Merge branch 'feature/external-storage' into hkg-angle-steering-2025-ext-stg

Merge branch 'master-new' into hkg-angle-steering-2025
2026-06-13 04:34:45 +08:00 · 2025-07-31 18:42:01 +02:00 · 2025-07-31 18:25:08 +02:00 · 2025-07-31 18:17:34 +02:00 · 2025-07-31 09:15:06 -07:00 · 2025-07-31 18:09:13 +02:00
160 changed files with 11831 additions and 2196 deletions
--- a/.codespellignore
+++ b/.codespellignore
@@ -2,3 +2,5 @@ Wen
 REGIST
 PullRequest
 cancelled
+indeces
+FOF
--- a/.github/workflows/build-all-tinygrad-models.yaml
+++ b/.github/workflows/build-all-tinygrad-models.yaml
@@ -0,0 +1,285 @@
+name: Build and push all tinygrad models
+
+on:
+  workflow_dispatch:
+    inputs:
+      set_min_version:
+        description: 'Minimum selector version required for the models (see helpers.py or readme.md)'
+        required: true
+        type: string
+
+jobs:
+  setup:
+    runs-on: ubuntu-latest
+    outputs:
+      json_version: ${{ steps.get-json.outputs.json_version }}
+      recompiled_dir: ${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
+      json_file: ${{ steps.get-json.outputs.json_file }}
+      model_matrix: ${{ steps.set-matrix.outputs.model_matrix }}
+    steps:
+      - name: Checkout docs repo (sunnypilot-docs, gh-pages)
+        uses: actions/checkout@v4
+        with:
+          repository: sunnypilot/sunnypilot-docs
+          ref: gh-pages
+          path: docs
+          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
+
+      - name: Get next JSON version to use (from GitHub docs repo)
+        id: get-json
+        run: |
+          cd docs/docs
+          latest=$(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=docs/docs/$json_file" >> $GITHUB_OUTPUT
+          echo "json_version=$((next+0))" >> $GITHUB_OUTPUT
+          echo "SRC_JSON_FILE=docs/docs/driving_models_v${latest}.json" >> $GITHUB_ENV
+
+      - name: Extract tinygrad models
+        id: set-matrix
+        working-directory: docs/docs
+        run: |
+          jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name: (.display_name | gsub(" \\([^)]*\\)"; "")), is_20hz}]' "$(basename "${SRC_JSON_FILE}")" > matrix.json
+          echo "model_matrix=$(cat matrix.json)" >> $GITHUB_OUTPUT
+
+      - name: Set up SSH
+        uses: webfactory/ssh-agent@v0.9.0
+        with:
+          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+      - run: |
+          mkdir -p ~/.ssh
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+
+      - name: Clone GitLab docs repo and create new recompiled dir
+        id: create-recompiled-dir
+        env:
+          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
+        run: |
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
+          cd gitlab_docs
+          git checkout main
+          git sparse-checkout set --no-cone models/
+          cd models
+          latest_dir=$(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="${next_dir}"
+          mkdir -p "recompiled${recompiled_dir}"
+          touch "recompiled${recompiled_dir}/.gitkeep"
+          cd ../..
+          echo "recompiled_dir=$recompiled_dir" >> $GITHUB_OUTPUT
+
+      - name: Push empty recompiled dir to GitLab
+        run: |
+          cd gitlab_docs
+          git add models/recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git commit -m "Add recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }} for build-all" || echo "No changes to commit"
+          git push origin main
+
+      - name: Push new JSON to GitHub docs repo
+        run: |
+          cd docs
+          git pull origin gh-pages
+          git add docs/"$(basename ${{ steps.get-json.outputs.json_file }})"
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git commit -m "Add new ${{ steps.get-json.outputs.json_file }} for build-all" || echo "No changes to commit"
+          git push origin gh-pages
+
+  get_and_build:
+    needs: [setup]
+    strategy:
+      matrix:
+        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
+      fail-fast: false
+    uses: ./.github/workflows/build-single-tinygrad-model.yaml
+    with:
+      upstream_branch: ${{ matrix.model.ref }}
+      custom_name: ${{ matrix.model.display_name }}
+      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
+      json_version: ${{ needs.setup.outputs.json_version }}
+    secrets: inherit
+
+  retry_failed_models:
+    needs: [setup, get_and_build]
+    runs-on: ubuntu-latest
+    if: ${{ needs.setup.result != 'failure' && (failure() && !cancelled()) }}
+    outputs:
+      retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          pattern: model-*
+          path: output
+
+      - id: set-retry-matrix
+        run: |
+          echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
+          built=(); while IFS= read -r line; do built+=("$line"); done < <(
+            ls output | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
+          )
+          jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
+            'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
+          echo "retry_matrix=$(cat retry_matrix.json)" >> $GITHUB_OUTPUT
+
+  retry_get_and_build:
+    needs: [setup, get_and_build, retry_failed_models]
+    if: ${{ needs.get_and_build.result == 'failure' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '') }}
+    strategy:
+      matrix:
+        model: ${{ fromJson(needs.retry_failed_models.outputs.retry_matrix) }}
+      fail-fast: false
+    uses: ./.github/workflows/build-single-tinygrad-model.yaml
+    with:
+      upstream_branch: ${{ matrix.model.ref }}
+      custom_name: ${{ matrix.model.display_name }}
+      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
+      json_version: ${{ needs.setup.outputs.json_version }}
+      artifact_suffix: -retry
+    secrets: inherit
+
+  publish_models:
+    name: Publish models sequentially
+    needs: [setup, get_and_build, retry_failed_models, retry_get_and_build]
+    if: ${{ !cancelled() && (needs.get_and_build.result != 'failure' || needs.retry_get_and_build.result == 'success' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '')) }}
+    runs-on: ubuntu-latest
+    strategy:
+      max-parallel: 1
+      matrix:
+        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
+    env:
+      RECOMPILED_DIR: recompiled${{ needs.setup.outputs.recompiled_dir }}
+      JSON_FILE: ${{ needs.setup.outputs.json_file }}
+      ARTIFACT_NAME_INPUT: ${{ matrix.model.display_name }}
+    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 $JSON_FILE does not exist!"
+            exit 1
+          fi
+
+      - name: Download artifact name file
+        uses: actions/download-artifact@v4
+        with:
+          name: artifact-name-${{ env.ARTIFACT_NAME_INPUT }}
+          path: artifact_name
+
+      - name: Read artifact name
+        id: read-artifact-name
+        run: |
+          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
+          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
+
+      - name: Download model artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
+          path: output
+
+      - name: Remove onnx files bc not needed for recompiled dir since they already exist from single build
+        run: |
+          find output -type f -name '*.onnx' -delete
+          find output -type f -name 'big_*.pkl' -delete
+          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
+
+      - name: Copy model artifacts to gitlab
+        env:
+          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
+        run: |
+          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
+          mkdir -p "$ARTIFACT_DIR"
+          for path in output/*; do
+            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
+              continue
+            fi
+            name="$(basename "$path")"
+            if [ -d "$path" ]; then
+              mkdir -p "$ARTIFACT_DIR/$name"
+              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
+              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
+            else
+              cp "$path" "$ARTIFACT_DIR/"
+              echo "Copied file $name -> $ARTIFACT_DIR/"
+            fi
+          done
+
+      - name: Push recompiled dir to GitLab
+        env:
+          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+        run: |
+          cd gitlab_docs
+          git checkout main
+          git pull origin main
+          for d in models/"$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 $RECOMPILED_DIR with model from build-all-tinygrad-models" || echo "No changes to commit"
+          git push origin main
+      - run: |
+          cd docs
+          git pull origin gh-pages
+
+      - name: update json
+        run: |
+          ARGS=""
+          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
+          ARGS="$ARGS --sort-by-date"
+          eval python3 docs/json_parser.py \
+            --json-path "$JSON_FILE" \
+            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
+            $ARGS
+
+      - name: Push updated json to GitHub
+        run: |
+          cd docs
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git checkout gh-pages
+          git add docs/"$(basename $JSON_FILE)"
+          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
+          git push origin gh-pages
--- a/.github/workflows/build-single-tinygrad-model.yaml
+++ b/.github/workflows/build-single-tinygrad-model.yaml
@@ -0,0 +1,228 @@
+name: Build Single Tinygrad Model and Push
+
+on:
+  workflow_call:
+    inputs:
+      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: string
+      json_version:
+        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
+        required: true
+        type: string
+      artifact_suffix:
+        description: 'Suffix for artifact name'
+        required: false
+        type: string
+        default: ''
+      bypass_push:
+        description: 'Bypass pushing to GitLab for build-all'
+        required: false
+        default: true
+        type: boolean
+  workflow_dispatch:
+    inputs:
+      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'
+        type: choice
+        default: 'None'
+        options:
+          - None
+          - Simple Plan Models
+          - Space Lab 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
+env:
+  RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
+  JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json
+
+jobs:
+  build_model:
+    uses: ./.github/workflows/sunnypilot-build-model.yaml
+    with:
+      upstream_branch: ${{ inputs.upstream_branch }}
+      custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
+      is_20hz: true
+      artifact_suffix: ${{ inputs.artifact_suffix }}
+    secrets: inherit
+
+  publish_model:
+    if: ${{ !inputs.bypass_push && !cancelled() }}
+    concurrency:
+      group: gitlab-push-${{ inputs.recompiled_dir }}
+      cancel-in-progress: false
+    needs: build_model
+    runs-on: ubuntu-latest
+    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 $JSON_FILE does not exist!"
+            exit 1
+          fi
+
+      - name: Download artifact name file
+        uses: actions/download-artifact@v4
+        with:
+          name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
+          path: artifact_name
+
+      - name: Read artifact name
+        id: read-artifact-name
+        run: |
+          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
+          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
+
+      - name: Download and extract model artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
+          path: output
+
+      - name: Remove unwanted files
+        run: |
+          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
+          find output -type f -name 'dmonitoring_model.onnx' -delete
+
+      - name: Copy model artifact(s) to GitLab recompiled dir
+        env:
+          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
+        run: |
+          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
+          mkdir -p "$ARTIFACT_DIR"
+          for path in output/*; do
+            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
+              continue
+            fi
+            name="$(basename "$path")"
+            if [ -d "$path" ]; then
+              mkdir -p "$ARTIFACT_DIR/$name"
+              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
+              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
+            else
+              cp "$path" "$ARTIFACT_DIR/"
+              echo "Copied file $name -> $ARTIFACT_DIR/"
+            fi
+          done
+
+      - name: Push recompiled dir to GitLab
+        env:
+          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+        run: |
+          cd gitlab_docs
+          git checkout main
+          git pull origin main
+          for d in models/"$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 "Create/Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
+          git push origin main
+
+      - run: |
+          cd docs
+          git pull origin gh-pages
+
+      - name: Run json_parser.py to update JSON
+        run: |
+          FOLDER="${{ inputs.model_folder }}"
+          if [ "$FOLDER" = "Other" ]; then
+            FOLDER="${{ inputs.custom_model_folder }}"
+          fi
+          ARGS=""
+          if [ "$FOLDER" != "None" ] && [ -n "$FOLDER" ]; then
+            ARGS="$ARGS --model-folder \"$FOLDER\""
+          fi
+          [ -n "${{ inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ inputs.generation }}\""
+          [ -n "${{ inputs.version }}" ] && ARGS="$ARGS --version \"${{ inputs.version }}\""
+          eval python3 docs/json_parser.py \
+            --json-path "$JSON_FILE" \
+            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
+            --sort-by-date \
+            $ARGS
+
+      - name: Push updated JSON to GitHub docs repo
+        run: |
+          cd docs
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git checkout gh-pages
+          git add docs/"$(basename $JSON_FILE)"
+          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
+          git push origin gh-pages
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -13,7 +13,7 @@ env:
 jobs:
  update_translations:
    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
    steps:
      - uses: actions/checkout@v4
      - uses: ./.github/workflows/setup-with-retry
@@ -23,12 +23,12 @@ jobs:
      - name: Create Pull Request
        uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
        with:
-          author: Vehicle Researcher <user@comma.ai>
+          author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
          commit-message: "Update translations"
          title: "[bot] Update translations"
          body: "Automatic PR from repo-maintenance -> update_translations"
          branch: "update-translations"
-          base: "master"
+          base: "master-new"
          delete-branch: true
          labels: bot

@@ -61,12 +61,12 @@ jobs:
    - name: Create Pull Request
      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
      with:
-        author: Vehicle Researcher <user@comma.ai>
-        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
+        author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
+        token: ${{ github.repository == 'commaai/openpilot' && secrets.ACTIONS_CREATE_PR_PAT || secrets.GITHUB_TOKEN }}
        commit-message: Update Python packages
        title: '[bot] Update Python packages'
        branch: auto-package-updates
-        base: master
+        base: master-new
        delete-branch: true
        body: 'Automatic PR from repo-maintenance -> package_updates'
        labels: bot
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.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
--- a/.github/workflows/stale.yaml
+++ b/.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
--- a/.github/workflows/sunnypilot-build-model.yaml
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -9,6 +9,27 @@ env:
  MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models

 on:
+  workflow_call:
+    inputs:
+      upstream_branch:
+        description: 'Upstream branch to build from'
+        required: true
+        default: 'master'
+        type: string
+      custom_name:
+        description: 'Custom name for the model (no date, only name)'
+        required: false
+        type: string
+      is_20hz:
+        description: 'Is this a 20Hz model'
+        required: false
+        type: boolean
+        default: true
+      artifact_suffix:
+        description: 'Suffix for artifact name'
+        required: false
+        type: string
+        default: ''
  workflow_dispatch:
    inputs:
      upstream_branch:
@@ -32,34 +53,53 @@ run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from
 jobs:
  get_model:
    runs-on: ubuntu-latest
+    env:
+      REF: ${{ inputs.upstream_branch }}
    outputs:
      model_date: ${{ steps.commit-date.outputs.model_date }}
    steps:
-      - uses: actions/checkout@v4
+      # Note: To allow dynamic models from both openpilot and sunnypilot (merges/mashups), we try commaai as default,
+      # and fallback to sunnypilot if the ref checkout fails.
+      - name: Checkout commaai/openpilot
+        id: checkout_upstream
+        continue-on-error: true
+        uses: actions/checkout@v4
        with:
-          repository: ${{ env.UPSTREAM_REPO }}
-          ref: ${{ github.event.inputs.upstream_branch }}
+          repository: commaai/openpilot
+          ref: ${{ inputs.upstream_branch }}
          submodules: recursive
+          path: openpilot
+
+      - name: Fallback to sunnypilot/sunnypilot
+        if: steps.checkout_upstream.outcome == 'failure'
+        uses: actions/checkout@v4
+        with:
+          repository: sunnypilot/sunnypilot
+          ref: ${{ inputs.upstream_branch }}
+          submodules: recursive
+          path: openpilot
      - name: Get commit date
        id: commit-date
        run: |
-          # Get the commit date in YYYY-MM-DD format
+          cd ${{ github.workspace }}/openpilot
          commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
          echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
          cat $GITHUB_OUTPUT
-      - run: git lfs pull
+      - run: |
+          cd ${{ github.workspace }}/openpilot
+          git lfs pull
      - name: 'Upload Artifact'
        uses: actions/upload-artifact@v4
        with:
-          name: models
-          path: ${{ github.workspace }}/selfdrive/modeld/models/*.onnx
+          name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
+          path: ${{ github.workspace }}/openpilot/selfdrive/modeld/models/*.onnx

  build_model:
-    runs-on: self-hosted
+    runs-on: [self-hosted, tici]
    needs: get_model
    env:
      MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
-
+      REF: ${{ inputs.upstream_branch }}
    steps:
      - uses: actions/checkout@v4
        with:
@@ -71,7 +111,7 @@ jobs:
        with:
          path: ${{env.SCONS_CACHE_DIR}}
          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
+          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
          restore-keys: |
            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
@@ -114,7 +154,7 @@ jobs:
      - name: Download model artifacts
        uses: actions/download-artifact@v4
        with:
-          name: models
+          name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
          path: ${{ github.workspace }}/selfdrive/modeld/models

      - name: Build Model
@@ -157,12 +197,22 @@ jobs:
            --upstream-branch "${{ inputs.upstream_branch }}" \
            ${{ inputs.is_20hz && '--is-20hz' || '' }}

+      - name: Write artifact name to file
+        run: echo "model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}" > ${{ env.OUTPUT_DIR }}/artifact_name.txt
+
      - name: Upload Build Artifacts
+        id: upload-artifact
        uses: actions/upload-artifact@v4
        with:
-          name: model-${{ env.MODEL_NAME }}-${{ github.run_number }}
+          name: model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}
          path: ${{ env.OUTPUT_DIR }}

+      - name: Upload artifact name file
+        uses: actions/upload-artifact@v4
+        with:
+          name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
+          path: ${{ env.OUTPUT_DIR }}/artifact_name.txt
+
      - name: Re-enable powersave
        if: always()
        run: |
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -50,7 +50,7 @@ jobs:
    concurrency:
      group: build-${{ github.head_ref || github.ref_name }}
      cancel-in-progress: false
-    runs-on: self-hosted
+    runs-on: [self-hosted, tici]
    outputs:
      new_branch: ${{ steps.set-env.outputs.new_branch }}
      version: ${{ steps.set-env.outputs.version }}
--- a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
@@ -153,6 +153,7 @@ jobs:
              }
            }' -F label="is:pr is:open label:${PR_LABEL} draft:false sort:created-asc")

+          PR_LIST=${PR_LIST//\'/}
          echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
        env:
          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
--- a/.gitignore
+++ b/.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
--- a/.idea/customTargets.xml
+++ b/.idea/customTargets.xml
@@ -21,5 +21,12 @@
        </clean>
      </configuration>
    </target>
+    <target id="f2590b2b-9b93-49f9-8510-da3f3724a2ae" name="replay" defaultType="TOOL">
+      <configuration id="d475264f-6f4c-4092-9b4e-6773309f38b7" name="replay" toolchainName="Default">
+        <build type="TOOL">
+          <tool actionId="Tool_External Tools_uv build tools replay" />
+        </build>
+      </configuration>
+    </target>
  </component>
 </project>
--- a/.idea/tools/External
+++ b/.idea/tools/External
@@ -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 +16,14 @@
  <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>
+  <tool name="uv build tools replay" 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$(nproc) tools/replay/&quot;" />
      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
    </exec>
  </tool>
--- a/Debug.run.xml
+++ b/Debug.run.xml
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
+  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
    <envs>
      <env name="QT_DBL_CLICK_DIST" value="150" />
    </envs>
--- a/Controls.run.xml
+++ b/Controls.run.xml
@@ -0,0 +1,27 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Debug Route Controls" type="PythonConfigurationType" factoryName="Python">
+    <module name="openpilot-special" />
+    <option name="ENV_FILES" value="" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+      <env name="FINGERPRINT" value="KIA_EV9" />
+      <env name="SKIP_FW_QUERY" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/selfdrive/car" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/selfdrive/car/card.py" />
+    <option name="PARAMETERS" value="" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
--- a/.run/Replay
+++ b/.run/Replay
@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Replay for controls + ui" type="Multirun" separateTabs="false" reuseTabsWithFailures="false" startOneByOne="true" markFailedProcess="true" hideSuccessProcess="false" delayTime="0.0">
+    <runConfiguration name="replay for controls" type="Native Application" />
+    <runConfiguration name="Build Debug" type="Custom Build Application" />
+    <method v="2" />
+  </configuration>
+</component>
--- a/controls.run.xml
+++ b/controls.run.xml
@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="replay for controls" type="CLionNativeAppRunConfigurationType" focusToolWindowBeforeRun="true" PROGRAM_PARAMS="&quot;$Prompt$&quot; --block &quot;sendcan,carState,carParams,carOutput,liveTracks,carParamsSP,carStateSP&quot;" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="true" WORKING_DIR="file://$ProjectFileDir$/tools/replay" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="replay" CONFIG_NAME="replay" version="1" RUN_PATH="replay">
+    <method v="2">
+      <option name="CLION.COMPOUND.BUILD" enabled="true" />
+    </method>
+  </configuration>
+</component>
--- a/README.md
+++ b/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.

--- a/RELEASES.md
+++ b/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)
 ========================
--- a/7
+++ b/7
@@ -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'
--- a/cereal/log.capnp
+++ b/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;
--- a/cereal/services.py
+++ b/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),
--- a/codecov.yml
+++ b/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"
--- a/common/model.h
+++ b/common/model.h
@@ -1 +1 @@
-#define DEFAULT_MODEL "Vegetarian Filet o Fish (Default)"
+#define DEFAULT_MODEL "Tomb Raider 14 (Default)"
--- a/common/params_keys.h
+++ b/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}
+    
 };
--- a/common/version.h
+++ b/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.9.10"
+#define COMMA_VERSION "0.10.0"
--- a/conftest.py
+++ b/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:
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@

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

-# 312 Supported Cars
+# 319 Supported Cars

 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -116,6 +116,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C 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=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H 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=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>|||
+|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O 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=Hyundai&model=Kona 2022">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G 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=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O 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=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R 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=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -187,7 +188,7 @@ 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>|||
@@ -211,7 +212,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Nissan[<sup>7</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Nissan[<sup>7</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>|||
 |Nissan[<sup>7</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>|||
-|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram 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=Ram&model=1500 2019-24">Buy Here</a></sub></details>|||
+|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram 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=Ram&model=1500 2019-24">Buy Here</a></sub></details>|||
+|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram 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=Ram&model=2500 2020-24">Buy Here</a></sub></details>|||
+|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram 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=Ram&model=3500 2019-22">Buy Here</a></sub></details>|||
 |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1S 2022-24">Buy Here</a></sub></details>||https://youtu.be/uaISd1j7Z4U|
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1T 2022-24">Buy Here</a></sub></details>||https://youtu.be/uaISd1j7Z4U|
 |SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>|||
@@ -219,10 +222,14 @@ A supported vehicle is one that just works when you install a comma device. All
 |Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Legacy 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Outback 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
--- a/2
+++ b/2
--- a/2
+++ b/2
--- a/pyproject.toml
+++ b/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"
--- a/release/ci/install_github_runner.sh
+++ b/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"
--- a/release/ci/model_generator.py
+++ b/release/ci/model_generator.py
@@ -13,17 +13,32 @@ def create_short_name(full_name):
  words = [re.sub(r'[^a-zA-Z0-9]', '', word) for word in clean_name.split() if re.sub(r'[^a-zA-Z0-9]', '', word)]

  if len(words) == 1:
-    # If there's only one word, return it as is, lowercased, truncated to 8 characters
-    truncated = words[0][:8]
-    return truncated.lower() if truncated.isupper() else truncated
+    return words[0][:8].upper()

  # Handle special case: Name + Version (e.g., "Word A1" -> "WordA1")
  if len(words) == 2 and re.match(r'^[A-Za-z]\d+$', words[1]):
-    first_word = words[0].lower() if words[0].isupper() else words[0]
-    return (first_word + words[1])[:8]
+    return (words[0] + words[1])[:8].upper()

-  # Normal case: first letter and trailing numbers from each word
-  result = ''.join(word if word.isdigit() else word[0] + (re.search(r'\d+$', word) or [''])[0] for word in words)
+  result = ""
+  for word in words:
+    # Version or number patterns
+    if (re.match(r'^\d+[a-zA-Z]+$', word) or
+        re.match(r'^\d+[vVbB]\d+$', word) or
+        re.match(r'^[vVbB]\d+$', word) or
+        re.match(r'^\d{4}$', word)):
+      result += word.upper()
+    # All uppercase abbreviations (2-3 letters)
+    elif re.match(r'^[A-Z]{2,3}$', word):
+      result += word
+    # Letters+digits (for example tr15 rev2)
+    elif re.match(r'^[a-zA-Z]+[0-9]+$', word):
+      result += word[0].upper() + ''.join(re.findall(r'\d+', word))
+    elif word.isalpha():
+      result += word[0].upper()
+    elif word.isdigit():
+      result += word
+    else:
+      result += word[0].upper()
  return result[:8]


@@ -58,14 +73,14 @@ def generate_metadata(model_path: Path, output_dir: Path, short_name: str):
    "artifact": {
      "file_name": tinygrad_file.name,
      "download_uri": {
-        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/<FILLME>",
+        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/",
        "sha256": tinygrad_hash
      }
    },
    "metadata": {
      "file_name": metadata_file.name,
      "download_uri": {
-        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/<FILLME>",
+        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/",
        "sha256": metadata_hash
      }
    }
@@ -83,12 +98,12 @@ def create_metadata_json(models: list, output_dir: Path, custom_name=None, short
    "ref": upstream_branch,
    "environment": "development",
    "runner": "tinygrad",
-    "build_time": datetime.now(UTC).strftime("%Y-%m-%dT%H:%M:%SZ"),
-    "models": models,
-    "overrides": {},
    "index": -1,
    "minimum_selector_version": "-1",
    "generation": "-1",
+    "build_time": datetime.now(UTC).strftime("%Y-%m-%dT%H:%M:%SZ"),
+    "overrides": {},
+    "models": models,
  }

  # Write metadata to output_dir
--- a/scripts/lint/lint.sh
+++ b/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() {
--- a/selfdrive/assets/icons/microphone.png
+++ b/selfdrive/assets/icons/microphone.png
--- a/selfdrive/controls/controlsd.py
+++ b/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']
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/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]
--- a/selfdrive/controls/lib/latcontrol_angle_torque.py
+++ b/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
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/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
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/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:
--- a/selfdrive/locationd/lagd.py
+++ b/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)
--- a/selfdrive/locationd/test/test_lagd.py
+++ b/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)
--- a/selfdrive/locationd/torqued.py
+++ b/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:
--- a/selfdrive/modeld/SConscript
+++ b/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")
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/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")
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/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)

--- a/selfdrive/modeld/modeld.py
+++ b/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")
--- a/selfdrive/modeld/models/driving_policy.onnx
+++ b/selfdrive/modeld/models/driving_policy.onnx
--- a/selfdrive/modeld/models/driving_vision.onnx
+++ b/selfdrive/modeld/models/driving_vision.onnx
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/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

--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -135,7 +135,8 @@ class SelfdriveD(CruiseHelper):
    self.ignored_processes.update({'mapd'})

    # Determine startup event
-    self.startup_event = EventName.startup if build_metadata.openpilot.comma_remote and build_metadata.tested_channel else EventName.startupMaster
+    is_remote = build_metadata.openpilot.comma_remote or build_metadata.openpilot.sunnypilot_remote
+    self.startup_event = EventName.startup if is_remote and build_metadata.tested_channel else EventName.startupMaster
    if not car_recognized:
      self.startup_event = EventName.startupNoCar
    elif car_recognized and self.CP.passive:
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-f440c9e0469d32d350aa99ddaa8f44591a2ce690
+de16c6fbe14e121c5e74cd944ce03a0e4672540d
--- a/selfdrive/ui/layouts/settings/settings.py
+++ b/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:
--- a/selfdrive/ui/layouts/settings/toggles.py
+++ b/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"
      ),
--- a/selfdrive/ui/layouts/sidebar.py
+++ b/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()
--- a/selfdrive/ui/qt/offroad/developer_panel.cc
+++ b/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;
--- a/selfdrive/ui/qt/offroad/developer_panel.h
+++ b/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;

--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/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) {
--- a/selfdrive/ui/qt/onroad/model.cc
+++ b/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.;
--- a/selfdrive/ui/qt/onroad/model.h
+++ b/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;
 };
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/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
--- a/selfdrive/ui/qt/sidebar.h
+++ b/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);
--- a/selfdrive/ui/qt/widgets/input.cc
+++ b/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 "";
+}
--- a/selfdrive/ui/qt/widgets/input.h
+++ b/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;
+};
--- a/selfdrive/ui/soundd.py
+++ b/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)
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -4,6 +4,7 @@ widgets_src = [
  "sunnypilot/qt/widgets/controls.cc",
  "sunnypilot/qt/widgets/drive_stats.cc",
  "sunnypilot/qt/widgets/expandable_row.cc",
+  "sunnypilot/qt/widgets/external_storage.cc",
  "sunnypilot/qt/widgets/prime.cc",
  "sunnypilot/qt/widgets/scrollview.cc",
  "sunnypilot/qt/network/networking.cc",
@@ -21,6 +22,7 @@ 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 +48,7 @@ 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",
 ]

--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
@@ -0,0 +1,85 @@
+/**
+ * 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"
+#include "selfdrive/ui/sunnypilot/qt/widgets/external_storage.h"
+
+DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(parent) {
+
+  #ifndef __APPLE__
+  addItem(new ExternalStorageControl());
+  #endif
+
+  // 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();
+}
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h
+++ b/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;
+};
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/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");
+  }
 }
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
+++ b/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 {
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.cc
+++ b/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;
+}
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h
+++ b/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;
+};
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
+++ b/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();

--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
+++ b/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;
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+++ b/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 +356,24 @@ 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);
+
+  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");
+  }
+
+  clearModelCacheBtn->setValue(QString::number(calculateCacheSize(), 'f', 2) + " MB");
 }

 /**
@@ -310,3 +394,39 @@ 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);
+}
+
+void ModelsPanel::showEvent(QShowEvent *event) {
+  lagd_toggle_control->showDescription();
+  if (delay_control->isVisible()) {
+    delay_control->showDescription();
+  }
+}
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
@@ -21,6 +21,7 @@ private:
  QString GetActiveModelName();
  QString GetActiveModelInternalName();
  void updateModelManagerState();
+  void showEvent(QShowEvent *event) override;

  bool isDownloading() const {
    if (!model_manager.hasSelectedBundle()) {
@@ -41,6 +42,8 @@ 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 +67,8 @@ private:
  bool is_onroad = false;

  ButtonControlSP *currentModelLblBtn;
+  ParamControlSP *lagd_toggle_control;
+  OptionControlSP *delay_control;
  QProgressBar *supercomboProgressBar;
  QFrame *supercomboFrame;
  QProgressBar *navigationProgressBar;
@@ -73,5 +78,6 @@ private:
  QProgressBar *policyProgressBar;
  QFrame *policyFrame;
  Params params;
+  ButtonControlSP *clearModelCacheBtn;

 };
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
+++ b/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);
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
+++ b/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();
+}
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
+++ b/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;
 };
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
+++ b/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();
+  }
 }
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
+++ b/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;
 };
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
+++ b/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);
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h
+++ b/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 {
--- a/selfdrive/ui/sunnypilot/qt/widgets/external_storage.cc
+++ b/selfdrive/ui/sunnypilot/qt/widgets/external_storage.cc
@@ -0,0 +1,167 @@
+/**
+ * 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/widgets/external_storage.h"
+
+#include <QProcess>
+#include <QCoreApplication>
+#include <QShowEvent>
+#include <QTimer>
+#include <QtConcurrent>
+
+#include "common/params.h"
+#include "selfdrive/ui/qt/api.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+
+ExternalStorageControl::ExternalStorageControl() :
+  ButtonControl(tr("External Storage"), "", tr("Extend your comma device's storage by inserting a USB drive into the aux port.")) {
+
+  QObject::connect(this, &ButtonControl::clicked, [=]() {
+    if (text() == tr("CHECK") || text() == tr("MOUNT")) {
+      mountStorage();
+    } else if (text() == tr("UNMOUNT")) {
+      unmountStorage();
+    } else if (text() == tr("FORMAT")) {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to format this drive? This will erase all data."), tr("Format"), this)) {
+        formatStorage();
+      }
+    }
+  });
+
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &ExternalStorageControl::updateState);
+  updateState(!uiState()->scene.started);
+
+  refresh();
+}
+
+void ExternalStorageControl::updateState(bool offroad) {
+  setEnabled(offroad);
+}
+
+void ExternalStorageControl::debouncedRefresh() {
+  if (refreshPending) return;
+  refreshPending = true;
+
+  QTimer::singleShot(250, this, [=]() {
+    refreshPending = false;
+    refresh();
+  });
+}
+
+void ExternalStorageControl::refresh() {
+  QtConcurrent::run([=]() {
+    auto run = [](const QString &cmd) {
+      QProcess p;
+      p.start("sh", QStringList() << "-c" << cmd);
+      p.waitForFinished();
+      return p.exitCode() == 0;
+    };
+
+    bool isMounted = run("findmnt -n /mnt/external_realdata");
+    bool hasDrive = run("lsblk -f /dev/sdg1");
+    bool hasFs = run("lsblk -f /dev/sdg1 | grep -q ext4");
+    bool hasLabel = run("sudo blkid /dev/sdg1 | grep -q 'LABEL=\"openpilot\"'");
+
+    QString info;
+    if (isMounted && hasLabel) {
+      QProcess df;
+      df.start("sh", QStringList() << "-c" << "df -h /mnt/external_realdata | awk 'NR==2 {print $3 \"/\" $2}'");
+      df.waitForFinished();
+      info = df.readAllStandardOutput().trimmed();
+    }
+
+    QMetaObject::invokeMethod(this, [=]() {
+      if (formatting) {
+        setValue(tr("formatting"));
+        setText(tr("FORMAT"));
+        setEnabled(false);
+      } else {
+        if (!hasDrive) {
+          setValue(tr("insert drive"));
+          setText(tr("CHECK"));
+        } else if (!hasFs || !hasLabel) {
+          setValue(tr("needs format"));
+          setText(tr("FORMAT"));
+        } else if (isMounted) {
+          setValue(info);
+          setText(tr("UNMOUNT"));
+        } else {
+          setValue("drive detected");
+          setText(tr("MOUNT"));
+        }
+        updateState(!uiState()->scene.started);
+      }
+    }, Qt::QueuedConnection);
+  });
+}
+
+void ExternalStorageControl::mountStorage() {
+  setValue(tr("mounting"));
+  setEnabled(false);
+
+  QtConcurrent::run([=]() {
+    QProcess process;
+    process.start("sh", QStringList() << "-c" <<
+      "sudo mount -o remount,rw / && "
+      "sudo mkdir -p /mnt/external_realdata && "
+      "grep -q '/dev/sdg1 /mnt/external_realdata' /etc/fstab || "
+      "echo '/dev/sdg1 /mnt/external_realdata ext4 defaults,nofail 0 2' | sudo tee -a /etc/fstab && "
+      "sudo systemctl daemon-reexec && "
+      "sudo mount /mnt/external_realdata && "
+      "sudo chown -R comma:comma /mnt/external_realdata && "
+      "sudo chmod -R 775 /mnt/external_realdata && "
+      "sudo mount -o remount,ro /");
+    process.waitForFinished();
+
+    QMetaObject::invokeMethod(this, [=]() {
+      debouncedRefresh();
+    }, Qt::QueuedConnection);
+  });
+}
+
+void ExternalStorageControl::unmountStorage() {
+  setValue(tr("unmounting"));
+  setEnabled(false);
+
+  QtConcurrent::run([=]() {
+    QProcess process;
+    process.start("sh", QStringList() << "-c" << "sudo umount /mnt/external_realdata");
+    process.waitForFinished();
+
+    QMetaObject::invokeMethod(this, [=]() {
+      debouncedRefresh();
+    }, Qt::QueuedConnection);
+  });
+}
+
+void ExternalStorageControl::formatStorage() {
+  unmountStorage();
+  formatting = true;
+  setValue(tr("formatting"));
+  setEnabled(false);
+
+  QProcess *process = new QProcess(this);
+  connect(process, static_cast<void(QProcess::*)(int, QProcess::ExitStatus)>(&QProcess::finished),
+          this, [=](int exitCode, QProcess::ExitStatus status) {
+            process->deleteLater();
+            formatting = false;
+            if (exitCode == 0 && status == QProcess::NormalExit) {
+              QProcess::execute("sh", QStringList() << "-c" << "sudo e2label /dev/sdg1 openpilot");
+              mountStorage();
+            } else {
+              setValue(tr("needs format"));
+              updateState(!uiState()->scene.started);
+            }
+          });
+  process->start("sh", QStringList() << "-c" << "sudo mkfs.ext4 -F /dev/sdg1");
+}
+
+void ExternalStorageControl::showEvent(QShowEvent *event) {
+  ButtonControl::showEvent(event);
+  QTimer::singleShot(100, this, &ExternalStorageControl::debouncedRefresh);
+}
--- a/selfdrive/ui/sunnypilot/qt/widgets/external_storage.h
+++ b/selfdrive/ui/sunnypilot/qt/widgets/external_storage.h
@@ -0,0 +1,34 @@
+/**
+ * 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 "system/hardware/hw.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#define ButtonControl ButtonControlSP
+
+class ExternalStorageControl : public ButtonControl {
+  Q_OBJECT
+
+public:
+  ExternalStorageControl();
+
+protected:
+  void showEvent(QShowEvent *event) override;
+
+private:
+  Params params;
+
+  bool refreshPending = false;
+  bool formatting = false;
+  void updateState(bool offroad);
+  void refresh();
+  void debouncedRefresh();
+  void mountStorage();
+  void unmountStorage();
+  void formatStorage();
+};
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -135,6 +135,25 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>ConfirmationDialog</name>
    <message>
@@ -179,6 +198,30 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
        <translation>أداة ADB (Android Debug Bridge) تسمح بالاتصال بجهازك عبر USB أو عبر الشبكة. راجع هذا الرابط: https://docs.comma.ai/how-to/connect-to-comma لمزيد من المعلومات.</translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Enable GitHub runner service</source>
        <translation type="unfinished"></translation>
@@ -187,6 +230,10 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Enables or disables the github runner service.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Error Log</source>
        <translation type="unfinished"></translation>
@@ -200,15 +247,11 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
+        <source>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. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -294,10 +337,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Power Off</source>
        <translation>إيقاف التشغيل</translation>
    </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>يحتاج sunnypilot أن يتم ضبط الجهاز ضمن حدود 4 درجات يميناً أو يساراً و5 درجات نحو الأعلى أو 9 نحو الأسفل. يقوم sunnypilot بالمعايرة باستمرار، ونادراً ما يحتاج إلى عملية إعادة الضبط.</translation>
-    </message>
    <message>
        <source> Your device is pointed %1° %2 and %3° %4.</source>
        <translation> يشير جهازك إلى %1 درجة %2، و%3 درجة %4.</translation>
@@ -359,7 +398,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -449,6 +512,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>The reset cannot be undone. You have been warned.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⁍ Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⁍ Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls state of the device after boot/sleep.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DriveStats</name>
@@ -484,6 +572,21 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation>بدء تشغيل الكاميرا</translation>
    </message>
 </context>
+<context>
+    <name>ExitOffroadButton</name>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">تأكيد</translation>
+    </message>
+    <message>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>ExperimentalModeButton</name>
    <message>
@@ -497,10 +600,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </context>
 <context>
    <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation>🔥 وضع خرطوم الحريق 🔥</translation>
-    </message>
    <message>
        <source>Firehose Mode: ACTIVE</source>
        <translation>وضع خرطوم الحريق: نشط</translation>
@@ -534,6 +633,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>HudRenderer</name>
@@ -660,6 +763,37 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>This platform supports limited MADS settings.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MadsSettings</name>
@@ -769,34 +903,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>SELECT</source>
        <translation type="unfinished">اختيار</translation>
    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Driving</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vision</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Policy</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>downloaded</source>
        <translation type="unfinished"></translation>
@@ -809,22 +915,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>from cache</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Fetching models...</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Select a Model</source>
        <translation type="unfinished"></translation>
@@ -869,6 +963,71 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>Cancel</source>
        <translation type="unfinished">إلغاء</translation>
    </message>
+    <message>
+        <source>Clear Model Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CLEAR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Learning Steer Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  %1 - %2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  pending - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>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.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -1019,7 +1178,9 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>لقد اكتشف sunnypilot تغييراً في موقع تركيب الجهاز. تأكد من تثبيت الجهاز بشكل كامل في موقعه وتثبيته بإحكام على الزجاج الأمامي.</translation>
    </message>
    <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -1038,6 +1199,13 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation> تنبيه</translation>
    </message>
 </context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>OnroadAlerts</name>
    <message>
@@ -1061,6 +1229,137 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>النظام لا يستجيب</translation>
    </message>
 </context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">التحقق</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">اختيار</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">تحديث</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>PairingPopup</name>
    <message>
@@ -1401,6 +1700,10 @@ This may take up to a minute.</source>
        <source>Visuals</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Setup</name>
@@ -1496,6 +1799,16 @@ This may take up to a minute.</source>
        <source>Custom Software</source>
        <translation>البرمجيات المخصصة</translation>
    </message>
+    <message>
+        <source>WARNING: Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
+
+If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -1707,6 +2020,30 @@ This may take up to a minute.</source>
        <source>Select a branch</source>
        <translation type="unfinished">اختر فرعاً</translation>
    </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">إعادة التشغيل</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SshControl</name>
@@ -2057,6 +2394,25 @@ This may take up to a minute.</source>
        <source>openpilot longitudinal control may come in a future update.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Record and Upload Microphone Audio</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">اختيار</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">إلغاء</translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
@@ -2093,6 +2449,49 @@ This may take up to a minute.</source>
        <translation>فشل التحديث</translation>
    </message>
 </context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>WiFiPromptWidget</name>
    <message>
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -135,6 +135,25 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>ConfirmationDialog</name>
    <message>
@@ -191,6 +210,18 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
        <translation type="unfinished"></translation>
    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Enable GitHub runner service</source>
        <translation type="unfinished"></translation>
@@ -199,6 +230,10 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Enables or disables the github runner service.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Error Log</source>
        <translation type="unfinished"></translation>
@@ -211,6 +246,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>View the error log for sunnypilot crashes.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>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. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -355,11 +398,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <source>
+
+Steering lag calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -449,6 +512,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Always Offroad</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⁍ Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⁍ Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls state of the device after boot/sleep.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DriveStats</name>
@@ -484,6 +572,21 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation>Kamera startet</translation>
    </message>
 </context>
+<context>
+    <name>ExitOffroadButton</name>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">Bestätigen</translation>
+    </message>
+    <message>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>ExperimentalModeButton</name>
    <message>
@@ -497,10 +600,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </context>
 <context>
    <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation>🔥 Firehose-Modus 🔥</translation>
-    </message>
    <message>
        <source>Firehose Mode: ACTIVE</source>
        <translation>Firehose-Modus: AKTIV</translation>
@@ -530,6 +629,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>HudRenderer</name>
@@ -652,6 +755,37 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>This platform supports limited MADS settings.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MadsSettings</name>
@@ -761,34 +895,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>SELECT</source>
        <translation type="unfinished">AUSWÄHLEN</translation>
    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Driving</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vision</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Policy</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>downloaded</source>
        <translation type="unfinished"></translation>
@@ -801,22 +907,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>from cache</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Fetching models...</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Select a Model</source>
        <translation type="unfinished"></translation>
@@ -861,6 +955,71 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>Cancel</source>
        <translation type="unfinished">Abbrechen</translation>
    </message>
+    <message>
+        <source>Clear Model Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CLEAR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Learning Steer Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  %1 - %2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  pending - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>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.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -1011,7 +1170,9 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -1030,6 +1191,13 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation> HINWEIS</translation>
    </message>
 </context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>OnroadAlerts</name>
    <message>
@@ -1053,6 +1221,137 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">ÜBERPRÜFEN</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">AUSWÄHLEN</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">Aktualisieren</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>PairingPopup</name>
    <message>
@@ -1381,6 +1680,10 @@ Dies kann bis zu einer Minute dauern.</translation>
        <source>Visuals</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Setup</name>
@@ -1476,6 +1779,16 @@ Dies kann bis zu einer Minute dauern.</translation>
        <source>sunnypilot</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>WARNING: Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
+
+If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -1689,6 +2002,30 @@ Dies kann bis zu einer Minute dauern.</translation>
        <source>Select a branch</source>
        <translation type="unfinished">Wähle einen Branch</translation>
    </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">Neustart</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SshControl</name>
@@ -2039,6 +2376,25 @@ Dies kann bis zu einer Minute dauern.</translation>
        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Record and Upload Microphone Audio</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">Auswählen</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Abbrechen</translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
@@ -2075,6 +2431,49 @@ Dies kann bis zu einer Minute dauern.</translation>
        <translation>Aktualisierung fehlgeschlagen</translation>
    </message>
 </context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>WiFiPromptWidget</name>
    <message>
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -135,6 +135,25 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>ConfirmationDialog</name>
    <message>
@@ -179,6 +198,30 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Enable GitHub runner service</source>
        <translation type="unfinished"></translation>
@@ -187,6 +230,10 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Enables or disables the github runner service.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Error Log</source>
        <translation type="unfinished"></translation>
@@ -200,15 +247,11 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
+        <source>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. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -314,10 +357,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Power Off</source>
        <translation>Apagar</translation>
    </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>sunnypilot requiere que el dispositivo sea montado entre 4° grados a la izquierda o derecha y entre 5° grados hacia arriba o 9° grados hacia abajo. sunnypilot está constantemente en calibración, formatear rara vez es necesario.</translation>
-    </message>
    <message>
        <source> Your device is pointed %1° %2 and %3° %4.</source>
        <translation> Su dispositivo está apuntando %1° %2 y %3° %4.</translation>
@@ -359,7 +398,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -449,6 +512,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>The reset cannot be undone. You have been warned.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⁍ Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⁍ Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls state of the device after boot/sleep.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DriveStats</name>
@@ -484,6 +572,21 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation>iniciando cámara</translation>
    </message>
 </context>
+<context>
+    <name>ExitOffroadButton</name>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">Confirmar</translation>
+    </message>
+    <message>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>ExperimentalModeButton</name>
    <message>
@@ -497,10 +600,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </context>
 <context>
    <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Firehose Mode: ACTIVE</source>
        <translation type="unfinished"></translation>
@@ -530,6 +629,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>HudRenderer</name>
@@ -652,6 +755,37 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>This platform supports limited MADS settings.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MadsSettings</name>
@@ -761,34 +895,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>SELECT</source>
        <translation type="unfinished">SELECCIONAR</translation>
    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Driving</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vision</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Policy</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>downloaded</source>
        <translation type="unfinished"></translation>
@@ -801,22 +907,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>from cache</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Fetching models...</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Select a Model</source>
        <translation type="unfinished"></translation>
@@ -861,6 +955,71 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>Cancel</source>
        <translation type="unfinished">Cancelar</translation>
    </message>
+    <message>
+        <source>Clear Model Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CLEAR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Learning Steer Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  %1 - %2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  pending - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>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.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -1011,7 +1170,9 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>sunnypilot detectó un cambio en la posición de montaje del dispositivo. Asegúrese de que el dispositivo esté completamente asentado en el soporte y que el soporte esté firmemente asegurado al parabrisas.</translation>
    </message>
    <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -1030,6 +1191,13 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation> ALERTA</translation>
    </message>
 </context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>OnroadAlerts</name>
    <message>
@@ -1053,6 +1221,137 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>Systema no responde</translation>
    </message>
 </context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">VERIFICAR</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">SELECCIONAR</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">ACTUALIZAR</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>PairingPopup</name>
    <message>
@@ -1381,6 +1680,10 @@ Esto puede tardar un minuto.</translation>
        <source>Visuals</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Setup</name>
@@ -1476,6 +1779,16 @@ Esto puede tardar un minuto.</translation>
        <source>Select a language</source>
        <translation>Seleccione un idioma</translation>
    </message>
+    <message>
+        <source>WARNING: Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
+
+If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -1687,6 +2000,30 @@ Esto puede tardar un minuto.</translation>
        <source>Select a branch</source>
        <translation type="unfinished">Selecione una rama</translation>
    </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">Reiniciar</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SshControl</name>
@@ -2037,6 +2374,25 @@ Esto puede tardar un minuto.</translation>
        <source>openpilot longitudinal control may come in a future update.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Record and Upload Microphone Audio</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">Seleccionar</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Cancelar</translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
@@ -2073,6 +2429,49 @@ Esto puede tardar un minuto.</translation>
        <translation>Actualización fallida</translation>
    </message>
 </context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>WiFiPromptWidget</name>
    <message>
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -135,6 +135,25 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>ConfirmationDialog</name>
    <message>
@@ -179,6 +198,30 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Enable GitHub runner service</source>
        <translation type="unfinished"></translation>
@@ -187,6 +230,10 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Enables or disables the github runner service.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Error Log</source>
        <translation type="unfinished"></translation>
@@ -200,15 +247,11 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
+        <source>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. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -302,10 +345,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Power Off</source>
        <translation>Éteindre</translation>
    </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>sunnypilot nécessite que l&apos;appareil soit monté à 4° à gauche ou à droite et à 5° vers le haut ou 9° vers le bas. sunnypilot se calibre en continu, la réinitialisation est rarement nécessaire.</translation>
-    </message>
    <message>
        <source> Your device is pointed %1° %2 and %3° %4.</source>
        <translation> Votre appareil est orienté %1° %2 et %3° %4.</translation>
@@ -359,7 +398,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -449,6 +512,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>The reset cannot be undone. You have been warned.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⁍ Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⁍ Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls state of the device after boot/sleep.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DriveStats</name>
@@ -484,6 +572,21 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation>démarrage de la caméra</translation>
    </message>
 </context>
+<context>
+    <name>ExitOffroadButton</name>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">Confirmer</translation>
+    </message>
+    <message>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>ExperimentalModeButton</name>
    <message>
@@ -497,10 +600,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </context>
 <context>
    <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Firehose Mode: ACTIVE</source>
        <translation type="unfinished"></translation>
@@ -530,6 +629,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>HudRenderer</name>
@@ -652,6 +755,37 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>This platform supports limited MADS settings.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MadsSettings</name>
@@ -761,34 +895,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>SELECT</source>
        <translation type="unfinished">SÉLECTIONNER</translation>
    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Driving</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vision</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Policy</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>downloaded</source>
        <translation type="unfinished"></translation>
@@ -801,22 +907,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>from cache</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Fetching models...</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Select a Model</source>
        <translation type="unfinished"></translation>
@@ -861,6 +955,71 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>Cancel</source>
        <translation type="unfinished">Annuler</translation>
    </message>
+    <message>
+        <source>Clear Model Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CLEAR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Learning Steer Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  %1 - %2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  pending - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>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.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -1011,7 +1170,9 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>sunnypilot a détecté un changement dans la position de montage de l&apos;appareil. Assurez-vous que l&apos;appareil est totalement inséré dans le support et que le support est fermement fixé au pare-brise.</translation>
    </message>
    <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -1030,6 +1191,13 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation> ALERTE</translation>
    </message>
 </context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>OnroadAlerts</name>
    <message>
@@ -1053,6 +1221,137 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>Système inopérant</translation>
    </message>
 </context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">VÉRIFIER</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">SÉLECTIONNER</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">MISE À JOUR</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>PairingPopup</name>
    <message>
@@ -1381,6 +1680,10 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
        <source>Visuals</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Setup</name>
@@ -1476,6 +1779,16 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
        <source>Custom Software</source>
        <translation>Logiciel personnalisé</translation>
    </message>
+    <message>
+        <source>WARNING: Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
+
+If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -1687,6 +2000,30 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
        <source>Select a branch</source>
        <translation type="unfinished">Sélectionner une branche</translation>
    </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">Redémarrer</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SshControl</name>
@@ -2037,6 +2374,25 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
        <source>openpilot longitudinal control may come in a future update.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Record and Upload Microphone Audio</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">Sélectionner</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Annuler</translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
@@ -2073,6 +2429,49 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
        <translation>Échec de la mise à jour</translation>
    </message>
 </context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>WiFiPromptWidget</name>
    <message>
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -135,6 +135,25 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>ConfirmationDialog</name>
    <message>
@@ -179,6 +198,30 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
        <translation>ADB（Android Debug Bridge）により、USBまたはネットワーク経由でデバイスに接続できます。詳細は、https://docs.comma.ai/how-to/connect-to-comma を参照してください。</translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Enable GitHub runner service</source>
        <translation type="unfinished"></translation>
@@ -187,6 +230,10 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Enables or disables the github runner service.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Error Log</source>
        <translation type="unfinished"></translation>
@@ -200,15 +247,11 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
+        <source>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. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -294,10 +337,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Power Off</source>
        <translation>パワーオフ</translation>
    </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>sunnypilotの本体は左右4°以内、上5°下9°以内の角度で取付ける必要があります。常にキャリブレーションされておりリセットはほとんど必要ありません。</translation>
-    </message>
    <message>
        <source> Your device is pointed %1° %2 and %3° %4.</source>
        <translation> このデバイスは%2 %1°、%4 %3°の向きに設置されています。</translation>
@@ -359,7 +398,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -449,6 +512,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>The reset cannot be undone. You have been warned.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⁍ Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⁍ Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls state of the device after boot/sleep.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DriveStats</name>
@@ -484,6 +572,21 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation>カメラ起動中</translation>
    </message>
 </context>
+<context>
+    <name>ExitOffroadButton</name>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">確認</translation>
+    </message>
+    <message>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>ExperimentalModeButton</name>
    <message>
@@ -497,10 +600,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </context>
 <context>
    <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation>🔥 Firehoseモード 🔥</translation>
-    </message>
    <message>
        <source>Firehose Mode: ACTIVE</source>
        <translation type="unfinished"></translation>
@@ -529,6 +628,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;動作停止&lt;/span&gt;: 大容量のネットワークに接続してください</translation>
    </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>HudRenderer</name>
@@ -650,6 +753,37 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>This platform supports limited MADS settings.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MadsSettings</name>
@@ -759,34 +893,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>SELECT</source>
        <translation type="unfinished">選択</translation>
    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Driving</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vision</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Policy</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>downloaded</source>
        <translation type="unfinished"></translation>
@@ -799,22 +905,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>from cache</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Fetching models...</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Select a Model</source>
        <translation type="unfinished"></translation>
@@ -859,6 +953,71 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>Cancel</source>
        <translation type="unfinished">キャンセル</translation>
    </message>
+    <message>
+        <source>Clear Model Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CLEAR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Learning Steer Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  %1 - %2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  pending - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>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.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -1009,7 +1168,9 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>デバイスの温度が高すぎるためシステム起動前の冷却中です。現在のデバイス内部温度: %1</translation>
    </message>
    <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -1028,6 +1189,13 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation> 警告</translation>
    </message>
 </context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>OnroadAlerts</name>
    <message>
@@ -1051,6 +1219,137 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>システムが応答しません</translation>
    </message>
 </context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">確認</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">選択</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">更新</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>PairingPopup</name>
    <message>
@@ -1376,6 +1675,10 @@ This may take up to a minute.</source>
        <source>Visuals</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Setup</name>
@@ -1471,6 +1774,16 @@ This may take up to a minute.</source>
        <source>Custom Software</source>
        <translation>カスタムソフトウェア</translation>
    </message>
+    <message>
+        <source>WARNING: Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
+
+If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -1682,6 +1995,30 @@ This may take up to a minute.</source>
        <source>Select a branch</source>
        <translation type="unfinished">ブランチを選択</translation>
    </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">再起動</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SshControl</name>
@@ -2032,6 +2369,25 @@ This may take up to a minute.</source>
        <source>openpilot longitudinal control may come in a future update.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Record and Upload Microphone Audio</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">選択</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">キャンセル</translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
@@ -2068,6 +2424,49 @@ This may take up to a minute.</source>
        <translation>更新失敗</translation>
    </message>
 </context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>WiFiPromptWidget</name>
    <message>
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -135,6 +135,25 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>ConfirmationDialog</name>
    <message>
@@ -179,6 +198,30 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
        <translation>ADB (안드로이드 디버그 브릿지) USB 또는 네트워크를 통해 장치에 연결할 수 있습니다. 자세한 내용은 https://docs.comma.ai/how-to/connect-to-comma를 참조하세요.</translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Enable GitHub runner service</source>
        <translation type="unfinished"></translation>
@@ -187,6 +230,10 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Enables or disables the github runner service.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Error Log</source>
        <translation type="unfinished"></translation>
@@ -200,15 +247,11 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
+        <source>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. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -294,10 +337,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Power Off</source>
        <translation>전원 끄기</translation>
    </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>sunnypilot 장치는 좌우 4°, 위로 5°, 아래로 9° 이내 각도로 장착되어야 합니다. sunnypilot은 지속적으로 자동 보정되며 재설정은 거의 필요하지 않습니다.</translation>
-    </message>
    <message>
        <source> Your device is pointed %1° %2 and %3° %4.</source>
        <translation> 사용자의 장치는 %2 %1° 및 %4 %3° 의 방향으로 장착되어 있습니다.</translation>
@@ -359,7 +398,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -449,6 +512,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>The reset cannot be undone. You have been warned.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⁍ Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⁍ Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls state of the device after boot/sleep.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DriveStats</name>
@@ -484,6 +572,21 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation>카메라 시작 중</translation>
    </message>
 </context>
+<context>
+    <name>ExitOffroadButton</name>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">확인</translation>
+    </message>
+    <message>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>ExperimentalModeButton</name>
    <message>
@@ -497,10 +600,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </context>
 <context>
    <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation>🔥 파이어호스 모드 🔥</translation>
-    </message>
    <message>
        <source>Firehose Mode: ACTIVE</source>
        <translation>파이어호스 모드: 활성화</translation>
@@ -529,6 +628,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>HudRenderer</name>
@@ -650,6 +753,37 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>This platform supports limited MADS settings.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MadsSettings</name>
@@ -759,34 +893,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>SELECT</source>
        <translation type="unfinished">선택</translation>
    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Driving</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vision</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Policy</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>downloaded</source>
        <translation type="unfinished"></translation>
@@ -799,22 +905,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>from cache</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Fetching models...</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Select a Model</source>
        <translation type="unfinished"></translation>
@@ -859,6 +953,71 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>Cancel</source>
        <translation type="unfinished">취소</translation>
    </message>
+    <message>
+        <source>Clear Model Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CLEAR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Learning Steer Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  %1 - %2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  pending - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>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.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -1009,7 +1168,9 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>장치의 온도가 너무 높습니다. 시작 전에 온도를 낮춰주세요. 현재 내부 구성 요소 온도: %1</translation>
    </message>
    <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -1028,6 +1189,13 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation> 알림</translation>
    </message>
 </context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>OnroadAlerts</name>
    <message>
@@ -1051,6 +1219,137 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>시스템이 응답하지않습니다</translation>
    </message>
 </context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">확인</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">선택</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">업데이트</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>PairingPopup</name>
    <message>
@@ -1376,6 +1675,10 @@ This may take up to a minute.</source>
        <source>Visuals</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Setup</name>
@@ -1471,6 +1774,16 @@ This may take up to a minute.</source>
        <source>Custom Software</source>
        <translation>커스텀 소프트웨어</translation>
    </message>
+    <message>
+        <source>WARNING: Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
+
+If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -1682,6 +1995,30 @@ This may take up to a minute.</source>
        <source>Select a branch</source>
        <translation type="unfinished">브랜치 선택</translation>
    </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">재부팅</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SshControl</name>
@@ -2032,6 +2369,25 @@ This may take up to a minute.</source>
        <source>openpilot longitudinal control may come in a future update.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Record and Upload Microphone Audio</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">선택</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">취소</translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
@@ -2068,6 +2424,49 @@ This may take up to a minute.</source>
        <translation>업데이트 실패</translation>
    </message>
 </context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>WiFiPromptWidget</name>
    <message>
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -135,6 +135,25 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>ConfirmationDialog</name>
    <message>
@@ -179,6 +198,30 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
        <translation>ADB (Android Debug Bridge) permite conectar ao seu dispositivo por meio do USB ou através da rede. Veja https://docs.comma.ai/how-to/connect-to-comma para maiores informações.</translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Enable GitHub runner service</source>
        <translation type="unfinished"></translation>
@@ -187,6 +230,10 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Enables or disables the github runner service.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Error Log</source>
        <translation type="unfinished"></translation>
@@ -200,15 +247,11 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
+        <source>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. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -294,10 +337,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Power Off</source>
        <translation>Desligar</translation>
    </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>O sunnypilot requer que o dispositivo seja montado dentro de 4° esquerda ou direita e dentro de 5° para cima ou 9° para baixo. O sunnypilot está continuamente calibrando, resetar raramente é necessário.</translation>
-    </message>
    <message>
        <source> Your device is pointed %1° %2 and %3° %4.</source>
        <translation> Seu dispositivo está montado %1° %2 e %3° %4.</translation>
@@ -359,7 +398,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -449,6 +512,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>The reset cannot be undone. You have been warned.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⁍ Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⁍ Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls state of the device after boot/sleep.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DriveStats</name>
@@ -484,6 +572,21 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation>câmera iniciando</translation>
    </message>
 </context>
+<context>
+    <name>ExitOffroadButton</name>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">Confirmar</translation>
+    </message>
+    <message>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>ExperimentalModeButton</name>
    <message>
@@ -497,10 +600,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </context>
 <context>
    <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation>🔥 Modo Firehose 🔥</translation>
-    </message>
    <message>
        <source>Firehose Mode: ACTIVE</source>
        <translation>Modo Firehose: ATIVO</translation>
@@ -530,6 +629,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INATIVO&lt;/span&gt;: conecte-se a uma rede sem limite &lt;br&gt; de dados</translation>
    </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>HudRenderer</name>
@@ -652,6 +755,37 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>This platform supports limited MADS settings.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MadsSettings</name>
@@ -761,34 +895,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>SELECT</source>
        <translation type="unfinished">SELECIONE</translation>
    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Driving</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vision</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Policy</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>downloaded</source>
        <translation type="unfinished"></translation>
@@ -801,22 +907,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>from cache</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Fetching models...</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Select a Model</source>
        <translation type="unfinished"></translation>
@@ -861,6 +955,71 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>Cancel</source>
        <translation type="unfinished">Cancelar</translation>
    </message>
+    <message>
+        <source>Clear Model Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CLEAR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Learning Steer Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  %1 - %2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  pending - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>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.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -1011,7 +1170,9 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>Temperatura do dispositivo muito alta. O sistema está sendo resfriado antes de iniciar. A temperatura atual do componente interno é: %1</translation>
    </message>
    <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -1030,6 +1191,13 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation> ALERTA</translation>
    </message>
 </context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>OnroadAlerts</name>
    <message>
@@ -1053,6 +1221,137 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>Sistema sem Resposta</translation>
    </message>
 </context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">VERIFICAR</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">SELECIONE</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">ATUALIZAÇÃO</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>PairingPopup</name>
    <message>
@@ -1381,6 +1680,10 @@ Isso pode levar até um minuto.</translation>
        <source>Visuals</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Setup</name>
@@ -1476,6 +1779,16 @@ Isso pode levar até um minuto.</translation>
        <source>Custom Software</source>
        <translation>Software Customizado</translation>
    </message>
+    <message>
+        <source>WARNING: Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
+
+If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -1687,6 +2000,30 @@ Isso pode levar até um minuto.</translation>
        <source>Select a branch</source>
        <translation type="unfinished">Selecione uma branch</translation>
    </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">Reiniciar</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SshControl</name>
@@ -2037,6 +2374,25 @@ Isso pode levar até um minuto.</translation>
        <source>openpilot longitudinal control may come in a future update.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Record and Upload Microphone Audio</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">Selecione</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Cancelar</translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
@@ -2073,6 +2429,49 @@ Isso pode levar até um minuto.</translation>
        <translation>Falha na atualização</translation>
    </message>
 </context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>WiFiPromptWidget</name>
    <message>
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -135,6 +135,25 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>ConfirmationDialog</name>
    <message>
@@ -179,6 +198,30 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Enable GitHub runner service</source>
        <translation type="unfinished"></translation>
@@ -187,6 +230,10 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Enables or disables the github runner service.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Error Log</source>
        <translation type="unfinished"></translation>
@@ -200,15 +247,11 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
+        <source>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. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -294,10 +337,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Power Off</source>
        <translation>ปิดเครื่อง</translation>
    </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>sunnypilot กำหนดให้ติดตั้งอุปกรณ์ โดยสามารถเอียงด้านซ้ายหรือขวาไม่เกิน 4° และเอียงขึ้นด้านบนไม่เกิน 5° หรือเอียงลงด้านล่างไม่เกิน 9° sunnypilot ทำการคาลิเบรทอย่างต่อเนื่อง แทบจะไม่จำเป็นต้องทำการรีเซ็ตการคาลิเบรท</translation>
-    </message>
    <message>
        <source> Your device is pointed %1° %2 and %3° %4.</source>
        <translation> อุปกรณ์ของคุณเอียงไปทาง %2 %1° และ %4 %3°</translation>
@@ -359,7 +398,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -449,6 +512,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>The reset cannot be undone. You have been warned.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⁍ Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⁍ Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls state of the device after boot/sleep.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DriveStats</name>
@@ -484,6 +572,21 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation>กำลังเปิดกล้อง</translation>
    </message>
 </context>
+<context>
+    <name>ExitOffroadButton</name>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">ยืนยัน</translation>
+    </message>
+    <message>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>ExperimentalModeButton</name>
    <message>
@@ -497,10 +600,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </context>
 <context>
    <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Firehose Mode: ACTIVE</source>
        <translation type="unfinished"></translation>
@@ -529,6 +628,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>HudRenderer</name>
@@ -650,6 +753,37 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>This platform supports limited MADS settings.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MadsSettings</name>
@@ -759,34 +893,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>SELECT</source>
        <translation type="unfinished">เลือก</translation>
    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Driving</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vision</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Policy</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>downloaded</source>
        <translation type="unfinished"></translation>
@@ -799,22 +905,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>from cache</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Fetching models...</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Select a Model</source>
        <translation type="unfinished"></translation>
@@ -859,6 +953,71 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>Cancel</source>
        <translation type="unfinished">ยกเลิก</translation>
    </message>
+    <message>
+        <source>Clear Model Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CLEAR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Learning Steer Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  %1 - %2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  pending - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>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.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -1009,7 +1168,9 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>sunnypilot ตรวจพบการเปลี่ยนแปลงของตำแหน่งที่ติดตั้ง กรุณาตรวจสอบว่าได้เลื่อนอุปกรณ์เข้ากับจุดติดตั้งจนสุดแล้ว และจุดติดตั้งได้ยึดติดกับกระจกหน้าอย่างแน่นหนา</translation>
    </message>
    <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -1028,6 +1189,13 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation> การแจ้งเตือน</translation>
    </message>
 </context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>OnroadAlerts</name>
    <message>
@@ -1051,6 +1219,137 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">ตรวจสอบ</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">เลือก</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">อัปเดต</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>PairingPopup</name>
    <message>
@@ -1376,6 +1675,10 @@ This may take up to a minute.</source>
        <source>Visuals</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Setup</name>
@@ -1471,6 +1774,16 @@ This may take up to a minute.</source>
        <source>Custom Software</source>
        <translation>ซอฟต์แวร์ที่กำหนดเอง</translation>
    </message>
+    <message>
+        <source>WARNING: Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
+
+If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -1682,6 +1995,30 @@ This may take up to a minute.</source>
        <source>Select a branch</source>
        <translation type="unfinished">เลือก Branch</translation>
    </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">รีบูต</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SshControl</name>
@@ -2032,6 +2369,25 @@ This may take up to a minute.</source>
        <source>openpilot longitudinal control may come in a future update.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Record and Upload Microphone Audio</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">เลือก</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">ยกเลิก</translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
@@ -2068,6 +2424,49 @@ This may take up to a minute.</source>
        <translation>การอัปเดตล้มเหลว</translation>
    </message>
 </context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>WiFiPromptWidget</name>
    <message>
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -135,6 +135,25 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>ConfirmationDialog</name>
    <message>
@@ -179,6 +198,30 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Enable GitHub runner service</source>
        <translation type="unfinished"></translation>
@@ -187,6 +230,10 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Enables or disables the github runner service.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Error Log</source>
        <translation type="unfinished"></translation>
@@ -200,15 +247,11 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
+        <source>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. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -294,10 +337,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Power Off</source>
        <translation>Sistemi kapat</translation>
    </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>sunnypilot, cihazın 4° sola veya 5° yukarı yada 9° aşağı bakıcak şekilde monte edilmesi gerekmektedir. sunnypilot sürekli kendisini kalibre edilmektedir ve nadiren sıfırlama gerebilir.</translation>
-    </message>
    <message>
        <source> Your device is pointed %1° %2 and %3° %4.</source>
        <translation> Cihazınız %1° %2 ve %3° %4 yönünde ayarlı</translation>
@@ -359,7 +398,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -449,6 +512,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>The reset cannot be undone. You have been warned.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⁍ Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⁍ Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls state of the device after boot/sleep.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DriveStats</name>
@@ -484,6 +572,21 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation>kamera başlatılıyor</translation>
    </message>
 </context>
+<context>
+    <name>ExitOffroadButton</name>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">Onayla</translation>
+    </message>
+    <message>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>ExperimentalModeButton</name>
    <message>
@@ -497,10 +600,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </context>
 <context>
    <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Firehose Mode: ACTIVE</source>
        <translation type="unfinished"></translation>
@@ -529,6 +628,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>HudRenderer</name>
@@ -650,6 +753,37 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>This platform supports limited MADS settings.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MadsSettings</name>
@@ -759,34 +893,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>SELECT</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Driving</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vision</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Policy</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>downloaded</source>
        <translation type="unfinished"></translation>
@@ -799,22 +905,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>from cache</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Fetching models...</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Select a Model</source>
        <translation type="unfinished"></translation>
@@ -859,6 +953,71 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>Cancel</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Clear Model Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CLEAR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Learning Steer Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  %1 - %2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  pending - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>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.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -1008,7 +1167,9 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -1027,6 +1188,13 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation> UYARI</translation>
    </message>
 </context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>OnroadAlerts</name>
    <message>
@@ -1050,6 +1218,137 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">KONTROL ET</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">GÜNCELLE</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>PairingPopup</name>
    <message>
@@ -1374,6 +1673,10 @@ This may take up to a minute.</source>
        <source>Visuals</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Setup</name>
@@ -1469,6 +1772,16 @@ This may take up to a minute.</source>
        <source>Custom Software</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>WARNING: Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
+
+If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -1680,6 +1993,30 @@ This may take up to a minute.</source>
        <source>Select a branch</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">Yeniden başlat</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SshControl</name>
@@ -2030,6 +2367,25 @@ This may take up to a minute.</source>
        <source>openpilot longitudinal control may come in a future update.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Record and Upload Microphone Audio</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">Seç</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
@@ -2066,6 +2422,49 @@ This may take up to a minute.</source>
        <translation>Güncelleme başarız oldu</translation>
    </message>
 </context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>WiFiPromptWidget</name>
    <message>
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -135,6 +135,25 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>ConfirmationDialog</name>
    <message>
@@ -179,6 +198,30 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
        <translation>ADB（Android调试桥接）允许通过USB或网络连接到您的设备。更多信息请参见 [https://docs.comma.ai/how-to/connect-to-comma](https://docs.comma.ai/how-to/connect-to-comma)。</translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Enable GitHub runner service</source>
        <translation type="unfinished"></translation>
@@ -187,6 +230,10 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Enables or disables the github runner service.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Error Log</source>
        <translation type="unfinished"></translation>
@@ -200,15 +247,11 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
+        <source>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. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -294,10 +337,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Power Off</source>
        <translation>关机</translation>
    </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>sunnypilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下9°之间。一般来说，sunnypilot会持续更新校准，很少需要重置。</translation>
-    </message>
    <message>
        <source> Your device is pointed %1° %2 and %3° %4.</source>
        <translation> 您的设备校准为%1° %2、%3° %4。</translation>
@@ -359,7 +398,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -449,6 +512,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>The reset cannot be undone. You have been warned.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⁍ Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⁍ Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls state of the device after boot/sleep.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DriveStats</name>
@@ -484,6 +572,21 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation>正在启动相机</translation>
    </message>
 </context>
+<context>
+    <name>ExitOffroadButton</name>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">确认</translation>
+    </message>
+    <message>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>ExperimentalModeButton</name>
    <message>
@@ -497,10 +600,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </context>
 <context>
    <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation>🔥 训练数据上传模式 🔥</translation>
-    </message>
    <message>
        <source>Firehose Mode: ACTIVE</source>
        <translation>训练数据上传模式：激活中</translation>
@@ -529,6 +628,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;闲置&lt;/span&gt;：请连接到不限流量的网络</translation>
    </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>HudRenderer</name>
@@ -650,6 +753,37 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>This platform supports limited MADS settings.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MadsSettings</name>
@@ -759,34 +893,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>SELECT</source>
        <translation type="unfinished">选择</translation>
    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Driving</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vision</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Policy</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>downloaded</source>
        <translation type="unfinished"></translation>
@@ -799,22 +905,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>from cache</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Fetching models...</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Select a Model</source>
        <translation type="unfinished"></translation>
@@ -859,6 +953,71 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>Cancel</source>
        <translation type="unfinished">取消</translation>
    </message>
+    <message>
+        <source>Clear Model Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CLEAR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Learning Steer Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  %1 - %2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  pending - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>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.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -1009,7 +1168,9 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>设备温度过高。系统正在冷却中，等冷却完毕后才会启动。目前内部组件温度：%1</translation>
    </message>
    <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -1028,6 +1189,13 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation> 警报</translation>
    </message>
 </context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>OnroadAlerts</name>
    <message>
@@ -1051,6 +1219,137 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>系统无响应</translation>
    </message>
 </context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">查看</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">选择</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">更新</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>PairingPopup</name>
    <message>
@@ -1376,6 +1675,10 @@ This may take up to a minute.</source>
        <source>Visuals</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Setup</name>
@@ -1471,6 +1774,16 @@ This may take up to a minute.</source>
        <source>Custom Software</source>
        <translation>定制软件</translation>
    </message>
+    <message>
+        <source>WARNING: Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
+
+If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -1682,6 +1995,30 @@ This may take up to a minute.</source>
        <source>Select a branch</source>
        <translation type="unfinished">选择分支</translation>
    </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">重启</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SshControl</name>
@@ -2032,6 +2369,25 @@ This may take up to a minute.</source>
        <source>openpilot longitudinal control may come in a future update.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Record and Upload Microphone Audio</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">选择</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">取消</translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
@@ -2068,6 +2424,49 @@ This may take up to a minute.</source>
        <translation>更新失败</translation>
    </message>
 </context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>WiFiPromptWidget</name>
    <message>
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -135,6 +135,25 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>Brightness</name>
+    <message>
+        <source>Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto (Dark)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>ConfirmationDialog</name>
    <message>
@@ -179,6 +198,30 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
        <translation>ADB（Android 調試橋接）允許通過 USB 或網絡連接到您的設備。更多信息請參見 [https://docs.comma.ai/how-to/connect-to-comma](https://docs.comma.ai/how-to/connect-to-comma)。</translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DeveloperPanelSP</name>
+    <message>
+        <source>Show Advanced Controls</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toggle visibility of advanced sunnypilot controls.
+This only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Enable GitHub runner service</source>
        <translation type="unfinished"></translation>
@@ -187,6 +230,10 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Enables or disables the github runner service.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable Quickboot Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Error Log</source>
        <translation type="unfinished"></translation>
@@ -200,15 +247,11 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
+        <source>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. &lt;br&gt;&lt;br&gt;&lt;b&gt;To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.&lt;/b&gt;</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -294,10 +337,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Power Off</source>
        <translation>關機</translation>
    </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>sunnypilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以內或朝下偏差 9° 以內。鏡頭在後台會持續自動校準，很少有需要重置的情況。</translation>
-    </message>
    <message>
        <source> Your device is pointed %1° %2 and %3° %4.</source>
        <translation> 你的裝置目前朝%2 %1° 以及朝%4 %3° 。</translation>
@@ -359,7 +398,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Steering lag calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is %1% complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Steering torque response calibration is complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -449,6 +512,31 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>The reset cannot be undone. You have been warned.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Wake-Up Behavior</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Apply a custom timeout for settings UI.
+This is the time after which settings UI closes automatically if user is not interacting with the screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⁍ Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⁍ Offroad: Device will be in Always Offroad mode after boot/wake-up.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls state of the device after boot/sleep.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DriveStats</name>
@@ -484,6 +572,21 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <translation>開啟相機中</translation>
    </message>
 </context>
+<context>
+    <name>ExitOffroadButton</name>
+    <message>
+        <source>Are you sure you want to exit Always Offroad mode?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation type="unfinished">確認</translation>
+    </message>
+    <message>
+        <source>EXIT ALWAYS OFFROAD MODE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>ExperimentalModeButton</name>
    <message>
@@ -497,10 +600,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </context>
 <context>
    <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation>🔥 訓練資料上傳模式 🔥</translation>
-    </message>
    <message>
        <source>Firehose Mode: ACTIVE</source>
        <translation>訓練資料上傳模式：啟用中</translation>
@@ -529,6 +628,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
        <translation type="unfinished">&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;閒置中&lt;/span&gt;：請連接到不按流量計費的網絡</translation>
    </message>
+    <message>
+        <source>Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>HudRenderer</name>
@@ -650,6 +753,37 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>This platform supports limited MADS settings.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Pause Lateral Control with Blinker</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause lateral control with blinker when traveling below the desired speed selected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>LongitudinalPanel</name>
+    <message>
+        <source>Custom ACC Speed Increments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable custom Short &amp; Long press increments for cruise speed increase/decrease.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature is not supported on this platform due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MadsSettings</name>
@@ -759,34 +893,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>SELECT</source>
        <translation type="unfinished">選取</translation>
    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Driving</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vision</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Policy</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>downloaded</source>
        <translation type="unfinished"></translation>
@@ -799,22 +905,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>from cache</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Fetching models...</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Select a Model</source>
        <translation type="unfinished"></translation>
@@ -859,6 +953,71 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>Cancel</source>
        <translation type="unfinished">取消</translation>
    </message>
+    <message>
+        <source>Clear Model Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CLEAR</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Learning Steer Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Software Delay</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust the software delay when Live Learning Steer Delay is toggled off.
+The default software delay value is 0.2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  %1 - %2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  download failed - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>  pending - %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>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.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded models from the cache&lt;br/&gt;&lt;u&gt;except the currently active model&lt;/u&gt;.&lt;br/&gt;&lt;br/&gt;Are you sure you want to continue?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clear Cache</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -1009,7 +1168,9 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>裝置溫度過高。系統正在冷卻中，等冷卻完畢後才會啟動。目前內部組件溫度：%1</translation>
    </message>
    <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
+        <source>OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.
+
+%1</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
@@ -1028,6 +1189,13 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation> 提醒</translation>
    </message>
 </context>
+<context>
+    <name>OffroadHomeSP</name>
+    <message>
+        <source>ALWAYS OFFROAD ACTIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>OnroadAlerts</name>
    <message>
@@ -1051,6 +1219,137 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>系統無回應</translation>
    </message>
 </context>
+<context>
+    <name>OsmPanel</name>
+    <message>
+        <source>Mapd Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Maps ETA</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time Elapsed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded Maps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DELETE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will delete ALL downloaded maps
+
+Are you sure you want to delete all the maps?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yes, delete all the maps.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Database Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">檢查</translation>
+    </message>
+    <message>
+        <source>Country</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">選取</translation>
+    </message>
+    <message>
+        <source>Fetching Country list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>State</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching State list...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPDATE</source>
+        <translation type="unfinished">更新</translation>
+    </message>
+    <message>
+        <source>Download starting...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Error: Invalid download. Retry.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download complete!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>
+
+Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This will start the download process and it might take a while to complete.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m </source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Calculating ETA...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time remaining: </source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>PairingPopup</name>
    <message>
@@ -1376,6 +1675,10 @@ This may take up to a minute.</source>
        <source>Visuals</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>OSM</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Setup</name>
@@ -1471,6 +1774,16 @@ This may take up to a minute.</source>
        <source>Custom Software</source>
        <translation>自訂軟體</translation>
    </message>
+    <message>
+        <source>WARNING: Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
+
+If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -1682,6 +1995,30 @@ This may take up to a minute.</source>
        <source>Select a branch</source>
        <translation type="unfinished">選取一個分支</translation>
    </message>
+    <message>
+        <source>Disable Updates</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled. &lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 updates requires a reboot.&lt;br&gt;Reboot now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">重新啟動</translation>
+    </message>
+    <message>
+        <source>When enabled, software updates will be disabled.&lt;br&gt;&lt;b&gt;This requires a reboot to take effect.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Please enable always offroad mode or turn off vehicle to adjust these toggles</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SshControl</name>
@@ -2032,6 +2369,25 @@ This may take up to a minute.</source>
        <source>openpilot longitudinal control may come in a future update.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Record and Upload Microphone Audio</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TreeOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="unfinished">選擇</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">取消</translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
@@ -2068,6 +2424,49 @@ This may take up to a minute.</source>
        <translation>更新失敗</translation>
    </message>
 </context>
+<context>
+    <name>VisualsPanel</name>
+    <message>
+        <source>Show Blind Spot Warnings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Metrics Below Chevron</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>WiFiPromptWidget</name>
    <message>
--- a/selfdrive/ui/ui.cc
+++ b/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;
 }
--- a/selfdrive/ui/ui.h
+++ b/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;

--- a/selfdrive/ui/ui_state.py
+++ b/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()
--- a/sunnypilot/livedelay/init.py
+++ b/sunnypilot/livedelay/init.py
--- a/sunnypilot/livedelay/lagd_toggle.py
+++ b/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
--- a/Show More
+++ b/Show More