Revert "Refine lateral control limits and simplify safety model handling"

This reverts commit e2ec8a7b13.

.codespellignore

@@ -2,3 +2,5 @@ Wen
 REGIST
 PullRequest
 cancelled
+indeces
+FOF

.github/workflows/build-all-tinygrad-models.yaml

@@ -0,0 +1,226 @@
+name: Build All Tinygrad Models and Push to GitLab
+
+on:
+  workflow_dispatch:
+    inputs:
+      branch:
+        description: 'Branch to run workflow from'
+        required: false
+        default: 'master-new'
+        type: string
+
+jobs:
+  setup:
+    runs-on: ubuntu-latest
+    outputs:
+      json_file: ${{ steps.get-json.outputs.json_file }}
+    steps:
+      - name: Checkout docs repo
+        uses: actions/checkout@v4
+        with:
+          repository: sunnypilot/sunnypilot-docs
+          ref: gh-pages
+          path: docs
+          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
+
+      - name: Get next JSON version to use
+        id: get-json
+        run: |
+          cd docs/docs
+          latest=$(ls driving_models_v*.json | sed -E 's/.*_v([0-9]+)\.json/\1/' | sort -n | tail -1)
+          next=$((latest+1))
+          json_file="driving_models_v${next}.json"
+          cp "driving_models_v${latest}.json" "$json_file"
+          echo "json_file=$json_file" >> $GITHUB_OUTPUT
+
+      - name: Upload context for next jobs
+        uses: actions/upload-artifact@v4
+        with:
+          name: context
+          path: docs
+
+  build-all:
+    runs-on: ubuntu-latest
+    needs: setup
+    env:
+      JSON_FILE: docs/docs/${{ needs.setup.outputs.json_file }}
+    steps:
+      - name: Set up SSH
+        uses: webfactory/ssh-agent@v0.9.0
+        with:
+          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+
+      - name: Add GitLab.com SSH key to known_hosts
+        run: |
+          mkdir -p ~/.ssh
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+
+      - name: Clone GitLab docs repo
+        env:
+          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
+        run: |
+          echo "Cloning GitLab"
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
+          cd gitlab_docs
+          git checkout main
+          cd ..
+
+      - name: Set next recompiled dir
+        id: set-recompiled
+        run: |
+          cd gitlab_docs/models
+          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
+          if [[ -z "$latest_dir" ]]; then
+            next_dir=1
+          else
+            next_dir=$((latest_dir+1))
+          fi
+          recompiled_dir="recompiled${next_dir}"
+          mkdir -p "$recompiled_dir"
+          echo "RECOMPILED_DIR=$recompiled_dir" >> $GITHUB_ENV
+
+      - name: Download context
+        uses: actions/download-artifact@v4
+        with:
+          name: context
+          path: .
+
+      - name: Install dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y jq gh
+
+      - name: Build all tinygrad models
+        id: trigger-builds
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          set -e
+          > triggered_run_ids.txt
+          BRANCH="${{ github.event.inputs.branch }}"
+          jq -c '.bundles[] | select(.runner=="tinygrad")' "$JSON_FILE" | while read -r bundle; do
+            ref=$(echo "$bundle" | jq -r '.ref')
+            display_name=$(echo "$bundle" | jq -r '.display_name' | sed 's/ ([^)]*)//g')
+            is_20hz=$(echo "$bundle" | jq -r '.is_20hz')
+            echo "Triggering build for: $display_name ($ref) [20Hz: $is_20hz]"
+            START_TIME=$(date -u +"%Y-%m-%dT%H:%M:%SZ")
+            gh workflow run sunnypilot-build-model.yaml \
+              --repo sunnypilot/sunnypilot \
+              --ref "$BRANCH" \
+              -f upstream_branch="$ref" \
+              -f custom_name="$display_name" \
+              -f is_20hz="$is_20hz"
+            for i in {1..24}; do
+              RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="$BRANCH" --created ">$START_TIME" --limit=1 --json databaseId --jq '.[0].databaseId')
+              if [ -n "$RUN_ID" ]; then
+                break
+              fi
+              sleep 5
+            done
+            if [ -z "$RUN_ID" ]; then
+              echo "ould not find the triggered workflow run for $display_name ($ref)"
+              exit 1
+            fi
+            echo "$RUN_ID" >> triggered_run_ids.txt
+          done
+
+      - name: Wait for all model builds to finish
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          set -e
+          SUCCESS_RUNS=()
+          FAILED_RUNS=()
+          declare -A RUN_ID_TO_NAME
+
+          while read -r RUN_ID; do
+            ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name' || echo "unknown")
+            RUN_ID_TO_NAME["$RUN_ID"]="$ARTIFACT_NAME"
+          done < triggered_run_ids.txt
+
+          while read -r RUN_ID; do
+            echo "Watching run ID: $RUN_ID"
+            gh run watch "$RUN_ID" --repo sunnypilot/sunnypilot
+            CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
+            ARTIFACT_NAME="${RUN_ID_TO_NAME[$RUN_ID]}"
+            echo "Run $RUN_ID ($ARTIFACT_NAME) concluded with: $CONCLUSION"
+            if [[ "$CONCLUSION" == "success" ]]; then
+              SUCCESS_RUNS+=("$RUN_ID")
+            else
+              FAILED_RUNS+=("$RUN_ID")
+            fi
+          done < triggered_run_ids.txt
+
+          if [[ ${#SUCCESS_RUNS[@]} -eq 0 ]]; then
+            echo "All model builds failed. Aborting."
+            exit 1
+          fi
+
+          if [[ ${#FAILED_RUNS[@]} -gt 0 ]]; then
+            echo "WARNING: The following model builds failed:"
+            for RUN_ID in "${FAILED_RUNS[@]}"; do
+              echo "- $RUN_ID (${RUN_ID_TO_NAME[$RUN_ID]})"
+            done
+            echo "You may want to rerun these models manually."
+          fi
+
+      - name: Download and extract all model artifacts
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          ARTIFACT_DIR="gitlab_docs/models/$RECOMPILED_DIR"
+          SUCCESS_RUNS=()
+          while read -r RUN_ID; do
+            CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
+            if [[ "$CONCLUSION" == "success" ]]; then
+              SUCCESS_RUNS+=("$RUN_ID")
+            fi
+          done < triggered_run_ids.txt
+
+          for RUN_ID in "${SUCCESS_RUNS[@]}"; do
+            ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name')
+            echo "Downloading artifact: $ARTIFACT_NAME from run: $RUN_ID"
+            mkdir -p "$ARTIFACT_DIR/$ARTIFACT_NAME"
+            echo "Created directory: $ARTIFACT_DIR/$ARTIFACT_NAME"
+            gh run download "$RUN_ID" --repo sunnypilot/sunnypilot -n "$ARTIFACT_NAME" --dir "$ARTIFACT_DIR/$ARTIFACT_NAME"
+            echo "Downloaded artifact zip(s) to: $ARTIFACT_DIR/$ARTIFACT_NAME"
+            ZIP_PATH=$(find "$ARTIFACT_DIR/$ARTIFACT_NAME" -type f -name '*.zip' | head -n1)
+            if [ -n "$ZIP_PATH" ]; then
+              echo "Unzipping $ZIP_PATH to $ARTIFACT_DIR/$ARTIFACT_NAME"
+              unzip -o "$ZIP_PATH" -d "$ARTIFACT_DIR/$ARTIFACT_NAME"
+              rm -f "$ZIP_PATH"
+              echo "Unzipped and removed $ZIP_PATH"
+            else
+              echo "No zip file found in $ARTIFACT_DIR/$ARTIFACT_NAME (This is NOT an error)."
+            fi
+            echo "Done processing $ARTIFACT_NAME"
+          done
+
+      - name: Push recompiled dir to GitLab
+        env:
+          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+        run: |
+          cd gitlab_docs
+          git checkout main
+          mkdir -p models/"$(basename $RECOMPILED_DIR)"
+          git add models/"$(basename $RECOMPILED_DIR)"
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git commit -m "Add $(basename $RECOMPILED_DIR) from build-all-tinygrad-models"
+          git push origin main
+
+      - name: Run json_parser.py to update JSON
+        run: |
+          python3 docs/json_parser.py \
+            --json-path "$JSON_FILE" \
+            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR"
+
+      - name: Push updated JSON to GitHub docs repo
+        run: |
+          cd docs
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git checkout gh-pages
+          git add docs/"$(basename $JSON_FILE)"
+          git commit -m "Update $(basename $JSON_FILE) after recompiling models" || echo "No changes to commit"
+          git push origin gh-pages

.github/workflows/build-single-tinygrad-model.yaml

@@ -0,0 +1,198 @@
+name: Build Single Tinygrad Model and Push
+
+on:
+  workflow_dispatch:
+    inputs:
+      build_model_ref:
+        description: 'Branch to use for build-model workflow'
+        required: false
+        default: 'master-new'
+        type: string
+      upstream_branch:
+        description: 'Upstream commit to build from'
+        required: true
+        type: string
+      custom_name:
+        description: 'Custom name for the model (no date, only name)'
+        required: false
+        type: string
+      recompiled_dir:
+        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
+        required: true
+        type: number
+      json_version:
+        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
+        required: true
+        type: number
+      model_folder:
+        description: 'Model folder'
+        required: true
+        type: choice
+        options:
+          - Simple Plan Models
+          - TR Models
+          - DTR Models
+          - Custom Merge Models
+          - FOF series models
+          - Other
+      custom_model_folder:
+        description: 'Custom model folder name (if "Other" selected)'
+        required: false
+        type: string
+      generation:
+        description: 'Model generation'
+        required: false
+        type: number
+      version:
+        description: 'Minimum selector version'
+        required: false
+        type: number
+
+jobs:
+  build-single:
+    runs-on: ubuntu-latest
+    env:
+      RECOMPILED_DIR: recompiled${{ github.event.inputs.recompiled_dir }}
+      JSON_FILE: docs/docs/driving_models_v${{ github.event.inputs.json_version }}.json
+    steps:
+      - name: Set up SSH
+        uses: webfactory/ssh-agent@v0.9.0
+        with:
+          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+
+      - name: Add GitLab.com SSH key to known_hosts
+        run: |
+          mkdir -p ~/.ssh
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+
+      - name: Clone GitLab docs repo
+        env:
+          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
+        run: |
+          echo "Cloning GitLab"
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
+          cd gitlab_docs
+          echo "checkout models/${RECOMPILED_DIR}"
+          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
+          git checkout main
+          cd ..
+
+      - name: Checkout docs repo
+        uses: actions/checkout@v4
+        with:
+          repository: sunnypilot/sunnypilot-docs
+          ref: gh-pages
+          path: docs
+          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
+
+      - name: Validate recompiled dir and JSON version
+        run: |
+          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
+            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
+            exit 1
+          fi
+          if [ ! -f "$JSON_FILE" ]; then
+            echo "JSON file $JSON_FILE does not exist!"
+            exit 1
+          fi
+
+      - name: Install dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y jq gh
+
+      - name: Build model
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          START_TIME=$(date -u +"%Y-%m-%dT%H:%M:%SZ")
+          gh workflow run sunnypilot-build-model.yaml \
+            --repo sunnypilot/sunnypilot \
+            --ref "${{ github.event.inputs.build_model_ref }}" \
+            -f upstream_branch="${{ github.event.inputs.upstream_branch }}" \
+            -f custom_name="${{ github.event.inputs.custom_name }}"
+
+          for i in {1..24}; do
+            RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="${{ github.event.inputs.build_model_ref }}" --created ">$START_TIME" --limit=1 --json databaseId --jq '.[0].databaseId')
+            if [ -n "$RUN_ID" ]; then
+              break
+            fi
+            sleep 5
+          done
+
+          if [ -z "$RUN_ID" ]; then
+            echo "Could not find the triggered workflow run."
+            exit 1
+          fi
+
+          echo "Watching run ID: $RUN_ID"
+          gh run watch "$RUN_ID" --repo sunnypilot/sunnypilot
+          CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
+          echo "Run concluded with: $CONCLUSION"
+          if [[ "$CONCLUSION" != "success" ]]; then
+            echo "Workflow run failed with conclusion: $CONCLUSION"
+            exit 1
+          fi
+
+      - name: Download and extract model artifact
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          ARTIFACT_DIR="gitlab_docs/models/$RECOMPILED_DIR"
+          RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="${{ github.event.inputs.build_model_ref }}" --limit=1 --json databaseId --jq '.[0].databaseId')
+          ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name')
+          echo "Downloading artifact: $ARTIFACT_NAME from run: $RUN_ID"
+          mkdir -p "$ARTIFACT_DIR/$ARTIFACT_NAME"
+          echo "Created directory: $ARTIFACT_DIR/$ARTIFACT_NAME"
+          gh run download "$RUN_ID" --repo sunnypilot/sunnypilot -n "$ARTIFACT_NAME" --dir "$ARTIFACT_DIR/$ARTIFACT_NAME"
+          echo "Downloaded artifact zip(s) to: $ARTIFACT_DIR/$ARTIFACT_NAME"
+          ZIP_PATH=$(find "$ARTIFACT_DIR/$ARTIFACT_NAME" -type f -name '*.zip' | head -n1)
+          if [ -n "$ZIP_PATH" ]; then
+            echo "Unzipping $ZIP_PATH to $ARTIFACT_DIR/$ARTIFACT_NAME"
+            unzip -o "$ZIP_PATH" -d "$ARTIFACT_DIR/$ARTIFACT_NAME"
+            rm -f "$ZIP_PATH"
+            echo "Unzipped and removed $ZIP_PATH"
+          else
+            echo "No zip file found in $ARTIFACT_DIR/$ARTIFACT_NAME"
+          fi
+          echo "Done processing $ARTIFACT_NAME"
+
+      - name: Push recompiled dir to GitLab
+        env:
+          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+        run: |
+          cd gitlab_docs
+          git checkout main
+          for d in models/"$RECOMPILED_DIR"/*/; do
+            git sparse-checkout add "$d"
+          done
+          git add models/"$RECOMPILED_DIR"
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git commit -m "Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
+          git push origin main
+
+      - name: Run json_parser.py to update JSON
+        run: |
+          FOLDER="${{ github.event.inputs.model_folder }}"
+          if [ "$FOLDER" = "Other" ]; then
+            FOLDER="${{ github.event.inputs.custom_model_folder }}"
+          fi
+          ARGS=""
+          [ -n "$FOLDER" ] && ARGS="$ARGS --model-folder \"$FOLDER\""
+          [ -n "${{ github.event.inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ github.event.inputs.generation }}\""
+          [ -n "${{ github.event.inputs.version }}" ] && ARGS="$ARGS --version \"${{ github.event.inputs.version }}\""
+          eval python3 docs/json_parser.py \
+            --json-path "$JSON_FILE" \
+            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
+            $ARGS
+
+      - name: Push updated JSON to GitHub docs repo
+        run: |
+          cd docs
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git checkout gh-pages
+          git add docs/"$(basename $JSON_FILE)"
+          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
+          git push origin gh-pages

.github/workflows/selfdrive_tests.yaml

@@ -29,7 +29,7 @@ env:
 
   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 --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
+  PYTEST: pytest --continue-on-collection-errors --durations=0 --durations-min=5 -n logical
 
 jobs:
   build_release:
@@ -163,12 +163,6 @@ jobs:
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                         chmod -R 777 /tmp/comma_download_cache"
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v4
-      with:
-        name: ${{ github.job }}
-      env:
-        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
 
   process_replay:
     name: process replay
@@ -192,10 +186,8 @@ jobs:
     - name: Run replay
       timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && 1 || 20 }}
       run: |
-        ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
-                        chmod -R 777 /tmp/comma_download_cache && \
-                        coverage combine && \
-                        coverage xml"
+        ${{ env.RUN }} "selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
+                        chmod -R 777 /tmp/comma_download_cache"
     - name: Print diff
       id: print-diff
       if: always()
@@ -207,7 +199,7 @@ jobs:
         name: process_replay_diff.txt
         path: selfdrive/test/process_replay/diff.txt
     - name: Upload reference logs
-      if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
+      if: false # TODO: move this to github instead of azure
       run: |
         ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
     - name: Run regen
@@ -216,12 +208,6 @@ jobs:
       run: |
         ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
                         chmod -R 777 /tmp/comma_download_cache"
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v4
-      with:
-        name: ${{ github.job }}
-      env:
-        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
 
   test_cars:
     name: cars
@@ -252,12 +238,6 @@ jobs:
       env:
         NUM_JOBS: 4
         JOB_ID: ${{ matrix.job }}
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v4
-      with:
-        name: ${{ github.job }}-${{ matrix.job }}
-      env:
-        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
 
   car_docs_diff:
     name: PR comments

.github/workflows/stale.yaml

@@ -7,6 +7,7 @@ on:
 env:
   DAYS_BEFORE_PR_CLOSE: 2
   DAYS_BEFORE_PR_STALE: 9
+  DAYS_BEFORE_PR_STALE_DRAFT: 30
 
 jobs:
   stale:
@@ -24,6 +25,28 @@ jobs:
           exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
           days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
           days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
+          exempt-draft-pr: false
+
+          # issue config
+          days-before-issue-stale: -1 # ignore issues for now
+
+  # same as above, but give draft PRs more time
+  stale_drafts:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/stale@v9
+        with:
+          exempt-all-milestones: true
+
+          # pull request config
+          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
+          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
+          stale-pr-label: stale
+          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
+          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
+          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }}
+          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
+          exempt-draft-pr: true
 
           # issue config
           days-before-issue-stale: -1 # ignore issues for now

.gitignore

@@ -70,8 +70,6 @@ flycheck_*
 cppcheck_report.txt
 comma*.sh
 
-selfdrive/modeld/thneed/compile
-selfdrive/modeld/models/*.thneed
 selfdrive/modeld/models/*.pkl
 sunnypilot/modeld*/thneed/compile
 sunnypilot/modeld*/models/*.thneed

.idea/tools/External Tools.xml

@@ -2,7 +2,7 @@
   <tool name="uv Scons Build Debug" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
     <exec>
       <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --compile_db --ccflags=\&quot;-fno-inline\&quot;&quot;" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --ccflags=\&quot;-fno-inline\&quot;&quot;" />
       <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
     </exec>
   </tool>
@@ -16,7 +16,7 @@
   <tool name="uv Scons Build Release" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
     <exec>
       <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --compile_db&quot; " />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc)&quot; " />
       <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
     </exec>
   </tool>

README.md

@@ -73,7 +73,7 @@ By default, sunnypilot uploads the driving data to comma servers. You can also a
 sunnypilot is open source software. The user is free to disable data collection if they wish to do so.
 
 sunnypilot logs the road-facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
+The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.
 
 By using this software, you understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
 

RELEASES.md

@@ -1,5 +1,11 @@
-Version 0.9.10 (2025-06-30)
+Version 0.10.0 (2025-07-07)
 ========================
+* New driving model
+  * Lead car ground-truth fixes
+  * Ported over VAE from the MLSIM stack
+  * New training architecture described in CVPR paper
+* Enable live-learned steering actuation delay
+* Opt-in audio recording for dashcam video
 
 Version 0.9.9 (2025-05-23)
 ========================

SConstruct

@@ -39,10 +39,6 @@ AddOption('--clazy',
           action='store_true',
           help='build with clazy')
 
-AddOption('--compile_db',
-          action='store_true',
-          help='build clang compilation database')
-
 AddOption('--ccflags',
           action='store',
           type='string',
@@ -234,8 +230,7 @@ if arch == "Darwin":
   darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
   env["LINKFLAGS"] += darwin_rpath_link_flags
 
-if GetOption('compile_db'):
-  env.CompilationDatabase('compile_commands.json')
+env.CompilationDatabase('compile_commands.json')
 
 # Setup cache dir
 default_cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'

cereal/log.capnp

@@ -1083,7 +1083,7 @@ struct ModelDataV2 {
   confidence @23: ConfidenceClass;
 
   # Model perceived motion
-  temporalPose @21 :Pose;
+  temporalPoseDEPRECATED @21 :Pose;
 
   # e2e lateral planner
   action @26: Action;
@@ -2470,13 +2470,19 @@ struct DebugAlert {
 struct UserFlag {
 }
 
-struct Microphone {
+struct SoundPressure @0xdc24138990726023 {
   soundPressure @0 :Float32;
 
   # uncalibrated, A-weighted
   soundPressureWeighted @3 :Float32;
   soundPressureWeightedDb @1 :Float32;
-  filteredSoundPressureWeightedDb @2 :Float32;
+
+  filteredSoundPressureWeightedDbDEPRECATED @2 :Float32;
+}
+
+struct AudioData {
+  data @0 :Data;
+  sampleRate @1 :UInt32;
 }
 
 struct Touch {
@@ -2556,7 +2562,8 @@ struct Event {
     livestreamDriverEncodeIdx @119 :EncodeIndex;
 
     # microphone data
-    microphone @103 :Microphone;
+    soundPressure @103 :SoundPressure;
+    rawAudioData @147 :AudioData;
 
     # systems stuff
     androidLog @20 :AndroidLogEntry;

cereal/services.py

@@ -73,7 +73,8 @@ _services: dict[str, tuple] = {
   "navThumbnail": (True, 0.),
   "qRoadEncodeIdx": (False, 20.),
   "userFlag": (True, 0., 1),
-  "microphone": (True, 10., 10),
+  "soundPressure": (True, 10., 10),
+  "rawAudioData": (False, 20.),
 
   # sunnypilot
   "modelManagerSP": (False, 1., 1),

codecov.yml

@@ -1,13 +0,0 @@
-comment: false
-coverage:
-  status:
-    project:
-      default:
-        informational: true
-    patch: off
-
-ignore:
-  - "**/test_*.py"
-  - "selfdrive/test/**"
-  - "system/version.py" # codecov changes depending on if we are in a branch or not
-  - "tools"

common/model.h

@@ -1 +1 @@
-#define DEFAULT_MODEL "Vegetarian Filet o Fish (Default)"
+#define DEFAULT_MODEL "Tomb Raider 14 (Default)"

common/params_keys.h

@@ -5,8 +5,8 @@
 
 inline static std::unordered_map<std::string, uint32_t> keys = {
     {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
-    {"AdbEnabled", PERSISTENT},
-    {"AlwaysOnDM", PERSISTENT},
+    {"AdbEnabled", PERSISTENT | BACKUP},
+    {"AlwaysOnDM", PERSISTENT | BACKUP},
     {"ApiCache_Device", PERSISTENT},
     {"ApiCache_FirehoseStats", PERSISTENT},
     {"AssistNowToken", PERSISTENT},
@@ -78,7 +78,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"LocationFilterInitialState", PERSISTENT},
     {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"LongitudinalPersonality", PERSISTENT | BACKUP},
-    {"NetworkMetered", PERSISTENT},
+    {"NetworkMetered", PERSISTENT | BACKUP},
     {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
@@ -99,9 +99,10 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"PandaSignatures", CLEAR_ON_MANAGER_START},
     {"PrimeType", PERSISTENT},
+    {"RecordAudio", PERSISTENT | BACKUP},
     {"RecordFront", PERSISTENT | BACKUP},
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
-    {"SecOCKey", PERSISTENT | DONT_LOG},  // Candidate for | BACKUP
+    {"SecOCKey", PERSISTENT | DONT_LOG | BACKUP},
     {"RouteCount", PERSISTENT},
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"SshEnabled", PERSISTENT | BACKUP},
@@ -123,24 +124,29 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
 
     // --- sunnypilot params --- //
     {"ApiCache_DriveStats", PERSISTENT},
-    {"AutoLaneChangeBsmDelay", PERSISTENT},
-    {"AutoLaneChangeTimer", PERSISTENT},
+    {"AutoLaneChangeBsmDelay", PERSISTENT | BACKUP},
+    {"AutoLaneChangeTimer", PERSISTENT | BACKUP},
     {"BlinkerMinLateralControlSpeed", PERSISTENT | BACKUP},
     {"BlinkerPauseLateralControl", PERSISTENT | BACKUP},
+    {"Brightness", PERSISTENT | BACKUP},
     {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
     {"CarParamsSPPersistent", PERSISTENT},
-    {"CarPlatformBundle", PERSISTENT},
+    {"CarPlatformBundle", PERSISTENT | BACKUP},
+    {"ChevronInfo", PERSISTENT | BACKUP},
     {"CustomAccIncrementsEnabled", PERSISTENT | BACKUP},
     {"CustomAccLongPressIncrement", PERSISTENT | BACKUP},
     {"CustomAccShortPressIncrement", PERSISTENT | BACKUP},
     {"DeviceBootMode", PERSISTENT | BACKUP},
     {"EnableGithubRunner", PERSISTENT | BACKUP},
+    {"InteractivityTimeout", PERSISTENT | BACKUP},
+    {"IsDevelopmentBranch", CLEAR_ON_MANAGER_START},
     {"MaxTimeOffroad", PERSISTENT | BACKUP},
-    {"Brightness", PERSISTENT | BACKUP},
     {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
     {"OffroadMode", CLEAR_ON_MANAGER_START},
+    {"QuickBootToggle", PERSISTENT | BACKUP},
     {"QuietMode", PERSISTENT | BACKUP},
+    {"ShowAdvancedControls", PERSISTENT | BACKUP},
 
     // MADS params
     {"Mads", PERSISTENT | BACKUP},
@@ -150,6 +156,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
 
     // Model Manager params
     {"ModelManager_ActiveBundle", PERSISTENT},
+    {"ModelManager_ClearCache", CLEAR_ON_MANAGER_START},
     {"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"ModelManager_ModelsCache", PERSISTENT | BACKUP},
@@ -171,13 +178,15 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"BackupManager_RestoreVersion", PERSISTENT},
 
     // sunnypilot car specific params
-    {"HyundaiLongitudinalTuning", PERSISTENT},
+    {"HyundaiLongitudinalTuning", PERSISTENT | BACKUP},
 
-    {"DynamicExperimentalControl", PERSISTENT},
+    {"DynamicExperimentalControl", PERSISTENT | BACKUP},
     {"BlindSpot", PERSISTENT | BACKUP},
 
     // model panel params
     {"LagdToggle", PERSISTENT | BACKUP},
+    {"LagdToggleDesc", PERSISTENT},
+    {"LagdToggledelay", PERSISTENT | BACKUP},
 
     // mapd
     {"MapAdvisorySpeedLimit", CLEAR_ON_ONROAD_TRANSITION},
@@ -198,4 +207,13 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"OsmStateTitle", PERSISTENT},
     {"OsmWayTest", PERSISTENT},
     {"RoadName", CLEAR_ON_ONROAD_TRANSITION},
+
+    // Tuning keys
+    {"EnableHkgTuningAngleSmoothingFactor", PERSISTENT | BACKUP},
+    {"HkgTuningAngleMinTorqueReductionGain", PERSISTENT | BACKUP},
+    {"HkgTuningAngleMaxTorqueReductionGain", PERSISTENT | BACKUP},
+    {"HkgTuningAngleActiveTorqueReductionGain", PERSISTENT | BACKUP},
+    {"HkgTuningOverridingCycles", PERSISTENT | BACKUP},
+    {"HkgAngleLiveTuning", CLEAR_ON_MANAGER_START}
+    
 };

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.9.10"
+#define COMMA_VERSION "0.10.0"

conftest.py

@@ -2,7 +2,6 @@ import contextlib
 import gc
 import os
 import pytest
-import random
 
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.system.manager import manager
@@ -49,8 +48,6 @@ def clean_env():
 
 @pytest.fixture(scope="function", autouse=True)
 def openpilot_function_fixture(request):
-  random.seed(0)
-
   with clean_env():
     # setup a clean environment for each test
     with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix:

docs/CARS.md

@@ -187,7 +187,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|GS F 2016|All|Stock|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.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>|||
 |Lexus|IS 2017-19|All|Stock|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.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>|||
 |Lexus|IS 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 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.html?make=Lexus&model=IS 2022-24">Buy Here</a></sub></details>|||
-|Lexus|LC 2024|All|openpilot|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.html?make=Lexus&model=LC 2024">Buy Here</a></sub></details>|||
+|Lexus|LC 2024-25|All|openpilot|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.html?make=Lexus&model=LC 2024-25">Buy Here</a></sub></details>|||
 |Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 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.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>|||
 |Lexus|NX 2020-21|All|openpilot|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.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>|||
 |Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 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.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>|||

pyproject.toml

@@ -59,7 +59,7 @@ dependencies = [
   "future-fstrings",
 
   # joystickd
-  "inputs",
+  "pygame",
 
   # these should be removed
   "psutil",
@@ -81,11 +81,9 @@ docs = [
 ]
 
 testing = [
-  "coverage",
   "hypothesis ==6.47.*",
   "mypy",
   "pytest",
-  "pytest-cov",
   "pytest-cpp",
   "pytest-subtests",
   # https://github.com/pytest-dev/pytest-xdist/issues/1215
@@ -110,7 +108,6 @@ dev = [
   "opencv-python-headless",
   "parameterized >=0.8, <0.9",
   "pyautogui",
-  "pygame",
   "pyopencl; platform_machine != 'aarch64'", # broken on arm64
   "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
   "pywinctl",
@@ -266,8 +263,5 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 "unittest".msg = "Use pytest"
 "pyray.measure_text_ex".msg = "Use openpilot.system.ui.lib.text_measure"
 
-[tool.coverage.run]
-concurrency = ["multiprocessing", "thread"]
-
 [tool.ruff.format]
 quote-style = "preserve"

release/ci/install_github_runner.sh

@@ -5,6 +5,7 @@ set -e
 DEFAULT_REPO_URL="https://github.com/sunnypilot"
 START_AT_BOOT=false
 RESTORE_MODE=false
+RUNNER_VERSION="2.325.0"
 
 # Parse command line arguments
 while [[ $# -gt 0 ]]; do
@@ -108,9 +109,9 @@ setup_system_configs() {
 install_runner() {
     echo "Downloading and setting up runner..."
     cd "$RUNNER_DIR"
-    curl -o actions-runner-linux-arm64-2.322.0.tar.gz -L https://github.com/actions/runner/releases/download/v2.322.0/actions-runner-linux-arm64-2.322.0.tar.gz
-    sudo -u ${RUNNER_USER} tar -xzf ./actions-runner-linux-arm64-2.322.0.tar.gz
-    sudo rm ./actions-runner-linux-arm64-2.322.0.tar.gz
+    curl -o actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz -L https://github.com/actions/runner/releases/download/v${RUNNER_VERSION}/actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz
+    sudo -u ${RUNNER_USER} tar -xzf ./actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz
+    sudo rm ./actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz
     sudo chmod +x ./config.sh
 }
 
@@ -149,25 +150,32 @@ EOL
 }
 
 install_service() {
+    local service_name
+    if [ -f "${RUNNER_DIR}/.service" ]; then
+        service_name=$(cat "${RUNNER_DIR}/.service")
+    else
+        service_name="actions.runner.sunnypilot.$(uname -n)"
+    fi
+  
+    create_service_template
     remount_rw
+    local service_path="/etc/systemd/system/${service_name}"
     echo "Installing systemd service..."
+    if [ -f "${service_path}" ]; then
+        echo "Service ${service_path} found in systemd, we will delete it"
+        sudo rm -f "${service_path}"
+    fi
+    
     cd "$RUNNER_DIR"
     sudo ./svc.sh install $RUNNER_USER
 
     if [ "$START_AT_BOOT" = false ]; then
-        local service_name
-        if [ -f "${RUNNER_DIR}/.service" ]; then
-            service_name=$(cat "${RUNNER_DIR}/.service")
-        else
-            service_name="actions.runner.sunnypilot.$(uname -n)"
-        fi
         sudo systemctl disable "${service_name}"
     fi
     remount_ro
 }
 
 check_restore_prerequisites() {
-    local needs_restore=false
     local can_restore=false
     local service_name=""
 
@@ -189,25 +197,16 @@ check_restore_prerequisites() {
         exit 1
     fi
 
-    # Then check if restoration is needed (if either service or user is missing)
-    if ! systemctl list-unit-files "${service_name}" &>/dev/null; then
-        echo "Service ${service_name} not found in systemd"
-        needs_restore=true
-    fi
-
     if ! id "${RUNNER_USER}" &>/dev/null; then
         echo "User ${RUNNER_USER} does not exist"
-        needs_restore=true
     fi
 
     # Only proceed if we can restore AND need to restore
-    if [ "$can_restore" = true ] && [ "$needs_restore" = true ]; then
-        echo "Restoration is needed and possible"
+    if [ "$can_restore" = true ]; then
+        echo "Restoration is possible"
         return 0
     else
-        if [ "$needs_restore" = false ]; then
-            echo "System is already properly configured (user and service exist)"
-        fi
+        echo "No restoration possible"
         exit 0
     fi
 }
@@ -226,7 +225,6 @@ perform_install() {
     setup_system_configs
     install_runner
     set_directory_permissions
-    create_service_template
     configure_runner
     install_service
     echo "Installation completed successfully"

scripts/lint/lint.sh

@@ -13,7 +13,7 @@ cd $ROOT
 
 FAILED=0
 
-IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md"
+IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md|layouts\/.*\.xml"
 IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
 
 function run() {

selfdrive/controls/controlsd.py

@@ -17,6 +17,7 @@ from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
+from openpilot.selfdrive.controls.lib.latcontrol_angle_torque import LatControlAngleTorque
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
@@ -58,7 +59,9 @@ class Controls(ControlsExt):
     self.LoC = LongControl(self.CP)
     self.VM = VehicleModel(self.CP)
     self.LaC: LatControl
-    if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
+    if self.CP.steerControlType == car.CarParams.SteerControlType.angle and self.CP.lateralTuning.which() == 'torque':
+      self.LaC = LatControlAngleTorque(self.CP, self.CP_SP, self.CI)
+    elif self.CP.steerControlType == car.CarParams.SteerControlType.angle:
       self.LaC = LatControlAngle(self.CP, self.CP_SP, self.CI)
     elif self.CP.lateralTuning.which() == 'pid':
       self.LaC = LatControlPID(self.CP, self.CP_SP, self.CI)
@@ -93,7 +96,8 @@ class Controls(ControlsExt):
                                            torque_params.frictionCoefficientFiltered)
 
       self.LaC.extension.update_model_v2(self.sm['modelV2'])
-      self.LaC.extension.update_lateral_lag(self.sm['liveDelay'].lateralDelay)
+      calculated_lag = self.LaC.extension.lagd_torqued_main(self.CP, self.sm['liveDelay'])
+      self.LaC.extension.update_lateral_lag(calculated_lag)
 
     long_plan = self.sm['longitudinalPlan']
     model_v2 = self.sm['modelV2']

selfdrive/controls/lib/drive_helpers.py

@@ -1,5 +1,4 @@
 import numpy as np
-from cereal import log
 from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.realtime import DT_CTRL, DT_MDL
 
@@ -40,14 +39,6 @@ def clip_curvature(v_ego, prev_curvature, new_curvature, roll):
   return float(new_curvature), limited_accel or limited_max_curv
 
 
-def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
-  # ToDo: Try relative error, and absolute speed
-  if len(modelV2.temporalPose.trans):
-    vel_err = np.clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
-    return float(vel_err)
-  return 0.0
-
-
 def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.05):
   if len(speeds) == len(t_idxs):
     v_now = speeds[0]

selfdrive/controls/lib/latcontrol_angle_torque.py

@@ -0,0 +1,13 @@
+from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
+from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
+
+
+class LatControlAngleTorque(LatControlTorque, LatControlAngle):
+  def __init__(self, CP, CP_SP, CI):
+    LatControlTorque.__init__(self, CP, CP_SP, CI)
+    LatControlAngle.__init__(self, CP, CP_SP, CI)
+
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
+    torque, _, _ = LatControlTorque.update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited)
+    _, angle, angle_log = LatControlAngle.update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited)
+    return torque, angle, angle_log

selfdrive/controls/lib/latcontrol_torque.py

@@ -31,7 +31,6 @@ class LatControlTorque(LatControl):
     self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
                              k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
     self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
-    self.use_steering_angle = self.torque_params.useSteeringAngle
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
 
     self.extension = LatControlTorqueExt(self, CP, CP_SP)
@@ -47,16 +46,9 @@ class LatControlTorque(LatControl):
       output_torque = 0.0
       pid_log.active = False
     else:
-      actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
+      actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
       roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
-      if self.use_steering_angle:
-        actual_curvature = actual_curvature_vm
-        curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
-      else:
-        assert calibrated_pose is not None
-        actual_curvature_pose = calibrated_pose.angular_velocity.yaw / CS.vEgo
-        actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
-        curvature_deadzone = 0.0
+      curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
       desired_lateral_accel = desired_curvature * CS.vEgo ** 2
 
       # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature

selfdrive/controls/lib/longitudinal_planner.py

@@ -11,7 +11,7 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
-from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_error, get_accel_from_plan
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
 from openpilot.common.swaglog import cloudlog
 
@@ -54,6 +54,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
   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, self.mpc)
     self.fcw = False
@@ -63,7 +64,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     self.a_desired = init_a
     self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
     self.prev_accel_clip = [ACCEL_MIN, ACCEL_MAX]
-    self.v_model_error = 0.0
     self.output_a_target = 0.0
     self.output_should_stop = False
 
@@ -73,12 +73,12 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     self.solverExecutionTime = 0.0
 
   @staticmethod
-  def parse_model(model_msg, model_error):
+  def parse_model(model_msg):
     if (len(model_msg.position.x) == ModelConstants.IDX_N and
       len(model_msg.velocity.x) == ModelConstants.IDX_N and
       len(model_msg.acceleration.x) == ModelConstants.IDX_N):
-      x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC
-      v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) - model_error
+      x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x)
+      v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x)
       a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x)
       j = np.zeros(len(T_IDXS_MPC))
     else:
@@ -94,9 +94,13 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
 
   def update(self, sm):
     self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
+    if not self.mlsim:
+      self.mpc.mode = self.mode
     LongitudinalPlannerSP.update(self, sm)
     if dec_mpc_mode := self.get_mpc_mode():
       self.mode = dec_mpc_mode
+      if not self.mlsim:
+        self.mpc.mode = dec_mpc_mode
 
     if len(sm['carControl'].orientationNED) == 3:
       accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -133,9 +137,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
 
     # Prevent divergence, smooth in current v_ego
     self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
-    # Compute model v_ego error
-    self.v_model_error = get_speed_error(sm['modelV2'], v_ego)
-    x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error)
+    x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'])
     # Don't clip at low speeds since throttle_prob doesn't account for creep
     self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
 
@@ -171,7 +173,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
     output_should_stop_e2e = sm['modelV2'].action.shouldStop
 
-    if self.mode == 'acc':
+    if self.mode == 'acc' or not self.mlsim:
       output_a_target = output_a_target_mpc
       self.output_should_stop = output_should_stop_mpc
     else:

selfdrive/locationd/lagd.py

@@ -157,8 +157,7 @@ class LateralLagEstimator:
                block_count: int = BLOCK_NUM, min_valid_block_count: int = BLOCK_NUM_NEEDED, block_size: int = BLOCK_SIZE,
                window_sec: float = MOVING_WINDOW_SEC, okay_window_sec: float = MIN_OKAY_WINDOW_SEC, min_recovery_buffer_sec: float = MIN_RECOVERY_BUFFER_SEC,
                min_vego: float = MIN_VEGO, min_yr: float = MIN_ABS_YAW_RATE, min_ncc: float = MIN_NCC,
-               max_lat_accel: float = MAX_LAT_ACCEL, max_lat_accel_diff: float = MAX_LAT_ACCEL_DIFF, min_confidence: float = MIN_CONFIDENCE,
-               enabled: bool = True):
+               max_lat_accel: float = MAX_LAT_ACCEL, max_lat_accel_diff: float = MAX_LAT_ACCEL_DIFF, min_confidence: float = MIN_CONFIDENCE):
     self.dt = dt
     self.window_sec = window_sec
     self.okay_window_sec = okay_window_sec
@@ -173,7 +172,6 @@ class LateralLagEstimator:
     self.min_confidence = min_confidence
     self.max_lat_accel = max_lat_accel
     self.max_lat_accel_diff = max_lat_accel_diff
-    self.enabled = enabled
 
     self.t = 0.0
     self.lat_active = False
@@ -208,7 +206,7 @@ class LateralLagEstimator:
     liveDelay = msg.liveDelay
 
     valid_mean_lag, valid_std, current_mean_lag, current_std = self.block_avg.get()
-    if self.enabled and self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag) and not np.isnan(valid_std):
+    if self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag) and not np.isnan(valid_std):
       if valid_std > MAX_LAG_STD:
         liveDelay.status = log.LiveDelayData.Status.invalid
       else:
@@ -371,10 +369,7 @@ def main():
   params = Params()
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
 
-  # TODO: remove me, lagd is in shadow mode on release
-  is_release = params.get_bool("IsReleaseBranch")
-
-  lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency, enabled=not is_release)
+  lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency)
   if (initial_lag_params := retrieve_initial_lag(params, CP)) is not None:
     lag, valid_blocks = initial_lag_params
     lag_learner.reset(lag, valid_blocks)

selfdrive/locationd/test/test_lagd.py

@@ -110,19 +110,6 @@ class TestLagd:
         assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED
         assert msg.liveDelay.calPerc == 100
 
-  def test_disabled_estimator(self):
-    mocked_CP = car.CarParams(steerActuatorDelay=0.8)
-    estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, enabled=False)
-    lag_frames = 5
-    process_messages(estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE)
-    msg = estimator.get_msg(True)
-    assert msg.liveDelay.status == 'unestimated'
-    assert np.allclose(msg.liveDelay.lateralDelay, 1.0, atol=0.01)
-    assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
-    assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
-    assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED
-    assert msg.liveDelay.calPerc == 100
-
   def test_estimator_masking(self):
     mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.8), random.randint(1, 19)
     estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1)

selfdrive/locationd/torqued.py

@@ -11,6 +11,8 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, PoseCalibrator, Pose
 
+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
+
 HISTORY = 5  # secs
 POINTS_PER_BUCKET = 1500
 MIN_POINTS_TOTAL = 4000
@@ -49,8 +51,10 @@ class TorqueBuckets(PointBuckets):
         break
 
 
-class TorqueEstimator(ParameterEstimator):
+class TorqueEstimator(ParameterEstimator, LagdToggle):
   def __init__(self, CP, decimated=False, track_all_points=False):
+    super().__init__()
+    self.CP = CP
     self.hist_len = int(HISTORY / DT_MDL)
     self.lag = 0.0
     self.track_all_points = track_all_points  # for offline analysis, without max lateral accel or max steer torque filters
@@ -176,7 +180,7 @@ class TorqueEstimator(ParameterEstimator):
     elif which == "liveCalibration":
       self.calibrator.feed_live_calib(msg)
     elif which == "liveDelay":
-      self.lag = msg.lateralDelay
+      self.lag = self.lagd_torqued_main(self.CP, msg)
     # calculate lateral accel from past steering torque
     elif which == "livePose":
       if len(self.raw_points['steer_torque']) == self.hist_len:

selfdrive/modeld/SConscript

@@ -56,17 +56,15 @@ for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
   tg_compile(flags, model_name)
 
 # Compile BIG model if USB GPU is available
-import subprocess
-from tinygrad import Device
-
-# because tg doesn't support multi-process
-devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True, cwd=env.Dir('#').abspath)
-if b"AMD" in devs:
-  del Device
-  print("USB GPU detected... building")
-  flags = "AMD=1 AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
-  bp = tg_compile(flags, "big_driving_policy")
-  bv = tg_compile(flags, "big_driving_vision")
-  lenv.SideEffect('lock', [bp, bv])  # tg doesn't support multi-process so build serially
-else:
-  print("USB GPU not detected... skipping")
+if "USBGPU" in os.environ:
+  import subprocess
+  # because tg doesn't support multi-process
+  devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True, cwd=env.Dir('#').abspath)
+  if b"AMD" in devs:
+    print("USB GPU detected... building")
+    flags = "AMD=1 AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
+    bp = tg_compile(flags, "big_driving_policy")
+    bv = tg_compile(flags, "big_driving_vision")
+    lenv.SideEffect('lock', [bp, bv])  # tg doesn't support multi-process so build serially
+  else:
+    print("USB GPU not detected... skipping")

selfdrive/modeld/dmonitoringmodeld.py

@@ -14,7 +14,6 @@ import pickle
 import ctypes
 import numpy as np
 from pathlib import Path
-from setproctitle import setproctitle
 
 from cereal import messaging
 from cereal.messaging import PubMaster, SubMaster
@@ -25,7 +24,6 @@ from openpilot.common.transformations.model import dmonitoringmodel_intrinsics,
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid
-from openpilot.system import sentry
 
 MODEL_WIDTH, MODEL_HEIGHT = DM_INPUT_SIZE
 CALIB_LEN = 3
@@ -133,12 +131,8 @@ def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts:
 
 
 def main():
-  setproctitle(PROCESS_NAME)
   config_realtime_process(7, 5)
 
-  sentry.set_tag("daemon", PROCESS_NAME)
-  cloudlog.bind(daemon=PROCESS_NAME)
-
   cl_context = CLContext()
   model = ModelState(cl_context)
   cloudlog.warning("models loaded, dmonitoringmodeld starting")
@@ -180,7 +174,4 @@ if __name__ == "__main__":
   try:
     main()
   except KeyboardInterrupt:
-    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
-  except Exception:
-    sentry.capture_exception()
-    raise
+    cloudlog.warning("got SIGINT")

selfdrive/modeld/fill_model_msg.py

@@ -89,13 +89,6 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   fill_xyzt(modelV2.orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
   fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
 
-  # temporal pose
-  temporal_pose = modelV2.temporalPose
-  temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
-  temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
-  temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
-  temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
-
   # poly path
   fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
 

selfdrive/modeld/modeld.py

@@ -19,7 +19,6 @@ import numpy as np
 import cereal.messaging as messaging
 from cereal import car, log
 from pathlib import Path
-from setproctitle import setproctitle
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
@@ -29,14 +28,15 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
-from openpilot.system import sentry
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
+from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
 
+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
+
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -46,8 +46,8 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl'
 VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
 POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'
 
-LAT_SMOOTH_SECONDS = 0.0
-LONG_SMOOTH_SECONDS = 0.0
+LAT_SMOOTH_SECONDS = 0.1
+LONG_SMOOTH_SECONDS = 0.3
 MIN_LAT_CONTROL_SPEED = 0.3
 
 
@@ -60,7 +60,11 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
                                                      action_t=long_action_t)
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
 
-    desired_curvature = model_output['desired_curvature'][0, 0]
+    desired_curvature = get_curvature_from_plan(plan[:,Plan.T_FROM_CURRENT_EULER][:,2],
+                                                plan[:,Plan.ORIENTATION_RATE][:,2],
+                                                ModelConstants.T_IDXS,
+                                                v_ego,
+                                                lat_action_t)
     if v_ego > MIN_LAT_CONTROL_SPEED:
       desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
     else:
@@ -86,6 +90,7 @@ class ModelState:
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
   def __init__(self, context: CLContext):
+    self.LAT_SMOOTH_SECONDS = LAT_SMOOTH_SECONDS
     with open(VISION_METADATA_PATH, 'rb') as f:
       vision_metadata = pickle.load(f)
       self.vision_input_shapes =  vision_metadata['input_shapes']
@@ -174,7 +179,7 @@ class ModelState:
     # TODO model only uses last value now
     self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
     self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
-    self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
+    self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
 
     combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
     if SEND_RAW_PRED:
@@ -186,9 +191,6 @@ class ModelState:
 def main(demo=False):
   cloudlog.warning("modeld init")
 
-  sentry.set_tag("daemon", PROCESS_NAME)
-  cloudlog.bind(daemon=PROCESS_NAME)
-  setproctitle(PROCESS_NAME)
   if not USBGPU:
     # USB GPU currently saturates a core so can't do this yet,
     # also need to move the aux USB interrupts for good timings
@@ -251,6 +253,8 @@ def main(demo=False):
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
+  modeld_lagd = LagdToggle()
+
   # TODO this needs more thought, use .2s extra for now to estimate other delays
   # TODO Move smooth seconds to action function
   long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS
@@ -296,7 +300,7 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
-    lat_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
+    lat_delay = modeld_lagd.lagd_main(CP, sm, model)
     lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
@@ -374,7 +378,4 @@ if __name__ == "__main__":
     args = parser.parse_args()
     main(demo=args.demo)
   except KeyboardInterrupt:
-    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
-  except Exception:
-    sentry.capture_exception()
-    raise
+    cloudlog.warning("got SIGINT")

selfdrive/modeld/parse_model_outputs.py

@@ -88,6 +88,12 @@ class Parser:
     self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
     self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
+                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    for k in ['lead_prob', 'lane_lines_prob']:
+      self.parse_binary_crossentropy(k, outs)
     self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
     self.parse_binary_crossentropy('meta', outs)
     return outs
@@ -95,17 +101,10 @@ class Parser:
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
                    out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
     if 'lat_planner_solution' in outs:
       self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
     if 'desired_curvature' in outs:
       self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
-    for k in ['lead_prob', 'lane_lines_prob']:
-      self.parse_binary_crossentropy(k, outs)
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
     return outs
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-f440c9e0469d32d350aa99ddaa8f44591a2ce690
+de16c6fbe14e121c5e74cd944ce03a0e4672540d

selfdrive/ui/layouts/settings/settings.py

@@ -7,7 +7,7 @@ from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
 from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
 from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
 from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
-from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.selfdrive.ui.layouts.network import NetworkLayout
 from openpilot.system.ui.lib.widget import Widget
@@ -132,7 +132,7 @@ class SettingsLayout(Widget):
     if panel.instance:
       panel.instance.render(content_rect)
 
-  def _handle_mouse_release(self, mouse_pos: rl.Vector2) -> bool:
+  def _handle_mouse_release(self, mouse_pos: MousePos) -> bool:
     # Check close button
     if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect):
       if self._close_callback:

selfdrive/ui/layouts/settings/toggles.py

@@ -22,6 +22,7 @@ DESCRIPTIONS = {
   "AlwaysOnDM": "Enable driver monitoring even when openpilot is not engaged.",
   'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
   "IsMetric": "Display speed in km/h instead of mph.",
+  "RecordAudio": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.",
 }
 
 
@@ -74,6 +75,12 @@ class TogglesLayout(Widget):
         self._params.get_bool("RecordFront"),
         icon="monitoring.png",
       ),
+      toggle_item(
+        "Record Microphone Audio",
+        DESCRIPTIONS["RecordAudio"],
+        self._params.get_bool("RecordAudio"),
+        icon="microphone.png",
+      ),
       toggle_item(
         "Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="monitoring.png"
       ),

selfdrive/ui/layouts/sidebar.py

@@ -4,7 +4,7 @@ from dataclasses import dataclass
 from collections.abc import Callable
 from cereal import log
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.widget import Widget
 
@@ -135,7 +135,7 @@ class Sidebar(Widget):
     else:
       self._panda_status.update("VEHICLE", "ONLINE", Colors.GOOD)
 
-  def _handle_mouse_release(self, mouse_pos: rl.Vector2):
+  def _handle_mouse_release(self, mouse_pos: MousePos):
     if rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN):
       if self._on_settings_click:
         self._on_settings_click()

selfdrive/ui/qt/offroad/developer_panel.cc

@@ -45,17 +45,6 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   addItem(experimentalLongitudinalToggle);
 
-  enableGithubRunner = new ParamControl("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "");
-  addItem(enableGithubRunner);
-
-  // error log button
-  errorLogBtn = new ButtonControl(tr("Error Log"), tr("VIEW"), tr("View the error log for sunnypilot crashes."));
-  connect(errorLogBtn, &ButtonControl::clicked, [=]() {
-    std::string txt = util::read_file("/data/community/crashes/error.log");
-    ConfirmationDialog::rich(QString::fromStdString(txt), this);
-  });
-  addItem(errorLogBtn);
-
   // Joystick and longitudinal maneuvers should be hidden on release branches
   is_release = params.getBool("IsReleaseBranch");
 
@@ -104,8 +93,6 @@ void DeveloperPanel::updateToggles(bool _offroad) {
   experimentalLongitudinalToggle->refresh();
 
   // Handle specific controls visibility for release branches
-  enableGithubRunner->setVisible(!is_release);
-  errorLogBtn->setVisible(!is_release);
   joystickToggle->setVisible(!is_release);
 
   offroad = _offroad;

selfdrive/ui/qt/offroad/developer_panel.h

@@ -16,10 +16,8 @@ private:
   Params params;
   ParamControl* adbToggle;
   ParamControl* joystickToggle;
-  ButtonControl* errorLogBtn;
   ParamControl* longManeuverToggle;
   ParamControl* experimentalLongitudinalToggle;
-  ParamControl* enableGithubRunner;
   bool is_release;
   bool offroad = false;
 

selfdrive/ui/qt/offroad/settings.cc

@@ -68,6 +68,13 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "../assets/icons/monitoring.png",
       true,
     },
+    {
+      "RecordAudio",
+      tr("Record and Upload Microphone Audio"),
+      tr("Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."),
+      "../assets/icons/microphone.png",
+      true,
+    },
     {
       "IsMetric",
       tr("Use Metric System"),
@@ -342,26 +349,22 @@ void DevicePanel::updateCalibDescription() {
     }
   }
 
-  const bool is_release = params.getBool("IsReleaseBranch");
-  if (!is_release) {
-    int lag_perc = 0;
-    std::string lag_bytes = params.get("LiveDelay");
-    if (!lag_bytes.empty()) {
-      try {
-        AlignedBuffer aligned_buf;
-        capnp::FlatArrayMessageReader cmsg(aligned_buf.align(lag_bytes.data(), lag_bytes.size()));
-        lag_perc = cmsg.getRoot<cereal::Event>().getLiveDelay().getCalPerc();
-      } catch (kj::Exception) {
-        qInfo() << "invalid LiveDelay";
-      }
-    }
-    desc += "\n\n";
-    if (lag_perc < 100) {
-      desc += tr("Steering lag calibration is %1% complete.").arg(lag_perc);
-    } else {
-      desc += tr("Steering lag calibration is complete.");
+  int lag_perc = 0;
+  std::string lag_bytes = params.get("LiveDelay");
+  if (!lag_bytes.empty()) {
+    try {
+      AlignedBuffer aligned_buf;
+      capnp::FlatArrayMessageReader cmsg(aligned_buf.align(lag_bytes.data(), lag_bytes.size()));
+      lag_perc = cmsg.getRoot<cereal::Event>().getLiveDelay().getCalPerc();
+    } catch (kj::Exception) {
+      qInfo() << "invalid LiveDelay";
     }
   }
+  if (lag_perc < 100) {
+    desc += tr("\n\nSteering lag calibration is %1% complete.").arg(lag_perc);
+  } else {
+    desc += tr("\n\nSteering lag calibration is complete.");
+  }
 
   std::string torque_bytes = params.get("LiveTorqueParameters");
   if (!torque_bytes.empty()) {
@@ -372,11 +375,10 @@ void DevicePanel::updateCalibDescription() {
       // don't add for non-torque cars
       if (torque.getUseParams()) {
         int torque_perc = torque.getCalPerc();
-        desc += is_release ? "\n\n" : " ";
         if (torque_perc < 100) {
-          desc += tr("Steering torque response calibration is %1% complete.").arg(torque_perc);
+          desc += tr(" Steering torque response calibration is %1% complete.").arg(torque_perc);
         } else {
-          desc += tr("Steering torque response calibration is complete.");
+          desc += tr(" Steering torque response calibration is complete.");
         }
       }
     } catch (kj::Exception) {

selfdrive/ui/qt/onroad/model.cc

@@ -34,6 +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();
 }
@@ -173,6 +174,173 @@ 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) {
   const float speedBuff = 10.;

selfdrive/ui/qt/onroad/model.h

@@ -34,6 +34,12 @@ 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);
@@ -58,4 +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;
 };

selfdrive/ui/qt/sidebar.cc

@@ -24,10 +24,11 @@ void Sidebar::drawMetric(QPainter &p, const QPair<QString, QString> &label, QCol
   p.drawText(rect.adjusted(22, 0, 0, 0), Qt::AlignCenter, label.first + "\n" + label.second);
 }
 
-Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(false), settings_pressed(false) {
+Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(false), settings_pressed(false), mic_indicator_pressed(false) {
   home_img = loadPixmap("../assets/images/button_home.png", home_btn.size());
   flag_img = loadPixmap("../assets/images/button_flag.png", home_btn.size());
   settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio);
+  mic_img = loadPixmap("../assets/icons/microphone.png", QSize(30, 30));
 
   connect(this, &Sidebar::valueChanged, [=] { update(); });
 
@@ -47,12 +48,15 @@ void Sidebar::mousePressEvent(QMouseEvent *event) {
   } else if (settings_btn.contains(event->pos())) {
     settings_pressed = true;
     update();
+  } else if (recording_audio && mic_indicator_btn.contains(event->pos())) {
+    mic_indicator_pressed = true;
+    update();
   }
 }
 
 void Sidebar::mouseReleaseEvent(QMouseEvent *event) {
-  if (flag_pressed || settings_pressed) {
-    flag_pressed = settings_pressed = false;
+  if (flag_pressed || settings_pressed || mic_indicator_pressed) {
+    flag_pressed = settings_pressed = mic_indicator_pressed = false;
     update();
   }
   if (onroad && home_btn.contains(event->pos())) {
@@ -61,6 +65,8 @@ void Sidebar::mouseReleaseEvent(QMouseEvent *event) {
     pm->send("userFlag", msg);
   } else if (settings_btn.contains(event->pos())) {
     emit openSettings();
+  } else if (recording_audio && mic_indicator_btn.contains(event->pos())) {
+    emit openSettings(2, "RecordAudio");
   }
 }
 
@@ -106,6 +112,8 @@ void Sidebar::updateState(const UIState &s) {
     pandaStatus = {{tr("NO"), tr("PANDA")}, danger_color};
   }
   setProperty("pandaStatus", QVariant::fromValue(pandaStatus));
+
+  setProperty("recordingAudio", s.scene.recording_audio);
 }
 
 void Sidebar::paintEvent(QPaintEvent *event) {
@@ -124,6 +132,14 @@ void Sidebar::drawSidebar(QPainter &p) {
   p.drawPixmap(settings_btn.x(), settings_btn.y(), settings_img);
   p.setOpacity(onroad && flag_pressed ? 0.65 : 1.0);
   p.drawPixmap(home_btn.x(), home_btn.y(), onroad ? flag_img : home_img);
+  if (recording_audio) {
+    p.setBrush(danger_color);
+    p.setOpacity(mic_indicator_pressed ? 0.65 : 1.0);
+    p.drawRoundedRect(mic_indicator_btn, mic_indicator_btn.height() / 2, mic_indicator_btn.height() / 2);
+    int icon_x = mic_indicator_btn.x() + (mic_indicator_btn.width() - mic_img.width()) / 2;
+    int icon_y = mic_indicator_btn.y() + (mic_indicator_btn.height() - mic_img.height()) / 2;
+    p.drawPixmap(icon_x, icon_y, mic_img);
+  }
   p.setOpacity(1.0);
 
   // network

selfdrive/ui/qt/sidebar.h

@@ -23,6 +23,7 @@ class Sidebar : public QFrame {
   Q_PROPERTY(ItemStatus tempStatus MEMBER temp_status NOTIFY valueChanged);
   Q_PROPERTY(QString netType MEMBER net_type NOTIFY valueChanged);
   Q_PROPERTY(int netStrength MEMBER net_strength NOTIFY valueChanged);
+  Q_PROPERTY(bool recordingAudio MEMBER recording_audio NOTIFY valueChanged);
 
 public:
   explicit Sidebar(QWidget* parent = 0);
@@ -42,8 +43,8 @@ protected:
   void drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y);
   virtual void drawSidebar(QPainter &p);
 
-  QPixmap home_img, flag_img, settings_img;
-  bool onroad, flag_pressed, settings_pressed;
+  QPixmap home_img, flag_img, settings_img, mic_img;
+  bool onroad, recording_audio, flag_pressed, settings_pressed, mic_indicator_pressed;
   const QMap<cereal::DeviceState::NetworkType, QString> network_type = {
     {cereal::DeviceState::NetworkType::NONE, tr("--")},
     {cereal::DeviceState::NetworkType::WIFI, tr("Wi-Fi")},
@@ -56,6 +57,7 @@ protected:
 
   const QRect home_btn = QRect(60, 860, 180, 180);
   const QRect settings_btn = QRect(50, 35, 200, 117);
+  const QRect mic_indicator_btn = QRect(158, 252, 75, 40);
   const QColor good_color = QColor(255, 255, 255);
   const QColor warning_color = QColor(218, 202, 37);
   const QColor danger_color = QColor(201, 34, 49);

selfdrive/ui/qt/widgets/input.cc

@@ -2,6 +2,7 @@
 
 #include <QPushButton>
 #include <QButtonGroup>
+#include <QScroller>
 
 #include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/util.h"
@@ -334,3 +335,141 @@ QString MultiOptionDialog::getSelection(const QString &prompt_text, const QStrin
   }
   return "";
 }
+
+TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items,
+                                   const QString &current, QWidget *parent) : DialogBase(parent) {
+  QFrame *container = new QFrame(this);
+  container->setStyleSheet(R"(
+    QFrame { background-color: #1B1B1B; }
+    #confirm_btn[enabled="false"] { background-color: #2B2B2B; }
+    #confirm_btn:enabled { background-color: #465BEA; }
+    #confirm_btn:enabled:pressed { background-color: #3049F4; }
+    QTreeWidget {
+      background-color: transparent;
+      border: none;
+    }
+    QTreeWidget::item {
+      height: 135;
+      padding: 0px 50px;
+      margin: 5px;
+      text-align: left;
+      font-size: 55px;
+      font-weight: 300;
+      border-radius: 10px;
+      background-color: #4F4F4F;
+      color: white;
+    }
+    QTreeWidget::item:selected {
+      background-color: #465BEA;
+    }
+    QTreeWidget::branch {
+      background-color: transparent;
+    }
+  )");
+
+  QVBoxLayout *main_layout = new QVBoxLayout(container);
+  main_layout->setContentsMargins(55, 50, 55, 50);
+
+  QLabel *title = new QLabel(prompt_text, this);
+  title->setStyleSheet("font-size: 70px; font-weight: 500;");
+  main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
+  main_layout->addSpacing(25);
+
+  treeWidget = new QTreeWidget(this);
+  treeWidget->setHeaderHidden(true);
+  treeWidget->setIndentation(50);
+  treeWidget->setExpandsOnDoubleClick(false); // Disable double-click expansion
+  treeWidget->setAnimated(true);
+  treeWidget->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+  treeWidget->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+  treeWidget->setVerticalScrollMode(QAbstractItemView::ScrollPerPixel);
+  treeWidget->setDragEnabled(false);
+  treeWidget->setMouseTracking(true);
+
+  // Connect single-click to expand/collapse
+  QObject::connect(treeWidget, &QTreeWidget::itemClicked, [=](QTreeWidgetItem *item, int) {
+    if (item->childCount() > 0) {
+      item->setExpanded(!item->isExpanded());
+      treeWidget->scrollToItem(item->child(0), QAbstractItemView::EnsureVisible);
+    }
+  });
+
+  QScroller::grabGesture(treeWidget->viewport(), QScroller::LeftMouseButtonGesture);
+
+  // Populate tree
+  QListIterator<QPair<QString, QStringList>> iter(items);
+  while (iter.hasNext()) {
+    QPair currItem = iter.next();
+    if (currItem.first.isEmpty()) {
+      for (const QString &item : currItem.second) {
+        QTreeWidgetItem *topLevel = new QTreeWidgetItem();
+        topLevel->setText(0, item);
+        topLevel->setFlags(topLevel->flags() | Qt::ItemIsSelectable);
+        treeWidget->addTopLevelItem(topLevel);
+        if (item == current) {
+          topLevel->setSelected(true);
+        }
+      }
+    } else {
+      QTreeWidgetItem *folderItem = new QTreeWidgetItem(treeWidget);
+      folderItem->setIcon(0, QIcon(QPixmap("../assets/icons/menu.png")));
+      folderItem->setText(0, "  " + currItem.first);
+      folderItem->setFlags(folderItem->flags() | Qt::ItemIsAutoTristate);
+      folderItem->setFlags(folderItem->flags() & ~Qt::ItemIsSelectable);
+
+      for (const QString &item : currItem.second)
+      {
+        QTreeWidgetItem *childItem = new QTreeWidgetItem(folderItem);
+        childItem->setText(0, item);
+        childItem->setFlags(childItem->flags() | Qt::ItemIsSelectable);
+
+        if (item == current) {
+          childItem->setSelected(true);
+          folderItem->setExpanded(true);
+        }
+      }
+    }
+  }
+
+  confirm_btn = new QPushButton(tr("Select"));
+  confirm_btn->setObjectName("confirm_btn");
+  confirm_btn->setEnabled(false);
+
+  QObject::connect(treeWidget, &QTreeWidget::itemSelectionChanged, [=]() {
+    QList<QTreeWidgetItem*> selectedItems = treeWidget->selectedItems();
+    if (!selectedItems.isEmpty()) {
+      selection = selectedItems.first()->text(0);
+      confirm_btn->setEnabled(selection != current);
+    }
+  });
+
+  ScrollView *scroll_view = new ScrollView(treeWidget, this);
+  scroll_view->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded);
+
+  main_layout->addWidget(scroll_view);
+  main_layout->addSpacing(35);
+
+  // cancel + confirm buttons
+  QHBoxLayout *blayout = new QHBoxLayout;
+  main_layout->addLayout(blayout);
+  blayout->setSpacing(50);
+
+  QPushButton *cancel_btn = new QPushButton(tr("Cancel"));
+  QObject::connect(cancel_btn, &QPushButton::clicked, this, &ConfirmationDialog::reject);
+  QObject::connect(confirm_btn, &QPushButton::clicked, this, &ConfirmationDialog::accept);
+  blayout->addWidget(cancel_btn);
+  blayout->addWidget(confirm_btn);
+
+  QVBoxLayout *outer_layout = new QVBoxLayout(this);
+  outer_layout->setContentsMargins(50, 50, 50, 50);
+  outer_layout->addWidget(container);
+}
+
+QString TreeOptionDialog::getSelection(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items,
+                                     const QString &current, QWidget *parent) {
+  TreeOptionDialog d(prompt_text, items, current, parent);
+  if (d.exec()) {
+    return d.selection;
+  }
+  return "";
+}

selfdrive/ui/qt/widgets/input.h

@@ -6,6 +6,7 @@
 #include <QString>
 #include <QVBoxLayout>
 #include <QWidget>
+#include <QTreeWidget>
 
 #include "selfdrive/ui/qt/widgets/keyboard.h"
 
@@ -69,3 +70,16 @@ public:
   static QString getSelection(const QString &prompt_text, const QStringList &l, const QString &current, QWidget *parent);
   QString selection;
 };
+
+class TreeOptionDialog : public DialogBase {
+  Q_OBJECT
+
+public:
+  explicit TreeOptionDialog(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items, const QString &current, QWidget *parent = nullptr);
+  static QString getSelection(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items, const QString &current, QWidget *parent = nullptr);
+  QString selection;
+
+private:
+  QTreeWidget *treeWidget;
+  QPushButton *confirm_btn;
+};

selfdrive/ui/soundd.py

@@ -139,7 +139,7 @@ class Soundd(QuietMode):
     # sounddevice must be imported after forking processes
     import sounddevice as sd
 
-    sm = messaging.SubMaster(['selfdriveState', 'microphone'])
+    sm = messaging.SubMaster(['selfdriveState', 'soundPressure'])
 
     with self.get_stream(sd) as stream:
       rk = Ratekeeper(20)
@@ -150,8 +150,8 @@ class Soundd(QuietMode):
 
         self.load_param()
 
-        if sm.updated['microphone'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert
-          self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb)
+        if sm.updated['soundPressure'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert
+          self.spl_filter_weighted.update(sm["soundPressure"].soundPressureWeightedDb)
           self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x))
 
         self.get_audible_alert(sm)

selfdrive/ui/sunnypilot/SConscript

@@ -21,6 +21,7 @@ qt_src = [
   "sunnypilot/qt/home.cc",
   "sunnypilot/qt/offroad/exit_offroad_button.cc",
   "sunnypilot/qt/offroad/offroad_home.cc",
+  "sunnypilot/qt/offroad/settings/developer_panel.cc",
   "sunnypilot/qt/offroad/settings/device_panel.cc",
   "sunnypilot/qt/offroad/settings/lateral_panel.cc",
   "sunnypilot/qt/offroad/settings/longitudinal_panel.cc",
@@ -46,6 +47,7 @@ lateral_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
+  "sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
 ]
 

selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc

@@ -0,0 +1,80 @@
+/**
+ * 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/developer_panel.h"
+
+DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(parent) {
+
+  // Advanced Controls Toggle
+  showAdvancedControls = new ParamControlSP("ShowAdvancedControls", tr("Show Advanced Controls"), tr("Toggle visibility of advanced sunnypilot controls.\nThis only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state."), "");
+  addItem(showAdvancedControls);
+
+  QObject::connect(showAdvancedControls, &ParamControlSP::toggleFlipped, this, [=](bool) {
+    AbstractControlSP::UpdateAllAdvancedControls();
+    updateToggles(!uiState()->scene.started);
+  });
+  showAdvancedControls->showDescription();
+
+  // Github Runner Toggle
+  enableGithubRunner = new ParamControlSP("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "", this, true);
+  addItem(enableGithubRunner);
+
+  // Quickboot Mode Toggle
+  prebuiltToggle = new ParamControlSP("QuickBootToggle", tr("Enable Quickboot Mode"), tr(""), "", this, true);
+  addItem(prebuiltToggle);
+
+  QObject::connect(prebuiltToggle, &ParamControl::toggleFlipped, [=](bool state) {
+    QString prebuiltPath = "/data/openpilot/prebuilt";
+    state ? QFile(prebuiltPath).open(QIODevice::WriteOnly) : QFile::remove(prebuiltPath);
+    prebuiltToggle->refresh();
+  });
+  prebuiltToggle->setVisible(false);
+
+  // Error log button
+  errorLogBtn = new ButtonControlSP(tr("Error Log"), tr("VIEW"), tr("View the error log for sunnypilot crashes."));
+  connect(errorLogBtn, &ButtonControlSP::clicked, [=]() {
+    QFileInfo file("/data/community/crashes/error.log");
+    QString text;
+    if (file.exists()) {
+      text = "<b>" + file.lastModified().toString("dd-MMM-yyyy hh:mm:ss ").toUpper() + "</b><br><br>";
+    }
+    text += QString::fromStdString(util::read_file("/data/community/crashes/error.log"));
+    ConfirmationDialog::rich(text, this);
+  });
+  addItem(errorLogBtn);
+
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &DeveloperPanelSP::updateToggles);
+}
+
+void DeveloperPanelSP::updateToggles(bool offroad) {
+  bool is_release = params.getBool("IsReleaseBranch");
+  bool is_tested = params.getBool("IsTestedBranch");
+  bool is_development = params.getBool("IsDevelopmentBranch");
+  bool disable_updates = params.getBool("DisableUpdates");
+
+  prebuiltToggle->setVisible(!is_release && !is_tested && !is_development);
+  prebuiltToggle->setEnabled(disable_updates);
+
+  params.putBool("QuickBootToggle", QFile::exists("/data/openpilot/prebuilt"));
+  prebuiltToggle->refresh();
+
+  prebuiltToggle->setDescription(disable_updates
+    ? tr("When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, "
+         "it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. "
+         "<br><br><b>To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.</b>")
+    : tr("Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first."));
+
+  enableGithubRunner->setVisible(!is_release);
+  errorLogBtn->setVisible(!is_release);
+  showAdvancedControls->setEnabled(true);
+}
+
+void DeveloperPanelSP::showEvent(QShowEvent *event) {
+  DeveloperPanel::showEvent(event);
+  updateToggles(!uiState()->scene.started);
+  AbstractControlSP::UpdateAllAdvancedControls();
+  prebuiltToggle->showDescription();
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h

@@ -0,0 +1,30 @@
+/**
+ * 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 <QFile>
+#include <QFileInfo>
+
+#include "selfdrive/ui/qt/offroad/developer_panel.h"
+
+class DeveloperPanelSP : public DeveloperPanel {
+  Q_OBJECT
+public:
+  explicit DeveloperPanelSP(SettingsWindow *parent);
+
+private:
+  ParamControlSP *enableGithubRunner;
+  ButtonControlSP *errorLogBtn;
+  ParamControlSP *prebuiltToggle;
+  Params params;
+  ParamControlSP *showAdvancedControls;
+
+private slots:
+  void updateToggles(bool offroad);
+
+protected:
+  void showEvent(QShowEvent *event) override;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc

@@ -87,6 +87,17 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
     params.put("DeviceBootMode", QString::number(index).toStdString());
     updateState();
   });
+
+  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."),
+                                     "", {0, 120}, 10, true, nullptr, false);
+
+  connect(interactivityTimeout, &OptionControlSP::updateLabels, [=]() {
+    updateState();
+  });
+
+  addItem(interactivityTimeout);
   
   // Brightness
   brightness = new Brightness();
@@ -198,4 +209,11 @@ void DevicePanelSP::updateState() {
     currStatus = DeviceSleepModeStatus::OFFROAD;
   }
   toggleDeviceBootMode->setDescription(deviceSleepModeDescription(currStatus));
+
+  QString timeoutValue = QString::fromStdString(params.get("InteractivityTimeout"));
+  if (timeoutValue == "0") {
+    interactivityTimeout->setLabel("DEFAULT");
+  } else {
+    interactivityTimeout->setLabel(timeoutValue + "s");
+  }
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h

@@ -33,6 +33,7 @@ private:
   MaxTimeOffroad *maxTimeOffroad;
   ButtonParamControlSP *toggleDeviceBootMode;
   Brightness *brightness;
+  OptionControlSP *interactivityTimeout;
 
   const QString alwaysOffroadStyle = R"(
     PushButtonSP {

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.cc

@@ -0,0 +1,87 @@
+/**
+ * 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/lateral/angle_tuning_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+AngleTunningSettings::AngleTunningSettings(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 20, 50, 20);
+  main_layout->setSpacing(20);
+
+  // Back button
+  PanelBackButton *back = new PanelBackButton();
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  main_layout->addWidget(back, 0, Qt::AlignLeft);
+
+  auto *list = new ListWidgetSP(this, false);
+
+  main_layout->addWidget(new QWidget());
+
+  enableHkgAngleSmoothingFactor = new ExpandableToggleRow("EnableHkgTuningAngleSmoothingFactor", tr("HKG Angle Smoothing Factor"), tr("Applies EMA (Exponential Moving Average) to the desired angle steering and avoid overcorrections."), "../assets/offroad/icon_blank.png");
+  list->addItem(enableHkgAngleSmoothingFactor);
+
+  auto first_row = new QHBoxLayout();
+  hkgTuningOverridingCycles = new OptionControlSP("HkgTuningOverridingCycles", tr("Override Ramp-Down Cycles"), tr("Number of cycles to ramp down the current amount of torque on the steering wheel.<br/>A smaller value means a faster override by the user (less effort)"), "../assets/offroad/icon_blank.png", {10, 30}, 1);
+  connect(hkgTuningOverridingCycles, &OptionControlSP::updateLabels, hkgTuningOverridingCycles, [=]() {
+    this->updateToggles(offroad);
+  });
+  first_row->addWidget(hkgTuningOverridingCycles);
+
+  hkgAngleMinTorque = new OptionControlSP("HkgTuningAngleMinTorqueReductionGain", tr("Override Steering Effort"), tr("Sets the steering effort percentage used when the driver is overriding lateral control.<br/>Higher values increase resistance and make the wheel feel stiffer."), "../assets/offroad/icon_blank.png", {5, 60}, 1);
+  connect(hkgAngleMinTorque, &OptionControlSP::updateLabels, hkgAngleMinTorque, [=]() {
+    this->updateToggles(offroad);
+  });
+  first_row->addWidget(hkgAngleMinTorque);
+  list->addItem(first_row);
+
+  auto second_row = new QHBoxLayout();
+  hkgAngleActiveTorque = new OptionControlSP("HkgTuningAngleActiveTorqueReductionGain", tr("Min Active Torque"), tr("Torque applied when lateral control is active but the vehicle is not turning.<br/>Used to maintain lane centering on straight paths when no user input is detected."), "../assets/offroad/icon_blank.png", {10, 100}, 1);
+  connect(hkgAngleActiveTorque, &OptionControlSP::updateLabels, hkgAngleActiveTorque, [=]() {
+    this->updateToggles(offroad);
+  });
+  second_row->addWidget(hkgAngleActiveTorque);
+
+  hkgAngleMaxTorque = new OptionControlSP("HkgTuningAngleMaxTorqueReductionGain", tr("Max Torque Allowance"), tr("Sets the maximum torque reduction percentage the controller can apply during normal lateral control.<br/>"), "../assets/offroad/icon_blank.png", {10, 100}, 1);
+  connect(hkgAngleMaxTorque, &OptionControlSP::updateLabels, hkgAngleMaxTorque, [=]() {
+    this->updateToggles(offroad);
+  });
+  second_row->addWidget(hkgAngleMaxTorque);
+  list->addItem(second_row);
+  
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &AngleTunningSettings::updateToggles);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+
+  auto *warning = new QLabel(tr("Reboot required for settings to apply; Tap on each setting to see more details."));
+  warning->setStyleSheet("font-size: 30px; font-weight: 500; font-family: 'Noto Color Emoji'; color: orange;");
+  main_layout->addWidget(warning, 0, Qt::AlignCenter);
+}
+
+void AngleTunningSettings::showEvent(QShowEvent *event) {
+  updateToggles(offroad);
+}
+
+void AngleTunningSettings::updateToggles(bool _offroad) {
+  auto HkgAngleSmoothingFactorValue = params.getBool("EnableHkgTuningAngleSmoothingFactor");
+  enableHkgAngleSmoothingFactor->toggleFlipped(HkgAngleSmoothingFactorValue);
+
+  auto HkgAngleMinTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMinTorqueReductionGain")).toInt();
+  hkgAngleMinTorque->setLabel(QString::number(HkgAngleMinTorqueValue)+"%");
+
+  auto HkgAngleActiveTorqueValue = QString::fromStdString(params.get("HkgTuningAngleActiveTorqueReductionGain")).toInt();
+  hkgAngleActiveTorque->setLabel(QString::number(HkgAngleActiveTorqueValue)+"%");
+
+  auto HkgAngleMaxTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMaxTorqueReductionGain")).toInt();
+  hkgAngleMaxTorque->setLabel(QString::number(HkgAngleMaxTorqueValue)+"%");
+
+  auto HkgTuningOverridingCyclesValue = QString::fromStdString(params.get("HkgTuningOverridingCycles")).toInt();
+  hkgTuningOverridingCycles->setLabel(QString::number(HkgTuningOverridingCyclesValue));
+
+  offroad = _offroad;
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h

@@ -0,0 +1,40 @@
+/**
+ * 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/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
+
+class AngleTunningSettings : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit AngleTunningSettings(QWidget *parent = nullptr);
+
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void backPress();
+
+public slots:
+  void updateToggles(bool _offroad);
+
+private:
+  Params params;
+  bool offroad;
+
+  ExpandableToggleRow* enableHkgAngleSmoothingFactor;
+  OptionControlSP* hkgAngleMinTorque;
+  OptionControlSP* hkgAngleActiveTorque;
+  OptionControlSP* hkgAngleMaxTorque;
+  OptionControlSP* hkgTuningOverridingCycles;
+  ParamControlSP* hkgAngleLiveTuning;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc

@@ -89,6 +89,36 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
     nnlcToggle->updateToggle();
   });
 
+#pragma region hkg angle tuning
+  list->addItem(vertical_space());
+  list->addItem(horizontal_line());
+  list->addItem(vertical_space());
+
+  // HKG Angle Tuning
+  // angleTuningToggle = new ParamControl(
+  //   "AngleTuning",
+  //   tr("Modular Assistive Driving System (MADS)"),
+  //   tr("Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement."),
+  //   "");
+  // angleTuningToggle->setConfirmation(true, false);
+  // list->addItem(angleTuningToggle);
+
+  angleTuningSettingsButton = new PushButtonSP(tr("Customize ANGLE Tuning"));
+  angleTuningSettingsButton->setObjectName("angle_btn");
+  connect(angleTuningSettingsButton, &QPushButton::clicked, [=]() {
+    sunnypilotScroller->setLastScrollPosition();
+    main_layout->setCurrentWidget(angleTuningWidget);
+  });
+  // QObject::connect(angleTuningToggle, &ToggleControl::toggleFlipped, angleTuningSettingsButton, &PushButtonSP::setEnabled);
+
+  angleTuningWidget = new AngleTunningSettings(this);
+  connect(angleTuningWidget, &AngleTunningSettings::backPress, [=]() {
+    sunnypilotScroller->restoreScrollPosition();
+    main_layout->setCurrentWidget(sunnypilotScreen);
+  });
+  list->addItem(angleTuningSettingsButton);
+#pragma endregion
+
   toggleOffroadOnly = {
     madsToggle, nnlcToggle,
   };
@@ -99,6 +129,7 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
 
   main_layout->addWidget(sunnypilotScreen);
   main_layout->addWidget(madsWidget);
+  main_layout->addWidget(angleTuningWidget);
   main_layout->addWidget(laneChangeWidget);
 
   setStyleSheet(R"(
@@ -149,6 +180,7 @@ void LateralPanel::updateToggles(bool _offroad) {
   }
 
   madsSettingsButton->setEnabled(madsToggle->isToggled());
+  // angleTuningSettingsButton->setEnabled(angleTuningToggle->isToggled());
 
   blinkerPauseLateralSettings->refresh();
 

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h

@@ -13,6 +13,7 @@
 #include "selfdrive/ui/sunnypilot/ui.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
 #include "selfdrive/ui/qt/util.h"
@@ -39,8 +40,11 @@ private:
   bool offroad;
 
   ParamControl *madsToggle;
+  // ParamControl *angleTuningToggle;
   PushButtonSP *madsSettingsButton;
+  PushButtonSP *angleTuningSettingsButton;
   MadsSettings *madsWidget = nullptr;
+  AngleTunningSettings *angleTuningWidget = nullptr;
   PushButtonSP *laneChangeSettingsButton;
   LaneChangeSettings *laneChangeWidget = nullptr;
   NeuralNetworkLateralControl *nnlcToggle = nullptr;

selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc

@@ -8,6 +8,8 @@
 #include <algorithm>
 #include <QJsonDocument>
 #include <QStyle>
+#include <QtConcurrent/QtConcurrent>
+#include <QDir>
 
 #include "common/model.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h"
@@ -66,6 +68,11 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   connect(uiStateSP(), &UIStateSP::uiUpdate, this, &ModelsPanel::updateLabels);
   list->addItem(currentModelLblBtn);
 
+  clearModelCacheBtn = new ButtonControlSP(tr("Clear Model Cache"), tr("CLEAR"), "", this);
+  connect(clearModelCacheBtn, &ButtonControlSP::clicked, this, &ModelsPanel::clearModelCache);
+
+  list->addItem(clearModelCacheBtn);
+
   // Create progress bars for downloads
   supercomboProgressBar = createProgressBar(this);
   QString supercomboType = tr("Driving Model");
@@ -90,11 +97,25 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   list->addItem(horizontal_line());
 
   // LiveDelay toggle
-  list->addItem(new ParamControlSP("LagdToggle",
-                                   tr("Live Learning Steer Delay"),
-                                   tr("Enable this for the car to learn and adapt its steering response time. "
-                                      "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience."),
-                                   "../assets/offroad/icon_shell.png"));
+  lagd_toggle_control = new ParamControlSP("LagdToggle", tr("Live Learning Steer Delay"), "", "../assets/offroad/icon_shell.png");
+  lagd_toggle_control->showDescription();
+  list->addItem(lagd_toggle_control);
+
+  // Software delay control
+  delay_control = new OptionControlSP("LagdToggledelay", tr("Adjust Software Delay"),
+                                     tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
+                                        "\nThe default software delay value is 0.2"),
+                                     "", {5, 30}, 1, false, nullptr, true, true);
+
+  connect(delay_control, &OptionControlSP::updateLabels, [=]() {
+    float value = QString::fromStdString(params.get("LagdToggledelay")).toFloat();
+    delay_control->setLabel(QString::number(value, 'f', 2) + "s");
+  });
+  connect(lagd_toggle_control, &ParamControlSP::toggleFlipped, [=](bool state) {
+    delay_control->setVisible(!state);
+  });
+  delay_control->showDescription();
+  list->addItem(delay_control);
 }
 
 QProgressBar* ModelsPanel::createProgressBar(QWidget *parent) {
@@ -230,28 +251,73 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
   currentModelLblBtn->setEnabled(false);
   currentModelLblBtn->setValue(tr("Fetching models..."));
 
-  // Create mapping of bundle indices to display names
-  QMap<uint32_t, QString> index_to_bundle;
+  struct ModelEntry {
+    QString folder;
+    QString displayName;
+    int index;
+  };
+  QList<ModelEntry> sortedModels;
+  QSet<QString> modelFolders;
   const auto bundles = model_manager.getAvailableBundles();
-  for (const auto &bundle: bundles) {
-    index_to_bundle.insert(bundle.getIndex(), QString::fromStdString(bundle.getDisplayName()));
+
+  for (const auto &bundle : bundles) {
+    auto overrides = bundle.getOverrides();
+    QString gen;
+    for (const auto &override : overrides) {
+      if (override.getKey() == "folder") {
+        gen = QString::fromStdString(override.getValue().cStr());
+      }
+    }
+
+    modelFolders.insert(gen);
+    sortedModels.append(ModelEntry{
+      gen,
+      QString::fromStdString(bundle.getDisplayName()),
+      static_cast<int>(bundle.getIndex())
+    });
   }
 
-  // Sort bundles by index in descending order
-  QStringList bundleNames;
-  // Add "Default" as the first option
-  bundleNames.append(DEFAULT_MODEL);
+  std::sort(sortedModels.begin(), sortedModels.end(),
+    [](const ModelEntry &a, const ModelEntry &b) {
+      return a.index > b.index;
+    });
 
-  auto indices = index_to_bundle.keys();
-  std::sort(indices.begin(), indices.end(), std::greater<uint32_t>());
-  for (const auto &index: indices) {
-    bundleNames.append(index_to_bundle[index]);
+  // Create a list of folder-maxIndex pairs for sorting
+  QList<QPair<QString, int>> folderMaxIndices;
+  for (const auto &folder : modelFolders) {
+    int maxIndex = -1;
+    for (const auto &model : sortedModels) {
+      if (model.folder == folder) {
+        maxIndex = std::max(maxIndex, model.index);
+      }
+    }
+    folderMaxIndices.append(qMakePair(folder, maxIndex));
   }
 
+  // Sort folders by their highest model index
+  std::sort(folderMaxIndices.begin(), folderMaxIndices.end(),
+      [](const QPair<QString, int> &a, const QPair<QString, int> &b) {
+          return a.second > b.second;
+      });
+
+  // Create the final items list using sorted folders
+  QList<QPair<QString, QStringList>> items;
+  for (const auto &folderPair : folderMaxIndices) {
+    QStringList folderModels;
+    for (const auto &model : sortedModels) {
+      if (model.folder == folderPair.first) {
+        folderModels.append(model.displayName);
+      }
+    }
+    items.append(qMakePair(folderPair.first, folderModels));
+  }
+
+  items.insert(0, qMakePair(QString(""), QStringList{DEFAULT_MODEL}));
+
   currentModelLblBtn->setValue(GetActiveModelInternalName());
 
-  const QString selectedBundleName = MultiOptionDialog::getSelection(
-    tr("Select a Model"), bundleNames, GetActiveModelName(), this);
+  const QString selectedBundleName = TreeOptionDialog::getSelection(
+    tr("Select a Model"), items, GetActiveModelName(), this);
 
   if (selectedBundleName.isEmpty() || !canContinueOnMeteredDialog()) {
     return;
@@ -290,6 +356,26 @@ void ModelsPanel::updateLabels() {
   handleBundleDownloadProgress();
   currentModelLblBtn->setEnabled(!is_onroad && !isDownloading());
   currentModelLblBtn->setValue(GetActiveModelInternalName());
+
+  // Update lagdToggle description with current value
+  QString desc = tr("Enable this for the car to learn and adapt its steering response time. "
+                   "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. "
+                   "The Current value is updated automatically when the vehicle is Onroad.");
+  QString current = QString::fromStdString(params.get("LagdToggleDesc", false));
+  if (!current.isEmpty()) {
+    desc += "<br><br><b><span style=\"color:#e0e0e0\">" + tr("Current:") + "</span></b> <span style=\"color:#e0e0e0\">" + current + "</span>";
+  }
+  lagd_toggle_control->setDescription(desc);
+  lagd_toggle_control->showDescription();
+
+  delay_control->setVisible(!params.getBool("LagdToggle"));
+  if (delay_control->isVisible()) {
+    float value = QString::fromStdString(params.get("LagdToggledelay")).toFloat();
+    delay_control->setLabel(QString::number(value, 'f', 2) + "s");
+    delay_control->showDescription();
+  }
+
+  clearModelCacheBtn->setValue(QString::number(calculateCacheSize(), 'f', 2) + " MB");
 }
 
 /**
@@ -310,3 +396,32 @@ void ModelsPanel::showResetParamsDialog() {
     params.remove("LiveTorqueParameters");
   }
 }
+
+void ModelsPanel::clearModelCache() {
+  QString confirmMsg = tr("This will delete ALL downloaded models from the cache"
+                            "<br/><u>except the currently active model</u>."
+                            "<br/><br/>Are you sure you want to continue?");
+  QString content("<body><h2 style=\"text-align: center;\">" + tr("Driving Model Selector") + "</h2><br>"
+                "<p style=\"text-align: center; margin: 0 128px; font-size: 50px;\">" + confirmMsg + "</p></body>");
+  if (showConfirmationDialog(
+    content,
+    tr("Clear Cache"))) {
+      params.putBool("ModelManager_ClearCache", true);
+    }
+}
+
+double ModelsPanel::calculateCacheSize() {
+  QFuture<qint64> future_ModelCacheSize = QtConcurrent::run([=]() {
+
+    QDir model_dir(QString::fromStdString(Path::model_root()));
+    QFileInfoList model_files = model_dir.entryInfoList(QDir::Files | QDir::NoDotAndDotDot);
+    qint64 totalSize = 0;
+    for (const QFileInfo &model_file : model_files) {
+        if (model_file.isFile()) {
+            totalSize += model_file.size();
+        }
+    }
+    return totalSize;
+  });
+  return static_cast<double>(future_ModelCacheSize) / (1024.0 * 1024.0);
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h

@@ -41,6 +41,8 @@ private:
   cereal::ModelManagerSP::Reader model_manager;
   cereal::ModelManagerSP::DownloadStatus download_status{};
   cereal::ModelManagerSP::DownloadStatus prev_download_status{};
+  void clearModelCache();
+  double calculateCacheSize();
 
   bool canContinueOnMeteredDialog() {
     if (!is_metered) return true;
@@ -64,6 +66,8 @@ private:
   bool is_onroad = false;
 
   ButtonControlSP *currentModelLblBtn;
+  ParamControlSP *lagd_toggle_control;
+  OptionControlSP *delay_control;
   QProgressBar *supercomboProgressBar;
   QFrame *supercomboFrame;
   QProgressBar *navigationProgressBar;
@@ -73,5 +77,6 @@ private:
   QProgressBar *policyProgressBar;
   QFrame *policyFrame;
   Params params;
+  ButtonControlSP *clearModelCacheBtn;
 
 };

selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc

@@ -8,10 +8,10 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-#include "selfdrive/ui/qt/offroad/developer_panel.h"
 #include "selfdrive/ui/qt/offroad/firehose.h"
 #include "selfdrive/ui/sunnypilot/qt/network/networking.h"
 
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
@@ -91,7 +91,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
     PanelInfo("   " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
     PanelInfo("   " + tr("Vehicle"), new VehiclePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
     PanelInfo("   " + tr("Firehose"), new FirehosePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_firehose.svg"),
-    PanelInfo("   " + tr("Developer"), new DeveloperPanel(this), "../assets/icons/shell.png"),
+    PanelInfo("   " + tr("Developer"), new DeveloperPanelSP(this), "../assets/icons/shell.png"),
   };
 
   nav_btns = new QButtonGroup(this);

selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc

@@ -18,6 +18,18 @@ SoftwarePanelSP::SoftwarePanelSP(QWidget *parent) : SoftwarePanel(parent) {
         searchBranches(d.text());
       }
   });
+
+  // Disable Updates toggle
+  disableUpdatesToggle = new ParamControl("DisableUpdates",
+    tr("Disable Updates"),
+    tr("When enabled, software updates will be disabled. <b>This requires a reboot to take effect.</b>"),
+    "../assets/icons/icon_warning.png",
+    this, true);
+  disableUpdatesToggle->showDescription();
+  addItem(disableUpdatesToggle);
+  connect(disableUpdatesToggle, &ParamControl::toggleFlipped, this, &SoftwarePanelSP::handleDisableUpdatesToggled);
+  connect(uiState(), &UIState::offroadTransition, this, &SoftwarePanelSP::updateDisableUpdatesToggle);
+  updateDisableUpdatesToggle(!uiState()->scene.started);
 }
 
 /**
@@ -49,3 +61,27 @@ void SoftwarePanelSP::searchBranches(const QString &query) {
     checkForUpdates();
   }
 }
+
+void SoftwarePanelSP::handleDisableUpdatesToggled(bool state) {
+  if (ConfirmationDialog::confirm(tr("%1 updates requires a reboot.<br>Reboot now?")
+      .arg(state ? "Disabling" : "Enabling"), tr("Reboot"), this)) {
+    params.putBool("DoReboot", true);
+  } else {
+    params.putBool("DisableUpdates", !state);
+    disableUpdatesToggle->refresh();
+  }
+}
+
+void SoftwarePanelSP::updateDisableUpdatesToggle(bool offroad) {
+  bool enabled = offroad;
+  disableUpdatesToggle->setEnabled(enabled);
+  disableUpdatesToggle->setDescription(enabled
+    ? tr("When enabled, software updates will be disabled.<br><b>This requires a reboot to take effect.</b>")
+    : tr("Please enable always offroad mode or turn off vehicle to adjust these toggles"));
+}
+
+void SoftwarePanelSP::showEvent(QShowEvent *event) {
+  SoftwarePanel::showEvent(event);
+  updateDisableUpdatesToggle(!uiState()->scene.started);
+  disableUpdatesToggle->showDescription();
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h

@@ -19,4 +19,10 @@ public:
 
 private:
   void searchBranches(const QString &query);
+  ParamControl *disableUpdatesToggle = nullptr;
+  void handleDisableUpdatesToggled(bool state);
+private slots:
+  void updateDisableUpdatesToggle(bool offroad);
+protected:
+  void showEvent(QShowEvent *event) override;
 };

selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc

@@ -12,7 +12,7 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
   connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
     paramsRefresh();
   });
-  
+
   main_layout = new QStackedLayout(this);
   ListWidgetSP *list = new ListWidgetSP(this, false);
 
@@ -30,6 +30,7 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
     },
   };
 
+  // Add regular toggles first
   for (auto &[param, title, desc, icon, needs_restart] : toggle_defs) {
     auto toggle = new ParamControlSP(param, title, desc, icon, this);
 
@@ -53,9 +54,20 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
     param_watcher->addParam(param);
   }
 
+  // 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 openpilot longitudinal control)."),
+    "",
+    chevron_info_settings_texts,
+    200);
+  chevron_info_settings->showDescription();
+  list->addItem(chevron_info_settings);
+  param_watcher->addParam("ChevronInfo");
+
   sunnypilotScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(sunnypilotScroller);
-  
+
   main_layout->addWidget(sunnypilotScreen);
 }
 
@@ -67,4 +79,8 @@ void VisualsPanel::paramsRefresh() {
   for (auto toggle : toggles) {
     toggle.second->refresh();
   }
+
+  if (chevron_info_settings) {
+    chevron_info_settings->refresh();
+  }
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h

@@ -27,4 +27,5 @@ protected:
  Params params;
  std::map<std::string, ParamControlSP*> toggles;
  ParamWatcher * param_watcher;
+ ButtonParamControlSP *chevron_info_settings;
 };

selfdrive/ui/sunnypilot/qt/widgets/controls.cc

@@ -30,9 +30,24 @@ QFrame *vertical_space(int height, QWidget *parent) {
 }
 
 // AbstractControlSP
+std::vector<AbstractControlSP*> AbstractControlSP::advanced_controls_;
+AbstractControlSP::~AbstractControlSP() { UnregisterAdvancedControl(this); }
 
-AbstractControlSP::AbstractControlSP(const QString &title, const QString &desc, const QString &icon, QWidget *parent)
-    : AbstractControl(title, desc, icon, parent) {
+void AbstractControlSP::RegisterAdvancedControl(AbstractControlSP *ctrl) { advanced_controls_.push_back(ctrl); }
+
+void AbstractControlSP::UnregisterAdvancedControl(AbstractControlSP *ctrl) {
+  advanced_controls_.erase(std::remove(advanced_controls_.begin(), advanced_controls_.end(), ctrl), advanced_controls_.end());
+}
+
+void AbstractControlSP::UpdateAllAdvancedControls() {
+  bool visibility = Params().getBool("ShowAdvancedControls");
+  advanced_controls_.erase(std::remove(advanced_controls_.begin(), advanced_controls_.end(), nullptr), advanced_controls_.end());
+  for (auto *ctrl : advanced_controls_) ctrl->setVisible(visibility);
+}
+
+AbstractControlSP::AbstractControlSP(const QString &title, const QString &desc, const QString &icon, QWidget *parent, bool advancedControl)
+    : AbstractControl(title, desc, icon, parent), isAdvancedControl(advancedControl) {
+  if (isAdvancedControl) RegisterAdvancedControl(this);
 
   main_layout = new QVBoxLayout(this);
   main_layout->setMargin(0);
@@ -82,8 +97,8 @@ void AbstractControlSP::hideEvent(QHideEvent *e) {
   }
 }
 
-AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, const QString &desc, const QString &icon, QWidget *parent)
-    : AbstractControlSP(title, desc, icon, parent) {
+AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, const QString &desc, const QString &icon, QWidget *parent, bool advancedControl)
+    : AbstractControlSP(title, desc, icon, parent, advancedControl) {
 
   if (title_label != nullptr) {
     delete title_label;
@@ -169,8 +184,8 @@ void AbstractControlSP_SELECTOR::hideEvent(QHideEvent *e) {
 
 // controls
 
-ButtonControlSP::ButtonControlSP(const QString &title, const QString &text, const QString &desc, QWidget *parent)
-    : AbstractControlSP(title, desc, "", parent) {
+ButtonControlSP::ButtonControlSP(const QString &title, const QString &text, const QString &desc, QWidget *parent, bool advancedControl)
+    : AbstractControlSP(title, desc, "", parent, advancedControl) {
 
   btn.setText(text);
   btn.setStyleSheet(R"(
@@ -225,8 +240,8 @@ void ElidedLabelSP::paintEvent(QPaintEvent *event) {
 
 // ParamControlSP
 
-ParamControlSP::ParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent)
-    : ToggleControlSP(title, desc, icon, false, parent) {
+ParamControlSP::ParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent, bool advancedControl)
+    : ToggleControlSP(title, desc, icon, false, parent, advancedControl){
 
   key = param.toStdString();
   QObject::connect(this, &ParamControlSP::toggleFlipped, this, &ParamControlSP::toggleClicked);

selfdrive/ui/sunnypilot/qt/widgets/controls.h

@@ -57,6 +57,7 @@ class AbstractControlSP : public AbstractControl {
   Q_OBJECT
 
 public:
+  ~AbstractControlSP();
   void setDescription(const QString &desc) override {
     if (description) description->setText(desc);
   }
@@ -81,13 +82,30 @@ public slots:
     description->setVisible(true);
   }
 
+  void setVisible(bool visible) override {
+    bool _visible = visible;
+    if (isAdvancedControl && !params.getBool("ShowAdvancedControls")) {
+      _visible = false;
+    }
+    AbstractControl::setVisible(_visible);
+  }
+
+  static void RegisterAdvancedControl(AbstractControlSP *ctrl);
+  static void UnregisterAdvancedControl(AbstractControlSP *ctrl);
+  static void UpdateAllAdvancedControls();
+
 protected:
-  AbstractControlSP(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);
+  AbstractControlSP(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr, bool advancedControl = false);
   void hideEvent(QHideEvent *e) override;
 
   QVBoxLayout *main_layout;
   ElidedLabelSP *value;
   QLabel *description = nullptr;
+  bool isAdvancedControl;
+
+private:
+  Params params;
+  static std::vector<AbstractControlSP*> advanced_controls_;
 };
 
 // AbstractControlSP_SELECTOR
@@ -97,7 +115,7 @@ class AbstractControlSP_SELECTOR : public AbstractControlSP {
 
 protected:
   QSpacerItem *spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
-  AbstractControlSP_SELECTOR(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);
+  AbstractControlSP_SELECTOR(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr, bool advancedControl = false);
   void hideEvent(QHideEvent *e) override;
 
 };
@@ -123,7 +141,7 @@ class ButtonControlSP : public AbstractControlSP {
   Q_OBJECT
 
 public:
-  ButtonControlSP(const QString &title, const QString &text, const QString &desc = "", QWidget *parent = nullptr);
+  ButtonControlSP(const QString &title, const QString &text, const QString &desc = "", QWidget *parent = nullptr, bool advancedControl = false);
   inline void setText(const QString &text) { btn.setText(text); }
   inline QString text() const { return btn.text(); }
   inline void click() { btn.click(); }
@@ -142,7 +160,7 @@ class ToggleControlSP : public AbstractControlSP {
   Q_OBJECT
 
 public:
-  ToggleControlSP(const QString &title, const QString &desc = "", const QString &icon = "", const bool state = false, QWidget *parent = nullptr) : AbstractControlSP(title, desc, icon, parent) {
+  ToggleControlSP(const QString &title, const QString &desc = "", const QString &icon = "", const bool state = false, QWidget *parent = nullptr, bool advancedControl = false) : AbstractControlSP(title, desc, icon, parent, advancedControl) {
     // space between toggle and title
     icon_label = new QLabel(this);
     hlayout->addWidget(icon_label);
@@ -173,7 +191,7 @@ class ParamControlSP : public ToggleControlSP {
   Q_OBJECT
 
 public:
-  ParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr);
+  ParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr, bool advancedControl = false);
   void setConfirmation(bool _confirm, bool _store_confirm) {
     confirm = _confirm;
     store_confirm = _store_confirm;
@@ -219,7 +237,7 @@ class MultiButtonControlSP : public AbstractControlSP_SELECTOR {
 
 public:
   MultiButtonControlSP(const QString &title, const QString &desc, const QString &icon,
-                     const std::vector<QString> &button_texts, const int minimum_button_width = 225, const bool inline_layout = false) : AbstractControlSP_SELECTOR(title, desc, icon), button_texts(button_texts), is_inline_layout(inline_layout) {
+                     const std::vector<QString> &button_texts, const int minimum_button_width = 225, const bool inline_layout = false, bool advancedControl = false) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr, advancedControl), button_texts(button_texts), is_inline_layout(inline_layout) {
     const QString style = R"(
       QPushButton {
         border-radius: 20px;
@@ -371,8 +389,8 @@ class ButtonParamControlSP : public MultiButtonControlSP {
   Q_OBJECT
 public:
   ButtonParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                     const std::vector<QString> &button_texts, const int minimum_button_width = 225, const bool inline_layout = false) : MultiButtonControlSP(title, desc, icon,
-                                                                                                                          button_texts, minimum_button_width, inline_layout) {
+                     const std::vector<QString> &button_texts, const int minimum_button_width = 225, const bool inline_layout = false, bool advancedControl = false) : MultiButtonControlSP(title, desc, icon,
+                                                                                                                          button_texts, minimum_button_width, inline_layout, advancedControl) {
     key = param.toStdString();
     int value = atoi(params.get(key).c_str());
 
@@ -480,6 +498,16 @@ private:
     return result.toInt();
   }
 
+  int getParamValueScaled() {
+    const auto param_value = QString::fromStdString(params.get(key));
+    return static_cast<int>(param_value.toFloat() * 100);
+  }
+
+  void setParamValueScaled(const int new_value) {
+    const float scaled_value = new_value / 100.0f;
+    params.put(key, QString::number(scaled_value, 'f', 2).toStdString());
+  }
+
   // Although the method is not static, and thus has access to the value property, I prefer to be explicit about the value.
   void setParamValue(const int new_value) {
     const auto value_str = valueMap != nullptr ? valueMap->value(QString::number(new_value)) : QString::number(new_value);
@@ -488,7 +516,8 @@ private:
 
 public:
   OptionControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                  const MinMaxValue &range, const int per_value_change = 1, const bool inline_layout = false, const QMap<QString, QString> *valMap = nullptr) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr), _title(title), valueMap(valMap), is_inline_layout(inline_layout) {
+                  const MinMaxValue &range, const int per_value_change = 1, const bool inline_layout = false,
+                  const QMap<QString, QString> *valMap = nullptr, bool scale_float = false, bool advancedControl = false) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr, advancedControl), _title(title), valueMap(valMap), is_inline_layout(inline_layout), use_float_scaling(scale_float) {
     const QString style = R"(
       QPushButton {
         border-radius: 20px;
@@ -528,7 +557,7 @@ public:
     const std::vector<QString> button_texts{"－", "＋"};
 
     key = param.toStdString();
-    value = getParamValue();
+    value = use_float_scaling ? getParamValueScaled() : getParamValue();
 
     button_group = new QButtonGroup(this);
     button_group->setExclusive(true);
@@ -546,10 +575,15 @@ public:
 
       QObject::connect(button, &QPushButton::clicked, [=]() {
         int change_value = (i == 0) ? -per_value_change : per_value_change;
-        value = getParamValue(); // in case it changed externally, we need to get the latest value.
+        value = use_float_scaling ? getParamValueScaled() : getParamValue();
         value += change_value;
         value = std::clamp(value, range.min_value, range.max_value);
-        setParamValue(value);
+
+        if (use_float_scaling) {
+          setParamValueScaled(value);
+        } else {
+          setParamValue(value);
+        }
 
         button_group->button(0)->setEnabled(!(value <= range.min_value));
         button_group->button(1)->setEnabled(!(value >= range.max_value));
@@ -642,6 +676,7 @@ private:
   const QString label_disabled_style = "font-size: 50px; font-weight: 450; color: #5C5C5C;";
 
   bool button_enabled = true;
+  bool use_float_scaling = false;
 };
 
 class PushButtonSP : public QPushButton {

selfdrive/ui/ui.cc

@@ -61,6 +61,9 @@ void update_state(UIState *s) {
     scene.light_sensor = -1;
   }
   scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition;
+
+  auto params = Params();
+  scene.recording_audio = params.getBool("RecordAudio") && scene.started;
 }
 
 void ui_update_params(UIState *s) {
@@ -164,8 +167,9 @@ void Device::setAwake(bool on) {
 }
 
 void Device::resetInteractiveTimeout(int timeout) {
+  int customTimeout = QString::fromStdString(Params().get("InteractivityTimeout")).toInt();
   if (timeout == -1) {
-    timeout = (ignition_on ? 10 : 30);
+    timeout = customTimeout == 0 ? (ignition_on ? 10 : 30) : customTimeout;
   }
   interactive_timeout = timeout * UI_FREQ;
 }

selfdrive/ui/ui.h

@@ -62,7 +62,7 @@ typedef struct UIScene {
   cereal::LongitudinalPersonality personality;
 
   float light_sensor = -1;
-  bool started, ignition, is_metric;
+  bool started, ignition, is_metric, recording_audio;
   uint64_t started_frame;
 } UIScene;
 

selfdrive/ui/ui_state.py

@@ -1,12 +1,20 @@
 import pyray as rl
+import numpy as np
 import time
+import threading
 from collections.abc import Callable
 from enum import Enum
 from cereal import messaging, log
+from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params, UnknownKeyName
+from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.lib.prime_state import PrimeState
+from openpilot.system.ui.lib.application import DEFAULT_FPS
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.ui.lib.application import gui_app
 
 UI_BORDER_SIZE = 30
+BACKLIGHT_OFFROAD = 50
 
 
 class UIStatus(Enum):
@@ -139,10 +147,15 @@ class UIState:
 class Device:
   def __init__(self):
     self._ignition = False
-    self._interaction_time: float = 0.0
+    self._interaction_time: float = -1
     self._interactive_timeout_callbacks: list[Callable] = []
     self._prev_timed_out = False
-    self.reset_interactive_timeout()
+    self._awake = False
+
+    self._offroad_brightness: int = BACKLIGHT_OFFROAD
+    self._last_brightness: int = 0
+    self._brightness_filter = FirstOrderFilter(BACKLIGHT_OFFROAD, 10.00, 1 / DEFAULT_FPS)
+    self._brightness_thread: threading.Thread | None = None
 
   def reset_interactive_timeout(self, timeout: int = -1) -> None:
     if timeout == -1:
@@ -153,18 +166,64 @@ class Device:
     self._interactive_timeout_callbacks.append(callback)
 
   def update(self):
+    # do initial reset
+    if self._interaction_time <= 0:
+      self.reset_interactive_timeout()
+
+    self._update_brightness()
+    self._update_wakefulness()
+
+  def set_offroad_brightness(self, brightness: int):
+    # TODO: not yet used, should be used in prime widget for QR code, etc.
+    self._offroad_brightness = min(max(brightness, 0), 100)
+
+  def _update_brightness(self):
+    clipped_brightness = self._offroad_brightness
+
+    if ui_state.started and ui_state.light_sensor >= 0:
+      clipped_brightness = ui_state.light_sensor
+
+      # CIE 1931 - https://www.photonstophotos.net/GeneralTopics/Exposure/Psychometric_Lightness_and_Gamma.htm
+      if clipped_brightness <= 8:
+        clipped_brightness = clipped_brightness / 903.3
+      else:
+        clipped_brightness = ((clipped_brightness + 16.0) / 116.0) ** 3.0
+
+      clipped_brightness = float(np.clip(100 * clipped_brightness, 10, 100))
+
+    brightness = round(self._brightness_filter.update(clipped_brightness))
+    if not self._awake:
+      brightness = 0
+
+    if brightness != self._last_brightness:
+      if self._brightness_thread is None or not self._brightness_thread.is_alive():
+        cloudlog.debug(f"setting display brightness {brightness}")
+        self._brightness_thread = threading.Thread(target=HARDWARE.set_screen_brightness, args=(brightness,))
+        self._brightness_thread.start()
+        self._last_brightness = brightness
+
+  def _update_wakefulness(self):
     # Handle interactive timeout
     ignition_just_turned_off = not ui_state.ignition and self._ignition
     self._ignition = ui_state.ignition
 
-    interaction_timeout = time.monotonic() > self._interaction_time
-    if ignition_just_turned_off or rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT):
+    if ignition_just_turned_off or any(ev.left_down for ev in gui_app.mouse_events):
       self.reset_interactive_timeout()
-    elif interaction_timeout and not self._prev_timed_out:
+
+    interaction_timeout = time.monotonic() > self._interaction_time
+    if interaction_timeout and not self._prev_timed_out:
       for callback in self._interactive_timeout_callbacks:
         callback()
     self._prev_timed_out = interaction_timeout
 
+    self._set_awake(ui_state.ignition or not interaction_timeout)
+
+  def _set_awake(self, on: bool):
+    if on != self._awake:
+      self._awake = on
+      cloudlog.debug(f"setting display power {int(on)}")
+      HARDWARE.set_display_power(on)
+
 
 # Global instance
 ui_state = UIState()

sunnypilot/livedelay/lagd_toggle.py

@@ -0,0 +1,51 @@
+"""
+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.
+"""
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+
+
+class LagdToggle:
+  def __init__(self):
+    self.params = Params()
+    self.lag = 0.0
+    self._last_desc = None
+
+  @property
+  def software_delay(self):
+    return float(self.params.get("LagdToggledelay", encoding='utf8'))
+
+  def _maybe_update_desc(self, desc):
+    if desc != self._last_desc:
+      self.params.put_nonblocking("LagdToggleDesc", desc)
+      self._last_desc = desc
+
+  def lagd_main(self, CP, sm, model):
+    if self.params.get_bool("LagdToggle"):
+      lateral_delay = sm["liveDelay"].lateralDelay
+      lat_smooth = model.LAT_SMOOTH_SECONDS
+      result = lateral_delay + lat_smooth
+      desc = f"live steer delay learner ({lateral_delay:.3f}s) + model smoothing filter ({lat_smooth:.3f}s) = total delay ({result:.3f}s)"
+      self._maybe_update_desc(desc)
+      return result
+
+    steer_actuator_delay = CP.steerActuatorDelay
+    lat_smooth = model.LAT_SMOOTH_SECONDS
+    delay = self.software_delay
+    result = (steer_actuator_delay + delay) + lat_smooth
+    desc = (f"Vehicle steering delay ({steer_actuator_delay:.3f}s) + software delay ({delay:.3f}s) + " +
+            f"model smoothing filter ({lat_smooth:.3f}s) = total delay ({result:.3f}s)")
+    self._maybe_update_desc(desc)
+    return result
+
+  def lagd_torqued_main(self, CP, msg):
+    if self.params.get_bool("LagdToggle"):
+      self.lag = msg.lateralDelay
+      cloudlog.debug(f"TORQUED USING LIVE DELAY: {self.lag:.3f}")
+    else:
+      self.lag = CP.steerActuatorDelay + self.software_delay
+      cloudlog.debug(f"TORQUED USING STEER ACTUATOR: {self.lag:.3f}")
+    return self.lag

sunnypilot/modeld/fill_model_msg.py

@@ -103,7 +103,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
 
   # temporal pose
-  temporal_pose = modelV2.temporalPose
+  temporal_pose = modelV2.temporalPoseDEPRECATED
   temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
   temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
   temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()

sunnypilot/modeld/modeld.py

@@ -25,7 +25,7 @@ from openpilot.sunnypilot.modeld.parse_model_outputs import Parser
 from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
 from openpilot.sunnypilot.models.helpers import get_active_bundle, get_model_path, load_metadata, prepare_inputs, load_meta_constants
-from openpilot.sunnypilot.models.modeld_lagd import ModeldLagd
+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
 from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext
 
 
@@ -62,7 +62,7 @@ class ModelState:
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
     bundle = get_active_bundle()
     overrides = {override.key: override.value for override in bundle.overrides}
-    self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".2"))
+    self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".0"))
     self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
 
     model_paths = get_model_path()
@@ -202,7 +202,7 @@ def main(demo=False):
 
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
-  modeld_lagd = ModeldLagd()
+  modeld_lagd = LagdToggle()
 
   # Enable lagd support for sunnypilot modeld
   long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS

sunnypilot/modeld_v2/fill_model_msg.py

@@ -10,8 +10,8 @@ SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 ConfidenceClass = log.ModelDataV2.ConfidenceClass
 
 
-def get_curvature_from_output(output, vego, lat_action_t, current_generation=None):
-  if current_generation != 11:
+def get_curvature_from_output(output, vego, lat_action_t, mlsim):
+  if not mlsim:
     if desired_curv := output.get('desired_curvature'):  # If the model outputs the desired curvature, use that directly
       return float(desired_curv[0, 0])
 
@@ -100,7 +100,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
 
   # temporal pose
-  temporal_pose = modelV2.temporalPose
+  temporal_pose = modelV2.temporalPoseDEPRECATED
   if 'sim_pose' in net_output_data:
     temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
     temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()

sunnypilot/modeld_v2/modeld.py

@@ -23,7 +23,7 @@ from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFr
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 
 from openpilot.sunnypilot.models.helpers import get_active_bundle
-from openpilot.sunnypilot.models.modeld_lagd import ModeldLagd
+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
 from openpilot.sunnypilot.models.runners.helpers import get_model_runner
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
@@ -54,10 +54,10 @@ class ModelState:
       raise
 
     model_bundle = get_active_bundle()
-    self.generation = model_bundle.generation
+    self.generation = model_bundle.generation if model_bundle is not None else None
     overrides = {override.key: override.value for override in model_bundle.overrides}
 
-    self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".2"))
+    self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".0"))
     self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
     self.MIN_LAT_CONTROL_SPEED = 0.3
 
@@ -86,6 +86,10 @@ class ModelState:
       self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1,
                                   self.numpy_inputs['desire'].shape[2])
 
+  @property
+  def mlsim(self) -> bool:
+    return bool(self.generation is not None and self.generation >= 11)
+
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
@@ -151,7 +155,7 @@ class ModelState:
       self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
       self.full_prev_desired_curv[0,-1,:] = outputs['desired_curvature'][0, :]
       self.numpy_inputs[input_name_prev][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
-      if self.generation == 11:
+      if self.mlsim:
         self.numpy_inputs[input_name_prev][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
     else:
       length = outputs['desired_curvature'][0].size
@@ -165,7 +169,7 @@ class ModelState:
                                                      action_t=long_action_t)
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
 
-    desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, self.generation)
+    desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, self.mlsim)
     if v_ego > self.MIN_LAT_CONTROL_SPEED:
       desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
     else:
@@ -239,7 +243,7 @@ def main(demo=False):
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
 
-  modeld_lagd = ModeldLagd()
+  modeld_lagd = LagdToggle()
 
   # TODO Move smooth seconds to action function
   long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS

sunnypilot/modeld_v2/parse_model_outputs_split.py

@@ -1,5 +1,6 @@
 import numpy as np
 from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
+from openpilot.sunnypilot.models.helpers import get_active_bundle
 
 
 def safe_exp(x, out=None):
@@ -24,6 +25,8 @@ def softmax(x, axis=-1):
 class Parser:
   def __init__(self, ignore_missing=False):
     self.ignore_missing = ignore_missing
+    model_bundle = get_active_bundle()
+    self.generation = model_bundle.generation if model_bundle is not None else None
 
   def check_missing(self, outs, name):
     if name not in outs and not self.ignore_missing:
@@ -88,37 +91,64 @@ class Parser:
     outs[name] = pred_mu_final.reshape(final_shape)
     outs[name + '_stds'] = pred_std_final.reshape(final_shape)
 
+  def _parse_plan_mhp(self, outs):
+    self.parse_mdn('plan', outs, in_N=SplitModelConstants.PLAN_MHP_N, out_N=SplitModelConstants.PLAN_MHP_SELECTION,
+                         out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))
+
+  def parse_dynamic_outputs(self, outs: dict[str, np.ndarray]) -> None:
+    if 'lead' in outs:
+      if self.generation >= 12 and \
+         outs['lead'].shape[1] == 2 * SplitModelConstants.LEAD_MHP_SELECTION * SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH:
+        self.parse_mdn('lead', outs, in_N=0, out_N=0,
+                       out_shape=(SplitModelConstants.LEAD_MHP_SELECTION, SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
+      else:
+        self.parse_mdn('lead', outs, in_N=SplitModelConstants.LEAD_MHP_N, out_N=SplitModelConstants.LEAD_MHP_SELECTION,
+                       out_shape=(SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
+    if 'plan' in outs:
+      if self.generation >= 12 and \
+        outs['plan'].shape[1] > 2 * SplitModelConstants.PLAN_WIDTH * SplitModelConstants.IDX_N:
+        self._parse_plan_mhp(outs)
+      elif self.generation >= 12:
+        self.parse_mdn('plan', outs, in_N=0, out_N=0,
+                       out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
+      else:
+        self._parse_plan_mhp(outs)
+
   def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
+    if 'desired_curvature' in outs:
+      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.DESIRED_CURV_WIDTH,))
+    if 'desire_pred' in outs:
+      self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(SplitModelConstants.DESIRE_PRED_LEN,SplitModelConstants.DESIRE_PRED_WIDTH))
+    if 'desire_state' in outs:
+      self.parse_categorical_crossentropy('desire_state', outs, out_shape=(SplitModelConstants.DESIRE_PRED_WIDTH,))
     if 'lane_lines' in outs:
       self.parse_mdn('lane_lines', outs, in_N=0, out_N=0,
-                     out_shape=(SplitModelConstants.NUM_LANE_LINES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+                    out_shape=(SplitModelConstants.NUM_LANE_LINES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+    if 'lane_lines_prob' in outs:
+      self.parse_binary_crossentropy('lane_lines_prob', outs)
+    if 'lead_prob' in outs:
+      self.parse_binary_crossentropy('lead_prob', outs)
+    if 'lat_planner_solution' in outs:
+      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+    if 'meta' in outs:
+      self.parse_binary_crossentropy('meta', outs)
+    if 'road_edges' in outs:
       self.parse_mdn('road_edges', outs, in_N=0, out_N=0,
-                     out_shape=(SplitModelConstants.NUM_ROAD_EDGES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
-      self.parse_mdn('lead', outs, in_N=SplitModelConstants.LEAD_MHP_N, out_N=SplitModelConstants.LEAD_MHP_SELECTION,
-                     out_shape=(SplitModelConstants.LEAD_TRAJ_LEN,SplitModelConstants.LEAD_WIDTH))
-      if 'sim_pose' in outs:
-        self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
-      for k in ['lead_prob', 'lane_lines_prob']:
-        self.parse_binary_crossentropy(k, outs)
+                    out_shape=(SplitModelConstants.NUM_ROAD_EDGES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+    if 'sim_pose' in outs:
+      self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
 
   def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
     self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.WIDE_FROM_DEVICE_WIDTH,))
     self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
+    self.parse_dynamic_outputs(outs)
     self.split_outputs(outs)
-    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(SplitModelConstants.DESIRE_PRED_LEN,SplitModelConstants.DESIRE_PRED_WIDTH))
-    self.parse_binary_crossentropy('meta', outs)
     return outs
 
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    self.parse_mdn('plan', outs, in_N=SplitModelConstants.PLAN_MHP_N, out_N=SplitModelConstants.PLAN_MHP_SELECTION,
-                   out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))
+    self.parse_dynamic_outputs(outs)
     self.split_outputs(outs)
-    if 'lat_planner_solution' in outs:
-      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
-    if 'desired_curvature' in outs:
-      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.DESIRED_CURV_WIDTH,))
-    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(SplitModelConstants.DESIRE_PRED_WIDTH,))
     return outs
 
   def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:

sunnypilot/models/helpers.py

@@ -19,7 +19,7 @@ from openpilot.system.hardware import PC
 from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
-CURRENT_SELECTOR_VERSION = 6
+CURRENT_SELECTOR_VERSION = 7
 REQUIRED_MIN_SELECTOR_VERSION = 5
 
 USE_ONNX = os.getenv('USE_ONNX', PC)

sunnypilot/models/manager.py

@@ -178,6 +178,10 @@ class ModelManagerSP:
             finally:
               self.params.put("ModelManager_DownloadIndex", "")
 
+        if self.params.get("ModelManager_ClearCache", block=False, encoding="utf-8"):
+            self.clear_model_cache()
+            self.params.remove("ModelManager_ClearCache")
+
         self._report_status()
         rk.keep_time()
 
@@ -185,6 +189,31 @@ class ModelManagerSP:
         cloudlog.exception(f"Error in main thread: {str(e)}")
         rk.keep_time()
 
+  def clear_model_cache(self) -> None:
+    """
+    Clears the model cache directory of all files except those in the active model bundle.
+    """
+
+    # Get list of files used by active model bundle
+    active_files = []
+    if self.active_bundle is not None: # When the default model is active
+      for model in self.active_bundle.models:
+        if hasattr(model, 'artifact') and model.artifact.fileName:
+          active_files.append(model.artifact.fileName)
+        if hasattr(model, 'metadata') and model.metadata.fileName:
+          active_files.append(model.metadata.fileName)
+
+    # Remove all files except active ones
+    model_dir = Paths.model_root()
+    try:
+      for filename in os.listdir(model_dir):
+        if filename not in active_files:
+          file_path = os.path.join(model_dir, filename)
+          if os.path.isfile(file_path):
+            os.remove(file_path)
+      cloudlog.info("Model cache cleared, keeping active model files")
+    except Exception as e:
+      cloudlog.exception(f"Error clearing model cache: {str(e)}")
 
 def main():
   ModelManagerSP().main_thread()

sunnypilot/models/modeld_lagd.py

@@ -1,26 +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.
-"""
-from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
-
-
-class ModeldLagd:
-  def __init__(self):
-    self.params = Params()
-
-  def lagd_main(self, CP, sm, model):
-    if self.params.get_bool("LagdToggle"):
-      lateral_delay = sm["liveDelay"].lateralDelay
-      lat_smooth = model.LAT_SMOOTH_SECONDS
-      result = lateral_delay + lat_smooth
-      cloudlog.debug(f"LAGD USING LIVE DELAY: {lateral_delay:.3f} + {lat_smooth:.3f} = {result:.3f}")
-      return result
-    steer_actuator_delay = CP.steerActuatorDelay
-    lat_smooth = model.LAT_SMOOTH_SECONDS
-    result = (steer_actuator_delay + 0.2) + lat_smooth
-    cloudlog.debug(f"LAGD USING STEER ACTUATOR: {steer_actuator_delay:.3f} + 0.2 + {lat_smooth:.3f} = {result:.3f}")
-    return result

sunnypilot/models/tests/model_hash

@@ -1 +1 @@
-71979b29c4bab3007de1a4265442d79f44c0eaef066af66086dddfc432709b94
+61bb1f3077ef8219a44c8c627d5345d1a96e7f859b850bed6215eec91090becb

sunnypilot/selfdrive/controls/lib/dec/constants.py

@@ -1,25 +1,17 @@
 class WMACConstants:
-  LEAD_WINDOW_SIZE = 5
-  LEAD_PROB = 0.5
+  # Lead detection parameters
+  LEAD_WINDOW_SIZE = 6  # Stable detection window
+  LEAD_PROB = 0.45  # Balanced threshold for lead detection
 
-  SLOW_DOWN_WINDOW_SIZE = 5
-  SLOW_DOWN_PROB = 0.6
+  # Slow down detection parameters
+  SLOW_DOWN_WINDOW_SIZE = 5  # Responsive but stable
+  SLOW_DOWN_PROB = 0.3  # Balanced threshold for slow down scenarios
 
+  # Optimized slow down distance curve - smooth and progressive
   SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
-  SLOW_DOWN_DIST = [25., 38., 55., 75., 95., 115., 130., 150.]
+  SLOW_DOWN_DIST = [32., 46., 64., 86., 108., 130., 145., 165.]
 
-  SLOWNESS_WINDOW_SIZE = 12
-  SLOWNESS_PROB = 0.5
-  SLOWNESS_CRUISE_OFFSET = 1.05
-
-  DANGEROUS_TTC_WINDOW_SIZE = 3
-  DANGEROUS_TTC = 2.3
-
-  MPC_FCW_WINDOW_SIZE = 10
-  MPC_FCW_PROB = 0.5
-
-
-class SNG_State:
-  off = 0
-  stopped = 1
-  going = 2
+  # Slowness detection parameters
+  SLOWNESS_WINDOW_SIZE = 10  # Stable slowness detection
+  SLOWNESS_PROB = 0.55  # Clear threshold for slowness
+  SLOWNESS_CRUISE_OFFSET = 1.025  # Conservative cruise speed offset

sunnypilot/selfdrive/controls/lib/dec/dec.py

@@ -1,88 +1,133 @@
-# The MIT License
-#
-# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
-#
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-#
-# The above copyright notice and this permission notice shall be included in
-# all copies or substantial portions of the Software.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-# THE SOFTWARE.
-#
-# Version = 2025-1-18
+"""
+Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
 
-import numpy as np
+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.
+"""
+# Version = 2025-6-30
 
 from cereal import messaging
 from opendbc.car import structs
 from numpy import interp
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants, SNG_State
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants
+from typing import Literal
 
 # d-e2e, from modeldata.h
 TRAJECTORY_SIZE = 33
+SET_MODE_TIMEOUT = 15
 
-HIGHWAY_CRUISE_KPH = 70
-
-STOP_AND_GO_FRAME = 60
-
-SET_MODE_TIMEOUT = 10
-
-V_ACC_MIN = 9.72
+# Define the valid mode types
+ModeType = Literal['acc', 'blended']
 
 
-class GenericMovingAverageCalculator:
-  def __init__(self, window_size):
-    self.window_size = window_size
-    self.data = []
-    self.total = 0
+class SmoothKalmanFilter:
+  """Enhanced Kalman filter with smoothing for stable decision making."""
 
-  def add_data(self, value: float) -> None:
-    if len(self.data) == self.window_size:
-      self.total -= self.data.pop(0)
-    self.data.append(value)
-    self.total += value
+  def __init__(self, initial_value=0, measurement_noise=0.1, process_noise=0.01,
+               alpha=1.0, smoothing_factor=0.85):
+    self.x = initial_value
+    self.P = 1.0
+    self.R = measurement_noise
+    self.Q = process_noise
+    self.alpha = alpha
+    self.smoothing_factor = smoothing_factor
+    self.initialized = False
+    self.history = []
+    self.max_history = 10
+    self.confidence = 0.0
 
-  def get_moving_average(self) -> float | None:
-    return None if len(self.data) == 0 else self.total / len(self.data)
+  def add_data(self, measurement):
+    if len(self.history) >= self.max_history:
+      self.history.pop(0)
+    self.history.append(measurement)
 
-  def reset_data(self) -> None:
-    self.data = []
-    self.total = 0
+    if not self.initialized:
+      self.x = measurement
+      self.initialized = True
+      self.confidence = 0.1
+      return
+
+    self.P = self.alpha * self.P + self.Q
+
+    K = self.P / (self.P + self.R)
+    effective_K = K * (1.0 - self.smoothing_factor) + self.smoothing_factor * 0.1
+
+    innovation = measurement - self.x
+    self.x = self.x + effective_K * innovation
+    self.P = (1 - effective_K) * self.P
+
+    if abs(innovation) < 0.1:
+      self.confidence = min(1.0, self.confidence + 0.05)
+    else:
+      self.confidence = max(0.1, self.confidence - 0.02)
+
+  def get_value(self):
+    return self.x if self.initialized else None
+
+  def get_confidence(self):
+    return self.confidence
+
+  def reset_data(self):
+    self.initialized = False
+    self.history = []
+    self.confidence = 0.0
 
 
-class WeightedMovingAverageCalculator:
-  def __init__(self, window_size):
-    self.window_size = window_size
-    self.data = []
-    self.weights = np.linspace(1, 3, window_size)  # Linear weights, adjust as needed
+class ModeTransitionManager:
+  """Manages smooth transitions between driving modes with hysteresis."""
 
-  def add_data(self, value: float) -> None:
-    if len(self.data) == self.window_size:
-      self.data.pop(0)
-    self.data.append(value)
+  def __init__(self):
+    self.current_mode: ModeType = 'acc'
+    self.mode_confidence = {'acc': 1.0, 'blended': 0.0}
+    self.transition_timeout = 0
+    self.min_mode_duration = 10
+    self.mode_duration = 0
+    self.emergency_override = False
 
-  def get_weighted_average(self) -> float | None:
-    if len(self.data) == 0:
-      return None
-    weighted_sum: float = float(np.dot(self.data, self.weights[-len(self.data):]))
-    weight_total: float = float(np.sum(self.weights[-len(self.data):]))
-    return weighted_sum / weight_total
+  def request_mode(self, mode: ModeType, confidence: float = 1.0, emergency: bool = False):
+    # Emergency override for critical situations (stops, collisions)
+    if emergency:
+      self.emergency_override = True
+      self.current_mode = mode
+      self.transition_timeout = SET_MODE_TIMEOUT
+      self.mode_duration = 0
+      return
 
-  def reset_data(self) -> None:
-    self.data = []
+    self.mode_confidence[mode] = min(1.0, self.mode_confidence[mode] + 0.1 * confidence)
+    for m in self.mode_confidence:
+      if m != mode:
+        self.mode_confidence[m] = max(0.0, self.mode_confidence[m] - 0.05)
+
+    # Require minimum duration in current mode (unless emergency)
+    if self.mode_duration < self.min_mode_duration and not self.emergency_override:
+      return
+
+    # Hysteresis: higher threshold for mode changes
+    confidence_threshold = 0.6 if mode != self.current_mode else 0.3  # Lower threshold for faster response
+
+    if self.mode_confidence[mode] > confidence_threshold:
+      if mode != self.current_mode and self.transition_timeout == 0:
+        self.transition_timeout = SET_MODE_TIMEOUT
+        self.current_mode = mode
+        self.mode_duration = 0
+
+  def update(self):
+    if self.transition_timeout > 0:
+      self.transition_timeout -= 1
+    self.mode_duration += 1
+
+    # Reset emergency override after some time
+    if self.emergency_override and self.mode_duration > 20:
+      self.emergency_override = False
+
+    # Gradual confidence decay
+    for mode in self.mode_confidence:
+      self.mode_confidence[mode] *= 0.98
+
+  def get_mode(self) -> ModeType:
+    return self.current_mode
 
 
 class DynamicExperimentalController:
@@ -92,51 +137,59 @@ class DynamicExperimentalController:
     self._params = params or Params()
     self._enabled: bool = self._params.get_bool("DynamicExperimentalControl")
     self._active: bool = False
-    self._mode: str = 'acc'
     self._frame: int = 0
+    self._urgency = 0.0
 
-    # Use weighted moving average for filtering leads
-    self._lead_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.LEAD_WINDOW_SIZE)
+    self._mode_manager = ModeTransitionManager()
+
+    # Smooth filters for stable decision making with faster response for critical scenarios
+    self._lead_filter = SmoothKalmanFilter(
+      measurement_noise=0.15,
+      process_noise=0.05,
+      alpha=1.02,
+      smoothing_factor=0.8
+    )
+
+    self._slow_down_filter = SmoothKalmanFilter(
+      measurement_noise=0.1,
+      process_noise=0.1,
+      alpha=1.05,
+      smoothing_factor=0.7
+    )
+
+    self._slowness_filter = SmoothKalmanFilter(
+      measurement_noise=0.1,
+      process_noise=0.06,
+      alpha=1.015,
+      smoothing_factor=0.92
+    )
+
+    self._mpc_fcw_filter = SmoothKalmanFilter(
+      measurement_noise=0.2,
+      process_noise=0.1,
+      alpha=1.1,
+      smoothing_factor=0.5
+    )
     self._has_lead_filtered = False
-    self._has_lead_filtered_prev = False
-
-    self._slow_down_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.SLOW_DOWN_WINDOW_SIZE)
-    self._has_slow_down: bool = False
-    self._slow_down_confidence: float = 0.0
-
-    self._has_blinkers = False
-
-    self._slowness_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.SLOWNESS_WINDOW_SIZE)
-    self._has_slowness: bool = False
-
-    self._has_nav_instruction = False
-
-    self._dangerous_ttc_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.DANGEROUS_TTC_WINDOW_SIZE)
-    self._has_dangerous_ttc: bool = False
-
-    self._v_ego_kph = 0.
-    self._v_cruise_kph = 0.
-
-    self._has_lead = False
-
+    self._has_slow_down = False
+    self._has_slowness = False
+    self._has_mpc_fcw = False
+    self._v_ego_kph = 0.0
+    self._v_cruise_kph = 0.0
     self._has_standstill = False
-    self._has_standstill_prev = False
-
-    self._sng_transit_frame = 0
-    self._sng_state = SNG_State.off
-
-    self._mpc_fcw_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.MPC_FCW_WINDOW_SIZE)
-    self._has_mpc_fcw: bool = False
     self._mpc_fcw_crash_cnt = 0
-
-    self._set_mode_timeout = 0
+    self._standstill_count = 0
+    # debug
+    self._endpoint_x = float('inf')
+    self._expected_distance = 0.0
+    self._trajectory_valid = False
 
   def _read_params(self) -> None:
     if self._frame % int(1. / DT_MDL) == 0:
       self._enabled = self._params.get_bool("DynamicExperimentalControl")
 
   def mode(self) -> str:
-    return str(self._mode)
+    return self._mode_manager.get_mode()
 
   def enabled(self) -> bool:
     return self._enabled
@@ -144,46 +197,9 @@ class DynamicExperimentalController:
   def active(self) -> bool:
     return self._active
 
-  @staticmethod
-  def _anomaly_detection(recent_data: list[float], threshold: float = 2.0, context_check: bool = True) -> bool:
-    """
-    Basic anomaly detection using standard deviation.
-    """
-    if len(recent_data) < 5:
-      return False
-    mean: float = float(np.mean(recent_data))
-    std_dev: float = float(np.std(recent_data))
-    anomaly: bool = bool(recent_data[-1] > mean + threshold * std_dev)
-
-    # Context check to ensure repeated anomaly
-    if context_check:
-      return np.count_nonzero(np.array(recent_data) > mean + threshold * std_dev) > 1
-    return anomaly
-
-  def _adaptive_slowdown_threshold(self) -> float:
-    """
-    Adapts the slow-down threshold based on vehicle speed and recent behavior.
-    """
-    slowdown_scaling_factor: float = (1.0 + 0.03 * np.log(1 + len(self._slow_down_gmac.data)))
-    adaptive_threshold: float = float(
-      interp(self._v_ego_kph, WMACConstants.SLOW_DOWN_BP, WMACConstants.SLOW_DOWN_DIST) * slowdown_scaling_factor
-    )
-    return adaptive_threshold
-
-  def _smoothed_lead_detection(self, lead_prob: float, smoothing_factor: float = 0.2):
-    """
-    Smoothing the lead detection to avoid erratic behavior.
-    """
-    lead_filtering: float = (1 - smoothing_factor) * self._has_lead_filtered + smoothing_factor * lead_prob
-    return lead_filtering > WMACConstants.LEAD_PROB
-
-  def _adaptive_lead_prob_threshold(self) -> float:
-    """
-    Adapts lead probability threshold based on driving conditions.
-    """
-    if self._v_ego_kph > HIGHWAY_CRUISE_KPH:
-      return float(WMACConstants.LEAD_PROB + 0.1)  # Increase the threshold on highways
-    return float(WMACConstants.LEAD_PROB)
+  def set_mpc_fcw_crash_cnt(self) -> None:
+    """Set MPC FCW crash count"""
+    self._mpc_fcw_crash_cnt = self._mpc.crash_cnt
 
   def _update_calculations(self, sm: messaging.SubMaster) -> None:
     car_state = sm['carState']
@@ -192,186 +208,168 @@ class DynamicExperimentalController:
 
     self._v_ego_kph = car_state.vEgo * 3.6
     self._v_cruise_kph = car_state.vCruise
-    self._has_lead = lead_one.status
     self._has_standstill = car_state.standstill
 
-    # fcw detection
-    self._mpc_fcw_gmac.add_data(self._mpc_fcw_crash_cnt > 0)
-    if _mpc_fcw_weighted_average := self._mpc_fcw_gmac.get_weighted_average():
-      self._has_mpc_fcw = _mpc_fcw_weighted_average > WMACConstants.MPC_FCW_PROB
-    else:
-      self._has_mpc_fcw = False
-
-    # nav enable detection
-    # self._has_nav_instruction = md.navEnabledDEPRECATED and maneuver_distance / max(car_state.vEgo, 1) < 13
-
-    # lead detection with smoothing
-    self._lead_gmac.add_data(lead_one.status)
-    self._has_lead_filtered = (self._lead_gmac.get_weighted_average() or -1.) > WMACConstants.LEAD_PROB
-    #lead_prob = self._lead_gmac.get_weighted_average() or 0
-    #self._has_lead_filtered = self._smoothed_lead_detection(lead_prob)
-
-    # adaptive slow down detection
-    adaptive_threshold = self._adaptive_slowdown_threshold()
-    slow_down_trigger = len(md.orientation.x) == len(md.position.x) == TRAJECTORY_SIZE and md.position.x[TRAJECTORY_SIZE - 1] < adaptive_threshold
-    self._slow_down_gmac.add_data(slow_down_trigger)
-    if _has_slow_down_weighted_average := self._slow_down_gmac.get_weighted_average():
-      self._has_slow_down = _has_slow_down_weighted_average > WMACConstants.SLOW_DOWN_PROB
-      self._slow_down_confidence = _has_slow_down_weighted_average  # Store confidence level
-    else:
-      self._has_slow_down = False
-      self._slow_down_confidence = 0.0  # No confidence if no slowdown
-
-    # anomaly detection for slow down events
-    if self._anomaly_detection(self._slow_down_gmac.data):
-      self._slow_down_confidence *= 0.85  # Reduce confidence
-      self._has_slow_down = self._slow_down_confidence > WMACConstants.SLOW_DOWN_PROB
-
-    # blinker detection
-    self._has_blinkers = car_state.leftBlinker or car_state.rightBlinker
-
-    # sng detection
+    # standstill detection
     if self._has_standstill:
-      self._sng_state = SNG_State.stopped
-      self._sng_transit_frame = 0
+      self._standstill_count = min(20, self._standstill_count + 1)
     else:
-      if self._sng_transit_frame == 0:
-        if self._sng_state == SNG_State.stopped:
-          self._sng_state = SNG_State.going
-          self._sng_transit_frame = STOP_AND_GO_FRAME
-        elif self._sng_state == SNG_State.going:
-          self._sng_state = SNG_State.off
-      elif self._sng_transit_frame > 0:
-        self._sng_transit_frame -= 1
+      self._standstill_count = max(0, self._standstill_count - 1)
 
-    # slowness detection
-    if not self._has_standstill:
-      self._slowness_gmac.add_data(self._v_ego_kph <= (self._v_cruise_kph * WMACConstants.SLOWNESS_CRUISE_OFFSET))
-      if _slowness_weighted_average := self._slowness_gmac.get_weighted_average():
-        self._has_slowness = _slowness_weighted_average > WMACConstants.SLOWNESS_PROB
-      else:
-        self._has_slowness = False
+    # Lead detection
+    self._lead_filter.add_data(float(lead_one.status))
+    lead_value = self._lead_filter.get_value() or 0.0
+    self._has_lead_filtered = lead_value > WMACConstants.LEAD_PROB
 
-    # dangerous TTC detection
-    if not self._has_lead_filtered and self._has_lead_filtered_prev:
-      self._dangerous_ttc_gmac.reset_data()
-      self._has_dangerous_ttc = False
+    # MPC FCW detection
+    fcw_filtered_value = self._mpc_fcw_filter.get_value() or 0.0
+    self._mpc_fcw_filter.add_data(float(self._mpc_fcw_crash_cnt > 0))
+    self._has_mpc_fcw = fcw_filtered_value > 0.5
 
-    if self._has_lead and car_state.vEgo >= 0.01:
-      self._dangerous_ttc_gmac.add_data(lead_one.dRel / car_state.vEgo)
+    # Slow down detection
+    self._calculate_slow_down(md)
 
-    if _dangerous_ttc_weighted_average := self._dangerous_ttc_gmac.get_weighted_average():
-      self._has_dangerous_ttc = _dangerous_ttc_weighted_average <= WMACConstants.DANGEROUS_TTC
-    else:
-      self._has_dangerous_ttc = False
+    # Slowness detection
+    if not (self._standstill_count > 5) and not self._has_slow_down:
+      current_slowness = float(self._v_ego_kph <= (self._v_cruise_kph * WMACConstants.SLOWNESS_CRUISE_OFFSET))
+      self._slowness_filter.add_data(current_slowness)
+      slowness_value = self._slowness_filter.get_value() or 0.0
 
-    # keep prev values
-    self._has_standstill_prev = self._has_standstill
-    self._has_lead_filtered_prev = self._has_lead_filtered
+      # Hysteresis for slowness
+      threshold = WMACConstants.SLOWNESS_PROB * (0.8 if self._has_slowness else 1.1)
+      self._has_slowness = slowness_value > threshold
+
+  def _calculate_slow_down(self, md):
+    """Calculate urgency based on trajectory endpoint vs expected distance."""
+
+    # Reset to safe defaults
+    urgency = 0.0
+    self._endpoint_x = float('inf')
+    self._trajectory_valid = False
+
+    #Require exact trajectory size
+    position_valid = len(md.position.x) == TRAJECTORY_SIZE
+    orientation_valid = len(md.orientation.x) == TRAJECTORY_SIZE
+
+    if not (position_valid and orientation_valid):
+      # Invalid trajectory - this itself might indicate a stop scenario
+      # Apply moderate urgency for incomplete trajectories at speed
+      if self._v_ego_kph > 20.0:
+        urgency = 0.3
+
+      self._slow_down_filter.add_data(urgency)
+      urgency_filtered = self._slow_down_filter.get_value() or 0.0
+      self._has_slow_down = urgency_filtered > WMACConstants.SLOW_DOWN_PROB
+      self._urgency = urgency_filtered
+      return
+
+    # We have a valid full trajectory
+    self._trajectory_valid = True
+
+    # Use the exact endpoint (33rd point, index 32)
+    endpoint_x = md.position.x[TRAJECTORY_SIZE - 1]
+    self._endpoint_x = endpoint_x
+
+    # Get expected distance based on current speed using tuned constants
+    expected_distance = interp(self._v_ego_kph,
+                               WMACConstants.SLOW_DOWN_BP,
+                               WMACConstants.SLOW_DOWN_DIST)
+    self._expected_distance = expected_distance
+
+    # Calculate urgency based on trajectory shortage
+    if endpoint_x < expected_distance:
+      shortage = expected_distance - endpoint_x
+      shortage_ratio = shortage / expected_distance
+
+      # Base urgency on shortage ratio
+      urgency = min(1.0, shortage_ratio * 2.0)
+
+      # Increase urgency for very short trajectories (imminent stops)
+      critical_distance = expected_distance * 0.3
+      if endpoint_x < critical_distance:
+        urgency = min(1.0, urgency * 2.0)
+
+      # Speed-based urgency adjustment
+      if self._v_ego_kph > 25.0:
+        speed_factor = 1.0 + (self._v_ego_kph - 25.0) / 80.0
+        urgency = min(1.0, urgency * speed_factor)
+
+    # Apply filtering but with less smoothing for stops
+    self._slow_down_filter.add_data(urgency)
+    urgency_filtered = self._slow_down_filter.get_value() or 0.0
+
+    # Update state with lower threshold for better stop detection
+    self._has_slow_down = urgency_filtered > (WMACConstants.SLOW_DOWN_PROB * 0.8)
+    self._urgency = urgency_filtered
 
   def _radarless_mode(self) -> None:
-    # when mpc fcw crash prob is high
-    # use blended to slow down quickly
+    """Radarless mode decision logic with emergency handling."""
+
+    # EMERGENCY: MPC FCW - immediate blended mode
     if self._has_mpc_fcw:
-      self._set_mode('blended')
+      self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
       return
 
-    # Nav enabled and distance to upcoming turning is 300 or below
-    # if self._has_nav_instruction:
-    #  self._set_mode('blended')
-    #  return
-
-    # when blinker is on and speed is driving below V_ACC_MIN: blended
-    # we don't want it to switch mode at higher speed, blended may trigger hard brake
-    # if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
-    #  self._set_mode('blended')
-    #  return
-
-    # when at highway cruise and SNG: blended
-    # ensuring blended mode is used because acc is bad at catching SNG lead car
-    # especially those who accel very fast and then brake very hard.
-    # if self._sng_state == SNG_State.going and self._v_cruise_kph >= V_ACC_MIN:
-    #  self._set_mode('blended')
-    #  return
-
-    # when standstill: blended
-    # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light.
-    if self._has_standstill:
-      self._set_mode('blended')
+    # Standstill: use blended
+    if self._standstill_count > 3:
+      self._mode_manager.request_mode('blended', confidence=0.9)
       return
 
-    # when detecting slow down scenario: blended
-    # e.g. traffic light, curve, stop sign etc.
+    # Slow down scenarios: emergency for high urgency, normal for lower urgency
     if self._has_slow_down:
-      self._set_mode('blended')
+      if self._urgency > 0.7:
+        # Emergency: immediate blended mode for high urgency stops
+        self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
+      else:
+        # Normal: blended with urgency-based confidence
+        confidence = min(1.0, self._urgency * 1.5)
+        self._mode_manager.request_mode('blended', confidence=confidence)
       return
 
-    # when detecting lead slow down: blended
-    # use blended for higher braking capability
-    if self._has_dangerous_ttc:
-      self._set_mode('blended')
+    # Driving slow: use ACC (but not if actively slowing down)
+    if self._has_slowness and not self._has_slow_down:
+      self._mode_manager.request_mode('acc', confidence=0.8)
       return
 
-    # car driving at speed lower than set speed: acc
-    if self._has_slowness:
-      self._set_mode('acc')
-      return
-
-    self._set_mode('acc')
+    # Default: ACC
+    self._mode_manager.request_mode('acc', confidence=0.7)
 
   def _radar_mode(self) -> None:
-    # when mpc fcw crash prob is high
-    # use blended to slow down quickly
+    """Radar mode with emergency handling."""
+
+    # EMERGENCY: MPC FCW - immediate blended mode
     if self._has_mpc_fcw:
-      self._set_mode('blended')
+      self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
       return
 
-    # If there is a filtered lead, the vehicle is not in standstill, and the lead vehicle's yRel meets the condition,
-    if self._has_lead_filtered and not self._has_standstill:
-      self._set_mode('acc')
+    # If lead detected and not in standstill: always use ACC
+    if self._has_lead_filtered and not (self._standstill_count > 3):
+      self._mode_manager.request_mode('acc', confidence=1.0)
       return
 
-    # when blinker is on and speed is driving below V_ACC_MIN: blended
-    # we don't want it to switch mode at higher speed, blended may trigger hard brake
-    # if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
-    #  self._set_mode('blended')
-    #  return
-
-    # when standstill: blended
-    # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light.
-    if self._has_standstill:
-      self._set_mode('blended')
-      return
-
-    # when detecting slow down scenario: blended
-    # e.g. traffic light, curve, stop sign etc.
+    # Slow down scenarios: emergency for high urgency, normal for lower urgency
     if self._has_slow_down:
-      self._set_mode('blended')
+      if self._urgency > 0.7:
+        # Emergency: immediate blended mode for high urgency stops
+        self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
+      else:
+        # Normal: blended with urgency-based confidence
+        confidence = min(1.0, self._urgency * 1.3)
+        self._mode_manager.request_mode('blended', confidence=confidence)
       return
 
-    # car driving at speed lower than set speed: acc
-    if self._has_slowness:
-      self._set_mode('acc')
+    # Standstill: use blended
+    if self._standstill_count > 3:
+      self._mode_manager.request_mode('blended', confidence=0.9)
       return
 
-    # Nav enabled and distance to upcoming turning is 300 or below
-    # if self._has_nav_instruction:
-    #  self._set_mode('blended')
-    #  return
+    # Driving slow: use ACC (but not if actively slowing down)
+    if self._has_slowness and not self._has_slow_down:
+      self._mode_manager.request_mode('acc', confidence=0.8)
+      return
 
-    self._set_mode('acc')
-
-  def set_mpc_fcw_crash_cnt(self) -> None:
-    self._mpc_fcw_crash_cnt = self._mpc.crash_cnt
-
-  def _set_mode(self, mode: str) -> None:
-    if self._set_mode_timeout == 0:
-      self._mode = mode
-      if mode == 'blended':
-        self._set_mode_timeout = SET_MODE_TIMEOUT
-
-    if self._set_mode_timeout > 0:
-      self._set_mode_timeout -= 1
+    # Default: ACC
+    self._mode_manager.request_mode('acc', confidence=0.7)
 
   def update(self, sm: messaging.SubMaster) -> None:
     self._read_params()
@@ -385,6 +383,6 @@ class DynamicExperimentalController:
     else:
       self._radar_mode()
 
+    self._mode_manager.update()
     self._active = sm['selfdriveState'].experimentalMode and self._enabled
-
     self._frame += 1

sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py

@@ -1,248 +1,94 @@
 import pytest
-import numpy as np
-from openpilot.common.params import Params
 
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants, SNG_State
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController, TRAJECTORY_SIZE, STOP_AND_GO_FRAME
-
-class MockInterp:
-  def __call__(self, x, xp, fp):
-    return np.interp(x, xp, fp)
-
-class MockCarState:
-  def __init__(self, v_ego=0., standstill=False, left_blinker=False, right_blinker=False):
-    self.vEgo = v_ego
-    self.standstill = standstill
-    self.leftBlinker = left_blinker
-    self.rightBlinker = right_blinker
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
 
 class MockLeadOne:
-  def __init__(self, status=False, d_rel=0):
+  def __init__(self, status=0.0):
     self.status = status
-    self.dRel = d_rel
+
+class MockRadarState:
+  def __init__(self, status=0.0):
+    self.leadOne = MockLeadOne(status=status)
+
+class MockCarState:
+  def __init__(self, vEgo=0.0, vCruise=0.0, standstill=False):
+    self.vEgo = vEgo
+    self.vCruise = vCruise
+    self.standstill = standstill
 
 class MockModelData:
-  def __init__(self, x_vals=None, positions=None):
-    self.orientation = type('Orientation', (), {'x': x_vals})()
-    self.position = type('Position', (), {'x': positions})()
+  def __init__(self, valid=True):
+    size = 33 if valid else 10  # incomplete if invalid
+    self.position = type("Pos", (), {"x": [0.0] * size})()
+    self.orientation = type("Ori", (), {"x": [0.0] * size})()
 
-class MockControlState:
-  def __init__(self, v_cruise=0):
-    self.vCruise = v_cruise
+class MockSelfDriveState:
+  def __init__(self, experimentalMode=False):
+    self.experimentalMode = experimentalMode
+
+class MockParams:
+  def get_bool(self, name):
+    return True
 
 @pytest.fixture
-def interp(monkeypatch):
-  mock_interp = MockInterp()
-  monkeypatch.setattr('numpy.interp', mock_interp)
-  return mock_interp
+def default_sm():
+  sm = {
+    'carState': MockCarState(vEgo=10.0, vCruise=20.0),
+    'radarState': MockRadarState(status=1.0),
+    'modelV2': MockModelData(valid=True),
+    'selfdriveState': MockSelfDriveState(experimentalMode=True),
+  }
+  return sm
 
 @pytest.fixture
-def controller(interp):
-  params = Params()
-  params.put_bool("DynamicExperimentalControl", True)
-  return DynamicExperimentalController()
+def mock_cp():
+  class CP:
+    radarUnavailable = False
+  return CP()
 
-def test_initial_state(controller):
-  """Test initial state of the controller"""
-  assert controller._mode == 'acc'
-  assert not controller._has_lead
-  assert not controller._has_standstill
-  assert controller._sng_state == SNG_State.off
-  assert not controller._has_lead_filtered
-  assert not controller._has_slow_down
-  assert not controller._has_dangerous_ttc
-  assert not controller._has_mpc_fcw
+@pytest.fixture
+def mock_mpc():
+  class MPC:
+    crash_cnt = 0
+  return MPC()
 
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_standstill_detection(controller, has_radar):
-  """Test standstill detection and state transitions"""
-  car_state = MockCarState(standstill=True)
-  lead_one = MockLeadOne()
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
-  controls_state = MockControlState()
+# Fake Kalman Filter that always returns a given value
+class FakeKalman:
+  def __init__(self, value=1.0):
+    self.value = value
+  def add_data(self, v): pass
+  def get_value(self): return self.value
+  def get_confidence(self): return 1.0
+  def reset_data(self): pass
 
-  # Test transition to standstill
-  controller.update(not has_radar, car_state, lead_one, md, controls_state)
-  assert controller._sng_state == SNG_State.stopped
-  assert controller.get_mpc_mode() == 'blended'
+def test_initial_mode_is_acc(mock_cp, mock_mpc):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  assert controller.mode() == "acc"
 
-  # Test transition from standstill to moving
-  car_state.standstill = False
-  controller.update(not has_radar, car_state, lead_one, md, controls_state)
-  assert controller._sng_state == SNG_State.going
+def test_standstill_triggers_blended(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['carState'].standstill = True
+  for _ in range(10):
+    controller.update(default_sm)
+  assert controller.mode() == "blended"
 
-  # Test complete transition to normal driving
-  for _ in range(STOP_AND_GO_FRAME + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-  assert controller._sng_state == SNG_State.off
+def test_emergency_blended_on_fcw(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  mock_mpc.crash_cnt = 1  # simulate FCW
+  for _ in range(2):
+    controller.update(default_sm)
+  assert controller.mode() == "blended"
 
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_lead_detection(controller, has_radar):
-  """Test lead vehicle detection and filtering"""
-  car_state = MockCarState(v_ego=20)  # 72 kph
-  lead_one = MockLeadOne(status=True, d_rel=50)  # Safe distance
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
-  controls_state = MockControlState(v_cruise=72)
+def test_radarless_slowdown_triggers_blended(mock_cp, mock_mpc, default_sm):
+  mock_cp.radarUnavailable = True
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
 
-  # Let moving average stabilize
-  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+  # Force conditions to simulate slowdown
+  controller._slow_down_filter = FakeKalman(value=1.0)  # Ensure urgency triggers slowdown
+  controller._v_ego_kph = 35.0
+  default_sm['modelV2'] = MockModelData(valid=False)  # Incomplete trajectory
 
-  assert controller._has_lead_filtered
-  expected_mode = 'acc' if has_radar else 'blended'
-  assert controller.get_mpc_mode() == expected_mode
+  for _ in range(3):
+    controller.update(default_sm)
 
-  # Test lead loss detection
-  lead_one.status = False
-  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert not controller._has_lead_filtered
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_slow_down_detection(controller, has_radar):
-  """Test slow down detection based on trajectory"""
-  car_state = MockCarState(v_ego=10/3.6)  # 10 kph
-  lead_one = MockLeadOne()
-  x_vals = [0] * TRAJECTORY_SIZE
-  positions = [20] * TRAJECTORY_SIZE  # Position within slow down threshold
-  md = MockModelData(x_vals=x_vals, positions=positions)
-  controls_state = MockControlState(v_cruise=30)
-
-  # Test slow down detection
-  for _ in range(WMACConstants.SLOW_DOWN_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_slow_down
-  assert controller.get_mpc_mode() == 'blended'
-
-  # Test slow down recovery
-  positions = [200] * TRAJECTORY_SIZE  # Position outside slow down threshold
-  md = MockModelData(x_vals=x_vals, positions=positions)
-  for _ in range(WMACConstants.SLOW_DOWN_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert not controller._has_slow_down
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_dangerous_ttc_detection(controller, has_radar):
-  """Test Time-To-Collision detection and handling"""
-  car_state = MockCarState(v_ego=10)  # 36 kph
-  lead_one = MockLeadOne(status=True)
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
-  controls_state = MockControlState(v_cruise=36)
-
-  # First establish normal conditions with lead
-  lead_one.dRel = 100  # Safe distance
-  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):  # First establish lead detection
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_lead_filtered  # Verify lead is detected
-
-  # Now test dangerous TTC detection
-  lead_one.dRel = 10  # 10m distance - should trigger dangerous TTC
-  # TTC = dRel/vEgo = 10/10 = 1s (which is less than DANGEROUS_TTC = 2.3s)
-
-  # Need to update multiple times to allow the weighted average to stabilize
-  for _ in range(WMACConstants.DANGEROUS_TTC_WINDOW_SIZE * 2):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_dangerous_ttc, "TTC of 1s should be considered dangerous"
-  expected_mode = 'acc' if has_radar else 'blended'
-  assert controller.get_mpc_mode() == expected_mode, f"Should be in [{expected_mode}] mode with dangerous TTC"
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_mode_transitions(controller, has_radar):
-  """Test comprehensive mode transitions under different conditions"""
-  # Initialize with normal driving conditions
-  car_state = MockCarState(v_ego=25)  # 90 kph
-  lead_one = MockLeadOne(status=False)
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[200] * TRAJECTORY_SIZE)
-  controls_state = MockControlState(v_cruise=100)
-
-  def stabilize_filters():
-    """Helper to let all moving averages stabilize"""
-    for _ in range(max(WMACConstants.LEAD_WINDOW_SIZE, WMACConstants.SLOW_DOWN_WINDOW_SIZE,
-                       WMACConstants.DANGEROUS_TTC_WINDOW_SIZE, WMACConstants.MPC_FCW_WINDOW_SIZE) + 1):
-      controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  # Test 1: Normal driving -> ACC mode
-  stabilize_filters()
-  assert controller.get_mpc_mode() == 'acc', "Should be in ACC mode under normal driving conditions"
-
-  # Test 2: Standstill -> Blended mode
-  car_state.standstill = True
-  controller.update(not has_radar, car_state, lead_one, md, controls_state)
-  assert controller.get_mpc_mode() == 'blended', "Should be in blended mode during standstill"
-
-  # Test 3: Lead car appears -> ACC mode
-  car_state = MockCarState(v_ego=20)  # Reset car state
-  lead_one.status = True
-  lead_one.dRel = 50  # Safe distance
-  stabilize_filters()
-  assert not controller._has_dangerous_ttc, "Should not have dangerous TTC"
-  assert controller.get_mpc_mode() == 'acc', "Should be in ACC mode with safe lead distance"
-
-  # Test 4: Dangerous TTC -> Blended mode
-  car_state = MockCarState(v_ego=20)  # 72 kph
-  lead_one.status = True
-  lead_one.dRel = 50  # First establish normal lead detection
-
-  # First establish lead detection
-  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_lead_filtered  # Verify lead is detected
-
-  # Now create dangerous TTC condition
-  lead_one.dRel = 20  # This creates a TTC of 1s, well below DANGEROUS_TTC
-
-  for _ in range(WMACConstants.DANGEROUS_TTC_WINDOW_SIZE * 2):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_dangerous_ttc, "Should detect dangerous TTC condition"
-  expected_mode = 'acc' if has_radar else 'blended'
-  assert controller.get_mpc_mode() == expected_mode, f"Should be in [{expected_mode}] mode with dangerous TTC"
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_mpc_fcw_handling(controller, has_radar):
-  """Test MPC FCW crash count handling and mode transitions"""
-  car_state = MockCarState(v_ego=20)
-  lead_one = MockLeadOne()
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
-  controls_state = MockControlState(v_cruise=72)
-
-  # Test FCW activation
-  controller.set_mpc_fcw_crash_cnt(5)
-  for _ in range(WMACConstants.MPC_FCW_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_mpc_fcw
-  assert controller.get_mpc_mode() == 'blended'
-
-  # Test FCW recovery
-  controller.set_mpc_fcw_crash_cnt(0)
-  for _ in range(WMACConstants.MPC_FCW_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert not controller._has_mpc_fcw
-
-def test_radar_unavailable_handling(controller):
-  """Test behavior transitions between radar available and unavailable states"""
-  car_state = MockCarState(v_ego=27.78)  # 100 kph
-  lead_one = MockLeadOne(status=True, d_rel=50)
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
-  controls_state = MockControlState(v_cruise=100)
-
-  # Test with radar available
-  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
-    controller.update(False, car_state, lead_one, md, controls_state)
-  radar_mode = controller.get_mpc_mode()
-
-  # Test with radar unavailable
-  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
-    controller.update(True, car_state, lead_one, md, controls_state)
-  radarless_mode = controller.get_mpc_mode()
-
-  assert radar_mode is not None
-  assert radarless_mode is not None
+  assert controller.mode() == "blended"

sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py

@@ -10,6 +10,8 @@ import numpy as np
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
+
 LAT_PLAN_MIN_IDX = 5
 LATERAL_LAG_MOD = 0.0 # seconds, modifies how far in the future we look ahead for the lateral plan
 
@@ -41,11 +43,13 @@ def get_lookahead_value(future_vals, current_val):
   return min_val
 
 
-class LatControlTorqueExtBase:
+class LatControlTorqueExtBase(LagdToggle):
   def __init__(self, lac_torque, CP, CP_SP):
+    LagdToggle.__init__(self)
     self.model_v2 = None
     self.model_valid = False
-    self.use_steering_angle = lac_torque.use_steering_angle
+    self.torque_params = lac_torque.torque_params
+    self.use_steering_angle = lac_torque.torque_params.useSteeringAngle
 
     self.actual_lateral_jerk: float = 0.0
     self.lateral_jerk_setpoint: float = 0.0
@@ -53,7 +57,6 @@ class LatControlTorqueExtBase:
     self.lookahead_lateral_jerk: float = 0.0
 
     self.torque_from_lateral_accel = lac_torque.torque_from_lateral_accel
-    self.torque_params = lac_torque.torque_params
 
     self._ff = 0.0
     self._pid_log = None

sunnypilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -8,6 +8,7 @@ See the LICENSE.md file in the root directory for more details.
 from cereal import messaging, custom
 from opendbc.car import structs
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
+from openpilot.sunnypilot.models.helpers import get_active_bundle
 
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
 
@@ -15,6 +16,12 @@ DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimen
 class LongitudinalPlannerSP:
   def __init__(self, CP: structs.CarParams, mpc):
     self.dec = DynamicExperimentalController(CP, mpc)
+    self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
+
+  @property
+  def mlsim(self) -> bool:
+    # If we don't have a generation set, we assume it's default model. Which as of today are mlsim.
+    return bool(self.generation is None or self.generation >= 11)
 
   def get_mpc_mode(self) -> str | None:
     if not self.dec.active():

sunnypilot/selfdrive/controls/lib/param_store.py

@@ -22,14 +22,16 @@ class ParamStore:
 
     self.keys = universal_params + brand_params
     self.values = {}
+    self.cached_params_list: list[capnp.lib.capnp._DynamicStructBuilder] | None = None
 
   def update(self, params: Params) -> None:
+    old_values = dict(self.values)
     self.values = {k: params.get(k, encoding='utf8') or "0" for k in self.keys}
+    if old_values != self.values:
+      self.cached_params_list = None
 
   def publish(self) -> list[capnp.lib.capnp._DynamicStructBuilder]:
-    params_list: list[capnp.lib.capnp._DynamicStructBuilder] = []
-
-    for k in self.keys:
-      params_list.append(custom.CarControlSP.Param(key=k, value=self.values[k]))
-
-    return params_list
+    if self.cached_params_list is None:
+      # TODO-SP: Why are we doing a list instead of a dictionary here?
+      self.cached_params_list = [custom.CarControlSP.Param(key=k, value=self.values[k]) for k in self.keys]
+    return self.cached_params_list

system/athena/athenad.py

@@ -23,6 +23,7 @@ from typing import cast
 from collections.abc import Callable
 
 import requests
+from requests.adapters import HTTPAdapter, DEFAULT_POOLBLOCK
 from jsonrpc import JSONRPCResponseManager, dispatcher
 from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
                        create_connection)
@@ -56,6 +57,11 @@ WS_FRAME_SIZE = 4096
 DEVICE_STATE_UPDATE_INTERVAL = 1.0  # in seconds
 DEFAULT_UPLOAD_PRIORITY = 99  # higher number = lower priority
 
+# https://bytesolutions.com/dscp-tos-cos-precedence-conversion-chart,
+# https://en.wikipedia.org/wiki/Differentiated_services
+UPLOAD_TOS = 0x20  # CS1, low priority background traffic
+SSH_TOS = 0x90  # AF42, DSCP of 36/HDD_LINUX_AC_VI with the minimum delay flag
+
 NetworkType = log.DeviceState.NetworkType
 
 UploadFileDict = dict[str, str | int | float | bool]
@@ -64,6 +70,17 @@ UploadItemDict = dict[str, str | bool | int | float | dict[str, str]]
 UploadFilesToUrlResponse = dict[str, int | list[UploadItemDict] | list[str]]
 
 
+class UploadTOSAdapter(HTTPAdapter):
+  def init_poolmanager(self, connections, maxsize, block=DEFAULT_POOLBLOCK, **pool_kwargs):
+    pool_kwargs["socket_options"] = [(socket.IPPROTO_IP, socket.IP_TOS, UPLOAD_TOS)]
+    super().init_poolmanager(connections, maxsize, block, **pool_kwargs)
+
+
+UPLOAD_SESS = requests.Session()
+UPLOAD_SESS.mount("http://", UploadTOSAdapter())
+UPLOAD_SESS.mount("https://", UploadTOSAdapter())
+
+
 @dataclass
 class UploadFile:
   fn: str
@@ -311,10 +328,10 @@ def _do_upload(upload_item: UploadItem, callback: Callable = None) -> requests.R
   stream = None
   try:
     stream, content_length = get_upload_stream(path, compress)
-    response = requests.put(upload_item.url,
-                            data=CallbackReader(stream, callback, content_length) if callback else stream,
-                            headers={**upload_item.headers, 'Content-Length': str(content_length)},
-                            timeout=30)
+    response = UPLOAD_SESS.put(upload_item.url,
+                               data=CallbackReader(stream, callback, content_length) if callback else stream,
+                               headers={**upload_item.headers, 'Content-Length': str(content_length)},
+                               timeout=30)
     return response
   finally:
     if stream:
@@ -501,8 +518,7 @@ def start_local_proxy_shim(global_end_event: threading.Event, local_port: int, w
       raise Exception("Requested local port not whitelisted")
 
     # Set TOS to keep connection responsive while under load.
-    # DSCP of 36/HDD_LINUX_AC_VI with the minimum delay flag
-    ws.sock.setsockopt(socket.IPPROTO_IP, socket.IP_TOS, 0x90)
+    ws.sock.setsockopt(socket.IPPROTO_IP, socket.IP_TOS, SSH_TOS)
 
     ssock, csock = socket.socketpair()
     local_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)

system/athena/tests/test_athenad.py

@@ -19,7 +19,7 @@ from cereal import messaging
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.system.athena import athenad
-from openpilot.system.athena.athenad import MAX_RETRY_COUNT, dispatcher
+from openpilot.system.athena.athenad import MAX_RETRY_COUNT, UPLOAD_SESS, dispatcher
 from openpilot.system.athena.tests.helpers import HTTPRequestHandler, MockWebsocket, MockApi, EchoSocket
 from openpilot.selfdrive.test.helpers import http_server_context
 from openpilot.system.hardware.hw import Paths
@@ -29,7 +29,7 @@ def seed_athena_server(host, port):
   with Timeout(2, 'HTTP Server seeding failed'):
     while True:
       try:
-        requests.put(f'http://{host}:{port}/qlog.zst', data='', timeout=10)
+        UPLOAD_SESS.put(f'http://{host}:{port}/qlog.zst', data='', timeout=10)
         break
       except requests.exceptions.ConnectionError:
         time.sleep(0.1)
@@ -239,7 +239,7 @@ class TestAthenadMethods:
   @pytest.mark.parametrize("status,retry", [(500,True), (412,False)])
   @with_upload_handler
   def test_upload_handler_retry(self, mocker, host, status, retry):
-    mock_put = mocker.patch('requests.put')
+    mock_put = mocker.patch('openpilot.system.athena.athenad.UPLOAD_SESS.put')
     mock_put.return_value.__enter__.return_value.status_code = status
     fn = self._create_file('qlog.zst')
     item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)

system/hardware/hw.h

@@ -55,4 +55,8 @@ namespace Path {
      return "/dev/shm";
     #endif
  }
+
+  inline std::string model_root() {
+    return Hardware::PC() ? Path::comma_home() + "/media/0/models" : "/data/media/0/models";
+  }
 }  // namespace Path

system/hardware/tici/hardware.py

@@ -415,8 +415,8 @@ class Tici(HardwareBase):
 
     # *** GPU config ***
     # https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216
-    sudo_write("0", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")
-    sudo_write("0", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel")
+    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")
+    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel")
     sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_bus_on")
     sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_clk_on")
     sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_rail_on")

system/loggerd/loggerd.cc

@@ -62,6 +62,7 @@ struct RemoteEncoder {
   bool recording = false;
   bool marked_ready_to_rotate = false;
   bool seen_first_packet = false;
+  bool audio_initialized = false;
 };
 
 size_t write_encode_data(LoggerdState *s, cereal::Event::Reader event, RemoteEncoder &re, const EncoderInfo &encoder_info) {
@@ -78,12 +79,7 @@ size_t write_encode_data(LoggerdState *s, cereal::Event::Reader event, RemoteEnc
         LOGW("%s: dropped %d non iframe packets before init", encoder_info.publish_name, re.dropped_frames);
         re.dropped_frames = 0;
       }
-      // if we aren't actually recording, don't create the writer
       if (encoder_info.record) {
-        assert(encoder_info.filename != NULL);
-        re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(),
-                                        encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
-                                        edata.getWidth(), edata.getHeight(), encoder_info.fps, idx.getType()));
         // write the header
         auto header = edata.getHeader();
         re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof() / 1000, true, false);
@@ -138,12 +134,19 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
 
     // if this is a new segment, we close any possible old segments, move to the new, and process any queued packets
     if (re.current_segment != s->logger.segment()) {
-      if (re.recording) {
-        re.writer.reset();
+      // if we aren't actually recording, don't create the writer
+      if (encoder_info.record) {
+        assert(encoder_info.filename != NULL);
+        re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(),
+                                        encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
+                                        edata.getWidth(), edata.getHeight(), encoder_info.fps, idx.getType()));
         re.recording = false;
+        re.audio_initialized = false;
       }
       re.current_segment = s->logger.segment();
       re.marked_ready_to_rotate = false;
+    }
+    if (re.audio_initialized || !encoder_info.include_audio) {
       // we are in this segment now, process any queued messages before this one
       if (!re.q.empty()) {
         for (auto qmsg : re.q) {
@@ -153,9 +156,14 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
         }
         re.q.clear();
       }
+      bytes_count += write_encode_data(s, event, re, encoder_info);
+      delete msg;
+    } else if (re.q.size() > MAIN_FPS*10) {
+      LOGE_100("%s: dropping frame waiting for audio initialization, queue is too large", name.c_str());
+      delete msg;
+    } else {
+      re.q.push_back(msg); // queue up all the new segment messages, they go in after audio is initialized
     }
-    bytes_count += write_encode_data(s, event, re, encoder_info);
-    delete msg;
   } else if (offset_segment_num > s->logger.segment()) {
     // encoderd packet has a newer segment, this means encoderd has rolled over
     if (!re.marked_ready_to_rotate) {
@@ -214,7 +222,7 @@ void loggerd_thread() {
   typedef struct ServiceState {
     std::string name;
     int counter, freq;
-    bool encoder, user_flag;
+    bool encoder, user_flag, record_audio;
   } ServiceState;
   std::unordered_map<SubSocket*, ServiceState> service_state;
   std::unordered_map<SubSocket*, struct RemoteEncoder> remote_encoders;
@@ -226,19 +234,22 @@ void loggerd_thread() {
   for (const auto& [_, it] : services) {
     const bool encoder = util::ends_with(it.name, "EncodeData");
     const bool livestream_encoder = util::starts_with(it.name, "livestream");
-    if (!it.should_log && (!encoder || livestream_encoder)) continue;
-    LOGD("logging %s", it.name.c_str());
+    const bool record_audio = (it.name == "rawAudioData") && Params().getBool("RecordAudio");
+    if (it.should_log || (encoder && !livestream_encoder) || record_audio) {
+      LOGD("logging %s", it.name.c_str());
 
-    SubSocket * sock = SubSocket::create(ctx.get(), it.name);
-    assert(sock != NULL);
-    poller->registerSocket(sock);
-    service_state[sock] = {
-      .name = it.name,
-      .counter = 0,
-      .freq = it.decimation,
-      .encoder = encoder,
-      .user_flag = it.name == "userFlag",
-    };
+      SubSocket * sock = SubSocket::create(ctx.get(), it.name);
+      assert(sock != NULL);
+      poller->registerSocket(sock);
+      service_state[sock] = {
+        .name = it.name,
+        .counter = 0,
+        .freq = it.decimation,
+        .encoder = encoder,
+        .user_flag = it.name == "userFlag",
+        .record_audio = record_audio,
+      };
+    }
   }
 
   LoggerdState s;
@@ -247,6 +258,7 @@ void loggerd_thread() {
   Params().put("CurrentRoute", s.logger.routeName());
 
   std::map<std::string, EncoderInfo> encoder_infos_dict;
+  std::vector<RemoteEncoder*> encoders_with_audio;
   for (const auto &cam : cameras_logged) {
     for (const auto &encoder_info : cam.encoder_infos) {
       encoder_infos_dict[encoder_info.publish_name] = encoder_info;
@@ -254,6 +266,13 @@ void loggerd_thread() {
     }
   }
 
+  for (auto &[sock, service] : service_state) {
+    auto it = encoder_infos_dict.find(service.name);
+    if (it != encoder_infos_dict.end() && it->second.include_audio) {
+      encoders_with_audio.push_back(&remote_encoders[sock]);
+    }
+  }
+
   uint64_t msg_count = 0, bytes_count = 0;
   double start_ts = millis_since_boot();
   while (!do_exit) {
@@ -271,6 +290,20 @@ void loggerd_thread() {
       Message *msg = nullptr;
       while (!do_exit && (msg = sock->receive(true))) {
         const bool in_qlog = service.freq != -1 && (service.counter++ % service.freq == 0);
+
+        if (service.record_audio) {
+          capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr<capnp::word>((capnp::word *)msg->getData(), msg->getSize() / sizeof(capnp::word)));
+          auto event = cmsg.getRoot<cereal::Event>();
+          auto audio_data = event.getRawAudioData().getData();
+          auto sample_rate = event.getRawAudioData().getSampleRate();
+          for (auto* encoder : encoders_with_audio) {
+            if (encoder && encoder->writer) {
+              encoder->writer->write_audio((uint8_t*)audio_data.begin(), audio_data.size(), event.getLogMonoTime() / 1000, sample_rate);
+              encoder->audio_initialized = true;
+            }
+          }
+        }
+
         if (service.encoder) {
           s.last_camera_seen_tms = millis_since_boot();
           bytes_count += handle_encoder_msg(&s, msg, service.name, remote_encoders[sock], encoder_infos_dict[service.name]);

system/loggerd/loggerd.h

@@ -35,6 +35,7 @@ public:
   const char *thumbnail_name = NULL;
   const char *filename = NULL;
   bool record = true;
+  bool include_audio = false;
   int frame_width = -1;
   int frame_height = -1;
   int fps = MAIN_FPS;
@@ -106,6 +107,7 @@ const EncoderInfo qcam_encoder_info = {
   .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
   .frame_width = 526,
   .frame_height = 330,
+  .include_audio = Params().getBool("RecordAudio"),
   INIT_ENCODE_FUNCTIONS(QRoadEncode),
 };
 

system/loggerd/tests/test_loggerd.py

@@ -97,6 +97,50 @@ class TestLoggerd:
 
     return sent_msgs
 
+  def _publish_camera_and_audio_messages(self, num_segs=1, segment_length=5):
+    d = DEVICE_CAMERAS[("tici", "ar0231")]
+    streams = [
+      (VisionStreamType.VISION_STREAM_ROAD, (d.fcam.width, d.fcam.height, 2048 * 2346, 2048, 2048 * 1216), "roadCameraState"),
+      (VisionStreamType.VISION_STREAM_DRIVER, (d.dcam.width, d.dcam.height, 2048 * 2346, 2048, 2048 * 1216), "driverCameraState"),
+      (VisionStreamType.VISION_STREAM_WIDE_ROAD, (d.ecam.width, d.ecam.height, 2048 * 2346, 2048, 2048 * 1216), "wideRoadCameraState"),
+    ]
+
+    pm = messaging.PubMaster([s for _, _, s in streams] + ["rawAudioData"])
+    vipc_server = VisionIpcServer("camerad")
+    for stream_type, frame_spec, _ in streams:
+      vipc_server.create_buffers_with_sizes(stream_type, 40, *(frame_spec))
+    vipc_server.start_listener()
+
+    os.environ["LOGGERD_TEST"] = "1"
+    os.environ["LOGGERD_SEGMENT_LENGTH"] = str(segment_length)
+    managed_processes["loggerd"].start()
+    managed_processes["encoderd"].start()
+    assert pm.wait_for_readers_to_update("roadCameraState", timeout=5)
+
+    fps = 20
+    for n in range(1, int(num_segs * segment_length * fps) + 1):
+      # send video
+      for stream_type, frame_spec, state in streams:
+        dat = np.empty(frame_spec[2], dtype=np.uint8)
+        vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n / fps, n / fps)
+
+        camera_state = messaging.new_message(state)
+        frame = getattr(camera_state, state)
+        frame.frameId = n
+        pm.send(state, camera_state)
+
+      # send audio
+      msg = messaging.new_message('rawAudioData')
+      msg.rawAudioData.data = bytes(800 * 2) # 800 samples of int16
+      msg.rawAudioData.sampleRate = 16000
+      pm.send('rawAudioData', msg)
+
+      for _, _, state in streams:
+        assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001)
+
+    managed_processes["loggerd"].stop()
+    managed_processes["encoderd"].stop()
+
   def test_init_data_values(self):
     os.environ["CLEAN"] = random.choice(["0", "1"])
 
@@ -136,53 +180,23 @@ class TestLoggerd:
       assert getattr(initData, initData_key) == v
       assert logged_params[param_key].decode() == v
 
-  @pytest.mark.skip("FIXME: encoderd sometimes crashes in CI when running with pytest-xdist")
+  @pytest.mark.xdist_group("camera_encoder_tests")  # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
   def test_rotation(self):
-    os.environ["LOGGERD_TEST"] = "1"
     Params().put("RecordFront", "1")
 
-    d = DEVICE_CAMERAS[("tici", "ar0231")]
     expected_files = {"rlog.zst", "qlog.zst", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"}
-    streams = [(VisionStreamType.VISION_STREAM_ROAD, (d.fcam.width, d.fcam.height, 2048*2346, 2048, 2048*1216), "roadCameraState"),
-               (VisionStreamType.VISION_STREAM_DRIVER, (d.dcam.width, d.dcam.height, 2048*2346, 2048, 2048*1216), "driverCameraState"),
-               (VisionStreamType.VISION_STREAM_WIDE_ROAD, (d.ecam.width, d.ecam.height, 2048*2346, 2048, 2048*1216), "wideRoadCameraState")]
 
-    pm = messaging.PubMaster(["roadCameraState", "driverCameraState", "wideRoadCameraState"])
-    vipc_server = VisionIpcServer("camerad")
-    for stream_type, frame_spec, _ in streams:
-      vipc_server.create_buffers_with_sizes(stream_type, 40, *(frame_spec))
-    vipc_server.start_listener()
+    num_segs = random.randint(2, 3)
+    length = random.randint(4, 5) # H264 encoder uses 40 lookahead frames and does B-frame reordering, so minimum 3 seconds before qcam output
 
-    num_segs = random.randint(2, 5)
-    length = random.randint(1, 3)
-    os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length)
-    managed_processes["loggerd"].start()
-    managed_processes["encoderd"].start()
-    assert pm.wait_for_readers_to_update("roadCameraState", timeout=5)
-
-    fps = 20.0
-    for n in range(1, int(num_segs*length*fps)+1):
-      for stream_type, frame_spec, state in streams:
-        dat = np.empty(frame_spec[2], dtype=np.uint8)
-        vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n/fps, n/fps)
-
-        camera_state = messaging.new_message(state)
-        frame = getattr(camera_state, state)
-        frame.frameId = n
-        pm.send(state, camera_state)
-
-      for _, _, state in streams:
-        assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001)
-
-    managed_processes["loggerd"].stop()
-    managed_processes["encoderd"].stop()
+    self._publish_camera_and_audio_messages(num_segs=num_segs, segment_length=length)
 
     route_path = str(self._get_latest_log_dir()).rsplit("--", 1)[0]
     for n in range(num_segs):
       p = Path(f"{route_path}--{n}")
       logged = {f.name for f in p.iterdir() if f.is_file()}
       diff = logged ^ expected_files
-      assert len(diff) == 0, f"didn't get all expected files. run={_} seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}"
+      assert len(diff) == 0, f"didn't get all expected files. seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}"
 
   def test_bootlog(self):
     # generate bootlog with fake launch log
@@ -281,3 +295,30 @@ class TestLoggerd:
 
     segment_dir = self._get_latest_log_dir()
     assert getxattr(segment_dir, PRESERVE_ATTR_NAME) is None
+
+  @pytest.mark.xdist_group("camera_encoder_tests")  # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
+  @pytest.mark.parametrize("record_front", [True, False])
+  def test_record_front(self, record_front):
+    params = Params()
+    params.put_bool("RecordFront", record_front)
+
+    self._publish_camera_and_audio_messages()
+
+    dcamera_hevc_exists = os.path.exists(os.path.join(self._get_latest_log_dir(), 'dcamera.hevc'))
+    assert dcamera_hevc_exists == record_front
+
+  @pytest.mark.xdist_group("camera_encoder_tests")  # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
+  @pytest.mark.parametrize("record_audio", [True, False])
+  def test_record_audio(self, record_audio):
+    params = Params()
+    params.put_bool("RecordAudio", record_audio)
+
+    self._publish_camera_and_audio_messages()
+
+    qcamera_ts_path = os.path.join(self._get_latest_log_dir(), 'qcamera.ts')
+    ffprobe_cmd = f"ffprobe -i {qcamera_ts_path} -show_streams -select_streams a -loglevel error"
+    has_audio_stream = subprocess.run(ffprobe_cmd, shell=True, capture_output=True).stdout.strip() != b''
+    assert has_audio_stream == record_audio
+
+    raw_audio_in_rlog = any(m.which() == 'rawAudioData' for m in LogReader(os.path.join(self._get_latest_log_dir(), 'rlog.zst')))
+    assert raw_audio_in_rlog == record_audio

system/loggerd/video_writer.cc

@@ -50,6 +50,45 @@ VideoWriter::VideoWriter(const char *path, const char *filename, bool remuxing,
   }
 }
 
+void VideoWriter::initialize_audio(int sample_rate) {
+  assert(this->ofmt_ctx->oformat->audio_codec != AV_CODEC_ID_NONE); // check output format supports audio streams
+  const AVCodec *audio_avcodec = avcodec_find_encoder(AV_CODEC_ID_AAC);
+  assert(audio_avcodec);
+  this->audio_codec_ctx = avcodec_alloc_context3(audio_avcodec);
+  assert(this->audio_codec_ctx);
+  this->audio_codec_ctx->sample_fmt = AV_SAMPLE_FMT_FLTP;
+  this->audio_codec_ctx->sample_rate = sample_rate;
+  #if LIBAVUTIL_VERSION_INT >= AV_VERSION_INT(57, 28, 100)  // FFmpeg 5.1+
+  av_channel_layout_default(&this->audio_codec_ctx->ch_layout, 1);
+  #else
+  this->audio_codec_ctx->channel_layout = AV_CH_LAYOUT_MONO;
+  #endif
+  this->audio_codec_ctx->bit_rate = 32000;
+  this->audio_codec_ctx->flags |= AV_CODEC_FLAG_GLOBAL_HEADER;
+  this->audio_codec_ctx->time_base = (AVRational){1, audio_codec_ctx->sample_rate};
+  int err = avcodec_open2(this->audio_codec_ctx, audio_avcodec, NULL);
+  assert(err >= 0);
+  av_log_set_level(AV_LOG_WARNING); // hide "QAvg" info msgs at the end of every segment
+
+  this->audio_stream = avformat_new_stream(this->ofmt_ctx, NULL);
+  assert(this->audio_stream);
+  err = avcodec_parameters_from_context(this->audio_stream->codecpar, this->audio_codec_ctx);
+  assert(err >= 0);
+
+  this->audio_frame = av_frame_alloc();
+  assert(this->audio_frame);
+  this->audio_frame->format = this->audio_codec_ctx->sample_fmt;
+  #if LIBAVUTIL_VERSION_INT >= AV_VERSION_INT(57, 28, 100)  // FFmpeg 5.1+
+  av_channel_layout_copy(&this->audio_frame->ch_layout, &this->audio_codec_ctx->ch_layout);
+  #else
+  this->audio_frame->channel_layout = this->audio_codec_ctx->channel_layout;
+  #endif
+  this->audio_frame->sample_rate = this->audio_codec_ctx->sample_rate;
+  this->audio_frame->nb_samples = this->audio_codec_ctx->frame_size;
+  err = av_frame_get_buffer(this->audio_frame, 0);
+  assert(err >= 0);
+}
+
 void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecconfig, bool keyframe) {
   if (of && data) {
     size_t written = util::safe_fwrite(data, 1, len, of);
@@ -67,8 +106,10 @@ void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecc
       }
       int err = avcodec_parameters_from_context(out_stream->codecpar, codec_ctx);
       assert(err >= 0);
+      // if there is an audio stream, it must be initialized before this point
       err = avformat_write_header(ofmt_ctx, NULL);
       assert(err >= 0);
+      header_written = true;
     } else {
       // input timestamps are in microseconds
       AVRational in_timebase = {1, 1000000};
@@ -77,6 +118,7 @@ void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecc
       av_init_packet(&pkt);
       pkt.data = data;
       pkt.size = len;
+      pkt.stream_index = this->out_stream->index;
 
       enum AVRounding rnd = static_cast<enum AVRounding>(AV_ROUND_NEAR_INF|AV_ROUND_PASS_MINMAX);
       pkt.pts = pkt.dts = av_rescale_q_rnd(timestamp, in_timebase, ofmt_ctx->streams[0]->time_base, rnd);
@@ -95,11 +137,80 @@ void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecc
   }
 }
 
+void VideoWriter::write_audio(uint8_t *data, int len, long long timestamp, int sample_rate) {
+  if (!remuxing) return;
+  if (!audio_initialized) {
+    initialize_audio(sample_rate);
+    audio_initialized = true;
+  }
+  if (!audio_codec_ctx) return;
+  // sync logMonoTime of first audio packet with the timestampEof of first video packet
+  if (audio_pts == 0) {
+    audio_pts = (timestamp * audio_codec_ctx->sample_rate) / 1000000ULL;
+  }
+
+  // convert s16le samples to fltp and add to buffer
+  const int16_t *raw_samples = reinterpret_cast<const int16_t*>(data);
+  int sample_count = len / sizeof(int16_t);
+  constexpr float normalizer = 1.0f / 32768.0f;
+
+  const size_t max_buffer_size = sample_rate * 10; // 10 seconds
+  if (audio_buffer.size() + sample_count > max_buffer_size) {
+    size_t samples_to_drop = (audio_buffer.size() + sample_count) - max_buffer_size;
+    LOGE("Audio buffer overflow, dropping %zu oldest samples", samples_to_drop);
+    audio_buffer.erase(audio_buffer.begin(), audio_buffer.begin() + samples_to_drop);
+    audio_pts += samples_to_drop;
+  }
+
+  // Add new samples to the buffer
+  const size_t original_size = audio_buffer.size();
+  audio_buffer.resize(original_size + sample_count);
+  std::transform(raw_samples, raw_samples + sample_count, audio_buffer.begin() + original_size,
+                [](int16_t sample) { return sample * normalizer; });
+
+  if (!header_written) return; // header not written yet, process audio frame after header is written
+  while (audio_buffer.size() >= audio_codec_ctx->frame_size) {
+    audio_frame->pts = audio_pts;
+    float *f_samples = reinterpret_cast<float*>(audio_frame->data[0]);
+    std::copy(audio_buffer.begin(), audio_buffer.begin() + audio_codec_ctx->frame_size, f_samples);
+    audio_buffer.erase(audio_buffer.begin(), audio_buffer.begin() + audio_codec_ctx->frame_size);
+    encode_and_write_audio_frame(audio_frame);
+  }
+}
+
+void VideoWriter::encode_and_write_audio_frame(AVFrame* frame) {
+  if (!remuxing || !audio_codec_ctx) return;
+  int send_result = avcodec_send_frame(audio_codec_ctx, frame); // encode frame
+  if (send_result >= 0) {
+    AVPacket *pkt = av_packet_alloc();
+    while (avcodec_receive_packet(audio_codec_ctx, pkt) == 0) {
+      av_packet_rescale_ts(pkt, audio_codec_ctx->time_base, audio_stream->time_base);
+      pkt->stream_index = audio_stream->index;
+
+      int err = av_interleaved_write_frame(ofmt_ctx, pkt); // write encoded frame
+      if (err < 0) {
+        LOGW("AUDIO: Write frame failed - error: %d", err);
+      }
+      av_packet_unref(pkt);
+    }
+    av_packet_free(&pkt);
+  } else {
+    LOGW("AUDIO: Failed to send audio frame to encoder: %d", send_result);
+  }
+  audio_pts += audio_codec_ctx->frame_size;
+}
+
+
 VideoWriter::~VideoWriter() {
   if (this->remuxing) {
+    if (this->audio_codec_ctx) {
+      encode_and_write_audio_frame(NULL); // flush encoder
+      avcodec_free_context(&this->audio_codec_ctx);
+    }
     int err = av_write_trailer(this->ofmt_ctx);
     if (err != 0) LOGE("av_write_trailer failed %d", err);
     avcodec_free_context(&this->codec_ctx);
+    if (this->audio_frame) av_frame_free(&this->audio_frame);
     err = avio_closep(&this->ofmt_ctx->pb);
     if (err != 0) LOGE("avio_closep failed %d", err);
     avformat_free_context(this->ofmt_ctx);

system/loggerd/video_writer.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include <string>
+#include <deque>
 
 extern "C" {
 #include <libavformat/avformat.h>
@@ -13,13 +14,28 @@ class VideoWriter {
 public:
   VideoWriter(const char *path, const char *filename, bool remuxing, int width, int height, int fps, cereal::EncodeIndex::Type codec);
   void write(uint8_t *data, int len, long long timestamp, bool codecconfig, bool keyframe);
+  void write_audio(uint8_t *data, int len, long long timestamp, int sample_rate);
+
   ~VideoWriter();
+
 private:
+  void initialize_audio(int sample_rate);
+  void encode_and_write_audio_frame(AVFrame* frame);
+
   std::string vid_path, lock_path;
   FILE *of = nullptr;
 
   AVCodecContext *codec_ctx;
   AVFormatContext *ofmt_ctx;
   AVStream *out_stream;
+
+  bool audio_initialized = false;
+  bool header_written = false;
+  AVStream *audio_stream = nullptr;
+  AVCodecContext *audio_codec_ctx = nullptr;
+  AVFrame *audio_frame = nullptr;
+  uint64_t audio_pts = 0;
+  std::deque<float> audio_buffer;
+
   bool remuxing;
 };