felt cute, let's try out ndv2

2026-08-05 17:45:40 +08:00 · 2025-01-07 17:49:11 -05:00
372 changed files with 1845 additions and 21132 deletions
@@ -1,43 +0,0 @@
-exclude-labels:
-  - 'no-changelog'
-categories:
-  - title: '🚀 Features'
-    labels:
-      - 'feature'
-      - 'enhancement'
-  - title: '🐛 Bug Fixes'
-    collapse-after: 5
-    labels:
-      - 'fix'
-      - 'bugfix'
-      - 'bug'
-  - title: '🧰 Maintenance'
-    collapse-after: 5
-    label: 'chore'
-change-template: '- $TITLE @$AUTHOR (#$NUMBER)'
-change-title-escapes: '\<*_&'
-replacers:
-  - search: '/[Ss][Uu][Nn][Nn][Yy][Pp][Ii][Ll][Oo][Tt]/g'
-    replace: 'sunnypilot'
-  - search: '/\b[Ss][Pp]\b/g'
-    replace: 'SP'
-version-resolver:
-  major:
-    labels:
-      - 'major'
-  minor:
-    labels:
-      - 'minor'
-  patch:
-    labels:
-      - 'patch'
-  default: patch
-name-template: 'v$RESOLVED_VERSION 🚀'
-tag-template: 'v$RESOLVED_VERSION'
-version-template: "0.$MAJOR.$MINOR.$PATCH" # The day OP becomes v1, we need to bump this
-tag-prefix: "v0." # The day OP becomes v1, we need to bump this
-prerelease-identifier: "staging"
-template: |
-  ## Changes
-
-  $CHANGES
@@ -1,29 +0,0 @@
-name: Release Drafter
-
-on:
-  push:
-    branches:
-      - master-new
-      - master
-    tags:
-      - 'v*'
-  pull_request_target:
-    types: [opened, reopened, synchronize]
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-jobs:
-  update_release_draft:
-    permissions:
-      contents: write
-      pull-requests: write
-    runs-on: ubuntu-latest
-    steps:
-      - uses: release-drafter/release-drafter@v6
-        with:
-          config-name: release-drafter.yml
-          prerelease: ${{ !startsWith(github.ref, 'refs/tags/v') }}
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -67,7 +67,15 @@ jobs:
      timeout-minutes: 1
      run: |
        cd $STRIPPED_DIR
-        ${{ env.RUN }} "release/check-dirty.sh"
+        ${{ env.RUN }} "release/check-dirty.sh && \
+                        MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car system/manager"
+    - name: Static analysis
+      timeout-minutes: 1
+      run: |
+        cd $GITHUB_WORKSPACE
+        cp pyproject.toml $STRIPPED_DIR
+        cd $STRIPPED_DIR
+        ${{ env.RUN }} "scripts/lint/lint.sh --skip check_added_large_files"

  build:
    runs-on:
@@ -344,7 +352,7 @@ jobs:
      - name: Build openpilot
        run: ${{ env.RUN }} "scons -j$(nproc)"
      - name: Create Test Report
-        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 2 || 4) }}
+        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 1 || 3) }}
        run: >
            ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
                            source selfdrive/test/setup_xvfb.sh &&
@@ -18,18 +18,6 @@ on:
        description: 'Custom name for the model'
        required: false
        type: string
-      file_name:
-        description: 'File name prefix for the model files'
-        required: false
-        type: string
-      is_20hz:
-        description: 'Is this a 20Hz model'
-        required: false
-        type: boolean
-        default: false
-
-
-run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]

 jobs:
  build_model:
@@ -49,15 +37,12 @@ jobs:
        with:
          path: ${{env.SCONS_CACHE_DIR}}
          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
-          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
          restore-keys: |
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-master-new
+            scons-${{ runner.os }}-${{ runner.arch }}-master
            scons-${{ runner.os }}-${{ runner.arch }}

      - name: Setup build environment
@@ -84,8 +69,6 @@ jobs:
        run: |
          sudo rm -rf ${OUTPUT_DIR}
          mkdir -p ${OUTPUT_DIR}
-          
-          # Copy the model files
          rsync -avm \
            --include='*.dlc' \
            --include='*.thneed' \
@@ -95,36 +78,6 @@ jobs:
            --delete-excluded \
            --chown=comma:comma \
            ./selfdrive/modeld/models/ ${OUTPUT_DIR}/
-          
-          # Rename files if file_name is provided
-          if [ ! -z "${{ inputs.file_name }}" ]; then
-            mv ${OUTPUT_DIR}/supercombo.thneed ${OUTPUT_DIR}/supercombo-${{ inputs.file_name }}.thneed
-            mv ${OUTPUT_DIR}/supercombo_metadata.pkl ${OUTPUT_DIR}/supercombo-${{ inputs.file_name }}_metadata.pkl
-          fi
-          
-          # Calculate SHA256 hashes
-          HASH=$(sha256sum ${OUTPUT_DIR}/supercombo*.thneed | cut -d' ' -f1)
-          METADATA_HASH=$(sha256sum ${OUTPUT_DIR}/supercombo*_metadata.pkl | cut -d' ' -f1)
-          
-          # Create metadata.json
-          cat > ${OUTPUT_DIR}/metadata.json << EOF
-          {
-            "display_name": "${{ inputs.custom_name || inputs.upstream_branch }}",
-            "full_name": "${{ inputs.file_name || 'default' }}",
-            "is_20hz": ${{ inputs.is_20hz || false }},
-            "files": {
-              "drive_model": {
-                "file_name": "$(basename ${OUTPUT_DIR}/supercombo*.thneed)",
-                "sha256": "${HASH}"
-              },
-              "metadata": {
-                "file_name": "$(basename ${OUTPUT_DIR}/supercombo*_metadata.pkl)",
-                "sha256": "${METADATA_HASH}"
-              }
-            },
-            "ref": "${{ inputs.upstream_branch }}",
-            "build_time": "$(date -u +"%Y-%m-%dT%H:%M:%SZ")"
-          }     

      - name: Upload Build Artifacts
        uses: actions/upload-artifact@v4
@@ -51,10 +51,9 @@ jobs:
        with:
          path: ${{env.SCONS_CACHE_DIR}}
          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
-          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
          restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.ref_name }}
            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
            scons-${{ runner.os }}-${{ runner.arch }}
@@ -120,7 +119,6 @@ jobs:
          if [[ "${{ runner.debug }}" == "1" ]]; then
            printenv
          fi
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable

      - name: Build Panda
        run: |
@@ -189,11 +187,6 @@ jobs:
          name: prebuilt
          path: prebuilt.tar.gz

-      - name: Re-enable powersave
-        if: always()
-        run: |
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
-
  publish:
    concurrency:
      group: publish-${{ github.head_ref || github.ref_name }}
@@ -86,7 +86,7 @@ jobs:
        run: >-
          sudo apt-get install -y imagemagick

-          scenes="homescreen settings_device 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"
+          scenes="homescreen settings_device settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads 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"
          A=($scenes)

          DIFF=""
@@ -74,9 +74,6 @@ comma*.sh
 selfdrive/modeld/thneed/compile
 selfdrive/modeld/models/*.thneed
 selfdrive/modeld/models/*.pkl
-sunnypilot/modeld/thneed/compile
-sunnypilot/modeld/models/*.thneed
-sunnypilot/modeld/models/*.pkl

 *.bz2
 *.zst
@@ -15,4 +15,4 @@
  url = https://github.com/commaai/teleoprtc
 [submodule "tinygrad"]
  path = tinygrad_repo
-  url = https://github.com/commaai/tinygrad.git
+  url = https://github.com/tinygrad/tinygrad.git
@@ -1,23 +1,16 @@
-Version 0.9.9 (2025-03-30)
-========================
-* Coming soon
-  * Rivian support
-  * F-150 & Mach-E support
-  * Tesla Model 3 support
-
-Version 0.9.8 (2025-01-30)
+Version 0.9.8 (2024-XX-XX)
 ========================
+* New driving model
+  * Trained in brand new ML simulator
+  * Model now gates applying positive accel in Chill mode
 * New driving monitoring model
  * Reduced false positives related to passengers
 * Image processing pipeline moved to the ISP
  * More GPU time for driving models
-  * Power draw reduced 0.5W, which means your device runs cooler
+  * Power draw reduced 0.5W, which means your device runs cooler 
 * Added toggle to enable driver monitoring even when openpilot is not engaged
 * Enable openpilot longitudinal control for Ford Q3 vehicles
 * New Toyota TSS2 longitudinal tune
-* Coming soon
-  * New driving model with gas gating
-  * Training data upload mode

 Version 0.9.7 (2024-06-13)
 ========================
@@ -392,8 +392,6 @@ SConscript(['third_party/SConscript'])

 SConscript(['selfdrive/SConscript'])

-SConscript(['sunnypilot/SConscript'])
-
 if Dir('#tools/cabana/').exists() and GetOption('extras'):
  SConscript(['tools/replay/SConscript'])
  if arch != "larch64":
@@ -29,50 +29,6 @@ then means breaking backwards-compatibility with all old logs of your fork. So w
 [custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
 fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**

-An example of compatible changes:
-```diff
-diff --git a/cereal/custom.capnp b/cereal/custom.capnp
-index 3348e859e..3365c7b98 100644
--- a/cereal/custom.capnp
-+++ b/cereal/custom.capnp
-@@ -10,7 +10,11 @@ $Cxx.namespace("cereal");
- # DO rename the structs
- # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
-
-struct CustomReserved0 @0x81c2f05a394cf4af {
-+struct SteeringInfo @0x81c2f05a394cf4af {
-+  active @0 :Bool;
-+  steeringAngleDeg @1 :Float32;
-+  steeringRateDeg @2 :Float32;
-+  steeringAccelDeg @3 :Float32;
- }
-
- struct CustomReserved1 @0xaedffd8f31e7b55d {
-diff --git a/cereal/log.capnp b/cereal/log.capnp
-index 1209f3fd9..b189f58b6 100644
--- a/cereal/log.capnp
-+++ b/cereal/log.capnp
-@@ -2558,14 +2558,14 @@ struct Event {
-
-     # DO change the name of the field
-     # DON'T change anything after the "@"
-    customReservedRawData0 @124 :Data;
-+    rawCanData @124 :Data;
-     customReservedRawData1 @125 :Data;
-     customReservedRawData2 @126 :Data;
-
-     # DO change the name of the field and struct
-     # DON'T change the ID (e.g. @107)
-     # DON'T change which struct it points to
-    customReserved0 @107 :Custom.CustomReserved0;
-+    steeringInfo @107 :Custom.SteeringInfo;
-     customReserved1 @108 :Custom.CustomReserved1;
-     customReserved2 @109 :Custom.CustomReserved2;
-     customReserved3 @110 :Custom.CustomReserved3;
-```
-
---
-
 Example
 ---
 ```python
@@ -7,9 +7,7 @@ $Cxx.namespace("cereal");
 # These structs are guaranteed to remain reserved and empty in mainline
 # cereal, so use these if you want custom events in your fork.

-# DO rename the structs
-# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
-
+# you can rename the struct, but don't change the identifier
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
  mads @0 :ModularAssistiveDrivingSystem;

@@ -67,11 +65,6 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
    eta @2 :UInt32;
  }

-  enum Runner {
-    snpe @0;
-    tinygrad @1;
-  }
-
  struct ModelBundle {
    index @0 :UInt32;
    internalName @1 :Text;
@@ -80,23 +73,10 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
    status @4 :DownloadStatus;
    generation @5 :UInt32;
    environment @6 :Text;
-    runner @7 :Runner;
  }
 }

-struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
-  dec @0 :DynamicExperimentalControl;
-
-  struct DynamicExperimentalControl {
-    state @0 :DynamicExperimentalControlState;
-    enabled @1 :Bool;
-    active @2 :Bool;
-
-    enum DynamicExperimentalControlState {
-      acc @0;
-      blended @1;
-    }
-  }
+struct CustomReserved2 @0xf35cc4560bbf6ec2 {
 }

 struct CustomReserved3 @0xda96579883444c35 {
@@ -119,33 +99,3 @@ struct CustomReserved8 @0xf416ec09499d9d19 {

 struct CustomReserved9 @0xa1680744031fdb2d {
 }
-
-struct CustomReserved10 @0xcb9fd56c7057593a {
-}
-
-struct CustomReserved11 @0xc2243c65e0340384 {
-}
-
-struct CustomReserved12 @0x9ccdc8676701b412 {
-}
-
-struct CustomReserved13 @0xcd96dafb67a082d0 {
-}
-
-struct CustomReserved14 @0xb057204d7deadf3f {
-}
-
-struct CustomReserved15 @0xbd443b539493bc68 {
-}
-
-struct CustomReserved16 @0xfc6241ed8877b611 {
-}
-
-struct CustomReserved17 @0xa30662f84033036c {
-}
-
-struct CustomReserved18 @0xc86a3d38d13eb3ef {
-}
-
-struct CustomReserved19 @0xa4f1eb3323f5f582 {
-}
@@ -198,8 +198,6 @@ struct OnroadEvent @0xc4fa6047f024e718 {
    silentSeatbeltNotLatched @161;
    silentParkBrake @162;
    controlsMismatchLateral @163;
-    hyundaiRadarTracksConfirmed @164;
-    experimentalModeSwitched @165;

    soundsUnavailableDEPRECATED @47;
  }
@@ -484,7 +482,6 @@ struct GpsLocationData {
  speedAccuracy @12 :Float32;

  hasFix @13 :Bool;
-  satelliteCount @14 :Int8;

  enum SensorSource {
    android @0;
@@ -2629,20 +2626,14 @@ struct Event {
    livestreamWideRoadEncodeData @121 :EncodeData;
    livestreamDriverEncodeData @122 :EncodeData;

-    # *********** Custom: reserved for forks ***********
-
-    # DO change the name of the field
-    # DON'T change anything after the "@"
    customReservedRawData0 @124 :Data;
    customReservedRawData1 @125 :Data;
    customReservedRawData2 @126 :Data;

-    # DO change the name of the field and struct
-    # DON'T change the ID (e.g. @107)
-    # DON'T change which struct it points to
+    # *********** Custom: reserved for forks ***********
    selfdriveStateSP @107 :Custom.SelfdriveStateSP;
    modelManagerSP @108 :Custom.ModelManagerSP;
-    longitudinalPlanSP @109 :Custom.LongitudinalPlanSP;
+    customReserved2 @109 :Custom.CustomReserved2;
    customReserved3 @110 :Custom.CustomReserved3;
    customReserved4 @111 :Custom.CustomReserved4;
    customReserved5 @112 :Custom.CustomReserved5;
@@ -2650,16 +2641,6 @@ struct Event {
    customReserved7 @114 :Custom.CustomReserved7;
    customReserved8 @115 :Custom.CustomReserved8;
    customReserved9 @116 :Custom.CustomReserved9;
-    customReserved10 @136 :Custom.CustomReserved10;
-    customReserved11 @137 :Custom.CustomReserved11;
-    customReserved12 @138 :Custom.CustomReserved12;
-    customReserved13 @139 :Custom.CustomReserved13;
-    customReserved14 @140 :Custom.CustomReserved14;
-    customReserved15 @141 :Custom.CustomReserved15;
-    customReserved16 @142 :Custom.CustomReserved16;
-    customReserved17 @143 :Custom.CustomReserved17;
-    customReserved18 @144 :Custom.CustomReserved18;
-    customReserved19 @145 :Custom.CustomReserved19;

    # *********** legacy + deprecated ***********
    model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
@@ -77,7 +77,6 @@ _services: dict[str, tuple] = {
  # sunnypilot
  "modelManagerSP": (False, 1., 1),
  "selfdriveStateSP": (True, 100., 10),
-  "longitudinalPlanSP": (True, 20., 10),

  # debug
  "uiDebug": (True, 0., 1),
@@ -79,10 +79,6 @@ cl_context cl_create_context(cl_device_id device_id) {
  return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
 }

-void cl_release_context(cl_context context) {
-  clReleaseContext(context);
-}
-
 cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
  return cl_program_from_source(ctx, device_id, util::read_file(path), args);
 }
@@ -23,7 +23,6 @@

 cl_device_id cl_get_device_id(cl_device_type device_type);
 cl_context cl_create_context(cl_device_id device_id);
-void cl_release_context(cl_context context);
 cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
 cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr);
 cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
@@ -201,9 +201,7 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"Version", PERSISTENT},

    // --- sunnypilot params --- //
-    {"ApiCache_DriveStats", PERSISTENT},
    {"EnableGithubRunner", PERSISTENT | BACKUP},
-    {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},

    // MADS params
    {"Mads", PERSISTENT | BACKUP},
@@ -223,14 +221,6 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"SunnylinkDongleId", PERSISTENT},
    {"SunnylinkdPid", PERSISTENT},
    {"SunnylinkEnabled", PERSISTENT},
-
-    // sunnypilot car specific params
-    {"HyundaiRadarTracks", PERSISTENT},
-    {"HyundaiRadarTracksConfirmed", PERSISTENT},
-    {"HyundaiRadarTracksPersistent", PERSISTENT},
-    {"HyundaiRadarTracksToggle", PERSISTENT},
-
-    {"DynamicExperimentalControl", PERSISTENT},
 };

 } // namespace
@@ -1,6 +1,9 @@
 import numpy as np
 from numbers import Number

+from openpilot.common.numpy_fast import clip, interp
+
+
 class PIDController:
  def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
    self._k_p = k_p
@@ -25,15 +28,15 @@ class PIDController:

  @property
  def k_p(self):
-    return np.interp(self.speed, self._k_p[0], self._k_p[1])
+    return interp(self.speed, self._k_p[0], self._k_p[1])

  @property
  def k_i(self):
-    return np.interp(self.speed, self._k_i[0], self._k_i[1])
+    return interp(self.speed, self._k_i[0], self._k_i[1])

  @property
  def k_d(self):
-    return np.interp(self.speed, self._k_d[0], self._k_d[1])
+    return interp(self.speed, self._k_d[0], self._k_d[1])

  @property
  def error_integral(self):
@@ -61,10 +64,10 @@ class PIDController:

        # Clip i to prevent exceeding control limits
        control_no_i = self.p + self.d + self.f
-        control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
-        self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
+        control_no_i = clip(control_no_i, self.neg_limit, self.pos_limit)
+        self.i = clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)

    control = self.p + self.i + self.d + self.f

-    self.control = np.clip(control, self.neg_limit, self.pos_limit)
+    self.control = clip(control, self.neg_limit, self.pos_limit)
    return self.control
@@ -26,9 +26,6 @@ public:
    zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout));
    zmq_connect(sock, Path::swaglog_ipc().c_str());

-    // workaround for https://github.com/dropbox/json11/issues/38
-    setlocale(LC_NUMERIC, "C");
-
    print_level = CLOUDLOG_WARNING;
    if (const char* print_lvl = getenv("LOGPRINT")) {
      if (strcmp(print_lvl, "debug") == 0) {
@@ -0,0 +1,21 @@
+import numpy as np
+
+from openpilot.common.numpy_fast import interp
+
+
+class TestInterp:
+  def test_correctness_controls(self):
+    _A_CRUISE_MIN_BP = np.asarray([0., 5., 10., 20., 40.])
+    _A_CRUISE_MIN_V = np.asarray([-1.0, -.8, -.67, -.5, -.30])
+    v_ego_arr = [-1, -1e-12, 0, 4, 5, 6, 7, 10, 11, 15.2, 20, 21, 39,
+                 39.999999, 40, 41]
+
+    expected = np.interp(v_ego_arr, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
+    actual = interp(v_ego_arr, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
+
+    np.testing.assert_equal(actual, expected)
+
+    for v_ego in v_ego_arr:
+      expected = np.interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
+      actual = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
+      np.testing.assert_equal(actual, expected)
@@ -294,17 +294,4 @@ std::string check_output(const std::string& command) {
  return result;
 }

-bool system_time_valid() {
-  // Default to August 26, 2024
-  tm min_tm = {.tm_year = 2024 - 1900, .tm_mon = 7, .tm_mday = 26};
-  time_t min_date = mktime(&min_tm);
-
-  struct stat st;
-  if (stat("/lib/systemd/systemd", &st) == 0) {
-    min_date = std::max(min_date, st.st_mtime + 86400);  // Add 1 day (86400 seconds)
-  }
-
-  return time(nullptr) > min_date;
-}
-
 }  // namespace util
@@ -96,8 +96,6 @@ bool create_directories(const std::string &dir, mode_t mode);

 std::string check_output(const std::string& command);

-bool system_time_valid();
-
 inline void sleep_for(const int milliseconds) {
  if (milliseconds > 0) {
    std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
@@ -88,7 +88,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2019">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-20">Buy Here</a></sub></details>||
+|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
@@ -4,7 +4,6 @@ set -e
 # Default values
 DEFAULT_REPO_URL="https://github.com/sunnypilot"
 START_AT_BOOT=false
-RESTORE_MODE=false

 # Parse command line arguments
 while [[ $# -gt 0 ]]; do
@@ -21,10 +20,6 @@ while [[ $# -gt 0 ]]; do
            REPO_URL="$2"
            shift 2
            ;;
-        --restore)
-            RESTORE_MODE=true
-            shift
-            ;;
        *)
            if [ -z "$GITHUB_TOKEN" ]; then
                GITHUB_TOKEN="$1"
@@ -36,6 +31,19 @@ while [[ $# -gt 0 ]]; do
    esac
 done

+# Check required arguments
+if [ -z "$GITHUB_TOKEN" ]; then
+    echo "Usage: $0 [--start-at-boot] [--token <github_token>] [--repo <repository_url>]"
+    echo "Required argument: github_token"
+    echo "Optional arguments:"
+    echo "  --start-at-boot    Enable auto-start at boot (default: false)"
+    echo "  --repo            Repository URL (default: ${DEFAULT_REPO_URL})"
+    exit 1
+fi
+
+# Set repository URL if not provided
+REPO_URL="${REPO_URL:-$DEFAULT_REPO_URL}"
+
 # Determine BASE_DIR based on mount point
 if mountpoint -q /data/media; then
    BASE_DIR="/data/media/0/github"
@@ -52,19 +60,20 @@ LOGS_DIR="${BASE_DIR}/logs"
 CACHE_DIR="${BASE_DIR}/cache"
 OPENPILOT_DIR="${BASE_DIR}/openpilot"

-# Basic utility functions (no dependencies)
-remount_rw() {
-    sudo mount -o remount,rw /
+create_directories() {
+    sudo mkdir -p "$RUNNER_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
+    mkdir -p "/data/openpilot"
+    sudo chown -R comma:comma "/data/openpilot"
 }

-remount_ro() {
-    sync || true  # Try to sync but continue even if it fails
-    sudo mount -o remount,ro /  # Always try to remount as read-only
+download_and_setup_runner() {
+    cd "$RUNNER_DIR"
+    curl -o actions-runner-linux-arm64-2.321.0.tar.gz -L https://github.com/actions/runner/releases/download/v2.321.0/actions-runner-linux-arm64-2.321.0.tar.gz
+    tar xzf ./actions-runner-linux-arm64-2.321.0.tar.gz
+    rm ./actions-runner-linux-arm64-2.321.0.tar.gz
+    chmod +x ./config.sh
 }

-# Always ensure we try to remount as read-only on exit
-trap remount_ro EXIT
-
 setup_runner_user() {
    sudo useradd --comment 'GitHub Runner' --create-home --home-dir ${BASE_DIR} ${RUNNER_USER} --shell /bin/bash -G ${USER_GROUPS} || sudo usermod -aG ${USER_GROUPS} ${RUNNER_USER}
    export BASE_DIR
@@ -75,45 +84,18 @@ create_sudoers_entry() {
    sudo grep -qxF "${RUNNER_USER} ALL=(ALL) NOPASSWD: ALL" /etc/sudoers || echo "${RUNNER_USER} ALL=(ALL) NOPASSWD: ALL" | sudo tee -a /etc/sudoers
 }

+configure_runner() {
+    cd "$RUNNER_DIR"
+    sudo -u ${RUNNER_USER} ./config.sh --url "$REPO_URL" --token "$GITHUB_TOKEN" --name $(hostname) --runnergroup "tici-tizi" --labels "tici" --work "$BUILDS_DIR" --unattended
+}
+
 set_directory_permissions() {
    sudo chown -R ${RUNNER_USER}:comma "$BASE_DIR"
    sudo chmod g+rwx "$BASE_DIR"
    sudo chmod g+s "$BASE_DIR"
 }

-setup_directories() {
-    echo "Creating necessary directories..."
-    sudo mkdir -p "$RUNNER_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
-    mkdir -p "/data/openpilot"
-    sudo chown -R comma:comma "/data/openpilot"
-}
-
-# System configuration functions (depends on basic utility functions)
-setup_system_configs() {
-    echo "Setting up system configurations..."
-    setup_runner_user
-    create_sudoers_entry
-    set_directory_permissions
-}
-
-# Runner setup functions
-install_runner() {
-    echo "Downloading and setting up runner..."
-    cd "$RUNNER_DIR"
-    curl -o actions-runner-linux-arm64-2.321.0.tar.gz -L https://github.com/actions/runner/releases/download/v2.321.0/actions-runner-linux-arm64-2.321.0.tar.gz
-    tar xzf ./actions-runner-linux-arm64-2.321.0.tar.gz
-    rm ./actions-runner-linux-arm64-2.321.0.tar.gz
-    chmod +x ./config.sh
-}
-
-configure_runner() {
-    echo "Configuring runner..."
-    cd "$RUNNER_DIR"
-    sudo -u ${RUNNER_USER} ./config.sh --url "$REPO_URL" --token "$GITHUB_TOKEN" --name $(hostname) --runnergroup "tici-tizi" --labels "tici" --work "$BUILDS_DIR" --unattended
-}
-
-create_service_template() {
-    echo "Creating service template..."
+modify_service_template() {
    cat <<EOL > "$RUNNER_DIR/bin/actions.runner.service.template"
 [Unit]
 Description={{Description}}
@@ -138,116 +120,28 @@ WantedBy=multi-user.target
 EOL
 }

-install_service() {
-    echo "Installing systemd service..."
-    cd "$RUNNER_DIR"
-    sudo ./svc.sh install $RUNNER_USER
+# Make filesystem writable
+sudo mount -o remount,rw /

-    if [ "$START_AT_BOOT" = false ]; then
-        local service_name
-        if [ -f "${RUNNER_DIR}/.service" ]; then
-            service_name=$(cat "${RUNNER_DIR}/.service")
-        else
-            service_name="actions.runner.sunnypilot.$(uname -n)"
-        fi
-        sudo systemctl disable "${service_name}"
-    fi
-}
+# Ensure filesystem is remounted as read-only on script exit
+trap "sudo mount -o remount,ro /" EXIT

-check_restore_prerequisites() {
-    local needs_restore=false
-    local can_restore=false
-    local service_name=""
+# Execute installation steps
+setup_runner_user
+create_sudoers_entry
+create_directories
+download_and_setup_runner
+modify_service_template
+configure_runner
+set_directory_permissions

-    # Check if base runner directory exists
-    if [ ! -d "${RUNNER_DIR}" ]; then
-        echo "ERROR: Runner directory ${RUNNER_DIR} does not exist"
-        echo "This directory is required for restore operations"
-        exit 1
-    fi
+# Install and start service using built-in installer
+cd "$RUNNER_DIR"
+sudo ./svc.sh install $RUNNER_USER

-    # First check if we have the required files for restoration
-    if [ -f "${RUNNER_DIR}/.credentials" ] && [ -f "${RUNNER_DIR}/.service" ]; then
-        can_restore=true
-        service_name=$(cat "${RUNNER_DIR}/.service")
-        echo "Found required runner configuration files"
-    else
-        echo "Missing required runner configuration files"
-        echo "Required: .credentials and .service files in ${RUNNER_DIR}"
-        exit 1
-    fi
+# Handle auto-start configuration
+if [ "$START_AT_BOOT" = false ]; then
+    sudo systemctl disable actions.runner.sunnypilot.$(uname -n)
+fi

-    # Then check if restoration is needed (if either service or user is missing)
-    if ! systemctl list-unit-files "${service_name}" &>/dev/null; then
-        echo "Service ${service_name} not found in systemd"
-        needs_restore=true
-    fi
-
-    if ! id "${RUNNER_USER}" &>/dev/null; then
-        echo "User ${RUNNER_USER} does not exist"
-        needs_restore=true
-    fi
-
-    # Only proceed if we can restore AND need to restore
-    if [ "$can_restore" = true ] && [ "$needs_restore" = true ]; then
-        echo "Restoration is needed and possible"
-        return 0
-    else
-        if [ "$needs_restore" = false ]; then
-            echo "System is already properly configured (user and service exist)"
-        fi
-        exit 0
-    fi
-}
-
-perform_restore() {
-    echo "Starting runner restoration..."
-    setup_directories
-    remount_rw
-    setup_system_configs
-    install_service
-    remount_ro
-    echo "Runner restoration completed successfully"
-}
-
-perform_install() {
-    echo "Starting fresh installation..."
-    setup_directories
-    install_runner
-    create_service_template
-    remount_rw
-    setup_system_configs
-    configure_runner
-    install_service
-    remount_ro
-    echo "Installation completed successfully"
-}
-
-main() {
-    if [ "$RESTORE_MODE" = true ]; then
-        echo "Running in restore mode - will only restore system configurations..."
-        check_restore_prerequisites
-        perform_restore
-    else
-        # Check required arguments for normal installation
-        if [ -z "$GITHUB_TOKEN" ]; then
-            echo "Usage: $0 [--start-at-boot] [--token <github_token>] [--repo <repository_url>] [--restore]"
-            echo "Required argument (except for --restore): github_token"
-            echo "Optional arguments:"
-            echo "  --start-at-boot    Enable auto-start at boot (default: false)"
-            echo "  --repo            Repository URL (default: ${DEFAULT_REPO_URL})"
-            echo "  --restore         Restore existing runner configuration"
-            exit 1
-        fi
-
-        # Set repository URL if not provided
-        REPO_URL="${REPO_URL:-$DEFAULT_REPO_URL}"
-        perform_install
-    fi
-
-    echo "Starting runner service..."
-    cd "$RUNNER_DIR"
-    sudo ./svc.sh start
-}
-
-main
+sudo ./svc.sh start
@@ -6,11 +6,41 @@ from pathlib import Path
 HERE = os.path.abspath(os.path.dirname(__file__))
 ROOT = HERE + "/.."

+# blacklisting is for two purposes:
+# - minimizing release download size
+# - keeping the diff readable
 blacklist = [
-  ".git/",
+  "panda/drivers/",
+  "panda/examples/",
+  "panda/tests/safety/",
+
+  "opendbc_repo/dbc/.*.dbc$",
+  "opendbc_repo/dbc/generator/",
+
+  "cereal/.*test.*",
+  "^common/tests/",
+
+  # particularly large text files
+  "uv.lock",
+  "third_party/catch2",
+  "selfdrive/car/tests/test_models.*",
+
+  "^tools/",
+  "^tinygrad_repo/",

  "matlab.*.md",

+  ".git/",
+  ".github/",
+  ".devcontainer/",
+  "Darwin/",
+  ".vscode",
+
+  # common things
+  "LICENSE",
+  "Dockerfile",
+  ".pre-commit",
+
  # no LFS or submodules in release
  ".lfsconfig",
  ".gitattributes",
@@ -18,10 +48,153 @@ blacklist = [
  ".gitmodules",
 ]

-# gets you through the blacklist
-whitelist: list[str] = [
+# Sunnypilot blacklist
+sunnypilot_blacklist = [
+  "system/loggerd/sunnylink_uploader.py",  # Temporarily, until we are ready to roll it out widely
+  ".idea/",
+  ".run/",
+  ".*__pycache__/.*",
+  ".*\\.pyc",
+  "teleoprtc/*",
+  "third_party/snpe/x86_64/*",
+  "body/board/canloader.py",
+  "body/board/flash_base.sh",
+  "body/board/flash_knee.sh",
+  "body/board/recover.sh",
+  ".*/test/",
+  ".*/tests/",
+  ".*tinygrad_repo/tinygrad/renderer/",
+  "README.md",
+  ".*internal/",
+  "docs/.*",
+  ".sconsign.dblite",
+  "release/ci/scons_cache/",
+  ".gitlab-ci.yml",
+  ".clang-tidy",
+  ".dockerignore",
+  ".editorconfig",
+  ".python-version",
+  "SECURITY.md",
+  "codecov.yml",
+  "conftest.py",
+  "poetry.lock",
+  ".venv/",
 ]

+# Merge the blacklists
+blacklist += sunnypilot_blacklist
+
+# gets you through the blacklist
+whitelist = [
+  "tools/lib/",
+  "tools/bodyteleop/",
+  "tools/joystick/",
+  "tools/longitudinal_maneuvers/",
+
+  "tinygrad_repo/examples/openpilot/compile3.py",
+  "tinygrad_repo/extra/onnx.py",
+  "tinygrad_repo/extra/onnx_ops.py",
+  "tinygrad_repo/extra/thneed.py",
+  "tinygrad_repo/extra/utils.py",
+  "tinygrad_repo/tinygrad/codegen/kernel.py",
+  "tinygrad_repo/tinygrad/codegen/linearizer.py",
+  "tinygrad_repo/tinygrad/features/image.py",
+  "tinygrad_repo/tinygrad/features/search.py",
+  "tinygrad_repo/tinygrad/nn/*",
+  "tinygrad_repo/tinygrad/renderer/cstyle.py",
+  "tinygrad_repo/tinygrad/renderer/opencl.py",
+  "tinygrad_repo/tinygrad/runtime/lib.py",
+  "tinygrad_repo/tinygrad/runtime/ops_cpu.py",
+  "tinygrad_repo/tinygrad/runtime/ops_disk.py",
+  "tinygrad_repo/tinygrad/runtime/ops_gpu.py",
+  "tinygrad_repo/tinygrad/shape/*",
+  "tinygrad_repo/tinygrad/.*.py",
+
+  # TODO: do this automatically
+  "opendbc_repo/dbc/comma_body.dbc",
+  "opendbc_repo/dbc/chrysler_ram_hd_generated.dbc",
+  "opendbc_repo/dbc/chrysler_ram_dt_generated.dbc",
+  "opendbc_repo/dbc/chrysler_pacifica_2017_hybrid_generated.dbc",
+  "opendbc_repo/dbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc",
+  "opendbc_repo/dbc/gm_global_a_powertrain_generated.dbc",
+  "opendbc_repo/dbc/gm_global_a_object.dbc",
+  "opendbc_repo/dbc/gm_global_a_chassis.dbc",
+  "opendbc_repo/dbc/FORD_CADS.dbc",
+  "opendbc_repo/dbc/ford_fusion_2018_adas.dbc",
+  "opendbc_repo/dbc/ford_lincoln_base_pt.dbc",
+  "opendbc_repo/dbc/honda_accord_2018_can_generated.dbc",
+  "opendbc_repo/dbc/acura_ilx_2016_can_generated.dbc",
+  "opendbc_repo/dbc/acura_rdx_2018_can_generated.dbc",
+  "opendbc_repo/dbc/acura_rdx_2020_can_generated.dbc",
+  "opendbc_repo/dbc/honda_civic_touring_2016_can_generated.dbc",
+  "opendbc_repo/dbc/honda_civic_hatchback_ex_2017_can_generated.dbc",
+  "opendbc_repo/dbc/honda_crv_touring_2016_can_generated.dbc",
+  "opendbc_repo/dbc/honda_crv_ex_2017_can_generated.dbc",
+  "opendbc_repo/dbc/honda_crv_ex_2017_body_generated.dbc",
+  "opendbc_repo/dbc/honda_crv_executive_2016_can_generated.dbc",
+  "opendbc_repo/dbc/honda_fit_ex_2018_can_generated.dbc",
+  "opendbc_repo/dbc/honda_odyssey_exl_2018_generated.dbc",
+  "opendbc_repo/dbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc",
+  "opendbc_repo/dbc/honda_insight_ex_2019_can_generated.dbc",
+  "opendbc_repo/dbc/acura_ilx_2016_nidec.dbc",
+  "opendbc_repo/dbc/honda_civic_ex_2022_can_generated.dbc",
+  "opendbc_repo/dbc/hyundai_canfd.dbc",
+  "opendbc_repo/dbc/hyundai_kia_generic.dbc",
+  "opendbc_repo/dbc/hyundai_kia_mando_front_radar_generated.dbc",
+  "opendbc_repo/dbc/mazda_2017.dbc",
+  "opendbc_repo/dbc/nissan_x_trail_2017_generated.dbc",
+  "opendbc_repo/dbc/nissan_leaf_2018_generated.dbc",
+  "opendbc_repo/dbc/subaru_global_2017_generated.dbc",
+  "opendbc_repo/dbc/subaru_global_2020_hybrid_generated.dbc",
+  "opendbc_repo/dbc/subaru_outback_2015_generated.dbc",
+  "opendbc_repo/dbc/subaru_outback_2019_generated.dbc",
+  "opendbc_repo/dbc/subaru_forester_2017_generated.dbc",
+  "opendbc_repo/dbc/toyota_tnga_k_pt_generated.dbc",
+  "opendbc_repo/dbc/toyota_new_mc_pt_generated.dbc",
+  "opendbc_repo/dbc/toyota_nodsu_pt_generated.dbc",
+  "opendbc_repo/dbc/toyota_adas.dbc",
+  "opendbc_repo/dbc/toyota_tss2_adas.dbc",
+  "opendbc_repo/dbc/vw_golf_mk4.dbc",
+  "opendbc_repo/dbc/vw_mqb_2010.dbc",
+  "opendbc_repo/dbc/tesla_can.dbc",
+  "opendbc_repo/dbc/tesla_radar_bosch_generated.dbc",
+  "opendbc_repo/dbc/tesla_radar_continental_generated.dbc",
+  "opendbc_repo/dbc/tesla_powertrain.dbc",
+]
+
+# Sunnypilot whitelist
+sunnypilot_whitelist = [
+  "^README.md",
+  ".*selfdrive/test/fuzzy_generation.py",
+  ".*selfdrive/test/helpers.py",
+  ".*selfdrive/test/__init__.py",
+  ".*selfdrive/test/setup_device_ci.sh",
+  ".*selfdrive/test/test_time_to_onroad.py",
+  ".*selfdrive/test/test_onroad.py",
+  ".*system/manager/test/test_manager.py",
+  ".*system/manager/test/__init__.py",
+  ".*system/qcomgpsd/tests/test_qcomgpsd.py",
+  ".*system/updated/casync/tests/test_casync.py",
+  ".*system/updated/tests/test_git.py",
+  ".*system/updated/tests/test_base.py",
+  ".*selfdrive/ui/tests/test_translations.py",
+  ".*selfdrive/car/tests/__init__.py",
+  ".*selfdrive/car/tests/test_car_interfaces.py",
+  ".*selfdrive/navd/tests/test_navd.py",
+  ".*selfdrive/navd/tests/test_map_renderer.py",
+  ".*selfdrive/boardd/tests/test_boardd_loopback.py",
+  ".*INTEGRATION.md",
+  ".*HOW-TOS.md",
+  ".*CARS.md",
+  ".*LIMITATIONS.md",
+  ".*CONTRIBUTING.md",
+  ".*sunnyhaibin0850_qrcode_paypal.me.png",
+  "opendbc/.*.dbc",
+]
+
+# Merge the whitelists
+whitelist += sunnypilot_whitelist
+

 if __name__ == "__main__":
  for f in Path(ROOT).rglob("**/*"):
@@ -1,27 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import multiprocessing
-from openpilot.system.hardware import HARDWARE
-
-
-def main():
-  parser = argparse.ArgumentParser(description='Control power saving mode')
-  parser.add_argument('--enable', action='store_true', help='Enable power saving mode')
-  parser.add_argument('--disable', action='store_true', help='Disable power saving mode')
-  args = parser.parse_args()
-
-  if args.enable and args.disable:
-    parser.error("Cannot specify both --enable and --disable")
-  elif not (args.enable or args.disable):
-    parser.error("Must specify either --enable or --disable")
-
-  print(f"Number of CPU cores available before: [{multiprocessing.cpu_count()}]")
-  HARDWARE.set_power_save(args.enable)
-
-  state = "enabled" if args.enable else "disabled"
-  print(f"Power save mode set to: [{state}]")
-  print(f"Number of CPU cores available now: [{multiprocessing.cpu_count()}]")
-
-
-if __name__ == "__main__":
-  main()
@@ -122,7 +122,7 @@ class CarSpecificEvents:

    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,
+                                         pcm_enable=not self.CP.openpilotLongitudinalControl,
                                         enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))

      # Low speed steer alert hysteresis logic
@@ -149,7 +149,7 @@ class CarSpecificEvents:
      # Main button also can trigger an engagement on these cars
      self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.buttonEvents))
      events = self.create_common_events(CS, CS_prev, extra_gears=(GearShifter.sport, GearShifter.manumatic),
-                                         pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons), allow_button_cancel=False)
+                                         pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons))

      # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
      if CS.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
@@ -165,7 +165,7 @@ class CarSpecificEvents:
    return events

  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
-                           allow_enable=True, allow_button_cancel=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
+                           allow_enable=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
    events = Events()

    if CS.doorOpen:
@@ -216,8 +216,7 @@ class CarSpecificEvents:
      if not self.CP.pcmCruise and (b.type in enable_buttons and not b.pressed):
        events.add(EventName.buttonEnable)
      # Disable on rising and falling edge of cancel for both stock and OP long
-      # TODO: only check the cancel button with openpilot longitudinal on all brands to match panda safety
-      if b.type == ButtonType.cancel and (allow_button_cancel or not self.CP.pcmCruise):
+      if b.type == ButtonType.cancel:
        events.add(EventName.buttonCancel)

    # Handle permanent and temporary steering faults
@@ -23,7 +23,6 @@ from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState

 from openpilot.sunnypilot.mads.mads import MadsParams
-from openpilot.sunnypilot.selfdrive.car import interfaces

 REPLAY = "REPLAY" in os.environ

@@ -75,7 +74,6 @@ class Car:
    self.can_rcv_cum_timeout_counter = 0

    self.CC_prev = car.CarControl.new_message()
-    self.CS_prev = car.CarState.new_message()
    self.initialized_prev = False

    self.last_actuators_output = structs.CarControl.Actuators()
@@ -102,7 +100,6 @@ class Car:
          cached_params = _cached_params

      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.params)
      self.RI = get_radar_interface(self.CI.CP)
      self.CP = self.CI.CP

@@ -122,9 +119,6 @@ class Car:
    MadsParams().set_alternative_experience(self.CP)
    MadsParams().set_car_specific_params(self.CP)

-    # Dynamic Experimental Control
-    self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
-
    openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")

    controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
@@ -136,15 +130,6 @@ class Car:
      self.CP.safetyConfigs = [safety_config]

    if self.CP.secOcRequired and not self.params.get_bool("IsReleaseBranch"):
-      # Copy user key if available
-      try:
-        with open("/cache/params/SecOCKey") as f:
-          user_key = f.readline().strip()
-          if len(user_key) == 32:
-            self.params.put("SecOCKey", user_key)
-      except Exception:
-        pass
-
      secoc_key = self.params.get("SecOCKey", encoding='utf8')
      if secoc_key is not None:
        saved_secoc_key = bytes.fromhex(secoc_key.strip())
@@ -176,9 +161,6 @@ class Car:
    # card is driven by can recv, expected at 100Hz
    self.rk = Ratekeeper(100, print_delay_threshold=None)

-    # log fingerprint in sentry
-    interfaces.log_fingerprint(self.CP)
-
  def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
    """carState update loop, driven by can"""

@@ -204,12 +186,8 @@ class Car:
    if can_rcv_valid and REPLAY:
      self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime

-    self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
-    if self.sm['carControl'].enabled and not self.CC_prev.enabled:
-      # Use CarState w/ buttons from the step selfdrived enables on
-      self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode, self.dynamic_experimental_control)
-
    # TODO: mirror the carState.cruiseState struct?
+    self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
    CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
    CS.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)

@@ -252,7 +230,6 @@ class Car:
      # Initialize CarInterface, once controls are ready
      # TODO: this can make us miss at least a few cycles when doing an ECU knockout
      self.CI.init(self.CP, *self.can_callbacks)
-      interfaces.initialize_car_interface_sp(self.CP, self.params, *self.can_callbacks)
      # signal pandad to switch to car safety mode
      self.params.put_bool_nonblocking("ControlsReady", True)

@@ -267,6 +244,9 @@ class Car:
  def step(self):
    CS, RD = self.state_update()

+    if self.sm['carControl'].enabled and not self.CC_prev.enabled:
+      self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
+
    self.state_publish(CS, RD)

    initialized = (not any(e.name == EventName.selfdriveInitializing for e in self.sm['onroadEvents']) and
@@ -275,16 +255,11 @@ class Car:
      self.controls_update(CS, self.sm['carControl'])

    self.initialized_prev = initialized
-    self.CS_prev = CS

  def params_thread(self, evt):
    while not evt.is_set():
      self.is_metric = self.params.get_bool("IsMetric")
      self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
-
-      # sunnypilot
-      self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
-
      time.sleep(0.1)

  def card_thread(self):
@@ -1,8 +1,8 @@
 import math
-import numpy as np

 from cereal import car
 from openpilot.common.conversions import Conversions as CV
+from openpilot.common.numpy_fast import clip


 # WARNING: this value was determined based on the model's training distribution,
@@ -106,7 +106,7 @@ class VCruiseHelper:
    if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
      self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)

-    self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
+    self.v_cruise_kph = clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)

  def update_button_timers(self, CS, enabled):
    # increment timer for buttons still pressed
@@ -120,17 +120,16 @@ class VCruiseHelper:
        self.button_timers[b.type.raw] = 1 if b.pressed else 0
        self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled}

-  def initialize_v_cruise(self, CS, experimental_mode: bool, dynamic_experimental_control: bool) -> None:
+  def initialize_v_cruise(self, CS, experimental_mode: bool) -> None:
    # initializing is handled by the PCM
    if self.CP.pcmCruise:
      return

-    initial_experimental_mode = experimental_mode and not dynamic_experimental_control
-    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if initial_experimental_mode else V_CRUISE_INITIAL
+    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL

    if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_initialized:
      self.v_cruise_kph = self.v_cruise_kph_last
    else:
-      self.v_cruise_kph = int(round(np.clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
+      self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))

    self.v_cruise_cluster_kph = self.v_cruise_kph
@@ -57,16 +57,16 @@ class TestVCruiseHelper:
    for _ in range(2):
      self.v_cruise_helper.update_v_cruise(car.CarState(cruiseState={"available": False}), enabled=False, is_metric=False)

-  def enable(self, v_ego, experimental_mode, dynamic_experimental_control):
+  def enable(self, v_ego, experimental_mode):
    # Simulates user pressing set with a current speed
-    self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode, dynamic_experimental_control)
+    self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode)

  def test_adjust_speed(self):
    """
    Asserts speed changes on falling edges of buttons.
    """

-    self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
+    self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)

    for btn in (ButtonType.accelCruise, ButtonType.decelCruise):
      for pressed in (True, False):
@@ -90,7 +90,7 @@ class TestVCruiseHelper:
      CS.buttonEvents = [ButtonEvent(type=ButtonType.decelCruise, pressed=pressed)]
      self.v_cruise_helper.update_v_cruise(CS, enabled=enabled, is_metric=False)
      if pressed:
-        self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
+        self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)

      # Expected diff on enabling. Speed should not change on falling edge of pressed
      assert not pressed == self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last
@@ -100,7 +100,7 @@ class TestVCruiseHelper:
    Asserts we don't increment set speed if user presses resume/accel to exit cruise standstill.
    """

-    self.enable(0, False, False)
+    self.enable(0, False)

    for standstill in (True, False):
      for pressed in (True, False):
@@ -120,7 +120,7 @@ class TestVCruiseHelper:

    for v_ego in np.linspace(0, 100, 101):
      self.reset_cruise_speed_state()
-      self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
+      self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)

      # first decrement speed, then perform gas pressed logic
      expected_v_cruise_kph = self.v_cruise_helper.v_cruise_kph - IMPERIAL_INCREMENT
@@ -142,11 +142,10 @@ class TestVCruiseHelper:
    """

    for experimental_mode in (True, False):
-      for dynamic_experimental_control in (True, False):
-        for v_ego in np.linspace(0, 100, 101):
-          self.reset_cruise_speed_state()
-          assert not self.v_cruise_helper.v_cruise_initialized
+      for v_ego in np.linspace(0, 100, 101):
+        self.reset_cruise_speed_state()
+        assert not self.v_cruise_helper.v_cruise_initialized

-          self.enable(float(v_ego), experimental_mode, dynamic_experimental_control)
-          assert V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
-          assert self.v_cruise_helper.v_cruise_initialized
+        self.enable(float(v_ego), experimental_mode)
+        assert V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
+        assert self.v_cruise_helper.v_cruise_initialized
@@ -119,16 +119,15 @@ class Controls:

    # accel PID loop
    pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
-    actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits))
+    actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits)

    # Steering PID loop and lateral MPC
    self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature)
-    actuators.curvature = float(self.desired_curvature)
-    steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
+    actuators.curvature = self.desired_curvature
+    actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
                                                                            self.steer_limited, self.desired_curvature,
                                                                            self.calibrated_pose) # TODO what if not available
-    actuators.steer = float(steer)
-    actuators.steeringAngleDeg = float(steeringAngleDeg)
+
    # Ensure no NaNs/Infs
    for p in ACTUATOR_FIELDS:
      attr = getattr(actuators, p)
@@ -193,7 +192,7 @@ class Controls:

    cs.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
    cs.lateralPlanMonoTime = self.sm.logMonoTime['modelV2']
-    cs.desiredCurvature = float(self.desired_curvature)
+    cs.desiredCurvature = self.desired_curvature
    cs.longControlState = self.LoC.long_control_state
    cs.upAccelCmd = float(self.LoC.pid.p)
    cs.uiAccelCmd = float(self.LoC.pid.i)
@@ -1,5 +1,5 @@
-import numpy as np
 from cereal import log
+from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL

 MIN_SPEED = 1.0
@@ -13,10 +13,10 @@ MAX_LATERAL_JERK = 5.0
 MAX_VEL_ERR = 5.0

 def clip_curvature(v_ego, prev_curvature, new_curvature):
-  new_curvature = np.clip(new_curvature, -MAX_CURVATURE, MAX_CURVATURE)
+  new_curvature = clip(new_curvature, -MAX_CURVATURE, MAX_CURVATURE)
  v_ego = max(MIN_SPEED, v_ego)
  max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
-  safe_desired_curvature = np.clip(new_curvature,
+  safe_desired_curvature = clip(new_curvature,
                                prev_curvature - max_curvature_rate * DT_CTRL,
                                prev_curvature + max_curvature_rate * DT_CTRL)

@@ -26,6 +26,6 @@ def clip_curvature(v_ego, prev_curvature, new_curvature):
 def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
  # ToDo: Try relative error, and absolute speed
  if len(modelV2.temporalPose.trans):
-    vel_err = np.clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
+    vel_err = clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
    return float(vel_err)
  return 0.0
@@ -1,6 +1,6 @@
-import numpy as np
 from abc import abstractmethod, ABC

+from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL

 MIN_LATERAL_CONTROL_SPEED = 0.3  # m/s
@@ -28,5 +28,5 @@ class LatControl(ABC):
      self.sat_count += self.sat_count_rate
    else:
      self.sat_count -= self.sat_count_rate
-    self.sat_count = np.clip(self.sat_count, 0.0, self.sat_limit)
+    self.sat_count = clip(self.sat_count, 0.0, self.sat_limit)
    return self.sat_count > (self.sat_limit - 1e-3)
@@ -23,7 +23,7 @@ class LatControlAngle(LatControl):
      angle_steers_des += params.angleOffsetDeg

    angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
-    angle_log.saturated = bool(self._check_saturation(angle_control_saturated, CS, False))
+    angle_log.saturated = self._check_saturation(angle_control_saturated, CS, False)
    angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
    angle_log.steeringAngleDesiredDeg = angle_steers_des
    return 0, float(angle_steers_des), angle_log
@@ -39,10 +39,10 @@ class LatControlPID(LatControl):
      output_steer = self.pid.update(error, override=CS.steeringPressed,
                                     feedforward=steer_feedforward, speed=CS.vEgo)
      pid_log.active = True
-      pid_log.p = float(self.pid.p)
-      pid_log.i = float(self.pid.i)
-      pid_log.f = float(self.pid.f)
-      pid_log.output = float(output_steer)
-      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited))
+      pid_log.p = self.pid.p
+      pid_log.i = self.pid.i
+      pid_log.f = self.pid.f
+      pid_log.output = output_steer
+      pid_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited)

    return output_steer, angle_steers_des, pid_log
@@ -1,8 +1,8 @@
 import math
-import numpy as np

 from cereal import log
 from opendbc.car.interfaces import LatControlInputs
+from openpilot.common.numpy_fast import interp
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.common.pid import PIDController
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
@@ -51,7 +51,7 @@ class LatControlTorque(LatControl):
      else:
        assert calibrated_pose is not None
        actual_curvature_pose = calibrated_pose.angular_velocity.yaw / CS.vEgo
-        actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
+        actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
        curvature_deadzone = 0.0
      desired_lateral_accel = desired_curvature * CS.vEgo ** 2

@@ -60,7 +60,7 @@ class LatControlTorque(LatControl):
      actual_lateral_accel = actual_curvature * CS.vEgo ** 2
      lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2

-      low_speed_factor = np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2
+      low_speed_factor = interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2
      setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
      measurement = actual_lateral_accel + low_speed_factor * actual_curvature
      gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation
@@ -68,7 +68,7 @@ class LatControlTorque(LatControl):
                                                            setpoint, lateral_accel_deadzone, friction_compensation=False, gravity_adjusted=False)
      torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
                                                               measurement, lateral_accel_deadzone, friction_compensation=False, gravity_adjusted=False)
-      pid_log.error = float(torque_from_setpoint - torque_from_measurement)
+      pid_log.error = torque_from_setpoint - torque_from_measurement
      ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
                                          desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, friction_compensation=True,
                                          gravity_adjusted=True)
@@ -80,14 +80,14 @@ class LatControlTorque(LatControl):
                                      freeze_integrator=freeze_integrator)

      pid_log.active = True
-      pid_log.p = float(self.pid.p)
-      pid_log.i = float(self.pid.i)
-      pid_log.d = float(self.pid.d)
-      pid_log.f = float(self.pid.f)
-      pid_log.output = float(-output_torque)
-      pid_log.actualLateralAccel = float(actual_lateral_accel)
-      pid_log.desiredLateralAccel = float(desired_lateral_accel)
-      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited))
+      pid_log.p = self.pid.p
+      pid_log.i = self.pid.i
+      pid_log.d = self.pid.d
+      pid_log.f = self.pid.f
+      pid_log.output = -output_torque
+      pid_log.actualLateralAccel = actual_lateral_accel
+      pid_log.desiredLateralAccel = desired_lateral_accel
+      pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited)

    # TODO left is positive in this convention
    return -output_torque, 0.0, pid_log
@@ -1,5 +1,5 @@
-import numpy as np
 from cereal import car
+from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.common.pid import PIDController
@@ -84,5 +84,5 @@ class LongControl:
      output_accel = self.pid.update(error, speed=CS.vEgo,
                                     feedforward=a_target)

-    self.last_output_accel = np.clip(output_accel, accel_limits[0], accel_limits[1])
+    self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
    return self.last_output_accel
@@ -4,6 +4,7 @@ import time
 import numpy as np
 from cereal import log
 from opendbc.car.interfaces import ACCEL_MIN
+from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.swaglog import cloudlog
 # WARNING: imports outside of constants will not trigger a rebuild
@@ -319,9 +320,9 @@ class LongitudinalMpc:
    # MPC will not converge if immediate crash is expected
    # Clip lead distance to what is still possible to brake for
    min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-ACCEL_MIN * 2)
-    x_lead = np.clip(x_lead, min_x_lead, 1e8)
-    v_lead = np.clip(v_lead, 0.0, 1e8)
-    a_lead = np.clip(a_lead, -10., 5.)
+    x_lead = clip(x_lead, min_x_lead, 1e8)
+    v_lead = clip(v_lead, 0.0, 1e8)
+    a_lead = clip(a_lead, -10., 5.)
    lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
    return lead_xv

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import math
 import numpy as np
+from openpilot.common.numpy_fast import clip, interp

 import cereal.messaging as messaging
 from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
@@ -15,8 +16,6 @@ from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
 from openpilot.common.swaglog import cloudlog

-from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlannerSP
-
 LON_MPC_STEP = 0.2  # first step is 0.2s
 A_CRUISE_MIN = -1.2
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
@@ -31,7 +30,7 @@ _A_TOTAL_MAX_BP = [20., 40.]


 def get_max_accel(v_ego):
-  return np.interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
+  return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)

 def get_coast_accel(pitch):
  return np.sin(pitch) * -5.65 - 0.3  # fitted from data using xx/projects/allow_throttle/compute_coast_accel.py
@@ -44,7 +43,7 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
  """
  # FIXME: This function to calculate lateral accel is incorrect and should use the VehicleModel
  # The lookup table for turns should also be updated if we do this
-  a_total_max = np.interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
+  a_total_max = interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
  a_y = v_ego ** 2 * angle_steers * CV.DEG_TO_RAD / (CP.steerRatio * CP.wheelbase)
  a_x_allowed = math.sqrt(max(a_total_max ** 2 - a_y ** 2, 0.))

@@ -56,9 +55,9 @@ def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05):
    v_now = speeds[0]
    a_now = accels[0]

-    v_target = np.interp(action_t, CONTROL_N_T_IDX, speeds)
+    v_target = interp(action_t, CONTROL_N_T_IDX, speeds)
    a_target = 2 * (v_target - v_now) / (action_t) - a_now
-    v_target_1sec = np.interp(action_t + 1.0, CONTROL_N_T_IDX, speeds)
+    v_target_1sec = interp(action_t + 1.0, CONTROL_N_T_IDX, speeds)
  else:
    v_target = 0.0
    v_target_1sec = 0.0
@@ -68,11 +67,10 @@ def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05):
  return a_target, should_stop


-class LongitudinalPlanner(LongitudinalPlannerSP):
+class LongitudinalPlanner:
  def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
    self.CP = CP
    self.mpc = LongitudinalMpc(dt=dt)
-    LongitudinalPlannerSP.__init__(self, self.CP, self.mpc)
    self.fcw = False
    self.dt = dt
    self.allow_throttle = True
@@ -107,10 +105,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    return x, v, a, j, throttle_prob

  def update(self, sm):
-    LongitudinalPlannerSP.update(self, sm)
    self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
-    if dec_mpc_mode := self.get_mpc_mode():
-      self.mpc.mode = dec_mpc_mode

    if len(sm['carControl'].orientationNED) == 3:
      accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -144,7 +139,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    if reset_state:
      self.v_desired_filter.x = v_ego
      # Clip aEgo to cruise limits to prevent large accelerations when becoming active
-      self.a_desired = np.clip(sm['carState'].aEgo, accel_limits[0], accel_limits[1])
+      self.a_desired = clip(sm['carState'].aEgo, accel_limits[0], accel_limits[1])

    # Prevent divergence, smooth in current v_ego
    self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
@@ -156,7 +151,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):

    if not self.allow_throttle:
      clipped_accel_coast = max(accel_coast, accel_limits_turns[0])
-      clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_limits_turns[1], clipped_accel_coast])
+      clipped_accel_coast_interp = interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_limits_turns[1], clipped_accel_coast])
      accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast_interp)

    if force_slow_decel:
@@ -181,7 +176,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):

    # Interpolate 0.05 seconds and save as starting point for next iteration
    a_prev = self.a_desired
-    self.a_desired = float(np.interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
+    self.a_desired = float(interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
    self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0

  def publish(self, sm, pm):
@@ -205,11 +200,9 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
    a_target, should_stop = get_accel_from_plan(longitudinalPlan.speeds, longitudinalPlan.accels,
                                                action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
-    longitudinalPlan.aTarget = float(a_target)
-    longitudinalPlan.shouldStop = bool(should_stop)
+    longitudinalPlan.aTarget = a_target
+    longitudinalPlan.shouldStop = should_stop
    longitudinalPlan.allowBrake = True
-    longitudinalPlan.allowThrottle = bool(self.allow_throttle)
+    longitudinalPlan.allowThrottle = self.allow_throttle

    pm.send('longitudinalPlan', plan_send)
-
-    self.publish_longitudinal_plan_sp(sm, pm)
@@ -18,7 +18,7 @@ def main():

  ldw = LaneDepartureWarning()
  longitudinal_planner = LongitudinalPlanner(CP)
-  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
+  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance'])
  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
                           poll='modelV2', ignore_avg_freq=['radarState'])

@@ -1,11 +1,11 @@
 #!/usr/bin/env python3
 import math
-import numpy as np
 from collections import deque
 from typing import Any

 import capnp
 from cereal import messaging, log, car
+from openpilot.common.numpy_fast import interp
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
@@ -44,7 +44,7 @@ class KalmanParams:
          0.28144091, 0.27958406, 0.27783249, 0.27617149, 0.27458948, 0.27307714,
          0.27162685, 0.27023228, 0.26888809, 0.26758976, 0.26633338, 0.26511557,
          0.26393339, 0.26278425]
-    self.K = [[np.interp(dt, dts, K0)], [np.interp(dt, dts, K1)]]
+    self.K = [[interp(dt, dts, K0)], [interp(dt, dts, K1)]]


 class Track:
@@ -2,8 +2,8 @@
 import sys
 import argparse
 from subprocess import check_output, CalledProcessError
-from opendbc.car.uds import UdsClient, MessageTimeoutError, SESSION_TYPE, DTC_GROUP_TYPE
 from panda import Panda
+from panda.python.uds import UdsClient, MessageTimeoutError, SESSION_TYPE, DTC_GROUP_TYPE

 parser = argparse.ArgumentParser(description="clear DTC status")
 parser.add_argument("addr", type=lambda x: int(x,0), nargs="?", default=0x7DF) # default is functional (broadcast) address
@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 import argparse

-from opendbc.car import uds
 from openpilot.tools.lib.live_logreader import live_logreader
 from openpilot.tools.lib.logreader import LogReader, ReadMode
+from panda.python import uds


 def main(route: str | None, addrs: list[int]):
@@ -16,8 +16,8 @@ import argparse
 from typing import NamedTuple
 from subprocess import check_output, CalledProcessError

-from opendbc.car.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE
 from panda.python import Panda
+from panda.python.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE

 class ConfigValues(NamedTuple):
  default_config: bytes
@@ -1,10 +1,10 @@
 #!/usr/bin/env python3
 import argparse
-import numpy as np
 import capnp
 from collections import defaultdict

 from cereal.messaging import SubMaster
+from openpilot.common.numpy_fast import mean

 def cputime_total(ct):
  return ct.user + ct.nice + ct.system + ct.idle + ct.iowait + ct.irq + ct.softirq
@@ -49,7 +49,7 @@ if __name__ == "__main__":

    if sm.updated['deviceState']:
      t = sm['deviceState']
-      last_temp = np.mean(t.cpuTempC)
+      last_temp = mean(t.cpuTempC)
      last_mem = t.memoryUsagePercent

    if sm.updated['procLog']:
@@ -72,7 +72,7 @@ if __name__ == "__main__":
      total_times = total_times_new[:]
      busy_times = busy_times_new[:]

-      print(f"CPU {100.0 * np.mean(cores):.2f}% - RAM: {last_mem:.2f}% - Temp {last_temp:.2f}C")
+      print(f"CPU {100.0 * mean(cores):.2f}% - RAM: {last_mem:.2f}% - Temp {last_temp:.2f}C")

      if args.cpu and prev_proclog is not None and prev_proclog_t is not None:
        procs: dict[str, float] = defaultdict(float)
@@ -2,8 +2,9 @@
 import sys
 import argparse
 from subprocess import check_output, CalledProcessError
-from opendbc.car.uds import UdsClient, SESSION_TYPE, DTC_REPORT_TYPE, DTC_STATUS_MASK_TYPE, get_dtc_num_as_str, get_dtc_status_names
 from panda import Panda
+from panda.python.uds import UdsClient, SESSION_TYPE, DTC_REPORT_TYPE, DTC_STATUS_MASK_TYPE
+from panda.python.uds import get_dtc_num_as_str, get_dtc_status_names

 parser = argparse.ArgumentParser(description="read DTC status")
 parser.add_argument("addr", type=lambda x: int(x,0))
@@ -3,19 +3,14 @@ import time

 from cereal import car, log, messaging
 from openpilot.common.params import Params
-from openpilot.system.manager.process_config import managed_processes, is_snpe_model
+from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.hardware import HARDWARE

 if __name__ == "__main__":
  CP = car.CarParams(notCar=True, wheelbase=1, steerRatio=10)
-  params = Params()
-  params.put("CarParams", CP.to_bytes())
-  if use_snpe_modeld := is_snpe_model(False, params, CP):
-    print("Using SNPE modeld")
-  HARDWARE.set_power_save(False)
+  Params().put("CarParams", CP.to_bytes())

-  procs = ['camerad', 'ui', 'calibrationd', 'plannerd', 'dmonitoringmodeld', 'dmonitoringd']
-  procs += ["modeld_snpe" if use_snpe_modeld else "modeld"]
+  procs = ['camerad', 'ui', 'modeld', 'calibrationd', 'plannerd', 'dmonitoringmodeld', 'dmonitoringd']
  for p in procs:
    managed_processes[p].start()

@@ -3,9 +3,9 @@
 import argparse
 import struct
 from enum import IntEnum
-from opendbc.car.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE,\
-  DATA_IDENTIFIER_TYPE, ACCESS_TYPE
 from panda import Panda
+from panda.python.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE,\
+  DATA_IDENTIFIER_TYPE, ACCESS_TYPE
 from datetime import date

 # TODO: extend UDS library to allow custom/vendor-defined data identifiers without ignoring type checks
@@ -8,6 +8,7 @@ import cereal.messaging as messaging
 from cereal import car, log
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
+from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States
 from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
@@ -65,7 +66,7 @@ class ParamsLearner:
        # This is done to bound the road roll estimate when localizer values are invalid
        roll = 0.0
        roll_std = np.radians(10.0)
-      self.roll = np.clip(roll, self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA)
+      self.roll = clip(roll, self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA)

      yaw_rate_valid = msg.angularVelocityDevice.valid and self.calibrator.calib_valid
      yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10  # rad/s
@@ -202,11 +203,11 @@ def main():
        learner = ParamsLearner(CP, CP.steerRatio, 1.0, 0.0)
        x = learner.kf.x

-      angle_offset_average = np.clip(math.degrees(x[States.ANGLE_OFFSET].item()),
+      angle_offset_average = clip(math.degrees(x[States.ANGLE_OFFSET].item()),
                                  angle_offset_average - MAX_ANGLE_OFFSET_DELTA, angle_offset_average + MAX_ANGLE_OFFSET_DELTA)
-      angle_offset = np.clip(math.degrees(x[States.ANGLE_OFFSET].item() + x[States.ANGLE_OFFSET_FAST].item()),
+      angle_offset = clip(math.degrees(x[States.ANGLE_OFFSET].item() + x[States.ANGLE_OFFSET_FAST].item()),
                          angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA)
-      roll = np.clip(float(x[States.ROAD_ROLL].item()), roll - ROLL_MAX_DELTA, roll + ROLL_MAX_DELTA)
+      roll = clip(float(x[States.ROAD_ROLL].item()), roll - ROLL_MAX_DELTA, roll + ROLL_MAX_DELTA)
      roll_std = float(P[States.ROAD_ROLL].item())
      if learner.active and learner.speed > LOW_ACTIVE_SPEED:
        # Account for the opposite signs of the yaw rates
@@ -225,9 +226,9 @@ def main():
      liveParameters.sensorValid = sensors_valid
      liveParameters.steerRatio = float(x[States.STEER_RATIO].item())
      liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item())
-      liveParameters.roll = float(roll)
-      liveParameters.angleOffsetAverageDeg = float(angle_offset_average)
-      liveParameters.angleOffsetDeg = float(angle_offset)
+      liveParameters.roll = roll
+      liveParameters.angleOffsetAverageDeg = angle_offset_average
+      liveParameters.angleOffsetDeg = angle_offset
      liveParameters.valid = all((
        avg_offset_valid,
        total_offset_valid,
@@ -10,7 +10,6 @@ cdef extern from "common/clutil.h":
  cdef unsigned long CL_DEVICE_TYPE_DEFAULT
  cl_device_id cl_get_device_id(unsigned long)
  cl_context cl_create_context(cl_device_id)
-  void cl_release_context(cl_context)

 cdef extern from "selfdrive/modeld/models/commonmodel.h":
  cppclass ModelFrame:
@@ -8,7 +8,7 @@ from libc.stdint cimport uintptr_t

 from msgq.visionipc.visionipc cimport cl_mem
 from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
-from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context, cl_release_context
+from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
 from .commonmodel cimport mat3, ModelFrame as cppModelFrame, DrivingModelFrame as cppDrivingModelFrame, MonitoringModelFrame as cppMonitoringModelFrame


@@ -17,10 +17,6 @@ cdef class CLContext(BaseCLContext):
    self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)
    self.context = cl_create_context(self.device_id)

-  def __dealloc__(self):
-    if self.context:
-      cl_release_context(self.context)
-
 cdef class CLMem:
  @staticmethod
  cdef create(void * cmem):
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:39786068cae1ed8c0dc34ef80c281dfcc67ed18a50e06b90765c49bcfdbf7db4
-size 51453312
+oid sha256:b31b504bc0b440d3bc72967507a00eb4f112285626fbfb3135011500325ee6d6
+size 51452435
@@ -1,9 +1,9 @@
 from math import atan2
-import numpy as np

 from cereal import car, log
 import cereal.messaging as messaging
 from openpilot.selfdrive.selfdrived.events import Events
+from openpilot.common.numpy_fast import interp
 from openpilot.common.realtime import DT_DMON
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.stat_live import RunningStatFilter
@@ -205,10 +205,10 @@ class DriverMonitoring:
    bp = model_data.meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
    k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2)
    bp_normal = max(min(bp / k1, 0.5),0)
-    self.pose.cfactor_pitch = np.interp(bp_normal, [0, 0.5],
+    self.pose.cfactor_pitch = interp(bp_normal, [0, 0.5],
                                           [self.settings._POSE_PITCH_THRESHOLD_SLACK,
                                            self.settings._POSE_PITCH_THRESHOLD_STRICT]) / self.settings._POSE_PITCH_THRESHOLD
-    self.pose.cfactor_yaw = np.interp(bp_normal, [0, 0.5],
+    self.pose.cfactor_yaw = interp(bp_normal, [0, 0.5],
                                           [self.settings._POSE_YAW_THRESHOLD_SLACK,
                                            self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD

@@ -652,11 +652,8 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
  },

  EventName.brakeHold: {
-    ET.WARNING: Alert(
-      "Press Resume to Exit Brake Hold",
-      "",
-      AlertStatus.userPrompt, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
+    ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
  },

  EventName.parkBrake: {
@@ -1064,13 +1061,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
    ET.NO_ENTRY: NoEntryAlert("Controls Mismatch: Lateral"),
  },

-  EventName.hyundaiRadarTracksConfirmed: {
-    ET.PERMANENT: NormalPermanentAlert("Radar tracks available. Restart the car to initialize")
-  },
-
-  EventName.experimentalModeSwitched: {
-    ET.WARNING: NormalPermanentAlert("Experimental Mode Switched", duration=1.5)
-  }

 }

@@ -24,8 +24,6 @@ from openpilot.selfdrive.controls.lib.latcontrol import MIN_LATERAL_CONTROL_SPEE
 from openpilot.system.version import get_build_metadata

 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
-from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
-from openpilot.sunnypilot.selfdrive.car.experimental_switcher import ExperimentalSwitcher

 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
@@ -45,7 +43,7 @@ SafetyModel = car.CarParams.SafetyModel
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)


-class SelfdriveD(ExperimentalSwitcher):
+class SelfdriveD:
  def __init__(self, CP=None):
    self.params = Params()

@@ -139,10 +137,6 @@ class SelfdriveD(ExperimentalSwitcher):
    sock_services = list(self.pm.sock.keys()) + ['selfdriveStateSP']
    self.pm = messaging.PubMaster(sock_services)

-    self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)
-
-    ExperimentalSwitcher.__init__(self, self.params)
-
  def update_events(self, CS):
    """Compute onroadEvents from carState"""

@@ -183,9 +177,6 @@ class SelfdriveD(ExperimentalSwitcher):
      car_events = self.car_events.update(CS, self.CS_prev, self.sm['carControl']).to_msg()
      self.events.add_from_msg(car_events)

-      car_events_sp = self.car_events_sp.update().to_msg()
-      self.events.add_from_msg(car_events_sp)
-
      if self.CP.notCar:
        # wait for everything to init first
        if self.sm.frame > int(5. / DT_CTRL) and self.initialized:
@@ -370,18 +361,12 @@ class SelfdriveD(ExperimentalSwitcher):
      if self.sm['modelV2'].frameDropPerc > 20:
        self.events.add(EventName.modeldLagging)

-    # toggle experimental mode once on distance button hold
-    if self.CP.openpilotLongitudinalControl:
-      ExperimentalSwitcher.update(self, CS, self.events, self.experimental_mode)
-
    # decrement personality on distance button press
    if self.CP.openpilotLongitudinalControl:
      if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
-        if not self.experimental_mode_switched:
-          self.personality = (self.personality - 1) % 3
-          self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
-          self.events.add(EventName.personalityChanged)
-        self.experimental_mode_switched = False
+        self.personality = (self.personality - 1) % 3
+        self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
+        self.events.add(EventName.personalityChanged)

  def data_sample(self):
    car_state = messaging.recv_one(self.car_state_sock)
@@ -461,7 +446,6 @@ class SelfdriveD(ExperimentalSwitcher):
    ss.alertStatus = self.AM.current_alert.alert_status
    ss.alertType = self.AM.current_alert.alert_type
    ss.alertSound = self.AM.current_alert.audible_alert
-    ss.alertHudVisual = self.AM.current_alert.visual_alert

    self.pm.send('selfdriveState', ss_msg)

@@ -511,7 +495,6 @@ class SelfdriveD(ExperimentalSwitcher):
      self.personality = self.read_personality_param()

      self.mads.read_params()
-      self.car_events_sp.read_params()
      time.sleep(0.1)

  def run(self):
@@ -121,7 +121,7 @@ class Plant:
    ss.selfdriveState.personality = self.personality
    control.controlsState.forceDecel = self.force_decel
    car_state.carState.vEgo = float(self.speed)
-    car_state.carState.standstill = bool(self.speed < 0.01)
+    car_state.carState.standstill = self.speed < 0.01
    car_state.carState.vCruise = float(v_cruise * 3.6)
    car_control.carControl.orientationNED = [0., float(pitch), 0.]

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6e1555145a4482e4148c2e7a5cdbf370720a3cf684f18686a50bf25de0b55650
-size 356302
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79ccc3bd2094ba8a55adedf0007b0152eb3a68edc5e2d35aeccbba122d5811c6
+size 356151
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0720a28167410da8dc5aa940f9ff916dcd3e1863ba4fb5b91c73ddf8c7e10c6c
-size 256451
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45f39fe1d1dc8c271f577d1a12812e01da34979bf3fffaad01a19a7a61b6d456
+size 256342
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f7b1411e8b4a91b4df94322023d83f5f2f27245fa761db73ffafd06b91068062
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--- a/Show More
+++ b/Show More