Merge branch 'upstream/openpilot/master' into sync-20250124-new

# Conflicts: # opendbc_repo # panda # selfdrive/modeld/fill_model_msg.py # selfdrive/pandad/pandad.cc # selfdrive/test/process_replay/ref_commit # selfdrive/ui/qt/home.h # selfdrive/ui/qt/offroad/developer_panel.cc # selfdrive/ui/qt/offroad/developer_panel.h # selfdrive/ui/translations/main_ar.ts # selfdrive/ui/translations/main_de.ts # selfdrive/ui/translations/main_es.ts # selfdrive/ui/translations/main_ko.ts # selfdrive/ui/translations/main_pt-BR.ts # selfdrive/ui/translations/main_th.ts # selfdrive/ui/translations/main_tr.ts # selfdrive/ui/translations/main_zh-CHS.ts # selfdrive/ui/translations/main_zh-CHT.ts
2026-06-24 03:32:05 +08:00 · 2025-01-24 08:54:29 -05:00
149 changed files with 1135 additions and 2210 deletions
@@ -86,7 +86,7 @@ jobs:
        run: >-
          sudo apt-get install -y imagemagick

-          scenes="homescreen settings_device settings_network settings_network_advanced settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_trips settings_vehicle settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard keyboard_uppercase"
+          scenes="homescreen settings_device settings_network settings_network_advanced settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_trips settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard keyboard_uppercase"
          A=($scenes)

          DIFF=""
@@ -6,12 +6,12 @@

 ExitHandler do_exit;

-static std::vector<std::string> get_services(const std::string &whitelist_str, bool zmq_to_msgq) {
+static std::vector<std::string> get_services(std::string whitelist_str, bool zmq_to_msgq) {
  std::vector<std::string> service_list;
  for (const auto& it : services) {
    std::string name = it.second.name;
    bool in_whitelist = whitelist_str.find(name) != std::string::npos;
-    if (zmq_to_msgq && !in_whitelist) {
+    if (name == "plusFrame" || name == "uiLayoutState" || (zmq_to_msgq && !in_whitelist)) {
      continue;
    }
    service_list.push_back(name);
@@ -1 +0,0 @@
-#define DEFAULT_MODEL "Notre Dame (Default)"
@@ -206,7 +206,6 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
    {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
    {"CarParamsSPPersistent", PERSISTENT},
-    {"CarPlatformBundle", PERSISTENT},
    {"EnableGithubRunner", PERSISTENT | BACKUP},
    {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
    {"OffroadMode", CLEAR_ON_MANAGER_START},
@@ -29,22 +29,6 @@ Here's an example command for connecting to your device using its tethered conne

 For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding).

-
-## ADB
-
-In order to use ADB on your device, you'll need to enable it in the device's settings.
-
-* Enable ADB in your device's settings
-* Connect to your device
-    * `adb shell` over USB
-    * `adb connect` over WiFi
-    * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
-
-> [!NOTE]
-> The default port for ADB is 5555 on the comma 3/3X.
-
-For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
-
 ### Notes

 The public keys are only fetched from your GitHub account once. In order to update your device's authorized keys, you'll need to re-enter your GitHub username.
@@ -42,19 +42,19 @@ class CarSpecificEvents:
    self.cruise_buttons: deque = deque([], maxlen=HYUNDAI_PREV_BUTTON_SAMPLES)

  def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
-    if self.CP.brand in ('body', 'mock'):
+    if self.CP.carName in ('body', 'mock'):
      events = Events()

-    elif self.CP.brand in ('subaru', 'mazda'):
+    elif self.CP.carName in ('subaru', 'mazda'):
      events = self.create_common_events(CS, CS_prev)

-    elif self.CP.brand == 'ford':
+    elif self.CP.carName == 'ford':
      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.manumatic])

-    elif self.CP.brand == 'nissan':
+    elif self.CP.carName == 'nissan':
      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake])

-    elif self.CP.brand == 'chrysler':
+    elif self.CP.carName == 'chrysler':
      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])

      # Low speed steer alert hysteresis logic
@@ -65,7 +65,7 @@ class CarSpecificEvents:
      if self.low_speed_alert:
        events.add(EventName.belowSteerSpeed)

-    elif self.CP.brand == 'honda':
+    elif self.CP.carName == 'honda':
      events = self.create_common_events(CS, CS_prev, pcm_enable=False)

      if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
@@ -86,7 +86,7 @@ class CarSpecificEvents:
      if self.CP.minEnableSpeed > 0 and CS.vEgo < 0.001:
        events.add(EventName.manualRestart)

-    elif self.CP.brand == 'toyota':
+    elif self.CP.carName == 'toyota':
      events = self.create_common_events(CS, CS_prev)

      if self.CP.openpilotLongitudinalControl:
@@ -101,7 +101,7 @@ class CarSpecificEvents:
            # while in standstill, send a user alert
            events.add(EventName.manualRestart)

-    elif self.CP.brand == 'gm':
+    elif self.CP.carName == 'gm':
      # The ECM allows enabling on falling edge of set, but only rising edge of resume
      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
                                                                   GearShifter.eco, GearShifter.manumatic],
@@ -120,7 +120,7 @@ class CarSpecificEvents:
      if CS.vEgo < self.CP.minSteerSpeed:
        events.add(EventName.belowSteerSpeed)

-    elif self.CP.brand == 'volkswagen':
+    elif self.CP.carName == 'volkswagen':
      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
                                         pcm_enable=self.CP.pcmCruise,
                                         enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
@@ -143,7 +143,7 @@ class CarSpecificEvents:
      # if CC.eps_timer_soft_disable_alert:  # type: ignore[attr-defined]
      #   events.add(EventName.steerTimeLimit)

-    elif self.CP.brand == 'hyundai':
+    elif self.CP.carName == 'hyundai':
      # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
      # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
      # Main button also can trigger an engagement on these cars
@@ -160,7 +160,7 @@ class CarSpecificEvents:
        events.add(EventName.belowSteerSpeed)

    else:
-      raise ValueError(f"Unsupported car: {self.CP.brand}")
+      raise ValueError(f"Unsupported car: {self.CP.carName}")

    return events

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import json
 import os
 import time
 import threading
@@ -105,9 +104,7 @@ class Car:
        with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
          cached_params = _cached_params

-      fixed_fingerprint = json.loads(self.params.get("CarPlatformBundle", encoding='utf-8') or "{}").get("platform", None)
-
-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params, fixed_fingerprint)
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
      interfaces.setup_car_interface_sp(self.CI.CP, self.CI.CP_SP, self.params)
      self.RI = get_radar_interface(self.CI.CP, self.CI.CP_SP)
      self.CP = self.CI.CP
@@ -202,7 +199,7 @@ class Car:

    # Update carState from CAN
    CS = self.CI.update(can_list)
-    if self.CP.brand == 'mock':
+    if self.CP.carName == 'mock':
      CS = self.mock_carstate.update(CS)

    # Update radar tracks from CAN
@@ -367,11 +367,11 @@ class TestCarModelBase(unittest.TestCase):
      if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving:
        self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())

-      if not (self.CP.brand == "honda" and not (self.CP.flags & HondaFlags.BOSCH)):
+      if not (self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH)):
        if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged:
          self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev())

-      if self.CP.brand == "honda":
+      if self.CP.carName == "honda":
        if self.safety.get_acc_main_on() != prev_panda_acc_main_on:
          self.assertEqual(CS.cruiseState.available, self.safety.get_acc_main_on())

@@ -426,7 +426,7 @@ class TestCarModelBase(unittest.TestCase):
        # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.
        # On Honda Nidec, we always engage on the rising edge of the PCM cruise state, but
        # openpilot brakes to zero even if the min ACC speed is non-zero (i.e. the PCM disengages).
-        if self.CP.brand == "honda" and not (self.CP.flags & HondaFlags.BOSCH):
+        if self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH):
          # only the rising edges are expected to match
          if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
            checks['controlsAllowed'] += not self.safety.get_controls_allowed()
@@ -448,7 +448,7 @@ class TestCarModelBase(unittest.TestCase):
        if button_enable and not mismatch:
          self.safety.set_controls_allowed(False)

-      if self.CP.brand == "honda":
+      if self.CP.carName == "honda":
        checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on()

      CS_prev = CS
@@ -14,7 +14,7 @@ def main():
  cloudlog.info("plannerd is waiting for CarParams")
  params = Params()
  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-  cloudlog.info("plannerd got CarParams: %s", CP.brand)
+  cloudlog.info("plannerd got CarParams: %s", CP.carName)

  ldw = LaneDepartureWarning()
  longitudinal_planner = LongitudinalPlanner(CP)
@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+set -e
+
+PORT=5555
+
+setprop service.adb.tcp.port $PORT
+sudo systemctl start adbd
+
+IP=$(echo $SSH_CONNECTION | awk '{ print $3}')
+echo "then, connect on your computer:"
+echo "adb connect $IP:$PORT"
@@ -24,16 +24,14 @@ MIN_STD_SANITY_CHECK = 1e-5  # m or rad
 MAX_FILTER_REWIND_TIME = 0.8  # s
 MAX_SENSOR_TIME_DIFF = 0.1  # s
 YAWRATE_CROSS_ERR_CHECK_FACTOR = 30
-INPUT_INVALID_LIMIT = 2.0 # 1 (camodo) / 9 (sensor) bad input[s] ignored
-INPUT_INVALID_RECOVERY = 10.0 # ~10 secs to resume after exceeding allowed bad inputs by one
+INPUT_INVALID_THRESHOLD = 0.5  # 0 bad inputs ignored
+TIMING_INVALID_THRESHOLD = 2.5  # 2 bad timings ignored
+INPUT_INVALID_DECAY = 0.9993  # ~10 secs to resume after exceeding allowed bad inputs by one (at 100hz)
+TIMING_INVALID_DECAY = 0.9990  # ~2 secs to resume after exceeding allowed bad timings by one (at 100hz)
 POSENET_STD_INITIAL_VALUE = 10.0
 POSENET_STD_HIST_HALF = 20


-def calculate_invalid_input_decay(invalid_limit, recovery_time, frequency):
-  return (1 - 1 / (2 * invalid_limit)) ** (1 / (recovery_time * frequency))
-
-
 def init_xyz_measurement(measurement: capnp._DynamicStructBuilder, values: np.ndarray, stds: np.ndarray, valid: bool):
  assert len(values) == len(stds) == 3
  measurement.x, measurement.y, measurement.z = map(float, values)
@@ -271,11 +269,11 @@ def main():

  filter_initialized = False
  critcal_services = ["accelerometer", "gyroscope", "cameraOdometry"]
+  observation_timing_invalid = defaultdict(int)
  observation_input_invalid = defaultdict(int)

-  input_invalid_limit = {s: round(INPUT_INVALID_LIMIT * (SERVICE_LIST[s].frequency / 20.)) for s in critcal_services}
-  input_invalid_threshold = {s: input_invalid_limit[s] - 0.5 for s in critcal_services}
-  input_invalid_decay = {s: calculate_invalid_input_decay(input_invalid_limit[s], INPUT_INVALID_RECOVERY, SERVICE_LIST[s].frequency) for s in critcal_services}
+  input_invalid_decay = {s: INPUT_INVALID_DECAY ** (100. / SERVICE_LIST[s].frequency) for s in critcal_services}
+  timing_invalid_decay = {s: TIMING_INVALID_DECAY ** (100. / SERVICE_LIST[s].frequency) for s in critcal_services}

  initial_pose = params.get("LocationFilterInitialState")
  if initial_pose is not None:
@@ -308,20 +306,19 @@ def main():
            continue

          if res == HandleLogResult.TIMING_INVALID:
-            print(f"Observation {which} ignored due to failed timing check")
-            observation_input_invalid[which] += 1
-            print(observation_input_invalid[which])
+            observation_timing_invalid[which] += 1
          elif res == HandleLogResult.INPUT_INVALID:
-            print(f"Observation {which} ignored due to failed sanity check")
            observation_input_invalid[which] += 1
          else:
            observation_input_invalid[which] *= input_invalid_decay[which]
+            observation_timing_invalid[which] *= timing_invalid_decay[which]
    else:
      filter_initialized = sm.all_checks() and sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)

    if sm.updated["cameraOdometry"]:
-      critical_service_inputs_valid = all(observation_input_invalid[s] < input_invalid_threshold[s] for s in critcal_services)
-      inputs_valid = sm.all_valid() and critical_service_inputs_valid
+      critical_service_inputs_valid = all(observation_input_invalid[s] < INPUT_INVALID_THRESHOLD for s in critcal_services)
+      critical_service_timing_valid = all(observation_timing_invalid[s] < TIMING_INVALID_THRESHOLD for s in critcal_services)
+      inputs_valid = sm.all_valid() and critical_service_inputs_valid and critical_service_timing_valid
      sensors_valid = sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)

      msg = estimator.get_msg(sensors_valid, inputs_valid, filter_initialized)
@@ -0,0 +1,56 @@
+import capnp
+
+import cereal.messaging as messaging
+from openpilot.common.params import Params
+
+from openpilot.system.manager.process_config import managed_processes
+
+
+class TestLocationdProc:
+  LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration',
+              'accelerometer', 'gyroscope', 'magnetometer']
+
+  def setup_method(self):
+    self.pm = messaging.PubMaster(self.LLD_MSGS)
+
+    self.params = Params()
+    self.params.put_bool("UbloxAvailable", True)
+    managed_processes['locationd'].prepare()
+    managed_processes['locationd'].start()
+
+  def teardown_method(self):
+    managed_processes['locationd'].stop()
+
+  def get_msg(self, name, t):
+    try:
+      msg = messaging.new_message(name)
+    except capnp.lib.capnp.KjException:
+      msg = messaging.new_message(name, 0)
+
+    if name == "gpsLocationExternal":
+      msg.gpsLocationExternal.flags = 1
+      msg.gpsLocationExternal.hasFix = True
+      msg.gpsLocationExternal.verticalAccuracy = 1.0
+      msg.gpsLocationExternal.speedAccuracy = 1.0
+      msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
+      msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0]
+      msg.gpsLocationExternal.latitude = float(self.lat)
+      msg.gpsLocationExternal.longitude = float(self.lon)
+      msg.gpsLocationExternal.unixTimestampMillis = t * 1e6
+      msg.gpsLocationExternal.altitude = float(self.alt)
+    #if name == "gnssMeasurements":
+    #  msg.gnssMeasurements.measTime = t
+    #  msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z]
+    #  msg.gnssMeasurements.positionECEF.std = [0,0,0]
+    #  msg.gnssMeasurements.positionECEF.valid = True
+    #  msg.gnssMeasurements.velocityECEF.value = []
+    #  msg.gnssMeasurements.velocityECEF.std = [0,0,0]
+    #  msg.gnssMeasurements.velocityECEF.valid = True
+    elif name == 'cameraOdometry':
+      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
+      msg.cameraOdometry.rotStd = [0.0, 0.0, 0.0]
+      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
+      msg.cameraOdometry.transStd = [0.0, 0.0, 0.0]
+    msg.logMonoTime = t
+    msg.valid = True
+    return msg
@@ -23,10 +23,8 @@ class Scenario(Enum):
  BASE = 'base'
  GYRO_OFF = 'gyro_off'
  GYRO_SPIKE_MIDWAY = 'gyro_spike_midway'
-  GYRO_CONSISTENT_SPIKES = 'gyro_consistent_spikes'
  ACCEL_OFF = 'accel_off'
  ACCEL_SPIKE_MIDWAY = 'accel_spike_midway'
-  ACCEL_CONSISTENT_SPIKES = 'accel_consistent_spikes'
  SENSOR_TIMING_SPIKE_MIDWAY = 'timing_spikes'
  SENSOR_TIMING_CONSISTENT_SPIKES = 'timing_consistent_spikes'

@@ -65,20 +63,18 @@ def run_scenarios(scenario, logs):
  elif scenario == Scenario.GYRO_OFF:
    logs = sorted([x for x in logs if x.which() != 'gyroscope'], key=lambda x: x.logMonoTime)

-  elif scenario == Scenario.GYRO_SPIKE_MIDWAY or scenario == Scenario.GYRO_CONSISTENT_SPIKES:
+  elif scenario == Scenario.GYRO_SPIKE_MIDWAY:
    def gyro_spike(msg):
      msg.gyroscope.gyroUncalibrated.v[0] += 3.0
-    count = 1 if scenario == Scenario.GYRO_SPIKE_MIDWAY else CONSISTENT_SPIKES_COUNT
-    logs = modify_logs_midway(logs, 'gyroscope', count, gyro_spike)
+    logs = modify_logs_midway(logs, 'gyroscope', 1, gyro_spike)

  elif scenario == Scenario.ACCEL_OFF:
    logs = sorted([x for x in logs if x.which() != 'accelerometer'], key=lambda x: x.logMonoTime)

-  elif scenario == Scenario.ACCEL_SPIKE_MIDWAY or scenario == Scenario.ACCEL_CONSISTENT_SPIKES:
+  elif scenario == Scenario.ACCEL_SPIKE_MIDWAY:
    def acc_spike(msg):
-      msg.accelerometer.acceleration.v[0] += 100.0
-    count = 1 if scenario == Scenario.ACCEL_SPIKE_MIDWAY else CONSISTENT_SPIKES_COUNT
-    logs = modify_logs_midway(logs, 'accelerometer', count, acc_spike)
+      msg.accelerometer.acceleration.v[0] += 10.0
+    logs = modify_logs_midway(logs, 'accelerometer', 1, acc_spike)

  elif scenario == Scenario.SENSOR_TIMING_SPIKE_MIDWAY or scenario == Scenario.SENSOR_TIMING_CONSISTENT_SPIKES:
    def timing_spike(msg):
@@ -125,7 +121,7 @@ class TestLocationdScenarios:
    assert np.allclose(replayed_data['roll'], 0.0)
    assert np.all(replayed_data['sensors_flag'] == 0.0)

-  def test_gyro_spike(self):
+  def test_gyro_spikes(self):
    """
    Test: a gyroscope spike in the middle of the segment
    Expected Result:
@@ -136,17 +132,8 @@ class TestLocationdScenarios:
    orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY, self.logs)
    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
-    assert np.all(replayed_data['inputs_flag'] == orig_data['inputs_flag'])
-    assert np.all(replayed_data['sensors_flag'] == orig_data['sensors_flag'])
-
-  def test_consistent_gyro_spikes(self):
-    """
-    Test: consistent timing spikes for N gyroscope messages in the middle of the segment
-    Expected Result: inputsOK becomes False after N of bad measurements
-    """
-    orig_data, replayed_data = run_scenarios(Scenario.GYRO_CONSISTENT_SPIKES, self.logs)
-    assert np.diff(replayed_data['inputs_flag'])[501] == -1.0
-    assert np.diff(replayed_data['inputs_flag'])[708] == 1.0
+    assert np.diff(replayed_data['inputs_flag'])[499] == -1.0
+    assert np.diff(replayed_data['inputs_flag'])[704] == 1.0

  def test_accel_off(self):
    """
@@ -161,7 +148,7 @@ class TestLocationdScenarios:
    assert np.allclose(replayed_data['roll'], 0.0)
    assert np.all(replayed_data['sensors_flag'] == 0.0)

-  def test_accel_spike(self):
+  def test_accel_spikes(self):
    """
    ToDo:
    Test: an accelerometer spike in the middle of the segment
@@ -186,5 +173,5 @@ class TestLocationdScenarios:
    Expected Result: inputsOK becomes False after N of bad measurements
    """
    orig_data, replayed_data = run_scenarios(Scenario.SENSOR_TIMING_CONSISTENT_SPIKES, self.logs)
-    assert np.diff(replayed_data['inputs_flag'])[501] == -1.0
-    assert np.diff(replayed_data['inputs_flag'])[707] == 1.0
+    assert np.diff(replayed_data['inputs_flag'])[500] == -1.0
+    assert np.diff(replayed_data['inputs_flag'])[787] == 1.0
@@ -71,7 +71,7 @@ class TorqueEstimator(ParameterEstimator):
    self.offline_friction = 0.0
    self.offline_latAccelFactor = 0.0
    self.resets = 0.0
-    self.use_params = CP.brand in ALLOWED_CARS and CP.lateralTuning.which() == 'torque'
+    self.use_params = CP.carName in ALLOWED_CARS and CP.lateralTuning.which() == 'torque'

    if CP.lateralTuning.which() == 'torque':
      self.offline_friction = CP.lateralTuning.torque.friction
@@ -194,7 +194,7 @@ def main(demo=False):
    CP = get_demo_car_params()
  else:
    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-  cloudlog.info("modeld got CarParams: %s", CP.brand)
+  cloudlog.info("modeld got CarParams: %s", CP.carName)

  # TODO this needs more thought, use .2s extra for now to estimate other delays
  steer_delay = CP.steerActuatorDelay + .2
@@ -202,7 +202,7 @@ void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const
  cs.setCanCoreResetCnt(can_health.can_core_reset_cnt);
 }

-std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started, bool always_offroad) {
+std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started, PandaSafety *panda_safety) {
  bool ignition_local = false;
  const uint32_t pandas_cnt = pandas.size();

@@ -250,7 +250,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
      health.ignition_line_pkt = 0;
    }

-    ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !always_offroad;
+    ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !panda_safety->getOffroadMode();

    pandaStates.push_back(health);
  }
@@ -337,14 +337,15 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
  pm->send("peripheralState", msg);
 }

-void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool engaged, bool engaged_mads, bool spoofing_started, bool always_offroad) {
+void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool engaged, bool engaged_mads, bool spoofing_started,
+                         PandaSafety *panda_safety) {
  std::vector<std::string> connected_serials;
  for (Panda *p : pandas) {
    connected_serials.push_back(p->hw_serial());
  }

  {
-    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started, always_offroad);
+    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started, panda_safety);
    if (!ignition_opt) {
      LOGE("Failed to get ignition_opt");
      return;
@@ -444,7 +445,6 @@ void pandad_run(std::vector<Panda *> &pandas) {
  Panda *peripheral_panda = pandas[0];
  bool engaged = false;
  bool engaged_mads = false;
-  bool always_offroad = false;

  // Main loop: receive CAN data and process states
  while (!do_exit && check_all_connected(pandas)) {
@@ -460,8 +460,7 @@ void pandad_run(std::vector<Panda *> &pandas) {
      sm.update(0);
      engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
      engaged_mads = process_mads_heartbeat(&sm);
-      always_offroad = panda_safety.getOffroadMode();
-      process_panda_state(pandas, &pm, engaged, engaged_mads, spoofing_started, always_offroad);
+      process_panda_state(pandas, &pm, engaged, engaged_mads, spoofing_started, &panda_safety);
      panda_safety.configureSafetyMode();
    }

@@ -154,7 +154,7 @@ def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM

 def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  text = "Enable Adaptive Cruise to Engage"
-  if CP.brand == "honda":
+  if CP.carName == "honda":
    text = "Enable Main Switch to Engage"
  return NoEntryAlert(text)

@@ -99,7 +99,7 @@ class SelfdriveD(CruiseHelper):
    self.is_metric = self.params.get_bool("IsMetric")
    self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")

-    car_recognized = self.CP.brand != 'mock'
+    car_recognized = self.CP.carName != 'mock'

    # cleanup old params
    if not self.CP.experimentalLongitudinalAvailable:
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--- a/Show More
+++ b/Show More
				`@@ -1 +0,0 @@`
				`#define DEFAULT_MODEL "Notre Dame (Default)"`