Add Python exclusion to .gitattributes in CI

This change updates the GitLab CI configuration to exclude Python files from LFS handling in the build directory. It helps ensure that Python scripts are not filtered or merged by LFS, thus maintaining their integrity.
Add git-lfs to CI pipeline
2026-06-12 04:05:04 +08:00 · 2024-08-03 20:57:36 +02:00 · 2024-08-03 20:52:55 +02:00 · 2024-08-03 19:21:55 +02:00 · 2024-08-03 10:14:43 -04:00 · 2024-08-02 12:36:49 -04:00
33 changed files with 481 additions and 280 deletions
--- a/.github/workflows/codeql.yml
+++ b/.github/workflows/codeql.yml
@@ -0,0 +1,97 @@
+# For most projects, this workflow file will not need changing; you simply need
+# to commit it to your repository.
+#
+# You may wish to alter this file to override the set of languages analyzed,
+# or to provide custom queries or build logic.
+#
+# ******** NOTE ********
+# We have attempted to detect the languages in your repository. Please check
+# the `language` matrix defined below to confirm you have the correct set of
+# supported CodeQL languages.
+#
+name: "CodeQL"
+
+on:
+  push:
+    branches: [ "master", "*-c3", "master*" ]
+  pull_request:
+    branches: [ "master", "*-c3", "master*" ]
+  schedule:
+    - cron: '39 7 * * 2'
+
+jobs:
+  analyze:
+    name: Analyze (${{ matrix.language }})
+    # Runner size impacts CodeQL analysis time. To learn more, please see:
+    #   - https://gh.io/recommended-hardware-resources-for-running-codeql
+    #   - https://gh.io/supported-runners-and-hardware-resources
+    #   - https://gh.io/using-larger-runners (GitHub.com only)
+    # Consider using larger runners or machines with greater resources for possible analysis time improvements.
+    runs-on: ${{ (matrix.language == 'swift' && 'macos-latest') || 'ubuntu-latest' }}
+    timeout-minutes: ${{ (matrix.language == 'swift' && 120) || 360 }}
+    permissions:
+      # required for all workflows
+      security-events: write
+
+      # required to fetch internal or private CodeQL packs
+      packages: read
+
+      # only required for workflows in private repositories
+      actions: read
+      contents: read
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+        - language: c-cpp
+          build-mode: autobuild
+        - language: javascript-typescript
+          build-mode: none
+        - language: python
+          build-mode: none
+        # CodeQL supports the following values keywords for 'language': 'c-cpp', 'csharp', 'go', 'java-kotlin', 'javascript-typescript', 'python', 'ruby', 'swift'
+        # Use `c-cpp` to analyze code written in C, C++ or both
+        # Use 'java-kotlin' to analyze code written in Java, Kotlin or both
+        # Use 'javascript-typescript' to analyze code written in JavaScript, TypeScript or both
+        # To learn more about changing the languages that are analyzed or customizing the build mode for your analysis,
+        # see https://docs.github.com/en/code-security/code-scanning/creating-an-advanced-setup-for-code-scanning/customizing-your-advanced-setup-for-code-scanning.
+        # If you are analyzing a compiled language, you can modify the 'build-mode' for that language to customize how
+        # your codebase is analyzed, see https://docs.github.com/en/code-security/code-scanning/creating-an-advanced-setup-for-code-scanning/codeql-code-scanning-for-compiled-languages
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v4
+
+    # Initializes the CodeQL tools for scanning.
+    - name: Initialize CodeQL
+      uses: github/codeql-action/init@v3
+      with:
+        languages: ${{ matrix.language }}
+        build-mode: ${{ matrix.build-mode }}
+        # If you wish to specify custom queries, you can do so here or in a config file.
+        # By default, queries listed here will override any specified in a config file.
+        # Prefix the list here with "+" to use these queries and those in the config file.
+
+        # For more details on CodeQL's query packs, refer to: https://docs.github.com/en/code-security/code-scanning/automatically-scanning-your-code-for-vulnerabilities-and-errors/configuring-code-scanning#using-queries-in-ql-packs
+        # queries: security-extended,security-and-quality
+
+    # If the analyze step fails for one of the languages you are analyzing with
+    # "We were unable to automatically build your code", modify the matrix above
+    # to set the build mode to "manual" for that language. Then modify this step
+    # to build your code.
+    # ℹ️ Command-line programs to run using the OS shell.
+    # 📚 See https://docs.github.com/en/actions/using-workflows/workflow-syntax-for-github-actions#jobsjob_idstepsrun
+    - if: matrix.build-mode == 'manual'
+      shell: bash
+      run: |
+        echo 'If you are using a "manual" build mode for one or more of the' \
+          'languages you are analyzing, replace this with the commands to build' \
+          'your code, for example:'
+        echo '  make bootstrap'
+        echo '  make release'
+        exit 1
+
+    - name: Perform CodeQL Analysis
+      uses: github/codeql-action/analyze@v3
+      with:
+        category: "/language:${{matrix.language}}"
--- a/.github/workflows/mirror_to_gitlab.yaml
+++ b/.github/workflows/mirror_to_gitlab.yaml
@@ -0,0 +1,55 @@
+name: Mirror to GitLab
+
+on:
+  push:
+  delete:
+  workflow_dispatch:  # This enables manual triggering
+
+jobs:
+  sync:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Wait for other instances of this workflow to conclude
+        uses: softprops/turnstyle@8db075d65b19bf94e6e8687b504db69938dc3c65
+        with:
+          same-branch-only: 'true'
+          abort-after-seconds: 300
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Checkout Repository
+        uses: actions/checkout@v3
+        with:
+          ref: ${{ github.ref }}
+          fetch-depth: 0  # Fetch full history
+
+      - name: Set up Git
+        run: |
+          git config --global user.name 'GitHub Action'
+          git config --global user.email 'action@github.com'
+
+      - name: Set up SSH
+        uses: webfactory/ssh-agent@v0.5.3
+        with:
+          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
+
+      - name: Add GitLab public keys
+        run: |
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+
+      - name: Sync and commit changes
+        id: sync-and-commit
+        run: |
+          git lfs pull
+
+          # Add GitLab remote
+          git remote add gitlab git@gitlab.com:sunnypilot/sunnyhaibin/sunnypilot-github-mirror.git
+
+          # Fetch from GitLab and check if the branch exists
+          if git fetch gitlab ${{ github.ref }}; then
+              # Merge changes from GitLab if the branch exists
+              git merge gitlab/${{ github.ref_name }} --allow-unrelated-histories --strategy-option=theirs
+          else
+              echo "Branch does not exist on GitLab, skipping merge."
+          fi
+          git push -u gitlab ${{ github.ref }} # If you have issues with "push rejected missing LFS" or something. Make sure you disabled LFS on the GITLAB repo if you intend to use a different LFS repo other than the target repo
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -9,6 +9,10 @@ variables:
  GIT_CONFIG_USER_EMAIL: "gitlab@pipeline.com"
  GIT_CONFIG_USER_NAME: "Gitlab Pipeline"
  PUBLIC_REPO_URL: "https://github.com/sunnyhaibin/sunnypilot"
+  BASE_BUILD_NUMER: 3000
+
+  EXTRA_VERSION_IDENTIFIER: "${CI_PIPELINE_IID}"
+  NEW_BRANCH: ${CI_COMMIT_REF_NAME}-prebuilt

 stages:
  - build
@@ -23,7 +27,8 @@ default:
    - x86

 .default_before_script: &default_before_script
-  - 'export VERSION=$(eval $VERSION)${EXTRA_VERSION_IDENTIFIER}'
+  - 'if [ "$EXTRA_VERSION_IDENTIFIER" = "$CI_PIPELINE_IID" ]; then export EXTRA_VERSION_IDENTIFIER=$((CI_PIPELINE_IID + BASE_BUILD_NUMER)); fi'
+  - 'export VERSION=$(eval $VERSION)-${EXTRA_VERSION_IDENTIFIER}'
  - 'mkdir -p "${BUILD_DIR}/"'
  - 'git config --global user.email "${GIT_CONFIG_USER_EMAIL}"'
  - 'git config --global user.name "${GIT_CONFIG_USER_NAME}"'
@@ -34,33 +39,31 @@ workflow: # If running on any branch other than main.
    # We are an MR, but it's a draft, we won't proceed with anything.
    - if: '$CI_MERGE_REQUEST_TITLE =~ /^wip:/i || $CI_MERGE_REQUEST_TITLE =~ /^draft:/i'
      when: never
-    # We are a merge request
-    - if: $CI_MERGE_REQUEST_IID
-      variables:
-        EXTRA_VERSION_IDENTIFIER: "-${CI_PIPELINE_IID}"
-        NEW_BRANCH: ${CI_COMMIT_REF_NAME}-prebuilt
-      when: always

    # Below are the rules when a commit is done (code has been added to the branch)
    # Commit to master-dev-c3
    - if: $CI_COMMIT_REF_NAME == $DEV_C3_SOURCE_BRANCH
      variables:
-        EXTRA_VERSION_IDENTIFIER: "-${CI_PIPELINE_IID}"
+        EXTRA_VERSION_IDENTIFIER: "${CI_PIPELINE_IID}"
        NEW_BRANCH: "dev-c3"
+        AUTO_BUILD: true
      when: always
    #commit made to main (master)
    - if: $CI_COMMIT_REF_NAME == $CI_DEFAULT_BRANCH
      variables:
        NEW_BRANCH: "staging-c3"
        VERSION: 'cat common/version.h | grep COMMA_VERSION | sed -e "s/[^0-9|.]//g"'
-        EXTRA_VERSION_IDENTIFIER: "-staging"
+        EXTRA_VERSION_IDENTIFIER: "staging"
+        AUTO_PUBLISH: true
+        AUTO_BUILD: true
      when: always
    # if tag
    - if: $CI_COMMIT_TAG
      variables:
        NEW_BRANCH: "release-c3"
        VERSION: 'cat common/version.h | grep COMMA_VERSION | sed -e "s/[^0-9|.]//g"'
-        EXTRA_VERSION_IDENTIFIER: "-release"
+        EXTRA_VERSION_IDENTIFIER: "release"
+        AUTO_BUILD: true
    - when: always


@@ -87,12 +90,16 @@ build:
    - ls -la ${BUILD_DIR}
    - "echo Building Rest..."
    - ./release/release_files.py | sort | uniq | rsync -vrRl --files-from=- . $BUILD_DIR/
+    - cp .lfsconfig-prebuilts $BUILD_DIR/.lfsconfig
+    - cp .gitattributes $BUILD_DIR/.gitattributes
+    - echo "selfdrive/**/* filter=lfs diff=lfs merge=lfs -text" >> $BUILD_DIR/.gitattributes
+    - echo "selfdrive/**/*.py -filter -diff -merge" >> $BUILD_DIR/.gitattributes
    # - cp -pR --parents $(cat release/files_common release/files_tici | sort | uniq) $BUILD_DIR/ 2> >(grep -v 'warning:' >&2)
    - cd $BUILD_DIR
    - sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py # comment panda jungle when prebuilt
    - scons -j$(nproc) cache_dir=${CI_DIR}/scons_cache --minimal
    - touch ${BUILD_DIR}/prebuilt
-    - sudo rm -rf ${OUTPUT_DIR} 
+    - sudo rm -rf ${OUTPUT_DIR}
    - mkdir -p ${OUTPUT_DIR}
    # We first include the paths we want to keep, even if we later will be excluding the other things on those paths
    - rsync -avm
@@ -135,39 +142,16 @@ build:
      --chown=comma:comma
      ${BUILD_DIR}/ ${OUTPUT_DIR}/
  after_script:
-    # cleanup build dir after doing work 
+    # cleanup build dir after doing work
    - find $BUILD_DIR/ -mindepth 1 -delete
  artifacts:
    paths:
      - ${OUTPUT_DIR}/
  tags: [ 'sunnypilot', 'tici' ]
  rules:
-    - if: $CI_MERGE_REQUEST_IID
-      when: manual
-    - if: $NEW_BRANCH
+    - if: $AUTO_BUILD
      when: always
-      
-check no source code sent:
-  image: alpine
-  stage: sanity
-  variables:
-    FORBIDDEN_FILE_EXTENSIONS: "*.a,*.o,*.os,*.pyc,moc_*,*.cc,Jenkinsfile,supercombo.onnx,.sconsign.dblite"
-    FORBIDDEN_DIR_PATTERNS: "*panda/certs,*panda/crypto,*release,*.github,*selfdrive/ui/replay,*__pycache__"
-    REQUIRED_FILE_EXTENSIONS: "*.py,*.json"
-    REQUIRED_DIR_PATTERNS: "*selfdrive/ui,*openpilot"
-  before_script:
-    - apk update && apk upgrade
-    - apk add bash findutils
-  script:
-    - cd ${OUTPUT_DIR}
-    - echo "Checking that we have properly cleaned up"
-    - ${CI_DIR}/sanity_check.sh "$FORBIDDEN_FILE_EXTENSIONS" "$FORBIDDEN_DIR_PATTERNS" true
-    - echo "Checking that our sanity check works and also checking that some required files are indeed found"
-    - ${CI_DIR}/sanity_check.sh "$REQUIRED_FILE_EXTENSIONS" "$REQUIRED_DIR_PATTERNS" false
-  rules:
-    - if: $NEW_BRANCH
-      when: on_success
-    - when: never
+    - when: manual

 .publish_base: &publish_base
  image: alpine
@@ -177,12 +161,9 @@ check no source code sent:
  needs:
    - job: build
      artifacts: true
-    - job: "check no source code sent"
-      artifacts: false
-      optional: false
  before_script:
    - 'apk update && apk upgrade'
-    - 'apk add git bash openssh'
+    - 'apk add git bash openssh git-lfs'
    - 'eval $(ssh-agent -s)'
    - echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add -
    - 'mkdir -p ~/.ssh/'
@@ -196,17 +177,19 @@ check no source code sent:
    - echo "${GIT_ORIGIN}"
    - echo "Calling to publish [${CI_DIR}/publish.sh ${CI_PROJECT_DIR} ${OUTPUT_DIR} ${NEW_BRANCH} ${VERSION} ${GIT_ORIGIN}]"
    - git config --global --add safe.directory ${OUTPUT_DIR}
-    - $CI_DIR/publish.sh "${CI_PROJECT_DIR}" "${OUTPUT_DIR}" "${NEW_BRANCH}" "${VERSION}" "${GIT_ORIGIN}" "${EXTRA_VERSION_IDENTIFIER}"
+    - $CI_DIR/publish.sh "${CI_PROJECT_DIR}" "${OUTPUT_DIR}" "${NEW_BRANCH}" "${VERSION}" "${GIT_ORIGIN}" "-${EXTRA_VERSION_IDENTIFIER}"
  allow_failure: false

 publish to private gitlab prebuilt:
  extends: ".publish_base"
  variables:
-    GIT_ORIGIN: git@gitlab.com:sunnypilot/public/sunnypilot.git
+    GIT_ORIGIN: git@gitlab.com:sunnypilot/public/sunnypilot-prebuilts.git
  rules:
-    - if: $NEW_BRANCH
+    - if: $AUTO_BUILD
      when: on_success
-    - when: never
+    - if: $CI_MERGE_REQUEST_IID
+      when: on_success
+    - when: manual

 publish to public github prebuilt:
  extends: ".publish_base"
@@ -215,9 +198,9 @@ publish to public github prebuilt:
    GIT_CONFIG_USER_EMAIL: "jason.wen@sunnypilot.ai"
    GIT_CONFIG_USER_NAME: "Jason Wen"
  rules:
-    - if: $NEW_BRANCH
-      when: manual
-    - when: never
+    - if: $AUTO_PUBLISH
+      when: on_success
+    - when: manual

 .notify_discord: &notify_discord
  image: alpine
@@ -251,6 +234,9 @@ notify new dev build:
  needs: ["publish to public github prebuilt"] # This notify shall only happen after a publish to github public
  variables:
    TEMPLATE: "discord_template_notify_dev_public.json"
+  before_script:
+    - !reference [".notify_discord", "before_script"]
+    - export EXTRA_VERSION_IDENTIFIER=$((CI_PIPELINE_IID + BASE_BUILD_NUMER))
  rules:
    - if: $NEW_BRANCH == "dev-c3"
      variables:
--- a/.lfsconfig-prebuilts
+++ b/.lfsconfig-prebuilts
@@ -0,0 +1,4 @@
+[lfs]
+	url = https://gitlab.com/sunnypilot/public/sunnypilot-prebuilt-lfs.git/info/lfs
+	pushurl = ssh://git@gitlab.com/sunnypilot/public/sunnypilot-prebuilt-lfs.git
+	locksverify = false
--- a/HOW-TOS.md
+++ b/HOW-TOS.md
@@ -0,0 +1,77 @@
+# How Tos
+This page is a repository of useful how-tos as a supplement for additional information.
+
+Table of Contents
+=======================
+
+* [Radar Tracks](#Radar-Tracks)
+    * [Enable Radar Tracks](#-Enable-Radar-Tracks)
+* [Enable Mapbox Navigation](#-Enable-Mapbox-Navigation)
+
+---
+
+<details><summary><h3>📡 Radar Tracks</h3></summary>
+
+Radar tracks can now be enabled manually on applicable cars through SSH thanks to [@greghogan](https://github.com/greghogan) and [@pd0wm](https://github.com/pd0wm).
+
+Some Hyundai radars can be reconfigured to output (debug) radar points on bus 1.
+Reconfiguration is done over UDS by reading/writing to 0x0142 using the Read/Write Data By Identifier
+endpoints (0x22 & 0x2E). This script checks your radar firmware version against a list of known
+firmware versions. If you want to try on a new radar, make sure to note the default config value
+in case it is different from the other radars and you need to revert the changes.
+After changing the config the car should not show any faults when openpilot is not running.
+These config changes are persistent across car reboots. You need to run this script again
+to go back to the default values.
+
+**USE AT YOUR OWN RISK!** Stock system safety features, like AEB and FCW, might be affected by these changes.
+
+**How radar points can be used along with vision:**
+* Current OP long policy is identify with vision first, if vision sees a vehicle match it to a radar point. If vision sees nothing you get a false negative and no lead car detection. (Source: [Hubblesphere#7894 from comma.ai community Discord](https://discord.com/channels/469524606043160576/872899198738104330/872913890793635872))
+
+### 🚨 Enable Radar Tracks
+
+***(EXPERIMENTAL, as of January 1st, 2022)***
+
+***(Only applicable to some Hyundai, Kia, and Genesis cars, as of January 1st, 2022)***
+
+*(Base on version 0.8.12 [`devel`](https://github.com/commaai/openpilot/tree/devel))*
+
+**USE AT YOUR OWN RISK!** Stock system safety features, like AEB and FCW, might be affected by these changes.
+
+1. Ensure the car is at the `OFF` ignition position.
+2. Connect your compatible comma device (EON, C2, C3) to the car. comma device power should be ON.
+3. Use a laptop or applicable device to connect to your comma device via SSH. (Tips: Instructions to SSH in [HERE](https://github.com/commaai/openpilot/wiki/SSH))
+4. In the SSH terminal after successfully connected to your comma device, execute the following commands:
+    1. `pkill -f openpilot`
+    2. `python /data/openpilot/selfdrive/debug/hyundai_enable_radar_points.py`
+    3. Follow the instructions in the script:
+        * `Power on the vehicle keeping the engine off (press start button twice) then type OK to continue`.
+            * If successful, the following message should appear: `[DONE]. Restart your vehicle and ensure there are no faults`.
+            * If the script did not run successfully, reach out to the community in [Sunnyhaibin's Openpilot Discord Server](https://discord.gg/wRW3meAgtx) or `#hyundai-kia-genesis channel` on [commaai community Discord Server](https://discord.comma.ai) for assistance.
+    4. Reboot your comma device:
+        1. C3: `sudo reboot`
+        2. C2 or EON: `reboot`
+5. Once your comma device is rebooted, start your car with engine on (with or without comma device connected). Ensure that there are no faults from the car. If there are faults, reach out to the community in [Sunnyhaibin's Openpilot Discord Server](https://discord.gg/wRW3meAgtx) or `#hyundai-kia-genesis channel` on [commaai community Discord Server](https://discord.comma.ai) for assistance.
+6. Go for a quick drive and drive behind a lead car with varied follow distance. Then, come back and allow the drive to upload its `rlogs` in [comma Connect](https://connect.comma.ai).
+7. With all `rlogs` uploaded, open the drive in Cabana from [comma Connect](https://connect.comma.ai). Load DBC -> `hyundai_kia_mando_front_radar.dbc`, then search `RADAR_TRACK_50x` (`x` could be anything), open any of them, and look at `LONG_DIST`.
+8. If the radar tracks data is relevant with the lead car you drove behind, you are done! Your car now have radar tracks enabled.
+</details>
+
+<details><summary><h3>🗺 Enable Mapbox Navigation</h3></summary>
+
+1) Create a free mapbox account. Account will ask for a credit card for verification. You will not be charged for the free tier.
+2) On the Dashboard, you will see a section called Access Tokens. Click `Create a Token`. Name it whatever you like. Set the scopes to allow everything for both Public and Secret. Copy both of these keys. **YOU WON'T BE ABLE TO ACCESS THE SECRET KEY AFTER THIS WINDOW.**
+3) Once rebooted, connect your C3 to a network with internet access and find the C3’s IP address.
+4) In a browser, navigate to that IP with **port 8082** (i.e 192.168.1.69:8082). You should be greeted with the Comma logo and a public key input field.
+5) Paste your Public token (pk.xx), click enter, paste your Secret key (sk.xx), click enter. You can now search for places. This page will be available at your devices’s IP address/port 8082 to search for destinations.
+6) To set Home and Work addresses, search for a place, select Home/Work from the dropdown and click Navigate. For non-Home/Work destinations, select Recent Places.<br>*At this time, it is not possible to search directly on the C3.*
+
+**TIPS:**
+- If your C3 is showing a black screen that says “Map Loading”, performing a reboot via the UI should fix it.
+- If your phone can create a Hotspot, you are able to connect the C3 to your phone hotspot and use your phone browser to search for places.
+- In the Navigation panel on the C3, you can select Home, Work, and from a list of Recent Places you have navigated to without needing a browser (assuming the C3 is connected to the internet.)
+
+**IMPORTANT NOTE:** Your C3 will require an active internet connection to download map data, generate driving directions, and ETA. Once map data and directions are downloaded, it *is* possible to use it offline, however nothing will update (such as new driving direction after a missed turn, updated ETA, map data further into your drive etc.)
+
+***NAVIGATION NOTE:** At this time, mapbox does not support alphanumeric addresses (i.e W123N1234 Main St). There is currently no known workaround for this.*
+</details>
--- a/README.md
+++ b/README.md
@@ -48,7 +48,6 @@ Join the official sunnypilot Discord server to stay up to date with all the late
 To use sunnypilot in a car, you need the following:
 * A supported device to run this software
    * a [comma three](https://comma.ai/shop/products/three), or
-    * a comma two (only with older versions below 0.8.13)
 * This software
 * One of [the 250+ supported cars](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
 * A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
@@ -115,40 +114,12 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref

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

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

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

 After running the command to install the desired branch, your comma device should reboot.
@@ -170,16 +141,16 @@ After running the command to install the desired branch, your comma device shoul
    * Speed Limit Control (SLC) - Set speed limit based on map data or car interface (if applicable)
    * HKG only: Highway Driving Assist (HDA) status integration - Use cars native speed sign detection to set desired speed (on applicable HKG cars only)
 - [**Gap Adjust Cruise (GAC)**](#gap-adjust-cruise) - Allow `GAP`/`INTERVAL`/`DISTANCE` button on the steering wheel or on-screen button to adjust the follow distance from the lead car. See table below for options
-    - [**Quiet Drive 🤫**](#-quiet-drive) - Toggle to mute all notification sounds (excluding driver safety warnings)
-    - [**Auto Lane Change Timer**](#Auto-Lane-Change-Timer) - Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set
-    - [**Force Car Recognition (FCR)**](#Force-Car-Recognition-) - Use a selector to force your car to be recognized by sunnypilot
-    - [**Fix sunnypilot No Offroad**](#Fix-sunnypilot-No-Offroad) - Enforce sunnypilot to go offroad and turns off after shutting down the car. This feature fixes non-official devices running sunnypilot without comma power
-    - [**Enable ACC+MADS with RES+/SET-**](#Enable-ACC+MADS-with-RES+/SET-) - Engage both ACC and MADS with a single press of RES+ or SET- button
-    - [**Offline OSM Maps**](#Offline-OSM-Maps) - OSM database can now be downloaded locally for offline use[^2]. This enables offline SLC, V-TSC and M-TSC. Currently available for US South, US West, US Northeast, Florida, Taiwan, South Africa and New Zealand
-    - [**Various Live Tuning**](#Various-Live-Tuning) - Ability to tailor your driving experience on the fly:
-        * Enforce Torque Lateral Control - Use the newest [torque controller](https://blog.comma.ai/0815release/#torque-controller) for all vehicles.
-        * Torque Lateral Control Live Tune - Ability to adjust the torque controller’s `FRICTION` and `LAT_ACCEL_FACTOR` values to suit your vehicle.
-        * Torque Lateral Controller Self-Tune - Enable automatic turning for the Torque controller.
+- [**Quiet Drive 🤫**](#-quiet-drive) - Toggle to mute all notification sounds (excluding driver safety warnings)
+- [**Auto Lane Change Timer**](#Auto-Lane-Change-Timer) - Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set
+- [**Force Car Recognition (FCR)**](#Force-Car-Recognition-) - Use a selector to force your car to be recognized by sunnypilot
+- [**Fix sunnypilot No Offroad**](#Fix-sunnypilot-No-Offroad) - Enforce sunnypilot to go offroad and turns off after shutting down the car. This feature fixes non-official devices running sunnypilot without comma power
+- [**Enable ACC+MADS with RES+/SET-**](#Enable-ACC+MADS-with-RES+/SET-) - Engage both ACC and MADS with a single press of RES+ or SET- button
+- [**Offline OSM Maps**](#Offline-OSM-Maps) - OSM database can now be downloaded locally for offline use[^2]. This enables offline SLC, V-TSC and M-TSC. Currently available for US South, US West, US Northeast, Florida, Taiwan, South Africa and New Zealand
+- [**Various Live Tuning**](#Various-Live-Tuning) - Ability to tailor your driving experience on the fly:
+    * Enforce Torque Lateral Control - Use the newest [torque controller](https://blog.comma.ai/0815release/#torque-controller) for all vehicles.
+    * Torque Lateral Control Live Tune - Ability to adjust the torque controller’s `FRICTION` and `LAT_ACCEL_FACTOR` values to suit your vehicle.
+    * Torque Lateral Controller Self-Tune - Enable automatic turning for the Torque controller.

 ### Visual Enhancements
 * **M.A.D.S Status Icon** - Dedicated icon to display M.A.D.S. engagement status
@@ -355,7 +326,7 @@ Example:

 ---

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

 </details>

--- a/release/ci/discord_template_notify_dev_public.json
+++ b/release/ci/discord_template_notify_dev_public.json
@@ -2,7 +2,7 @@
  "embeds": [
    {
      "title": "🎉 sunnypilot `${NEW_BRANCH}` New Update 🎉",
-      "description": "[sunnypilot](${PUBLIC_REPO_URL}): Build #${CI_PIPELINE_IID} of branch [${NEW_BRANCH}](${PUBLIC_REPO_URL}/tree/${NEW_BRANCH}) has been published.\n\nDrive safe! 🚗💨",
+      "description": "[sunnypilot](${PUBLIC_REPO_URL}): Build #${EXTRA_VERSION_IDENTIFIER} of branch [${NEW_BRANCH}](${PUBLIC_REPO_URL}/tree/${NEW_BRANCH}) has been published.\n\nDrive safe! 🚗💨",
      "color": 4321431
    }
  ]
--- a/release/ci/publish.sh
+++ b/release/ci/publish.sh
@@ -48,6 +48,7 @@ git remote remove origin || true # ensure cleanup
 git remote add origin $GIT_ORIGIN
 #git push origin -d $DEV_BRANCH || true # Ensuring we delete the remote branch if it exists as we are wiping it out
 git fetch origin $DEV_BRANCH || (git checkout -b $DEV_BRANCH && git commit --allow-empty -m "sunnypilot v$VERSION release" && git push -u origin $DEV_BRANCH)
+git lfs install

 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -1,6 +1,8 @@
 #!/usr/bin/env python3
 import os
+import threading
 import time
+from types import SimpleNamespace

 import cereal.messaging as messaging

@@ -14,6 +16,7 @@ from openpilot.common.realtime import config_realtime_process, Priority, Ratekee
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.car.param_manager import ParamManager
 from openpilot.selfdrive.controls.lib.events import Events

 REPLAY = "REPLAY" in os.environ
@@ -90,6 +93,10 @@ class Car:

    self.events = Events()

+    self.param_manager: ParamManager = ParamManager()
+    self.param_manager.update(self.params)
+    self._params_list: SimpleNamespace = self.param_manager.get_params()
+
    # card is driven by can recv, expected at 100Hz
    self.rk = Ratekeeper(100, print_delay_threshold=None)

@@ -98,7 +105,7 @@ class Car:

    # Update carState from CAN
    can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
-    CS = self.CI.update(self.CC_prev, can_strs)
+    CS = self.CI.update(self.CC_prev, can_strs, self._params_list)

    self.sm.update(0)

@@ -186,10 +193,23 @@ class Car:
    self.initialized_prev = initialized
    self.CS_prev = CS.as_reader()

+  def sp_params_thread(self, event: threading.Event) -> None:
+    while not event.is_set():
+      self.param_manager.update(self.params)
+      self._params_list = self.param_manager.get_params()
+      time.sleep(0.1)
+
  def card_thread(self):
-    while True:
-      self.step()
-      self.rk.monitor_time()
+    event = threading.Event()
+    thread = threading.Thread(target=self.sp_params_thread, args=(event, ))
+    try:
+      thread.start()
+      while True:
+        self.step()
+        self.rk.monitor_time()
+    finally:
+      event.set()
+      thread.join()


 def main():
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -30,9 +30,6 @@ class CarController(CarControllerBase):

    self.sm = messaging.SubMaster(['longitudinalPlanSP'])
    self.param_s = Params()
-    self.is_metric = self.param_s.get_bool("IsMetric")
-    self.speed_limit_control_enabled = False
-    self.last_speed_limit_sign_tap = False
    self.last_speed_limit_sign_tap_prev = False
    self.speed_limit = 0.
    self.speed_limit_offset = 0
@@ -72,23 +69,19 @@ class CarController(CarControllerBase):
        self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
        self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed

-      if self.frame % 200 == 0:
-        self.speed_limit_control_enabled = self.param_s.get_bool("EnableSlc")
-        self.is_metric = self.param_s.get_bool("IsMetric")
-      self.last_speed_limit_sign_tap = self.param_s.get_bool("LastSpeedLimitSignTap")
-      self.v_cruise_min = FCA_V_CRUISE_MIN[self.is_metric] * (CV.KPH_TO_MPH if not self.is_metric else 1)
+      self.v_cruise_min = FCA_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)

    can_sends = []

    if not self.CP.pcmCruiseSpeed:
-      if not self.last_speed_limit_sign_tap_prev and self.last_speed_limit_sign_tap:
+      if not self.last_speed_limit_sign_tap_prev and CS.params_list.last_speed_limit_sign_tap:
        self.sl_force_active_timer = self.frame
        self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False)
-      self.last_speed_limit_sign_tap_prev = self.last_speed_limit_sign_tap
+      self.last_speed_limit_sign_tap_prev = CS.params_list.last_speed_limit_sign_tap

-      sl_force_active = self.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
-      sl_inactive = not sl_force_active and (not self.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
-      sl_temp_inactive = not sl_force_active and (self.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
+      sl_force_active = CS.params_list.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
+      sl_inactive = not sl_force_active and (not CS.params_list.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
+      sl_temp_inactive = not sl_force_active and (CS.params_list.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
      slc_active = not sl_inactive and not sl_temp_inactive

      self.slc_active_stock = slc_active
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -91,10 +91,12 @@ class CarInterface(CarInterfaceBase):

  def _update(self, c):
    ret = self.CS.update(self.cp, self.cp_cam)
-    self.sp_update_params()

-    self.CS.button_events.extend(create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}))
-    self.CS.button_events.extend(create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}))
+    self.CS.button_events = [
+      *self.CS.button_events,
+      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+      *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
+    ]

    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)

--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -72,10 +72,12 @@ class CarInterface(CarInterfaceBase):

  def _update(self, c):
    ret = self.CS.update(self.cp, self.cp_cam)
-    self.sp_update_params()

-    self.CS.button_events.extend(create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}))
-    self.CS.button_events.extend(create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}))
+    self.CS.button_events = [
+      *self.CS.button_events,
+      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+      *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
+    ]

    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)

--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -204,7 +204,6 @@ class CarInterface(CarInterfaceBase):
  # returns a car.CarState
  def _update(self, c):
    ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
-    self.sp_update_params()

    distance_button = 0

@@ -218,7 +217,10 @@ class CarInterface(CarInterfaceBase):
      ]
      distance_button = self.CS.distance_button

-    self.CS.button_events.extend(create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}))
+    self.CS.button_events = [
+      *self.CS.button_events,
+      *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
+    ]

    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)

--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -132,9 +132,6 @@ class CarController(CarControllerBase):

    self.sm = messaging.SubMaster(['longitudinalPlanSP'])
    self.param_s = Params()
-    self.is_metric = self.param_s.get_bool("IsMetric")
-    self.speed_limit_control_enabled = False
-    self.last_speed_limit_sign_tap = False
    self.last_speed_limit_sign_tap_prev = False
    self.speed_limit = 0.
    self.speed_limit_offset = 0
@@ -173,11 +170,7 @@ class CarController(CarControllerBase):
        self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
        self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed

-      if self.frame % 200 == 0:
-        self.speed_limit_control_enabled = self.param_s.get_bool("EnableSlc")
-        self.is_metric = self.param_s.get_bool("IsMetric")
-      self.last_speed_limit_sign_tap = self.param_s.get_bool("LastSpeedLimitSignTap")
-      self.v_cruise_min = HONDA_V_CRUISE_MIN[self.is_metric] * (CV.KPH_TO_MPH if not self.is_metric else 1)
+      self.v_cruise_min = HONDA_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)

    actuators = CC.actuators
    hud_control = CC.hudControl
@@ -213,14 +206,14 @@ class CarController(CarControllerBase):
                             self.params.STEER_LOOKUP_BP, self.params.STEER_LOOKUP_V))

    if not self.CP.pcmCruiseSpeed:
-      if not self.last_speed_limit_sign_tap_prev and self.last_speed_limit_sign_tap:
+      if not self.last_speed_limit_sign_tap_prev and CS.params_list.last_speed_limit_sign_tap:
        self.sl_force_active_timer = self.frame
        self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False)
-      self.last_speed_limit_sign_tap_prev = self.last_speed_limit_sign_tap
+      self.last_speed_limit_sign_tap_prev = CS.params_list.last_speed_limit_sign_tap

-      sl_force_active = self.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
-      sl_inactive = not sl_force_active and (not self.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
-      sl_temp_inactive = not sl_force_active and (self.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
+      sl_force_active = CS.params_list.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
+      sl_inactive = not sl_force_active and (not CS.params_list.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
+      sl_temp_inactive = not sl_force_active and (CS.params_list.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
      slc_active = not sl_inactive and not sl_temp_inactive

      self.slc_active_stock = slc_active
@@ -432,8 +425,8 @@ class CarController(CarControllerBase):
    return min(target_speed_kph, curve_speed)

  def get_button_control(self, CS, final_speed, v_cruise_kph_prev):
-    self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not self.is_metric else 1))
-    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not self.is_metric else CV.MS_TO_KPH))
+    self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1))
+    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not CS.params_list.is_metric else CV.MS_TO_KPH))
    cruise_button = self.get_button_type(self.button_type)
    return cruise_button

--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -174,11 +174,6 @@ class CarInterface(CarInterfaceBase):
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 239], [0, 239]]
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.,20], [0.,20]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.4,0.3], [0,0]]
-      tire_stiffness_factor = 0.8467
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [2.4, 1.6, 0.8]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.2, 0.16]

    elif candidate in (CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN):
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
@@ -266,7 +261,6 @@ class CarInterface(CarInterfaceBase):
  # returns a car.CarState
  def _update(self, c):
    ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
-    self.sp_update_params()

    self.CS.button_events = [
      *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT),
@@ -288,21 +282,26 @@ class CarInterface(CarInterfaceBase):
    else:
      self.CS.madsEnabled = False

-    if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
+    min_enable_speed_pcm = self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed
+
+    if not self.CP.pcmCruise or min_enable_speed_pcm or not self.CP.pcmCruiseSpeed:
      if any(b.type == ButtonType.cancel for b in self.CS.button_events):
        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
    if self.get_sp_pedal_disengage(ret):
      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
-      ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
+      ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads or min_enable_speed_pcm \
+                                                        else False if self.CP.pcmCruise \
+                                                        else self.CS.accEnabled

-    if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
+    if min_enable_speed_pcm:
      if ret.gasPressed and not ret.cruiseState.enabled:
        self.CS.accEnabled = False
-      self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
+      if ret.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
+        self.CS.accEnabled = True
+      elif not ret.cruiseState.enabled:
+        self.CS.accEnabled = False

-    ret, self.CS = self.get_sp_common_state(ret, self.CS,
-                                            min_enable_speed_pcm=(self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed),
-                                            gap_button=(self.CS.cruise_setting == 3))
+    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=(self.CS.cruise_setting == 3))

    ret.buttonEvents = [
      *self.CS.button_events,
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -72,9 +72,6 @@ class CarController(CarControllerBase):
      self.sm = messaging.SubMaster(sub_services)

    self.param_s = Params()
-    self.is_metric = self.param_s.get_bool("IsMetric")
-    self.speed_limit_control_enabled = False
-    self.last_speed_limit_sign_tap = False
    self.last_speed_limit_sign_tap_prev = False
    self.speed_limit = 0.
    self.speed_limit_offset = 0
@@ -127,11 +124,7 @@ class CarController(CarControllerBase):
        self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
        self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed

-      if self.frame % 200 == 0:
-        self.speed_limit_control_enabled = self.param_s.get_bool("EnableSlc")
-        self.is_metric = self.param_s.get_bool("IsMetric")
-      self.last_speed_limit_sign_tap = self.param_s.get_bool("LastSpeedLimitSignTap")
-      self.v_cruise_min = HYUNDAI_V_CRUISE_MIN[self.is_metric] * (CV.KPH_TO_MPH if not self.is_metric else 1)
+      self.v_cruise_min = HYUNDAI_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)

    actuators = CC.actuators
    hud_control = CC.hudControl
@@ -175,14 +168,14 @@ class CarController(CarControllerBase):
    blinking_icon = (self.frame - self.disengage_blink) * DT_CTRL < 1.0 if self.lat_disengage_init else False

    if not self.CP.pcmCruiseSpeed:
-      if not self.last_speed_limit_sign_tap_prev and self.last_speed_limit_sign_tap:
+      if not self.last_speed_limit_sign_tap_prev and CS.params_list.last_speed_limit_sign_tap:
        self.sl_force_active_timer = self.frame
        self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False)
-      self.last_speed_limit_sign_tap_prev = self.last_speed_limit_sign_tap
+      self.last_speed_limit_sign_tap_prev = CS.params_list.last_speed_limit_sign_tap

-      sl_force_active = self.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
-      sl_inactive = not sl_force_active and (not self.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
-      sl_temp_inactive = not sl_force_active and (self.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
+      sl_force_active = CS.params_list.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
+      sl_inactive = not sl_force_active and (not CS.params_list.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
+      sl_temp_inactive = not sl_force_active and (CS.params_list.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
      slc_active = not sl_inactive and not sl_temp_inactive

      self.slc_active_stock = slc_active
@@ -235,7 +228,7 @@ class CarController(CarControllerBase):
        if hda2:
          can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
        if self.frame % 2 == 0:
-          can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled and CS.out.cruiseState.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
+          can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CS, CC.enabled and CS.out.cruiseState.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
                                                           set_speed_in_units, hud_control))
          self.accel_last = accel
      else:
@@ -433,8 +426,8 @@ class CarController(CarControllerBase):
    return min(target_speed_kph, curve_speed)

  def get_button_control(self, CS, final_speed, v_cruise_kph_prev):
-    self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not self.is_metric else 1))
-    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not self.is_metric else CV.MS_TO_KPH))
+    self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1))
+    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not CS.params_list.is_metric else CV.MS_TO_KPH))
    cruise_button = self.get_button_type(self.button_type)
    return cruise_button

--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -62,6 +62,11 @@ class CarState(CarStateBase):
    self.escc_aeb_dec_cmd = 0
    self._speed_limit_clu = 0

+  def get_main_enabled(self, ret) -> bool:
+    if self.prev_main_buttons != 1 and self.main_buttons[-1] == 1:
+      self.mainEnabled = not self.mainEnabled
+    return ret.cruiseState.available and self.mainEnabled
+
  def update(self, cp, cp_cam):
    if self.CP.carFingerprint in CANFD_CAR:
      return self.update_canfd(cp, cp_cam)
@@ -112,7 +117,7 @@ class CarState(CarStateBase):
    # cruise state
    if self.CP.openpilotLongitudinalControl:
      # These are not used for engage/disengage since openpilot keeps track of state using the buttons
-      ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0 and self.mainEnabled
+      ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0
      ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
      ret.cruiseState.standstill = False
      ret.cruiseState.nonAdaptive = False
@@ -207,17 +212,12 @@ class CarState(CarStateBase):
    self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
    self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
    if self.CP.openpilotLongitudinalControl:
-      if self.prev_main_buttons != 1:
-        if self.main_buttons[-1] == 1:
-          self.mainEnabled = not self.mainEnabled
-      ret.cruiseState.available = ret.cruiseState.available and self.mainEnabled
+      ret.cruiseState.available = self.get_main_enabled(ret)
    self.prev_mads_enabled = self.mads_enabled
    self.prev_lfa_enabled = self.lfa_enabled
    if self.CP.spFlags & HyundaiFlagsSP.SP_CAN_LFA_BTN:
      self.lfa_enabled = cp.vl["BCM_PO_11"]["LFA_Pressed"]

-    self.mads_enabled = False if not self.control_initialized else ret.cruiseState.available
-
    if self.CP.spFlags & HyundaiFlagsSP.SP_NAV_MSG or self.CP.spFlags & HyundaiFlagsSP.SP_LKAS12:
      self._update_traffic_signals(cp, cp_cam)
      ret.cruiseState.speedLimit = self._calculate_speed_limit() * speed_conv
@@ -282,6 +282,7 @@ class CarState(CarStateBase):
      ret.cruiseState.standstill = False
    else:
      cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
+      ret.cruiseState.available = cp_cruise_info.vl["SCC_CONTROL"]["MainMode_ACC"] == 1
      ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2)
      ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1
      ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
@@ -298,6 +299,8 @@ class CarState(CarStateBase):
    self.prev_main_buttons = self.main_buttons[-1]
    self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
    self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
+    if self.CP.openpilotLongitudinalControl:
+      ret.cruiseState.available = self.get_main_enabled(ret)
    self.prev_mads_enabled = self.mads_enabled
    self.prev_lfa_enabled = self.lfa_enabled
    self.lfa_enabled = cp.vl[self.cruise_btns_msg_canfd]["LFA_BTN"]
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -121,7 +121,7 @@ def create_lfahda_cluster(packer, CAN, enabled, lat_active, lateral_paused, blin
  return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)


-def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control):
+def create_acc_control(packer, CAN, CS, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control):
  jerk = 5
  jn = jerk / 50
  if not enabled or gas_override:
@@ -132,7 +132,7 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov

  values = {
    "ACCMode": 0 if not enabled else (2 if gas_override else 1),
-    "MainMode_ACC": 1,
+    "MainMode_ACC": 1 if CS.mainEnabled else 0,
    "StopReq": 1 if stopping else 0,
    "aReqValue": a_val,
    "aReqRaw": a_raw,
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -203,28 +203,32 @@ class CarInterface(CarInterfaceBase):

  def _update(self, c):
    ret = self.CS.update(self.cp, self.cp_cam)
-    self.sp_update_params()

-    self.CS.button_events.extend(create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT))
-    self.CS.button_events.extend(create_button_events(self.CS.lfa_enabled, self.CS.prev_lfa_enabled, {1: ButtonType.altButton1}))
-    self.CS.button_events.extend(create_button_events(self.CS.main_buttons[-1], self.CS.prev_main_buttons, {1: ButtonType.altButton3}))
+    self.CS.button_events = [
+      *create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT),
+      *create_button_events(self.CS.lfa_enabled, self.CS.prev_lfa_enabled, {1: ButtonType.altButton1}),
+      *create_button_events(self.CS.main_buttons[-1], self.CS.prev_main_buttons, {1: ButtonType.altButton3}),
+    ]
+
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)

    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
                                                            self.CS.button_events, c.vCruise)

-    self.CS.mads_enabled = False if not self.mads_main_toggle else self.CS.mads_enabled
-
    if ret.cruiseState.available:
      if not self.CP.pcmCruiseSpeed:
        if any(b.type in (ButtonType.altButton3, ButtonType.cancel) and not b.pressed for b in self.CS.button_events):
          self.CS.accEnabled = True
-      if self.enable_mads:
-        if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
-          self.CS.madsEnabled = True
-        if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
-          self.CS.madsEnabled = not self.CS.madsEnabled
-        self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
-    else:
+
+    if self.enable_mads:
+      if not self.CS.prev_mads_enabled and self.CS.mads_enabled and \
+        any(b.type == ButtonType.altButton3 for b in self.CS.button_events):
+        self.CS.madsEnabled = True
+      if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
+        self.CS.madsEnabled = not self.CS.madsEnabled
+      self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
+
+    if not ret.cruiseState.available and self.CS.out.cruiseState.available:
      self.CS.madsEnabled = False

    if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed:
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -7,6 +7,7 @@ import tomllib
 from abc import abstractmethod, ABC
 from difflib import SequenceMatcher
 from enum import StrEnum
+from types import SimpleNamespace
 from typing import Any, NamedTuple
 from collections.abc import Callable
 from functools import cache
@@ -19,6 +20,7 @@ from openpilot.common.numpy_fast import clip
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG, ButtonEvents
+from openpilot.selfdrive.car.param_manager import ParamManager
 from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.desire_helper import get_min_lateral_speed
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, V_CRUISE_UNSET, get_friction
@@ -238,19 +240,10 @@ class CarInterfaceBase(ABC):
    self.mads_ndlob = self.enable_mads and not self.mads_disengage_lateral_on_brake
    self.gear_warning = 0
    self.cruise_cancelled_btn = True
-    self.acc_mads_combo = self.param_s.get_bool("AccMadsCombo")
-    self.is_metric = self.param_s.get_bool("IsMetric")
-    self.below_speed_pause = self.param_s.get_bool("BelowSpeedPause")
-    self.pause_lateral_speed = int(self.param_s.get("PauseLateralSpeed", encoding="utf8"))
    self.prev_acc_mads_combo = False
    self.mads_event_lock = True
    self.gap_button_counter = 0
    self.experimental_mode_hold = False
-    self.experimental_mode = self.param_s.get_bool("ExperimentalMode")
-    self._frame = 0
-    self.reverse_dm_cam = self.param_s.get_bool("ReverseDmCam")
-    self.mads_main_toggle = self.param_s.get_bool("MadsCruiseMain")
-    self.lkas_toggle = self.param_s.get_bool("LkasToggle")
    self.last_mads_init = 0.
    self.madsEnabledInit = False
    self.madsEnabledInitPrev = False
@@ -421,13 +414,14 @@ class CarInterfaceBase(ABC):
  def _update(self, c: car.CarControl) -> car.CarState:
    pass

-  def update(self, c: car.CarControl, can_strings: list[bytes]) -> car.CarState:
+  def update(self, c: car.CarControl, can_strings: list[bytes], params_list: SimpleNamespace) -> car.CarState:
    # parse can
    for cp in self.can_parsers:
      if cp is not None:
        cp.update_strings(can_strings)

    self.CS.button_events = []
+    self.CS.params_list = params_list

    # get CarState
    ret = self._update(c)
@@ -472,11 +466,11 @@ class CarInterfaceBase(ABC):
      else:
        events.add(EventName.wrongGear)
    if cs_out.gearShifter == GearShifter.reverse:
-      if not self.reverse_dm_cam and cs_out.vEgo < 5:
+      if not self.CS.params_list.reverse_dm_cam and cs_out.vEgo < 5:
        events.add(EventName.spReverseGear)
      elif cs_out.vEgo >= 5:
        events.add(EventName.reverseGear)
-    if not cs_out.cruiseState.available:
+    if not cs_out.cruiseState.available and cs_out.cruiseState.enabled:
      events.add(EventName.wrongCarMode)
    if cs_out.espDisabled:
      events.add(EventName.espDisabled)
@@ -554,7 +548,7 @@ class CarInterfaceBase(ABC):
    return v_cruise != V_CRUISE_UNSET

  def get_acc_mads(self, cruiseState_enabled, acc_enabled, mads_enabled):
-    if self.acc_mads_combo:
+    if self.CS.params_list.acc_mads_combo:
      if not self.prev_acc_mads_combo and (cruiseState_enabled or acc_enabled):
        mads_enabled = True
      self.prev_acc_mads_combo = (cruiseState_enabled or acc_enabled)
@@ -594,7 +588,7 @@ class CarInterfaceBase(ABC):
  def get_sp_cruise_main_state(self, cs_out, CS):
    if not CS.control_initialized:
      mads_enabled = False
-    elif not self.mads_main_toggle:
+    elif not self.CS.params_list.mads_main_toggle:
      mads_enabled = False
    else:
      mads_enabled = cs_out.cruiseState.available
@@ -606,7 +600,7 @@ class CarInterfaceBase(ABC):
      self.madsEnabledInit = False
      self.madsEnabledInitPrev = False
      return False
-    if not self.mads_main_toggle or self.prev_acc_mads_combo:
+    if not self.CS.params_list.mads_main_toggle or self.prev_acc_mads_combo:
      return CS.madsEnabled
    if not self.madsEnabledInit and CS.madsEnabled:
      self.madsEnabledInit = True
@@ -621,9 +615,8 @@ class CarInterfaceBase(ABC):
    else:
      return CS.madsEnabled

-  def get_sp_common_state(self, cs_out, CS, min_enable_speed_pcm=False, gear_allowed=True, gap_button=False):
-    cs_out.cruiseState.enabled = CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed or min_enable_speed_pcm else \
-                                 cs_out.cruiseState.enabled
+  def get_sp_common_state(self, cs_out, CS, gear_allowed=True, gap_button=False):
+    cs_out.cruiseState.enabled = CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed else cs_out.cruiseState.enabled

    if not self.enable_mads:
      if cs_out.cruiseState.enabled and not CS.out.cruiseState.enabled:
@@ -634,9 +627,9 @@ class CarInterfaceBase(ABC):
    if self.CP.openpilotLongitudinalControl:
      self.toggle_exp_mode(gap_button)

-    lane_change_speed_min = get_min_lateral_speed(self.pause_lateral_speed, self.is_metric)
+    lane_change_speed_min = get_min_lateral_speed(self.CS.params_list.pause_lateral_speed, self.CS.params_list.is_metric)

-    cs_out.belowLaneChangeSpeed = cs_out.vEgo < lane_change_speed_min and self.below_speed_pause
+    cs_out.belowLaneChangeSpeed = cs_out.vEgo < lane_change_speed_min and self.CS.params_list.below_speed_pause

    if cs_out.gearShifter in [GearShifter.park, GearShifter.reverse] or cs_out.doorOpen or \
      (cs_out.seatbeltUnlatched and cs_out.gearShifter != GearShifter.park):
@@ -669,7 +662,7 @@ class CarInterfaceBase(ABC):
        if self.gap_button_counter > 50:
          self.gap_button_counter = 0
          self.experimental_mode_hold = True
-          self.param_s.put_bool_nonblocking("ExperimentalMode", not self.experimental_mode)
+          self.param_s.put_bool_nonblocking("ExperimentalMode", not self.CS.params_list.experimental_mode)
    else:
      self.gap_button_counter = 0
      self.experimental_mode_hold = False
@@ -735,17 +728,6 @@ class CarInterfaceBase(ABC):

    return events, cs_out

-  def sp_update_params(self):
-    self.experimental_mode = self.param_s.get_bool("ExperimentalMode")
-    self._frame += 1
-    if self._frame % 100 == 0:
-      self.is_metric = self.param_s.get_bool("IsMetric")
-      self.below_speed_pause = self.param_s.get_bool("BelowSpeedPause")
-      self.pause_lateral_speed = int(self.param_s.get("PauseLateralSpeed", encoding="utf8"))
-    if self._frame % 300 == 0:
-      self._frame = 0
-      self.reverse_dm_cam = self.param_s.get_bool("ReverseDmCam")
-
 class RadarInterfaceBase(ABC):
  def __init__(self, CP):
    self.rcp = None
@@ -776,7 +758,6 @@ class CarStateBase(ABC):
    self.cluster_speed_hyst_gap = 0.0
    self.cluster_min_speed = 0.0  # min speed before dropping to 0

-    self.param_s = Params()
    self.accEnabled = False
    self.madsEnabled = False
    self.disengageByBrake = False
@@ -785,6 +766,7 @@ class CarStateBase(ABC):
    self.control_initialized = False

    self.button_events: list[capnp.lib.capnp._DynamicStructBuilder] = []
+    self.params_list: SimpleNamespace = ParamManager().get_params()

    Q = [[0.0, 0.0], [0.0, 100.0]]
    R = 0.3
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -24,9 +24,6 @@ class CarController(CarControllerBase):

    self.sm = messaging.SubMaster(['longitudinalPlanSP'])
    self.param_s = Params()
-    self.is_metric = self.param_s.get_bool("IsMetric")
-    self.speed_limit_control_enabled = False
-    self.last_speed_limit_sign_tap = False
    self.last_speed_limit_sign_tap_prev = False
    self.speed_limit = 0.
    self.speed_limit_offset = 0
@@ -65,23 +62,19 @@ class CarController(CarControllerBase):
        self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
        self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed

-      if self.frame % 200 == 0:
-        self.speed_limit_control_enabled = self.param_s.get_bool("EnableSlc")
-        self.is_metric = self.param_s.get_bool("IsMetric")
-      self.last_speed_limit_sign_tap = self.param_s.get_bool("LastSpeedLimitSignTap")
-      self.v_cruise_min = MAZDA_V_CRUISE_MIN[self.is_metric] * (CV.KPH_TO_MPH if not self.is_metric else 1)
+      self.v_cruise_min = MAZDA_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)

    can_sends = []

    if not self.CP.pcmCruiseSpeed:
-      if not self.last_speed_limit_sign_tap_prev and self.last_speed_limit_sign_tap:
+      if not self.last_speed_limit_sign_tap_prev and CS.params_list.last_speed_limit_sign_tap:
        self.sl_force_active_timer = self.frame
        self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False)
-      self.last_speed_limit_sign_tap_prev = self.last_speed_limit_sign_tap
+      self.last_speed_limit_sign_tap_prev = CS.params_list.last_speed_limit_sign_tap

-      sl_force_active = self.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
-      sl_inactive = not sl_force_active and (not self.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
-      sl_temp_inactive = not sl_force_active and (self.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
+      sl_force_active = CS.params_list.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
+      sl_inactive = not sl_force_active and (not CS.params_list.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
+      sl_temp_inactive = not sl_force_active and (CS.params_list.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
      slc_active = not sl_inactive and not sl_temp_inactive

      self.slc_active_stock = slc_active
@@ -229,8 +222,8 @@ class CarController(CarControllerBase):
    return min(target_speed_kph, curve_speed)

  def get_button_control(self, CS, final_speed, v_cruise_kph_prev):
-    self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not self.is_metric else 1))
-    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not self.is_metric else CV.MS_TO_KPH))
+    self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1))
+    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not CS.params_list.is_metric else CV.MS_TO_KPH))
    cruise_button = self.get_button_type(self.button_type)
    return cruise_button

--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -37,11 +37,13 @@ class CarInterface(CarInterfaceBase):
  # returns a car.CarState
  def _update(self, c):
    ret = self.CS.update(self.cp, self.cp_cam)
-    self.sp_update_params()

    # TODO: add button types for inc and dec
-    self.CS.button_events.extend(create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}))
-    self.CS.button_events.extend(create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}))
+    self.CS.button_events = [
+      *self.CS.button_events,
+      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+      *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
+    ]

    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)

--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -32,7 +32,6 @@ class CarInterface(CarInterfaceBase):
  # returns a car.CarState
  def _update(self, c):
    ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
-    self.sp_update_params()

    self.CS.button_events = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})

--- a/selfdrive/car/param_manager.py
+++ b/selfdrive/car/param_manager.py
@@ -0,0 +1,50 @@
+from types import SimpleNamespace
+
+from openpilot.common.params import Params
+
+
+class ParamManager:
+  def __init__(self):
+    self._params_list: SimpleNamespace = self._create_namespace({
+      "acc_mads_combo": False,
+      "below_speed_pause": False,
+      "experimental_mode": False,
+      "is_metric": False,
+      "last_speed_limit_sign_tap": False,
+      "mads_main_toggle": False,
+      "pause_lateral_speed": 0,
+      "reverse_acc_change": False,
+      "reverse_dm_cam": False,
+      "speed_limit_control_enabled": False,
+      "subaru_manual_parking_brake": False,
+      "toyota_auto_lock_by_speed": False,
+      "toyota_auto_unlock_by_shifter": False,
+      "toyota_lkas_toggle": False,
+      "toyota_sng_hack": False,
+    })
+
+  @staticmethod
+  def _create_namespace(data: dict) -> SimpleNamespace:
+    return SimpleNamespace(**data)
+
+  def get_params(self) -> SimpleNamespace:
+    return self._params_list
+
+  def update(self, params: Params) -> None:
+    self._params_list = self._create_namespace({
+      "acc_mads_combo": params.get_bool("AccMadsCombo"),
+      "below_speed_pause": params.get_bool("BelowSpeedPause"),
+      "experimental_mode": params.get_bool("ExperimentalMode"),
+      "is_metric": params.get_bool("IsMetric"),
+      "last_speed_limit_sign_tap": params.get_bool("LastSpeedLimitSignTap"),
+      "mads_main_toggle": params.get_bool("MadsCruiseMain"),
+      "pause_lateral_speed": int(params.get("PauseLateralSpeed", encoding="utf8")),
+      "reverse_acc_change": params.get_bool("ReverseAccChange"),
+      "reverse_dm_cam": params.get_bool("ReverseDmCam"),
+      "speed_limit_control_enabled": params.get_bool("EnableSlc"),
+      "subaru_manual_parking_brake": params.get_bool("SubaruManualParkingBrakeSng"),
+      "toyota_auto_lock_by_speed": params.get_bool("ToyotaAutoLockBySpeed"),
+      "toyota_auto_unlock_by_shifter": params.get_bool("ToyotaAutoUnlockByShifter"),
+      "toyota_lkas_toggle": params.get_bool("LkasToggle"),
+      "toyota_sng_hack": params.get_bool("ToyotaSnG"),
+    })
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -1,6 +1,5 @@
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.params import Params
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
 from openpilot.selfdrive.car.interfaces import CarControllerBase
@@ -25,12 +24,9 @@ class CarController(CarControllerBase):
    self.cruise_button_prev = 0
    self.steer_rate_counter = 0

-    self.param_s = Params()
-
    self.subaru_sng = False
    if CP.spFlags & SubaruFlagsSP.SP_SUBARU_SNG:
      self.subaru_sng = True
-      self.manual_parking_brake = self.param_s.get_bool("SubaruManualParkingBrakeSng")
      self.prev_close_distance = 0
      self.prev_standstill = False
      self.standstill_start = 0
@@ -47,9 +43,6 @@ class CarController(CarControllerBase):
    hud_control = CC.hudControl
    pcm_cancel_cmd = CC.cruiseControl.cancel

-    if self.frame % 250 == 0 and self.subaru_sng:
-      self.manual_parking_brake = self.param_s.get_bool("SubaruManualParkingBrakeSng")
-
    can_sends = []

    # *** steering ***
@@ -191,7 +184,7 @@ class CarController(CarControllerBase):
        and CS.close_distance > self.prev_close_distance):    # distance with lead car is increasing
        self.sng_acc_resume = True
    elif not (self.CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID)):
-      if self.manual_parking_brake:
+      if CS.params_list.subaru_manual_parking_brake and self.subaru_sng:
        # Send brake message with non-zero speed in standstill to avoid non-EPB ACC disengage
        if (CC.enabled                                        # ACC active
          and CS.car_follow == 1                              # lead car
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -116,7 +116,6 @@ class CarInterface(CarInterfaceBase):
  def _update(self, c):

    ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
-    self.sp_update_params()

    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)

--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -1,7 +1,6 @@
 from cereal import car
 from common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.params import Params
 from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, \
                          create_gas_interceptor_command, make_can_msg
 from openpilot.selfdrive.car.interfaces import CarControllerBase
@@ -52,27 +51,16 @@ class CarController(CarControllerBase):
    self.gas = 0
    self.accel = 0

-    self.param_s = Params()
-    self._is_metric = self.param_s.get_bool("IsMetric")
-    self._reverse_acc_change = self.param_s.get_bool("ReverseAccChange")
-    self._sng_hack = self.param_s.get_bool("ToyotaSnG")
-
    self.left_blindspot_debug_enabled = False
    self.right_blindspot_debug_enabled = False
    self.last_blindspot_frame = 0

-    self._auto_lock_by_speed = self.param_s.get_bool("ToyotaAutoLockBySpeed")
-    self._auto_unlock_by_shifter = self.param_s.get_bool("ToyotaAutoUnlockByShifter")
-    self._auto_lock_speed = 10 * (CV.KPH_TO_MS if self._is_metric else CV.MPH_TO_MS)
+    self._auto_lock_speed = 0.0
    self._auto_lock_once = False
    self._gear_prev = GearShifter.park

  def update(self, CC, CS, now_nanos):
-    if self.frame % 200 == 0:
-      self._is_metric = self.param_s.get_bool("IsMetric")
-      self._auto_lock_by_speed = self.param_s.get_bool("ToyotaAutoLockBySpeed")
-      self._auto_unlock_by_shifter = self.param_s.get_bool("ToyotaAutoUnlockByShifter")
-      self._auto_lock_speed = 10 * (CV.KPH_TO_MS if self._is_metric else CV.MPH_TO_MS)
+    self._auto_lock_speed = 10 * (CV.KPH_TO_MS if CS.params_list.is_metric else CV.MPH_TO_MS)

    actuators = CC.actuators
    hud_control = CC.hudControl
@@ -88,11 +76,11 @@ class CarController(CarControllerBase):
    gear = CS.out.gearShifter
    if not CS.out.doorOpen:
      if gear == GearShifter.park and self._gear_prev != gear:
-        if self._auto_unlock_by_shifter:
+        if CS.params_list.toyota_auto_unlock_by_shifter:
          can_sends.append(make_can_msg(0x750, UNLOCK_CMD, 0))
        self._auto_lock_once = False
      elif gear == GearShifter.drive and not self._auto_lock_once and CS.out.vEgo >= self._auto_lock_speed:
-        if self._auto_lock_by_speed:
+        if CS.params_list.toyota_auto_lock_by_speed:
          can_sends.append(make_can_msg(0x750, LOCK_CMD, 0))
        self._auto_lock_once = True
    self._gear_prev = gear
@@ -173,7 +161,7 @@ class CarController(CarControllerBase):

    # on entering standstill, send standstill request
    if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptorDEPRECATED) and \
-      not self._sng_hack:
+      not CS.params_list.toyota_sng_hack:
      self.standstill_req = True
    if CS.pcm_acc_status != 8:
      # pcm entered standstill or it's disabled
@@ -188,7 +176,7 @@ class CarController(CarControllerBase):
    # we can spam can to cancel the system even if we are using lat only control
    if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
      lead = hud_control.leadVisible or CS.out.vEgo < 12.  # at low speed we always assume the lead is present so ACC can be engaged
-      reverse_acc = 2 if self._reverse_acc_change else 1
+      reverse_acc = 2 if CS.params_list.reverse_acc_change else 1

      # Press distance button until we are at the correct bar length. Only change while enabled to avoid skipping startup popup
      if self.frame % 6 == 0 and self.CP.openpilotLongitudinalControl:
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -207,7 +207,6 @@ class CarInterface(CarInterfaceBase):
  # returns a car.CarState
  def _update(self, c):
    ret = self.CS.update(self.cp, self.cp_cam)
-    self.sp_update_params()

    distance_button = 0

@@ -221,7 +220,7 @@ class CarInterface(CarInterfaceBase):
      if self.enable_mads:
        if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
          self.CS.madsEnabled = True
-        if self.lkas_toggle:
+        if self.CS.params_list.toyota_lkas_toggle:
          if self.CS.lta_status_active:
            if (self.CS.prev_lkas_enabled == 16 and self.CS.lkas_enabled == 0) or \
              (self.CS.prev_lkas_enabled == 0 and self.CS.lkas_enabled == 16):
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -34,9 +34,6 @@ class CarController(CarControllerBase):

    self.sm = messaging.SubMaster(['longitudinalPlanSP'])
    self.param_s = Params()
-    self.is_metric = self.param_s.get_bool("IsMetric")
-    self.speed_limit_control_enabled = False
-    self.last_speed_limit_sign_tap = False
    self.last_speed_limit_sign_tap_prev = False
    self.speed_limit = 0.
    self.speed_limit_offset = 0
@@ -79,24 +76,20 @@ class CarController(CarControllerBase):
        self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
        self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed

-      if self.frame % 200 == 0:
-        self.speed_limit_control_enabled = self.param_s.get_bool("EnableSlc")
-        self.is_metric = self.param_s.get_bool("IsMetric")
-      self.last_speed_limit_sign_tap = self.param_s.get_bool("LastSpeedLimitSignTap")
-      self.v_cruise_min = VOLKSWAGEN_V_CRUISE_MIN[self.is_metric] * (CV.KPH_TO_MPH if not self.is_metric else 1)
+      self.v_cruise_min = VOLKSWAGEN_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)
    actuators = CC.actuators
    hud_control = CC.hudControl
    can_sends = []

    if not self.CP.pcmCruiseSpeed:
-      if not self.last_speed_limit_sign_tap_prev and self.last_speed_limit_sign_tap:
+      if not self.last_speed_limit_sign_tap_prev and CS.params_list.last_speed_limit_sign_tap:
        self.sl_force_active_timer = self.frame
        self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False)
-      self.last_speed_limit_sign_tap_prev = self.last_speed_limit_sign_tap
+      self.last_speed_limit_sign_tap_prev = CS.params_list.last_speed_limit_sign_tap

-      sl_force_active = self.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
-      sl_inactive = not sl_force_active and (not self.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
-      sl_temp_inactive = not sl_force_active and (self.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
+      sl_force_active = CS.params_list.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
+      sl_inactive = not sl_force_active and (not CS.params_list.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
+      sl_temp_inactive = not sl_force_active and (CS.params_list.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
      slc_active = not sl_inactive and not sl_temp_inactive

      self.slc_active_stock = slc_active
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -113,7 +113,6 @@ class CarInterface(CarInterfaceBase):
  # returns a car.CarState
  def _update(self, c):
    ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
-    self.sp_update_params()

    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)

--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -739,7 +739,9 @@ class Controls:
      CC.angularVelocity = angular_rate_value

    CC.cruiseControl.override = self.enabled_long and not CC.longActive and self.CP.openpilotLongitudinalControl
-    CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled_long or (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)))
+    CC.cruiseControl.cancel = CS.cruiseState.enabled and \
+      (not self.enabled_long or (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or
+       (any(b.type == ButtonType.cancel for b in CS.buttonEvents) and self.CP.carName == "honda"))
    if self.joystick_mode and self.sm.recv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
      CC.cruiseControl.cancel = True

--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc
@@ -101,7 +101,7 @@ void MadsSettings::updateToggles() {
  const bool enable_mads = params.getBool("EnableMads");
  const bool enabled = is_offroad && enable_mads;

-  toggles["AccMadsCombo"]->setEnabled(enabled);
-  toggles["MadsCruiseMain"]->setEnabled(enabled);
+  toggles["AccMadsCombo"]->setEnabled(enable_mads);
+  toggles["MadsCruiseMain"]->setEnabled(enable_mads);
  dlob_settings->setEnabled(enabled);
 }
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -111,7 +111,7 @@ def manager_init() -> None:
    ("OsmDownloadedDate", "0"),
    ("OSMDownloadProgress", "{}"),
    ("SidebarTemperatureOptions", "0"),
-    ("SunnylinkEnabled", "0" if (build_metadata.release_channel or build_metadata.release_sp_channel) else "1"),
+    ("SunnylinkEnabled", "1"),
    ("SunnylinkDongleId", f"{UNREGISTERED_SUNNYLINK_DONGLE_ID}"),
    ("CustomDrivingModel", "0"),
    ("DrivingModelGeneration", "4"),
Author	SHA1	Message	Date
DevTekVE	8cb85c6d7d	Add Python exclusion to .gitattributes in CI This change updates the GitLab CI configuration to exclude Python files from LFS handling in the build directory. It helps ensure that Python scripts are not filtered or merged by LFS, thus maintaining their integrity.	2024-08-03 20:57:36 +02:00
DevTekVE	84c3668c3a	Add git-lfs to CI pipeline Added `git-lfs` installation to the CI/CD pipeline in `.gitlab-ci.yml` and initialized `git lfs` in `release/ci/publish.sh`. This ensures that large files are properly handled and improves the efficiency of our build and release process.	2024-08-03 20:52:55 +02:00
DevTekVE	89005e08c4	Add support for Git LFS in the CI pipeline This commit updates the .gitlab-ci.yml to copy the necessary .lfsconfig and .gitattributes files to the build directory. Additionally, it appends LFS filter settings to .gitattributes to manage large file storage effectively during the build.	2024-08-03 19:21:55 +02:00
DevTekVE	57daa151cb	Docs: Move HOW-TOS to `master` (#387 ) * HOW-TOS.md: Instructions to enable radar tracks * HOW-TOS.md: Instructions to enable radar tracks and openpilot Longitudinal Control * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * README: Enable Radar Tracks (#17) * HOW-TOS: Update HKG enable radar tracks instructions (#24) * Update radar tracks instructions * Update HKG enable radar tracks instructions * Update HOW-TOS.md * Update HOW-TOS.md * HOW-TOS: Update enable openpilot Longitudinal Control instructions (#29) * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Update HOW-TOS.md * Added How-To for Enabling Mapbox Navigation (#78) * Readme 2.0 (#84) * Readme 2.0 • Add collapsible sections in an effort to make the readme page more digestible for first time readers. • Proposed rewording for the following sections: • Join our Discord • Safety Modifications • Prettify layout * Update README.md * Update README.md * Update README.md * Update README.md spelling corrections * Update README.md * Update README.md * Update README.md * Update README.md * Update README.md Moved Prohibited Safety Modifications into it's own section * Update README.md Reduced clickable text for hyperlink branches. Added comma.ai link to safety policy. * Update README.md * Update README.md * Update README.md * Prettify • Make main headings expandable • Rework installation section (undecided yet) * Update README.md Make table of contents uniform * Update README.md * Update README.md Tidy up installation section * Update Driving Enhancements something is preventing self linking after [Gap Adjust Cruise (GAC)](#gap-adjust-cruise) * Quality of life Enhancements Added more to the list * Add e2e path colour * Fix How-To link * Add comma two recommended branch * Discrete discord badge * Update installation instructions * Make sections mobile friendly `h2` -> h3 * Update `Features:` reword and make use of footnotes * Less is more, updated branch with search query * 0.8.12 will work on comma three as well * Tweak OSM feature and add footnote * update menu reference * DLP footnote * Delete CHANGELOGS.md Not needed seen as README directs to live / updated changelog per branch * Delete FEATURES.md Double up / already exists in README * Update HOW-TOS.md Make styling consistent, no information changed * Difference format for installation block * Spelling * Update README.md Add VW/Audi/Skoda and reword what SP is for * Update README.md bounds -> parameters * Update README.md Update installation URL with shortened URL + reword. Include footnote * Update README.md Reword `GAC` * Update README.md * Update README.md Spacing * Update README.md less is more * Update README.md Remove DLP footnote, add NZ to Offline OSM * Update README.md Prettify change logs - link to a change log for `0.8.12-prod` branch instead of search * Update README.md Refactor QOL section. Focus more on "function of" vs "how-to". * Update README.md Refactor Visual Enhancements * Driving Enhancements rework * Additional -> Miscellaneous * Spelling + grammar check * Replace sirens with triangles * Always show donation, updated Special Thanks * 📡 * Update README.md Co-authored-by: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> * Update README.md Co-authored-by: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> * Fix how-to's * Update README.md * Discord badge to show total members * Update README.md * Small cleanup and additions Signed-off-by: Jason Wen <haibin.wen3@gmail.com> * Don't miss this Signed-off-by: Jason Wen <haibin.wen3@gmail.com> * someday Signed-off-by: Jason Wen <haibin.wen3@gmail.com> * No longer needed Signed-off-by: Jason Wen <haibin.wen3@gmail.com> * Take it out Signed-off-by: Jason Wen <haibin.wen3@gmail.com> * Less sunny Signed-off-by: Jason Wen <haibin.wen3@gmail.com> --------- Signed-off-by: Jason Wen <haibin.wen3@gmail.com> Co-authored-by: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Co-authored-by: Jason Wen <haibin.wen3@gmail.com> * Update HOW-TOS.md * Simplify README installation instructions Consolidated the installation command for the `release-c3` branch and removed redundant instructions for unsupported comma two. Also updated the How-To, removing the old branch that caused a huge size on the repo. * Remove comma two installation instructions This update cleans up the README by removing outdated installation instructions for the comma two device. It makes the documentation more concise and focused on current requirements and devices. --------- Signed-off-by: Jason Wen <haibin.wen3@gmail.com> Co-authored-by: sunnyhaibin <haibin.wen3@gmail.com> Co-authored-by: Brandon Bennett <56660362+bbennett80@users.noreply.github.com> Co-authored-by: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Co-authored-by: tango2590 <78666662+tango2590@users.noreply.github.com> Co-authored-by: Moodkiller <appleipodsrock@gmail.com>	2024-08-03 10:14:43 -04:00
Jason Wen	bdb733ddc9	car: Fix typo with `ParamManager` variable (#382 )	2024-08-02 12:36:49 -04:00
DevTekVE	b63ef7b0bf	Create codeql.yml	2024-08-02 18:35:44 +02:00
Jason Wen	09d1604b84	MADS: Honda: Fix PCM ACC disengage fault (#363 ) * MADS: Honda: Fix PCM ACC disengage fault * try this out * honda only	2024-08-02 11:41:20 -04:00
Jason Wen	61f7690265	ci: Update build number on dev builds with Discord notification (#381 )	2024-08-02 11:38:25 -04:00
John Belmonte	4cb7263dd6	Docs: Fix indentation of feature list (#379 ) Fix indenting of feature list	2024-08-02 16:35:37 +02:00
DevTekVE	ef2331b5df	ci: Prebuilt public branches and update build number (#380 ) * fixing build number + forcing run to test * Cleaning up and changing the process for the auto builds * updating the logic for the extra verson identifier * Return to default master-dev-c3 * if this is MR on gitlab, we also publish prebuilt on private gitlab for internal testing * Silly formatting issue	2024-08-02 10:26:14 -04:00
Jason Wen	9be3925ee1	MADS: Hyundai: Independent control with LFA button (#362 ) * MADS: HKG CAN-FD: Disallow cruise buttons to engage when pcmCruiseSpeed is off * handle states properly * this is better * make sure main button is pressed * oops flipped main * same behavior * handle cruise main button universally * both * not needed * oops * wtf how did i miss	2024-08-01 23:34:35 -04:00
Jason Wen	8d760272c7	car: Move all live param checks to `ParamManger` (#378 ) car: Move all live param checks to ParamManger	2024-08-01 23:23:00 -04:00
Mathew Locoteta	22e0b4d597	Honda Longitudinal: Remove tuning from 4-CYL 9th Gen Accord (#359 ) Remove ACC tuning from 9th Gen Accord Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2024-08-01 22:42:13 -04:00
Jason Wen	08afbd7cb5	car: Check params before car state is updated (#364 ) * car: Check params before car state is updated * read params in a thread instead * initialize list * Do this instead * type hint * ParamManager * make them internal	2024-08-01 18:12:27 -04:00
DevTekVE	f311c8b1d7	No auto publish for dev-c3 or release-c3	2024-08-01 20:09:17 +02:00
DevTekVE	fb7076a042	Change remote	2024-08-01 18:28:15 +02:00
DevTekVE	cd0ee08763	Allow auto publishing of public prebuilts	2024-08-01 18:10:59 +02:00
DevTekVE	f7ab369d47	First attempt at mirroring to gitlab	2024-08-01 17:22:43 +02:00
Jason Wen	54d5281064	MADS: Map cruise main and lateral buttons to button events (#373 ) * MADS: Map cruise main and lateral buttons to button events * MADS: Map cruise main and lateral buttons to button events * different style * nah (cherry picked from commit `4d7afe3a7b`) * reimplement	2024-08-01 10:26:27 -04:00
Jason Wen	fa3a0ba747	CI: Update prebuilt repository URL (#374 )	2024-07-31 19:47:34 -04:00
Jason Wen	b3926faebb	Revert "MADS: Map cruise main and lateral buttons to button events" (#372 ) Revert "MADS: Map cruise main and lateral buttons to button events (#361)" This reverts commit `4d7afe3a7b`.	2024-07-31 18:41:17 -04:00
DevTekVE	9810b10c49	[SL] Enable sunnylink by default (#366 ) Enable Sunnylink by default Sunnylink was previously conditionally enabled based on build metadata. This change ensures that Sunnylink is enabled by default, facilitating immediate access for all builds.	2024-07-31 10:31:51 -04:00