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

Revert "bump more panda"
This reverts commit a9f2f54bcc.
2026-06-09 01:25:11 +08:00 · 2025-09-02 16:07:41 +02:00 · 2024-12-08 17:02:09 +01:00 · 2024-12-08 16:54:34 +01:00 · 2024-11-16 12:00:39 -07:00 · 2024-09-29 17:35:57 -07:00
35 changed files with 329 additions and 869 deletions
--- a/CHANGELOGS.md
+++ b/CHANGELOGS.md
@@ -5,9 +5,16 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
 * UPDATED: Synced with commaai's openpilot
  * master commit 4ef757c (July 06, 2024)
 * NEW❗: Default Driving Model: Notre Dame (July 01, 2024)
-* NEW❗: Longitudinal: Acceleration Personality thanks to kegman, rav4kumar, and arne1282!
+* NEW❗: Longitudinal: Acceleration Personality thanks to kegman, rav4kumar, and arne1282! (CTV 2.0: GlideTech)
  * Select from three distinct acceleration personalities: Eco, Normal, and Sport
  * Acceleration personalities are integrated directly into the model's acceleration matrix and can be activated in real-time!
+* NEW❗: Toyota - Drive Mode Selector
+  *  When enabled you can control acceleration personality just with press of button!
+* UPDATED: Dynamic Experimental Control
+  * Switched to weighted moving averages to enhance responsiveness to recent data.
+  * Goal is to improve real-time detection accuracy in dynamic conditions.
+  * Capable of handling the increased complexity that comes with this approach.
+  * Particularly beneficial in environments where recent changes are critical to performance.
 * NEW❗: Longitudinal: Dynamic Personality thanks to rav4kumar!
  * Dynamically adjusts following distance and reaction based on your "Driving Personality" setting
  * Personalities adapt in real-time to your speed and the distance to the lead car
@@ -26,8 +33,8 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
    * Toyota TSS1/1.5, equipped with factory Blind Spot Monitoring (BSM)
    * Prius TSS2, equipped with factory Blind Spot Monitoring (BSM)
  * NOTE: Only enable this feature if your Toyota/Lexus vehicle has factory Blind Spot Monitor equipped, and mentioned in the supported platforms list
-* UPDATED: Toyota: TSS2 longitudinal: Custom Tuning
-  * Re-tuned and tested by the community (July 1, 2024)
+* UPDATED: Toyota: TSS2 longitudinal: Custom Tuning (CTV 2.0: GlideTech)
+  * Re-tuned and tested by the community (September 29, 2024)
 * UPDATED: Driving Model Selector v5
  * NEW❗: Driving Model additions
    * Notre Dame (July 01, 2024) - NDv3
@@ -38,9 +45,6 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
  * 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
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -138,7 +138,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    speedLimitConfirmed @140;
    torqueNNLoad @141;
    hyundaiRadarTracksAvailable @142;
-    spAutoBrakeHold @143;

    radarCanErrorDEPRECATED @15;
    communityFeatureDisallowedDEPRECATED @62;
--- a/common/params.cc
+++ b/common/params.cc
@@ -255,7 +255,6 @@ 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},
@@ -331,9 +330,9 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"TorqueLateralJerk", PERSISTENT | BACKUP},
    {"TorqueMaxLatAccel", PERSISTENT | BACKUP},
    {"TorquedOverride", PERSISTENT | BACKUP},
-    {"ToyotaAutoHold", PERSISTENT | BACKUP},
    {"ToyotaAutoLockBySpeed", PERSISTENT | BACKUP},
    {"ToyotaAutoUnlockByShifter", PERSISTENT | BACKUP},
+    {"ToyotaDriveMode", PERSISTENT | BACKUP},
    {"ToyotaEnhancedBsm", PERSISTENT | BACKUP},
    {"ToyotaSnG", PERSISTENT | BACKUP},
    {"ToyotaTSS2Long", PERSISTENT | BACKUP},
--- a/2
+++ b/2
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -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
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -126,7 +126,7 @@ 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"):
+      if Params().get("DongleId", encoding='utf8') in ("012c95f06918eca4", "68d6a96e703c00c9", "11c1f1909ca37bca"):
        ret.spFlags |= HyundaiFlagsSP.SP_UPSTREAM_TACO.value
    else:
      ret.enableBsm = 0x58b in fingerprint[0]
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -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
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -1,18 +1,19 @@
 import copy

-from cereal import car
+from cereal import car, custom
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import mean
 from openpilot.common.filter_simple import FirstOrderFilter
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.params import Params
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.toyota.values import ToyotaFlags, ToyotaFlagsSP, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                  TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR

 SteerControlType = car.CarParams.SteerControlType
-
+AccelPersonality = custom.AccelerationPersonality
 # These steering fault definitions seem to be common across LKA (torque) and LTA (angle):
 # - high steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds
 # - lka/lta msg drop out: goes to 9 then 11 for a combined total of 2 seconds, then 3.
@@ -79,9 +80,13 @@ 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.signals_checked = False
+    self.sport_signal_seen = False
+    self.eco_signal_seen = False
+    self.accel_profile = None
+    self.prev_accel_profile = None
+    self.accel_profile_init = False
+    self.toyota_drive_mode = Params().get_bool('ToyotaDriveMode')
    self.frame = 0

  def update(self, cp, cp_cam):
@@ -179,6 +184,51 @@ class CarState(CarStateBase):
    ret.leftBlinker = ret.leftBlinkerOn = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 1
    ret.rightBlinker = ret.rightBlinkerOn = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 2

+    if self.toyota_drive_mode:
+      # Determine sport signal based on car model
+      sport_signal = 'SPORT_ON_2' if self.CP.carFingerprint in (CAR.TOYOTA_RAV4_TSS2, CAR.LEXUS_ES_TSS2, CAR.TOYOTA_HIGHLANDER_TSS2) else 'SPORT_ON'
+
+      # Check signals once
+      if not self.signals_checked:
+        self.signals_checked = True
+
+        # Try to detect sport mode signal, handle missing signal with a fallback
+        try:
+          sport_mode = cp.vl["GEAR_PACKET"][sport_signal]
+          self.sport_signal_seen = True
+        except KeyError:
+          sport_mode = 0
+          self.sport_signal_seen = False
+
+        # Try to detect eco mode signal, handle missing signal with a fallback
+        try:
+          eco_mode = cp.vl["GEAR_PACKET"]['ECON_ON']
+          self.eco_signal_seen = True
+        except KeyError:
+          eco_mode = 0
+          self.eco_signal_seen = False
+      else:
+        # Always re-check the signals to account for mode changes
+        sport_mode = cp.vl["GEAR_PACKET"][sport_signal] if self.sport_signal_seen else 0
+        eco_mode = cp.vl["GEAR_PACKET"]['ECON_ON'] if self.eco_signal_seen else 0
+
+      # Set acceleration profile based on detected modes, with sport mode having higher priority
+      if sport_mode == 1:
+        self.accel_profile = AccelPersonality.sport
+      elif eco_mode == 1:
+        self.accel_profile = AccelPersonality.eco
+      else:
+        self.accel_profile = AccelPersonality.normal
+
+      print(f"Accel profile set to: {self.accel_profile}")
+
+      # If not initialized, sync profile with the current mode on the car
+      if not self.accel_profile_init or self.accel_profile != self.prev_accel_profile:
+        Params().put_nonblocking('AccelPersonality', str(self.accel_profile))
+        self.accel_profile_init = True
+        # Update the previous profile to prevent unnecessary re-syncing
+        self.prev_accel_profile = self.accel_profile
+
    if self.CP.carFingerprint != CAR.TOYOTA_MIRAI:
      ret.engineRpm = cp.vl["ENGINE_RPM"]["RPM"]

@@ -263,9 +313,6 @@ 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 +516,4 @@ 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)
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -160,23 +160,26 @@ class CarInterface(CarInterfaceBase):

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

-    # hand tuned (August 12, 2024)
-    def custom_tss2_longitudinal_tuning():
-      ret.vEgoStopping = 0.01
-      ret.vEgoStarting = 0.01
-      ret.stoppingDecelRate = 0.007
-    def default_tss2_longitudinal_tuning():
+    # Last updated: September 29, 2024
+    def custom_tss2_longitudinal_tuning(): # hand tuned
      ret.vEgoStopping = 0.25
-      ret.vEgoStarting = 0.25
-      ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
-    def default_longitudinal_tuning():
+      ret.vEgoStarting = 0.01
+      ret.stoppingDecelRate = 0.006
+
+    def default_tss2_longitudinal_tuning(): # stock comma
+      ret.vEgoStopping = 0.25
+      ret.vEgoStarting = 0.10
+      ret.stoppingDecelRate = 0.007  # reach stopping target smoothly
+
+    def default_longitudinal_tuning(): # stock comma
      tune.kiBP = [0., 5., 35.]
      tune.kiV = [3.6, 2.4, 1.5]
+
    tune = ret.longitudinalTuning
    if candidate in TSS2_CAR or ret.enableGasInterceptorDEPRECATED:
      if sp_tss2_long_tune:
-        tune.kiBP = [ 0.,  5.,   12.,  20., 27., 40.]
-        tune.kiV =  [.35, .228,  .205, .195, .10, .01]
+        tune.kiBP = [0.,  5.,   12.,  20.,  27.,  36.,  40.]
+        tune.kiV = [0.34, 0.234, 0.20, 0.17, 0.105, 0.09, 0.08]
        custom_tss2_longitudinal_tuning()
      else:
        tune.kpV = [0.0]
@@ -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
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -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)
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -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):
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -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"),
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -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
@@ -64,9 +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
-  elif personality==custom.LongitudinalPersonalitySP.aggressive:
    return 0.9
+  elif personality==custom.LongitudinalPersonalitySP.aggressive:
+    return 0.8
  elif personality==custom.LongitudinalPersonalitySP.overtake:
    return 0.1
  else:
@@ -87,42 +86,28 @@ def get_T_FOLLOW(personality=custom.LongitudinalPersonalitySP.standard):
  else:
    raise NotImplementedError("Longitudinal personality not supported")

-
+# Last updated: September 29, 2024
 def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP.standard):
  if personality==custom.LongitudinalPersonalitySP.relaxed:
-    x_vel =  [0,    5.,   5.01,  20.,   27.7]
-    y_dist = [1.0,  1.0,  1.75,  1.75,  1.83]
+    x_vel =  [0,    14.,   27.7]
+    y_dist = [1.75, 1.75,  2.00]
  elif personality==custom.LongitudinalPersonalitySP.standard:
-    x_vel =  [0,    20.,   27.7]
-    y_dist = [1.70, 1.70,  1.70]
+    x_vel =  [0,    14.,   27.7]
+    y_dist = [1.75, 1.75,  1.70]
  elif personality==custom.LongitudinalPersonalitySP.moderate:
-    x_vel =  [0,    27.69, 27.7]
-    y_dist = [1.40, 1.40,  1.45]
+    x_vel =  [0,    14.,   27.7]
+    y_dist = [1.45, 1.45,  1.48]
  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,    14.,   27.7]
+    y_dist = [1.25, 1.25,  1.28]
  else:
    raise NotImplementedError("Dynamic personality not supported")
  return np.interp(v_ego, x_vel, y_dist)

+
 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 +302,15 @@ 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')
@@ -386,7 +362,7 @@ class LongitudinalMpc:
    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):
+             dynamic_personality=False, overtaking_acceleration_assist=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
@@ -398,12 +374,8 @@ 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])
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -103,7 +103,6 @@ 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 +110,6 @@ 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):
@@ -204,7 +202,7 @@ class LongitudinalPlanner:
    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)
+                    dynamic_personality=sm['controlsStateSP'].dynamicPersonality, overtaking_acceleration_assist=overtaking_accel_engaged)

    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)
--- a/selfdrive/controls/lib/sunnypilot/accel_controller.py
+++ b/selfdrive/controls/lib/sunnypilot/accel_controller.py
@@ -21,7 +21,7 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.

-# Last updated: August 12, 2024
+# Last updated: September 29, 2024

 from cereal import custom
 from openpilot.common.numpy_fast import interp
@@ -29,16 +29,15 @@ from openpilot.common.numpy_fast import interp
 AccelPersonality = custom.AccelerationPersonality

 # accel personality by @arne182 modified by cgw and kumar
-_DP_CRUISE_MIN_V =       [-0.69, -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.]
+_DP_CRUISE_MIN_V =       [-1.0, -1.0,  -0.88]
+_DP_CRUISE_MIN_V_ECO =   [-1.0, -1.0,  -0.76]
+_DP_CRUISE_MIN_V_SPORT = [-1.0, -1.0,  -1.0]
+_DP_CRUISE_MIN_BP =      [0.,   11.1,  20.]

+_DP_CRUISE_MAX_V =       [2.0, 2.0, 2.0, 1.75, 1.03, .72,  .53,  .42,  .13]
+_DP_CRUISE_MAX_V_ECO =   [2.0, 2.0, 2.0, 1.50, 0.92, .54,  .43,  .32,  .088]
+_DP_CRUISE_MAX_V_SPORT = [2.0, 2.0, 2.0, 2.00, 1.25, .96,  .78,  .60,  .4]
+_DP_CRUISE_MAX_BP =      [0.,  1.,  6.,  8.,   11.,  20.,  25.,  30.,  55.]


 class AccelController:
--- a/selfdrive/controls/lib/sunnypilot/dynamic_experimental_controller.py
+++ b/selfdrive/controls/lib/sunnypilot/dynamic_experimental_controller.py
@@ -21,7 +21,7 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
 #
-# Version = 2024-7-11
+# Version = 2024-9-28
 from common.numpy_fast import interp
 import numpy as np

@@ -31,11 +31,11 @@ TRAJECTORY_SIZE = 33
 LEAD_WINDOW_SIZE = 4
 LEAD_PROB = 0.6

-SLOW_DOWN_WINDOW_SIZE = 5
+SLOW_DOWN_WINDOW_SIZE = 4
 SLOW_DOWN_PROB = 0.6

 SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
-SLOW_DOWN_DIST = [20, 30., 50., 70., 80., 90., 105., 120.]
+SLOW_DOWN_DIST = [25., 38., 55., 75., 95., 115., 130., 150.]

 SLOWNESS_WINDOW_SIZE = 12
 SLOWNESS_PROB = 0.5
@@ -87,7 +87,7 @@ class WeightedMovingAverageCalculator:
  def __init__(self, window_size):
    self.window_size = window_size
    self.data = []
-    self.weights = np.linspace(1, 2, window_size)  # Linear weights, adjust as needed
+    self.weights = np.linspace(1, 3, window_size)  # Linear weights, adjust as needed

  def add_data(self, value):
    if len(self.data) == self.window_size:
@@ -153,17 +153,21 @@ class DynamicExperimentalController:
    """
    Adapts the slow down threshold based on vehicle speed and recent behavior.
    """
-    return interp(self._v_ego_kph, SLOW_DOWN_BP, SLOW_DOWN_DIST) * (1.0 + 0.05 * np.log(1 + len(self._slow_down_gmac.data)))
+    return interp(self._v_ego_kph, SLOW_DOWN_BP, SLOW_DOWN_DIST) * (1.0 + 0.03 * np.log(1 + len(self._slow_down_gmac.data)))

-  def _anomaly_detection(self, recent_data, threshold=2.0):
+  def _anomaly_detection(self, recent_data, threshold=2.0, context_check=True):
    """
    Basic anomaly detection using standard deviation.
    """
-    if len(recent_data) < 3:
+    if len(recent_data) < 5:
      return False
    mean = np.mean(recent_data)
    std_dev = np.std(recent_data)
    anomaly = recent_data[-1] > mean + threshold * std_dev
+
+    # Context check to ensure repeated anomaly
+    if context_check:
+      return np.count_nonzero(np.array(recent_data) > mean + threshold * std_dev) > 1
    return anomaly

  def _smoothed_lead_detection(self, lead_prob, smoothing_factor=0.2):
@@ -372,4 +376,4 @@ class DynamicExperimentalController:
        self._set_mode_timeout = SET_MODE_TIMEOUT

    if self._set_mode_timeout > 0:
-      self._set_mode_timeout -= 1
+      self._set_mode_timeout -= 1
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_settings.cc
@@ -43,12 +43,6 @@ 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"),
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_settings.cc
@@ -159,18 +159,6 @@ 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"),
@@ -203,6 +191,14 @@ SPVehiclesTogglesPanel::SPVehiclesTogglesPanel(VehiclePanel *parent) : ListWidge
  toyotaAutoUnlock->setConfirmation(true, false);
  addItem(toyotaAutoUnlock);

+  auto toyotaDriveMode = new ParamControlSP(
+    "ToyotaDriveMode",
+    tr("Enable Toyota Drive Mode Button"),
+    tr("Sunnypilot will link the Acceleration Personality to the car's physical drive mode selector.\nReboot Required."),
+    "../assets/offroad/icon_blank.png");
+  toyotaDriveMode->setConfirmation(true, false);
+  addItem(toyotaDriveMode);
+
  // Volkswagen
  addItem(new LabelControlSP(tr("Volkswagen")));
  auto volkswagenCCOnly = new ParamControlSP(
@@ -219,7 +215,6 @@ SPVehiclesTogglesPanel::SPVehiclesTogglesPanel(VehiclePanel *parent) : ListWidge
    hkgCustomLongTuning->setEnabled(offroad);
    hyundaiCruiseMainDefault->setEnabled(offroad);
    toyotaTss2LongTune->setEnabled(offroad);
-    toyotaAbh->setEnabled(offroad);
    toyotaEnhancedBsm->setEnabled(offroad);
    toyotaSngHack->setEnabled(offroad);
    volkswagenCCOnly->setEnabled(offroad);
--- a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc
@@ -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;
@@ -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) {
@@ -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]);

--- a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h
@@ -176,7 +176,6 @@ private:
  float latAccelFactorFiltered;
  float frictionCoefficientFiltered;
  bool liveValid;
-  bool ecoMode;
  // ############################## DEV UI END ##############################

  float btnPerc;
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -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 +1583,14 @@ 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>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 +2517,6 @@ 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 +2525,6 @@ 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 +2910,6 @@ 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 +3277,6 @@ 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 +3305,14 @@ 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/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -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 +1565,14 @@ 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>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 +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>
@@ -2537,14 +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>
@@ -2932,10 +2896,6 @@ 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 +3263,6 @@ 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 +3291,14 @@ 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/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -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>
@@ -1571,26 +1571,6 @@ Reboot Required.</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>
-    <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>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>SettingsWindow</name>
@@ -2697,22 +2677,6 @@ 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 +3042,6 @@ 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>
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -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 +1567,14 @@ 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>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 +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>
@@ -2537,14 +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>
@@ -2930,10 +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">Mode expérimental</translation>
@@ -3301,14 +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>
@@ -3337,6 +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>
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -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 +1561,14 @@ 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>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 +2495,6 @@ 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 +2503,6 @@ 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 +2888,6 @@ 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 +3255,6 @@ 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 +3283,14 @@ 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/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -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 +1563,14 @@ 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>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 +2497,6 @@ 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 +2505,6 @@ 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 +2890,6 @@ 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 +3257,6 @@ 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 +3285,14 @@ 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/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -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 +1567,14 @@ 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>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 +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>
@@ -2537,14 +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>
@@ -2930,10 +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">Modo Experimental</translation>
@@ -3301,14 +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>
@@ -3337,6 +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>
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -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 +1563,14 @@ 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>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 +2497,6 @@ 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 +2505,6 @@ 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 +2890,6 @@ 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 +3257,6 @@ 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 +3285,14 @@ 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/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -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 +1561,14 @@ 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>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 +2495,6 @@ 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 +2503,6 @@ 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 +2888,6 @@ 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 +3255,6 @@ 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 +3283,14 @@ 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/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -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">最高定速</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 +1563,14 @@ 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>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 +2497,6 @@ 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 +2505,6 @@ 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 +2890,6 @@ 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">测试模式</translation>
@@ -3297,14 +3257,6 @@ 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 +3285,14 @@ 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/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -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</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 +1563,14 @@ 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>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 +2497,6 @@ 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 +2505,6 @@ 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 +2890,6 @@ 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">實驗模式</translation>
@@ -3297,14 +3257,6 @@ 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 +3285,14 @@ 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/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -326,7 +326,7 @@ void Device::resetInteractiveTimeout(int timeout) {

 void Device::updateBrightness(const UIState &s) {
  clipped_brightness = offroad_brightness;
-  if (s.scene.started && s.scene.light_sensor > 0) {
+  if (s.scene.started && s.scene.light_sensor >= 0) {
    clipped_brightness = s.scene.light_sensor;

    // CIE 1931 - https://www.photonstophotos.net/GeneralTopics/Exposure/Psychometric_Lightness_and_Gamma.htm
@@ -337,7 +337,7 @@ void Device::updateBrightness(const UIState &s) {
    }

    // Scale back to 10% to 100%
-    clipped_brightness = std::clamp(100.0f * clipped_brightness, 10.0f, 100.0f);
+    clipped_brightness = std::clamp(100.0f * clipped_brightness, 5.0f, 100.0f);
  }
  RETURN_IF_SUNNYPILOT
  
@@ -377,4 +377,4 @@ Device *device() {
  static Device _device;
  return &_device;
 }
-#endif
+#endif
--- a/system/athena/sunnylinkd.py
+++ b/system/athena/sunnylinkd.py
@@ -45,7 +45,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
    threading.Thread(target=ws_ping, args=(ws, end_event), name='ws_ping'),
    threading.Thread(target=ws_queue, args=(end_event,), name='ws_queue'),
    # threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
-    # threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
+    threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
    # threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'),
  ] + [
    threading.Thread(target=jsonrpc_handler, args=(end_event,), name=f'worker_{x}')
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -104,9 +104,9 @@ def manager_init() -> None:
    ("TorqueDeadzoneDeg", "0"),
    ("TorqueFriction", "10"),
    ("TorqueMaxLatAccel", "250"),
-    ("ToyotaAutoHold", "0"),
    ("ToyotaAutoLockBySpeed", "0"),
    ("ToyotaAutoUnlockByShifter", "0"),
+    ("ToyotaDriveMode", "0"),
    ("ToyotaEnhancedBsm", "0"),
    ("TrueVEgoUi", "0"),
    ("TurnSpeedControl", "0"),
@@ -124,7 +124,6 @@ def manager_init() -> None:
    ("LastSunnylinkPingTime", "0"),
    ("EnableGitlabRunner", "0"),
    ("EnableSunnylinkUploader", "0"),
-    ("FastTakeOff", "0"),
  ]
  if not PC:
    default_params.append(("LastUpdateTime", datetime.datetime.now(datetime.UTC).replace(tzinfo=None).isoformat().encode('utf8')))
--- a/system/sentry.py
+++ b/system/sentry.py
@@ -19,9 +19,9 @@ from openpilot.system.version import get_build_metadata, get_version

 class SentryProject(Enum):
  # python project
-  SELFDRIVE = "https://7e3be9bfcfe04c9abe58bd25fe290d1a@o1138119.ingest.sentry.io/6191481"
+  SELFDRIVE = "https://3e25e235efe389b74cde72fb0e115aef@o1138119.ingest.us.sentry.io/4509950385979397"
  # native project
-  SELFDRIVE_NATIVE = "https://7e3be9bfcfe04c9abe58bd25fe290d1a@o1138119.ingest.sentry.io/6191481"
+  SELFDRIVE_NATIVE = "https://3e25e235efe389b74cde72fb0e115aef@o1138119.ingest.us.sentry.io/4509950385979397"


 CRASHES_DIR = Paths.community_crash_root()
Author	SHA1	Message	Date
DevTekVE	bfc9ae2d2f	Re enable sentry and swaglog handler for device metadata & crash information	2025-09-02 16:07:41 +02:00
DevTekVE	acc519daf2	Revert "bump more panda" This reverts commit `a9f2f54bcc`.	2024-12-08 17:02:09 +01:00
DevTekVE	a9f2f54bcc	bump more panda	2024-12-08 16:54:34 +01:00
Kumar	fa9234afa0	ui: Fix Night Brightness (#33984 )	2024-11-16 12:00:39 -07:00
rav4kumar	6b789c3380	update change log	2024-09-29 17:35:57 -07:00
Kumar	fd4d4eec0d	Toyota: drive mode selector (#437 ) drive mode selector	2024-09-29 17:27:25 -07:00
Kumar	c1107924ae	CTV 2.0: GlideTech (#436 ) smooth, effortless movement	2024-09-29 17:14:17 -07:00
Kumar	aa34714b42	ui: refactor rocket ui (#435 ) rockettttt	2024-09-28 19:14:48 -07:00
Kumar	674670dfa7	dec v 2.0 (#434 ) * dec update * date	2024-09-28 19:08:02 -07:00
Kumar	9feffca58a	new api: human like long control v1.1 (#414 ) * lowspeed * slight increase	2024-08-19 21:03:20 -07:00
rav4kumar	a4faa41331	return: human api	2024-08-15 05:26:06 -07:00