Enhance the LFS sync script in release pipeline

This commit significantly extends the `sync-lfs.sh` script used in the release process. Rather than just switching LFS configurations and pulling/pushing, it now incorporates operations like creating a clone for branch, resetting changes, trapping exit signals and cleaning up. This improvement enhances the reliability of synchronizing Large File Storage (LFS) objects between repositories by incorporating additional safety checks and informative echo statements. The shell script now also handles situations such as exiting in the midway more gracefully. This enhanced script is expected to provide a smoother and more reliable release process.
2026-06-20 01:02:07 +08:00 · 2024-09-01 13:56:11 +02:00
109 changed files with 541 additions and 1885 deletions
@@ -31,16 +31,10 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
 * UPDATED: Driving Model Selector v5
  * NEW❗: Driving Model additions
    * Notre Dame (July 01, 2024) - NDv3
-* UPDATED: Neural Network Lateral Control (NNLC)
-  * NEW❗: Remove Lateral Jerk Response (Alpha)
-  * FIXED: Hotfix for "lazy" steering performance in tighter curves thanks to twilsonco!
 * UPDATED: Toyota: Continued support for Smart DSU (SDSU) and Radar CAN Filter
  * In response to the official deprecation of support for Smart DSU (SDSU) and Radar CAN Filter in the upstream ([commaai/openpilot#32777](https://github.com/commaai/openpilot/pull/32777)), sunnypilot will continue maintaining software support for Smart DSU (SDSU) and Radar CAN Filter
 * UPDATED: Continued support for Mapbox navigation
  * In response to the official temporary deprecation of support for Mapbox navigation in the upstream ([commaai/openpilot#32773](https://github.com/commaai/openpilot/pull/32773)), sunnypilot will continue maintaining software support for Mapbox navigation
-* NEW❗: Toyota - Automatic Brake Hold (AHB) thanks to AlexandreSato!
-  * When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold
-  * NOTE: Only for Toyota/Lexus vehicles with TSS2/LSS2
 * NEW❗: Toyota - Automatic Door Locking and Unlocking thanks to AlexandreSato, cydia2020, and dragonpilot-community!
  * Auto Lock by Speed: All doors are automatically locked when vehicle speed is approximately 6 mph (10 km/h) or higher
  * Auto Unlock by Shift to P: All doors are automatically unlocked when shifting the shift lever to P
@@ -54,10 +48,6 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
    * NEW❗: Time to Lead Car
      * Displays the time to reach the position previously occupied by the lead car
    * NEW❗: Display Distance, Speed, and Time to Lead Car simultaneously
-* Ford F-150 2022-23 support
-* Ford F-150 Lightning 2021-23 support
-* Ford Mustang Mach-E 2021-23 support
-* Hyundai Kona Electric Non-SCC 2019 support thanks to NikitaNekrasov!
 * Kia Ceed Plug-in Hybrid Non-SCC 2022 support thanks to TerminatorNL!

 sunnypilot - 0.9.7.1 (2024-06-13)
@@ -95,8 +85,6 @@ sunnypilot - 0.9.7.1 (2024-06-13)
  * Force sunnypilot in the offroad state even when the car is on
  * When Forced Offroad mode is on, allows changing offroad-only settings even when the car is turned on
  * To engage/disengage Force Offroad, go to Settings -> Device panel
-* NEW❗: Ford CAN-FD longitudinal
-  * NEW❗: Parse speed limit sign recognition from camera for certain supported platforms
 * UPDATED: Auto Lane Change Timer -> Auto Lane Change by Blinker
  * NEW❗: New "Off" option to disable lane change by blinker
 * UPDATED: Pause Lateral Below Speed with Blinker
@@ -104,8 +92,6 @@ sunnypilot - 0.9.7.1 (2024-06-13)
    * Pause lateral actuation with blinker when traveling below the desired speed selected. Default is 20 MPH or 32 km/h.
 * UPDATED: Hyundai CAN Longitudinal
  * Auto-enable radar tracks on platforms with applicable Mando radar
-* UPDATED: Hyundai CAN-FD Radar-based SCC
-  * Longitudinal support for CAN-FD Radar-based SCC cars
 * UPDATED: Hyundai CAN-FD Camera-based SCC
  * NEW❗: Parse lead info for camera-based SCC platforms with longitudinal support
    * Improve lead tracking when using openpilot longitudinal
@@ -48,7 +48,6 @@ Join the official sunnypilot Discord server to stay up to date with all the late
 To use sunnypilot in a car, you need the following:
 * A supported device to run this software
    * a [comma three](https://comma.ai/shop/products/three), or
-    * a comma two (only with older versions below 0.8.13)
 * This software
 * One of [the 250+ supported cars](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
 * A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
@@ -115,40 +114,12 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref

 Requires further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.

-comma two
------
-
-1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
-2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://smiskol.com/fork/sunnyhaibin/0.8.12-4-prod```
-4. Complete the rest of the installation following the onscreen instructions.
-
-Requires further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
-
-  </details>
-
-  <details>
-  <summary>SSH (More Versatile)</summary>
-  <br>
-
-Prerequisites: [How to SSH](https://github.com/commaai/openpilot/wiki/SSH)
-
-If you are looking to install sunnypilot via SSH, run the following command in an SSH terminal after connecting to your device:
-
 comma three:
 ------
 * [`release-c3`](https://github.com/sunnyhaibin/openpilot/tree/release-c3):

  ```
-  cd /data; rm -rf ./openpilot; git clone -b release-c3 --recurse-submodules https://github.com/sunnyhaibin/sunnypilot.git openpilot; cd openpilot; sudo reboot
-  ```
-
-comma two:
------
-* [`0.8.12-prod-personal-hkg`](https://github.com/sunnyhaibin/openpilot/tree/0.8.12-prod-personal-hkg):
-
-  ```
-  cd /data; rm -rf ./openpilot; git clone -b 0.8.12-prod-personal-hkg --recurse-submodules https://github.com/sunnyhaibin/sunnypilot.git openpilot; cd openpilot; sudo reboot
+  cd /data && rm -rf ./openpilot && git clone -b release-c3 --recurse-submodules https://github.com/sunnyhaibin/sunnypilot.git openpilot && cd openpilot && sudo reboot
  ```

 After running the command to install the desired branch, your comma device should reboot.
@@ -223,7 +194,7 @@ The goal of Modified Assistive Driving Safety (MADS) is to enhance the user driv
 * `SET-` button enables ACC/SCC
 * `CANCEL` button only disables ACC/SCC
 * `CRUISE (MAIN)` must be `ON` to use ACC/SCC
-* `CRUISE (MAIN)` button disables ACC/SCC completely when `OFF` **(strictly enforced in panda safety code)**
+* `CRUISE (MAIN)` button disables sunnypilot completely when `OFF` **(strictly enforced in panda safety code)**

 ### Disengage Lateral ALC on Brake Press Mode toggle
 Dedicated toggle to handle Lateral state on brake pedal press and release:
@@ -355,7 +326,7 @@ Example:

 ---

-How-To instructions can be found in [HOW-TOS.md](https://github.com/sunnyhaibin/openpilot/blob/(!)README/HOW-TOS.md).
+How-To instructions can be found in [HOW-TOS.md](HOW-TOS.md).

 </details>

@@ -138,7 +138,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    speedLimitConfirmed @140;
    torqueNNLoad @141;
    hyundaiRadarTracksAvailable @142;
-    spAutoBrakeHold @143;

    radarCanErrorDEPRECATED @15;
    communityFeatureDisallowedDEPRECATED @62;
@@ -16,7 +16,6 @@ enum LongitudinalPersonalitySP {
  moderate @1;
  standard @2;
  relaxed @3;
-  overtake @4;
 }

 enum AccelerationPersonality {
@@ -35,17 +34,11 @@ enum ModelGeneration {
  five @5;
 }

-enum MpcSource {
-  acc @0;
-  blended @1;
-}
-
 struct ControlsStateSP @0x81c2f05a394cf4af {
  lateralState @0 :Text;
  personality @8 :LongitudinalPersonalitySP;
  dynamicPersonality @9 :Bool;
  accelPersonality @10 :AccelerationPersonality;
-  overtakingAccelerationAssist @11 :Bool;

  lateralControlState :union {
    indiState @1 :LateralINDIState;
@@ -97,10 +90,8 @@ struct LongitudinalPlanSP @0xaedffd8f31e7b55d {
  desiredTF @13 :Float32;
  notSpeedLimit @14 :Int16;
  e2eX @15 :List(Float32);
-  e2eBlendedDEPRECATED @18 :Text;
+  e2eBlended @18 :Text;
  e2eStatus @22 :Bool;
-  mpcSource @23 :MpcSource;
-  dynamicExperimentalControl @24 :Bool;

  distToTurn @7 :Float32;
  turnSpeed @8 :Float32;
@@ -232,7 +232,6 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"CustomMapboxTokenSk", PERSISTENT | BACKUP},
    {"CustomOffsets", PERSISTENT | BACKUP},
    {"CustomStockLong", PERSISTENT | BACKUP},
-    {"CustomStockLongPlanner", PERSISTENT | BACKUP},
    {"CustomTorqueLateral", PERSISTENT | BACKUP},
    {"DevUIInfo", PERSISTENT | BACKUP},
    {"DisableOnroadUploads", PERSISTENT | BACKUP},
@@ -255,7 +254,6 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"EndToEndLongToggle", PERSISTENT | BACKUP},
    {"EnforceTorqueLateral", PERSISTENT | BACKUP},
    {"EnhancedScc", PERSISTENT | BACKUP},
-    {"FastTakeOff", PERSISTENT | BACKUP},
    {"FeatureStatus", PERSISTENT | BACKUP},
    {"FleetManagerPin", PERSISTENT},
    {"ForceOffroad", CLEAR_ON_MANAGER_START},
@@ -264,9 +262,7 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"HasAcceptedTermsSP", PERSISTENT},
    {"HideVEgoUi", PERSISTENT | BACKUP},
    {"HyundaiCruiseMainDefault", PERSISTENT | BACKUP},
-    {"HkgCustomLongTuning", PERSISTENT | BACKUP},
    {"HkgSmoothStop", PERSISTENT | BACKUP},
-    {"HyundaiCruiseMainDefault", PERSISTENT | BACKUP},
    {"HotspotOnBoot", PERSISTENT},
    {"HotspotOnBootConfirmed", PERSISTENT},
    {"HyundaiRadarTracksAvailable", PERSISTENT},
@@ -288,7 +284,6 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"NavModelUrl", PERSISTENT | BACKUP},
    {"NNFF", PERSISTENT | BACKUP},
    {"NNFFCarModel", PERSISTENT | BACKUP},
-    {"NNFFNoLateralJerk", PERSISTENT | BACKUP},
    {"OnroadScreenOff", PERSISTENT | BACKUP},
    {"OnroadScreenOffBrightness", PERSISTENT | BACKUP},
    {"OnroadScreenOffEvent", PERSISTENT | BACKUP},
@@ -299,11 +294,8 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"OsmLocationUrl", PERSISTENT},
    {"OsmWayTest", PERSISTENT},
    {"OsmDownloadedDate", PERSISTENT},
-    {"OvertakingAccelerationAssist", PERSISTENT},
    {"PathOffset", PERSISTENT | BACKUP},
    {"PauseLateralSpeed", PERSISTENT | BACKUP},
-    {"PCMVCruiseOverride", PERSISTENT | BACKUP},
-    {"PCMVCruiseOverrideSpeed", PERSISTENT | BACKUP},
    {"QuietDrive", PERSISTENT | BACKUP},
    {"RoadEdge", PERSISTENT | BACKUP},
    {"ReverseAccChange", PERSISTENT | BACKUP},
@@ -328,10 +320,8 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"TermsVersionSunnypilot", PERSISTENT},
    {"TorqueDeadzoneDeg", PERSISTENT | BACKUP},
    {"TorqueFriction", PERSISTENT | BACKUP},
-    {"TorqueLateralJerk", PERSISTENT | BACKUP},
    {"TorqueMaxLatAccel", PERSISTENT | BACKUP},
    {"TorquedOverride", PERSISTENT | BACKUP},
-    {"ToyotaAutoHold", PERSISTENT | BACKUP},
    {"ToyotaAutoLockBySpeed", PERSISTENT | BACKUP},
    {"ToyotaAutoUnlockByShifter", PERSISTENT | BACKUP},
    {"ToyotaEnhancedBsm", PERSISTENT | BACKUP},
@@ -1,7 +1,51 @@
 #!/usr/bin/env bash
-mv .lfsconfig .lfsconfig.bak
-mv .lfsconfig-comma .lfsconfig
-git lfs fetch --all; git lfs pull
-mv .lfsconfig .lfsconfig-comma
-mv .lfsconfig.bak .lfsconfig
-git lfs fetch --all; git lfs push --all origin
+# How to use: run from the root of the openpilot repository with the following command: ./release/ci/sync-lfs.sh
+
+# Set variables
+export their_repo="https://github.com/commaai/openpilot.git"
+export their_branch="master"
+export current_branch=$(git rev-parse --abbrev-ref HEAD)
+export our_lfs_url=${LFS_URL:-"https://gitlab.com/sunnypilot/public/sunnypilot-lfs.git/info/lfs"}
+export our_lfs_push_url=${LFS_PUSH_URL:-"ssh://git@gitlab.com/sunnypilot/public/sunnypilot-lfs.git"}
+
+echo "Syncing LFS objects from $their_repo:$their_branch to $our_lfs_url"
+echo "Pushing LFS objects to $our_lfs_push_url"
+
+# Function to reset to the current branch and perform a hard reset
+function reset_hard {
+    exit_status=$?
+    echo "Resetting to the current branch and performing a hard reset..."
+    git reset --hard
+    git switch $current_branch
+    exit $exit_status
+}
+
+# Set trap to ensure reset on exit
+trap reset_hard SIGINT SIGTERM EXIT
+
+# Add remote if it does not exist
+git remote add comma $their_repo 2>/dev/null || echo "Remote 'comma' already exists."
+
+# Fetch the specified branch from the remote
+git fetch comma $their_branch
+
+# Clean up old branch if it exists
+git branch -D ${their_branch}-upstream 2>/dev/null || echo "No old branch to clean up."
+
+# Checkout new branch based on the upstream branch
+git checkout -b ${their_branch}-upstream comma/$their_branch
+
+# Write the .lfsconfig directly
+cat <<EOL > .lfsconfig
+[lfs]
+    url = $our_lfs_url
+    pushurl = $our_lfs_push_url
+    locksverify = false
+EOL
+
+# Fetch all LFS objects and push them to the specified pushurl
+git lfs fetch --all
+git lfs push --all $our_lfs_push_url
+git restore .lfsconfig
+
+# Switch back to the current branch (handled by trap)
@@ -1,4 +0,0 @@
-third_party/libyuv/x86_64/**
-third_party/snpe/x86_64/**
-third_party/snpe/x86_64-linux-clang/**
-third_party/acados/x86_64/**
@@ -1,15 +0,0 @@
-third_party/libyuv/larch64/**
-third_party/snpe/larch64**
-third_party/snpe/aarch64-ubuntu-gcc7.5/*
-third_party/acados/larch64/**
-
-system/camerad/cameras/camera_qcom2.cc
-system/camerad/cameras/camera_qcom2.h
-system/camerad/cameras/camera_util.cc
-system/camerad/cameras/camera_util.h
-system/camerad/cameras/process_raw.cl
-
-system/qcomgpsd/*
-
-selfdrive/ui/qt/spinner_larch64
-selfdrive/ui/qt/text_larch64
@@ -60,7 +60,6 @@ class Car:
    self.mads_disengage_lateral_on_brake = self.params.get_bool("DisengageLateralOnBrake")
    self.mads_dlob = self.enable_mads and self.mads_disengage_lateral_on_brake
    self.mads_ndlob = self.enable_mads and not self.mads_disengage_lateral_on_brake
-    self.sp_toyota_auto_brake_hold = self.params.get_bool("ToyotaAutoHold")
    self.CP.alternativeExperience = 0
    if not self.disengage_on_accelerator:
      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
@@ -68,8 +67,6 @@ class Car:
      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
    elif self.mads_ndlob:
      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_DISABLE_DISENGAGE_LATERAL_ON_BRAKE
-    if self.sp_toyota_auto_brake_hold:
-      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB

    if self.CP.customStockLongAvailable and self.CP.pcmCruise and self.params.get_bool("CustomStockLong"):
      self.CP.pcmCruiseSpeed = False
@@ -3,7 +3,7 @@ from opendbc.can.packer import CANPacker
 from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.car import apply_std_steer_angle_limits
 from openpilot.selfdrive.car.ford import fordcan
-from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags, FordFlagsSP
+from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
 from openpilot.selfdrive.car.interfaces import CarControllerBase

 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -35,9 +35,6 @@ class CarController(CarControllerBase):
    self.lkas_enabled_last = False
    self.steer_alert_last = False
    self.lead_distance_bars_last = None
-    self.path_angle = 0.
-    self.path_offset = 0.
-    self.curvature_rate = 0.

  def update(self, CC, CS, now_nanos):
    can_sends = []
@@ -77,10 +74,7 @@ class CarController(CarControllerBase):
        # TODO: extended mode
        mode = 1 if CC.latActive else 0
        counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
-        if self.CP.spFlags & FordFlagsSP.SP_ENHANCED_LAT_CONTROL.value:
-          can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, self.path_offset, self.path_angle, -apply_curvature, self.curvature_rate, counter))
-        else:
-          can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
+        can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
      else:
        can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.))

@@ -24,7 +24,6 @@ class CarState(CarStateBase):

    self.lkas_enabled = None
    self.prev_lkas_enabled = None
-    self.v_limit = 0

    self.button_states = {button.event_type: False for button in BUTTONS}

@@ -73,10 +72,6 @@ class CarState(CarStateBase):
    ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0
    ret.cruiseState.standstill = cp.vl["EngBrakeData"]["AccStopMde_D_Rq"] == 3
    ret.accFaulted = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (1, 2)
-
-    if self.CP.flags & FordFlags.CANFD:
-      ret.cruiseState.speedLimit = self.update_traffic_signals(cp_cam)
-
    if not self.CP.openpilotLongitudinalControl:
      ret.accFaulted = ret.accFaulted or cp_cam.vl["ACCDATA"]["CmbbDeny_B_Actl"] == 1

@@ -134,16 +129,6 @@ class CarState(CarStateBase):

    return ret

-  def update_traffic_signals(self, cp_cam):
-    # TODO: Check if CAN platforms have the same signals
-    if self.CP.flags & FordFlags.CANFD:
-      self.v_limit = cp_cam.vl["Traffic_RecognitnData"]["TsrVLim1MsgTxt_D_Rq"]
-      v_limit_unit = cp_cam.vl["Traffic_RecognitnData"]["TsrVlUnitMsgTxt_D_Rq"]
-
-      speed_factor = CV.MPH_TO_MS if v_limit_unit == 2 else CV.KPH_TO_MS if v_limit_unit == 1 else 0
-
-      return self.v_limit * speed_factor if self.v_limit not in (0, 255) else 0
-
  @staticmethod
  def get_can_parser(CP):
    messages = [
@@ -200,11 +185,6 @@ class CarState(CarStateBase):
      ("IPMA_Data", 1),
    ]

-    if CP.flags & FordFlags.CANFD:
-      messages += [
-        ("Traffic_RecognitnData", 1),
-      ]
-
    if CP.enableBsm and CP.flags & FordFlags.CANFD:
      messages += [
        ("Side_Detect_L_Stat", 5),
@@ -3,8 +3,7 @@ from panda import Panda
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.ford.fordcan import CanBus
-from openpilot.common.params import Params
-from openpilot.selfdrive.car.ford.values import Ecu, FordFlags, FordFlagsSP
+from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase

 ButtonType = car.CarState.ButtonEvent.Type
@@ -19,15 +18,13 @@ class CarInterface(CarInterfaceBase):
  @staticmethod
  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
    ret.carName = "ford"
+    ret.dashcamOnly = bool(ret.flags & FordFlags.CANFD)

    ret.radarUnavailable = True
    ret.steerControlType = car.CarParams.SteerControlType.angle
    ret.steerActuatorDelay = 0.2
    ret.steerLimitTimer = 1.0

-    if Params().get("DongleId", encoding='utf8') in ("4fde83db16dc0802", "112e4d6e0cad05e1", "e36b272d5679115f", "24574459dd7fb3e0", "83a4e056c7072678"):
-      ret.spFlags |= FordFlagsSP.SP_ENHANCED_LAT_CONTROL.value
-
    CAN = CanBus(fingerprint=fingerprint)
    cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)]
    if CAN.main >= 4:
@@ -54,13 +51,6 @@ class CarInterface(CarInterfaceBase):
          if config_tja != 0xFF or config_lca != 0xFF:
            ret.dashcamOnly = True

-    if ret.spFlags & FordFlagsSP.SP_ENHANCED_LAT_CONTROL:
-      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_ENHANCED_LAT_CONTROL
-
-    ret.longitudinalTuning.kpBP = [0.]
-    ret.longitudinalTuning.kpV = [0.5]
-    ret.longitudinalTuning.kiV = [0.]
-
    # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
    found_ecus = [fw.ecu for fw in car_fw]
    if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[CAN.main] or docs:
@@ -11,7 +11,6 @@ DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540))
 DELPHI_MRR_RADAR_START_ADDR = 0x120
 DELPHI_MRR_RADAR_MSG_COUNT = 64

-STEER_ASSIST_DATA_MSGS = 0x3d7

 def _create_delphi_esr_radar_can_parser(CP) -> CANParser:
  msg_n = len(DELPHI_ESR_RADAR_MSGS)
@@ -29,9 +28,6 @@ def _create_delphi_mrr_radar_can_parser(CP) -> CANParser:

  return CANParser(RADAR.DELPHI_MRR, messages, CanBus(CP).radar)

-def _create_steer_assist_data(CP) -> CANParser:
-  messages = [("Steer_Assist_Data", 20)]
-  return CANParser(RADAR.STEER_ASSIST_DATA, messages, CanBus(CP).camera)

 class RadarInterface(RadarInterfaceBase):
  def __init__(self, CP):
@@ -49,10 +45,6 @@ class RadarInterface(RadarInterfaceBase):
    elif self.radar == RADAR.DELPHI_MRR:
      self.rcp = _create_delphi_mrr_radar_can_parser(CP)
      self.trigger_msg = DELPHI_MRR_RADAR_START_ADDR + DELPHI_MRR_RADAR_MSG_COUNT - 1
-    elif self.radar == RADAR.STEER_ASSIST_DATA:
-      self.rcp = _create_steer_assist_data(CP)
-      self.trigger_msg = STEER_ASSIST_DATA_MSGS
-
    else:
      raise ValueError(f"Unsupported radar: {self.radar}")

@@ -76,67 +68,11 @@ class RadarInterface(RadarInterfaceBase):
      self._update_delphi_esr()
    elif self.radar == RADAR.DELPHI_MRR:
      self._update_delphi_mrr()
-    elif self.radar == RADAR.STEER_ASSIST_DATA:
-      self._update_steer_assist_data()

    ret.points = list(self.pts.values())
    self.updated_messages.clear()
    return ret

-  def _update_steer_assist_data(self):
-    msg = self.rcp.vl["Steer_Assist_Data"]
-    updated_msg = self.updated_messages
-
-    dRel = msg['CmbbObjDistLong_L_Actl']
-    confidence = msg['CmbbObjConfdnc_D_Stat']
-    new_track = False
-
-    # if dRel < 1022:
-    if confidence > 0:
-      if 0 not in self.pts:
-        self.pts[0] = car.RadarData.RadarPoint.new_message()
-        self.pts[0].trackId = self.track_id
-        self.vRelCol[0] = collections.deque(maxlen=20)
-        self.track_id += 1
-        new_track = True
-
-      yRel = msg['CmbbObjDistLat_L_Actl']
-      vRel = msg['CmbbObjRelLong_V_Actl']
-      yvRel = msg['CmbbObjRelLat_V_Actl']
-      calc = 0
-      if not new_track:
-        # if this is a newly created track - we don't have historical data so skip it
-        # if we are on the same track
-        # Let's see if we are moving:
-        #   positive gap - lead is moving faster than us
-        #   negative gap - lead is moving slower than us
-        dDiff = dRel - self.pts[0].dRel
-        if (abs(vRel) < 1.0e-2):
-          self.vRelCol[0].append(dDiff)
-          vRel = sum(self.vRelCol[0])
-          calc = 1
-        else:
-          if len(self.vRelCol[0]) > 0:
-            self.vRelCol[0].clear()
-
-        if abs(self.pts[0].vRel - vRel) > 2 or abs(self.pts[0].dRel - dRel) > 5:
-          self.pts[0].trackId = self.track_id
-          if len(self.vRelCol[0]) > 0:
-            self.vRelCol[0].clear()
-          self.track_id += 1
-
-      self.pts[0].dRel = dRel  # from front of car
-      self.pts[0].yRel = yRel  # in car frame's y axis, left is positive
-      self.pts[0].vRel = vRel
-      self.pts[0].aRel = float('nan')
-      self.pts[0].yvRel = yvRel
-      self.pts[0].measured = True
-    else:
-      if 0 in self.pts:
-        del self.pts[0]
-        del self.vRelCol[0]
-
-
  def _update_delphi_esr(self):
    for ii in sorted(self.updated_messages):
      cpt = self.rcp.vl[ii]
@@ -48,14 +48,9 @@ class FordFlags(IntFlag):
  CANFD = 1


-class FordFlagsSP(IntFlag):
-  SP_ENHANCED_LAT_CONTROL = 1
-
-
 class RADAR:
  DELPHI_ESR = 'ford_fusion_2018_adas'
  DELPHI_MRR = 'FORD_CADS'
-  STEER_ASSIST_DATA = 'ford_lincoln_base_pt'


 class Footnote(Enum):
@@ -96,7 +91,7 @@ class FordPlatformConfig(PlatformConfig):

@dataclass
 class FordCANFDPlatformConfig(FordPlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.STEER_ASSIST_DATA))
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', None))

  def init(self):
    super().init()
@@ -1,6 +1,4 @@
 from cereal import car
-import cereal.messaging as messaging
-from openpilot.common.params import Params
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
 from opendbc.can.packer import CANPacker
@@ -8,7 +6,6 @@ from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.gm import gmcan
 from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
 from openpilot.selfdrive.car.interfaces import CarControllerBase
-from selfdrive.controls.lib.drive_helpers import GM_V_CRUISE_MIN

 VisualAlert = car.CarControl.HUDControl.VisualAlert
 NetworkLocation = car.CarParams.NetworkLocation
@@ -40,36 +37,6 @@ class CarController(CarControllerBase):
    self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
    self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])

-    self.sm = messaging.SubMaster(['longitudinalPlanSP'])
-    self.param_s = Params()
-    self.is_metric = self.param_s.get_bool("IsMetric")
-    self.speed_limit_control_enabled = False
-    self.last_speed_limit_sign_tap = False
-    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):
    actuators = CC.actuators
    hud_control = CC.hudControl
@@ -78,40 +45,9 @@ class CarController(CarControllerBase):
    if hud_v_cruise > 70:
      hud_v_cruise = 0

-    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
-
-      if self.frame % 200 == 0:
-        self.speed_limit_control_enabled = self.param_s.get_bool("EnableSlc")
-        self.is_metric = self.param_s.get_bool("IsMetric")
-      self.last_speed_limit_sign_tap = self.param_s.get_bool("LastSpeedLimitSignTap")
-      self.v_cruise_min = GM_V_CRUISE_MIN[self.is_metric] * (CV.KPH_TO_MPH if not self.is_metric else 1)
-
    # Send CAN commands.
    can_sends = []

-    if not self.CP.pcmCruiseSpeed:
-      if not self.last_speed_limit_sign_tap_prev and self.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 = self.last_speed_limit_sign_tap
-
-      sl_force_active = self.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
-      sl_inactive = not sl_force_active and (not self.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
-      sl_temp_inactive = not sl_force_active and (self.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 (Active: 50Hz, inactive: 10Hz)
    steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP

@@ -212,15 +148,6 @@ class CarController(CarControllerBase):
          self.last_button_frame = self.frame
          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))

-      if not (CC.cruiseControl.cancel or CC.cruiseControl.resume) and not self.CP.pcmCruiseSpeed and CS.out.cruiseState.enabled:
-        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 % 12 < 6:  # thanks to mochi86420 for the magic numbers
-            can_sends.extend([gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, (CS.buttons_counter + 2) % 4, self.cruise_button)] * 3)
-
    if self.CP.networkLocation == NetworkLocation.fwdCamera:
      # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
      if self.frame % 10 == 0:
@@ -234,120 +161,3 @@ 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 != CruiseButtons.UNPRESS:
-      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 = CruiseButtons.UNPRESS
-    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 self.is_metric else 1))
-    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not self.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
@@ -119,7 +119,6 @@ class CarInterface(CarInterfaceBase):
        ret.pcmCruise = False
        ret.openpilotLongitudinalControl = True
        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
-      ret.customStockLongAvailable = True

    else:  # ASCM, OBD-II harness
      ret.openpilotLongitudinalControl = True
@@ -237,7 +236,7 @@ class CarInterface(CarInterfaceBase):
    else:
      self.CS.madsEnabled = False

-    if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
+    if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0):
      if any(b.type == ButtonType.cancel for b in self.CS.button_events):
        self.get_sp_cancel_cruise_state()
    if self.get_sp_pedal_disengage(ret):
@@ -278,8 +277,6 @@ class CarInterface(CarInterfaceBase):
    if ret.vEgo < self.CP.minSteerSpeed and self.CS.madsEnabled:
      events.add(EventName.belowSteerSpeed)

-    ret.customStockLong = self.update_custom_stock_long()
-
    ret.events = events.to_msg()

    return ret
@@ -1,7 +1,7 @@
 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.numpy_fast import clip
 from openpilot.common.params import Params
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg
@@ -62,7 +62,7 @@ class CarController(CarControllerBase):
    self.lat_disengage_init = False
    self.lat_active_last = False

-    sub_services = ['longitudinalPlan', 'longitudinalPlanSP']
+    sub_services = ['longitudinalPlanSP']
    if CP.openpilotLongitudinalControl:
      sub_services.append('radarState')
    # TODO: Always true, prep for future conditional refactoring
@@ -94,24 +94,9 @@ class CarController(CarControllerBase):
    self.v_tsc = 0
    self.m_tsc = 0
    self.steady_speed = 0
-    self.speeds = 0
-    self.v_target_plan = 0
-    self.custom_stock_planner_speed = self.param_s.get_bool("CustomStockLongPlanner")
+    self.hkg_can_smooth_stop = self.param_s.get_bool("HkgSmoothStop")
    self.lead_distance = 0

-    self.jerk = 0.0
-    self.jerk_l = 0.0
-    self.jerk_u = 0.0
-    self.jerkStartLimit = 2.0
-    self.cb_upper = 0.0
-    self.cb_lower = 0.0
-    self.jerk_count = 0.0
-
-    self.accel_raw = 0
-    self.accel_val = 0
-    self.accel_last_jerk = 0
-    self.hkg_custom_long_tuning = self.param_s.get_bool("HkgCustomLongTuning")
-
  def calculate_lead_distance(self, hud_control: car.CarControl.HUDControl) -> float:
    lead_one = self.sm["radarState"].leadOne
    lead_two = self.sm["radarState"].leadTwo
@@ -128,10 +113,6 @@ class CarController(CarControllerBase):
      self.sm.update(0)

    if not self.CP.pcmCruiseSpeed:
-      if self.sm.updated['longitudinalPlan']:
-        _speeds = self.sm['longitudinalPlan'].speeds
-        self.speeds = _speeds[-1] if len(_speeds) else 0
-
      if self.sm.updated['longitudinalPlanSP']:
        self.v_tsc_state = self.sm['longitudinalPlanSP'].visionTurnControllerState
        self.slc_state = self.sm['longitudinalPlanSP'].speedLimitControlState
@@ -141,21 +122,14 @@ class CarController(CarControllerBase):
        self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
        self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed

-      if self.frame % 200 == 0:
-        self.custom_stock_planner_speed = self.param_s.get_bool("CustomStockLongPlanner")
      self.v_cruise_min = HYUNDAI_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)
-      self.v_target_plan = min(CC.vCruise * CV.KPH_TO_MS, self.speeds)

    actuators = CC.actuators
    hud_control = CC.hudControl

    # steering torque
-    if self.CP.spFlags & HyundaiFlagsSP.SP_UPSTREAM_TACO.value:
-      self.params = CarControllerParams(self.CP, CS.out.vEgoRaw)
    new_steer = int(round(actuators.steer * self.params.STEER_MAX))
    apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
-    if self.CP.spFlags & HyundaiFlagsSP.SP_UPSTREAM_TACO.value:
-      apply_steer = clip(apply_steer, -self.params.STEER_MAX, self.params.STEER_MAX)

    # >90 degree steering fault prevention
    self.angle_limit_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringAngleDeg) >= MAX_ANGLE, CC.latActive,
@@ -216,7 +190,7 @@ class CarController(CarControllerBase):
    if self.frame % 100 == 0 and not ((self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) or escc) and \
      self.CP.carFingerprint not in CAMERA_SCC_CAR and self.CP.openpilotLongitudinalControl:
      # for longitudinal control, either radar or ADAS driving ECU
-      addr, bus = 0x7d0, self.CAN.ECAN if self.CP.carFingerprint in CANFD_CAR else 0
+      addr, bus = 0x7d0, 0
      if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
        addr, bus = 0x730, self.CAN.ECAN
      can_sends.append(make_tester_present_msg(addr, bus, suppress_response=True))
@@ -225,9 +199,6 @@ class CarController(CarControllerBase):
      if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
        can_sends.append(make_tester_present_msg(0x7b1, self.CAN.ECAN, suppress_response=True))

-    if self.CP.openpilotLongitudinalControl:
-      self.make_jerk(CS, accel, actuators)
-
    # CAN-FD platforms
    if self.CP.carFingerprint in CANFD_CAR:
      hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
@@ -254,11 +225,9 @@ class CarController(CarControllerBase):
      if self.CP.openpilotLongitudinalControl:
        if hda2:
          can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
-        else:
-          can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
        if self.frame % 2 == 0:
          can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CS, CC.enabled and CS.out.cruiseState.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
-                                                           set_speed_in_units, hud_control, self.jerk_u, self.jerk_l))
+                                                           set_speed_in_units, hud_control))
          self.accel_last = accel
      else:
        # button presses
@@ -302,13 +271,15 @@ class CarController(CarControllerBase):
        self.lead_distance = self.calculate_lead_distance(hud_control)

      if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
+        if self.hkg_can_smooth_stop:
+          stopping = stopping and CS.out.vEgoRaw < 0.05
+
        # TODO: unclear if this is needed
        jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
        use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
-        self.make_accel(CS, actuators)
-        can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled and CS.out.cruiseState.enabled, self.accel_raw, self.accel_val, self.jerk_l, self.jerk_u, int(self.frame / 2),
+        can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled and CS.out.cruiseState.enabled, accel, jerk, int(self.frame / 2),
                                                        hud_control, set_speed_in_units, stopping,
-                                                        CC.cruiseControl.override, use_fca, CS, escc, self.CP, self.lead_distance, self.cb_lower, self.cb_upper))
+                                                        CC.cruiseControl.override, use_fca, CS, escc, self.CP, self.lead_distance))

      # 20 Hz LFA MFA message
      if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
@@ -475,8 +446,6 @@ class CarController(CarControllerBase):
        target_speed_kph = set_speed_kph
      else:
        target_speed_kph = min(v_cruise_kph_prev, set_speed_kph)
-      if self.custom_stock_planner_speed:
-        target_speed_kph = self.curve_speed_hysteresis(self.v_target_plan * CV.MS_TO_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:
@@ -484,66 +453,3 @@ class CarController(CarControllerBase):

      cruise_button = self.get_button_control(CS, self.final_speed_kph, v_cruise_kph_prev)  # MPH/KPH based button presses
    return cruise_button
-
-  # jerk calculations thanks to apilot!
-  def cal_jerk(self, accel, actuators):
-    self.accel_raw = accel
-    if actuators.longControlState == LongCtrlState.off:
-      accel_diff = 0.0
-    elif actuators.longControlState == LongCtrlState.stopping:# or hud_control.softHold > 0:
-      accel_diff = 0.0
-    else:
-      accel_diff = self.accel_raw - self.accel_last_jerk
-
-    accel_diff /= DT_CTRL
-    self.jerk = self.jerk * 0.9 + accel_diff * 0.1
-    return self.jerk
-
-  def make_jerk(self, CS, accel, actuators):
-    jerk = self.cal_jerk(accel, actuators)
-    a_error = accel - CS.out.aEgo
-    jerk = jerk + (a_error * 2.0)
-
-    if not self.hkg_custom_long_tuning:
-      self.jerk_u = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
-      self.jerk_l = 5.0
-    elif True: #self.CP.carFingerprint in CANFD_CAR or self.CP.carFingerprint == CAR.HYUNDAI_KONA_EV_2022:
-      startingJerk = 0.5
-      jerkLimit = 5.0
-      self.jerk_count += DT_CTRL
-      jerk_max = interp(self.jerk_count, [0, 1.5, 2.5], [startingJerk, startingJerk, jerkLimit])
-      if actuators.longControlState == LongCtrlState.off:
-        self.jerk_u = jerkLimit
-        self.jerk_l = jerkLimit
-        self.jerk_count = 0
-      else:
-        self.jerk_u = min(max(0.5, jerk * 2.0), jerk_max)
-        self.jerk_l = min(max(1.0, -jerk * 3.0), jerkLimit)
-    else:
-      startingJerk = self.jerkStartLimit
-      jerkLimit = 5.0
-      self.jerk_count += DT_CTRL
-      jerk_max = interp(self.jerk_count, [0, 1.5, 2.5], [startingJerk, startingJerk, jerkLimit])
-      self.cb_upper = self.cb_lower = 0
-      if actuators.longControlState == LongCtrlState.off:
-        self.jerk_u = jerkLimit
-        self.jerk_l = jerkLimit
-        self.jerk_count = 0
-      else:
-        self.jerk_u = min(max(0.5, jerk * 2.0), jerk_max)
-        self.jerk_l = min(max(0.5, -jerk * 2.0), jerkLimit)
-        self.cb_upper = clip(0.9 + accel * 0.2, 0, 1.2)
-        self.cb_lower = clip(0.8 + accel * 0.2, 0, 1.2)
-
-  def make_accel(self, CS, actuators):
-    long_control = actuators.longControlState
-    is_ice = not self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV)
-    rate_up = 0.1
-    rate_down = 0.1
-    if long_control == LongCtrlState.off or (long_control == LongCtrlState.stopping and CS.out.standstill):
-      self.accel_raw, self.accel_val = 0, 0
-    else:
-      #self.accel_val = clip(self.accel_raw, self.accel_last - rate_down, self.accel_last + rate_up)
-      self.accel_val = self.accel_raw
-    self.accel_last = self.accel_val
-    self.accel_last_jerk = self.accel_val
@@ -1171,17 +1171,6 @@ FW_VERSIONS = {
      b'\xf1\x006T6J0_C2\x00\x006T6K1051\x00\x00TOS4N20NS2\x00\x00\x00\x00',
    ],
  },
-  CAR.HYUNDAI_KONA_EV_NON_SCC: {
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00OS  MDPS C 1.00 1.04 56310K4000\x00 4OEDC104',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4100 W40',
-    ],
-  },
  CAR.KIA_CEED_PHEV_2022_NON_SCC: {
    (Ecu.eps, 0x7D4, None): [
      b'\xf1\x00CD  MDPS C 1.00 1.01 56310-XX000 4CPHC101',
@@ -130,8 +130,8 @@ def create_lfahda_mfc(packer, enabled, lat_active, lateral_paused, blinking_icon
  }
  return packer.make_can_msg("LFAHDA_MFC", 0, values)

-def create_acc_commands(packer, enabled, accel_raw, accel_val, lower_jerk, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca,
-                        CS, escc, CP, lead_distance, cb_lower, cb_upper):
+def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca,
+                        CS, escc, CP, lead_distance):
  commands = []

  scc11_values = {
@@ -150,8 +150,8 @@ def create_acc_commands(packer, enabled, accel_raw, accel_val, lower_jerk, upper
  scc12_values = {
    "ACCMode": 2 if enabled and long_override else 1 if enabled else 0,
    "StopReq": 1 if stopping else 0,
-    "aReqRaw": accel_raw,
-    "aReqValue": accel_val,  # stock ramps up and down respecting jerk limit until it reaches aReqRaw
+    "aReqRaw": accel,
+    "aReqValue": accel,  # stock ramps up and down respecting jerk limit until it reaches aReqRaw
    "CR_VSM_Alive": idx % 0xF,
  }

@@ -172,10 +172,10 @@ def create_acc_commands(packer, enabled, accel_raw, accel_val, lower_jerk, upper
  commands.append(packer.make_can_msg("SCC12", 0, scc12_values))

  scc14_values = {
-    "ComfortBandUpper": cb_upper, # stock usually is 0 but sometimes uses higher values
-    "ComfortBandLower": cb_lower, # stock usually is 0 but sometimes uses higher values
+    "ComfortBandUpper": 0.0, # stock usually is 0 but sometimes uses higher values
+    "ComfortBandLower": 0.0, # stock usually is 0 but sometimes uses higher values
    "JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values
-    "JerkLowerLimit": lower_jerk, # stock usually is 0.5 but sometimes uses higher values
+    "JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values
    "ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
    "ObjGap": get_object_gap(lead_distance), # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
  }
@@ -207,7 +207,7 @@ def create_acc_opt(packer, escc, CS, CP):
  commands = []

  scc13_values = {
-    "SCCDrvModeRValue": 3,
+    "SCCDrvModeRValue": 2,
    "SCC_Equip": 1,
    "Lead_Veh_Dep_Alert_USM": 2,
  }
@@ -121,7 +121,7 @@ def create_lfahda_cluster(packer, CAN, enabled, lat_active, lateral_paused, blin
  return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)


-def create_acc_control(packer, CAN, CS, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control, upper_jerk, lower_jerk):
+def create_acc_control(packer, CAN, CS, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control):
  jerk = 5
  jn = jerk / 50
  if not enabled or gas_override:
@@ -137,8 +137,8 @@ def create_acc_control(packer, CAN, CS, enabled, accel_last, accel, stopping, ga
    "aReqValue": a_val,
    "aReqRaw": a_raw,
    "VSetDis": set_speed,
-    "JerkLowerLimit": lower_jerk,
-    "JerkUpperLimit": upper_jerk,
+    "JerkLowerLimit": jerk if enabled else 1,
+    "JerkUpperLimit": 3.0,

    "ACC_ObjDist": 1,
    "ObjValid": 0,
@@ -172,20 +172,6 @@ def create_spas_messages(packer, CAN, frame, left_blink, right_blink):
  return ret


-def create_fca_warning_light(packer, CAN, frame):
-  ret = []
-  if frame % 2 == 0:
-    values = {
-      'AEB_SETTING': 0x1,  # show AEB disabled icon
-      'SET_ME_2': 0x2,
-      'SET_ME_FF': 0xff,
-      'SET_ME_FC': 0xfc,
-      'SET_ME_9': 0x9,
-    }
-    ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values))
-  return ret
-
-
 def create_adrv_messages(packer, CAN, frame):
  # messages needed to car happy after disabling
  # the ADAS Driving ECU to do longitudinal control
@@ -196,7 +182,15 @@ def create_adrv_messages(packer, CAN, frame):
  }
  ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))

-  ret.extend(create_fca_warning_light(packer, CAN, frame))
+  if frame % 2 == 0:
+    values = {
+      'AEB_SETTING': 0x1,  # show AEB disabled icon
+      'SET_ME_2': 0x2,
+      'SET_ME_FF': 0xff,
+      'SET_ME_FC': 0xfc,
+      'SET_ME_9': 0x9,
+    }
+    ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values))

  if frame % 5 == 0:
    values = {
@@ -93,7 +93,7 @@ class CarInterface(CarInterfaceBase):

    # *** longitudinal control ***
    if candidate in CANFD_CAR:
-      ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | NON_SCC_CAR)
+      ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR | NON_SCC_CAR)
      if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC and not hda2:
        ret.spFlags |= HyundaiFlagsSP.SP_CAMERA_SCC_LEAD.value
    else:
@@ -104,17 +104,11 @@ class CarInterface(CarInterfaceBase):
    ret.pcmCruise = not ret.openpilotLongitudinalControl

    ret.stoppingControl = True
+    ret.startingState = True
    ret.vEgoStarting = 0.1
-    ret.startAccel = 1.6
+    ret.startAccel = 1.0
    ret.longitudinalActuatorDelay = 0.5

-    if ret.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
-      ret.startingState = False
-      ret.stopAccel = -2.0
-    else:
-      ret.startingState = True
-      ret.stopAccel = -1.0
-
    if DBC[ret.carFingerprint]["radar"] is None:
      if ret.spFlags & (HyundaiFlagsSP.SP_ENHANCED_SCC | HyundaiFlagsSP.SP_CAMERA_SCC_LEAD):
        ret.radarTimeStep = 0.02
@@ -126,8 +120,6 @@ class CarInterface(CarInterfaceBase):

      if 0x1fa in fingerprint[CAN.ECAN]:
        ret.spFlags |= HyundaiFlagsSP.SP_NAV_MSG.value
-      if Params().get("DongleId", encoding='utf8') in ("012c95f06918eca4", "68d6a96e703c00c9"):
-        ret.spFlags |= HyundaiFlagsSP.SP_UPSTREAM_TACO.value
    else:
      ret.enableBsm = 0x58b in fingerprint[0]

@@ -154,8 +146,6 @@ class CarInterface(CarInterfaceBase):
        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
      if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
-      if ret.spFlags & HyundaiFlagsSP.SP_UPSTREAM_TACO:
-        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_UPSTREAM_TACO
    else:
      if candidate in LEGACY_SAFETY_MODE_CAR:
        # these cars require a special panda safety mode due to missing counters and checksums in the messages
@@ -181,8 +171,7 @@ class CarInterface(CarInterfaceBase):
    elif ret.flags & HyundaiFlags.EV:
      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS

-    if candidate in (CAR.HYUNDAI_KONA, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022,
-                     CAR.HYUNDAI_KONA_NON_SCC, CAR.HYUNDAI_KONA_EV_NON_SCC):
+    if candidate in (CAR.HYUNDAI_KONA, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_NON_SCC):
      ret.flags |= HyundaiFlags.ALT_LIMITS.value
      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS

@@ -192,13 +181,16 @@ class CarInterface(CarInterfaceBase):
    if 0x2AA in fingerprint[0]:
      ret.minSteerSpeed = 0.

+    if Params().get_bool("HkgSmoothStop"):
+      ret.vEgoStopping = 0.1
+
    return ret

  @staticmethod
  def init(CP, logcan, sendcan):
    if CP.openpilotLongitudinalControl and not ((CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) or (CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC)) and \
      CP.carFingerprint not in CAMERA_SCC_CAR:
-      addr, bus = 0x7d0, CanBus(CP).ECAN if CP.carFingerprint in CANFD_CAR else 0
+      addr, bus = 0x7d0, 0
      if CP.flags & HyundaiFlags.CANFD_HDA2.value:
        addr, bus = 0x730, CanBus(CP).ECAN
      disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')
@@ -3,7 +3,7 @@ from dataclasses import dataclass, field
 from enum import Enum, IntFlag

 from cereal import car
-from panda.python import uds, Panda
+from panda.python import uds
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
@@ -16,7 +16,7 @@ class CarControllerParams:
  ACCEL_MIN = -3.5 # m/s
  ACCEL_MAX = 2.0 # m/s

-  def __init__(self, CP, vEgoRaw=100.):
+  def __init__(self, CP):
    self.STEER_DELTA_UP = 3
    self.STEER_DELTA_DOWN = 7
    self.STEER_DRIVER_ALLOWANCE = 50
@@ -26,13 +26,12 @@ class CarControllerParams:
    self.STEER_STEP = 1  # 100 Hz

    if CP.carFingerprint in CANFD_CAR:
-      upstream_taco = CP.safetyConfigs[-1].safetyParam & Panda.FLAG_HYUNDAI_UPSTREAM_TACO
-      self.STEER_MAX = 270 if not upstream_taco else 384 if vEgoRaw < 11. else 330
-      self.STEER_DRIVER_ALLOWANCE = 250 if not upstream_taco else 350
+      self.STEER_MAX = 270
+      self.STEER_DRIVER_ALLOWANCE = 250
      self.STEER_DRIVER_MULTIPLIER = 2
-      self.STEER_THRESHOLD = 250 if not upstream_taco else 350
-      self.STEER_DELTA_UP = 2 if not upstream_taco else 10 if vEgoRaw < 11. else 2
-      self.STEER_DELTA_DOWN = 3 if not upstream_taco else 10 if vEgoRaw < 11. else 3
+      self.STEER_THRESHOLD = 250
+      self.STEER_DELTA_UP = 2
+      self.STEER_DELTA_DOWN = 3

    # To determine the limit for your car, find the maximum value that the stock LKAS will request.
    # If the max stock LKAS request is <384, add your car to this list.
@@ -109,7 +108,6 @@ class HyundaiFlagsSP(IntFlag):
  SP_CAMERA_SCC_LEAD = 2 ** 6
  SP_LKAS12 = 2 ** 7
  SP_RADAR_TRACKS = 2 ** 8
-  SP_UPSTREAM_TACO = 2 ** 9


 class Footnote(Enum):
@@ -576,12 +574,6 @@ class CAR(Platforms):
    HYUNDAI_KONA.specs,
    spFlags=HyundaiFlagsSP.SP_NON_SCC | HyundaiFlagsSP.SP_NON_SCC_FCA,
  )
-  HYUNDAI_KONA_EV_NON_SCC = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Kona Electric Non-SCC 2019", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_g]))],
-    HYUNDAI_KONA.specs,
-    flags=HyundaiFlags.EV,
-    spFlags=HyundaiFlagsSP.SP_NON_SCC | HyundaiFlagsSP.SP_NON_SCC_FCA,
-  )
  KIA_CEED_PHEV_2022_NON_SCC = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia Ceed PHEV Non-SCC 2022", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_i]))],
    CarSpecs(mass=1650, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
@@ -406,7 +406,7 @@ class CarInterfaceBase(ABC):

  @staticmethod
  def sp_configure_custom_torque_tune(ret, params):
-    ret.lateralTuning.torque.friction = float(params.get("TorqueFriction", encoding="utf8")) * 0.001
+    ret.lateralTuning.torque.friction = float(params.get("TorqueFriction", encoding="utf8")) * 0.01
    ret.lateralTuning.torque.latAccelFactor = float(params.get("TorqueMaxLatAccel", encoding="utf8")) * 0.01
    return ret

@@ -21,7 +21,7 @@ class CarControllerParams:
    self.STEER_DRIVER_FACTOR = 1       # from dbc

    if CP.flags & SubaruFlags.GLOBAL_GEN2:
-      self.STEER_MAX = 1600
+      self.STEER_MAX = 1000
      self.STEER_DELTA_UP = 40
      self.STEER_DELTA_DOWN = 40
    elif CP.carFingerprint == CAR.SUBARU_IMPREZA_2020:
@@ -29,9 +29,6 @@
  "Ford Escape Plug-in Hybrid 2020-22": "FORD_ESCAPE_MK4",
  "Ford Explorer 2020-23": "FORD_EXPLORER_MK6",
  "Ford Explorer Hybrid 2020-23": "FORD_EXPLORER_MK6",
-  "Ford F-150 2022-23": "FORD_F_150_MK14",
-  "Ford F-150 Hybrid 2022-23": "FORD_F_150_MK14",
-  "Ford F-150 Lightning 2021-23": "FORD_F_150_LIGHTNING_MK1",
  "Ford Focus 2018": "FORD_FOCUS_MK4",
  "Ford Focus Hybrid 2018": "FORD_FOCUS_MK4",
  "Ford Kuga 2020-22": "FORD_ESCAPE_MK4",
@@ -41,8 +38,6 @@
  "Ford Maverick 2023-24": "FORD_MAVERICK_MK1",
  "Ford Maverick Hybrid 2022": "FORD_MAVERICK_MK1",
  "Ford Maverick Hybrid 2023-24": "FORD_MAVERICK_MK1",
-  "Ford Mustang Mach-E 2021-23": "FORD_MUSTANG_MACH_E_MK1",
-  "Ford Ranger 2024": "FORD_RANGER_MK2",
  "Genesis G70 2018": "GENESIS_G70",
  "Genesis G70 2019-21": "GENESIS_G70_2020",
  "Genesis G70 2022-23": "GENESIS_G70_2020",
@@ -106,7 +101,6 @@
  "Hyundai Kona Electric 2018-21": "HYUNDAI_KONA_EV",
  "Hyundai Kona Electric 2022-23": "HYUNDAI_KONA_EV_2022",
  "Hyundai Kona Electric (with HDA II, Korea only) 2023": "HYUNDAI_KONA_EV_2ND_GEN",
-  "Hyundai Kona Electric Non-SCC 2019": "HYUNDAI_KONA_EV_NON_SCC",
  "Hyundai Kona Hybrid 2020": "HYUNDAI_KONA_HEV",
  "Hyundai Kona Non-SCC 2019": "HYUNDAI_KONA_NON_SCC",
  "Hyundai Palisade 2020-22": "HYUNDAI_PALISADE",
@@ -17,6 +17,7 @@ from openpilot.selfdrive.car.body.values import CAR as COMMA

 # TODO: add routes for these cars
 non_tested_cars = [
+  FORD.FORD_F_150_MK14,
  GM.CADILLAC_ATS,
  GM.HOLDEN_ASTRA,
  GM.CHEVROLET_MALIBU,
@@ -53,7 +54,6 @@ routes = [
  CarTestRoute("e886087f430e7fe7|2023-06-16--23-06-36", FORD.FORD_FOCUS_MK4),
  CarTestRoute("bd37e43731e5964b|2023-04-30--10-42-26", FORD.FORD_MAVERICK_MK1),
  CarTestRoute("112e4d6e0cad05e1|2023-11-14--08-21-43", FORD.FORD_F_150_LIGHTNING_MK1),
-  CarTestRoute("24574459dd7fb3e0|2023-11-06--06-23-44", FORD.FORD_F_150_MK14),
  CarTestRoute("83a4e056c7072678|2023-11-13--16-51-33", FORD.FORD_MUSTANG_MACH_E_MK1),
  CarTestRoute("37998aa0fade36ab/00000000--48f927c4f5", FORD.FORD_RANGER_MK2),
  #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
@@ -86,7 +86,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "KIA_FORTE_2021_NON_SCC" = "HYUNDAI_SONATA"
 "KIA_SELTOS_2023_NON_SCC" = "HYUNDAI_SONATA"
 "HYUNDAI_KONA_NON_SCC" = "HYUNDAI_KONA_EV"
-"HYUNDAI_KONA_EV_NON_SCC" = "HYUNDAI_KONA_EV"
 "HYUNDAI_ELANTRA_2022_NON_SCC" = "HYUNDAI_ELANTRA_2021"
 "GENESIS_G70_2021_NON_SCC" = "HYUNDAI_SONATA"
 "KIA_CEED_PHEV_2022_NON_SCC" = "HYUNDAI_SONATA"
@@ -55,13 +55,6 @@ class CarController(CarControllerBase):
    self.last_blindspot_frame = 0

    self._auto_lock_speed = 0.0
-
-    if CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
-      self.brake_hold_active: bool = False
-      self._brake_hold_counter: int = 0
-      self._brake_hold_reset: bool = False
-      self._prev_brake_pressed: bool = False
-
    self._auto_lock_once = False
    self._gear_prev = GearShifter.park

@@ -175,9 +168,6 @@ class CarController(CarControllerBase):

    self.last_standstill = CS.out.standstill

-    if self.CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
-      can_sends.extend(self.create_auto_brake_hold_messages(CS))
-
    # handle UI messages
    fcw_alert = hud_control.visualAlert == VisualAlert.fcw
    steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
@@ -296,25 +286,3 @@ class CarController(CarControllerBase):
        # print("bsm poll right")

    return can_sends
-
-  # auto brake hold (https://github.com/AlexandreSato/)
-  def create_auto_brake_hold_messages(self, CS: car.CarState, brake_hold_allowed_timer: int = 100):
-    can_sends = []
-    disallowed_gears = [GearShifter.park, GearShifter.reverse]
-    brake_hold_allowed = CS.out.standstill and CS.out.cruiseState.available and not CS.out.gasPressed and \
-                         not CS.out.cruiseState.enabled and (CS.out.gearShifter not in disallowed_gears)
-
-    if brake_hold_allowed:
-      self._brake_hold_counter += 1
-      self.brake_hold_active = self._brake_hold_counter > brake_hold_allowed_timer and not self._brake_hold_reset
-      self._brake_hold_reset = not self._prev_brake_pressed and CS.out.brakePressed and not self._brake_hold_reset
-    else:
-      self._brake_hold_counter = 0
-      self.brake_hold_active = False
-      self._brake_hold_reset = False
-    self._prev_brake_pressed = CS.out.brakePressed
-
-    if self.frame % 2 == 0:
-      can_sends.append(toyotacan.create_brake_hold_command(self.packer, self.frame, CS.pre_collision_2, self.brake_hold_active))
-
-    return can_sends
@@ -79,9 +79,6 @@ class CarState(CarStateBase):
    self._right_blindspot_d2 = 0
    self._right_blindspot_counter = 0

-    if CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
-      self.pre_collision_2 = {}
-
    self.frame = 0

  def update(self, cp, cp_cam):
@@ -263,9 +260,6 @@ class CarState(CarStateBase):
    if self.CP.spFlags & ToyotaFlagsSP.SP_ENHANCED_BSM and self.frame > 199:
      ret.leftBlindspot, ret.rightBlindspot = self.sp_get_enhanced_bsm(cp)

-    if self.CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
-      self.pre_collision_2 = copy.copy(cp_cam.vl["PRE_COLLISION_2"])
-
    self._update_traffic_signals(cp_cam)
    ret.cruiseState.speedLimit = self._calculate_speed_limit()
    self.frame += 1
@@ -469,7 +463,4 @@ class CarState(CarStateBase):
        ("PCS_HUD", 1),
      ]

-      if CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
-        messages.append(("PRE_COLLISION_2", 33))
-
    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
@@ -160,23 +160,26 @@ class CarInterface(CarInterfaceBase):

    sp_tss2_long_tune = Params().get_bool("ToyotaTSS2Long")

-    # hand tuned (August 12, 2024)
+    # hand tuned (July 1, 2024)
    def custom_tss2_longitudinal_tuning():
      ret.vEgoStopping = 0.01
      ret.vEgoStarting = 0.01
-      ret.stoppingDecelRate = 0.007
+      ret.stoppingDecelRate = 0.35
+
    def default_tss2_longitudinal_tuning():
      ret.vEgoStopping = 0.25
      ret.vEgoStarting = 0.25
      ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
+
    def default_longitudinal_tuning():
      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.,  5.,   12.,  20., 27., 40.]
-        tune.kiV =  [.35, .228,  .205, .195, .10, .01]
+        tune.kiBP = [0., 5., 12., 20., 27., 36., 50]
+        tune.kiV = [0.35, 0.23, 0.20, 0.17, 0.10, 0.07, 0.01]
        custom_tss2_longitudinal_tuning()
      else:
        tune.kpV = [0.0]
@@ -192,9 +195,6 @@ class CarInterface(CarInterfaceBase):
    if candidate == CAR.TOYOTA_PRIUS_TSS2:
      ret.spFlags |= ToyotaFlagsSP.SP_NEED_DEBUG_BSM.value

-    if Params().get_bool("ToyotaAutoHold") and candidate in (TSS2_CAR - RADAR_ACC_CAR):
-      ret.spFlags |= ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD.value
-
    return ret

  @staticmethod
@@ -268,11 +268,6 @@ class CarInterface(CarInterfaceBase):
          # while in standstill, send a user alert
          events.add(EventName.manualRestart)

-    # auto brake hold
-    if self.CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
-      if self.CC.brake_hold_active and not ret.brakeHoldActive:
-        events.add(EventName.spAutoBrakeHold)
-
    ret.events = events.to_msg()

    return ret
@@ -130,37 +130,3 @@ def create_set_bsm_debug_mode(lr_blindspot, enabled):

 def create_bsm_polling_status(lr_blindspot):
  return make_can_msg(0x750, lr_blindspot + b"\x02\x21\x69\x00\x00\x00\x00", 0)
-
-
-# auto brake hold
-def create_brake_hold_command(packer, frame, pre_collision_2, brake_hold_active):
-  # forward PRE_COLLISION_2 when auto brake hold is not active
-  values = {s: pre_collision_2[s] for s in [
-    "DSS1GDRV",
-    "DS1STAT2",
-    "DS1STBK2",
-    "PCSWAR",
-    "PCSALM",
-    "PCSOPR",
-    "PCSABK",
-    "PBATRGR",
-    "PPTRGR",
-    "IBTRGR",
-    "CLEXTRGR",
-    "IRLT_REQ",
-    "BRKHLD",
-    "AVSTRGR",
-    "VGRSTRGR",
-    "PREFILL",
-    "PBRTRGR",
-    "PCSDIS",
-    "PBPREPMP",
-  ]}
-
-  if brake_hold_active:
-    values = {
-      "DSS1GDRV": 0x3FF,
-      "PBRTRGR": frame % 730 < 727,  # cut actuation for 3 frames
-    }
-
-  return packer.make_can_msg("PRE_COLLISION_2", 0, values)
@@ -16,7 +16,7 @@ PEDAL_TRANSITION = 10. * CV.MPH_TO_MS


 class CarControllerParams:
-  ACCEL_MAX = 2.0  # m/s2, lower than allowed 2.0 m/s2 for tuning reasons
+  ACCEL_MAX = 1.5  # m/s2, lower than allowed 2.0 m/s2 for tuning reasons
  ACCEL_MIN = -3.5  # m/s2

  STEER_STEP = 1
@@ -64,7 +64,6 @@ class ToyotaFlagsSP(IntFlag):
  SP_ZSS = 1
  SP_ENHANCED_BSM = 2
  SP_NEED_DEBUG_BSM = 4
-  SP_AUTO_BRAKE_HOLD = 8


 class Footnote(Enum):
@@ -174,13 +174,10 @@ class Controls:

    self.live_torque = self.params.get_bool("LiveTorque")
    self.torqued_override = self.params.get_bool("TorquedOverride")
-    self.custom_stock_planner_speed = self.params.get_bool("CustomStockLongPlanner")

    self.enable_mads = self.params.get_bool("EnableMads")
    self.mads_disengage_lateral_on_brake = self.params.get_bool("DisengageLateralOnBrake")
    self.mads_ndlob = self.enable_mads and not self.mads_disengage_lateral_on_brake
-    self.pcm_v_cruise_override = self.params.get_bool("PCMVCruiseOverride")
-    self.pcm_v_cruise_override_speed = int(self.params.get("PCMVCruiseOverrideSpeed", encoding="utf-8"))
    self.process_not_running = False
    self.experimental_mode_update = False

@@ -189,12 +186,6 @@ class Controls:
                                     self.custom_model_metadata.capabilities & ModelCapabilities.LateralPlannerSolution

    self.dynamic_personality = self.params.get_bool("DynamicPersonality")
-    self.overtaking_accel = self.params.get_bool("OvertakingAccelerationAssist")
-    self.overtaking_accel_engaged = False
-    self.prev_overtaking_accel_engaged = False
-    self.overtaking_accel_allowed = False
-    self.prev_overtaking_accel_allowed = False
-    self.overtaking_accel_blocked = False

    self.accel_personality = self.read_accel_personality_param()

@@ -499,9 +490,7 @@ class Controls:
  def state_transition(self, CS):
    """Compute conditional state transitions and execute actions on state transitions"""

-    # sp - PCM speed override
-    sp_override_speed = self.pcm_v_cruise_override_speed if self.pcm_v_cruise_override else False
-    self.v_cruise_helper.update_v_cruise(CS, self.enabled_long, self.is_metric, self.reverse_acc_change, sp_override_speed, self.sm['longitudinalPlanSP'])
+    self.v_cruise_helper.update_v_cruise(CS, self.enabled_long, self.is_metric, self.reverse_acc_change, self.sm['longitudinalPlanSP'])

    # decrement the soft disable timer at every step, as it's reset on
    # entrance in SOFT_DISABLING state
@@ -650,15 +639,9 @@ class Controls:
      self.LoC.reset()

    if not self.joystick_mode:
-      speeds = long_plan.speeds
-      a_lead = self.sm['radarState'].leadOne.aLeadK
-      resume = False
-      if len(speeds):
-        resume = self.enabled_long and CS.standstill and self.CP.carName == "hyundai" and speeds[-1] > 0.1 and a_lead > 0.1
-
      # accel PID loop
      pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
-      actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits, resume)
+      actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits)

      # Steering PID loop and lateral MPC
      if self.model_use_lateral_planner:
@@ -834,36 +817,11 @@ class Controls:

    # Curvature & Steering angle
    lp = self.sm['liveParameters']
-    dh = 'lateralPlanDEPRECATED' if self.model_use_lateral_planner else 'modelV2'
+    lp_mono_time_svs = 'lateralPlanDEPRECATED' if self.model_use_lateral_planner else 'modelV2'

    steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg)
    curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll)

-    lat_plan = self.sm['lateralPlanDEPRECATED']
-    long_plan = self.sm['longitudinalPlan']
-    dm_state = self.sm['driverMonitoringState']
-    blinker_svs = lat_plan if self.model_use_lateral_planner else model_v2.meta
-    self.prev_overtaking_accel_allowed = self.overtaking_accel_allowed
-    if not self.overtaking_accel_allowed and not self.prev_overtaking_accel_allowed:
-      self.overtaking_accel_blocked = False
-    self.overtaking_accel_allowed = ((blinker_svs.laneChangeDirection == LaneChangeDirection.right and dm_state.isRHD) or
-                                     (blinker_svs.laneChangeDirection == LaneChangeDirection.left and not dm_state.isRHD)) and \
-                                    (blinker_svs.laneChangeState in (LaneChangeState.preLaneChange, LaneChangeState.laneChangeStarting)) and \
-                                    not self.overtaking_accel_blocked
-    self.prev_overtaking_accel_engaged = self.overtaking_accel_engaged
-    ttc = self.sm['radarState'].leadOne.dRel / CS.vEgo if CS.vEgo > 0 else 255
-    overtaking_accel_engaged = self.overtaking_accel and self.overtaking_accel_allowed and \
-                               (CS.vEgo > ((60 * CV.KPH_TO_MS) if self.is_metric else (40 * CV.MPH_TO_MS))) and \
-                               not (CS.leftBlinker and CS.rightBlinker)
-    if ttc < 0.75 and self.prev_overtaking_accel_engaged and overtaking_accel_engaged:
-      overtaking_accel_engaged = False
-      self.overtaking_accel_blocked = True
-    if overtaking_accel_engaged and not self.prev_overtaking_accel_engaged and \
-      long_plan.hasLead and long_plan.aTarget > -0.1 and (0.75 < ttc < 3.0):
-      self.overtaking_accel_engaged = True
-    elif not overtaking_accel_engaged:
-      self.overtaking_accel_engaged = False
-
    # controlsState
    dat = messaging.new_message('controlsState')
    dat.valid = CS.canValid
@@ -878,7 +836,7 @@ class Controls:
      controlsState.alertSound = current_alert.audible_alert

    controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
-    controlsState.lateralPlanMonoTime = self.sm.logMonoTime[dh]
+    controlsState.lateralPlanMonoTime = self.sm.logMonoTime[lp_mono_time_svs]
    controlsState.enabled = not (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) and (self.enabled or CS.cruiseState.enabled) and CS.gearShifter not in [GearShifter.park, GearShifter.reverse]
    controlsState.active = not (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) and (self.active or CS.cruiseState.enabled)
    controlsState.curvature = curvature
@@ -916,7 +874,6 @@ class Controls:
    controlsStateSP.personality = self.personality
    controlsStateSP.dynamicPersonality = self.dynamic_personality
    controlsStateSP.accelPersonality = self.accel_personality
-    controlsStateSP.overtakingAccelerationAssist = self.overtaking_accel_engaged

    if self.enable_nnff and lat_tuning == 'torque':
      controlsStateSP.lateralControlState.torqueState = self.LaC.pid_long_sp
@@ -974,8 +931,7 @@ class Controls:
  def params_thread(self, evt):
    while not evt.is_set():
      self.is_metric = self.params.get_bool("IsMetric")
-      self.experimental_mode = self.params.get_bool("ExperimentalMode") and (self.CP.openpilotLongitudinalControl or
-                                                                             (not self.CP.pcmCruiseSpeed and self.custom_stock_planner_speed))
+      self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
      self.personality = self.read_personality_param()
      self.dynamic_personality = self.params.get_bool("DynamicPersonality")
      self.accel_personality = self.read_accel_personality_param()
@@ -984,11 +940,9 @@ class Controls:

      self.reverse_acc_change = self.params.get_bool("ReverseAccChange")
      self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
-      self.overtaking_accel = self.params.get_bool("OvertakingAccelerationAssist")

      if self.sm.frame % int(2.5 / DT_CTRL) == 0:
        self.live_torque = self.params.get_bool("LiveTorque")
-        self.custom_stock_planner_speed = self.params.get_bool("CustomStockLongPlanner")
      time.sleep(0.1)

  def controlsd_thread(self):
@@ -65,10 +65,6 @@ VOLKSWAGEN_V_CRUISE_MIN = {
  True: 30,
  False: int(20 * CV.MPH_TO_KPH),
 }
-GM_V_CRUISE_MIN = {
-  True: 30,
-  False: int(20 * CV.MPH_TO_KPH),
-}

 SpeedLimitControlState = custom.LongitudinalPlanSP.SpeedLimitControlState

@@ -88,20 +84,12 @@ class VCruiseHelper:
    self.slc_state_prev = SpeedLimitControlState.inactive
    self.slc_speed_limit_offsetted = 0

-    # sp: PCM speed override
-    self.sp_override_v_cruise_kph = V_CRUISE_UNSET
-    self.sp_override_cruise_speed_last = V_CRUISE_UNSET
-    self.sp_override_enabled_last = False
-
-    self.experimental_mode_update = False
-
  @property
  def v_cruise_initialized(self):
    return self.v_cruise_kph != V_CRUISE_UNSET

-  def update_v_cruise(self, CS, enabled, is_metric, reverse_acc, sp_override_speed, long_plan_sp):
+  def update_v_cruise(self, CS, enabled, is_metric, reverse_acc, long_plan_sp):
    self.v_cruise_kph_last = self.v_cruise_kph
-    self.slc_state_prev = self.slc_state
    self.slc_state = long_plan_sp.speedLimitControlState

    if not self.CP.pcmCruiseSpeed:
@@ -114,32 +102,12 @@ class VCruiseHelper:
        self._update_v_cruise_slc(long_plan_sp)
        self.v_cruise_cluster_kph = self.v_cruise_kph
      else:
-        if enabled and sp_override_speed and CS.cruiseState.speed * CV.MS_TO_KPH < sp_override_speed:
-          if self.sp_override_v_cruise_kph == V_CRUISE_UNSET:
-            self.sp_override_v_cruise_kph = max(CS.vEgo * CV.MS_TO_KPH, V_CRUISE_MIN)
-        else:
-          self.sp_override_v_cruise_kph = V_CRUISE_UNSET
-
-        # when we have an override_speed, use it
-        if self.sp_override_v_cruise_kph != V_CRUISE_UNSET:
-          self.v_cruise_kph = self.sp_override_v_cruise_kph
-          self.v_cruise_cluster_kph = self.sp_override_v_cruise_kph
-        else:
-          self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
-          self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
-
-          #print("sp_override_v_cruise_kph:", self.sp_override_v_cruise_kph)
-          #print("v_cruise_kph:", self.v_cruise_kph)
-          #print("v_cruise_cluster_kph:", self.v_cruise_cluster_kph)
-
-        self.sp_override_cruise_speed_last = CS.cruiseState.speed
-        self.sp_override_enabled_last = enabled
+        self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
+        self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
      self.update_button_timers(CS, enabled)
    else:
-      self.sp_override_v_cruise_kph = V_CRUISE_UNSET
      self.v_cruise_kph = V_CRUISE_UNSET
      self.v_cruise_cluster_kph = V_CRUISE_UNSET
-      self.experimental_mode_update = False

  def _update_v_cruise_non_pcm(self, CS, enabled, is_metric, reverse_acc):
    # handle button presses. TODO: this should be in state_control, but a decelCruise press
@@ -234,8 +202,6 @@ class VCruiseHelper:
        initial = MAZDA_V_CRUISE_MIN[is_metric]
      elif self.CP.carName == "volkswagen":
        initial = VOLKSWAGEN_V_CRUISE_MIN[is_metric]
-      elif self.CP.carName == "gm":
-        initial = GM_V_CRUISE_MIN[is_metric]

    # 250kph or above probably means we never had a set speed
    if any(b.type in resume_buttons for b in CS.buttonEvents) and self.v_cruise_kph_last < 250:
@@ -254,6 +220,8 @@ class VCruiseHelper:
    if self.slc_state == SpeedLimitControlState.active and self.slc_state_prev == SpeedLimitControlState.preActive:
      self.v_cruise_kph = clip(round(self.slc_speed_limit_offsetted, 1), self.v_cruise_min, V_CRUISE_MAX)

+    self.slc_state_prev = self.slc_state
+
  def _update_v_cruise_min(self, is_metric):
    if is_metric != self.is_metric_prev:
      if self.CP.carName == "honda":
@@ -266,8 +234,6 @@ class VCruiseHelper:
        self.v_cruise_min = MAZDA_V_CRUISE_MIN[is_metric]
      elif self.CP.carName == "volkswagen":
        self.v_cruise_min = VOLKSWAGEN_V_CRUISE_MIN[is_metric]
-      elif self.CP.carName == "gm":
-        self.v_cruise_min = GM_V_CRUISE_MIN[is_metric]
    self.is_metric_prev = is_metric


@@ -744,14 +744,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
    ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
  },

-  EventName.spAutoBrakeHold: {
-    ET.PERMANENT: Alert(
-      "sunnypilot Brake Hold Active",
-      "",
-      AlertStatus.normal, AlertSize.small,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.prompt, 0.),
-  },
-
  EventName.parkBrake: {
    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
    ET.NO_ENTRY: NoEntryAlert("Parking Brake Engaged"),
@@ -83,8 +83,7 @@ class LatControlTorque(LatControl):
    self.torqued_override = self.param_s.get_bool("TorquedOverride")
    self._frame = 0

-    self.use_lateral_jerk = self.param_s.get_bool("TorqueLateralJerk")  # TODO: make this a parameter in the UI
-    self.nnff_no_lateral_jerk = self.param_s.get_bool("NNFFNoLateralJerk")  # TODO: make this a parameter in the UI
+    self.use_lateral_jerk = False  # TODO: make this a parameter in the UI

    # Twilsonco's Lateral Neural Network Feedforward
    self.use_nn = CI.has_lateral_torque_nn
@@ -141,13 +140,11 @@ class LatControlTorque(LatControl):
    if self._frame % 250 == 0:
      self._frame = 0
      self.torqued_override = self.param_s.get_bool("TorquedOverride")
-      self.use_lateral_jerk = self.param_s.get_bool("TorqueLateralJerk")
-      self.nnff_no_lateral_jerk = self.param_s.get_bool("NNFFNoLateralJerk")
      if not self.torqued_override:
        return

      self.torque_params.latAccelFactor = float(self.param_s.get("TorqueMaxLatAccel", encoding="utf8")) * 0.01
-      self.torque_params.friction = float(self.param_s.get("TorqueFriction", encoding="utf8")) * 0.001
+      self.torque_params.friction = float(self.param_s.get("TorqueFriction", encoding="utf8")) * 0.01

  @property
  def pid_long_sp(self):
@@ -200,7 +197,7 @@ class LatControlTorque(LatControl):
        predicted_lateral_jerk = get_predicted_lateral_jerk(model_data.acceleration.y, self.t_diffs)
        desired_lateral_jerk = (interp(self.desired_lat_jerk_time, ModelConstants.T_IDXS, model_data.acceleration.y) - desired_lateral_accel) / self.desired_lat_jerk_time
        lookahead_lateral_jerk = get_lookahead_value(predicted_lateral_jerk[LAT_PLAN_MIN_IDX:friction_upper_idx], desired_lateral_jerk)
-        if self.nnff_no_lateral_jerk or self.use_steering_angle or lookahead_lateral_jerk == 0.0:
+        if self.use_steering_angle or lookahead_lateral_jerk == 0.0:
          lookahead_lateral_jerk = 0.0
          actual_lateral_jerk = 0.0
          self.lat_accel_friction_factor = 1.0
@@ -209,7 +206,6 @@ class LatControlTorque(LatControl):

      if self.use_nn and model_good:
        # update past data
-        pitch = 0
        roll = params.roll
        if len(llk.calibratedOrientationNED.value) > 1:
          pitch = self.pitch.update(llk.calibratedOrientationNED.value[1])
@@ -235,14 +231,7 @@ class LatControlTorque(LatControl):
                                 + past_rolls + future_rolls
        torque_from_setpoint = self.torque_from_nn(nnff_setpoint_input)
        torque_from_measurement = self.torque_from_nn(nnff_measurement_input)
-
        pid_log.error = torque_from_setpoint - torque_from_measurement
-        error_blend_factor = interp(abs(desired_lateral_accel), [1.0, 2.0], [0.0, 1.0])
-        if error_blend_factor > 0.0:  # blend in stronger error response when in high lat accel
-          nnff_error_input = [CS.vEgo, setpoint - measurement, lateral_jerk_setpoint - lateral_jerk_measurement, 0.0]
-          torque_from_error = self.torque_from_nn(nnff_error_input)
-          if sign(pid_log.error) == sign(torque_from_error) and abs(pid_log.error) < abs(torque_from_error):
-            pid_log.error = pid_log.error * (1.0 - error_blend_factor) + torque_from_error * error_blend_factor

        # compute feedforward (same as nn setpoint output)
        error = setpoint - measurement
@@ -11,11 +11,11 @@ LongCtrlState = car.CarControl.Actuators.LongControlState


 def long_control_state_trans(CP, active, long_control_state, v_ego,
-                             should_stop, brake_pressed, cruise_standstill, resume):
+                             should_stop, brake_pressed, cruise_standstill):
  # Ignore cruise standstill if car has a gas interceptor
  cruise_standstill = cruise_standstill and not CP.enableGasInterceptorDEPRECATED
-  stopping_condition = should_stop and not resume
-  starting_condition = ((not should_stop or resume) and
+  stopping_condition = should_stop
+  starting_condition = (not should_stop and
                        not cruise_standstill and
                        not brake_pressed)
  started_condition = v_ego > CP.vEgoStarting
@@ -58,14 +58,14 @@ class LongControl:
  def reset(self):
    self.pid.reset()

-  def update(self, active, CS, a_target, should_stop, accel_limits, resume):
+  def update(self, active, CS, a_target, should_stop, accel_limits):
    """Update longitudinal control. This updates the state machine and runs a PID loop"""
    self.pid.neg_limit = accel_limits[0]
    self.pid.pos_limit = accel_limits[1]

    self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo,
                                                       should_stop, CS.brakePressed,
-                                                       CS.cruiseState.standstill, resume)
+                                                       CS.cruiseState.standstill)
    if self.long_control_state == LongCtrlState.off:
      self.reset()
      output_accel = 0.
@@ -4,7 +4,6 @@ import time
 import numpy as np
 from cereal import custom
 from openpilot.common.numpy_fast import clip
-from openpilot.common.conversions import Conversions as CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.swaglog import cloudlog
 # WARNING: imports outside of constants will not trigger a rebuild
@@ -64,11 +63,9 @@ def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
  elif personality==custom.LongitudinalPersonalitySP.standard:
    return 1.0
  elif personality==custom.LongitudinalPersonalitySP.moderate:
-    return 0.95
+    return 0.8
  elif personality==custom.LongitudinalPersonalitySP.aggressive:
-    return 0.9
-  elif personality==custom.LongitudinalPersonalitySP.overtake:
-    return 0.1
+    return 0.6
  else:
    raise NotImplementedError("Longitudinal personality not supported")

@@ -82,47 +79,32 @@ def get_T_FOLLOW(personality=custom.LongitudinalPersonalitySP.standard):
    return 1.25
  elif personality==custom.LongitudinalPersonalitySP.aggressive:
    return 1.0
-  elif personality==custom.LongitudinalPersonalitySP.overtake:
-    return 0.25
  else:
    raise NotImplementedError("Longitudinal personality not supported")


 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,    11,   14.5, 15,   20,   20.01,  25,    25.01,  36,  36.01]
+    y_dist = [1.5,  1.5,  1.5,  1.6,  1.76, 1.76,   1.78,  1.78,   1.8, 1.8]
  elif personality==custom.LongitudinalPersonalitySP.standard:
-    x_vel =  [0,    20.,   27.7]
-    y_dist = [1.70, 1.70,  1.70]
+    x_vel =  [0,    11,   14.5, 15,   20,   20.01,  25,    25.01,  36,  36.01]
+    y_dist = [1.40, 1.40, 1.40, 1.50, 1.60, 1.76,   1.76,  1.78,   1.8, 1.8]
  elif personality==custom.LongitudinalPersonalitySP.moderate:
-    x_vel =  [0,    27.69, 27.7]
-    y_dist = [1.40, 1.40,  1.45]
+    x_vel =  [0,    11,   14.5, 15,   20,   20.01,  25,    25.01,  36,  36.01]
+    y_dist = [1.3,  1.3,  1.3,  1.35, 1.35, 1.385,  1.385, 1.4,   1.4,  1.45]
  elif personality==custom.LongitudinalPersonalitySP.aggressive:
-    x_vel =  [0,    5.,    20.0, 20.01, 27.69, 27.7]
-    y_dist = [0.80, 1.10, 1.10, 1.12,  1.12,  1.20]
+    x_vel =  [0,     5,     5.01,  11,    14.5,   15,    20,    20.01,  25, 25.01, 36,   36.01]
+    y_dist = [1.12,  1.12,  1.12,  1.12,  1.12,  1.105, 1.105, 1.15, 1.15, 1.18, 1.20,  1.23]
  else:
    raise NotImplementedError("Dynamic personality not supported")
+
  return np.interp(v_ego, x_vel, y_dist)

+
 def get_stopped_equivalence_factor(v_lead):
  return (v_lead**2) / (2 * COMFORT_BRAKE)

-def get_stopped_equivalence_factor_krkeegen(v_lead, v_ego):
-  # KRKeegan this offset rapidly decreases the following distance when the lead pulls
-  # away, resulting in an early demand for acceleration.
-  v_diff_offset = 0
-  v_diff_offset_max = 12
-  speed_to_reach_max_v_diff_offset = 26 # in kp/h
-  speed_to_reach_max_v_diff_offset = speed_to_reach_max_v_diff_offset * CV.KPH_TO_MS
-  delta_speed = v_lead - v_ego
-  if np.all(delta_speed > 0):
-    v_diff_offset = delta_speed * 2
-    v_diff_offset = np.clip(v_diff_offset, 0, v_diff_offset_max)
-    # increase in a linear behavior
-    v_diff_offset = np.maximum(v_diff_offset * ((speed_to_reach_max_v_diff_offset - v_ego)/speed_to_reach_max_v_diff_offset), 0)
-  return (v_lead**2) / (2 * COMFORT_BRAKE) + v_diff_offset
-
 def get_safe_obstacle_distance(v_ego, t_follow):
  return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE

@@ -317,24 +299,15 @@ class LongitudinalMpc:
    for i in range(N):
      self.solver.cost_set(i, 'Zl', Zl)

-  def set_weights(self, prev_accel_constraint=True, personality=custom.LongitudinalPersonalitySP.standard, v_lead0=0, v_lead1=0):
+  def set_weights(self, prev_accel_constraint=True, personality=custom.LongitudinalPersonalitySP.standard):
    jerk_factor = get_jerk_factor(personality)
-    v_ego = self.x0[1]
-    v_ego_bps = [0, 10]
-    # KRKeegan adjustments to improve sluggish acceleration
-    # do not apply to deceleration
-    j_ego_v_ego = 1
-    a_change_v_ego = 1
-    if (v_lead0 - v_ego >= 0) and (v_lead1 - v_ego >= 0):
-      j_ego_v_ego = np.interp(v_ego, v_ego_bps, [.05, 1.])
-      a_change_v_ego = np.interp(v_ego, v_ego_bps, [.05, 1.])
    if self.mode == 'acc':
      a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0
-      cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost * a_change_v_ego, jerk_factor * J_EGO_COST * j_ego_v_ego]
+      cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST]
      constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
    elif self.mode == 'blended':
      a_change_cost = 40.0 if prev_accel_constraint else 0
-      cost_weights = [0., 0.1, 0.2, 5.0, a_change_cost * a_change_v_ego, 1.0]
+      cost_weights = [0., 0.1, 0.2, 5.0, a_change_cost, 1.0]
      constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 50.0]
    else:
      raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner cost set')
@@ -385,11 +358,9 @@ class LongitudinalMpc:
    self.cruise_min_a = min_a
    self.max_a = max_a

-  def update(self, radarstate, v_cruise, x, v, a, j, personality=custom.LongitudinalPersonalitySP.standard,
-             dynamic_personality=False, overtaking_acceleration_assist=False, fast_take_off = False):
+  def update(self, radarstate, v_cruise, x, v, a, j, personality=custom.LongitudinalPersonalitySP.standard, dynamic_personality=False):
    v_ego = self.x0[1]
    t_follow = get_dynamic_personality(v_ego, personality) if dynamic_personality else get_T_FOLLOW(personality)
-    t_follow = get_T_FOLLOW(custom.LongitudinalPersonalitySP.overtake) if overtaking_acceleration_assist else t_follow
    self.status = radarstate.leadOne.status or radarstate.leadTwo.status

    lead_xv_0 = self.process_lead(radarstate.leadOne)
@@ -398,12 +369,8 @@ class LongitudinalMpc:
    # To estimate a safe distance from a moving lead, we calculate how much stopping
    # distance that lead needs as a minimum. We can add that to the current distance
    # and then treat that as a stopped car/obstacle at this new distance.
-    if fast_take_off:
-      lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor_krkeegen(lead_xv_0[:,1], v_ego)
-      lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor_krkeegen(lead_xv_1[:,1], v_ego)
-    else:
-      lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
-      lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
+    lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
+    lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])

    cruise_target_e2ex = T_IDXS * np.clip(v_cruise, v_ego - 2.0, 1e3) + x[0]
    e2e_xforward = ((v[1:] + v[:-1]) / 2) * (T_IDXS[1:] - T_IDXS[:-1])
@@ -3,7 +3,7 @@ import math
 import numpy as np
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.params import Params
-from cereal import car, log, custom
+from cereal import car

 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
@@ -12,7 +12,6 @@ from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.controls.lib.sunnypilot.common import Source
 from openpilot.selfdrive.controls.lib.sunnypilot.speed_limit_controller import SpeedLimitController
-from openpilot.selfdrive.car.hyundai.values import HyundaiFlags
 from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
@@ -36,7 +35,6 @@ _A_TOTAL_MAX_V = [1.7, 3.2]
 _A_TOTAL_MAX_BP = [20., 40.]


-MpcSource = custom.MpcSource
 EventName = car.CarEvent.EventName


@@ -84,8 +82,7 @@ class LongitudinalPlanner:
    self.dt = dt

    self.a_desired = init_a
-    v_ego_sec = 0.6 if CP.carName == "hyundai" and not CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV) else 2.0
-    self.v_desired_filter = FirstOrderFilter(init_v, v_ego_sec, self.dt)
+    self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
    self.v_model_error = 0.0

    self.v_desired_trajectory = np.zeros(CONTROL_N)
@@ -103,7 +100,6 @@ class LongitudinalPlanner:
    self.turn_speed_controller = TurnSpeedController()
    self.dynamic_experimental_controller = DynamicExperimentalController()
    self.accel_controller = AccelController()
-    self.fast_take_off = False

  def read_param(self):
    try:
@@ -111,7 +107,6 @@ class LongitudinalPlanner:
    except AttributeError:
      self.dynamic_experimental_controller = DynamicExperimentalController()
      self.accel_controller = AccelController()
-      self.fast_take_off = self.params.get_bool("FastTakeOff")

  @staticmethod
  def parse_model(model_msg, model_error):
@@ -134,13 +129,10 @@ class LongitudinalPlanner:
      self.read_param()
    self.param_read_counter += 1
    if self.dynamic_experimental_controller.is_enabled() and sm['controlsState'].experimentalMode:
-      self.dynamic_experimental_controller.set_mpc_fcw_crash_cnt(self.mpc.crash_cnt)
-      self.dynamic_experimental_controller.update(self.CP.radarUnavailable, sm['carState'], sm['radarState'].leadOne, sm['modelV2'], sm['controlsState'], sm['navInstruction'].maneuverDistance)
-      self.mpc.mode = self.dynamic_experimental_controller.get_mpc_mode()
+      self.mpc.mode = self.dynamic_experimental_controller.get_mpc_mode(self.CP.radarUnavailable, sm['carState'], sm['radarState'].leadOne, sm['modelV2'], sm['controlsState'], sm['navInstruction'].maneuverDistance)
    else:
      self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'

-
    v_ego = sm['carState'].vEgo
    v_cruise_kph = min(sm['controlsState'].vCruise, V_CRUISE_MAX)
    v_cruise = v_cruise_kph * CV.KPH_TO_MS
@@ -161,10 +153,8 @@ class LongitudinalPlanner:
      accel_limits = [ACCEL_MIN, ACCEL_MAX]
      accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]

-    overtaking_accel_engaged = sm['controlsStateSP'].overtakingAccelerationAssist
    # override accel using Accel Controller
-    if self.accel_controller.is_enabled(accel_personality=custom.AccelerationPersonality.sport if overtaking_accel_engaged else
-                                                          sm['controlsStateSP'].accelPersonality):
+    if self.accel_controller.is_enabled(accel_personality=sm['controlsStateSP'].accelPersonality):
      # get min, max from accel controller
      min_limit, max_limit = self.accel_controller.get_accel_limits(v_ego, accel_limits)
      if self.mpc.mode == 'acc':
@@ -199,12 +189,11 @@ class LongitudinalPlanner:
    accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
    accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)

-    self.mpc.set_weights(prev_accel_constraint, personality=custom.LongitudinalPersonalitySP.overtake if overtaking_accel_engaged else sm['controlsStateSP'].personality)
+    self.mpc.set_weights(prev_accel_constraint, personality=sm['controlsStateSP'].personality)
    self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
    self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
    x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
-    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsStateSP'].personality,
-                    dynamic_personality=sm['controlsStateSP'].dynamicPersonality, overtaking_acceleration_assist=overtaking_accel_engaged, fast_take_off=self.fast_take_off)
+    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsStateSP'].personality, dynamic_personality=sm['controlsStateSP'].dynamicPersonality)

    self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
    self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
@@ -273,8 +262,7 @@ class LongitudinalPlanner:
    longitudinalPlanSP.turnSpeedControlState = self.turn_speed_controller.state
    longitudinalPlanSP.turnSpeed = float(self.turn_speed_controller.v_target)

-    longitudinalPlanSP.mpcSource = MpcSource.blended if self.mpc.mode == 'blended' else MpcSource.acc
-    longitudinalPlanSP.dynamicExperimentalControl = self.dynamic_experimental_controller.is_enabled()
+    longitudinalPlanSP.e2eBlended = self.mpc.mode

    pm.send('longitudinalPlanSP', plan_sp_send)

@@ -21,24 +21,23 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.

-# Last updated: August 12, 2024
+# Last updated: July 1, 2024

 from cereal import custom
 from openpilot.common.numpy_fast import interp

 AccelPersonality = custom.AccelerationPersonality

-# accel personality by @arne182 modified by cgw and kumar
-_DP_CRUISE_MIN_V =       [-0.69, -0.69, -0.69, -0.69, -0.69, -0.69, -0.79, -0.79, -0.79, -0.79, -1.0,  -1.0]
-_DP_CRUISE_MIN_V_ECO =   [-0.68, -0.68, -0.68, -0.68, -0.68, -0.68, -0.78, -0.78, -0.88, -0.88, -1.0,  -1.0]
-_DP_CRUISE_MIN_V_SPORT = [-0.70, -0.70, -0.70, -0.70, -0.70, -0.70, -0.80, -0.80, -0.90, -0.90, -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_MAX_V =       [2.0, 2.0, 2.0, 1.80, 1.11, .70,  .54,  .38,  .17]
-_DP_CRUISE_MAX_V_ECO =   [2.0, 2.0, 2.0, 1.60, 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.]
+# accel personality by @arne182 modified by cgw
+_DP_CRUISE_MIN_V =       [-1.03,  -0.79,  -0.77,  -0.77,  -0.75,  -0.75,  -0.88,  -0.82]
+_DP_CRUISE_MIN_V_ECO =   [-1.02,  -0.78,  -0.75,  -0.75,  -0.73,  -0.73,  -0.80,  -0.80]
+_DP_CRUISE_MIN_V_SPORT = [-1.04,  -0.81,  -0.79,  -0.79,  -0.77,  -0.77,  -0.90,  -0.84]
+_DP_CRUISE_MIN_BP =      [0.,     0.05,   0.1,    0.5,    8.33,   16.,    30.,    40.]

+_DP_CRUISE_MAX_V =       [2.5, 2.5, 2.5, 1.70, 1.05, .81,  .625, .42,  .348, .12]
+_DP_CRUISE_MAX_V_ECO =   [2.0, 2.0, 2.0, 1.4, .80,   .68,  .53,  .32,  .20,  .085]
+_DP_CRUISE_MAX_V_SPORT = [3.5, 3.5, 2.8, 2.4,  1.4,  1.0,  .89,  .75,  .50,  .2]
+_DP_CRUISE_MAX_BP =      [0.,  1.,  6.,  8.,   11.,  15.,  20.,  25.,  30.,  55.]


 class AccelController:
@@ -21,39 +21,33 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
 #
-# Version = 2024-7-11
+# Version = 2024-1-29
 from common.numpy_fast import interp
-import numpy as np
+from openpilot.selfdrive.controls.lib.lateral_planner import TRAJECTORY_SIZE

-# d-e2e, from modeldata.h
-TRAJECTORY_SIZE = 33
-
-LEAD_WINDOW_SIZE = 4
+LEAD_WINDOW_SIZE = 5
 LEAD_PROB = 0.6

 SLOW_DOWN_WINDOW_SIZE = 5
 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.]

-SLOWNESS_WINDOW_SIZE = 12
-SLOWNESS_PROB = 0.5
+SLOWNESS_WINDOW_SIZE = 20
+SLOWNESS_PROB = 0.6
 SLOWNESS_CRUISE_OFFSET = 1.05

-DANGEROUS_TTC_WINDOW_SIZE = 3
-DANGEROUS_TTC = 2.3
+DANGEROUS_TTC_WINDOW_SIZE = 5
+DANGEROUS_TTC = 2.0

-HIGHWAY_CRUISE_KPH = 70
+HIGHWAY_CRUISE_KPH = 75

 STOP_AND_GO_FRAME = 60

 SET_MODE_TIMEOUT = 10

-MPC_FCW_WINDOW_SIZE = 10
-MPC_FCW_PROB = 0.5
-
-V_ACC_MIN = 9.72
+MPC_FCW_WINDOW_SIZE = 5
+MPC_FCW_PROB = 0.6


 class SNG_State:
@@ -83,51 +77,29 @@ class GenericMovingAverageCalculator:
    self.data = []
    self.total = 0

-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
-
-  def add_data(self, value):
-    if len(self.data) == self.window_size:
-      self.data.pop(0)
-    self.data.append(value)
-
-  def get_weighted_average(self):
-    if len(self.data) == 0:
-      return None
-    weighted_sum = np.dot(self.data, self.weights[-len(self.data):])
-    weight_total = np.sum(self.weights[-len(self.data):])
-    return weighted_sum / weight_total
-
-  def reset_data(self):
-    self.data = []

 class DynamicExperimentalController:
  def __init__(self):
    self._is_enabled = False
    self._mode = 'acc'
    self._mode_prev = 'acc'
-    self._mode_changed = False
    self._frame = 0

-    # Use weighted moving average for filtering leads
-    self._lead_gmac = WeightedMovingAverageCalculator(window_size=LEAD_WINDOW_SIZE)
+    self._lead_gmac = GenericMovingAverageCalculator(window_size=LEAD_WINDOW_SIZE)
    self._has_lead_filtered = False
    self._has_lead_filtered_prev = False

-    self._slow_down_gmac = WeightedMovingAverageCalculator(window_size=SLOW_DOWN_WINDOW_SIZE)
+    self._slow_down_gmac = GenericMovingAverageCalculator(window_size=SLOW_DOWN_WINDOW_SIZE)
    self._has_slow_down = False

    self._has_blinkers = False

-    self._slowness_gmac = WeightedMovingAverageCalculator(window_size=SLOWNESS_WINDOW_SIZE)
+    self._slowness_gmac = GenericMovingAverageCalculator(window_size=SLOWNESS_WINDOW_SIZE)
    self._has_slowness = False

    self._has_nav_instruction = False

-    self._dangerous_ttc_gmac = WeightedMovingAverageCalculator(window_size=DANGEROUS_TTC_WINDOW_SIZE)
+    self._dangerous_ttc_gmac = GenericMovingAverageCalculator(window_size=DANGEROUS_TTC_WINDOW_SIZE)
    self._has_dangerous_ttc = False

    self._v_ego_kph = 0.
@@ -141,46 +113,13 @@ class DynamicExperimentalController:
    self._sng_transit_frame = 0
    self._sng_state = SNG_State.off

-    self._mpc_fcw_gmac = WeightedMovingAverageCalculator(window_size=MPC_FCW_WINDOW_SIZE)
+    self._mpc_fcw_gmac = GenericMovingAverageCalculator(window_size=MPC_FCW_WINDOW_SIZE)
    self._has_mpc_fcw = False
    self._mpc_fcw_crash_cnt = 0

    self._set_mode_timeout = 0
    pass

-
-  def _adaptive_slowdown_threshold(self):
-    """
-    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)))
-
-  def _anomaly_detection(self, recent_data, threshold=2.0):
-    """
-    Basic anomaly detection using standard deviation.
-    """
-    if len(recent_data) < 3:
-      return False
-    mean = np.mean(recent_data)
-    std_dev = np.std(recent_data)
-    anomaly = recent_data[-1] > mean + threshold * std_dev
-    return anomaly
-
-  def _smoothed_lead_detection(self, lead_prob, smoothing_factor=0.2):
-    """
-    Smoothing the lead detection to avoid erratic behavior.
-    """
-    self._has_lead_filtered = (1 - smoothing_factor) * self._has_lead_filtered + smoothing_factor * lead_prob
-    return self._has_lead_filtered > LEAD_PROB
-
-  def _adaptive_lead_prob_threshold(self):
-    """
-    Adapts lead probability threshold based on driving conditions.
-    """
-    if self._v_ego_kph > HIGHWAY_CRUISE_KPH:
-      return LEAD_PROB + 0.1  # Increase the threshold on highways
-    return LEAD_PROB
-
  def _update(self, car_state, lead_one, md, controls_state, maneuver_distance):
    self._v_ego_kph = car_state.vEgo * 3.6
    self._v_cruise_kph = controls_state.vCruise
@@ -189,27 +128,18 @@ class DynamicExperimentalController:

    # fcw detection
    self._mpc_fcw_gmac.add_data(self._mpc_fcw_crash_cnt > 0)
-    self._has_mpc_fcw = self._mpc_fcw_gmac.get_weighted_average() > MPC_FCW_PROB
+    self._has_mpc_fcw = self._mpc_fcw_gmac.get_moving_average() >= MPC_FCW_PROB

    # nav enable detection
    self._has_nav_instruction = md.navEnabledDEPRECATED and maneuver_distance / max(car_state.vEgo, 1) < 13

-    # lead detection with smoothing
+    # lead detection
    self._lead_gmac.add_data(lead_one.status)
-    self._has_lead_filtered = self._lead_gmac.get_weighted_average() > LEAD_PROB
-    #lead_prob = self._lead_gmac.get_weighted_average() or 0
-    #self._has_lead_filtered = self._smoothed_lead_detection(lead_prob)
+    self._has_lead_filtered = self._lead_gmac.get_moving_average() >= LEAD_PROB

-    # adaptive slow down detection
-    adaptive_threshold = self._adaptive_slowdown_threshold()
-    slow_down_trigger = len(md.orientation.x) == len(md.position.x) == TRAJECTORY_SIZE and md.position.x[TRAJECTORY_SIZE - 1] < adaptive_threshold
-    self._slow_down_gmac.add_data(slow_down_trigger)
-    self._has_slow_down = self._slow_down_gmac.get_weighted_average() > SLOW_DOWN_PROB
-
-    # anomaly detection for slow down events
-    if self._anomaly_detection(self._slow_down_gmac.data):
-      # Handle anomaly: potentially log it, adjust behavior, or issue a warning
-      self._has_slow_down = False  # Reset slow down if anomaly detected
+    # slow down detection
+    self._slow_down_gmac.add_data(len(md.orientation.x) == len(md.position.x) == TRAJECTORY_SIZE and md.position.x[TRAJECTORY_SIZE - 1] < interp(self._v_ego_kph, SLOW_DOWN_BP, SLOW_DOWN_DIST))
+    self._has_slow_down = self._slow_down_gmac.get_moving_average() >= SLOW_DOWN_PROB

    # blinker detection
    self._has_blinkers = car_state.leftBlinker or car_state.rightBlinker
@@ -231,7 +161,7 @@ class DynamicExperimentalController:
    # slowness detection
    if not self._has_standstill:
      self._slowness_gmac.add_data(self._v_ego_kph <= (self._v_cruise_kph*SLOWNESS_CRUISE_OFFSET))
-      self._has_slowness = self._slowness_gmac.get_weighted_average() > SLOWNESS_PROB
+      self._has_slowness = self._slowness_gmac.get_moving_average() >= SLOWNESS_PROB

    # dangerous TTC detection
    if not self._has_lead_filtered and self._has_lead_filtered_prev:
@@ -241,14 +171,14 @@ class DynamicExperimentalController:
    if self._has_lead and car_state.vEgo >= 0.01:
      self._dangerous_ttc_gmac.add_data(lead_one.dRel/car_state.vEgo)

-    self._has_dangerous_ttc = self._dangerous_ttc_gmac.get_weighted_average() is not None and self._dangerous_ttc_gmac.get_weighted_average() <= DANGEROUS_TTC
+    self._has_dangerous_ttc = self._dangerous_ttc_gmac.get_moving_average() is not None and self._dangerous_ttc_gmac.get_moving_average() <= DANGEROUS_TTC

    # keep prev values
    self._has_standstill_prev = self._has_standstill
    self._has_lead_filtered_prev = self._has_lead_filtered
    self._frame += 1

-  def _radarless_mode(self):
+  def _blended_priority_mode(self):
    # when mpc fcw crash prob is high
    # use blended to slow down quickly
    if self._has_mpc_fcw:
@@ -260,21 +190,21 @@ class DynamicExperimentalController:
      self._set_mode('blended')
      return

-    # when blinker is on and speed is driving below V_ACC_MIN: blended
+    # when blinker is on and speed is driving below highway cruise speed: blended
    # we dont want it to switch mode at higher speed, blended may trigger hard brake
-    #if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
-    #  self._set_mode('blended')
-    #  return
+    if self._has_blinkers and self._v_ego_kph < HIGHWAY_CRUISE_KPH:
+      self._set_mode('blended')
+      return

    # when at highway cruise and SNG: blended
    # ensuring blended mode is used because acc is bad at catching SNG lead car
    # especially those who accel very fast and then brake very hard.
-    #if self._sng_state == SNG_State.going and self._v_cruise_kph >= V_ACC_MIN:
-    #  self._set_mode('blended')
-    #  return
+    if self._sng_state == SNG_State.going and self._v_cruise_kph >= HIGHWAY_CRUISE_KPH:
+      self._set_mode('blended')
+      return

    # when standstill: blended
-    # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light.
+    # in case of lead car suddenly move away under traffic light, acc mode wont brake at traffic light.
    if self._has_standstill:
      self._set_mode('blended')
      return
@@ -296,9 +226,9 @@ class DynamicExperimentalController:
      self._set_mode('acc')
      return

-    self._set_mode('acc')
+    self._set_mode('blended')

-  def _radar_mode(self):
+  def _acc_priority_mode(self):
    # when mpc fcw crash prob is high
    # use blended to slow down quickly
    if self._has_mpc_fcw:
@@ -306,18 +236,18 @@ class DynamicExperimentalController:
      return

    # If there is a filtered lead, the vehicle is not in standstill, and the lead vehicle's yRel meets the condition,
-    if self._has_lead_filtered and not self._has_standstill:
-      self._set_mode('acc')
-      return
-
-    # when blinker is on and speed is driving below V_ACC_MIN: blended
-    # we dont want it to switch mode at higher speed, blended may trigger hard brake
-    #if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
-    #  self._set_mode('blended')
+    #if self._has_lead_filtered and not self._has_standstill:
+    #  self._set_mode('acc')
    #  return

+    # when blinker is on and speed is driving below highway cruise speed: blended
+    # we dont want it to switch mode at higher speed, blended may trigger hard brake
+    if self._has_blinkers and self._v_ego_kph < HIGHWAY_CRUISE_KPH:
+      self._set_mode('blended')
+      return
+
    # when standstill: blended
-    # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light.
+    # in case of lead car suddenly move away under traffic light, acc mode wont brake at traffic light.
    if self._has_standstill:
      self._set_mode('blended')
      return
@@ -340,22 +270,17 @@ class DynamicExperimentalController:

    self._set_mode('acc')

-  def update(self, radar_unavailable, car_state, lead_one, md, controls_state, maneuver_distance):
+  def get_mpc_mode(self, radar_unavailable, car_state, lead_one, md, controls_state, maneuver_distance):
    if self._is_enabled:
      self._update(car_state, lead_one, md, controls_state, maneuver_distance)
      if radar_unavailable:
-        self._radarless_mode()
+        self._blended_priority_mode()
      else:
-        self._radar_mode()
-    self._mode_changed = self._mode != self._mode_prev
+        self._acc_priority_mode()
+
    self._mode_prev = self._mode
-
-  def get_mpc_mode(self):
    return self._mode

-  def has_changed(self):
-    return self._mode_changed
-
  def set_enabled(self, enabled):
    self._is_enabled = enabled

@@ -32,7 +32,7 @@ def plannerd_thread():
  pm = messaging.PubMaster(['longitudinalPlan', 'longitudinalPlanSP'] + lateral_planner_svs)
  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2',
                            'longitudinalPlan', 'navInstruction', 'longitudinalPlanSP',
-                            'liveMapDataSP', 'e2eLongStateSP', 'controlsStateSP', 'driverMonitoringState'] + lateral_planner_svs,
+                            'liveMapDataSP', 'e2eLongStateSP', 'controlsStateSP'] + lateral_planner_svs,
                           poll='modelV2', ignore_avg_freq=['radarState'])

  while True:
@@ -83,7 +83,7 @@ class TorqueEstimator(ParameterEstimator):
    params = Params()
    if params.get_bool("EnforceTorqueLateral"):
      if params.get_bool("CustomTorqueLateral"):
-        self.offline_friction = float(params.get("TorqueFriction", encoding="utf8")) * 0.001
+        self.offline_friction = float(params.get("TorqueFriction", encoding="utf8")) * 0.01
        self.offline_latAccelFactor = float(params.get("TorqueMaxLatAccel", encoding="utf8")) * 0.01
      if params.get_bool("LiveTorqueRelaxed"):
        self.min_bucket_points = np.array([0, 200, 300, 500, 500, 300, 200, 0]) / (10 if decimated else 1)
@@ -145,4 +145,4 @@ void HttpRequest::requestFinished() {
 QNetworkAccessManager *HttpRequest::nam() {
  static QNetworkAccessManager *networkAccessManager = new QNetworkAccessManager(qApp);
  return networkAccessManager;
-}
+}
@@ -24,7 +24,7 @@ class HttpRequest : public QObject {
  Q_OBJECT

 public:
-  enum class Method { GET, DELETE, POST, PUT };
+  enum class Method {GET, DELETE, POST, PUT};

  explicit HttpRequest(QObject* parent, bool create_jwt = true, int timeout = 20000);
  virtual void sendRequest(const QString &requestURL, Method method);
@@ -47,4 +47,4 @@ protected:
 protected slots:
  void requestTimeout();
  void requestFinished();
-};
+};
@@ -86,8 +86,7 @@ void HomeWindow::mousePressEvent(QMouseEvent* e) {
 }

 void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
-  // By removing the static call to HomeWindow::mousePressEvent, we can now rely on child classes to handle the event
-  mousePressEvent(e);
+  HomeWindow::mousePressEvent(e);
  const SubMaster &sm = *(uiState()->sm);
  if (sm["carParams"].getCarParams().getNotCar()) {
    if (onroad->isVisible()) {
@@ -47,7 +47,7 @@ protected:
  void mouseDoubleClickEvent(QMouseEvent* e) override;

  Sidebar *sidebar;
-  OffroadHome* home;
+  OffroadHome *home;
  OnroadWindow *onroad;
  BodyWindow *body;
  DriverViewWindow *driver_view;
@@ -55,4 +55,4 @@ protected:

 protected slots:
  virtual void updateState(const UIState &s);
-};
+};
@@ -16,7 +16,7 @@
 #include "selfdrive/ui/qt/widgets/ssh_keys.h"
 #ifdef SUNNYPILOT
 #include "selfdrive/ui/sunnypilot/sunnypilot_main.h"
-#endif
+#endif 

 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
  RETURN_IF_SUNNYPILOT
@@ -91,7 +91,6 @@ protected:
  virtual void updateToggles();
 };

-
 class SoftwarePanel : public ListWidget {
  Q_OBJECT
 public:
@@ -26,7 +26,7 @@


 void SoftwarePanel::checkForUpdates() {
-  std::system("pkill -SIGUSR1 -f updated");
+  std::system("pkill -SIGUSR1 -f system.updated.updated");
 }

 SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
@@ -45,7 +45,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
    if (downloadBtn->text() == tr("CHECK")) {
      checkForUpdates();
    } else {
-      std::system("pkill -SIGHUP -f updated");
+      std::system("pkill -SIGHUP -f system.updated.updated");
    }
  });
  addItem(downloadBtn);
@@ -162,4 +162,4 @@ void SoftwarePanel::updateLabels() {
  installBtn->setDescription(QString::fromStdString(params.get("UpdaterNewReleaseNotes")));

  update();
-}
+}
@@ -2,7 +2,6 @@

 #include <QHBoxLayout>
 #include <QMouseEvent>
-#include <QVBoxLayout>

 #include "selfdrive/ui/qt/offroad/experimental_mode.h"
 #include "selfdrive/ui/qt/util.h"
@@ -1,19 +1,12 @@
 #pragma once

-#include <QFrame>
-#include <QLabel>
-#include <QPushButton>
-#include <QStackedLayout>
 #include <QStackedWidget>
-#include <QTimer>
 #include <QWidget>

 #include "common/params.h"
-#include "selfdrive/ui/qt/offroad/driverview.h"
 #include "selfdrive/ui/qt/body.h"
 #include "selfdrive/ui/qt/onroad/onroad_home.h"
 #include "selfdrive/ui/qt/widgets/offroad_alerts.h"
-#include "selfdrive/ui/ui.h"

 #ifdef SUNNYPILOT
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
@@ -385,4 +385,4 @@ void AnnotatedCameraWidget::showEvent(QShowEvent *event) {

  ui_update_params(uiState());
  prev_draw_t = millis_since_boot();
-}
+}
@@ -50,4 +50,4 @@ protected:

  double prev_draw_t = 0;
  FirstOrderFilter fps_filter;
-};
+};
@@ -26,8 +26,7 @@ ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(fals

 void ExperimentalButton::changeMode() {
  const auto cp = (*uiState()->sm)["carParams"].getCarParams();
-  bool can_change = (hasLongitudinalControl(cp) || (!cp.getPcmCruiseSpeed() && params.getBool("CustomStockLongPlanner")))
-                    && params.getBool("ExperimentalModeConfirmed");
+  bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed");
  if (can_change) {
    params.putBool("ExperimentalMode", !experimental_mode);
  }
@@ -31,4 +31,4 @@ private:
  QPixmap experimental_img;
 };

-void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity);
+void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity);
@@ -66,4 +66,4 @@ void OnroadWindow::offroadTransition(bool offroad) {
 void OnroadWindow::paintEvent(QPaintEvent *event) {
  QPainter p(this);
  p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
-}
+}
@@ -26,4 +26,4 @@ protected:
 protected slots:
  virtual void offroadTransition(bool offroad);
  virtual void updateState(const UIState &s);
-};
+};
@@ -20,4 +20,4 @@ private:
  Params params;
  QTimer *timer;
  QString prevResp;
-};
+};
@@ -65,4 +65,4 @@ protected:

 private:
  std::unique_ptr<PubMaster> pm;
-};
+};
@@ -61,4 +61,4 @@ int main(int argc, char *argv[]) {
  )");

  return a.exec();
-}
+}
@@ -59,4 +59,4 @@ private:
  QFileSystemWatcher *watcher;
  QHash<QString, QString> params_hash;
  Params params;
-};
+};
@@ -35,4 +35,4 @@ private:

  void refresh();
  void getUserKeys(const QString &username);
-};
+};
@@ -30,7 +30,7 @@ sp_maps_widgets_src = [
 ]

 sp_qt_util = [
-  # "#selfdrive/ui/sunnypilot/qt/api.cc",
+  # "#selfdrive/ui/sunnypilot/qt/api.cc", 
  "#selfdrive/ui/sunnypilot/qt/util.cc",
 ]

@@ -33,7 +33,6 @@ Last updated: July 29, 2024
 #include <QApplication>
 #include <QJsonDocument>

-#include <memory>
 #include <string>
 #include <common/swaglog.h>

@@ -26,11 +26,6 @@ Last updated: July 29, 2024

 #pragma once

-#include <QJsonObject>
-#include <QNetworkReply>
-#include <QString>
-#include <QTimer>
-
 #include "selfdrive/ui/qt/api.h"
 #include "selfdrive/ui/sunnypilot/qt/util.h"
 #include "common/util.h"
@@ -28,13 +28,10 @@ Last updated: July 29, 2024

 #include <QHBoxLayout>
 #include <QMouseEvent>
-#include <QStackedWidget>
-#include <QVBoxLayout>
 #include <common/swaglog.h>

 #include "selfdrive/ui/qt/offroad/experimental_mode.h"
 #include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/widgets/prime.h"

 // HomeWindowSP: the container for the offroad and onroad UIs
 HomeWindowSP::HomeWindowSP(QWidget* parent) : HomeWindow(parent){    
@@ -27,14 +27,9 @@ Last updated: July 29, 2024
 #pragma once

 #include <QFrame>
-#include <QLabel>
-#include <QPushButton>
-#include <QStackedLayout>
-#include <QTimer>
 #include <QWidget>

 #include "common/params.h"
-#include "selfdrive/ui/qt/offroad/driverview.h"
 #include "selfdrive/ui/qt/body.h"
 #include "selfdrive/ui/qt/widgets/offroad_alerts.h"
 #include "selfdrive/ui/sunnypilot/ui.h"
@@ -42,7 +37,6 @@ Last updated: July 29, 2024

 #ifdef SUNNYPILOT
 #include "selfdrive/ui/sunnypilot/qt/sidebar.h"
-#include "selfdrive/ui/sunnypilot/qt/onroad/onroad_home.h"
 #define OnroadWindow OnroadWindowSP
 #else
 #include "selfdrive/ui/qt/sidebar.h"
@@ -30,7 +30,6 @@ Last updated: July 29, 2024
 #include <vector>
 #include <QFileInfo>

-#include "common/watchdog.h"
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/widgets/prime.h"

@@ -28,11 +28,9 @@ Last updated: July 29, 2024

 #include <map>
 #include <string>
-#include <tuple>
 #include <vector>

 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"

 class MonitoringPanel : public QFrame {
  Q_OBJECT
@@ -57,12 +57,6 @@ TogglesPanelSP::TogglesPanelSP(SettingsWindow *parent) : TogglesPanel(parent) {
      tr("When enabled, sunnypilot will attempt to control stock longitudinal control with ACC button presses.\nThis feature must be used along with SLC, and/or V-TSC, and/or M-TSC."),
      "../assets/offroad/icon_blank.png",
    },
-    {
-      "CustomStockLongPlanner",
-      tr("Use Planner Speed"),
-      "",
-      "../assets/offroad/icon_blank.png",
-    },
    {
      "ExperimentalMode",
      tr("Experimental Mode"),
@@ -229,7 +223,6 @@ void TogglesPanelSP::updateToggles() {
  auto custom_stock_long_toggle = toggles["CustomStockLong"];
  auto dec_toggle = toggles["DynamicExperimentalControl"];
  auto dynamic_personality_toggle = toggles["DynamicPersonality"];
-  auto custom_stock_long_planner = toggles["CustomStockLongPlanner"];
  const QString e2e_description = QString("%1<br>"
                                          "<h4>%2</h4><br>"
                                          "%3<br>"
@@ -268,22 +261,16 @@ void TogglesPanelSP::updateToggles() {
      accel_personality_setting->setEnabled(true);
      op_long_toggle->setEnabled(true);
      custom_stock_long_toggle->setEnabled(false);
-      custom_stock_long_planner->setEnabled(false);
      params.remove("CustomStockLong");
      dec_toggle->setEnabled(true);
      dynamic_personality_toggle->setEnabled(true);
    } else if (custom_stock_long_toggle->isToggled()) {
      op_long_toggle->setEnabled(false);
-      experimental_mode_toggle->setEnabled(custom_stock_long_planner->isToggled());
-      experimental_mode_toggle->setDescription(e2e_description);
-      custom_stock_long_planner->setEnabled(true);
-      long_personality_setting->setEnabled(custom_stock_long_planner->isToggled());
-      accel_personality_setting->setEnabled(custom_stock_long_planner->isToggled());
-      dec_toggle->setEnabled(experimental_mode_toggle->isToggled());
-      if (!custom_stock_long_planner->isToggled()) {
-        params.remove("ExperimentalMode");
-      }
+      experimental_mode_toggle->setEnabled(false);
+      long_personality_setting->setEnabled(false);
+      accel_personality_setting->setEnabled(false);
      params.remove("ExperimentalLongitudinalEnabled");
+      params.remove("ExperimentalMode");
    } else {
      // no long for now
      experimental_mode_toggle->setEnabled(false);
@@ -308,7 +295,6 @@ void TogglesPanelSP::updateToggles() {
      custom_stock_long_toggle->setEnabled(CP.getCustomStockLongAvailable());
      dec_toggle->setEnabled(false);
      dynamic_personality_toggle->setEnabled(false);
-      custom_stock_long_planner->setEnabled(false);
      params.remove("DynamicExperimentalControl");
      params.remove("DynamicPersonality");
    }
@@ -316,7 +302,6 @@ void TogglesPanelSP::updateToggles() {
    experimental_mode_toggle->refresh();
    op_long_toggle->refresh();
    custom_stock_long_toggle->refresh();
-    custom_stock_long_planner->refresh();
    dec_toggle->refresh();
    dynamic_personality_toggle->refresh();
  } else {
@@ -325,7 +310,6 @@ void TogglesPanelSP::updateToggles() {
    custom_stock_long_toggle->setVisible(false);
    dec_toggle->setVisible(false);
    dynamic_personality_toggle->setVisible(false);
-    custom_stock_long_planner->setVisible(false);
  }
 }

@@ -43,24 +43,12 @@ SunnypilotPanel::SunnypilotPanel(QWidget *parent) : QFrame(parent) {
      tr("Enable the beloved M.A.D.S. feature. Disable toggle to revert back to stock openpilot engagement/disengagement."),
      "../assets/offroad/icon_blank.png",
    },
-    {
-      "FastTakeOff",
-      tr("Very fast prius"),
-      tr("When prius goes faster then sunnys car :) vroom"),
-      "../assets/offroad/icon_blank.png",
-    },
    {
      "VisionCurveLaneless",
      tr("Laneless for Curves in \"Auto\" Mode"),
      tr("While in Auto Lane, switch to Laneless for current/future curves."),
      "../assets/offroad/icon_blank.png",
    },
-    {
-      "OvertakingAccelerationAssist",
-      tr("Overtaking Acceleration Assist"),
-      tr("Overtaking Acceleration Assist will operate when the turn signal indicator is turned on to the left (left-hand drive) or turned on to the right (right-hand drive) while openpilot Longitudinal Control is operating."),
-      "../assets/offroad/icon_blank.png",
-    },
    {
      "EnableSlc",
      tr("Speed Limit Control (SLC)"),
@@ -103,24 +91,12 @@ SunnypilotPanel::SunnypilotPanel(QWidget *parent) : QFrame(parent) {
      "",
      "../assets/offroad/icon_blank.png",
    },
-    {
-      "NNFFNoLateralJerk",
-      tr("NNLC: Remove Lateral Jerk Response (Alpha)"),
-      tr("When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response."),
-      "../assets/offroad/icon_blank.png",
-    },
    {
      "EnforceTorqueLateral",
      tr("Enforce Torque Lateral Control"),
      tr("Enable this to enforce sunnypilot to steer with Torque lateral control."),
      "../assets/offroad/icon_blank.png",
    },
-    {
-      "TorqueLateralJerk",
-      tr("Lateral Jerk with Torque Lateral Control (Alpha)"),
-      tr("Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection."),
-      "../assets/offroad/icon_blank.png",
-    },
    {
      "LiveTorque",
      tr("Enable Self-Tune"),
@@ -322,7 +298,7 @@ SunnypilotPanel::SunnypilotPanel(QWidget *parent) : QFrame(parent) {
      list->addItem(dlp_settings);
    }

-    if (param == "OvertakingAccelerationAssist") {
+    if (param == "VisionCurveLaneless") {
      list->addItem(laneChangeSettingsLayout);
      list->addItem(horizontal_line());

@@ -369,17 +345,6 @@ SunnypilotPanel::SunnypilotPanel(QWidget *parent) : QFrame(parent) {
    }
  });

-  connect(toggles["EnforceTorqueLateral"], &ToggleControlSP::toggleFlipped, [=](bool state) {
-    if (state) {
-      toggles["NNFF"]->setEnabled(false);
-      params.putBool("NNFF", false);
-      toggles["NNFF"]->refresh();
-    } else {
-      toggles["NNFF"]->setEnabled(true);
-      toggles["NNFF"]->refresh();
-    }
-  });
-
  // trigger updateToggles() when toggleFlipped
  for (const auto& updateToggleName : updateTogglesNames) {
    if (toggles.find(updateToggleName) != toggles.end()) {
@@ -401,7 +366,6 @@ SunnypilotPanel::SunnypilotPanel(QWidget *parent) : QFrame(parent) {
  toggles["EnableMads"]->setConfirmation(true, false);
  toggles["EndToEndLongAlertLight"]->setConfirmation(true, false);
  toggles["CustomOffsets"]->showDescription();
-  toggles["OvertakingAccelerationAssist"]->setConfirmation(true, false);

  connect(toggles["EnableMads"], &ToggleControlSP::toggleFlipped, mads_settings, &MadsSettings::updateToggles);
  connect(toggles["EnableMads"], &ToggleControlSP::toggleFlipped, [=](bool state) {
@@ -506,8 +470,6 @@ void SunnypilotPanel::updateToggles() {
  toggles["VisionCurveLaneless"]->setEnabled(dynamic_lane_profile_param == "2");
  toggles["VisionCurveLaneless"]->refresh();

-  auto overtaking_acceleration_assist = toggles["OvertakingAccelerationAssist"];
-
  bool custom_driving_model_valid = params.getBool("CustomDrivingModel");
  auto driving_model_generation = QString::fromStdString(params.get("DrivingModelGeneration"));
  bool model_use_lateral_planner = custom_driving_model_valid && driving_model_generation == "1";
@@ -587,7 +549,6 @@ void SunnypilotPanel::updateToggles() {
      if (!slcSettings->isVisible() && enable_slc_param) {
        slcSettings->setVisible(true);
      }
-      overtaking_acceleration_assist->setEnabled(hasLongitudinalControl(CP));
    } else {
      v_tsc->setEnabled(false);
      m_tsc->setEnabled(false);
@@ -595,21 +556,18 @@ void SunnypilotPanel::updateToggles() {
      slc_toggle->setEnabled(false);
      params.remove("EnableSlc");
      slcSettings->setEnabled(false);
-      overtaking_acceleration_assist->setEnabled(false);
    }

    enforce_torque_lateral->refresh();
    slc_toggle->refresh();
    nnff_toggle->refresh();
    m_tsc->refresh();
-    overtaking_acceleration_assist->refresh();
  } else {
    v_tsc->setEnabled(false);
    m_tsc->setEnabled(false);
    reverse_acc->setEnabled(false);
    slc_toggle->setEnabled(false);
    slcSettings->setEnabled(false);
-    overtaking_acceleration_assist->setEnabled(false);

    nnff_toggle->setDescription(nnff_toggle->isToggled() ? nnffDescriptionBuilder(nnff_status_init) : nnff_description);
  }
@@ -619,7 +577,7 @@ void SunnypilotPanel::updateToggles() {
  }

  // toggle names to update when EnforceTorqueLateral is flipped
-  std::vector<std::string> torqueLateralGroup{"CustomTorqueLateral", "TorqueLateralJerk", "LiveTorque", "LiveTorqueRelaxed", "TorquedOverride"};
+  std::vector<std::string> torqueLateralGroup{"CustomTorqueLateral", "LiveTorque", "LiveTorqueRelaxed", "TorquedOverride"};
  for (const auto& torqueLateralToggle : torqueLateralGroup) {
    if (toggles.find(torqueLateralToggle) != toggles.end()) {
      if (nnff_toggle->isToggled()) {
@@ -636,24 +594,6 @@ void SunnypilotPanel::updateToggles() {
    }
  }

-  // toggle names to update when EnforceTorqueLateral is flipped
-  std::vector<std::string> nnffGroup{"NNFFNoLateralJerk"};
-  for (const auto& nnffToggle : nnffGroup) {
-    if (toggles.find(nnffToggle) != toggles.end()) {
-      if (enforce_torque_lateral->isToggled()) {
-        toggles[nnffToggle]->setVisible(false);
-        toggles[nnffToggle]->setEnabled(false);
-      }
-    }
-  }
-
-  for (const auto& nnffToggle : nnffGroup) {
-    if (toggles.find(nnffToggle) != toggles.end()) {
-      toggles[nnffToggle]->setVisible(nnff_toggle->isToggled());
-      toggles[nnffToggle]->setEnabled(nnff_toggle->isToggled());
-    }
-  }
-
  if (enforce_torque_lateral->isToggled()) {
    live_torque_relaxed->setVisible(live_torque->isToggled());
    torqued_override->setVisible(custom_torque_lateral->isToggled());
@@ -682,14 +622,13 @@ TorqueFriction::TorqueFriction() : OptionControlSP(
  tr("FRICTION"),
  tr("Adjust Friction for the Torque Lateral Controller. <b>Live</b>: Override self-tune values; <b>Offline</b>: Override self-tune offline values at car restart."),
  "../assets/offroad/icon_blank.png",
-  {0, 500},
-  5) {
+  {0, 50}) {

  refresh();
 }

 void TorqueFriction::refresh() {
-  float torqueFrictionVal = QString::fromStdString(params.get("TorqueFriction")).toInt() * 0.001;
+  float torqueFrictionVal = QString::fromStdString(params.get("TorqueFriction")).toInt() * 0.01;
  setTitle("FRICTION - " + (params.getBool("TorquedOverride") ? tr("Real-time and Offline") : tr("Offline Only")));
  setLabel(QString::number(torqueFrictionVal));
 }
@@ -29,7 +29,6 @@ Last updated: July 29, 2024
 #include <map>
 #include <string>

-#include "common/model.h"
 #include "selfdrive/ui/sunnypilot/ui.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/custom_offsets_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/lane_change_settings.h"
@@ -101,14 +101,13 @@ SPVehiclesTogglesPanel::SPVehiclesTogglesPanel(VehiclePanel *parent) : ListWidge

  // Hyundai/Kia/Genesis
  addItem(new LabelControlSP(tr("Hyundai/Kia/Genesis")));
-  auto hkgCustomLongTuning = new ParamControlSP(
-    "HkgCustomLongTuning",
-    tr("HKG: Custom Tuning for New Longitudinal API"),
-    tr(""),
-    "../assets/offroad/icon_blank.png"
-  );
-  hkgCustomLongTuning->setConfirmation(true, false);
-  addItem(hkgCustomLongTuning);
+  auto hkgSmoothStop = new ParamControlSP(
+    "HkgSmoothStop",
+    tr("HKG CAN: Smoother Stopping Performance (Beta)"),
+    tr("Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control."),
+    "../assets/offroad/icon_blank.png");
+  hkgSmoothStop->setConfirmation(true, false);
+  addItem(hkgSmoothStop);

  hyundaiCruiseMainDefault = new ParamControlSP(
    "HyundaiCruiseMainDefault",
@@ -159,18 +158,6 @@ SPVehiclesTogglesPanel::SPVehiclesTogglesPanel(VehiclePanel *parent) : ListWidge
  toyotaTss2LongTune->setConfirmation(true, false);
  addItem(toyotaTss2LongTune);

-  auto toyotaAbh = new ParamControlSP(
-    "ToyotaAutoHold",
-    tr("Enable Automatic Brake Hold (AHB)"),
-    QString("<b>%1</b><br><br>%2<br><br><b>%3</b>")
-    .arg(tr("WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK."))
-    .arg(tr("When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold."))
-    .arg(tr("Changing this setting takes effect when the car is powered off.")),
-    "../assets/offroad/icon_blank.png"
-  );
-  toyotaAbh->setConfirmation(true, false);
-  addItem(toyotaAbh);
-
  toyotaEnhancedBsm = new ParamControlSP(
    "ToyotaEnhancedBsm",
    tr("Enable Enhanced Blind Spot Monitor"),
@@ -216,10 +203,9 @@ SPVehiclesTogglesPanel::SPVehiclesTogglesPanel(VehiclePanel *parent) : ListWidge
  // trigger offroadTransition when going onroad/offroad
  connect(uiStateSP(), &UIStateSP::offroadTransition, [=](bool offroad) {
    is_onroad = !offroad;
-    hkgCustomLongTuning->setEnabled(offroad);
+    hkgSmoothStop->setEnabled(offroad);
    hyundaiCruiseMainDefault->setEnabled(offroad);
    toyotaTss2LongTune->setEnabled(offroad);
-    toyotaAbh->setEnabled(offroad);
    toyotaEnhancedBsm->setEnabled(offroad);
    toyotaSngHack->setEnabled(offroad);
    volkswagenCCOnly->setEnabled(offroad);
@@ -28,10 +28,8 @@ Last updated: July 29, 2024

 #include <QApplication>

-#include "common/watchdog.h"
 #include "selfdrive/ui/sunnypilot/ui.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"

 class VehiclePanel : public QWidget {
  Q_OBJECT
@@ -30,7 +30,6 @@ Last updated: July 29, 2024

 #include "selfdrive/ui/qt/offroad/experimental_mode.h"
 #include "selfdrive/ui/qt/widgets/prime.h"
-#include <QStackedWidget>
 #include "selfdrive/ui/sunnypilot/sunnypilot_main.h"

 #ifdef ENABLE_MAPS
@@ -31,7 +31,6 @@ Last updated: July 29, 2024
 #include "selfdrive/ui/qt/maps/map_settings.h"
 #endif

-
 class OffroadHomeSP : public OffroadHome {
  Q_OBJECT

@@ -216,7 +216,6 @@ void AnnotatedCameraWidgetSP::updateState(const UIStateSP &s) {
  latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
  frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
  liveValid = ltp.getLiveValid();
-  ecoMode = vEgo > 0 && car_state.getEngineRpm() == 0;
  // ############################## DEV UI END ##############################

  btnPerc = s.scene.sleep_btn_opacity * 0.05;
@@ -321,8 +320,8 @@ void AnnotatedCameraWidgetSP::updateState(const UIStateSP &s) {
  // TODO: Add toggle variables to cereal, and parse from cereal
  longitudinalPersonality = s.scene.longitudinal_personality;
  dynamicLaneProfile = s.scene.dynamic_lane_profile;
-  const auto mpc_source = lp_sp.getMpcSource();
-  mpcSource = mpc_source == cereal::MpcSource::BLENDED ? QString(tr("blended")) : QString(tr("acc"));
+  mpcMode = QString::fromStdString(lp_sp.getE2eBlended());
+  mpcMode = (mpcMode == "blended") ? mpcMode.replace(0, 1, mpcMode[0].toUpper()) : mpcMode.toUpper();

  static int reverse_delay = 0;
  bool reverse_allowed = false;
@@ -524,32 +523,10 @@ void AnnotatedCameraWidgetSP::drawHud(QPainter &p) {

  // current speed
  if (!hideVEgoUi) {
-    // Set up the font for the speed text
    p.setFont(InterFont(176, QFont::Bold));
-
-    // Define text coordinates
-    int centerX = rect().center().x();
-    int centerY = 210;
-
-    // Draw a red border if brakeLights is active
-    if (brakeLights) {
-      for (int offsetX = -6; offsetX <= 6; offsetX++) {
-        for (int offsetY = -6; offsetY <= 6; offsetY++) {
-          // Avoid drawing at the original text position
-          if (offsetX != 0 || offsetY != 0) {
-            drawColoredText(p, centerX + offsetX, centerY + offsetY, speedStr, QColor(255, 0, 0, 255)); // Red border
-          }
-        }
-      }
-    }
-
-    // Draw the main speed text: green if ecoMode is on, otherwise white
-    QColor speedTextColor = ecoMode ? QColor(0, 245, 0) : QColor(255, 255, 255, 255);
-    drawColoredText(p, centerX, centerY, speedStr, speedTextColor);
-
-    // Draw the speed unit below the main text
+    drawColoredText(p, rect().center().x(), 210, speedStr, brakeLights ? QColor(0xff, 0, 0, 255) : QColor(0xff, 0xff, 0xff, 255));
    p.setFont(InterFont(66));
-    drawText(p, centerX, 290, speedUnit, 200);
+    drawText(p, rect().center().x(), 290, speedUnit, 200);
  }

  if (!reversing) {
@@ -1084,7 +1061,7 @@ void AnnotatedCameraWidgetSP::drawFeatureStatusText(QPainter &p, int x, int y) {
    p.setBrush(dec_color);
    p.drawEllipse(dec_btn);
    QString dec_status_text;
-    dec_status_text.sprintf("DEC: %s\n", dynamicExperimentalControlToggle ? (experimentalMode ? QString(mpcSource).toStdString().c_str() : QString("Inactive").toStdString().c_str()) : "OFF");
+    dec_status_text.sprintf("DEC: %s\n", dynamicExperimentalControlToggle ? (experimentalMode ? QString(mpcMode).toStdString().c_str() : QString("Inactive").toStdString().c_str()) : "OFF");
    p.setPen(QPen(shadow_color, 2));
    p.drawText(x + drop_shadow_size, y + drop_shadow_size, dec_status_text);
    p.setPen(QPen(text_color, 2));
@@ -1188,7 +1165,7 @@ void AnnotatedCameraWidgetSP::drawLaneLines(QPainter &painter, const UIStateSP *
  }

  // TODO: Fix empty spaces when curiving back on itself
-  painter.setBrush(QColor::fromRgbF(1.0, 0.0, 0.0, 0.4));
+  painter.setBrush(QColor::fromRgbF(1.0, 0.0, 0.0, 0.2));
  if (left_blindspot) painter.drawPolygon(scene.lane_barrier_vertices[0]);
  if (right_blindspot) painter.drawPolygon(scene.lane_barrier_vertices[1]);

@@ -1200,10 +1177,6 @@ void AnnotatedCameraWidgetSP::drawLaneLines(QPainter &painter, const UIStateSP *

  // paint path
  QLinearGradient bg(0, height(), 0, 0);
-  const auto long_plan_sp = sm["longitudinalPlanSP"].getLongitudinalPlanSP();
-  bool exp_mode_path = (long_plan_sp.getDynamicExperimentalControl() && long_plan_sp.getMpcSource() == cereal::MpcSource::BLENDED) ||
-                       (!long_plan_sp.getDynamicExperimentalControl() && sm["controlsState"].getControlsState().getExperimentalMode());
-
  if (madsEnabled || car_state.getCruiseState().getEnabled()) {
    if (steerOverride && latActive) {
      bg.setColorAt(0.0, QColor::fromHslF(20 / 360., 0.94, 0.51, 0.17));
@@ -1212,7 +1185,7 @@ void AnnotatedCameraWidgetSP::drawLaneLines(QPainter &painter, const UIStateSP *
    } else if (!(latActive || car_state.getCruiseState().getEnabled())) {
      bg.setColorAt(0, whiteColor());
      bg.setColorAt(1, whiteColor(0));
-    } else if (exp_mode_path) {
+    } else if (sm["controlsState"].getControlsState().getExperimentalMode()) {
      // The first half of track_vertices are the points for the right side of the path
      const auto &acceleration = sm["modelV2"].getModelV2().getAcceleration().getX();
      const int max_len = std::min<int>(scene.track_vertices.length() / 2, acceleration.size());
@@ -1313,25 +1286,46 @@ 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;

-  if (accel > 0) {
+  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%
    p.setBrush(QColor(0, 245, 0, 200));
-    scannerRect = QRect(0, widgetHeight / 2 - halfHeightAbs, scannerWidth, halfHeightAbs);
-  } else {
-    p.setBrush(QColor(245, 0, 0, 200));
-    scannerRect = QRect(0, widgetHeight / 2, scannerWidth, halfHeightAbs);
  }
-
-  p.drawRect(scannerRect);
+  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);
+  } else {
+    QRect ra = QRect(rect_w - wp, rect_h / 2, wp, hha / 2);
+    p.drawRect(ra);
+  }
 }

-
 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();
@@ -176,7 +176,6 @@ private:
  float latAccelFactorFiltered;
  float frictionCoefficientFiltered;
  bool liveValid;
-  bool ecoMode;
  // ############################## DEV UI END ##############################

  float btnPerc;
@@ -193,7 +192,7 @@ private:
  cereal::LongitudinalPlanSP::SpeedLimitControlState slcState;
  int longitudinalPersonality;
  int dynamicLaneProfile;
-  QString mpcSource;
+  QString mpcMode;

  int speed_limit_frame;
  bool slcShowSign = true;
@@ -26,8 +26,6 @@ Last updated: July 29, 2024

 #include "selfdrive/ui/sunnypilot/qt/onroad/onroad_home.h"

-#include <QPainter>
-#include <QStackedLayout>

 #ifdef ENABLE_MAPS
 #include "selfdrive/ui/sunnypilot/qt/maps/map_helpers.h"
@@ -29,9 +29,6 @@ Last updated: July 29, 2024
 #include "selfdrive/ui/qt/onroad/onroad_home.h"

 #include "common/params.h"
-#include "selfdrive/ui/qt/onroad/alerts.h"
-// #include "selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h"
-

 class OnroadWindowSP : public OnroadWindow {
  Q_OBJECT
@@ -62,7 +59,6 @@ private:
  void createMapWidget();
  void createOnroadSettingsWidget();
  void mousePressEvent(QMouseEvent* e) override;
-  // AnnotatedCameraWidgetSP *nvg;
  QWidget *map = nullptr;
  QWidget *onroad_settings = nullptr;

@@ -193,7 +193,7 @@ void OnroadSettings::changeDynamicPersonality() {
 void OnroadSettings::changeDynamicExperimentalControl() {
  UISceneSP &scene = uiStateSP()->scene;
  const auto cp = (*uiStateSP()->sm)["carParams"].getCarParams();
-  bool can_change = hasLongitudinalControl(cp) || (!cp.getPcmCruiseSpeed() && params.getBool("CustomStockLongPlanner"));
+  bool can_change = hasLongitudinalControl(cp);
  if (can_change) {
    scene.dynamic_experimental_control = !scene.dynamic_experimental_control;
    params.putBool("DynamicExperimentalControl", scene.dynamic_experimental_control);
@@ -26,7 +26,6 @@ Last updated: July 29, 2024

 #include "selfdrive/ui/sunnypilot/qt/onroad/onroad_settings_panel.h"

-#include <QHBoxLayout>
 #include <QWidget>

 #include "selfdrive/ui/sunnypilot/qt/onroad/onroad_settings.h"
@@ -34,7 +34,6 @@ Last updated: July 29, 2024
 #include "selfdrive/ui/sunnypilot/qt/util.h"
 #include "common/params.h"

-
 SidebarSP::SidebarSP(QWidget *parent) : Sidebar(parent) {
  // Because I know that stock sidebar makes this connection, I will disconnect it and connect it to the new updateState function
  QObject::disconnect(uiState(), &UIState::uiUpdate, this, &Sidebar::updateState);
@@ -123,7 +122,6 @@ void SidebarSP::updateState(const UIStateSP &s) {
  setProperty("sunnylinkStatus", QVariant::fromValue(sunnylinkStatus));
 }

-
 void SidebarSP::DrawSidebar(QPainter &p){
  Sidebar::DrawSidebar(p);
  // metrics
@@ -28,8 +28,6 @@ Last updated: July 29, 2024

 #include <memory>

-#include <QFrame>
-#include <QMap>
 #include "selfdrive/ui/qt/sidebar.h"

 #include "selfdrive/ui/sunnypilot/ui.h"
@@ -25,7 +25,6 @@ Last updated: July 29, 2024
 ***/

 #pragma once
-#include "selfdrive/ui/ui.h"

 const float DRIVING_PATH_WIDE = 0.9;
 const float DRIVING_PATH_NARROW = 0.25;
@@ -31,13 +31,6 @@ Last updated: July 29, 2024
 #include <string>
 #include <vector>

-#include <QButtonGroup>
-#include <QFrame>
-#include <QHBoxLayout>
-#include <QLabel>
-#include <QPainter>
-#include <QPushButton>
-
 #include "common/params.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
 #include "selfdrive/ui/qt/widgets/input.h"
@@ -36,7 +36,6 @@ Last updated: July 29, 2024
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_settings.h"

-
 inline void ReplaceWidget(QWidget* old_widget, QWidget* new_widget) {
  if (old_widget && old_widget->parentWidget() && old_widget->parentWidget()->layout()) {
    old_widget->parentWidget()->layout()->replaceWidget(old_widget, new_widget);
@@ -34,7 +34,6 @@ Last updated: July 29, 2024

 #include "common/transformations/orientation.hpp"
 #include "common/params.h"
-#include "common/swaglog.h"
 #include "common/util.h"
 #include "common/watchdog.h"
 #include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/role_model.h"
@@ -33,11 +33,9 @@ Last updated: July 29, 2024
 #include "selfdrive/ui/ui.h"

 #include "cereal/messaging/messaging.h"
-#include "common/timing.h"
 #include "qt/network/sunnylink/models/role_model.h"
 #include "qt/network/sunnylink/models/sponsor_role_model.h"
 #include "qt/network/sunnylink/models/user_model.h"
-#include "selfdrive/ui/sunnypilot/qt/ui_scene.h"
 #include "system/hardware/hw.h"

 const int UI_ROAD_NAME_MARGIN_X = 14;
@@ -203,14 +203,6 @@
        <source>mph</source>
        <translation type="unfinished">ميل/س</translation>
    </message>
-    <message>
-        <source>blended</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>acc</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>MAX</source>
        <translation type="unfinished">MAX</translation>
@@ -1474,15 +1466,11 @@ This may take up to a minute.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>HKG: Custom Tuning for New Longitudinal API</source>
+        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
@@ -1529,22 +1517,6 @@ This may take up to a minute.</source>
        <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable Automatic Brake Hold (AHB)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Changing this setting takes effect when the car is powered off.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable Enhanced Blind Spot Monitor</source>
        <translation type="unfinished"></translation>
@@ -1611,6 +1583,18 @@ Reboot Required.</source>
        <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SettingsWindow</name>
@@ -2537,14 +2521,6 @@ Reboot Required.</source>
        <source>Neural Network Lateral Control (NNLC)</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enforce Torque Lateral Control</source>
        <translation type="unfinished"></translation>
@@ -2553,14 +2529,6 @@ Reboot Required.</source>
        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable Self-Tune</source>
        <translation type="unfinished"></translation>
@@ -2946,10 +2914,6 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Use Planner Speed</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Experimental Mode</source>
        <translation type="unfinished">الوضع التجريبي</translation>
@@ -3317,14 +3281,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
        <source>Speed</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Display Metrics Below Chevron</source>
        <translation type="unfinished"></translation>
@@ -3353,6 +3309,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
        <source>Display Temperature on Sidebar</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>WiFiPromptWidget</name>
@@ -203,14 +203,6 @@
        <source>mph</source>
        <translation type="unfinished">mph</translation>
    </message>
-    <message>
-        <source>blended</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>acc</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>MAX</source>
        <translation type="unfinished">MAX</translation>
@@ -1456,15 +1448,11 @@ This may take up to a minute.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>HKG: Custom Tuning for New Longitudinal API</source>
+        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
@@ -1511,22 +1499,6 @@ This may take up to a minute.</source>
        <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable Automatic Brake Hold (AHB)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Changing this setting takes effect when the car is powered off.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable Enhanced Blind Spot Monitor</source>
        <translation type="unfinished"></translation>
@@ -1593,6 +1565,18 @@ Reboot Required.</source>
        <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SettingsWindow</name>
@@ -2521,14 +2505,6 @@ Reboot Required.</source>
        <source>Neural Network Lateral Control (NNLC)</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enforce Torque Lateral Control</source>
        <translation type="unfinished"></translation>
@@ -2537,14 +2513,6 @@ Reboot Required.</source>
        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable Self-Tune</source>
        <translation type="unfinished"></translation>
@@ -2932,10 +2900,6 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Use Planner Speed</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Experimental Mode</source>
        <translation type="unfinished">Experimenteller Modus</translation>
@@ -3303,14 +3267,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
        <source>Speed</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Display Metrics Below Chevron</source>
        <translation type="unfinished"></translation>
@@ -3339,6 +3295,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
        <source>Display Temperature on Sidebar</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>WiFiPromptWidget</name>
@@ -207,14 +207,6 @@
        <source>LIMIT</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>blended</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>acc</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>AutoLaneChangeTimer</name>
@@ -1453,6 +1445,14 @@ Esto puede tardar un minuto.</translation>
        <source>Hyundai/Kia/Genesis</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Subaru</source>
        <translation type="unfinished"></translation>
@@ -1564,31 +1564,15 @@ Reboot Required.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>HKG: Custom Tuning for New Longitudinal API</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable Automatic Brake Hold (AHB)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Changing this setting takes effect when the car is powered off.</source>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -2697,22 +2681,6 @@ Reboot Required.</source>
        <source>Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>TermsPage</name>
@@ -3078,10 +3046,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Use Planner Speed</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>TorqueFriction</name>
@@ -203,14 +203,6 @@
        <source>mph</source>
        <translation type="unfinished">mi/h</translation>
    </message>
-    <message>
-        <source>blended</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>acc</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>MAX</source>
        <translation type="unfinished">MAX</translation>
@@ -1458,15 +1450,11 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>HKG: Custom Tuning for New Longitudinal API</source>
+        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
@@ -1513,22 +1501,6 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
        <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable Automatic Brake Hold (AHB)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Changing this setting takes effect when the car is powered off.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable Enhanced Blind Spot Monitor</source>
        <translation type="unfinished"></translation>
@@ -1595,6 +1567,18 @@ Reboot Required.</source>
        <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SettingsWindow</name>
@@ -2521,14 +2505,6 @@ Reboot Required.</source>
        <source>Neural Network Lateral Control (NNLC)</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enforce Torque Lateral Control</source>
        <translation type="unfinished"></translation>
@@ -2537,14 +2513,6 @@ Reboot Required.</source>
        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable Self-Tune</source>
        <translation type="unfinished"></translation>
@@ -2930,10 +2898,6 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Use Planner Speed</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Experimental Mode</source>
        <translation type="unfinished">Mode expérimental</translation>
@@ -3301,14 +3265,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
        <source>Speed</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Display Metrics Below Chevron</source>
        <translation type="unfinished"></translation>
@@ -3337,6 +3293,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
        <source>Display Temperature on Sidebar</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>WiFiPromptWidget</name>
@@ -203,14 +203,6 @@
        <source>mph</source>
        <translation type="unfinished">mph</translation>
    </message>
-    <message>
-        <source>blended</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>acc</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>MAX</source>
        <translation type="unfinished">最高速度</translation>
@@ -1452,15 +1444,11 @@ This may take up to a minute.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>HKG: Custom Tuning for New Longitudinal API</source>
+        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
@@ -1507,22 +1495,6 @@ This may take up to a minute.</source>
        <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable Automatic Brake Hold (AHB)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Changing this setting takes effect when the car is powered off.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable Enhanced Blind Spot Monitor</source>
        <translation type="unfinished"></translation>
@@ -1589,6 +1561,18 @@ Reboot Required.</source>
        <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SettingsWindow</name>
@@ -2515,14 +2499,6 @@ Reboot Required.</source>
        <source>Neural Network Lateral Control (NNLC)</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enforce Torque Lateral Control</source>
        <translation type="unfinished"></translation>
@@ -2531,14 +2507,6 @@ Reboot Required.</source>
        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable Self-Tune</source>
        <translation type="unfinished"></translation>
@@ -2924,10 +2892,6 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Use Planner Speed</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Experimental Mode</source>
        <translation type="unfinished">実験モード</translation>
@@ -3295,14 +3259,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
        <source>Speed</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Display Metrics Below Chevron</source>
        <translation type="unfinished"></translation>
@@ -3331,6 +3287,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
        <source>Display Temperature on Sidebar</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>WiFiPromptWidget</name>
@@ -203,14 +203,6 @@
        <source>mph</source>
        <translation type="unfinished">mph</translation>
    </message>
-    <message>
-        <source>blended</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>acc</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>MAX</source>
        <translation type="unfinished">MAX</translation>
@@ -1454,15 +1446,11 @@ This may take up to a minute.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>HKG: Custom Tuning for New Longitudinal API</source>
+        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
@@ -1509,22 +1497,6 @@ This may take up to a minute.</source>
        <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable Automatic Brake Hold (AHB)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Changing this setting takes effect when the car is powered off.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable Enhanced Blind Spot Monitor</source>
        <translation type="unfinished"></translation>
@@ -1591,6 +1563,18 @@ Reboot Required.</source>
        <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SettingsWindow</name>
@@ -2517,14 +2501,6 @@ Reboot Required.</source>
        <source>Neural Network Lateral Control (NNLC)</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enforce Torque Lateral Control</source>
        <translation type="unfinished"></translation>
@@ -2533,14 +2509,6 @@ Reboot Required.</source>
        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable Self-Tune</source>
        <translation type="unfinished"></translation>
@@ -2926,10 +2894,6 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Use Planner Speed</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Experimental Mode</source>
        <translation type="unfinished">실험 모드</translation>
@@ -3297,14 +3261,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
        <source>Speed</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Display Metrics Below Chevron</source>
        <translation type="unfinished"></translation>
@@ -3333,6 +3289,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
        <source>Display Temperature on Sidebar</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>WiFiPromptWidget</name>
@@ -203,14 +203,6 @@
        <source>mph</source>
        <translation type="unfinished">mph</translation>
    </message>
-    <message>
-        <source>blended</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>acc</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>MAX</source>
        <translation type="unfinished">LIMITE</translation>
@@ -1458,15 +1450,11 @@ Isso pode levar até um minuto.</translation>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>HKG: Custom Tuning for New Longitudinal API</source>
+        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
@@ -1513,22 +1501,6 @@ Isso pode levar até um minuto.</translation>
        <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable Automatic Brake Hold (AHB)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Changing this setting takes effect when the car is powered off.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable Enhanced Blind Spot Monitor</source>
        <translation type="unfinished"></translation>
@@ -1595,6 +1567,18 @@ Reboot Required.</source>
        <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SettingsWindow</name>
@@ -2521,14 +2505,6 @@ Reboot Required.</source>
        <source>Neural Network Lateral Control (NNLC)</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enforce Torque Lateral Control</source>
        <translation type="unfinished"></translation>
@@ -2537,14 +2513,6 @@ Reboot Required.</source>
        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable Self-Tune</source>
        <translation type="unfinished"></translation>
@@ -2930,10 +2898,6 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Use Planner Speed</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Experimental Mode</source>
        <translation type="unfinished">Modo Experimental</translation>
@@ -3301,14 +3265,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
        <source>Speed</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Display Metrics Below Chevron</source>
        <translation type="unfinished"></translation>
@@ -3337,6 +3293,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
        <source>Display Temperature on Sidebar</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>WiFiPromptWidget</name>
@@ -203,14 +203,6 @@
        <source>mph</source>
        <translation type="unfinished">ไมล์/ชม.</translation>
    </message>
-    <message>
-        <source>blended</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>acc</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>MAX</source>
        <translation type="unfinished">สูงสุด</translation>
@@ -1454,15 +1446,11 @@ This may take up to a minute.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>HKG: Custom Tuning for New Longitudinal API</source>
+        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
@@ -1509,22 +1497,6 @@ This may take up to a minute.</source>
        <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable Automatic Brake Hold (AHB)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Changing this setting takes effect when the car is powered off.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable Enhanced Blind Spot Monitor</source>
        <translation type="unfinished"></translation>
@@ -1591,6 +1563,18 @@ Reboot Required.</source>
        <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SettingsWindow</name>
@@ -2517,14 +2501,6 @@ Reboot Required.</source>
        <source>Neural Network Lateral Control (NNLC)</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enforce Torque Lateral Control</source>
        <translation type="unfinished"></translation>
@@ -2533,14 +2509,6 @@ Reboot Required.</source>
        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable Self-Tune</source>
        <translation type="unfinished"></translation>
@@ -2926,10 +2894,6 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Use Planner Speed</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Experimental Mode</source>
        <translation type="unfinished">โหมดทดลอง</translation>
@@ -3297,14 +3261,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
        <source>Speed</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Display Metrics Below Chevron</source>
        <translation type="unfinished"></translation>
@@ -3333,6 +3289,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
        <source>Display Temperature on Sidebar</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>WiFiPromptWidget</name>
@@ -203,14 +203,6 @@
        <source>mph</source>
        <translation type="unfinished">mph</translation>
    </message>
-    <message>
-        <source>blended</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>acc</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>MAX</source>
        <translation type="unfinished">MAX</translation>
@@ -1452,15 +1444,11 @@ This may take up to a minute.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>HKG: Custom Tuning for New Longitudinal API</source>
+        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
@@ -1507,22 +1495,6 @@ This may take up to a minute.</source>
        <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable Automatic Brake Hold (AHB)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Changing this setting takes effect when the car is powered off.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable Enhanced Blind Spot Monitor</source>
        <translation type="unfinished"></translation>
@@ -1589,6 +1561,18 @@ Reboot Required.</source>
        <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main by Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: This feature only applies when &quot;openpilot Longitudinal Control (Alpha)&quot; is enabled under &quot;Toggles&quot;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SettingsWindow</name>
@@ -2515,14 +2499,6 @@ Reboot Required.</source>
        <source>Neural Network Lateral Control (NNLC)</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enforce Torque Lateral Control</source>
        <translation type="unfinished"></translation>
@@ -2531,14 +2507,6 @@ Reboot Required.</source>
        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable Self-Tune</source>
        <translation type="unfinished"></translation>
@@ -2924,10 +2892,6 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Use Planner Speed</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Experimental Mode</source>
        <translation type="unfinished"></translation>
@@ -3295,14 +3259,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
        <source>Speed</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Display Metrics Below Chevron</source>
        <translation type="unfinished"></translation>
@@ -3331,6 +3287,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
        <source>Display Temperature on Sidebar</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>WiFiPromptWidget</name>
--- a/Show More
+++ b/Show More