Revert "remove tici-specific code (#36078 )"

This reverts commit 3e2549f2
Merge remote-tracking branch 'sunnypilot/sunnypilot/master' into tici-sync-20251009
2026-06-24 03:32:05 +08:00 · 2025-10-09 22:06:58 -04:00 · 2025-10-09 21:48:40 -04:00 · 2025-10-09 21:23:24 -04:00 · 2025-10-09 20:33:28 -04:00 · 2025-10-09 19:11:59 -04:00
256 changed files with 1101 additions and 5510 deletions
@@ -3,4 +3,3 @@ REGIST
 PullRequest
 cancelled
 FOF
-NoO
@@ -29,11 +29,11 @@ jobs:
      env:
        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
      with:
-        target: /^(?!master$).*/
+        target: /^(?!master-tici$).*/
        exclude: /sunnypilot:.*/
        change-to: ${{ github.base_ref }}
        already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master` branch"
+        already-exists-comment: "Your PR should be made against the `master-tici` branch"

  update-pr-labels:
    name: Update fork's PR Labels
@@ -5,7 +5,7 @@ on:
  workflow_dispatch:

 env:
-  BASE_IMAGE: sunnypilot-base
+  BASE_IMAGE: sunnypilot-tici-base
  DOCKER_REGISTRY: ghcr.io/sunnypilot
  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c

@@ -3,7 +3,7 @@ name: cereal validation
 on:
  push:
    branches:
-      - master
+      - master-tici
  pull_request:
    paths:
      - 'cereal/**'
@@ -16,7 +16,7 @@ on:
        type: string

 concurrency:
-  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true

 env:
@@ -31,7 +31,7 @@ jobs:
    strategy:
      fail-fast: false
      matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master-tici
    with:
      run_number: ${{ matrix.run_number }}

@@ -12,6 +12,6 @@ concurrency:

 jobs:
  selfdrive_tests:
-    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master-tici
    with:
      run_number: ${{ inputs.run_number }}
@@ -15,7 +15,7 @@ runs:
                          scons -j$(nproc) --cache-populate"
    - name: Save scons cache
      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
+      if: github.ref == 'refs/heads/master-tici'
      with:
        path: .ci_cache/scons_cache
        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -3,7 +3,7 @@ name: docs
 on:
  push:
    branches:
-      - master
+      - master-tici
  pull_request:
  workflow_call:
    inputs:
@@ -12,7 +12,7 @@ on:
        required: true
        type: string
 concurrency:
-  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true

 jobs:
@@ -35,13 +35,13 @@ jobs:

    # Push to docs.comma.ai
    - uses: actions/checkout@v4
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master-tici' && github.repository == 'sunnypilot/sunnypilot'
      with:
        path: openpilot-docs
        ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
        repository: sunnypilot/sunnypilot-docs
    - name: Push
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master-tici' && github.repository == 'sunnypilot/sunnypilot'
      run: |
        set -x

@@ -1,105 +0,0 @@
-name: 'Post to Discourse'
-description: 'Posts a message to a Discourse topic (existing or new)'
-
-inputs:
-  discourse-url:
-    description: 'Discourse instance URL (e.g., https://discourse.example.com)'
-    required: true
-  api-key:
-    description: 'Discourse API key'
-    required: true
-  api-username:
-    description: 'Discourse API username'
-    required: true
-  topic-id:
-    description: 'Discourse topic ID to post to (use this OR category-id + title)'
-    required: false
-  category-id:
-    description: 'Category ID for new topic (required if topic-id not provided)'
-    required: false
-  title:
-    description: 'Title for new topic (required if topic-id not provided)'
-    required: false
-  message:
-    description: 'Message content (markdown supported)'
-    required: true
-
-outputs:
-  post-number:
-    description: 'The post number in the topic'
-    value: ${{ steps.post.outputs.post_number }}
-  post-url:
-    description: 'Direct URL to the post'
-    value: ${{ steps.post.outputs.post_url }}
-  topic-id:
-    description: 'The topic ID (useful when creating a new topic)'
-    value: ${{ steps.post.outputs.topic_id }}
-
-runs:
-  using: "composite"
-  steps:
-    - name: Post to Discourse
-      id: post
-      shell: bash
-      run: |
-        # Validate inputs
-        if [ -z "${{ inputs.topic-id }}" ] && ([ -z "${{ inputs.category-id }}" ] || [ -z "${{ inputs.title }}" ]); then
-          echo "❌ Error: Must provide either topic-id OR both category-id and title"
-          exit 1
-        fi
-        
-        if [ -n "${{ inputs.topic-id }}" ] && ([ -n "${{ inputs.category-id }}" ] || [ -n "${{ inputs.title }}" ]); then
-          echo "⚠️  Warning: Both topic-id and category-id/title provided. Will post to existing topic."
-        fi
-        
-        # Determine if creating new topic or posting to existing
-        if [ -n "${{ inputs.topic-id }}" ]; then
-          echo "📝 Posting to existing topic ID: ${{ inputs.topic-id }}"
-        
-          # Create JSON payload for posting to existing topic
-          PAYLOAD=$(jq -n \
-            --arg content '${{ inputs.message }}' \
-            --arg topic_id "${{ inputs.topic-id }}" \
-            '{topic_id: $topic_id, raw: $content}')
-        else
-          echo "✨ Creating new topic: ${{ inputs.title }}"
-        
-          # Create JSON payload for new topic
-          PAYLOAD=$(jq -n \
-            --arg content '${{ inputs.message }}' \
-            --arg title "${{ inputs.title }}" \
-            --arg category "${{ inputs.category-id }}" \
-            '{title: $title, category: ($category | tonumber), raw: $content}')
-        fi
-        
-        # Post to Discourse
-        RESPONSE=$(curl -s -w "\n%{http_code}" \
-          -X POST "${{ inputs.discourse-url }}/posts.json" \
-          -H "Content-Type: application/json" \
-          -H "Api-Key: ${{ inputs.api-key }}" \
-          -H "Api-Username: ${{ inputs.api-username }}" \
-          -d "$PAYLOAD")
-        
-        HTTP_CODE=$(echo "$RESPONSE" | tail -n1)
-        BODY=$(echo "$RESPONSE" | sed '$d')
-        
-        if [ "$HTTP_CODE" -ge 200 ] && [ "$HTTP_CODE" -lt 300 ]; then
-          echo "✅ Successfully posted to Discourse!"
-        
-          POST_NUMBER=$(echo "$BODY" | jq -r '.post_number // "unknown"')
-          TOPIC_ID=$(echo "$BODY" | jq -r '.topic_id // "${{ inputs.topic-id }}"')
-          POST_URL="${{ inputs.discourse-url }}/t/${TOPIC_ID}/${POST_NUMBER}"
-        
-          echo "post_number=${POST_NUMBER}" >> $GITHUB_OUTPUT
-          echo "post_url=${POST_URL}" >> $GITHUB_OUTPUT
-          echo "topic_id=${TOPIC_ID}" >> $GITHUB_OUTPUT
-        
-          echo "Topic ID: ${TOPIC_ID}"
-          echo "Post number: ${POST_NUMBER}"
-          echo "URL: ${POST_URL}"
-        else
-          echo "❌ Failed to post to Discourse"
-          echo "HTTP Code: ${HTTP_CODE}"
-          echo "Response: ${BODY}"
-          exit 1
-        fi
@@ -24,11 +24,11 @@ jobs:
      if: ${{ github.event_name != 'workflow_dispatch' }}
      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
      with:
-        ref: master
+        ref: master-tici
        wait-interval: 30
        running-workflow-name: 'build prebuilt'
        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build master-ci).*).)*$
+        check-regexp: ^((?!.*(build __nightly).*).)*$
    - uses: actions/checkout@v4
      with:
        submodules: true
@@ -19,6 +19,7 @@ jobs:
      contents: write
      pull-requests: write
    runs-on: ubuntu-latest
+    if: False
    steps:
      - uses: release-drafter/release-drafter@v6
        with:
@@ -10,7 +10,7 @@ jobs:
    env:
      ImageOS: ubuntu24
    container:
-      image: ghcr.io/sunnypilot/sunnypilot-base:latest
+      image: ghcr.io/sunnypilot/sunnypilot-tici-base:latest
    runs-on: ubuntu-latest
    if: github.repository == 'sunnypilot/sunnypilot'
    permissions:
@@ -25,7 +25,7 @@ jobs:
      if: ${{ github.event_name == 'schedule' }}
      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
      with:
-        ref: master
+        ref: master-tici
        wait-interval: 30
        running-workflow-name: 'build __nightly'
        repo-token: ${{ secrets.GITHUB_TOKEN }}
@@ -6,7 +6,7 @@ on:
  workflow_dispatch:

 env:
-  BASE_IMAGE: sunnypilot-base
+  BASE_IMAGE: sunnypilot-tici-base
  BUILD: release/ci/docker_build_sp.sh base
  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c

@@ -28,7 +28,7 @@ jobs:
          title: "[bot] Update translations"
          body: "Automatic PR from repo-maintenance -> update_translations"
          branch: "update-translations"
-          base: "master"
+          base: "master-tici"
          delete-branch: true
          labels: bot

@@ -36,7 +36,7 @@ jobs:
    name: package_updates
    runs-on: ubuntu-latest
    container:
-      image: ghcr.io/sunnypilot/sunnypilot-base:latest
+      image: ghcr.io/sunnypilot/sunnypilot-tici-base:latest
    if: github.repository == 'sunnypilot/sunnypilot'
    steps:
    - uses: actions/checkout@v4
@@ -68,7 +68,7 @@ jobs:
        commit-message: Update Python packages
        title: '[bot] Update Python packages'
        branch: auto-package-updates
-        base: master
+        base: master-tici
        delete-branch: true
        body: 'Automatic PR from repo-maintenance -> package_updates'
        labels: bot
@@ -3,7 +3,7 @@ name: selfdrive
 on:
  push:
    branches:
-      - master
+      - master-tici
  pull_request:
  workflow_dispatch:
  workflow_call:
@@ -14,19 +14,18 @@ on:
        type: string

 concurrency:
-  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true

 env:
  PYTHONWARNINGS: error
-  BASE_IMAGE: sunnypilot-base
+  BASE_IMAGE: sunnypilot-tici-base
  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
-  MAPBOX_TOKEN_CI: ${{ secrets.MAPBOX_TOKEN_CI }}

  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
  BUILD: release/ci/docker_build_sp.sh base

-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -e MAPBOX_TOKEN_CI=$MAPBOX_TOKEN_CI -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c

  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical

@@ -69,10 +68,10 @@ jobs:
      if: github.repository == 'sunnypilot/sunnypilot'
      timeout-minutes: 3
      run: |
-        if [ "${{ github.ref }}" != "refs/heads/master" ]; then
-          git fetch  origin master:refs/remotes/origin/master
+        if [ "${{ github.ref }}" != "refs/heads/master-tici" ]; then
+          git fetch  origin master-tici:refs/remotes/origin/master-tici

-          SUBMODULE_PATHS=$(git diff origin/master HEAD --name-only | grep -E '^[^/]+$' | while read path; do
+          SUBMODULE_PATHS=$(git diff origin/master-tici HEAD --name-only | grep -E '^[^/]+$' | while read path; do
            if git ls-files --stage "$path" | grep -q "^160000"; then
              echo "$path"
            fi
@@ -98,7 +97,7 @@ jobs:
      with:
        submodules: true
    - name: Setup docker push
-      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master-tici' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
      run: |
        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
        $DOCKER_LOGIN
@@ -131,7 +130,7 @@ jobs:
        HOMEBREW_DISPLAY_INSTALL_TIMES: 1
    - name: Save Homebrew cache
      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
+      if: github.ref == 'refs/heads/master-tici'
      with:
        path: ~/Library/Caches/Homebrew
        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -149,7 +148,7 @@ jobs:
      run: . .venv/bin/activate && scons -j$(nproc)
    - name: Save scons cache
      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
+      if: github.ref == 'refs/heads/master-tici'
      with:
        path: /tmp/scons_cache
        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -308,5 +307,5 @@ jobs:
      - name: Upload Test Report
        uses: actions/upload-artifact@v4
        with:
-          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && 'master-tici' || github.event.number }}
          path: selfdrive/ui/tests/test_ui/report_1/screenshots
@@ -14,7 +14,7 @@ on:
      upstream_branch:
        description: 'Upstream branch to build from'
        required: true
-        default: 'master'
+        default: 'master-tici'
        type: string
      custom_name:
        description: 'Custom name for the model (no date, only name)'
@@ -35,7 +35,7 @@ on:
      upstream_branch:
        description: 'Upstream branch to build from'
        required: true
-        default: 'master'
+        default: 'master-tici'
        type: string
      custom_name:
        description: 'Custom name for the model (no date, only name)'
@@ -8,14 +8,14 @@ env:
  PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
  
  # Branch configurations
-  STAGING_SOURCE_BRANCH: 'master'
+  STAGING_C3_SOURCE_BRANCH: 'master-tici' # vars.STAGING_C3_SOURCE_BRANCH could be used, set on repo settings.
  
  # Runtime configuration
  SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"

 on:
  push:
-    branches: [ master, master-dev ]
+    branches: [ master-tici ]
    tags: [ 'release/*' ]
  pull_request_target:
    types: [ labeled ]
@@ -79,7 +79,7 @@ jobs:
            is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
            echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT

-            stable_version=$(cat sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
+            stable_version=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g');
            echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
            echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
          fi
@@ -138,7 +138,7 @@ jobs:
          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
          restore-keys: |
            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_SOURCE_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_C3_SOURCE_BRANCH }}
            scons-${{ runner.os }}-${{ runner.arch }}

      - name: Set environment variables
@@ -302,51 +302,36 @@ jobs:
            git push -f origin ${TAG}

  notify:
-    needs: 
-    - prepare_strategy
-    - build
-    - publish
+    needs: [ build, publish ]
    runs-on: ubuntu-24.04
-    if: ${{ (always() && !cancelled() && !failure())
-      && needs.publish.result == 'success'
-      && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-      && (fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name] != null) }}
+    if: ${{ (always() && !cancelled() && !failure()) && needs.publish.result == 'success' && !failure() && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
    steps:
      - uses: actions/checkout@v4
-
-      - name: Prepare notification message
-        id: message
-        run: |
-          TEMPLATE='${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}'
-          export VERSION="${{ needs.prepare_strategy.outputs.version }}"
-          export branch_name="${{ env.SOURCE_BRANCH }}"
-          export new_branch="${{ needs.prepare_strategy.outputs.new_branch }}"
-          export commit_sha="${{ github.sha }}"
-          export commit_short_sha="${{ github.sha }}"
-          export commit_short_sha="${commit_short_sha:0:7}"
-          export extra_version_identifier="${{ needs.prepare_strategy.outputs.extra_version_identifier || github.run_number }}"
-          export PUBLIC_REPO_URL="${{ env.PUBLIC_REPO_URL }}"
-
-          MESSAGE=$(cat << 'EOF' | envsubst
-          ${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}
-          EOF
-          )
-          
-          {
-            echo 'content<<EOFMARKER'
-            echo "$MESSAGE"
-            echo 'EOFMARKER'
-          } >> $GITHUB_OUTPUT
-        shell: bash
-
-      - name: Post to Discourse
-        uses: ./.github/workflows/post-to-discourse
+      - name: Setup Alpine Linux environment
+        uses: jirutka/setup-alpine@v1.2.0
        with:
-          discourse-url: ${{ vars.DISCOURSE_URL }}
-          api-key: ${{ secrets.DISCOURSE_API_KEY }}
-          api-username: "system"
-          topic-id: ${{ fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name].topic_id }}
-          message: ${{ steps.message.outputs.content }}
+          packages: 'jq gettext curl'
+
+      - name: Send Discord Notification
+        env:
+          DISCORD_WEBHOOK: ${{ contains(fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES), env.SOURCE_BRANCH) && secrets.DISCORD_DEV_FEEDBACK_CHANNEL_WEBHOOK || secrets.DISCORD_DEV_PRIVATE_CHANNEL_WEBHOOK }}
+        run: |
+          TEMPLATE='${{ vars.DISCORD_GENERAL_UPDATE_NOTICE }}'
+          export EXTRA_VERSION_IDENTIFIER="${{ needs.build.outputs.extra_version_identifier }}"
+          export VERSION="${{ needs.build.outputs.version }}"
+          export branch_name=${{ env.SOURCE_BRANCH }}
+          export new_branch=${{ needs.build.outputs.new_branch }}
+          export extra_version_identifier=${{ needs.build.outputs.extra_version_identifier || github.run_number}}
+          echo ${TEMPLATE} | envsubst | jq -c '.' | tee payload.json
+          curl -X POST -H "Content-Type: application/json" -d @payload.json $DISCORD_WEBHOOK
+
+          echo ""
+          echo "----   ℹ️ To update the list of branches that notify to dev-feedback  -----"
+          echo ""
+          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/DEV_FEEDBACK_NOTIFICATION_BRANCHES"
+          echo "2. Current value: ${{ vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES }}"
+          echo "3. Update as needed (JSON array with no spaces)"
+        shell: alpine.sh {0}

  manage-pr-labels:
    name: Remove prebuilt label
@@ -1,30 +1,31 @@
-name: Build dev
+name: Build dev-c3-new

 env:
-  DEFAULT_SOURCE_BRANCH: "master"
-  DEFAULT_TARGET_BRANCH: "master-dev"
+  DEFAULT_SOURCE_BRANCH: "master-tici"
+  DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
+  PR_LABEL: "dev-c3"
  LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
  LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'

 on:
  push:
    branches:
-      - master
+      - master-tici
  pull_request_target:
    types: [ labeled ]
    branches:
-      - 'master'
+      - 'master-tici'
  workflow_dispatch:
    inputs:
      source_branch:
        description: 'Source branch to reset from'
        required: true
-        default: 'master'
+        default: 'master-tici'
        type: string
      target_branch:
        description: 'Target branch to reset and squash into'
        required: true
-        default: 'master-dev'
+        default: 'master-dev-c3-new'
        type: string
      cancel_in_progress:
        description: 'Cancel any in-progress runs of this workflow'
@@ -39,11 +40,7 @@ concurrency:
 jobs:
  reset-and-squash:
    runs-on: ubuntu-latest
-    if: (
-      (github.event_name == 'workflow_dispatch')
-      || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
-      )
+    if: False
    steps:
      - uses: actions/checkout@v4
        with:
@@ -54,7 +51,7 @@ jobs:
        uses: ./.github/workflows/wait-for-action # Path to where you place the action
        if: (
          (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
+          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
          )
        with:
          workflow: selfdrive_tests.yaml # The workflow file to monitor
@@ -117,8 +114,8 @@ jobs:
        run: |
          # Use GitHub API to get PRs with specific label, ordered by creation date
          PR_LIST=$(gh api graphql -f query='
-            query($search_query:String!) {
-              search(query: $search_query, type:ISSUE, first:40) {
+            query($label:String!) {
+              search(query: $label, type:ISSUE, first:100) {
                nodes {
                  ... on PullRequest {
                    number
@@ -148,7 +145,7 @@ jobs:
                  }
                }
              }
-            }' -F search_query="repo:${{ github.repository }} is:pr is:open label:${{ vars.PREBUILT_PR_LABEL }},${{ vars.PREBUILT_PR_LABEL }}-c3 draft:false sort:created-asc")
+            }' -F label="is:pr is:open label:${PR_LABEL} draft:false sort:created-asc")

          PR_LIST=${PR_LIST//\'/}
          echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
@@ -1,78 +0,0 @@
-name: Debug Discourse Posting
-
-on:
-  push:
-
-jobs:
-  test-discourse-post:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Post test message to Discourse
-        uses: ./.github/workflows/post-to-discourse
-        with:
-          discourse-url: ${{ vars.DISCOURSE_URL }}
-          api-key: ${{ secrets.DISCOURSE_API_KEY }}
-          api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
-          topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
-          message: |
-            ## 🧪 Test Post from GitHub Actions
-            
-            **This is a test post to verify Discourse integration**
-            
-            - **Workflow**: ${{ github.workflow }}
-            - **Run Number**: #${{ github.run_number }}
-            - **Branch**: `${{ github.ref_name }}`
-            - **Commit**: ${{ github.sha }}
-            - **Actor**: @${{ github.actor }}
-            - **Timestamp**: ${{ github.event.head_commit.timestamp }}
-            
-            ---
-            
-            ### Fake Build Info (for testing)
-            - **Version**: 0.9.8-test
-            - **Build**: #42
-            - **Branch**: release-test
-            
-            [View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
-            
-            *This is an automated test message. Drive safe! 🚗💨*
-      
-      
-      - name: Create topic on Discourse
-        uses: ./.github/workflows/post-to-discourse
-        with:
-          discourse-url: ${{ vars.DISCOURSE_URL }}
-          api-key: ${{ secrets.DISCOURSE_API_KEY }}
-          api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
-          #topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
-          category-id: 4
-          title: "This is a test of a new topic instead of a reply"
-          message: |
-            ## 🧪 Test Post from GitHub Actions
-            
-            **This is a test post to verify Discourse integration**
-            
-            - **Workflow**: ${{ github.workflow }}
-            - **Run Number**: #${{ github.run_number }}
-            - **Branch**: `${{ github.ref_name }}`
-            - **Commit**: ${{ github.sha }}
-            - **Actor**: @${{ github.actor }}
-            - **Timestamp**: ${{ github.event.head_commit.timestamp }}
-            
-            ---
-            
-            ### Fake Build Info (for testing)
-            - **Version**: 0.9.8-test
-            - **Build**: #42
-            - **Branch**: release-test
-            
-            [View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
-            
-            *This is an automated test message. Drive safe! 🚗💨*
-      - name: Display results
-        if: always()
-        run: |
-          echo "::notice::Discourse post test completed"
-          echo "Check your Discourse topic to verify the post appeared correctly"
@@ -2,19 +2,19 @@ name: "ui preview"
 on:
  push:
    branches:
-      - master
+      - master-tici
  pull_request_target:
    types: [assigned, opened, synchronize, reopened, edited]
    branches:
-      - 'master'
+      - 'master-tici'
    paths:
      - 'selfdrive/ui/**'
  workflow_dispatch:

 env:
  UI_JOB_NAME: "Create UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
+  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && 'master-tici' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.sha || github.event.pull_request.head.sha }}
  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"

 jobs:
@@ -55,7 +55,7 @@ jobs:
          name: report-1-${{ env.REPORT_NAME }}
          path: ${{ github.workspace }}/pr_ui

-      - name: Getting master ui
+      - name: Getting master-tici ui
        uses: actions/checkout@v4
        with:
          repository: sunnypilot/ci-artifacts
@@ -63,8 +63,8 @@ jobs:
          path: ${{ github.workspace }}/master_ui
          ref: openpilot_master_ui

-      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
+      - name: Saving new master-tici ui
+        if: github.ref == 'refs/heads/master-tici' && github.event_name == 'push'
        working-directory: ${{ github.workspace }}/master_ui
        run: |
          git checkout --orphan=new_master_ui
@@ -93,9 +93,9 @@ jobs:

          for ((i=0; i<${#A[*]}; i=i+1));
          do
-            # Check if the master file exists
+            # Check if the master-tici file exists
            if [ ! -f "${{ github.workspace }}/master_ui/${A[$i]}.png" ]; then
-              # This is a new file in PR UI that doesn't exist in master
+              # This is a new file in PR UI that doesn't exist in master-tici
              DIFF="${DIFF}<details open>"
              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
              DIFF="${DIFF}<table>"
@@ -118,7 +118,7 @@ jobs:
              DIFF="${DIFF}<table>"

              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
+              DIFF="${DIFF}  <td> master-tici <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
              DIFF="${DIFF}</tr>"

@@ -1,4 +1,4 @@
-FROM ghcr.io/sunnypilot/sunnypilot-base:latest
+FROM ghcr.io/sunnypilot/sunnypilot-tici-base:latest

 ENV PYTHONUNBUFFERED=1

@@ -3,9 +3,11 @@
 ## 🌞 What is sunnypilot?
 [sunnypilot](https://github.com/sunnyhaibin/sunnypilot) is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 300+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.

-## 💭 Join our Community Forum
-Join the official sunnypilot community forum to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
-* https://community.sunnypilot.ai/
+## 💭 Join our Discord
+Join the official sunnypilot Discord server to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
+* https://discord.gg/sunnypilot
+
+  ![](https://dcbadge.vercel.app/api/server/wRW3meAgtx?style=flat) ![Discord Shield](https://discordapp.com/api/guilds/880416502577266699/widget.png?style=shield)

 ## Documentation
 https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
@@ -14,13 +16,13 @@ https://docs.sunnypilot.ai/ is your one stop shop for everything from features t
 * A supported device to run this software
    * a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x)
 * This software
-* One of [the 325+ supported cars](https://github.com/sunnypilot/sunnypilot/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.
+* One of [the 300+ 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

 Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).

 ## Installation
-Please refer to [Recommended Branches](#recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging` branch.
+Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging-tici` branch.

 ### If you want to use our newest branches (our rewrite)
 > [!TIP]
@@ -29,28 +31,27 @@ Please refer to [Recommended Branches](#recommended-branches) to find your prefe
 * sunnypilot not installed or you installed a version before 0.8.17?
  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://staging.sunnypilot.ai```.
+  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://staging-tici.sunnypilot.ai```.
  4. Complete the rest of the installation following the onscreen instructions.

 * sunnypilot already installed and you installed a version after 0.8.17?
-  1. On the comma three/3X, go to `Settings` ▶️ `Software`.
+  1. On the comma three, go to `Settings` ▶️ `Software`.
  2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
  3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
-  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging`
+  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging-tici`

-### Recommended Branches
-|      Branch     |                 Installation URL              |
+
+|     Branch      |               Installation URL                |
 |:---------------:|:---------------------------------------------:|
-| `release`       | `https://release.sunnypilot.ai`               |
-| `staging`       | `https://staging.sunnypilot.ai`               |
-|   `dev`         | `https://dev.sunnypilot.ai`                   |
+| `staging-tici`  |     `https://staging-tici.sunnypilot.ai`      |
 | `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |
+| `release-tici`  |            **Not yet available**.             |

 > [!TIP]
-> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging'.
+> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging-tici'.

 > [!NOTE]
-> Do you require further assistance with software installation? Join the [sunnypilot community forum](https://community.sunnypilot.ai/new-topic?category=general/qa) and create a topic in the General/Q&A Category channel.
+> Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.


 <details>
@@ -69,48 +69,6 @@ struct LeadData {
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
  mads @0 :ModularAssistiveDrivingSystem;
  intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
-
-  enum AudibleAlert {
-    none @0;
-
-    engage @1;
-    disengage @2;
-    refuse @3;
-
-    warningSoft @4;
-    warningImmediate @5;
-
-    prompt @6;
-    promptRepeat @7;
-    promptDistracted @8;
-
-    # unused, these are reserved for upstream events so we don't collide
-    reserved9 @9;
-    reserved10 @10;
-    reserved11 @11;
-    reserved12 @12;
-    reserved13 @13;
-    reserved14 @14;
-    reserved15 @15;
-    reserved16 @16;
-    reserved17 @17;
-    reserved18 @18;
-    reserved19 @19;
-    reserved20 @20;
-    reserved21 @21;
-    reserved22 @22;
-    reserved23 @23;
-    reserved24 @24;
-    reserved25 @25;
-    reserved26 @26;
-    reserved27 @27;
-    reserved28 @28;
-    reserved29 @29;
-    reserved30 @30;
-
-    promptSingleLow @31;
-    promptSingleHigh @32;
-  }
 }

 struct ModelManagerSP @0xaedffd8f31e7b55d {
@@ -446,28 +404,15 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {

 struct ModelDataV2SP @0xa1680744031fdb2d {
  laneTurnDirection @0 :TurnDirection;
+}

  enum TurnDirection {
    none @0;
    turnLeft @1;
    turnRight @2;
  }
-}

-struct Navigationd @0xcb9fd56c7057593a {
-  upcomingTurn @0 :Text;
-  currentSpeedLimit @1 :UInt64;
-  bannerInstructions @2 :Text;
-  distanceFromRoute @3 :Float64;
-  allManeuvers @4 :List(Maneuver);
-  valid @5 :Bool;
-
-  struct Maneuver {
-    distance @0 :Float64;
-    type @1 :Text;
-    modifier @2 :Text;
-    instruction @3 :Text;
-  }
+struct CustomReserved10 @0xcb9fd56c7057593a {
 }

 struct CustomReserved11 @0xc2243c65e0340384 {
@@ -2632,7 +2632,7 @@ struct Event {
    carStateSP @114 :Custom.CarStateSP;
    liveMapDataSP @115 :Custom.LiveMapDataSP;
    modelDataV2SP @116 :Custom.ModelDataV2SP;
-    navigationd @136 :Custom.Navigationd;
+    customReserved10 @136 :Custom.CustomReserved10;
    customReserved11 @137 :Custom.CustomReserved11;
    customReserved12 @138 :Custom.CustomReserved12;
    customReserved13 @139 :Custom.CustomReserved13;
@@ -89,7 +89,6 @@ _services: dict[str, tuple] = {
  "carStateSP": (True, 100., 10),
  "liveMapDataSP": (True, 1., 1),
  "modelDataV2SP": (True, 20.),
-  "navigationd": (True, 3.),
  "liveLocationKalman": (True, 20.),

  # debug
@@ -94,6 +94,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
    {"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_StorageMissing", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},
@@ -154,16 +155,15 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
    {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
    {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"IsReleaseSpBranch", {CLEAR_ON_MANAGER_START, BOOL}},
    {"LastGPSPositionLLK", {PERSISTENT, STRING}},
    {"LeadDepartAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
    {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
    {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
    {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
-    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
+    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "100"}},
    {"OnroadScreenOffControl", {PERSISTENT | BACKUP, BOOL}},
-    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
+    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "0"}},
    {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
    {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -172,14 +172,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"VisualRadarTracks", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"VisualRadarTracksDelay", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
-    {"VisualWideCam", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"VisualStyle", {PERSISTENT | BACKUP, INT, "0"}},
-    {"VisualStyleZoom", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"VisualStyleOverhead", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"VisualStyleOverheadZoom", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"VisualStyleOverheadThreshold", {PERSISTENT | BACKUP, INT, "20"}},

    // MADS params
    {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -195,14 +187,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
    {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},

-    // Navigation params
-    {"AllowNavigation", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"MapboxToken", {PERSISTENT | BACKUP, STRING}},
-    {"MapboxSettings", {CLEAR_ON_MANAGER_START, JSON}},
-    {"MapboxRoute", {PERSISTENT, STRING}},
-    {"MapboxRecompute", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"NavDesiresAllowed", {PERSISTENT | BACKUP, BOOL, "0"}},
-
    // Neural Network Lateral Control
    {"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},

@@ -222,9 +206,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {

    // sunnypilot car specific params
    {"HyundaiLongitudinalTuning", {PERSISTENT | BACKUP, INT, "0"}},
-    {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},

    {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -15,8 +15,6 @@
 #include "common/version.h"
 #include "system/hardware/hw.h"

-#include "sunnypilot/common/version.h"
-
 class SwaglogState {
 public:
  SwaglogState() {
@@ -58,7 +56,7 @@ public:
    if (char* daemon_name = getenv("MANAGER_DAEMON")) {
      ctx_j["daemon"] = daemon_name;
    }
-    ctx_j["version"] = SUNNYPILOT_VERSION;
+    ctx_j["version"] = COMMA_VERSION;
    ctx_j["dirty"] = !getenv("CLEAN");
    ctx_j["device"] = Hardware::get_name();
  }
@@ -6,7 +6,7 @@ from openpilot.common.markdown import parse_markdown

 class TestMarkdown:
  def test_all_release_notes(self):
-    with open(os.path.join(BASEDIR, "CHANGELOG.md")) as f:
+    with open(os.path.join(BASEDIR, "RELEASES.md")) as f:
      release_notes = f.read().split("\n\n")
      assert len(release_notes) > 10

@@ -9,8 +9,6 @@
 #include "system/hardware/hw.h"
 #include "third_party/json11/json11.hpp"

-#include "sunnypilot/common/version.h"
-
 std::string daemon_name = "testy";
 std::string dongle_id = "test_dongle_id";
 int LINE_NO = 0;
@@ -55,7 +53,7 @@ void recv_log(int thread_cnt, int thread_msg_cnt) {
    REQUIRE(ctx["dongle_id"].string_value() == dongle_id);
    REQUIRE(ctx["dirty"].bool_value() == true);

-    REQUIRE(ctx["version"].string_value() == SUNNYPILOT_VERSION);
+    REQUIRE(ctx["version"].string_value() == COMMA_VERSION);

    std::string device = Hardware::get_name();
    REQUIRE(ctx["device"].string_value() == device);
@@ -4,7 +4,7 @@

 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.

-# 339 Supported Cars
+# 337 Supported Cars

 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -21,10 +21,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<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?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<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?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
-|Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<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?harness=Chevrolet Bolt EV Non-ACC 2017">Buy Here</a></sub></details>|||
-|Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<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?harness=Chevrolet Bolt EV Non-ACC 2018-21">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<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?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
-|Chevrolet|Malibu Non-ACC 2016-23|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<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?harness=Chevrolet Malibu Non-ACC 2016-23">Buy Here</a></sub></details>|||
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<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?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
 |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<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?harness=Chevrolet Trailblazer 2021-22">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
@@ -239,20 +236,20 @@ A supported vehicle is one that just works when you install a comma device. All
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
 |SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Legacy 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Outback 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
 |Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
 |Škoda|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
@@ -311,6 +308,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Wildlander PHEV 2021|All|openpilot|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Toyota Wildlander PHEV 2021">Buy Here</a></sub></details>|||
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -39,7 +39,7 @@ All of these are examples of good PRs:
 ### First contribution

 [Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
-There's lot of bounties that don't require a comma 3X or a car.
+There's lot of bounties that don't require a comma 3/3X or a car.

 ## Pull Requests

@@ -1,11 +1,11 @@
-# connect to a comma 3X
+# connect to a comma 3/3X

-A comma 3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
+A comma 3/3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).

 ## Serial Console

 On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
-Connect the comma 3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
+Connect the comma 3/3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.

 On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.

@@ -45,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
    * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`

 > [!NOTE]
-> The default port for ADB is 5555 on the comma 3X.
+> The default port for ADB is 5555 on the comma 3/3X.

 For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).

@@ -8,7 +8,7 @@ Replaying is a critical tool for openpilot development and debugging.
 Just run `tools/replay/replay --demo`.

 ## Replaying CAN data
-*Hardware required: jungle and comma 3X*
+*Hardware required: jungle and comma 3/3X*

 1. Connect your PC to a jungle.
 2.
@@ -3,7 +3,7 @@

 In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.

-And if you have a comma 3X, we'll deploy the change to your device for testing.
+And if you have a comma 3/3X, we'll deploy the change to your device for testing.

 ## 1. Set up your development environment

@@ -21,7 +21,7 @@ nav:
    - What is openpilot?: getting-started/what-is-openpilot.md
  - How-to:
    - Turn the speed blue: how-to/turn-the-speed-blue.md
-    - Connect to a comma 3X: how-to/connect-to-comma.md
+    - Connect to a comma 3/3X: how-to/connect-to-comma.md
    # - Make your first pull request: how-to/make-first-pr.md
    #- Replay a drive: how-to/replay-a-drive.md
  - Concepts:
@@ -39,7 +39,7 @@ cd $BUILD_DIR
 rm -f panda/board/obj/panda.bin.signed
 rm -f panda/board/obj/panda_h7.bin.signed

-VERSION=$(cat sunnypilot/common/version.h | awk -F[\"-]  '{print $2}')
+VERSION=$(cat common/version.h | awk -F[\"-]  '{print $2}')
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 git commit -a -m "openpilot v$VERSION release"
@@ -49,7 +49,7 @@ rm -f panda/board/obj/panda.bin.signed
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 GIT_COMMIT_DATE=$(git --git-dir=$SOURCE_DIR/.git show --no-patch --format='%ct %ci' HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-VERSION=$(cat $SOURCE_DIR/sunnypilot/common/version.h | awk -F\" '{print $2}')
+VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')

 echo -n "$GIT_HASH" > git_src_commit
 echo -n "$GIT_COMMIT_DATE" > git_src_commit_date
@@ -31,13 +31,25 @@ while read hash submodule ref; do
      exit 1
    fi
  else
-    git -C $submodule fetch --depth 100 origin master
-    git -C $submodule branch -r --contains $hash | grep "origin/master"
-    if [ "$?" -eq 0 ]; then
-      echo "$submodule ok"
+    # Check against master-tici for specific submodules, master for others
+    if [ "$submodule" = "opendbc_repo" ] || [ "$submodule" = "panda" ]; then
+      git -C $submodule fetch --depth 100 origin master-tici
+      remote_hash=$(git -C $submodule rev-parse FETCH_HEAD)
+      if git -C $submodule merge-base --is-ancestor $hash $remote_hash; then
+        echo "$submodule ok"
+      else
+        echo "$submodule: $hash is not on master-tici"
+        exit 1
+      fi
    else
-      echo "$submodule: $hash is not on master"
-      exit 1
+      git -C $submodule fetch --depth 100 origin master
+      git -C $submodule branch -r --contains $hash | grep "origin/master"
+      if [ "$?" -eq 0 ]; then
+        echo "$submodule ok"
+      else
+        echo "$submodule: $hash is not on master"
+        exit 1
+      fi
    fi
  fi
 done <<< $(git submodule status --recursive)
@@ -1,8 +1,8 @@
 if [ "$1" = "base" ]; then
-  export DOCKER_IMAGE=sunnypilot-base
+  export DOCKER_IMAGE=sunnypilot-tici-base
  export DOCKER_FILE=Dockerfile.sunnypilot_base
 elif [ "$1" = "prebuilt" ]; then
-  export DOCKER_IMAGE=sunnypilot-prebuilt
+  export DOCKER_IMAGE=sunnypilot-tici-prebuilt
  export DOCKER_FILE=Dockerfile.sunnypilot
 else
  echo "Invalid docker build image: '$1'"
@@ -30,7 +30,7 @@ if [ -z "$GIT_ORIGIN" ]; then
 fi

 # "Tagging"
-echo "#define SUNNYPILOT_VERSION \"$VERSION\"" > ${OUTPUT_DIR}/sunnypilot/common/version.h
+echo "#define COMMA_VERSION \"$VERSION\"" > ${OUTPUT_DIR}/common/version.h

 ## set git identity
 #source $DIR/identity.sh
@@ -55,7 +55,7 @@ git add -f .
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/sunnypilot/common/version.h)
+SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/common/version.h)

 # Commit with detailed message
 git commit -a -m "sunnypilot v$VERSION
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:dbfa5858c0a672411ffdc691efdecb06d01ae458cc1df409bcf3fdeaa4756f72
-size 34638
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:db9671bb03e01f119bba1eb6cc0507e0f039ac4e5b7f9f839a87071c52e86e56
-size 44416
@@ -88,7 +88,6 @@ class Car:
    self.can_callbacks = can_comm_callbacks(self.can_sock, self.pm.sock['sendcan'])

    is_release = self.params.get_bool("IsReleaseBranch")
-    is_release_sp = self.params.get_bool("IsReleaseSpBranch")

    if CI is None:
      # wait for one pandaState and one CAN packet
@@ -111,7 +110,7 @@ class Car:
      init_params_list_sp = sunnypilot_interfaces.initialize_params(self.params)

      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params,
-                        fixed_fingerprint, init_params_list_sp, is_release_sp)
+                        fixed_fingerprint, init_params_list_sp)
      sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
      self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
      self.CP = self.CI.CP
@@ -151,7 +151,7 @@ class TestCarModelBase(unittest.TestCase):

    cls.CarInterface = interfaces[cls.platform]
    cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, alpha_long, False, docs=False)
-    cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, alpha_long, False, docs=False)
+    cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, alpha_long, docs=False)
    assert cls.CP
    assert cls.CP_SP
    assert cls.CP.carFingerprint == cls.platform
@@ -99,6 +99,7 @@ class Controls(ControlsExt, ModelStateBase):

      self.LaC.extension.update_model_v2(self.sm['modelV2'])

+      self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
      self.LaC.extension.update_lateral_lag(self.lat_delay)

    long_plan = self.sm['longitudinalPlan']
@@ -132,7 +133,7 @@ class Controls(ControlsExt, ModelStateBase):
      self.LoC.reset()

    # accel PID loop
-    pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, self.CP_SP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
+    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))

    # Steering PID loop and lateral MPC
@@ -233,9 +234,6 @@ class Controls(ControlsExt, ModelStateBase):
    while not evt.is_set():
      self.get_params_sp()

-      if self.CP.lateralTuning.which() == 'torque':
-        self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
-
      time.sleep(0.1)

  def run(self):
@@ -3,11 +3,9 @@ from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
 from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController
-from openpilot.sunnypilot.navd.navigation_desires.navigation_desires import NavigationDesires

 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
-TurnDirection = custom.ModelDataV2SP.TurnDirection

 LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
 LANE_CHANGE_TIME_MAX = 10.
@@ -34,9 +32,9 @@ DESIRES = {
 }

 TURN_DESIRES = {
-  TurnDirection.none: log.Desire.none,
-  TurnDirection.turnLeft: log.Desire.turnLeft,
-  TurnDirection.turnRight: log.Desire.turnRight,
+  custom.TurnDirection.none: log.Desire.none,
+  custom.TurnDirection.turnLeft: log.Desire.turnLeft,
+  custom.TurnDirection.turnRight: log.Desire.turnRight,
 }


@@ -51,8 +49,7 @@ class DesireHelper:
    self.desire = log.Desire.none
    self.alc = AutoLaneChangeController(self)
    self.lane_turn_controller = LaneTurnController(self)
-    self.lane_turn_direction = TurnDirection.none
-    self.navigation_desires = NavigationDesires()
+    self.lane_turn_direction = custom.TurnDirection.none

  @staticmethod
  def get_lane_change_direction(CS):
@@ -129,7 +126,7 @@ class DesireHelper:

    self.prev_one_blinker = one_blinker

-    if self.lane_turn_direction != TurnDirection.none:
+    if self.lane_turn_direction != custom.TurnDirection.none:
      self.desire = TURN_DESIRES[self.lane_turn_direction]
    else:
      self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
@@ -145,7 +142,3 @@ class DesireHelper:
        self.desire = log.Desire.none

    self.alc.update_state()
-
-    nav_desire = self.navigation_desires.update(carstate, lateral_active)
-    if nav_desire != log.Desire.none and (self.desire == log.Desire.none or self.desire in (log.Desire.turnLeft, log.Desire.turnRight)):
-      self.desire = nav_desire
@@ -51,12 +51,12 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):


 class LongitudinalPlanner(LongitudinalPlannerSP):
-  def __init__(self, CP, CP_SP, init_v=0.0, init_a=0.0, dt=DT_MDL):
+  def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
    self.CP = CP
    self.mpc = LongitudinalMpc(dt=dt)
    # TODO remove mpc modes when TR released
    self.mpc.mode = 'acc'
-    LongitudinalPlannerSP.__init__(self, self.CP, CP_SP, self.mpc)
+    LongitudinalPlannerSP.__init__(self, self.CP, self.mpc)
    self.fcw = False
    self.dt = dt
    self.allow_throttle = True
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from cereal import car, custom
+from cereal import car
 from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import Priority, config_realtime_process
@@ -17,14 +17,10 @@ def main():
  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
  cloudlog.info("plannerd got CarParams: %s", CP.brand)

-  cloudlog.info("plannerd is waiting for CarParamsSP")
-  CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
-  cloudlog.info("plannerd got CarParamsSP")
-
  gps_location_service = get_gps_location_service(params)

  ldw = LaneDepartureWarning()
-  longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
+  longitudinal_planner = LongitudinalPlanner(CP)
  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
                            'liveMapDataSP', 'carStateSP', gps_location_service],
@@ -99,6 +99,11 @@ def main() -> None:
      cloudlog.event("pandad.flash_and_connect", count=count)
      params.remove("PandaSignatures")

+      # TODO: remove this in the next AGNOS
+      # wait until USB is up before counting
+      if time.monotonic() < 60.:
+        no_internal_panda_count = 0
+
      # Handle missing internal panda
      if no_internal_panda_count > 0:
        if no_internal_panda_count == 3:
@@ -22,6 +22,8 @@ class TestPandad:
    if len(Panda.list()) == 0:
      self._run_test(60)

+    self.spi = HARDWARE.get_device_type() != 'tici'
+
  def teardown_method(self):
    managed_processes['pandad'].stop()

@@ -104,9 +106,11 @@ class TestPandad:
    # - 0.2s pandad -> pandad
    # - plus some buffer
    print("startup times", ts, sum(ts) / len(ts))
-    assert 0.1 < (sum(ts)/len(ts)) < 0.7
+    assert 0.1 < (sum(ts)/len(ts)) < (0.7 if self.spi else 5.0)

  def test_protocol_version_check(self):
+    if not self.spi:
+      pytest.skip("SPI test")
    # flash old fw
    fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
    self._flash_bootstub_and_test(fn, expect_mismatch=True)
@@ -6,6 +6,7 @@ import random

 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
+from openpilot.system.hardware import HARDWARE
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages

@@ -15,6 +16,8 @@ JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
 class TestBoarddSpi:
  @classmethod
  def setup_class(cls):
+    if HARDWARE.get_device_type() == 'tici':
+      pytest.skip("only for spi pandas")
    os.environ['STARTED'] = '1'
    os.environ['SPI_ERR_PROB'] = '0.001'
    if not JUNGLE_SPAM:
@@ -29,6 +29,10 @@
    "text": "Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.",
    "severity": 1
  },
+  "Offroad_StorageMissing": {
+    "text": "NVMe drive not mounted.",
+    "severity": 1
+  },
  "Offroad_CarUnrecognized": {
    "text": "sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.",
    "severity": 0
@@ -21,10 +21,10 @@ from openpilot.selfdrive.selfdrived.helpers import ExcessiveActuationCheck
 from openpilot.selfdrive.selfdrived.state import StateMachine
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert

+from openpilot.system.hardware import HARDWARE
 from openpilot.system.version import get_build_metadata

 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
-from openpilot.sunnypilot import get_sanitize_int_param
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
 from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
@@ -44,7 +44,6 @@ LaneChangeDirection = log.LaneChangeDirection
 EventName = log.OnroadEvent.EventName
 ButtonType = car.CarState.ButtonEvent.Type
 SafetyModel = car.CarParams.SafetyModel
-TurnDirection = custom.ModelDataV2SP.TurnDirection

 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)

@@ -88,7 +87,7 @@ class SelfdriveD(CruiseHelper):
    # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
    self.car_state_sock = messaging.sub_sock('carState', timeout=20)

-    ignore = self.sensor_packets + self.gps_packets + ['alertDebug'] + ['modelDataV2SP'] + ['navigationd']
+    ignore = self.sensor_packets + self.gps_packets + ['alertDebug'] + ['modelDataV2SP']
    if SIMULATION:
      ignore += ['driverCameraState', 'managerState']
    if REPLAY:
@@ -98,8 +97,8 @@ class SelfdriveD(CruiseHelper):
                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                   'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
-                                   'modelDataV2SP', 'longitudinalPlanSP', 'navigationd'] + \
-                                  self.camera_packets + self.sensor_packets + self.gps_packets,
+                                   'modelDataV2SP', 'longitudinalPlanSP'] + \
+                                   self.camera_packets + self.sensor_packets + self.gps_packets,
                                  ignore_alive=ignore, ignore_avg_freq=ignore,
                                  ignore_valid=ignore, frequency=int(1/DT_CTRL))

@@ -132,17 +131,17 @@ class SelfdriveD(CruiseHelper):
    self.logged_comm_issue = None
    self.not_running_prev = None
    self.experimental_mode = False
-    self.personality = get_sanitize_int_param(
-      "LongitudinalPersonality",
-      min(log.LongitudinalPersonality.schema.enumerants.values()),
-      max(log.LongitudinalPersonality.schema.enumerants.values()),
-      self.params
-    )
+    self.personality = self.params.get("LongitudinalPersonality", return_default=True)
    self.recalibrating_seen = False
    self.state_machine = StateMachine()
    self.rk = Ratekeeper(100, print_delay_threshold=None)

-    self.ignored_processes = {'mapd', }
+    # some comma three with NVMe experience NVMe dropouts mid-drive that
+    # cause loggerd to crash on write, so ignore it only on that platform
+    self.ignored_processes = set()
+    nvme_expected = os.path.exists('/dev/nvme0n1') or (not os.path.isfile("/persist/comma/living-in-the-moment"))
+    if HARDWARE.get_device_type() == 'tici' and nvme_expected:
+      self.ignored_processes = {'loggerd', 'mapd'}

    # Determine startup event
    is_remote = build_metadata.openpilot.comma_remote or build_metadata.openpilot.sunnypilot_remote
@@ -293,7 +292,7 @@ class SelfdriveD(CruiseHelper):
    if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
      direction = self.sm['modelV2'].meta.laneChangeDirection
      if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
-        (CS.rightBlindspot and direction == LaneChangeDirection.right):
+         (CS.rightBlindspot and direction == LaneChangeDirection.right):
        self.events.add(EventName.laneChangeBlocked)
      else:
        if direction == LaneChangeDirection.left:
@@ -301,14 +300,14 @@ class SelfdriveD(CruiseHelper):
        else:
          self.events.add(EventName.preLaneChangeRight)
    elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting,
-                                                     LaneChangeState.laneChangeFinishing):
+                                                    LaneChangeState.laneChangeFinishing):
      self.events.add(EventName.laneChange)

    # Handle lane turn
    lane_turn_direction = self.sm['modelDataV2SP'].laneTurnDirection
-    if lane_turn_direction == TurnDirection.turnLeft:
+    if lane_turn_direction == custom.TurnDirection.turnLeft:
      self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnLeft)
-    elif lane_turn_direction == TurnDirection.turnRight:
+    elif lane_turn_direction == custom.TurnDirection.turnRight:
      self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnRight)

    for i, pandaState in enumerate(self.sm['pandaStates']):
@@ -496,7 +495,7 @@ class SelfdriveD(CruiseHelper):

    # All pandas not in silent mode must have controlsAllowed when openpilot is enabled
    if self.enabled and any(not ps.controlsAllowed for ps in self.sm['pandaStates']
-                            if ps.safetyModel not in IGNORED_SAFETY_MODES):
+           if ps.safetyModel not in IGNORED_SAFETY_MODES):
      self.mismatch_counter += 1

    return CS
@@ -51,9 +51,7 @@ class Plant:
    from opendbc.car.honda.values import CAR
    from opendbc.car.honda.interface import CarInterface

-    CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
-    CP_SP = CarInterface.get_non_essential_params_sp(CP, CAR.HONDA_CIVIC)
-    self.planner = LongitudinalPlanner(CP, CP_SP, init_v=self.speed)
+    self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.HONDA_CIVIC), init_v=self.speed)

  @property
  def current_time(self):
@@ -32,11 +32,11 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {

  experimentalLongitudinalToggle = new ParamControl(
    "AlphaLongitudinalEnabled",
-    tr("sunnypilot Longitudinal Control (Alpha)"),
+    tr("openpilot Longitudinal Control (Alpha)"),
    QString("<b>%1</b><br><br>%2")
-      .arg(tr("WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
-      .arg(tr("On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. "
-              "Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.")),
+      .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
+      .arg(tr("On this car, sunnypilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. "
+              "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
    ""
  );
  experimentalLongitudinalToggle->setConfirmation(true, false);
@@ -12,7 +12,7 @@ public:
  explicit DeveloperPanel(SettingsWindow *parent);
  void showEvent(QShowEvent *event) override;

-protected:
+private:
  Params params;
  ParamControl* adbToggle;
  ParamControl* joystickToggle;
@@ -33,6 +33,13 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
      "../assets/icons/experimental_white.svg",
      false,
    },
+    {
+      "DynamicExperimentalControl",
+      tr("Enable Dynamic Experimental Control"),
+      tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
+      "../assets/offroad/icon_blank.png",
+      false,
+    },
    {
      "DisengageOnAccelerator",
      tr("Disengage on Accelerator Pedal"),
@@ -188,7 +195,7 @@ void TogglesPanel::updateToggles() {
      const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");

      QString long_desc = unavailable + " " + \
-                          tr("sunnypilot longitudinal control may come in a future update.");
+                          tr("openpilot longitudinal control may come in a future update.");
      if (CP.getAlphaLongitudinalAvailable()) {
        if (is_release) {
          long_desc = unavailable + " " + tr("An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.");
@@ -4,6 +4,9 @@
 #include <map>

 #include "selfdrive/ui/qt/util.h"
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/ui.h"
+#endif

 void OnroadAlerts::updateState(const UIState &s) {
  Alert a = getAlert(*(s.sm), s.scene.started_frame);
@@ -73,6 +76,12 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
  }
  QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);

+#ifdef SUNNYPILOT
+  const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
+  const int adjustment = dev_ui_info > 1 && alert.size != cereal::SelfdriveState::AlertSize::FULL ? 30 : 0;
+  r = QRect(0 + margin, height() - h + margin - adjustment, width() - margin*2, h - margin*2);
+#endif
+
  QPainter p(this);

  // draw background + gradient
@@ -25,11 +25,6 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
  // update engageability/experimental mode button
  experimental_btn->updateState(s);
  dmon.updateState(s);
-  if (s.scene.visual_style == 0) {
-    setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
-  } else {
-    setBackgroundColor(QColor(0, 0, 0));
-  }
 }

 void AnnotatedCameraWidget::initializeGL() {
@@ -40,12 +35,7 @@ void AnnotatedCameraWidget::initializeGL() {
  qInfo() << "OpenGL language version:" << QString((const char*)glGetString(GL_SHADING_LANGUAGE_VERSION));

  prev_draw_t = millis_since_boot();
-  auto *s = uiState();
-  if (s->scene.visual_style == 0) {
-    setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
-  } else {
-    setBackgroundColor(QColor(0, 0, 0));
-  }
+  setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
 }

 mat4 AnnotatedCameraWidget::calcFrameMatrix() {
@@ -128,13 +118,7 @@ void AnnotatedCameraWidget::paintGL() {
      } else if (v_ego > 15) {
        wide_cam_requested = false;
      }
-      if (s->scene.visual_wide_cam == 1) {
-        wide_cam_requested = true;
-      } else if (s->scene.visual_wide_cam == 2) {
-        wide_cam_requested = false;
-      } else {
-        wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
-      }
+      wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
    }
    CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
    CameraWidget::setFrameId(sm["modelV2"].getModelV2().getFrameId());
@@ -1,5 +1,4 @@
 #include "selfdrive/ui/qt/onroad/model.h"
-#include <algorithm>

 void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
  auto *s = uiState();
@@ -23,7 +22,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {

  update_model(model, lead_one);
  drawLaneLines(painter);
-  drawPath(painter, model, surface_rect.height());
+  drawPath(painter, model, surface_rect);

  if (longitudinal_control && sm.alive("radarState")) {
    update_leads(radar_state, model.getPosition());
@@ -35,6 +34,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
      drawLead(painter, lead_two, lead_vertices[1], surface_rect);
    }
  }
+  drawLeadStatus(painter, surface_rect.height(), surface_rect.width());

  painter.restore();
 }
@@ -50,14 +50,8 @@ void ModelRenderer::update_leads(const cereal::RadarState::Reader &radar_state,
 }

 void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) {
-  auto *s = uiState();
  const auto &model_position = model.getPosition();
-  float max_distance;
-  if (s->scene.visual_style == 0) {
-    max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
-  } else {
-    max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
-  }
+  float max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);

  // update lane lines
  const auto &lane_lines = model.getLaneLines();
@@ -65,11 +59,7 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
  int max_idx = get_path_length_idx(lane_lines[0], max_distance);
  for (int i = 0; i < std::size(lane_line_vertices); i++) {
    lane_line_probs[i] = line_probs[i];
-    if (s->scene.visual_style == 2) {
-      mapLineToPolygon(lane_lines[i], 0.075 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
-    } else {
-      mapLineToPolygon(lane_lines[i], 0.025 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
-    }
+    mapLineToPolygon(lane_lines[i], 0.025 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
  }

  // update road edges
@@ -77,11 +67,7 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
  const auto &edge_stds = model.getRoadEdgeStds();
  for (int i = 0; i < std::size(road_edge_vertices); i++) {
    road_edge_stds[i] = edge_stds[i];
-    if (s->scene.visual_style == 2) {
-      mapLineToPolygon(road_edges[i], 0.1, 0, &road_edge_vertices[i], max_idx);
-    } else {
-      mapLineToPolygon(road_edges[i], 0.025, 0, &road_edge_vertices[i], max_idx);
-    }
+    mapLineToPolygon(road_edges[i], 0.025, 0, &road_edge_vertices[i], max_idx);
  }

  // update path
@@ -94,112 +80,16 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
 }

 void ModelRenderer::drawLaneLines(QPainter &painter) {
-  auto *s = uiState();
-  if (s->scene.visual_style == 2) {
-    QRectF r = clip_region;
+  // lanelines
+  for (int i = 0; i < std::size(lane_line_vertices); ++i) {
+    painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
+    painter.drawPolygon(lane_line_vertices[i]);
+  }

-    qreal horizonY = r.bottom();
-    if (!road_edge_vertices[0].isEmpty() || !road_edge_vertices[1].isEmpty()) {
-      qreal leftH  = r.top();
-      qreal rightH = r.top();
-
-      if (!road_edge_vertices[0].isEmpty()) {
-        leftH = std::numeric_limits<qreal>::max();
-        for (const QPointF &pt : road_edge_vertices[0]) {
-          if (pt.y() < leftH) leftH = pt.y();
-        }
-      }
-
-      if (!road_edge_vertices[1].isEmpty()) {
-        rightH = std::numeric_limits<qreal>::max();
-        for (const QPointF &pt : road_edge_vertices[1]) {
-          if (pt.y() < rightH) rightH = pt.y();
-        }
-      }
-
-      horizonY = std::max(leftH, rightH);
-    }
-
-    painter.fillRect(QRectF(r.left(), horizonY + 0, r.width(), r.bottom() - (horizonY + 0)), QColor("#111111"));
-
-    auto buildFill = [&](const QPolygonF &edgeRibbon, bool isLeftSide) -> QPolygonF {
-      if (edgeRibbon.isEmpty()) return {};
-
-      QMap<int, QPointF> byY;
-      for (const QPointF &pt : edgeRibbon) {
-        int yi = int(std::round(pt.y()));
-        if (!byY.contains(yi)) {
-          byY[yi] = pt;
-        } else {
-          if (isLeftSide) {
-            if (pt.x() > byY[yi].x()) byY[yi] = pt;
-          } else {
-            if (pt.x() < byY[yi].x()) byY[yi] = pt;
-          }
-        }
-      }
-      if (byY.isEmpty()) return {};
-
-      QPolygonF curve;
-      for (auto it = byY.cbegin(); it != byY.cend(); ++it) {
-        curve << it.value();
-      }
-      if (curve.size() < 2) return {};
-
-      const qreal topY = curve.first().y();
-      QPolygonF fill;
-      if (isLeftSide) {
-        fill << QPointF(r.left(), topY);
-        for (const QPointF &pt : curve) fill << pt;
-        fill << QPointF(r.left(), r.bottom());
-      } else {
-        fill << QPointF(r.right(), topY);
-        for (const QPointF &pt : curve) fill << pt;
-        fill << QPointF(r.right(), r.bottom());
-      }
-      return fill;
-    };
-
-    QPolygonF leftFill  = buildFill(road_edge_vertices[0], true);
-    QPolygonF rightFill = buildFill(road_edge_vertices[1], false);
-
-    if (!leftFill.isEmpty()) {
-      painter.setBrush(QColor("#222222"));
-      painter.drawPolygon(leftFill);
-    }
-    if (!rightFill.isEmpty()) {
-      painter.setBrush(QColor("#222222"));
-      painter.drawPolygon(rightFill);
-    }
-
-    for (int i = 0; i < std::size(lane_line_vertices); ++i) {
-      painter.setBrush(QColor::fromRgbF(0.902, 0.902, 0.902, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
-      painter.drawPolygon(lane_line_vertices[i]);
-    }
-
-    for (int i = 0; i < std::size(road_edge_vertices); ++i) {
-      painter.setBrush(QColor(0x55, 0x55, 0x55, 255));
-      painter.drawPolygon(road_edge_vertices[i]);
-    }
-
-    QLinearGradient bgGrad(r.left(), horizonY - 100, r.left(), horizonY + 100);
-    bgGrad.setColorAt(0.0, QColor("#000000"));
-    bgGrad.setColorAt(0.5, QColor("#111111"));
-    bgGrad.setColorAt(1.0, QColor("#111111"));
-    painter.fillRect(QRectF(r.left(), horizonY - 200, r.width(), 200), bgGrad);
-
-  } else {
-    // lanelines
-    for (int i = 0; i < std::size(lane_line_vertices); ++i) {
-      painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
-      painter.drawPolygon(lane_line_vertices[i]);
-    }
-
-    // road edges
-    for (int i = 0; i < std::size(road_edge_vertices); ++i) {
-      painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - road_edge_stds[i], 0.0, 1.0)));
-      painter.drawPolygon(road_edge_vertices[i]);
-    }
+  // road edges
+  for (int i = 0; i < std::size(road_edge_vertices); ++i) {
+    painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - road_edge_stds[i], 0.0, 1.0)));
+    painter.drawPolygon(road_edge_vertices[i]);
  }
 }

@@ -284,9 +174,175 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float
      (1 - t) * start.alphaF() + t * end.alphaF());
 }

+
+void ModelRenderer::drawLeadStatus(QPainter &painter, int height, int width) {
+    auto *s = uiState();
+    auto &sm = *(s->sm);
+
+    if (!sm.alive("radarState")) return;
+
+    const auto &radar_state = sm["radarState"].getRadarState();
+    const auto &lead_one = radar_state.getLeadOne();
+    const auto &lead_two = radar_state.getLeadTwo();
+
+    // Check if we have any active leads
+    bool has_lead_one = lead_one.getStatus();
+    bool has_lead_two = lead_two.getStatus();
+
+    if (!has_lead_one && !has_lead_two) {
+        // Fade out status display
+        lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
+        if (lead_status_alpha <= 0.0f) return;
+    } else {
+        // Fade in status display
+        lead_status_alpha = std::min(1.0f, lead_status_alpha + 0.1f);
+    }
+
+    // Draw status for each lead vehicle under its chevron
+    if (true) {
+        drawLeadStatusAtPosition(painter, lead_one, lead_vertices[0], height, width, "L1");
+    }
+
+    if (has_lead_two && std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0) {
+        drawLeadStatusAtPosition(painter, lead_two, lead_vertices[1], height, width, "L2");
+    }
+}
+
+void ModelRenderer::drawLeadStatusAtPosition(QPainter &painter,
+                                           const cereal::RadarState::LeadData::Reader &lead_data,
+                                           const QPointF &chevron_pos,
+                                           int height, int width,
+                                           const QString &label) {
+
+    float d_rel = lead_data.getDRel();
+    float v_rel = lead_data.getVRel();
+    auto *s = uiState();
+    auto &sm = *(s->sm);
+    float v_ego = sm["carState"].getCarState().getVEgo();
+
+    int chevron_data = std::atoi(Params().get("ChevronInfo").c_str());
+
+    // Calculate chevron size (same logic as drawLead)
+    float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
+
+    QFont content_font = painter.font();
+    content_font.setPixelSize(35);
+    content_font.setBold(true);
+    painter.setFont(content_font);
+
+    QFontMetrics fm(content_font);
+    bool is_metric = s->scene.is_metric;
+
+    QStringList text_lines;
+
+    const int chevron_types = 3;
+    const int chevron_all = chevron_types + 1;  // All metrics (value 4)
+    QStringList chevron_text[chevron_types];
+    int position;
+    float val;
+
+    // Distance display (chevron_data == 1 or all)
+    if (chevron_data == 1 || chevron_data == chevron_all) {
+        position = 0;
+        val = std::max(0.0f, d_rel);
+        QString distance_unit = is_metric ? "m" : "ft";
+        if (!is_metric) {
+            val *= 3.28084f; // Convert meters to feet
+        }
+        chevron_text[position].append(QString::number(val, 'f', 0) + " " + distance_unit);
+    }
+
+    // Absolute velocity display (chevron_data == 2 or all)
+    if (chevron_data == 2 || chevron_data == chevron_all) {
+        position = (chevron_data == 2) ? 0 : 1;
+        val = std::max(0.0f, (v_rel + v_ego) * (is_metric ? static_cast<float>(MS_TO_KPH) : static_cast<float>(MS_TO_MPH)));
+        chevron_text[position].append(QString::number(val, 'f', 0) + " " + (is_metric ? "km/h" : "mph"));
+    }
+
+    // Time-to-contact display (chevron_data == 3 or all)
+    if (chevron_data == 3 || chevron_data == chevron_all) {
+        position = (chevron_data == 3) ? 0 : 2;
+        val = (d_rel > 0 && v_ego > 0) ? std::max(0.0f, d_rel / v_ego) : 0.0f;
+        QString ttc_str = (val > 0 && val < 200) ? QString::number(val, 'f', 1) + "s" : "---";
+        chevron_text[position].append(ttc_str);
+    }
+
+    // Collect all non-empty text lines
+    for (int i = 0; i < chevron_types; ++i) {
+        if (!chevron_text[i].isEmpty()) {
+            text_lines.append(chevron_text[i]);
+        }
+    }
+
+    // If no text to display, return early
+    if (text_lines.isEmpty()) {
+        return;
+    }
+
+    // Text box dimensions
+    float str_w = 150;  // Width of text area
+    float str_h = 45;   // Height per line
+
+    // Position text below chevron, centered horizontally
+    float text_x = chevron_pos.x() - str_w / 2;
+    float text_y = chevron_pos.y() + sz + 15;
+
+    // Clamp to screen bounds
+    text_x = std::clamp(text_x, 10.0f, (float)width - str_w - 10);
+
+    // Shadow offset
+    QPoint shadow_offset(2, 2);
+
+    // Draw each line of text with shadow
+    for (int i = 0; i < text_lines.size(); ++i) {
+        if (!text_lines[i].isEmpty()) {
+            QRect textRect(text_x, text_y + (i * str_h), str_w, str_h);
+
+            // Draw shadow
+            painter.setPen(QColor(0x0, 0x0, 0x0, (int)(200 * lead_status_alpha)));
+            painter.drawText(textRect.translated(shadow_offset.x(), shadow_offset.y()),
+                           Qt::AlignBottom | Qt::AlignHCenter, text_lines[i]);
+
+            // Determine text color based on content and danger level
+            QColor text_color;
+
+            // Check if this is a distance line (contains 'm' or 'ft')
+            if (text_lines[i].contains("m") || text_lines[i].contains("ft")) {
+                if (d_rel < 20.0f) {
+                    text_color = QColor(255, 80, 80, (int)(255 * lead_status_alpha)); // Red - danger
+                } else if (d_rel < 40.0f) {
+                    text_color = QColor(255, 200, 80, (int)(255 * lead_status_alpha)); // Yellow - caution
+                } else {
+                    text_color = QColor(80, 255, 120, (int)(255 * lead_status_alpha)); // Green - safe
+                }
+            }
+            // Enhanced color coding for time-to-contact
+            else if (text_lines[i].contains("s") && !text_lines[i].contains("---")) {
+                float ttc_val = text_lines[i].left(text_lines[i].length() - 1).toFloat();
+                if (ttc_val < 3.0f) {
+                    text_color = QColor(255, 80, 80, (int)(255 * lead_status_alpha)); // Red - urgent
+                } else if (ttc_val < 6.0f) {
+                    text_color = QColor(255, 200, 80, (int)(255 * lead_status_alpha)); // Yellow - caution
+                } else {
+                    text_color = QColor(0xff, 0xff, 0xff, (int)(255 * lead_status_alpha)); // White - safe
+                }
+            }
+            else {
+                text_color = QColor(0xff, 0xff, 0xff, (int)(255 * lead_status_alpha)); // White for other lines
+            }
+
+            // Draw main text
+            painter.setPen(text_color);
+            painter.drawText(textRect, Qt::AlignBottom | Qt::AlignHCenter, text_lines[i]);
+        }
+    }
+
+    // Reset pen
+    painter.setPen(Qt::NoPen);
+}
+
 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
                             const QPointF &vd, const QRect &surface_rect) {
-  auto *s = uiState();
  const float speedBuff = 10.;
  const float leadBuff = 40.;
  const float d_rel = lead_data.getDRel();
@@ -309,133 +365,20 @@ void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadDa
  float g_yo = sz / 10;

  QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}};
-  if (s->scene.visual_style == 2) {
-    painter.setBrush(QColor(0xE6, 0xE6, 0xE6, 255));
-  } else {
-    painter.setBrush(QColor(218, 202, 37, 255));
-  }
+  painter.setBrush(QColor(218, 202, 37, 255));
  painter.drawPolygon(glow, std::size(glow));

  // chevron
  QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}};
-  if (s->scene.visual_style == 2) {
-    painter.setBrush(QColor(0, 0, 0, fillAlpha));
-  } else {
-    painter.setBrush(QColor(201, 34, 49, fillAlpha));
-  }
+  painter.setBrush(QColor(201, 34, 49, fillAlpha));
  painter.drawPolygon(chevron, std::size(chevron));
 }

-float mapRange(float x, float in_min, float in_max, float out_min, float out_max) {
-  if (in_min < in_max) {
-    x = std::clamp(x, in_min, in_max);
-  } else {
-    x = std::clamp(x, in_max, in_min);
-  }
-  return out_min + (x - in_min) * (out_max - out_min) / (in_max - in_min);
-}
-
-// Projects a point in car space to the corresponding point in full frame image space.
+// Projects a point in car to space to the corresponding point in full frame image space.
 bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out) {
-  auto *s = uiState();
-  auto &sm = *(s->sm);
-  float blend_speed_mph = fabsf(sm["carState"].getCarState().getVEgo() * 2.23694f);
-
  Eigen::Vector3f input(in_x, in_y, in_z);
-
-  if ((s->scene.visual_style_zoom == 1 || s->scene.visual_style_zoom == 2) && s->scene.visual_style != 0) {
-    float zoom_start = 20.0f;
-    float zoom_end   = 50.0f;
-
-    if (s->scene.visual_style_zoom == 2) {
-      std::swap(zoom_start, zoom_end);
-    }
-
-    float IN_X_OFFSET = mapRange(blend_speed_mph, zoom_start, zoom_end, 0.0f, 24.0f);
-    float IN_Y_OFFSET = mapRange(blend_speed_mph, zoom_start, zoom_end, 1.0f, 2.0f);
-    float IN_Z_OFFSET = mapRange(blend_speed_mph, zoom_start, zoom_end, 0.0f, 5.0f);
-    float PITCH_DEG   = mapRange(blend_speed_mph, zoom_start, zoom_end, 0.0f, 5.0f);
-
-    input = Eigen::Vector3f(in_x + IN_X_OFFSET, in_y / IN_Y_OFFSET, in_z + IN_Z_OFFSET);
-    Eigen::AngleAxisf pitch_rot(PITCH_DEG * M_PI / 180.0f, Eigen::Vector3f::UnitY());
-    input = pitch_rot * input;
-  }
-
  auto pt = car_space_transform * input;
-  bool normal_valid = (pt.z() > 1e-3f &&
-                       std::isfinite(pt.x()) && std::isfinite(pt.y()));
-  QPointF normal_view;
-  if (normal_valid) {
-    normal_view = QPointF(pt.x() / pt.z(), pt.y() / pt.z());
-  }
-
-  const float base_scale_x = 20.0f;
-  const float base_scale_y = 15.0f;
-  const float y_offset = 450.0f;
-
-  float factor_scale_x = 0.0f;
-  if (blend_speed_mph > 0.0f) {
-    if (s->scene.visual_style_overhead_zoom == 1) {
-      factor_scale_x = mapRange(blend_speed_mph, 0.0f, 50.0f, 30.0f, 0.0f);
-    } else if (s->scene.visual_style_overhead_zoom == 2) {
-      factor_scale_x = mapRange(blend_speed_mph, 50.0f, 0.0f, 30.0f, 0.0f);
-    }
-  }
-
-  float scale_x = base_scale_x + factor_scale_x;
-  float scale_y = base_scale_y;
-
-  QPointF topdown_view(
-    clip_region.center().x() + in_y * scale_x,
-    (clip_region.bottom() - y_offset) - in_x * scale_y
-  );
-
-  if ((s->scene.visual_style_overhead == 1 || s->scene.visual_style_overhead == 2) && s->scene.visual_style != 0) {
-    static float blend = 0.0f;
-    static float target_blend = 0.0f;
-    static double last_t = millis_since_boot();
-
-    const bool inverted = (s->scene.visual_style_overhead == 2);
-    const float threshold = s->scene.visual_style_overhead_threshold;
-    const float hysteresis = 5.0f;
-
-    if (!inverted) {
-      if (target_blend < 0.5f && blend_speed_mph > threshold) {
-        target_blend = 1.0f;
-      } else if (target_blend > 0.5f && blend_speed_mph < threshold - hysteresis) {
-        target_blend = 0.0f;
-      }
-    } else {
-      if (target_blend < 0.5f && blend_speed_mph < threshold) {
-        target_blend = 1.0f;
-      } else if (target_blend > 0.5f && blend_speed_mph > threshold + hysteresis) {
-        target_blend = 0.0f;
-      }
-    }
-
-    double now = millis_since_boot();
-    double dt = (now - last_t) / 1000.0;
-    last_t = now;
-
-    const float transition_time = 1.50f;
-    float step = dt / transition_time;
-
-    if (blend < target_blend) {
-      blend = std::min(blend + step, target_blend);
-    } else if (blend > target_blend) {
-      blend = std::max(blend - step, target_blend);
-    }
-
-    if (!normal_valid) return false;
-    *out = QPointF(
-      (1 - blend) * normal_view.x() + blend * topdown_view.x(),
-      (1 - blend) * normal_view.y() + blend * topdown_view.y()
-    );
-  } else {
-    if (!normal_valid) return false;
-    *out = normal_view;
-  }
-
+  *out = QPointF(pt.x() / pt.z(), pt.y() / pt.z());
  return clip_region.contains(*out);
 }

@@ -34,11 +34,20 @@ protected:
  bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out);
  void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
                        QPolygonF *pvd, int max_idx, bool allow_invert = true);
+  void drawLeadStatus(QPainter &painter, int height, int width);
+  void drawLeadStatusAtPosition(QPainter &painter,
+                             const cereal::RadarState::LeadData::Reader &lead_data,
+                             const QPointF &chevron_pos,
+                             int height, int width,
+                             const QString &label);
  void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect);
  void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
  virtual void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
  void drawLaneLines(QPainter &painter);
  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
+  virtual void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {;
+    drawPath(painter, model, surface_rect.height());
+  }
  void updatePathGradient(QLinearGradient &bg);
  QColor blendColors(const QColor &start, const QColor &end, float t);

@@ -55,4 +64,9 @@ protected:
  QPointF lead_vertices[2] = {};
  Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
  QRectF clip_region;
+
+  float lead_status_alpha = 0.0f;
+  QPointF lead_status_pos;
+  QString lead_status_text;
+  QColor lead_status_color;
 };
@@ -196,7 +196,6 @@ mat4 CameraWidget::calcFrameMatrix() {
 }

 void CameraWidget::paintGL() {
-  auto *s = uiState();
  glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
  glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);

@@ -249,9 +248,7 @@ void CameraWidget::paintGL() {

  glUniformMatrix4fv(program->uniformLocation("uTransform"), 1, GL_TRUE, frame_mat.v);
  glEnableVertexAttribArray(0);
-  if (s->scene.visual_style == 0) {
-    glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, (const void *)0);
-  }
+  glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, (const void *)0);
  glDisableVertexAttribArray(0);
  glBindVertexArray(0);
  glBindTexture(GL_TEXTURE_2D, 0);
@@ -11,18 +11,17 @@ WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) {
  main_layout->setContentsMargins(56, 40, 56, 40);
  main_layout->setSpacing(42);  
  
-  community_popup = new SunnylinkCommunityPopup(this);
-  QLabel *title = new QLabel(tr("sunnypilot Community"));
-  title->setStyleSheet("font-size: 56px; font-weight: 500;");
+  QLabel *title = new QLabel(tr("<span style='font-family: \"Noto Color Emoji\";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span>"));
+  title->setStyleSheet("font-size: 64px; font-weight: 500;");
  main_layout->addWidget(title);

-  QLabel *desc = new QLabel(tr("Need help or have ideas?<br><b>Join</b> our community now!"));
+  QLabel *desc = new QLabel(tr("Maximize your training data uploads to improve openpilot's driving models."));
  desc->setStyleSheet("font-size: 40px; font-weight: 400;");
  desc->setWordWrap(true);
  main_layout->addWidget(desc);

-  QPushButton *settings_btn = new QPushButton(tr("Learn More"));
-  connect(settings_btn, &QPushButton::clicked, [=]() { community_popup->exec(); });
+  QPushButton *settings_btn = new QPushButton(tr("Open"));
+  connect(settings_btn, &QPushButton::clicked, [=]() { emit openSettings(1, "FirehosePanel"); });
  settings_btn->setStyleSheet(R"(
    QPushButton {
      font-size: 48px;
@@ -3,17 +3,12 @@
 #include <QFrame>
 #include <QWidget>

-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/community_widget.h"
-
 class WiFiPromptWidget : public QFrame {
  Q_OBJECT

 public:
  explicit WiFiPromptWidget(QWidget* parent = 0);

-private:
-  SunnylinkCommunityPopup *community_popup;
-
 signals:
  void openSettings(int index = 0, const QString &param = "");
 };
@@ -92,16 +92,6 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
      // ignore events when device is awakened by resetInteractiveTimeout
      ignore = !device()->isAwake();
      device()->resetInteractiveTimeout();
-
-#ifdef SUNNYPILOT
-      auto *s_sp = uiStateSP();
-      bool onroadScreenControl = s_sp->scene.onroadScreenOffControl;
-      bool started = s_sp->scene.started;
-      bool timerExpired = (s_sp->scene.onroadScreenOffTimer == 0);
-      ignore |= (onroadScreenControl and started and timerExpired);
-      s_sp->reset_onroad_sleep_timer();
-#endif
-
      break;
    }
    default:
@@ -7,10 +7,6 @@
 #include "selfdrive/ui/qt/offroad/onboarding.h"
 #include "selfdrive/ui/qt/offroad/settings.h"

-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/ui.h"
-#endif
-
 class MainWindow : public QWidget {
  Q_OBJECT

@@ -4,7 +4,7 @@ import time
 import wave


-from cereal import car, messaging, custom
+from cereal import car, messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import Ratekeeper
@@ -26,15 +26,8 @@ AMBIENT_DB = 30 # DB where MIN_VOLUME is applied
 DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied

 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
-AudibleAlertSP = custom.SelfdriveStateSP.AudibleAlert


-sound_list_sp: dict[int, tuple[str, int | None, float]] = {
-  # AudibleAlertSP, file name, play count (none for infinite)
-  AudibleAlertSP.promptSingleLow: ("prompt_single_low.wav", 1, MAX_VOLUME),
-  AudibleAlertSP.promptSingleHigh: ("prompt_single_high.wav", 1, MAX_VOLUME),
-}
-
 sound_list: dict[int, tuple[str, int | None, float]] = {
  # AudibleAlert, file name, play count (none for infinite)
  AudibleAlert.engage: ("engage.wav", 1, MAX_VOLUME),
@@ -47,8 +40,6 @@ sound_list: dict[int, tuple[str, int | None, float]] = {

  AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
  AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
-
-  **sound_list_sp,
 }

 def check_selfdrive_timeout_alert(sm):
@@ -30,13 +30,11 @@ qt_src = [
  "sunnypilot/qt/offroad/settings/max_time_offroad.cc",
  "sunnypilot/qt/offroad/settings/brightness.cc",
  "sunnypilot/qt/offroad/settings/models_panel.cc",
-  "sunnypilot/qt/offroad/settings/navigation_panel.cc",
  "sunnypilot/qt/offroad/settings/osm_panel.cc",
  "sunnypilot/qt/offroad/settings/settings.cc",
  "sunnypilot/qt/offroad/settings/software_panel.cc",
  "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",
  "sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc",
-  "sunnypilot/qt/offroad/settings/sunnylink/community_widget.cc",
  "sunnypilot/qt/offroad/settings/trips_panel.cc",
  "sunnypilot/qt/offroad/settings/vehicle_panel.cc",
  "sunnypilot/qt/offroad/settings/visuals_panel.cc",
@@ -56,13 +56,14 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare
  addItem(errorLogBtn);

  QObject::connect(uiState(), &UIState::offroadTransition, this, &DeveloperPanelSP::updateToggles);
+
+  is_release = params.getBool("IsReleaseBranch");
+  is_tested = params.getBool("IsTestedBranch");
+  is_development = params.getBool("IsDevelopmentBranch");
 }

 void DeveloperPanelSP::updateToggles(bool offroad) {
  bool disable_updates = params.getBool("DisableUpdates");
-  bool is_release = params.getBool("IsReleaseBranch") || params.getBool("IsReleaseSpBranch");
-  bool is_tested = params.getBool("IsTestedBranch");
-  bool is_development = params.getBool("IsDevelopmentBranch");

  prebuiltToggle->setVisible(!is_release && !is_tested && !is_development);
  prebuiltToggle->setEnabled(disable_updates);
@@ -79,9 +80,6 @@ void DeveloperPanelSP::updateToggles(bool offroad) {
  enableGithubRunner->setVisible(!is_release);
  errorLogBtn->setVisible(!is_release);
  showAdvancedControls->setEnabled(true);
-
-  joystickToggle->setVisible(!is_release);
-  longManeuverToggle->setVisible(!is_release);
 }

 void DeveloperPanelSP::showEvent(QShowEvent *event) {
@@ -22,6 +22,9 @@ private:
  ParamControlSP *prebuiltToggle;
  Params params;
  ParamControlSP *showAdvancedControls;
+  bool is_development;
+  bool is_release;
+  bool is_tested;

 private slots:
  void updateToggles(bool offroad);
@@ -88,7 +88,7 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {

  connect(toggleDeviceBootMode, &ButtonParamControlSP::buttonClicked, this, [=](int index) {
    params.put("DeviceBootMode", QString::number(index).toStdString());
-    updateState(offroad);
+    updateState();
  });

  addItem(device_grid_layout);
@@ -122,7 +122,7 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {

  addItem(power_group_layout);

-  always_enabled_btns = {
+  std::vector always_enabled_btns = {
    rebootBtn,
    poweroffBtn,
    offroadBtn,
@@ -130,7 +130,17 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
    buttons["onroadUploadsBtn"],
  };

-  QObject::connect(uiState(), &UIState::offroadTransition, this, &DevicePanelSP::updateState);
+  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool _offroad) {
+    for (auto btn : findChildren<PushButtonSP*>()) {
+      bool always_enabled = std::find(always_enabled_btns.begin(), always_enabled_btns.end(), btn) != always_enabled_btns.end();
+
+      if (!always_enabled) {
+        btn->setEnabled(offroad);
+      }
+    }
+    offroad = _offroad;
+    updateState();
+  });
 }

 void DevicePanelSP::setOffroadMode() {
@@ -154,7 +164,7 @@ void DevicePanelSP::setOffroadMode() {
    ConfirmationDialog::alert(tr("Disengage to Enter Always Offroad Mode"), this);
  }

-  updateState(offroad);
+  updateState();
 }

 void DevicePanelSP::resetSettings() {
@@ -171,16 +181,12 @@ void DevicePanelSP::resetSettings() {
 }

 void DevicePanelSP::showEvent(QShowEvent *event) {
-  updateState(offroad);
+  updateState();
 }

-void DevicePanelSP::updateState(bool _offroad) {
-  for (auto btn : findChildren<PushButtonSP*>()) {
-    bool always_enabled = std::find(always_enabled_btns.begin(), always_enabled_btns.end(), btn) != always_enabled_btns.end();
-
-    if (!always_enabled) {
-      btn->setEnabled(_offroad);
-    }
+void DevicePanelSP::updateState() {
+  if (!isVisible()) {
+    return;
  }

  bool offroad_mode_param = params.getBool("OffroadMode");
@@ -198,6 +204,4 @@ void DevicePanelSP::updateState(bool _offroad) {
  } else {
    AddWidgetAt(0, offroadBtn);
  }
-
-  offroad = _offroad;
 }
@@ -23,7 +23,7 @@ public:
  explicit DevicePanelSP(SettingsWindowSP *parent = 0);
  void showEvent(QShowEvent *event) override;
  void setOffroadMode();
-  void updateState(bool _offroad);
+  void updateState();
  void resetSettings();

 private:
@@ -34,8 +34,6 @@ private:
  QVBoxLayout *power_group_layout;
  bool offroad;

-  std::vector<PushButtonSP*> always_enabled_btns = {};
-
  const QString alwaysOffroadStyle = R"(
    PushButtonSP {
      border-radius: 20px;
@@ -29,7 +29,7 @@ OnroadScreenBrightnessControl::OnroadScreenBrightnessControl(const QString &para
    "Onroad Brightness",
    "",
    "",
-    {0, 90}, 10, true);
+    {0, 100}, 10, true);

  connect(onroadScreenOffTimer, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);
  connect(onroadScreenBrightness, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);
@@ -36,7 +36,7 @@ DisplayPanel::DisplayPanel(QWidget *parent) : QWidget(parent) {
  interactivityTimeout =  new OptionControlSP("InteractivityTimeout", tr("Interactivity Timeout"),
                                   tr("Apply a custom timeout for settings UI."
                                      "\nThis is the time after which settings UI closes automatically if user is not interacting with the screen."),
-                                   "", {999999, 1000000}, 1000000, true, nullptr, false);
+                                   "", {0, 120}, 10, true, nullptr, false);

  connect(interactivityTimeout, &OptionControlSP::updateLabels, [=]() {
    refresh();
@@ -13,9 +13,9 @@ enum class SpeedLimitOffsetType {
 };

 inline const QString SpeedLimitOffsetTypeTexts[]{
-  QT_TRANSLATE_NOOP("SpeedLimitSettings", "None"),
-  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Fixed"),
-  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Percent"),
+  QObject::tr("None"),
+  QObject::tr("Fixed"),
+  QObject::tr("Percent"),
 };

 enum class SpeedLimitSourcePolicy {
@@ -27,11 +27,11 @@ enum class SpeedLimitSourcePolicy {
 };

 inline const QString SpeedLimitSourcePolicyTexts[]{
-  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Car\nOnly"),
-  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Map\nOnly"),
-  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Car\nFirst"),
-  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Map\nFirst"),
-  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Combined\nData")
+  QObject::tr("Car\nOnly"),
+  QObject::tr("Map\nOnly"),
+  QObject::tr("Car\nFirst"),
+  QObject::tr("Map\nFirst"),
+  QObject::tr("Combined\nData")
 };

 enum class SpeedLimitMode {
@@ -42,8 +42,8 @@ enum class SpeedLimitMode {
 };

 inline const QString SpeedLimitModeTexts[]{
-  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Off"),
-  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Information"),
-  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Warning"),
-  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Assist"),
+  QObject::tr("Off"),
+  QObject::tr("Information"),
+  QObject::tr("Warning"),
+  QObject::tr("Assist"),
 };
@@ -23,11 +23,11 @@ SpeedLimitPolicy::SpeedLimitPolicy(QWidget *parent) : QWidget(parent) {
  ListWidgetSP *list = new ListWidgetSP(this);

  std::vector<QString> speed_limit_policy_texts{
-    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_ONLY)].toStdString().c_str()),
-    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_ONLY)].toStdString().c_str()),
-    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_FIRST)].toStdString().c_str()),
-    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_FIRST)].toStdString().c_str()),
-    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::COMBINED)].toStdString().c_str())
+    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_ONLY)],
+    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_ONLY)],
+    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_FIRST)],
+    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_FIRST)],
+    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::COMBINED)]
  };
  speed_limit_policy = new ButtonParamControlSP(
    "SpeedLimitPolicy",
@@ -7,8 +7,6 @@

 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h"

-#include "selfdrive/ui/sunnypilot/qt/util.h"
-
 SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent) {
  subPanelFrame = new QFrame();
  QVBoxLayout *subPanelLayout = new QVBoxLayout(subPanelFrame);
@@ -27,10 +25,10 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
  speedLimitPolicyScreen = new SpeedLimitPolicy(this);

  std::vector<QString> speed_limit_mode_texts{
-    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::OFF)].toStdString().c_str()),
-    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::INFORMATION)].toStdString().c_str()),
-    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::WARNING)].toStdString().c_str()),
-    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::ASSIST)].toStdString().c_str())
+    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::OFF)],
+    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::INFORMATION)],
+    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::WARNING)],
+    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::ASSIST)],
  };
  speed_limit_mode_settings = new ButtonParamControlSP(
    "SpeedLimitMode",
@@ -66,9 +64,9 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
  QVBoxLayout *offsetLayout = new QVBoxLayout(offsetFrame);

  std::vector<QString> speed_limit_offset_texts{
-    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::NONE)].toStdString().c_str()),
-    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::FIXED)].toStdString().c_str()),
-    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::PERCENT)].toStdString().c_str())
+    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::NONE)],
+    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::FIXED)],
+    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::PERCENT)]
  };
  speed_limit_offset_settings = new ButtonParamControlSP(
    "SpeedLimitOffsetType",
@@ -105,13 +103,13 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
 }

 void SpeedLimitSettings::refresh() {
-  bool is_release = params.getBool("IsReleaseSpBranch");
  bool is_metric_param = params.getBool("IsMetric");
  SpeedLimitMode speed_limit_mode_param = static_cast<SpeedLimitMode>(std::atoi(params.get("SpeedLimitMode").c_str()));
  SpeedLimitOffsetType offset_type_param = static_cast<SpeedLimitOffsetType>(std::atoi(params.get("SpeedLimitOffsetType").c_str()));
  QString offsetLabel = QString::fromStdString(params.get("SpeedLimitValueOffset"));

-  bool sla_available;
+  bool has_longitudinal_control;
+  bool intelligent_cruise_button_management_available;
  auto cp_bytes = params.get("CarParamsPersistent");
  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
@@ -122,24 +120,11 @@ void SpeedLimitSettings::refresh() {
    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
    cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();

-    bool has_longitudinal_control = hasLongitudinalControl(CP);
-    bool has_icbm = hasIntelligentCruiseButtonManagement(CP_SP);
-
-    /*
-     * Speed Limit Assist is available when:
-     * - has_longitudinal_control or has_icbm, and
-     * - is not a release branch or not a disallowed brand, and
-     * - is not always disallowed
-     */
-    bool sla_disallow_in_release = CP.getBrand() == "tesla" && is_release;
-    bool sla_always_disallow = CP.getBrand() == "rivian";
-    sla_available = (has_longitudinal_control || has_icbm) && !sla_disallow_in_release && !sla_always_disallow;
-
-    if (!sla_available && speed_limit_mode_param == SpeedLimitMode::ASSIST) {
-      params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
-    }
+    has_longitudinal_control = hasLongitudinalControl(CP);
+    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
  } else {
-    sla_available = false;
+    has_longitudinal_control = false;
+    intelligent_cruise_button_management_available = false;
  }

  speed_limit_mode_settings->setDescription(modeDescription(speed_limit_mode_param));
@@ -159,14 +144,13 @@ void SpeedLimitSettings::refresh() {
    speed_limit_offset->showDescription();
  }

-  if (sla_available) {
+  if (has_longitudinal_control || intelligent_cruise_button_management_available) {
    speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(getSpeedLimitModeValues()));
  } else {
    speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(
-      {SpeedLimitMode::OFF, SpeedLimitMode::INFORMATION, SpeedLimitMode::WARNING}));
+      {SpeedLimitMode::OFF,SpeedLimitMode::INFORMATION, SpeedLimitMode::WARNING}));
  }

-  speed_limit_mode_settings->refresh();
  speed_limit_mode_settings->showDescription();
  speed_limit_offset->showDescription();
 }
@@ -174,7 +158,3 @@ void SpeedLimitSettings::refresh() {
 void SpeedLimitSettings::showEvent(QShowEvent *event) {
  refresh();
 }
-
-void SpeedLimitSettings::hideEvent(QHideEvent *event) {
-  setCurrentWidget(subPanelFrame);
-}
@@ -21,7 +21,6 @@ public:
  SpeedLimitSettings(QWidget *parent = nullptr);
  void refresh();
  void showEvent(QShowEvent *event) override;
-  void hideEvent(QHideEvent *event) override;

 signals:
  void backPress();
@@ -35,7 +34,6 @@ private:
  SpeedLimitPolicy *speedLimitPolicyScreen;
  ButtonParamControlSP *speed_limit_offset_settings;
  OptionControlSP *speed_limit_offset;
-  bool icbm_available = false;

  static QString offsetDescription(SpeedLimitOffsetType type = SpeedLimitOffsetType::NONE) {
    QString none_str = tr("⦿ None: No Offset");
@@ -7,8 +7,6 @@

 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"

-#include "selfdrive/ui/sunnypilot/qt/util.h"
-
 LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
  setStyleSheet(R"(
    #back_btn {
@@ -38,24 +36,13 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
  intelligentCruiseButtonManagement = new ParamControlSP(
    "IntelligentCruiseButtonManagement",
    tr("Intelligent Cruise Button Management (ICBM) (Alpha)"),
-    "",
+    tr("When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control."),
    "",
    this
  );
-  QObject::connect(intelligentCruiseButtonManagement, &ParamControlSP::toggleFlipped, this, [=](bool) {
-    refresh(offroad);
-  });
+  intelligentCruiseButtonManagement->setConfirmation(true, false);
  list->addItem(intelligentCruiseButtonManagement);

-  dynamicExperimentalControl = new ParamControlSP(
-    "DynamicExperimentalControl",
-    tr("Dynamic Experimental Control (DEC)"),
-    tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
-    "",
-    this
-  );
-  list->addItem(dynamicExperimentalControl);
-
  SmartCruiseControlVision = new ParamControl(
    "SmartCruiseControlVision",
    tr("Smart Cruise Control - Vision"),
@@ -99,13 +86,7 @@ void LongitudinalPanel::showEvent(QShowEvent *event) {
  refresh(offroad);
 }

-void LongitudinalPanel::hideEvent(QHideEvent *event) {
-  main_layout->setCurrentWidget(cruisePanelScreen);
-}
-
 void LongitudinalPanel::refresh(bool _offroad) {
-  const QString icbm_description = tr("When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.");
-
  auto cp_bytes = params.get("CarParamsPersistent");
  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
@@ -118,61 +99,15 @@ void LongitudinalPanel::refresh(bool _offroad) {

    has_longitudinal_control = hasLongitudinalControl(CP);
    is_pcm_cruise = CP.getPcmCruise();
-    has_icbm = hasIntelligentCruiseButtonManagement(CP_SP);
-
-    if (CP_SP.getIntelligentCruiseButtonManagementAvailable() && !has_longitudinal_control) {
-      intelligentCruiseButtonManagement->setEnabled(offroad);
-      intelligentCruiseButtonManagement->setDescription(icbm_description);
-    } else {
-      params.remove("IntelligentCruiseButtonManagement");
-      intelligentCruiseButtonManagement->setEnabled(false);
-
-      const QString icbm_unavaialble = tr("Intelligent Cruise Button Management is currently unavailable on this platform.");
-
-      QString long_desc = icbm_unavaialble;
-      if (has_longitudinal_control) {
-        if (CP.getAlphaLongitudinalAvailable()) {
-          long_desc = icbm_unavaialble + " " + tr("Disable the sunnypilot Longitudinal Control (alpha) toggle to allow Intelligent Cruise Button Management.");
-        } else {
-          long_desc = icbm_unavaialble + " " + tr("sunnypilot Longitudinal Control is the default longitudinal control for this platform.");
-        }
-      }
-
-      intelligentCruiseButtonManagement->setDescription("<b>" + long_desc + "</b><br><br>" + icbm_description);
-      intelligentCruiseButtonManagement->showDescription();
-    }
-
-    if (has_longitudinal_control || has_icbm) {
-      // enable Custom ACC Increments when long is available and is not PCM cruise
-      customAccIncrement->setEnabled(((has_longitudinal_control && !is_pcm_cruise) || has_icbm) && offroad);
-      dynamicExperimentalControl->setEnabled(has_longitudinal_control);
-      SmartCruiseControlVision->setEnabled(true);
-      SmartCruiseControlMap->setEnabled(true);
-    } else {
-      params.remove("CustomAccIncrementsEnabled");
-      params.remove("DynamicExperimentalControl");
-      params.remove("SmartCruiseControlVision");
-      params.remove("SmartCruiseControlMap");
-      customAccIncrement->setEnabled(false);
-      dynamicExperimentalControl->setEnabled(false);
-      SmartCruiseControlVision->setEnabled(false);
-      SmartCruiseControlMap->setEnabled(false);
-    }
-
-    intelligentCruiseButtonManagement->refresh();
-    customAccIncrement->refresh();
-    dynamicExperimentalControl->refresh();
-    SmartCruiseControlVision->refresh();
-    SmartCruiseControlMap->refresh();
+    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
  } else {
    has_longitudinal_control = false;
    is_pcm_cruise = false;
-    has_icbm = false;
-    intelligentCruiseButtonManagement->setDescription("<b>" + tr("Start the vehicle to check vehicle compatibility.") + "</br><b><b>" + icbm_description);
+    intelligent_cruise_button_management_available = false;
  }

  QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");
-  QString accNoLongDescription = tr("This feature can only be used with sunnypilot longitudinal control enabled.");
+  QString accNoLongDescription = tr("This feature can only be used with openpilot longitudinal control enabled.");
  QString accPcmCruiseDisabledDescription = tr("This feature is not supported on this platform due to vehicle limitations.");
  QString onroadOnlyDescription = tr("Start the vehicle to check vehicle compatibility.");

@@ -180,19 +115,33 @@ void LongitudinalPanel::refresh(bool _offroad) {
    customAccIncrement->setDescription(onroadOnlyDescription);
    customAccIncrement->showDescription();
  } else {
-    if (has_longitudinal_control || has_icbm) {
-      if (has_longitudinal_control && is_pcm_cruise) {
+    if (has_longitudinal_control || intelligent_cruise_button_management_available) {
+      if (is_pcm_cruise) {
        customAccIncrement->setDescription(accPcmCruiseDisabledDescription);
        customAccIncrement->showDescription();
      } else {
        customAccIncrement->setDescription(accEnabledDescription);
      }
    } else {
+      params.remove("CustomAccIncrementsEnabled");
      customAccIncrement->toggleFlipped(false);
      customAccIncrement->setDescription(accNoLongDescription);
      customAccIncrement->showDescription();
+      params.remove("IntelligentCruiseButtonManagement");
+      intelligentCruiseButtonManagement->toggleFlipped(false);
    }
  }

+  bool icbm_allowed = intelligent_cruise_button_management_available && !has_longitudinal_control;
+  intelligentCruiseButtonManagement->setEnabled(icbm_allowed && offroad);
+
+  // enable toggle when long is available and is not PCM cruise
+  bool cai_allowed = (has_longitudinal_control && !is_pcm_cruise) || icbm_allowed;
+  customAccIncrement->setEnabled(cai_allowed && !offroad);
+  customAccIncrement->refresh();
+
+  SmartCruiseControlVision->setEnabled(has_longitudinal_control || icbm_allowed);
+  SmartCruiseControlMap->setEnabled(has_longitudinal_control || icbm_allowed);
+
  offroad = _offroad;
 }
@@ -18,14 +18,13 @@ class LongitudinalPanel : public QWidget {
 public:
  explicit LongitudinalPanel(QWidget *parent = nullptr);
  void showEvent(QShowEvent *event) override;
-  void hideEvent(QHideEvent *event) override;
  void refresh(bool _offroad);

 private:
  Params params;
  bool has_longitudinal_control = false;
  bool is_pcm_cruise = false;
-  bool has_icbm = false;
+  bool intelligent_cruise_button_management_available = false;;
  bool offroad = false;

  QStackedLayout *main_layout = nullptr;
@@ -35,7 +34,6 @@ private:
  ParamControl *SmartCruiseControlVision;
  ParamControl *SmartCruiseControlMap;
  ParamControl *intelligentCruiseButtonManagement = nullptr;
-  ParamControl *dynamicExperimentalControl = nullptr;
  SpeedLimitSettings *speedLimitScreen;
  PushButtonSP *speedLimitSettings;
 };
@@ -310,8 +310,9 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
  QList<TreeNode> sortedModels;
  QSet<QString> modelFolders;
  QRegularExpression re("\\(([^)]*)\\)[^(]*$");
+  const auto bundles = model_manager.getAvailableBundles();

-  for (const auto &bundle : model_manager.getAvailableBundles()) {
+  for (const auto &bundle : bundles) {
    auto overrides = bundle.getOverrides();
    QString folder;
    for (const auto &override : overrides) {
@@ -391,7 +392,7 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
    showResetParamsDialog();
  } else {
    // Find selected bundle and initiate download
-    for (const auto &bundle: model_manager.getAvailableBundles()) {
+    for (const auto &bundle: bundles) {
      if (QString::fromStdString(bundle.getRef()) == selectedBundleRef) {
        params.put("ModelManager_DownloadIndex", std::to_string(bundle.getIndex()));
        if (bundle.getGeneration() != model_manager.getActiveBundle().getGeneration()) {
@@ -1,79 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/navigation_panel.h"
-
-NavigationPanel::NavigationPanel(QWidget* parent) : QWidget(parent) {
-  QVBoxLayout* main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(50, 25, 50, 25);
-
-  list = new ListWidget(this, false);
-  scroller = new ScrollViewSP(list, this);
-  main_layout->addWidget(scroller);
-
-  // Mapbox Token
-  mapbox_token = new ButtonControl(tr("Mapbox Token"), tr("Edit"), tr("Enter your Mapbox API token"));
-  QObject::connect(mapbox_token, &ButtonControl::clicked, [=]() {
-    QString current = QString::fromStdString(params.get("MapboxToken"));
-    QString token = InputDialog::getText(tr("Enter Mapbox Token"), this, "", false, -1, current);
-    if (!token.isEmpty()) {
-      params.put("MapboxToken", token.toStdString());
-      refresh();
-    }
-  });
-  list->addItem(mapbox_token);
-
-  // Mapbox Route
-  mapbox_route = new ButtonControl(tr("Mapbox Route"), tr("Edit"), tr("Enter Mapbox route data"));
-  QObject::connect(mapbox_route, &ButtonControl::clicked, [=]() {
-    QString current = QString::fromStdString(params.get("MapboxRoute"));
-    QString route = InputDialog::getText(tr("Enter Mapbox Route"), this, "", false, -1, current);
-    if (!route.isEmpty()) {
-      params.put("MapboxRoute", route.toStdString());
-      refresh();
-    }
-  });
-  list->addItem(mapbox_route);
-
-  // Allow Navigation
-  allow_navigation = new ParamControlSP("AllowNavigation", tr("Allow Navigation"), tr("Enable navigation features and start navigationd"), "", this);
-  QObject::connect(allow_navigation, &ParamControlSP::toggleFlipped, this, &NavigationPanel::updateNavigationVisibility);
-  list->addItem(allow_navigation);
-
-  // Mapbox Recompute
-  mapbox_recompute = new ParamControlSP("MapboxRecompute", tr("Mapbox Recompute"), tr("Enable automatic route recomputation"), "", this);
-  list->addItem(mapbox_recompute);
-
-  // Nav Allowed
-  nav_allowed = new ParamControlSP("NavDesiresAllowed", tr("Navigation Allowed"), tr("Allow navigation to automatically take turns"), "", this);
-  list->addItem(nav_allowed);
-}
-
-void NavigationPanel::updateNavigationVisibility(bool state) {
-  mapbox_recompute->setVisible(state);
-  nav_allowed->setVisible(state);
-}
-
-void NavigationPanel::showEvent(QShowEvent *event) {
-  refresh();
-}
-
-void NavigationPanel::refresh() {
-  allow_navigation->refresh();
-
-  bool nav_enabled = allow_navigation->isToggled();
-  updateNavigationVisibility(nav_enabled);
-
-  QString token = QString::fromStdString(params.get("MapboxToken"));
-  mapbox_token->setValue(token.isEmpty() ? tr("Not set") : token);
-
-  QString route = QString::fromStdString(params.get("MapboxRoute"));
-  mapbox_route->setValue(route.isEmpty() ? tr("Not set") : route);
-
-  mapbox_recompute->refresh();
-  nav_allowed->refresh();
-}
@@ -1,38 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "selfdrive/ui/qt/offroad/settings.h"
-#include "selfdrive/ui/qt/widgets/controls.h"
-#include "selfdrive/ui/qt/widgets/input.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-#include "selfdrive/ui/sunnypilot/qt/util.h"
-
-
-class NavigationPanel : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit NavigationPanel(QWidget* parent = nullptr);
-  void showEvent(QShowEvent *event) override;
-  void refresh();
-
-public slots:
-  void updateNavigationVisibility(bool state);
-
-private:
-  Params params;
-  ListWidget* list;
-  ScrollViewSP* scroller;
-  ParamControlSP* allow_navigation;
-  ButtonControl* mapbox_token;
-  ButtonControl* mapbox_route;
-  ParamControlSP* mapbox_recompute;
-  ParamControlSP* nav_allowed;
-};
@@ -15,7 +15,6 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/navigation_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h"
@@ -86,7 +85,6 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
    PanelInfo("   " + tr("Toggles"), toggles, "../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
    PanelInfo("   " + tr("Software"), new SoftwarePanelSP(this), "../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
    PanelInfo("   " + tr("Models"), new ModelsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_models.png"),
-    PanelInfo("   " + tr("Navigation"), new NavigationPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_map.png"),
    PanelInfo("   " + tr("Steering"), new LateralPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
    PanelInfo("   " + tr("Cruise"), new LongitudinalPanel(this), "../assets/icons/speed_limit.png"),
    PanelInfo("   " + tr("Visuals"), new VisualsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_visuals.png"),
@@ -1,139 +0,0 @@
-/**
- * Copyright (c) 2025-, sunnypilot contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/community_widget.h"
-
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/util.h"
-
-using qrcodegen::QrCode;
-
-// --- SunnylinkCommunityQRWidget ---
-
-SunnylinkCommunityQRWidget::SunnylinkCommunityQRWidget(QWidget* parent)
-    : QWidget(parent) {}
-
-void SunnylinkCommunityQRWidget::showEvent(QShowEvent *event) {
-  updateQrCode(SUNNYLINK_COMMUNITY_URL);
-  update();
-}
-
-void SunnylinkCommunityQRWidget::updateQrCode(const QString &text) {
-  QrCode qr = QrCode::encodeText(text.toUtf8().data(), QrCode::Ecc::LOW);
-  qint32 sz = qr.getSize();
-  QImage im(sz, sz, QImage::Format_RGB32);
-
-  QRgb black = qRgb(0, 0, 0);
-  QRgb white = qRgb(255, 255, 255);
-  for (int y = 0; y < sz; y++) {
-    for (int x = 0; x < sz; x++) {
-      im.setPixel(x, y, qr.getModule(x, y) ? black : white);
-    }
-  }
-
-  int final_sz = ((width() / sz) - 1) * sz;
-  img = QPixmap::fromImage(im.scaled(final_sz, final_sz, Qt::KeepAspectRatio), Qt::MonoOnly);
-}
-
-void SunnylinkCommunityQRWidget::paintEvent(QPaintEvent *e) {
-  QPainter p(this);
-  p.fillRect(rect(), Qt::white);
-
-  if (!img.isNull()) {
-    QSize s = (size() - img.size()) / 2;
-    p.drawPixmap(s.width(), s.height(), img);
-  }
-}
-
-// --- SunnylinkCommunityPopup ---
-
-QStringList SunnylinkCommunityPopup::getInstructions() {
-  QStringList instructions;
-  instructions << tr("Scan the QR code and join us!");
-  return instructions;
-}
-
-SunnylinkCommunityPopup::SunnylinkCommunityPopup(QWidget* parent)
-    : DialogBase(parent) {
-  auto *mainLayout = new QVBoxLayout(this);
-  mainLayout->setContentsMargins(0, 0, 0, 0);
-  mainLayout->setSpacing(0);
-
-  // Solarized Light base3 background
-  setStyleSheet("SunnylinkCommunityPopup { background-color: #FDF6E3; }");
-
-  // Header spanning full width
-  auto headerWidget = new QWidget(this);
-  auto headerLayout = new QHBoxLayout(headerWidget);
-  headerLayout->setContentsMargins(85, 50, 85, 30);
-  headerLayout->setSpacing(30);
-
-  auto close = new QPushButton(QIcon(":/icons/close.svg"), "", this);
-  close->setIconSize(QSize(80, 80));
-  close->setStyleSheet("border: none;");
-  connect(close, &QPushButton::clicked, this, &QDialog::reject);
-  headerLayout->addWidget(close, 0, Qt::AlignLeft | Qt::AlignVCenter);
-
-  const auto title = new QLabel(tr("Join the sunnypilot Community Forum"), this);
-  // Solarized base02 for text
-  title->setStyleSheet("font-size: 65px; color: #073642;");
-  title->setWordWrap(false);
-  title->setAlignment(Qt::AlignCenter);
-  headerLayout->addWidget(title, 1);
-
-  // Spacer to balance the close button on the right
-  auto spacer = new QWidget(this);
-  spacer->setFixedSize(80, 80);
-  headerLayout->addWidget(spacer, 0);
-
-  mainLayout->addWidget(headerWidget);
-
-  // Two-column content layout
-  auto contentLayout = new QHBoxLayout();
-  contentLayout->setContentsMargins(0, 0, 0, 0);
-  contentLayout->setSpacing(0);
-  mainLayout->addLayout(contentLayout, 66);
-
-  // Left side: description
-  auto leftLayout = new QVBoxLayout();
-  leftLayout->setContentsMargins(85, 40, 50, 70);
-  leftLayout->setSpacing(35);
-  contentLayout->addLayout(leftLayout, 40);
-
-  // Hype / intro paragraph
-  const auto desc = new QLabel(tr(
-    "We're excited to announce our <b>sunnypilot Community Forum</b><br><br>"
-    "Over the years, Discord just hasn't scaled well for our growing community.<br>"
-    "It's noisy, unsearchable, and great discussions disappear too easily.<br>"
-    "Our new community forum aims to fix that by making it easier to <b>find answers, share ideas, track feedback, report bugs, help newcomers</b> and more!<br><br>"
-    "<b>Here's what's waiting for you:</b><br>"
-    "• Fully <b>indexable</b> and discoverable through search engines 🔎<br>"
-    "• <b>AI-powered</b>🤖 topic and chat summaries, spam detection, and more<br>"
-    "• A <b>trust-level system</b>✅ that rewards meaningful contributions<br>"
-    "• Designed to work <b>on your own time</b>.🧘<br><br>"
-    "Scan the QR code on the right and join the discussion!"
-  ), this);
-  // Solarized base01 for body text
-  desc->setStyleSheet("font-size: 40px; color: #586E75;");
-  desc->setWordWrap(true);
-  leftLayout->addWidget(desc);
-
-  leftLayout->addStretch();
-
-  // Right side: QR code and instructions
-  auto rightLayout = new QVBoxLayout();
-  rightLayout->setContentsMargins(50, 40, 85, 70);
-  rightLayout->setSpacing(40);
-  contentLayout->addLayout(rightLayout, 1);
-
-  // QR code (smaller, fixed size)
-  auto *qr = new SunnylinkCommunityQRWidget(this);
-  qr->setFixedSize(500, 500);
-  rightLayout->addStretch();
-  rightLayout->addWidget(qr, 0, Qt::AlignCenter);
-  rightLayout->addStretch();
-}
@@ -1,40 +0,0 @@
-/**
-* Copyright (c) 2025-, sunnypilot contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include <QrCode.hpp>
-#include <QtCore/qjsonobject.h>
-
-#include "common/util.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-const QString SUNNYLINK_COMMUNITY_URL = "https://community.sunnypilot.ai/sp-qr";
-
-class SunnylinkCommunityQRWidget : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit SunnylinkCommunityQRWidget(QWidget* parent = nullptr);
-  void paintEvent(QPaintEvent*) override;
-
-private:
-  QPixmap img;
-  void updateQrCode(const QString &text);
-  void showEvent(QShowEvent *event) override;
-};
-
-// Popup widget
-class SunnylinkCommunityPopup : public DialogBase {
-  Q_OBJECT
-
-public:
-  explicit SunnylinkCommunityPopup(QWidget* parent = nullptr);
-
-private:
-  static QStringList getInstructions();
-};
@@ -79,11 +79,11 @@ QStringList SunnylinkSponsorPopup::getInstructions(bool sponsor_pair) {
    instructions << tr("Scan the QR code to login to your GitHub account")
                 << tr("Follow the prompts to complete the pairing process")
                 << tr("Re-enter the \"sunnylink\" panel to verify sponsorship status")
-                 << tr("If sponsorship status was not updated, please contact a moderator on our forum at https://community.sunnypilot.ai");
+                 << tr("If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot");
  } else {
    instructions << tr("Scan the QR code to visit sunnyhaibin's GitHub Sponsors page")
                 << tr("Choose your sponsorship tier and confirm your support")
-                 << tr("Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues");
+                 << tr("Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status");
  }
  return instructions;
 }
@@ -21,7 +21,7 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
    paramsRefresh(param_name, param_value);
  });

-  is_sunnylink_enabled = params.getBool("SunnylinkEnabled");
+  is_sunnylink_enabled = Params().getBool("SunnylinkEnabled");
  connect(uiStateSP(), &UIStateSP::sunnylinkRolesChanged, this, &SunnylinkPanel::updatePanel);
  connect(uiStateSP(), &UIStateSP::sunnylinkDeviceUsersChanged, this, &SunnylinkPanel::updatePanel);
  connect(uiStateSP(), &UIStateSP::offroadTransition, [=](bool offroad) {
@@ -90,7 +90,7 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
  QString sunnylinkUploaderDesc = tr("Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)");
  sunnylinkUploaderEnabledBtn = new ParamControlSP(
    "EnableSunnylinkUploader",
-    tr("Enable sunnylink uploader (infrastructure test)"),
+    tr("[Don't use] Enable sunnylink uploader"),
    sunnylinkUploaderDesc,
    "", nullptr, true);
  list->addItem(sunnylinkUploaderEnabledBtn);
@@ -272,7 +272,7 @@ void SunnylinkPanel::updatePanel() {
  const auto sunnylinkDongleId = getSunnylinkDongleId().value_or(tr("N/A"));
  sunnylinkEnabledBtn->setEnabled(!is_onroad);

-  is_sunnylink_enabled = params.getBool("SunnylinkEnabled");
+  is_sunnylink_enabled = Params().getBool("SunnylinkEnabled");
  bool is_sub = uiStateSP()->isSunnylinkSponsor() && is_sunnylink_enabled;
  auto max_current_sponsor_rule = uiStateSP()->sunnylinkSponsorRole();
  auto role_name = max_current_sponsor_rule.getSponsorTierString();
@@ -290,10 +290,7 @@ void SunnylinkPanel::updatePanel() {
  pairSponsorBtn->setEnabled(!is_onroad && is_sunnylink_enabled);
  pairSponsorBtn->setValue(is_paired ? tr("Paired") : tr("Not Paired"));

-  bool can_do_uploads = max_current_sponsor_rule.roleTier >= SponsorTier::Novice && is_sunnylink_enabled;
-  sunnylinkUploaderEnabledBtn->setVisible(can_do_uploads);
-  sunnylinkUploaderEnabledBtn->setEnabled(can_do_uploads);
-  
+  sunnylinkUploaderEnabledBtn->setEnabled(max_current_sponsor_rule.roleTier == SponsorTier::Guardian && is_sunnylink_enabled);

  if (!is_sunnylink_enabled) {
    sunnylinkEnabledBtn->setValue("");
@@ -33,7 +33,7 @@ private:

  static QString toggleDisableMsg(bool _offroad, bool _has_longitudinal_control) {
    if (!_has_longitudinal_control) {
-      return tr("This feature can only be used with sunnypilot longitudinal control enabled.");
+      return tr("This feature can only be used with openpilot longitudinal control enabled.");
    }

    if (!_offroad) {
@@ -57,7 +57,7 @@ private:
    }

    return QString("%1<br><br>%2<br>%3<br>%4<br>")
-             .arg(tr("Fine-tune your driving experience by adjusting acceleration smoothness with sunnypilot longitudinal control."))
+             .arg(tr("Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control."))
             .arg(off_str)
             .arg(dynamic_str)
             .arg(predictive_str);
@@ -8,52 +8,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h"

 SubaruSettings::SubaruSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  stopAndGoToggle = new ParamControl("SubaruStopAndGo", tr("Stop and Go (Beta)"), "", "");
-  stopAndGoToggle->setConfirmation(true, false);
-  list->addItem(stopAndGoToggle);
-
-  stopAndGoManualParkingBrakeToggle = new ParamControl(
-    "SubaruStopAndGoManualParkingBrake",
-    tr("Stop and Go for Manual Parking Brake (Beta)"),
-    "",
-    ""
-  );
-  stopAndGoManualParkingBrakeToggle->setConfirmation(true, false);
-  list->addItem(stopAndGoManualParkingBrakeToggle);
 }

 void SubaruSettings::updateSettings() {
-  auto cp_bytes = params.get("CarParamsPersistent");
-  if (!cp_bytes.empty()) {
-    AlignedBuffer aligned_buf;
-    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
-    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
-
-    is_subaru = CP.getBrand() == "subaru";
-
-    if (is_subaru) {
-      if (!(CP.getFlags() & (SUBARU_FLAG_GLOBAL_GEN2 | SUBARU_FLAG_HYBRID))) {
-        has_stop_and_go = true;
-      }
-    }
-  } else {
-    is_subaru = false;
-    has_stop_and_go = false;
-  }
-
-  bool stop_and_go_disabled = !offroad || !has_stop_and_go;
-  QString stop_and_go_desc = stopAndGoDescriptionBuilder(stopAndGoDesc);
-  QString stop_and_go_manual_parking_brake_desc = stopAndGoDescriptionBuilder(stopAndGoManualParkingBrakeDesc);
-  if (stop_and_go_disabled) {
-    stop_and_go_desc = stopAndGoDescriptionBuilder(stopAndGoDesc, stopAndGoDisabledMsg());
-    stop_and_go_manual_parking_brake_desc = stopAndGoDescriptionBuilder(stopAndGoManualParkingBrakeDesc, stopAndGoDisabledMsg());
-  }
-
-  stopAndGoToggle->setEnabled(has_stop_and_go);
-  stopAndGoToggle->setDescription(stop_and_go_desc);
-  stopAndGoToggle->showDescription();
-
-  stopAndGoManualParkingBrakeToggle->setEnabled(has_stop_and_go);
-  stopAndGoManualParkingBrakeToggle->setDescription(stop_and_go_manual_parking_brake_desc);
-  stopAndGoManualParkingBrakeToggle->showDescription();
 }
@@ -14,9 +14,6 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"

-const int SUBARU_FLAG_GLOBAL_GEN2 = 4;
-const int SUBARU_FLAG_HYBRID = 32;
-
 class SubaruSettings : public BrandSettingsInterface {
  Q_OBJECT

@@ -26,32 +23,4 @@ public:

 private:
  bool offroad = false;
-  bool is_subaru;
-  bool has_stop_and_go;
-
-  ParamControl* stopAndGoToggle;
-  ParamControl* stopAndGoManualParkingBrakeToggle;
-
-  QString stopAndGoDesc = tr("Experimental feature to enable auto-resume during stop-and-go for certain supported Subaru platforms.");
-  QString stopAndGoManualParkingBrakeDesc = tr("Experimental feature to enable stop and go for Subaru Global models with manual handbrake. Models with electric parking brake should keep this disabled. Thanks to martinl for this implementation!");
-
-  QString stopAndGoDisabledMsg() const {
-    if (is_subaru && !has_stop_and_go) {
-      return tr("This feature is currently not available on this platform.");
-    }
-
-    if (!is_subaru) {
-      return tr("Start the car to check car compatibility.");
-    }
-
-    if (!offroad) {
-      return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle.");
-    }
-
-    return QString();
-  }
-
-  static QString stopAndGoDescriptionBuilder(const QString &base_description, const QString &custom_description = "") {
-    return "<b>" + custom_description + "</b><br><br>" + base_description;
-  }
 };
@@ -8,41 +8,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h"

 TeslaSettings::TeslaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  constexpr int coopSteeringMinKmh = 23; // minimum speed for cooperative steering (enforced by Tesla firmware)
-  constexpr int oemSteeringMinKmh = 48; // minimum speed for OEM lane departure avoidance (enforced by Tesla firmware)
-  bool is_metric = params.getBool("IsMetric");
-  QString unit = is_metric ? "km/h" : "mph";
-  int display_value_coop;
-  int display_value_oem;
-  if (is_metric) {
-    display_value_coop = coopSteeringMinKmh;
-    display_value_oem = oemSteeringMinKmh;
-  } else {
-    display_value_coop = static_cast<int>(std::round(coopSteeringMinKmh * KM_TO_MILE));
-    display_value_oem = static_cast<int>(std::round(oemSteeringMinKmh * KM_TO_MILE));
-  }
-  const QString coop_desc = QString("<b>%1</b><br><br>"
-                                    "%2<br>"
-                                    "%3<br>")
-                            .arg(tr("Warning: May experience steering oscillations below %5 %6 during turns, recommend disabling this feature if you experience these."))
-                            .arg(tr("Allows the driver to provide limited steering input while openpilot is engaged."))
-                            .arg(tr("Only works above %4 %6."))
-                            .arg(display_value_coop)
-                            .arg(display_value_oem)
-                            .arg(unit);
-
-  coopSteeringToggle = new ParamControlSP(
-    "TeslaCoopSteering",
-    tr("Cooperative Steering (Beta)"),
-    coop_desc,
-    "",
-    this
-  );
-  list->addItem(coopSteeringToggle);
-  coopSteeringToggle->showDescription();
-  coopSteeringToggle->setConfirmation(true, false);
 }

 void TeslaSettings::updateSettings() {
-  coopSteeringToggle->setEnabled(offroad);
 }
@@ -22,5 +22,5 @@ public:
  void updateSettings() override;

 private:
-  ParamControlSP *coopSteeringToggle = nullptr;
+  bool offroad = false;
 };
@@ -11,18 +11,6 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
  param_watcher = new ParamWatcher(this);
  connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
    paramsRefresh();
-    if (param_name == "VisualStyle") {
-      visual_style_value = param_value.toInt();
-    } else if (param_name == "VisualStyleOverhead") {
-      visual_style_overhead_value = param_value.toInt();
-    } else if (param_name == "VisualRadarTracks") {
-      bool radar_tracks_enabled = param_value.toInt() != 0;
-      visual_radar_tracks_delay_settings->setVisible(radar_tracks_enabled);
-    }
-    visual_style_zoom_settings->setVisible(visual_style_value != 0);
-    visual_style_overhead_settings->setVisible(visual_style_value != 0);
-    visual_style_overhead_zoom_settings->setVisible(visual_style_value != 0 && visual_style_overhead_value != 0);
-    visual_style_overhead_threshold_settings->setVisible(visual_style_value != 0 && visual_style_overhead_value != 0);
  });

  main_layout = new QStackedLayout(this);
@@ -102,13 +90,6 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
      "",
      false,
    },
-    {
-      "VisualRadarTracks",
-      tr("Show Radar Tracks"),
-      tr("Shows what the cars radar sees."),
-      "",
-      false,
-    },
  };

  // Add regular toggles first
@@ -135,115 +116,10 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
    param_watcher->addParam(param);
  }

-  // Visuals: Radar Tracks Delay
-  visual_radar_tracks_delay_settings = new OptionControlSP("VisualRadarTracksDelay", tr("Adjust Visual Radar Tracks Delay"),
-                                      tr("Delays radar tracks to better match what you see through the camera."),
-                                      "", {0, 100}, 10, false, nullptr, true);
-
-  connect(visual_radar_tracks_delay_settings, &OptionControlSP::updateLabels, [=]() {
-    float radar_tracks_delay_value = QString::fromStdString(params.get("VisualRadarTracksDelay")).toFloat();
-    visual_radar_tracks_delay_settings->setLabel(QString::number(radar_tracks_delay_value, 'f', 1) + " s");
-  });
-
-  float radar_tracks_delay_value = QString::fromStdString(params.get("VisualRadarTracksDelay")).toFloat();
-  visual_radar_tracks_delay_settings->setLabel(QString::number(radar_tracks_delay_value, 'f', 1) + " s");
-
-  list->addItem(visual_radar_tracks_delay_settings);
-
-  // Wide Cam
-  std::vector<QString> visual_wide_cam_settings_texts{tr("Auto"), tr("On"), tr("Off")};
-  visual_wide_cam_settings = new ButtonParamControlSP(
-    "VisualWideCam", tr("Wide Cam"), tr("Override the wide cam view regardless of experimental mode status."),
-    "",
-    visual_wide_cam_settings_texts,
-    250);
-  list->addItem(visual_wide_cam_settings);
-
-  // Visual Style
-  std::vector<QString> visual_style_settings_texts{tr("Default"), tr("Minimal"), tr("Vision")};
-  visual_style_settings = new ButtonParamControlSP(
-    "VisualStyle", tr("Visual Style"),
-    tr(
-      "Switch between different on-road visualization layouts."
-      "<ul style='margin-left: 10px; margin-top: 4px;'>"
-      "<li><b>Default:</b> Standard OpenPilot layout with camera and path view.</li>"
-      "<li><b>Minimal:</b> Clean interface without camera feed or extra elements.</li>"
-      "<li><b>Vision:</b> Experimental layout that focuses on model perception and environment.</li>"
-      "</ul>"
-    ),
-    "",
-    visual_style_settings_texts,
-    380);
-  list->addItem(visual_style_settings);
-
-  // Visual Style Zoom
-  std::vector<QString> visual_style_zoom_settings_texts{tr("Disabled"), tr("Enabled"), tr("Inverted")};
-  visual_style_zoom_settings = new ButtonParamControlSP(
-    "VisualStyleZoom", tr("Visual Style Zoom"),
-    tr(
-      "Enables dynamic zooming based on driving speed in the selected visual style."
-      "<ul style='margin-left: 10px; margin-top: 4px;'>"
-      "<li><b>Disabled:</b> Keeps the zoom fixed.</li>"
-      "<li><b>Enabled:</b> Zooms in at low speed and out at high speed.</li>"
-      "<li><b>Inverted:</b> Reverses the zoom behavior.</li>"
-      "</ul>"
-    ),
-    "",
-    visual_style_zoom_settings_texts,
-    380);
-  list->addItem(visual_style_zoom_settings);
-
-  // Visual Style Overhead
-  std::vector<QString> visual_style_overhead_settings_texts{tr("Disabled"), tr("Enabled"), tr("Inverted")};
-  visual_style_overhead_settings = new ButtonParamControlSP(
-    "VisualStyleOverhead", tr("Visual Style Overhead"),
-    tr(
-      "Toggles an overhead (top-down) camera view for a 2D-style perspective."
-      "<ul style='margin-left: 10px; margin-top: 4px;'>"
-      "<li><b>Disabled:</b> Keeps the standard forward 3D view.</li>"
-      "<li><b>Enabled:</b> Switches to overhead view when active.</li>"
-      "<li><b>Inverted:</b> Reverses when the transition happens.</li>"
-      "</ul>"
-    ),
-    "",
-    visual_style_overhead_settings_texts,
-    380);
-  list->addItem(visual_style_overhead_settings);
-
-  // Visual Style Overhead Zoom
-  std::vector<QString> visual_style_overhead_zoom_settings_texts{tr("Disabled"), tr("Enabled"), tr("Inverted")};
-  visual_style_overhead_zoom_settings = new ButtonParamControlSP(
-    "VisualStyleOverheadZoom", tr("Visual Style Overhead Zoom"),
-    tr(
-      "Controls zooming behavior while in overhead mode."
-      "<ul style='margin-left: 10px; margin-top: 4px;'>"
-      "<li><b>Disabled:</b> Keeps a fixed zoom level in overhead mode.</li>"
-      "<li><b>Enabled:</b> Zooms dynamically based on speed while overhead.</li>"
-      "<li><b>Inverted:</b> Opposite zoom direction.</li>"
-      "</ul>"
-    ),
-    "",
-    visual_style_overhead_zoom_settings_texts,
-    380);
-  list->addItem(visual_style_overhead_zoom_settings);
-
-  // Visual Style Overhead Threshold
-  visual_style_overhead_threshold_settings = new OptionControlSP(
-    "VisualStyleOverheadThreshold", tr("Visual Style Overhead Threshold"),
-    tr("Sets the speed (in mph) where the display transitions between normal and overhead view."),
-    "", {10, 80}, 5, false, nullptr, false);
-  auto updateThresholdLabel = [=]() {
-    int mph = QString::fromStdString(params.get("VisualStyleOverheadThreshold")).toInt();
-    visual_style_overhead_threshold_settings->setLabel(QString("%1 mph").arg(mph));
-  };
-  connect(visual_style_overhead_threshold_settings, &OptionControlSP::updateLabels, updateThresholdLabel);
-  updateThresholdLabel();
-  list->addItem(visual_style_overhead_threshold_settings);
-
  // Visuals: Display Metrics below Chevron
  std::vector<QString> chevron_info_settings_texts{tr("Off"), tr("Distance"), tr("Speed"), tr("Time"), tr("All")};
  chevron_info_settings = new ButtonParamControlSP(
-    "ChevronInfo", tr("Display Metrics Below Chevron"), tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with sunnypilot longitudinal control)."),
+    "ChevronInfo", tr("Display Metrics Below Chevron"), tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control)."),
    "",
    chevron_info_settings_texts,
    200);
@@ -260,57 +136,10 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
    380);
  list->addItem(dev_ui_settings);

-  bool radar_tracks_enabled = QString::fromStdString(params.get("VisualRadarTracks")).toInt() != 0;
-  visual_radar_tracks_delay_settings->setVisible(radar_tracks_enabled);
-  param_watcher->addParam("VisualRadarTracks");
-
-  visual_style_value = QString::fromStdString(params.get("VisualStyle")).toInt();
-  visual_style_overhead_value = QString::fromStdString(params.get("VisualStyleOverhead")).toInt();
-  visual_style_zoom_settings->setVisible(visual_style_value != 0);
-  visual_style_overhead_settings->setVisible(visual_style_value != 0);
-  visual_style_overhead_zoom_settings->setVisible(visual_style_value != 0 && visual_style_overhead_value != 0);
-  visual_style_overhead_threshold_settings->setVisible(visual_style_value != 0 && visual_style_overhead_value != 0);
-  param_watcher->addParam("VisualStyle");
-  param_watcher->addParam("VisualStyleOverhead");
-
  sunnypilotScroller = new ScrollViewSP(list, this);
  vlayout->addWidget(sunnypilotScroller);

  main_layout->addWidget(sunnypilotScreen);
-
-  QObject::connect(uiState(), &UIState::offroadTransition, this, &VisualsPanel::refreshLongitudinalStatus);
-
-  refreshLongitudinalStatus();
-}
-
-void VisualsPanel::refreshLongitudinalStatus() {
-  auto cp_bytes = params.get("CarParamsPersistent");
-  if (!cp_bytes.empty()) {
-    AlignedBuffer aligned_buf;
-    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
-    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
-
-    has_longitudinal_control = hasLongitudinalControl(CP);
-  } else {
-    has_longitudinal_control = false;
-  }
-
-  if (chevron_info_settings) {
-    QString chevronEnabledDescription = tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with sunnypilot longitudinal control).");
-    QString chevronNoLongDescription = tr("This feature requires sunnypilot longitudinal control to be available.");
-
-    if (has_longitudinal_control) {
-      chevron_info_settings->setDescription(chevronEnabledDescription);
-    } else {
-      // Reset to "Off" when longitudinal not available
-      params.put("ChevronInfo", "0");
-      chevron_info_settings->setDescription(chevronNoLongDescription);
-    }
-
-    // Enable only when longitudinal is available
-    chevron_info_settings->setEnabled(has_longitudinal_control);
-    chevron_info_settings->refresh();
-  }
 }

 void VisualsPanel::paramsRefresh() {
@@ -328,19 +157,4 @@ void VisualsPanel::paramsRefresh() {
  if (dev_ui_settings) {
    dev_ui_settings->refresh();
  }
-  if (visual_wide_cam_settings) {
-    visual_wide_cam_settings->refresh();
-  }
-  if (visual_style_settings) {
-    visual_style_settings->refresh();
-  }
-  if (visual_style_zoom_settings) {
-    visual_style_zoom_settings->refresh();
-  }
-  if (visual_style_overhead_settings) {
-    visual_style_overhead_settings->refresh();
-  }
-  if (visual_style_overhead_zoom_settings) {
-    visual_style_overhead_zoom_settings->refresh();
-  }
 }
@@ -19,7 +19,6 @@ public:
 explicit VisualsPanel(QWidget *parent = nullptr);

 void paramsRefresh();
- void refreshLongitudinalStatus();

 protected:
 QStackedLayout* main_layout = nullptr;
@@ -30,16 +29,4 @@ protected:
 ParamWatcher * param_watcher;
 ButtonParamControlSP *chevron_info_settings;
 ButtonParamControlSP *dev_ui_settings;
-
- bool has_longitudinal_control = false;
-
- OptionControlSP *visual_radar_tracks_delay_settings;
- ButtonParamControlSP *visual_wide_cam_settings;
- int visual_style_value = 0;
- int visual_style_overhead_value = 0;
- ButtonParamControlSP *visual_style_settings;
- ButtonParamControlSP *visual_style_zoom_settings;
- ButtonParamControlSP *visual_style_overhead_settings;
- ButtonParamControlSP *visual_style_overhead_zoom_settings;
- OptionControlSP *visual_style_overhead_threshold_settings;
 };
@@ -18,10 +18,4 @@ void AnnotatedCameraWidgetSP::updateState(const UIState &s) {
 void AnnotatedCameraWidgetSP::showEvent(QShowEvent *event) {
  AnnotatedCameraWidget::showEvent(event);
  ui_update_params_sp(uiState());
-  uiStateSP()->reset_onroad_sleep_timer(OnroadTimerStatusToggle::RESUME);
-}
-
-void AnnotatedCameraWidgetSP::hideEvent(QHideEvent *event) {
-  AnnotatedCameraWidget::hideEvent(event);
-  uiStateSP()->reset_onroad_sleep_timer(OnroadTimerStatusToggle::PAUSE);
 }
@@ -18,5 +18,4 @@ public:

 protected:
  void showEvent(QShowEvent *event) override;
-  void hideEvent(QHideEvent* event) override;
 };
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Jason Wen	a9b205f7ea	Revert "remove tici-specific code (#36078 )" This reverts commit `3e2549f2`	2025-10-09 22:06:58 -04:00
Jason Wen	6cf172a26b	Merge remote-tracking branch 'sunnypilot/sunnypilot/master' into tici-sync-20251009 # Conflicts: # .github/workflows/sunnypilot-build-prebuilt.yaml # .github/workflows/sunnypilot-master-dev-prep.yaml # cereal/custom.capnp # opendbc_repo # selfdrive/ui/sunnypilot/qt/onroad/hud.cc # selfdrive/ui/sunnypilot/qt/onroad/hud.h # selfdrive/ui/sunnypilot/ui.cc # selfdrive/ui/sunnypilot/ui_scene.h # sunnypilot/selfdrive/controls/controlsd_ext.py # sunnypilot/selfdrive/controls/lib/param_store.py # sunnypilot/sunnylink/athena/sunnylinkd.py # sunnypilot/sunnylink/utils.py # system/version.py	2025-10-09 21:48:40 -04:00
Jason Wen	b01c106f3f	Merge remote-tracking branch 'sunnypilot/sunnypilot/master' into tici-sync-20251009 # Conflicts: # .github/workflows/sunnypilot-build-prebuilt.yaml # .github/workflows/sunnypilot-master-dev-prep.yaml # cereal/custom.capnp # opendbc_repo # selfdrive/ui/sunnypilot/qt/onroad/hud.cc # selfdrive/ui/sunnypilot/qt/onroad/hud.h # selfdrive/ui/sunnypilot/ui.cc # selfdrive/ui/sunnypilot/ui_scene.h # sunnypilot/selfdrive/controls/controlsd_ext.py # sunnypilot/selfdrive/controls/lib/param_store.py # sunnypilot/sunnylink/athena/sunnylinkd.py # sunnypilot/sunnylink/utils.py # system/version.py	2025-10-09 21:23:24 -04:00
Jason Wen	737a6c4236	[TICI] ci: point to master-tici for certain submodules (#1350 ) * ci: point to master-tici for certain submodules * new * new * minimal * check * revert * try this out * more	2025-10-09 20:33:28 -04:00
Jason Wen	86cd1b238d	[TICI] relock after inplace metadrive update (#1321 ) (#1348 ) relock after inplace metadrive update (#1321) relock after inplace metadrive update (#36256) * relock after inplace metadrive update * Revert "relock after inplace metadrive update" This reverts commit 18193ffe34b66085e18605e6c9289ddcd658844d. * just the hash (cherry picked from commit `4d53a26a06`) (cherry picked from commit `cca3be3a96`) Co-authored-by: DevTekVE <devtekve@gmail.com> Co-authored-by: Armand du Parc Locmaria <adpl33@gmail.com>	2025-10-09 19:11:59 -04:00
DevTekVE	772e62127e	(TICI) bugfix: param store to support the latest param changes (#1246 ) * bugfix: update parameter handling to use custom CarControlSP.Param and improve param retrieval * bump opendbc * bump opendbc	2025-09-14 20:29:26 +02:00
DevTekVE	e7a3ea1b32	(TICI) sync `master` and `master-tici` (#1245 ) * SL: bugfix parameter handling in sunnylink restore and remote setting (#1234) * refactor: improve parameter handling in sunnylink for robustness - Updated `get_param_as_byte` to return `None` for nonexistent parameters. - Enhanced param compression and encoding in `sunnylinkd`. * refactor: centralize parameter restoration with new helper function - Added `save_param_from_base64_encoded_string` to handle param decoding and saving. - Updated backup manager and sunnylinkd to use the new method. - Improved code readability and reduced duplication in parameter handling logic. * don't bother * clean (cherry picked from commit `b7f8dd11a5`) * UI: Developer UI (#1233) (cherry picked from commit `1bb4ca2547`) * Revert & Reapply "UI: Developer UI" temporarily due to QT version mismatch (#1237) * Revert "UI: Developer UI (#1233)" This reverts commit `1bb4ca2547`. * Reapply "UI: Developer UI (#1233)" This reverts commit `b0a77049da`. * QColorConstants is not on device's QT version. Thanks @kumar for the fix (cherry picked from commit `810a2d9448`) * Revert "UI: Developer UI" (#1238) * Revert "Revert & Reapply "UI: Developer UI" temporarily due to QT version mismatch (#1237)" This reverts commit `810a2d9448`. * Revert "UI: Developer UI (#1233)" This reverts commit `1bb4ca2547`. (cherry picked from commit `1be13fdc55`) * Reapply "UI: Developer UI" (#1238) (#1239) This reverts commit `1be13fdc55`. Co-authored-by: Jason Wen <haibin.wen3@gmail.com> (cherry picked from commit `4f44d6e643`) --------- Co-authored-by: Nayan <nayan8teen@gmail.com> Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-09-14 12:18:59 +02:00
Jason Wen	87af129090	tici: fix staging root updates (#1224 )	2025-09-06 18:46:19 -04:00
Jason Wen	f6cf1336ef	update: actually detect device type as TICI (#1222 )	2025-09-06 18:08:26 -04:00
Jason Wen	51046dd7fd	ci: restore cache based on `master-tici`	2025-09-06 17:43:36 -04:00
Jason Wen	2c85f29a0b	`staging-c3-new` > `staging-tici`	2025-09-06 17:38:11 -04:00
Jason Wen	68af0c4a17	ci: update for `master-tici` (#1220 ) * ci: master > master-ci * disable reset and squash for master-tici * disable release drafter * docker img * temp builds * actual temp * new ref * Revert "actual temp" This reverts commit `2e73befd17`. * wrong name * Revert "wrong name" This reverts commit `5efa687aaf`. * Reapply "actual temp" This reverts commit `75a9d986fd`. * Revert "Reapply "actual temp"" This reverts commit `1f77d902d4`. * Reapply "wrong name" This reverts commit `ed24def13c`. * revert	2025-09-06 17:28:43 -04:00