-      v_targets['m_tsc'] = self.m_tsc
-
-    source = min(v_targets, key=v_targets.get)
-
-    v_target = speed_hysteresis(self, v_targets[source], self.speed_steady, 1.5 * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS))
-    v_target = min(v_target, v_cruise)
-    v_target = round(v_target * (CV.MS_TO_KPH if is_metric else CV.MS_TO_MPH))
-
-    self.v_target = v_target
-
-  def update_state(self, CS: car.CarState, CC: car.CarControl) -> None:
-    update_manual_button_timers(CS, self.cruise_buttons)
-
-    ready = CS.cruiseState.enabled and not CC.cruiseControl.cancel and not CC.cruiseControl.resume
-    button_pressed = any(self.cruise_buttons[k] > 0 for k in self.cruise_buttons)
-    self.is_ready = ready and not button_pressed
-
-    self.cruise_button = self.button_states[self.button_state]()
-
-    self.is_ready_prev = self.is_ready
-
-  def update(self, CS: car.CarState, CC: car.CarControl) -> list[SendCan]:
-    self.update_msgs()
-
-    self.update_calculations(CS, CC)
-
-    self.update_state(CS, CC)
-
-    can_sends = self.create_mock_button_messages()
-
-    return can_sends

sunnypilot/controls/lib/custom_stock_longitudinal_controller/helpers.py

@@ -1,30 +0,0 @@
-from cereal import car
-
-ButtonType = car.CarState.ButtonEvent.Type
-
-
-def get_set_point(is_metric: bool) -> float:
-  return 30 if is_metric else 20
-
-
-def speed_hysteresis(controller, speed: float, speed_steady: float, hyst: float) -> float:
-  if speed > speed_steady + hyst:
-    speed_steady = speed - hyst
-  elif speed < speed_steady - hyst:
-    speed_steady = speed + hyst
-
-  controller.speed_steady = speed
-
-  return speed_steady
-
-
-def update_manual_button_timers(CS: car.CarState, button_timers: dict[ButtonType, int]) -> None:
-  # increment timer for buttons still pressed
-  for k in button_timers:
-    if button_timers[k] > 0:
-      button_timers[k] += 1
-
-  for b in CS.buttonEvents:
-    if b.type.raw in button_timers:
-      # Start/end timer and store current state on change of button pressed
-      button_timers[b.type.raw] = 1 if b.pressed else 0

sunnypilot/controls/lib/custom_stock_longitudinal_controller/states.py

@@ -1,85 +0,0 @@
-from abc import ABC, abstractmethod
-from random import randint
-
-from cereal import custom
-
-ButtonControlState = custom.CarControlSP.CustomStockLongitudinalControl.ButtonControlState
-
-INACTIVE_TIMER = 40
-RESET_COUNT = 5
-HOLD_TIME = 7
-
-
-class ButtonStateBase(ABC):
-  def __init__(self, controller):
-    self.controller = controller
-    self.button_count = 0
-    self.timer = INACTIVE_TIMER
-
-  def __call__(self) -> int | None:
-    if self.controller.is_ready:
-      # TODO-SP: Validate different hold time intervals for different platforms to prevent temporary cruise fault
-      pass
-    else:
-      if self.controller.is_ready_prev:
-        self.controller.button_state = ButtonControlState.inactive
-        return None
-
-    return self.handle()
-
-  @abstractmethod
-  def handle(self) -> int | None:
-    pass
-
-
-class InactiveState(ButtonStateBase):
-  def handle(self) -> None:
-    self.button_count = 0
-
-    if not self.controller.is_ready:
-      self.timer = INACTIVE_TIMER
-    elif self.timer > 0:
-      self.timer -= 1
-    else:
-      self.controller.button_state = ButtonControlState.loading
-    return None
-
-
-class LoadingState(ButtonStateBase):
-  def handle(self) -> None:
-    if self.controller.v_target > self.controller.v_cruise_cluster:
-      self.controller.button_state = ButtonControlState.accelerating
-    elif self.controller.v_target < self.controller.v_cruise_cluster and self.controller.v_cruise_cluster > self.controller.v_cruise_min:
-      self.controller.button_state = ButtonControlState.decelerating
-    else:
-      self.controller.button_state = ButtonControlState.holding
-    return None
-
-
-class AcceleratingState(ButtonStateBase):
-  def handle(self) -> int | None:
-    self.button_count += 1
-    if self.controller.v_target <= self.controller.v_cruise_cluster or self.button_count > RESET_COUNT:
-      self.button_count = 0
-      self.controller.button_state = ButtonControlState.holding
-      return None
-    return self.controller.accel_button
-
-
-class DeceleratingState(ButtonStateBase):
-  def handle(self) -> int | None:
-    self.button_count += 1
-    if self.controller.v_target >= self.controller.v_cruise_cluster or self.controller.v_cruise_cluster <= self.controller.v_cruise_min or self.button_count > RESET_COUNT:
-      self.button_count = 0
-      self.controller.button_state = ButtonControlState.holding
-      return None
-    return self.controller.decel_button
-
-
-class HoldingState(ButtonStateBase):
-  def handle(self) -> None:
-    self.button_count += 1
-    if self.button_count > HOLD_TIME:
-      self.button_count = 0
-      self.controller.button_state = ButtonControlState.loading
-    return None

sunnypilot/selfdrive/car/chrysler/custom_stock_longitudinal_controller/controller.py

@@ -1,32 +0,0 @@
-from cereal import car
-from openpilot.selfdrive.car.chrysler.values import RAM_CARS
-from openpilot.sunnypilot.controls.lib.custom_stock_longitudinal_controller.controllers import CustomStockLongitudinalControllerBase, \
-  SendCan
-from openpilot.sunnypilot.selfdrive.car.chrysler.custom_stock_longitudinal_controller import helpers
-
-ButtonType = car.CarState.ButtonEvent.Type
-# TODO-SP: Handle this better in the base class
-ACCEL_BUTTON = 1
-DECEL_BUTTON = 2
-
-
-class CustomStockLongitudinalController(CustomStockLongitudinalControllerBase):
-  def __init__(self, car, car_controller, car_state, CP):
-    super().__init__(car, car_controller, car_state, CP)
-    self.accel_button = ACCEL_BUTTON
-    self.decel_button = DECEL_BUTTON
-    self.cruise_buttons = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0, ButtonType.resumeCruise: 0}
-
-  def create_mock_button_messages(self) -> list[SendCan]:
-    can_sends = []
-    ram_cars = self.CP.carFingerprint in RAM_CARS
-    das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
-    button_counter_offset = [1, 1, 0, None][self.car_controller.frame % 4]
-
-    if self.cruise_button is not None:
-      if ram_cars:
-        can_sends.append(helpers.create_cruise_buttons(self.car_controller.packer, self.car_state.button_counter, das_bus, self.cruise_button))
-      elif button_counter_offset is not None:
-        can_sends.append(helpers.create_cruise_buttons(self.car_controller.packer, self.car_state.button_counter + button_counter_offset, das_bus, self.cruise_button))
-
-    return can_sends

sunnypilot/selfdrive/car/chrysler/custom_stock_longitudinal_controller/helpers.py

@@ -1,9 +0,0 @@
-def create_cruise_buttons(packer, frame, bus, buttons=0):
-
-  values = {
-    "ACC_Accel": 1 if buttons == 1 else 0,
-    "ACC_Decel": 1 if buttons == 2 else 0,
-    "COUNTER": frame % 0x10,
-  }
-
-  return packer.make_can_msg("CRUISE_BUTTONS", bus, values)

sunnypilot/selfdrive/car/ford/custom_stock_longitudinal_controller/controller.py

@@ -1,28 +0,0 @@
-from cereal import car
-from openpilot.selfdrive.car.ford.values import CarControllerParams
-from openpilot.sunnypilot.controls.lib.custom_stock_longitudinal_controller.controllers import CustomStockLongitudinalControllerBase, \
-  SendCan
-from openpilot.sunnypilot.selfdrive.car.ford.custom_stock_longitudinal_controller import fordcan
-
-ButtonType = car.CarState.ButtonEvent.Type
-# TODO-SP: Handle this better in the base class
-ACCEL_BUTTON = 1
-DECEL_BUTTON = 2
-
-
-class CustomStockLongitudinalController(CustomStockLongitudinalControllerBase):
-  def __init__(self, car, car_controller, car_state, CP):
-    super().__init__(car, car_controller, car_state, CP)
-    self.accel_button = ACCEL_BUTTON
-    self.decel_button = DECEL_BUTTON
-    self.cruise_buttons = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0, ButtonType.gapAdjustCruise: 0,
-                           ButtonType.resumeCruise: 0, ButtonType.setCruise: 0}
-
-  def create_mock_button_messages(self) -> list[SendCan]:
-    can_sends = []
-
-    if self.cruise_button is not None and (self.car_controller.frame % CarControllerParams.BUTTONS_STEP) == 0:
-      can_sends.append(fordcan.create_button_msg(self.car_controller.packer, self.car_controller.CAN.camera, self.car_state.buttons_stock_values, buttons=self.cruise_button))
-      can_sends.append(fordcan.create_button_msg(self.car_controller.packer, self.car_controller.CAN.main, self.car_state.buttons_stock_values, buttons=self.cruise_button))
-
-    return can_sends

sunnypilot/selfdrive/car/ford/custom_stock_longitudinal_controller/fordcan.py

@@ -1,48 +0,0 @@
-def create_button_msg(packer, bus: int, stock_values: dict, buttons=0):
-  """
-  Creates a CAN message for the Ford SCCM buttons/switches.
-
-  Includes cruise control buttons, turn lights and more.
-
-  Frequency is 10Hz.
-  """
-
-  values = {s: stock_values[s] for s in [
-    "HeadLghtHiFlash_D_Stat",  # SCCM Passthrough the remaining buttons
-    "TurnLghtSwtch_D_Stat",    # SCCM Turn signal switch
-    "WiprFront_D_Stat",
-    "LghtAmb_D_Sns",
-    "AccButtnGapDecPress",
-    "AccButtnGapIncPress",
-    "AslButtnOnOffCnclPress",
-    "AslButtnOnOffPress",
-    "LaSwtchPos_D_Stat",
-    "CcAslButtnCnclResPress",
-    "CcAslButtnDeny_B_Actl",
-    "CcAslButtnIndxDecPress",
-    "CcAslButtnIndxIncPress",
-    "CcAslButtnOffCnclPress",
-    "CcAslButtnOnOffCncl",
-    "CcAslButtnOnPress",
-    "CcAslButtnResDecPress",
-    "CcAslButtnResIncPress",
-    "CcAslButtnSetDecPress",
-    "CcAslButtnSetIncPress",
-    "CcAslButtnSetPress",
-    "CcButtnOffPress",
-    "CcButtnOnOffCnclPress",
-    "CcButtnOnOffPress",
-    "CcButtnOnPress",
-    "HeadLghtHiFlash_D_Actl",
-    "HeadLghtHiOn_B_StatAhb",
-    "AhbStat_B_Dsply",
-    "AccButtnGapTogglePress",
-    "WiprFrontSwtch_D_Stat",
-    "HeadLghtHiCtrl_D_RqAhb",
-  ]}
-
-  values.update({
-    "CcAslButtnSetIncPress": 1 if buttons == 1 else 0,      # CC increase button
-    "CcAslButtnSetDecPress": 1 if buttons == 2 else 0,      # CC decrease button
-  })
-  return packer.make_can_msg("Steering_Data_FD1", bus, values)

sunnypilot/selfdrive/car/honda/custom_stock_longitudinal_controller/controller.py

@@ -1,25 +0,0 @@
-from cereal import car
-from openpilot.selfdrive.car.honda import hondacan
-from openpilot.selfdrive.car.honda.values import CruiseButtons
-from openpilot.sunnypilot.controls.lib.custom_stock_longitudinal_controller.controllers import CustomStockLongitudinalControllerBase, \
-  SendCan
-from openpilot.sunnypilot.selfdrive.car.honda.custom_stock_longitudinal_controller import helpers
-
-ButtonType = car.CarState.ButtonEvent.Type
-
-
-class CustomStockLongitudinalController(CustomStockLongitudinalControllerBase):
-  def __init__(self, car, car_controller, car_state, CP):
-    super().__init__(car, car_controller, car_state, CP)
-    self.accel_button = CruiseButtons.RES_ACCEL
-    self.decel_button = CruiseButtons.DECEL_SET
-    self.cruise_buttons = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0,
-                           ButtonType.altButton3: 0, ButtonType.cancel: 0}
-
-  def create_mock_button_messages(self) -> list[SendCan]:
-    can_sends = []
-
-    if self.cruise_button is not None:
-      can_sends.append(hondacan.spam_buttons_command(self.car_controller.packer, self.car_controller.CAN, self.cruise_button, self.CP.carFingerprint))
-
-    return can_sends

sunnypilot/selfdrive/car/hyundai/custom_stock_longitudinal_controller/controller.py

@@ -1,58 +0,0 @@
-from random import choices
-
-from cereal import car
-from openpilot.common.numpy_fast import interp
-from openpilot.selfdrive.car.hyundai import hyundaicanfd
-from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CANFD_CAR
-from openpilot.sunnypilot.controls.lib.custom_stock_longitudinal_controller.controllers import CustomStockLongitudinalControllerBase, \
-  SendCan
-from openpilot.sunnypilot.selfdrive.car.hyundai.custom_stock_longitudinal_controller import helpers
-
-ButtonType = car.CarState.ButtonEvent.Type
-
-BUTTON_COPIES = 2
-BUTTON_COPIES_TIME = 7
-BUTTON_COPIES_TIME_IMPERIAL = [BUTTON_COPIES_TIME + 3, 70]
-BUTTON_COPIES_TIME_METRIC = [BUTTON_COPIES_TIME, 40]
-POPULATION = [0, 1]
-WEIGHTS = [0.51, 0.49]
-
-
-class CustomStockLongitudinalController(CustomStockLongitudinalControllerBase):
-  def __init__(self, car, car_controller, car_state, CP):
-    super().__init__(car, car_controller, car_state, CP)
-    self.accel_button = Buttons.RES_ACCEL
-    self.decel_button = Buttons.SET_DECEL
-    self.cruise_buttons = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0, ButtonType.gapAdjustCruise: 0}
-
-  def create_can_mock_button_messages(self) -> list[SendCan]:
-    can_sends = []
-    if self.cruise_button is not None:
-      copies_xp = BUTTON_COPIES_TIME_METRIC if self.car_state.params_list.is_metric else BUTTON_COPIES_TIME_IMPERIAL
-      copies = int(interp(BUTTON_COPIES_TIME, copies_xp, [1, BUTTON_COPIES]))
-      can_sends.extend([helpers.create_clu11(self.car_controller.packer, self.car_state.clu11, self.cruise_button, self.CP)] * copies)
-
-    return can_sends
-
-  def create_canfd_mock_button_messages(self) -> list[SendCan]:
-    can_sends = []
-    if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
-      # TODO: resume for alt button cars
-      pass
-    else:
-      if self.cruise_button is not None:
-        for _ in range(BUTTON_COPIES):
-          can_sends.append(hyundaicanfd.create_buttons(self.car_controller.packer, self.CP, self.car_controller.CAN,
-                                                       self.car_state.button_counters + choices(POPULATION, WEIGHTS)[0],
-                                                       self.cruise_button))
-
-    return can_sends
-
-  def create_mock_button_messages(self) -> list[SendCan]:
-    can_sends = []
-    if self.CP.carFingerprint in CANFD_CAR:
-      can_sends.extend(self.create_canfd_mock_button_messages())
-    else:
-      can_sends.extend(self.create_can_mock_button_messages())
-
-    return can_sends

sunnypilot/selfdrive/car/hyundai/custom_stock_longitudinal_controller/helpers.py

@@ -1,22 +0,0 @@
-from openpilot.selfdrive.car.hyundai.values import HyundaiFlags
-
-def create_clu11(packer, clu11, button, CP):
-  values = {s: clu11[s] for s in [
-    "CF_Clu_CruiseSwState",
-    "CF_Clu_CruiseSwMain",
-    "CF_Clu_SldMainSW",
-    "CF_Clu_ParityBit1",
-    "CF_Clu_VanzDecimal",
-    "CF_Clu_Vanz",
-    "CF_Clu_SPEED_UNIT",
-    "CF_Clu_DetentOut",
-    "CF_Clu_RheostatLevel",
-    "CF_Clu_CluInfo",
-    "CF_Clu_AmpInfo",
-    "CF_Clu_AliveCnt1",
-  ]}
-  values["CF_Clu_CruiseSwState"] = button
-  values["CF_Clu_AliveCnt1"] = (values["CF_Clu_AliveCnt1"] + 1) % 0x10
-  # send buttons to camera on camera-scc based cars
-  bus = 2 if CP.flags & HyundaiFlags.CAMERA_SCC else 0
-  return packer.make_can_msg("CLU11", bus, values)

sunnypilot/selfdrive/car/mazda/custom_stock_longitudinal_controller/controller.py

@@ -1,25 +0,0 @@
-from cereal import car
-from openpilot.selfdrive.car.mazda.values import Buttons
-from openpilot.sunnypilot.controls.lib.custom_stock_longitudinal_controller.controllers import CustomStockLongitudinalControllerBase, \
-  SendCan
-from openpilot.sunnypilot.selfdrive.car.mazda.custom_stock_longitudinal_controller import helpers
-
-ButtonType = car.CarState.ButtonEvent.Type
-
-
-class CustomStockLongitudinalController(CustomStockLongitudinalControllerBase):
-  def __init__(self, car, car_controller, car_state, CP):
-    super().__init__(car, car_controller, car_state, CP)
-    self.accel_button = Buttons.SET_PLUS
-    self.decel_button = Buttons.SET_MINUS
-    self.cruise_buttons = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0,
-                           ButtonType.resumeCruise: 0, ButtonType.setCruise: 0}
-
-  def create_mock_button_messages(self) -> list[SendCan]:
-    can_sends = []
-
-    if self.cruise_button is not None:
-      if self.car_controller.frame % 10 == 0:
-        can_sends.append(helpers.create_button_cmd(self.car_controller.packer, self.CP, self.car_controller.frame // 10, self.cruise_button))
-
-    return can_sends

sunnypilot/selfdrive/car/mazda/custom_stock_longitudinal_controller/helpers.py

@@ -1,40 +0,0 @@
-def create_button_cmd(packer, CP, counter, button):
-
-  can = int(button == Buttons.CANCEL)
-  res = int(button == Buttons.RESUME)
-  inc = int(button == Buttons.SET_PLUS)
-  dec = int(button == Buttons.SET_MINUS)
-
-  if CP.flags & MazdaFlags.GEN1:
-    values = {
-      "CAN_OFF": can,
-      "CAN_OFF_INV": (can + 1) % 2,
-
-      "SET_P": inc,
-      "SET_P_INV": (inc + 1) % 2,
-
-      "RES": res,
-      "RES_INV": (res + 1) % 2,
-
-      "SET_M": dec,
-      "SET_M_INV": (dec + 1) % 2,
-
-      "DISTANCE_LESS": 0,
-      "DISTANCE_LESS_INV": 1,
-
-      "DISTANCE_MORE": 0,
-      "DISTANCE_MORE_INV": 1,
-
-      "MODE_X": 0,
-      "MODE_X_INV": 1,
-
-      "MODE_Y": 0,
-      "MODE_Y_INV": 1,
-
-      "BIT1": 1,
-      "BIT2": 1,
-      "BIT3": 1,
-      "CTR": (counter + 1) % 16,
-    }
-
-    return packer.make_can_msg("CRZ_BTNS", 0, values)

sunnypilot/selfdrive/car/volkswagen/custom_stock_longitudinal_controller/controller.py

@@ -1,77 +0,0 @@
-from cereal import car, custom
-from openpilot.sunnypilot.controls.lib.custom_stock_longitudinal_controller.controllers import CustomStockLongitudinalControllerBase, \
-  SendCan
-
-ButtonType = car.CarState.ButtonEvent.Type
-ButtonControlState = custom.CarControlSP.CustomStockLongitudinalControl.ButtonControlState
-# TODO-SP: Handle this better in the base class
-ACCEL_BUTTON = 1
-DECEL_BUTTON = 2
-RESUME_CRUISE = 3
-SET_CRUISE = 4
-
-ACC_TYPE_BUTTONS = {
-  0: {1: ACCEL_BUTTON, 2: DECEL_BUTTON},  # accel, decel
-  1: {1: RESUME_CRUISE, 2: SET_CRUISE}    # resume, set
-}
-
-
-class CustomStockLongitudinalController(CustomStockLongitudinalControllerBase):
-  def __init__(self, car, car_controller, car_state, CP):
-    super().__init__(car, car_controller, car_state, CP)
-    self.accel_button = ACCEL_BUTTON
-    self.decel_button = DECEL_BUTTON
-    self.cruise_buttons = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0,
-                           ButtonType.resumeCruise: 0, ButtonType.setCruise: 0}
-
-    self.last_v_cruise_cluster = 0
-    self.last_cruise_button = False
-
-    self.acc_type = -1
-    self.button_frame = 0
-
-    self.initial_v_target = 0
-    self.initial_v_cruise_cluster = 0
-
-  def update_checks(self) -> None:
-    if self.button_state > ButtonControlState.inactive:
-      self.button_frame += 1
-      if self.button_frame == 1:
-        self.initial_v_target = self.v_target
-        self.initial_v_cruise_cluster = self.v_cruise_cluster
-
-      self.set_acc_type()
-    else:
-      self.button_frame = 0
-      self.initial_v_target = 0
-      self.initial_v_cruise_cluster = 0
-
-  def set_acc_type(self):
-    current_v_cruise_diff = abs(self.v_target - self.v_cruise_cluster)
-    initial_v_cruise_diff = abs(self.initial_v_target - self.initial_v_cruise_cluster)
-
-    if self.last_v_cruise_cluster != self.v_cruise_cluster and current_v_cruise_diff != initial_v_cruise_diff:
-      if self.acc_type == -1:
-        v_cruise_diff = abs(self.v_cruise_cluster - self.last_v_cruise_cluster)
-
-        if v_cruise_diff >= 10 and self.last_cruise_button in (ACCEL_BUTTON, DECEL_BUTTON):
-          self.acc_type = 1
-        else:
-          self.acc_type = 0
-
-      if self.cruise_button is not None:
-        self.cruise_button = ACC_TYPE_BUTTONS.get(self.acc_type, {}).get(self.cruise_button, self.cruise_button)
-
-  def create_mock_button_messages(self) -> list[SendCan]:
-    can_sends = []
-
-    self.update_checks()
-
-    if self.cruise_button is not None:
-      if self.car_state.gra_stock_values["COUNTER"] != self.car_controller.gra_acc_counter_last:
-        can_sends.append(self.car_controller.CCS.create_acc_buttons_control(self.car_controller.packer_pt, self.car_controller.ext_bus, self.car_state.gra_stock_values, buttons=self.cruise_button))
-
-    self.last_cruise_button = self.cruise_button
-    self.last_v_cruise_cluster = self.v_cruise_cluster
-
-    return can_sends

sunnypilot/selfdrive/car/volkswagen/custom_stock_longitudinal_controller/mqbcan.py

@@ -1,18 +0,0 @@
-def create_acc_buttons_control(packer, bus, gra_stock_values, buttons=0):
-  values = {s: gra_stock_values[s] for s in [
-    "GRA_Hauptschalter",           # ACC button, on/off
-    "GRA_Typ_Hauptschalter",       # ACC main button type
-    "GRA_Codierung",               # ACC button configuration/coding
-    "GRA_Tip_Stufe_2",             # unknown related to stalk type
-    "GRA_ButtonTypeInfo",          # unknown related to stalk type
-  ]}
-
-  values.update({
-    "COUNTER": (gra_stock_values["COUNTER"] + 1) % 16,
-    "GRA_Tip_Wiederaufnahme": 1 if buttons == 3 else 0,
-    "GRA_Tip_Setzen": 1 if buttons == 4 else 0,
-    "GRA_Tip_Runter": 1 if buttons == 2 else 0,
-    "GRA_Tip_Hoch": 1 if buttons == 1 else 0,
-  })
-
-  return packer.make_can_msg("GRA_ACC_01", bus, values)

sunnypilot/selfdrive/car/volkswagen/custom_stock_longitudinal_controller/pqcan.py

@@ -1,17 +0,0 @@
-def create_acc_buttons_control(packer, bus, gra_stock_values, buttons=0):
-  values = {s: gra_stock_values[s] for s in [
-    "GRA_Hauptschalt",      # ACC button, on/off
-    "GRA_Typ_Hauptschalt",  # ACC button, momentary vs latching
-    "GRA_Kodierinfo",       # ACC button, configuration
-    "GRA_Sender",           # ACC button, CAN message originator
-  ]}
-
-  values.update({
-    "COUNTER": (gra_stock_values["COUNTER"] + 1) % 16,
-    "GRA_Recall": 1 if buttons == 3 else 0,
-    "GRA_Neu_Setzen": 1 if buttons == 4 else 0,
-    "GRA_Down_kurz": 1 if buttons == 2 else 0,
-    "GRA_Up_kurz": 1 if buttons == 1 else 0,
-  })
-
-  return packer.make_can_msg("GRA_Neu", bus, values)

system/athena/sunnylinkd.py

@@ -45,7 +45,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
     threading.Thread(target=ws_ping, args=(ws, end_event), name='ws_ping'),
     threading.Thread(target=ws_queue, args=(end_event,), name='ws_queue'),
     # threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
-    # threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
+    threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
     # threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'),
   ] + [
     threading.Thread(target=jsonrpc_handler, args=(end_event,), name=f'worker_{x}')

system/manager/manager.py

@@ -106,6 +106,7 @@ def manager_init() -> None:
     ("TorqueMaxLatAccel", "250"),
     ("ToyotaAutoLockBySpeed", "0"),
     ("ToyotaAutoUnlockByShifter", "0"),
+    ("ToyotaDriveMode", "0"),
     ("ToyotaEnhancedBsm", "0"),
     ("TrueVEgoUi", "0"),
     ("TurnSpeedControl", "0"),

system/sentry.py

@@ -19,9 +19,9 @@ from openpilot.system.version import get_build_metadata, get_version
 
 class SentryProject(Enum):
   # python project
-  SELFDRIVE = "https://7e3be9bfcfe04c9abe58bd25fe290d1a@o1138119.ingest.sentry.io/6191481"
+  SELFDRIVE = "https://3e25e235efe389b74cde72fb0e115aef@o1138119.ingest.us.sentry.io/4509950385979397"
   # native project
-  SELFDRIVE_NATIVE = "https://7e3be9bfcfe04c9abe58bd25fe290d1a@o1138119.ingest.sentry.io/6191481"
+  SELFDRIVE_NATIVE = "https://3e25e235efe389b74cde72fb0e115aef@o1138119.ingest.us.sentry.io/4509950385979397"
 
 
 CRASHES_DIR = Paths.community_crash_root()