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

Merge branch 'master-new' into hkg-angle-steering-2025
2026-08-23 17:33:50 +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
93 changed files with 10783 additions and 1896 deletions
@@ -2,4 +2,5 @@ Wen
 REGIST
 PullRequest
 cancelled
+indeces
 FOF
@@ -1,21 +1,23 @@
-name: Build All Tinygrad Models and Push to GitLab
+name: Build and push all tinygrad models

 on:
  workflow_dispatch:
    inputs:
-      branch:
-        description: 'Branch to run workflow from'
-        required: false
-        default: 'master-new'
+      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
+      - name: Checkout docs repo (sunnypilot-docs, gh-pages)
        uses: actions/checkout@v4
        with:
          repository: sunnypilot/sunnypilot-docs
@@ -23,7 +25,7 @@ jobs:
          path: docs
          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}

-      - name: Get next JSON version to use
+      - name: Get next JSON version to use (from GitHub docs repo)
        id: get-json
        run: |
          cd docs/docs
@@ -31,19 +33,131 @@ jobs:
          next=$((latest+1))
          json_file="driving_models_v${next}.json"
          cp "driving_models_v${latest}.json" "$json_file"
-          echo "json_file=$json_file" >> $GITHUB_OUTPUT
+          echo "json_file=docs/docs/$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: Upload context for next jobs
-        uses: actions/upload-artifact@v4
+      - 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:
-          name: context
-          path: docs
+          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+      - run: |
+          mkdir -p ~/.ssh
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts

-  build-all:
+      - 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
-    needs: setup
+    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: ${{ fromJson(needs.setup.outputs.model_matrix) }}
    env:
-      JSON_FILE: docs/docs/${{ needs.setup.outputs.json_file }}
+      RECOMPILED_DIR: recompiled${{ needs.setup.outputs.recompiled_dir }}
+      JSON_FILE: ${{ needs.setup.outputs.json_file }}
+      ARTIFACT_NAME_INPUT: ${{ matrix.model.display_name }}
    steps:
      - name: Set up SSH
        uses: webfactory/ssh-agent@v0.9.0
@@ -62,138 +176,73 @@ jobs:
          echo "Cloning GitLab"
          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
          cd gitlab_docs
+          echo "checkout models/${RECOMPILED_DIR}"
+          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
          git checkout main
          cd ..

-      - name: Set next recompiled dir
-        id: set-recompiled
-        run: |
-          cd gitlab_docs/models
-          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
-          if [[ -z "$latest_dir" ]]; then
-            next_dir=1
-          else
-            next_dir=$((latest_dir+1))
-          fi
-          recompiled_dir="recompiled${next_dir}"
-          mkdir -p "$recompiled_dir"
-          echo "RECOMPILED_DIR=$recompiled_dir" >> $GITHUB_ENV
-
-      - name: Download context
-        uses: actions/download-artifact@v4
+      - name: Checkout docs repo
+        uses: actions/checkout@v4
        with:
-          name: context
-          path: .
+          repository: sunnypilot/sunnypilot-docs
+          ref: gh-pages
+          path: docs
+          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}

-      - name: Install dependencies
+      - name: Validate recompiled dir and JSON version
        run: |
-          sudo apt-get update
-          sudo apt-get install -y jq gh
-
-      - name: Build all tinygrad models
-        id: trigger-builds
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: |
-          set -e
-          > triggered_run_ids.txt
-          BRANCH="${{ github.event.inputs.branch }}"
-          jq -c '.bundles[] | select(.runner=="tinygrad")' "$JSON_FILE" | while read -r bundle; do
-            ref=$(echo "$bundle" | jq -r '.ref')
-            display_name=$(echo "$bundle" | jq -r '.display_name' | sed 's/ ([^)]*)//g')
-            is_20hz=$(echo "$bundle" | jq -r '.is_20hz')
-            echo "Triggering build for: $display_name ($ref) [20Hz: $is_20hz]"
-            START_TIME=$(date -u +"%Y-%m-%dT%H:%M:%SZ")
-            gh workflow run sunnypilot-build-model.yaml \
-              --repo sunnypilot/sunnypilot \
-              --ref "$BRANCH" \
-              -f upstream_branch="$ref" \
-              -f custom_name="$display_name" \
-              -f is_20hz="$is_20hz"
-            for i in {1..24}; do
-              RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="$BRANCH" --created ">$START_TIME" --limit=1 --json databaseId --jq '.[0].databaseId')
-              if [ -n "$RUN_ID" ]; then
-                break
-              fi
-              sleep 5
-            done
-            if [ -z "$RUN_ID" ]; then
-              echo "ould not find the triggered workflow run for $display_name ($ref)"
-              exit 1
-            fi
-            echo "$RUN_ID" >> triggered_run_ids.txt
-          done
-
-      - name: Wait for all model builds to finish
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: |
-          set -e
-          SUCCESS_RUNS=()
-          FAILED_RUNS=()
-          declare -A RUN_ID_TO_NAME
-
-          while read -r RUN_ID; do
-            ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name' || echo "unknown")
-            RUN_ID_TO_NAME["$RUN_ID"]="$ARTIFACT_NAME"
-          done < triggered_run_ids.txt
-
-          while read -r RUN_ID; do
-            echo "Watching run ID: $RUN_ID"
-            gh run watch "$RUN_ID" --repo sunnypilot/sunnypilot
-            CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
-            ARTIFACT_NAME="${RUN_ID_TO_NAME[$RUN_ID]}"
-            echo "Run $RUN_ID ($ARTIFACT_NAME) concluded with: $CONCLUSION"
-            if [[ "$CONCLUSION" == "success" ]]; then
-              SUCCESS_RUNS+=("$RUN_ID")
-            else
-              FAILED_RUNS+=("$RUN_ID")
-            fi
-          done < triggered_run_ids.txt
-
-          if [[ ${#SUCCESS_RUNS[@]} -eq 0 ]]; then
-            echo "All model builds failed. Aborting."
+          if [ ! -d "gitlab_docs/models/$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

-          if [[ ${#FAILED_RUNS[@]} -gt 0 ]]; then
-            echo "WARNING: The following model builds failed:"
-            for RUN_ID in "${FAILED_RUNS[@]}"; do
-              echo "- $RUN_ID (${RUN_ID_TO_NAME[$RUN_ID]})"
-            done
-            echo "You may want to rerun these models manually."
-          fi
+      - name: Download artifact name file
+        uses: actions/download-artifact@v4
+        with:
+          name: artifact-name-${{ env.ARTIFACT_NAME_INPUT }}
+          path: artifact_name

-      - name: Download and extract all model artifacts
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      - name: Read artifact name
+        id: read-artifact-name
        run: |
-          ARTIFACT_DIR="gitlab_docs/models/$RECOMPILED_DIR"
-          SUCCESS_RUNS=()
-          while read -r RUN_ID; do
-            CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
-            if [[ "$CONCLUSION" == "success" ]]; then
-              SUCCESS_RUNS+=("$RUN_ID")
-            fi
-          done < triggered_run_ids.txt
+          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
+          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT

-          for RUN_ID in "${SUCCESS_RUNS[@]}"; do
-            ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name')
-            echo "Downloading artifact: $ARTIFACT_NAME from run: $RUN_ID"
-            mkdir -p "$ARTIFACT_DIR/$ARTIFACT_NAME"
-            echo "Created directory: $ARTIFACT_DIR/$ARTIFACT_NAME"
-            gh run download "$RUN_ID" --repo sunnypilot/sunnypilot -n "$ARTIFACT_NAME" --dir "$ARTIFACT_DIR/$ARTIFACT_NAME"
-            echo "Downloaded artifact zip(s) to: $ARTIFACT_DIR/$ARTIFACT_NAME"
-            ZIP_PATH=$(find "$ARTIFACT_DIR/$ARTIFACT_NAME" -type f -name '*.zip' | head -n1)
-            if [ -n "$ZIP_PATH" ]; then
-              echo "Unzipping $ZIP_PATH to $ARTIFACT_DIR/$ARTIFACT_NAME"
-              unzip -o "$ZIP_PATH" -d "$ARTIFACT_DIR/$ARTIFACT_NAME"
-              rm -f "$ZIP_PATH"
-              echo "Unzipped and removed $ZIP_PATH"
+      - 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
-              echo "No zip file found in $ARTIFACT_DIR/$ARTIFACT_NAME (This is NOT an error)."
+              cp "$path" "$ARTIFACT_DIR/"
+              echo "Copied file $name -> $ARTIFACT_DIR/"
            fi
-            echo "Done processing $ARTIFACT_NAME"
          done

      - name: Push recompiled dir to GitLab
@@ -202,25 +251,35 @@ jobs:
        run: |
          cd gitlab_docs
          git checkout main
-          mkdir -p models/"$(basename $RECOMPILED_DIR)"
-          git add models/"$(basename $RECOMPILED_DIR)"
+          git pull origin main
+          for d in models/"$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 "Add $(basename $RECOMPILED_DIR) from build-all-tinygrad-models"
+          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: Run json_parser.py to update JSON
+      - name: update json
        run: |
-          python3 docs/json_parser.py \
+          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"
+            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
+            $ARGS

-      - name: Push updated JSON to GitHub docs repo
+      - 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 models" || echo "No changes to commit"
+          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
          git push origin gh-pages
@@ -1,13 +1,36 @@
 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:
-      build_model_ref:
-        description: 'Branch to use for build-model workflow'
-        required: false
-        default: 'master-new'
-        type: string
      upstream_branch:
        description: 'Upstream commit to build from'
        required: true
@@ -26,10 +49,12 @@ on:
        type: number
      model_folder:
        description: 'Model folder'
-        required: true
        type: choice
+        default: 'None'
        options:
+          - None
          - Simple Plan Models
+          - Space Lab Models
          - TR Models
          - DTR Models
          - Custom Merge Models
@@ -47,13 +72,27 @@ on:
        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-single:
+  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
-    env:
-      RECOMPILED_DIR: recompiled${{ github.event.inputs.recompiled_dir }}
-      JSON_FILE: docs/docs/driving_models_v${{ github.event.inputs.json_version }}.json
    steps:
      - name: Set up SSH
        uses: webfactory/ssh-agent@v0.9.0
@@ -96,66 +135,49 @@ jobs:
            exit 1
          fi

-      - name: Install dependencies
+      - 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: |
-          sudo apt-get update
-          sudo apt-get install -y jq gh
-
-      - name: Build model
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: |
-          START_TIME=$(date -u +"%Y-%m-%dT%H:%M:%SZ")
-          gh workflow run sunnypilot-build-model.yaml \
-            --repo sunnypilot/sunnypilot \
-            --ref "${{ github.event.inputs.build_model_ref }}" \
-            -f upstream_branch="${{ github.event.inputs.upstream_branch }}" \
-            -f custom_name="${{ github.event.inputs.custom_name }}"
-
-          for i in {1..24}; do
-            RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="${{ github.event.inputs.build_model_ref }}" --created ">$START_TIME" --limit=1 --json databaseId --jq '.[0].databaseId')
-            if [ -n "$RUN_ID" ]; then
-              break
-            fi
-            sleep 5
-          done
-
-          if [ -z "$RUN_ID" ]; then
-            echo "Could not find the triggered workflow run."
-            exit 1
-          fi
-
-          echo "Watching run ID: $RUN_ID"
-          gh run watch "$RUN_ID" --repo sunnypilot/sunnypilot
-          CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
-          echo "Run concluded with: $CONCLUSION"
-          if [[ "$CONCLUSION" != "success" ]]; then
-            echo "Workflow run failed with conclusion: $CONCLUSION"
-            exit 1
-          fi
+          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
+          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT

      - name: Download and extract model artifact
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        uses: actions/download-artifact@v4
+        with:
+          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
+          path: output
+
+      - name: Remove unwanted files
        run: |
-          ARTIFACT_DIR="gitlab_docs/models/$RECOMPILED_DIR"
-          RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="${{ github.event.inputs.build_model_ref }}" --limit=1 --json databaseId --jq '.[0].databaseId')
-          ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name')
-          echo "Downloading artifact: $ARTIFACT_NAME from run: $RUN_ID"
-          mkdir -p "$ARTIFACT_DIR/$ARTIFACT_NAME"
-          echo "Created directory: $ARTIFACT_DIR/$ARTIFACT_NAME"
-          gh run download "$RUN_ID" --repo sunnypilot/sunnypilot -n "$ARTIFACT_NAME" --dir "$ARTIFACT_DIR/$ARTIFACT_NAME"
-          echo "Downloaded artifact zip(s) to: $ARTIFACT_DIR/$ARTIFACT_NAME"
-          ZIP_PATH=$(find "$ARTIFACT_DIR/$ARTIFACT_NAME" -type f -name '*.zip' | head -n1)
-          if [ -n "$ZIP_PATH" ]; then
-            echo "Unzipping $ZIP_PATH to $ARTIFACT_DIR/$ARTIFACT_NAME"
-            unzip -o "$ZIP_PATH" -d "$ARTIFACT_DIR/$ARTIFACT_NAME"
-            rm -f "$ZIP_PATH"
-            echo "Unzipped and removed $ZIP_PATH"
-          else
-            echo "No zip file found in $ARTIFACT_DIR/$ARTIFACT_NAME"
-          fi
-          echo "Done processing $ARTIFACT_NAME"
+          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:
@@ -163,28 +185,36 @@ jobs:
        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 new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
+          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="${{ github.event.inputs.model_folder }}"
+          FOLDER="${{ inputs.model_folder }}"
          if [ "$FOLDER" = "Other" ]; then
-            FOLDER="${{ github.event.inputs.custom_model_folder }}"
+            FOLDER="${{ inputs.custom_model_folder }}"
          fi
          ARGS=""
-          [ -n "$FOLDER" ] && ARGS="$ARGS --model-folder \"$FOLDER\""
-          [ -n "${{ github.event.inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ github.event.inputs.generation }}\""
-          [ -n "${{ github.event.inputs.version }}" ] && ARGS="$ARGS --version \"${{ github.event.inputs.version }}\""
+          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
@@ -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
@@ -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: ${{ env.OUTPUT_DIR }}/artifact_name.txt
+
      - name: Re-enable powersave
        if: always()
        run: |
@@ -50,7 +50,7 @@ jobs:
    concurrency:
      group: build-${{ 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: ${{ steps.set-env.outputs.version }}
@@ -153,6 +153,7 @@ jobs:
              }
            }' -F label="is:pr is:open label:${PR_LABEL} draft:false sort:created-asc")

+          PR_LIST=${PR_LIST//\'/}
          echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
        env:
          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -21,5 +21,12 @@
        </clean>
      </configuration>
    </target>
+    <target id="f2590b2b-9b93-49f9-8510-da3f3724a2ae" name="replay" defaultType="TOOL">
+      <configuration id="d475264f-6f4c-4092-9b4e-6773309f38b7" name="replay" toolchainName="Default">
+        <build type="TOOL">
+          <tool actionId="Tool_External Tools_uv build tools replay" />
+        </build>
+      </configuration>
+    </target>
  </component>
 </project>
@@ -2,7 +2,7 @@
  <tool name="uv Scons Build Debug" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
    <exec>
      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(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>
@@ -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>
@@ -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>
@@ -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>
@@ -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>
@@ -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},
@@ -124,25 +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},
@@ -152,6 +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},
@@ -173,9 +178,9 @@ 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
@@ -202,4 +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}
+    
 };
@@ -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>||
@@ -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>|||
@@ -59,7 +59,7 @@ dependencies = [
  "future-fstrings",

  # joystickd
-  "inputs",
+  "pygame",

  # these should be removed
  "psutil",
@@ -108,7 +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",
@@ -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
@@ -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() {
@@ -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)
@@ -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
@@ -90,7 +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 = 0.0
+    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']
@@ -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:
@@ -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;
@@ -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;

@@ -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.;
@@ -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;
 };
@@ -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 "";
+}
@@ -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;
+};
@@ -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",
 ]

@@ -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();
+}
@@ -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;
+};
@@ -212,7 +212,7 @@ void DevicePanelSP::updateState() {

  QString timeoutValue = QString::fromStdString(params.get("InteractivityTimeout"));
  if (timeoutValue == "0") {
-    interactivityTimeout->setLabel("DEFAULT");
+    interactivityTimeout->setLabel("Default");
  } else {
    interactivityTimeout->setLabel(timeoutValue + "s");
  }
@@ -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;
+}
@@ -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;
+};
@@ -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();

@@ -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;
@@ -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");
@@ -98,7 +105,7 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
  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"),
-                                     "", {10, 30}, 1, false, nullptr, true);
+                                     "", {5, 30}, 1, false, nullptr, true, true);

  connect(delay_control, &OptionControlSP::updateLabels, [=]() {
    float value = QString::fromStdString(params.get("LagdToggledelay")).toFloat();
@@ -244,28 +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;
@@ -314,14 +366,14 @@ void ModelsPanel::updateLabels() {
    desc += "<br><br><b><span style=\"color:#e0e0e0\">" + tr("Current:") + "</span></b> <span style=\"color:#e0e0e0\">" + current + "</span>";
  }
  lagd_toggle_control->setDescription(desc);
-  lagd_toggle_control->showDescription();

  delay_control->setVisible(!params.getBool("LagdToggle"));
  if (delay_control->isVisible()) {
    float value = QString::fromStdString(params.get("LagdToggledelay")).toFloat();
    delay_control->setLabel(QString::number(value, 'f', 2) + "s");
-    delay_control->showDescription();
  }
+
+  clearModelCacheBtn->setValue(QString::number(calculateCacheSize(), 'f', 2) + " MB");
 }

 /**
@@ -342,3 +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();
+  }
+}
@@ -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;
@@ -75,5 +78,6 @@ private:
  QProgressBar *policyProgressBar;
  QFrame *policyFrame;
  Params params;
+  ButtonControlSP *clearModelCacheBtn;

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

@@ -499,7 +517,7 @@ 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, bool scale_float = false) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr), _title(title), valueMap(valMap), is_inline_layout(inline_layout), use_float_scaling(scale_float) {
+                  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;
@@ -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);
+}
@@ -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();
+};
@@ -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>
@@ -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>
@@ -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>
@@ -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>
@@ -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>
@@ -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>
@@ -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>
@@ -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>
@@ -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>
@@ -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>
@@ -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>
@@ -0,0 +1,5 @@
+import os
+from openpilot.common.basedir import BASEDIR
+
+MAPD_BIN_DIR = os.path.join(BASEDIR, 'third_party/mapd_pfeiferj')
+MAPD_PATH = os.path.join(MAPD_BIN_DIR, 'mapd')
@@ -16,32 +16,39 @@ from urllib.request import urlopen

 from cereal import messaging
 from openpilot.common.params import Params
-from openpilot.sunnypilot.mapd.mapd_manager import MAPD_PATH, MAPD_BIN_DIR
 from openpilot.system.hardware.hw import Paths
 from openpilot.common.spinner import Spinner
 from openpilot.system.version import is_prebuilt
+from openpilot.sunnypilot.mapd import MAPD_PATH, MAPD_BIN_DIR
 import openpilot.system.sentry as sentry

-VERSION = 'v1.9.0'
+VERSION = 'v1.10.0'
 URL = f"https://github.com/pfeiferj/openpilot-mapd/releases/download/{VERSION}/mapd"


+def update_installed_version(version: str, params: Params = None) -> None:
+  if params is None:
+    params = Params()
+
+  params.put("MapdVersion", version)
+
+
 class MapdInstallManager:
  def __init__(self, spinner_ref: Spinner):
    self._spinner = spinner_ref
+    self._params = Params()

  def download(self) -> None:
    self.ensure_directories_exist()
    self._download_file()
-    self.update_installed_version(VERSION)
+    update_installed_version(VERSION, self._params)

  def check_and_download(self) -> None:
    if self.download_needed():
      self.download()

-  @staticmethod
-  def download_needed() -> bool:
-    return not os.path.exists(MAPD_PATH) or MapdInstallManager.get_installed_version() != VERSION
+  def download_needed(self) -> bool:
+    return not os.path.exists(MAPD_PATH) or self.get_installed_version() != VERSION

  @staticmethod
  def ensure_directories_exist() -> None:
@@ -82,13 +89,8 @@ class MapdInstallManager:
      temp_file.unlink()
    logging.error("Failed to download file after all retries")

-  @staticmethod
-  def update_installed_version(version: str) -> None:
-    Params().put("MapdVersion", version)
-
-  @staticmethod
-  def get_installed_version() -> str:
-    return Params().get("MapdVersion", encoding="utf-8") or ""
+  def get_installed_version(self) -> str:
+    return self._params.get("MapdVersion", encoding="utf-8") or ""

  def wait_for_internet_connection(self, return_on_failure: bool = False) -> bool:
    max_retries = 10
@@ -122,7 +124,7 @@ class MapdInstallManager:
        return

      if self.wait_for_internet_connection(return_on_failure=True):
-        self._spinner.update(f"Downloading pfeiferj's mapd [{install_manager.get_installed_version()}] => [{VERSION}].")
+        self._spinner.update(f"Downloading pfeiferj's mapd [{self.get_installed_version()}] => [{VERSION}].")
        time.sleep(0.1)
        self.check_and_download()
      self._spinner.close()
@@ -146,7 +148,7 @@ if __name__ == "__main__":
  if is_prebuilt():
    debug_msg = f"[DEBUG] This is prebuilt, no mapd install required. VERSION: [{VERSION}], Param [{install_manager.get_installed_version()}]"
    spinner.update(debug_msg)
-    install_manager.update_installed_version(VERSION)
+    update_installed_version(VERSION)
  else:
    spinner.update(f"Checking if mapd is installed and valid. Prebuilt [{is_prebuilt()}]")
    install_manager.non_prebuilt_install()
@@ -12,22 +12,20 @@ import os
 import glob
 import shutil

-from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.realtime import Ratekeeper, config_realtime_process
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.sunnypilot.mapd.live_map_data.osm_map_data import OsmMapData
 from openpilot.system.hardware.hw import Paths
+from openpilot.sunnypilot.mapd import MAPD_PATH
+from openpilot.sunnypilot.mapd.mapd_installer import VERSION, update_installed_version

 # PFEIFER - MAPD {{
 params = Params()
 mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else params
 # }} PFEIFER - MAPD

-MAPD_BIN_DIR = os.path.join(BASEDIR, 'third_party/mapd_pfeiferj')
-MAPD_PATH = os.path.join(MAPD_BIN_DIR, 'mapd')
-

 def get_files_for_cleanup() -> list[str]:
  paths = [
@@ -117,6 +115,7 @@ def update_osm_db() -> None:


 def main_thread():
+  update_installed_version(VERSION, params)
  config_realtime_process([0, 1, 2, 3], 5)

  rk = Ratekeeper(1, print_delay_threshold=None)
@@ -103,7 +103,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)

  # temporal pose
-  temporal_pose = modelV2.temporalPose
+  temporal_pose = modelV2.temporalPoseDEPRECATED
  temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
  temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
  temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
@@ -62,7 +62,7 @@ class ModelState:
    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
    bundle = get_active_bundle()
    overrides = {override.key: override.value for override in bundle.overrides}
-    self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".2"))
+    self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".0"))
    self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))

    model_paths = get_model_path()
@@ -10,8 +10,8 @@ SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 ConfidenceClass = log.ModelDataV2.ConfidenceClass


-def get_curvature_from_output(output, vego, lat_action_t, current_generation=None):
-  if current_generation != 11:
+def get_curvature_from_output(output, vego, lat_action_t, mlsim):
+  if not mlsim:
    if desired_curv := output.get('desired_curvature'):  # If the model outputs the desired curvature, use that directly
      return float(desired_curv[0, 0])

@@ -100,7 +100,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)

  # temporal pose
-  temporal_pose = modelV2.temporalPose
+  temporal_pose = modelV2.temporalPoseDEPRECATED
  if 'sim_pose' in net_output_data:
    temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
    temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
@@ -54,10 +54,10 @@ class ModelState:
      raise

    model_bundle = get_active_bundle()
-    self.generation = model_bundle.generation
+    self.generation = model_bundle.generation if model_bundle is not None else None
    overrides = {override.key: override.value for override in model_bundle.overrides}

-    self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".2"))
+    self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".0"))
    self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
    self.MIN_LAT_CONTROL_SPEED = 0.3

@@ -86,6 +86,10 @@ class ModelState:
      self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1,
                                  self.numpy_inputs['desire'].shape[2])

+  @property
+  def mlsim(self) -> bool:
+    return bool(self.generation is not None and self.generation >= 11)
+
  def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
@@ -151,7 +155,7 @@ class ModelState:
      self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
      self.full_prev_desired_curv[0,-1,:] = outputs['desired_curvature'][0, :]
      self.numpy_inputs[input_name_prev][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
-      if self.generation == 11:
+      if self.mlsim:
        self.numpy_inputs[input_name_prev][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
    else:
      length = outputs['desired_curvature'][0].size
@@ -165,7 +169,7 @@ class ModelState:
                                                     action_t=long_action_t)
    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)

-    desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, self.generation)
+    desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, self.mlsim)
    if v_ego > self.MIN_LAT_CONTROL_SPEED:
      desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
    else:
@@ -1,5 +1,6 @@
 import numpy as np
 from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
+from openpilot.sunnypilot.models.helpers import get_active_bundle


 def safe_exp(x, out=None):
@@ -24,6 +25,8 @@ def softmax(x, axis=-1):
 class Parser:
  def __init__(self, ignore_missing=False):
    self.ignore_missing = ignore_missing
+    model_bundle = get_active_bundle()
+    self.generation = model_bundle.generation if model_bundle is not None else None

  def check_missing(self, outs, name):
    if name not in outs and not self.ignore_missing:
@@ -88,37 +91,64 @@ class Parser:
    outs[name] = pred_mu_final.reshape(final_shape)
    outs[name + '_stds'] = pred_std_final.reshape(final_shape)

+  def _parse_plan_mhp(self, outs):
+    self.parse_mdn('plan', outs, in_N=SplitModelConstants.PLAN_MHP_N, out_N=SplitModelConstants.PLAN_MHP_SELECTION,
+                         out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))
+
+  def parse_dynamic_outputs(self, outs: dict[str, np.ndarray]) -> None:
+    if 'lead' in outs:
+      if self.generation >= 12 and \
+         outs['lead'].shape[1] == 2 * SplitModelConstants.LEAD_MHP_SELECTION * SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH:
+        self.parse_mdn('lead', outs, in_N=0, out_N=0,
+                       out_shape=(SplitModelConstants.LEAD_MHP_SELECTION, SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
+      else:
+        self.parse_mdn('lead', outs, in_N=SplitModelConstants.LEAD_MHP_N, out_N=SplitModelConstants.LEAD_MHP_SELECTION,
+                       out_shape=(SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
+    if 'plan' in outs:
+      if self.generation >= 12 and \
+        outs['plan'].shape[1] > 2 * SplitModelConstants.PLAN_WIDTH * SplitModelConstants.IDX_N:
+        self._parse_plan_mhp(outs)
+      elif self.generation >= 12:
+        self.parse_mdn('plan', outs, in_N=0, out_N=0,
+                       out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
+      else:
+        self._parse_plan_mhp(outs)
+
  def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
+    if 'desired_curvature' in outs:
+      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.DESIRED_CURV_WIDTH,))
+    if 'desire_pred' in outs:
+      self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(SplitModelConstants.DESIRE_PRED_LEN,SplitModelConstants.DESIRE_PRED_WIDTH))
+    if 'desire_state' in outs:
+      self.parse_categorical_crossentropy('desire_state', outs, out_shape=(SplitModelConstants.DESIRE_PRED_WIDTH,))
    if 'lane_lines' in outs:
      self.parse_mdn('lane_lines', outs, in_N=0, out_N=0,
-                     out_shape=(SplitModelConstants.NUM_LANE_LINES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+                    out_shape=(SplitModelConstants.NUM_LANE_LINES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+    if 'lane_lines_prob' in outs:
+      self.parse_binary_crossentropy('lane_lines_prob', outs)
+    if 'lead_prob' in outs:
+      self.parse_binary_crossentropy('lead_prob', outs)
+    if 'lat_planner_solution' in outs:
+      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+    if 'meta' in outs:
+      self.parse_binary_crossentropy('meta', outs)
+    if 'road_edges' in outs:
      self.parse_mdn('road_edges', outs, in_N=0, out_N=0,
-                     out_shape=(SplitModelConstants.NUM_ROAD_EDGES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
-      self.parse_mdn('lead', outs, in_N=SplitModelConstants.LEAD_MHP_N, out_N=SplitModelConstants.LEAD_MHP_SELECTION,
-                     out_shape=(SplitModelConstants.LEAD_TRAJ_LEN,SplitModelConstants.LEAD_WIDTH))
-      if 'sim_pose' in outs:
-        self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
-      for k in ['lead_prob', 'lane_lines_prob']:
-        self.parse_binary_crossentropy(k, outs)
+                    out_shape=(SplitModelConstants.NUM_ROAD_EDGES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+    if 'sim_pose' in outs:
+      self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))

  def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.WIDE_FROM_DEVICE_WIDTH,))
    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
+    self.parse_dynamic_outputs(outs)
    self.split_outputs(outs)
-    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(SplitModelConstants.DESIRE_PRED_LEN,SplitModelConstants.DESIRE_PRED_WIDTH))
-    self.parse_binary_crossentropy('meta', outs)
    return outs

  def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    self.parse_mdn('plan', outs, in_N=SplitModelConstants.PLAN_MHP_N, out_N=SplitModelConstants.PLAN_MHP_SELECTION,
-                   out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))
+    self.parse_dynamic_outputs(outs)
    self.split_outputs(outs)
-    if 'lat_planner_solution' in outs:
-      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
-    if 'desired_curvature' in outs:
-      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.DESIRED_CURV_WIDTH,))
-    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(SplitModelConstants.DESIRE_PRED_WIDTH,))
    return outs

  def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
@@ -0,0 +1,63 @@
+# Model Selector Version Compatibility
+
+This document explains the version compatibility mechanism used by the Model Selector system, and the rationale behind certain version constraints and JSON file management strategies.
+
+## Overview
+
+The Model Selector is responsible for selecting and validating model bundles based on their metadata and version constraints. Each model bundle is distributed via a JSON file and includes a `minimumSelectorVersion` field indicating the minimum selector version required to load it.
+
+To ensure robust compatibility and prevent mismatches between model expectations and selector capabilities, the selector enforces two version boundaries:
+
+* **`REQUIRED_MIN_SELECTOR_VERSION`**: the oldest selector version we support.
+* **`CURRENT_SELECTOR_VERSION`**: the current version of the selector logic.
+
+## Version Compatibility Check
+
+A model bundle is considered compatible if:
+
+```python
+REQUIRED_MIN_SELECTOR_VERSION <= bundle["minimumSelectorVersion"] <= CURRENT_SELECTOR_VERSION
+```
+
+This ensures:
+
+* **Old bundles are rejected** if they rely on deprecated selector behavior.
+* **Future bundles are ignored** if they expect logic that the current selector doesn't yet implement.
+
+## Handling Breaking Changes
+
+When a deep change in selector behavior requires *all* models to be recompiled (e.g., due to a major architectural update), we:
+
+1. **Create a new JSON file** (e.g., from `models_v4.json` to `models_v5.json`).
+2. **Assign updated `minimumSelectorVersion` values** in the new bundles.
+
+This allows older selector versions to continue using the previous JSON file, while newer versions point to the new one, preventing cross-contamination.
+
+## Why `REQUIRED_MIN_SELECTOR_VERSION` Still Matters
+
+Despite using new JSON files to isolate breaking changes, `REQUIRED_MIN_SELECTOR_VERSION` plays a critical role:
+
+### 1. **Cached Bundle Validation**
+
+Model bundles are cached locally (e.g., in-memory or on disk). A user might have previously loaded a now-invalid bundle from an older JSON file.
+
+`REQUIRED_MIN_SELECTOR_VERSION` prevents the selector from reloading or trusting that stale cached bundle, even if the original JSON is gone.
+
+### 2. **Explicit Deprecation Boundary**
+
+By raising `REQUIRED_MIN_SELECTOR_VERSION`, we declare older bundles officially unsupported, even if they technically still exist in a legacy JSON file.
+
+### 3. **Avoiding Race Conditions**
+
+Some clients may have intermittent access to updated JSONs. The runtime check ensures version compatibility is enforced independently of external file state.
+
+## Summary
+
+| Component                       | Purpose                                                               |
+| ------------------------------- | --------------------------------------------------------------------- |
+| `minimumSelectorVersion`        | Declares the minimum selector version required to load a model bundle |
+| `REQUIRED_MIN_SELECTOR_VERSION` | Prevents loading bundles that are too old (e.g., from stale cache)    |
+| `CURRENT_SELECTOR_VERSION`      | Prevents loading bundles that are too new or forward-incompatible     |
+| JSON file renaming              | Isolates bundles by selector generation to handle full recompiles     |
+
+This layered strategy ensures safe evolution of the model selection system while maintaining backward compatibility and runtime protection against stale or incompatible bundles.
@@ -115,7 +115,7 @@ class ModelCache:

 class ModelFetcher:
  """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v4.json"
+  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v6.json"

  def __init__(self, params: Params):
    self.params = params
@@ -19,8 +19,9 @@ from openpilot.system.hardware import PC
 from openpilot.system.hardware.hw import Paths
 from pathlib import Path

-CURRENT_SELECTOR_VERSION = 6
-REQUIRED_MIN_SELECTOR_VERSION = 5
+# see the README.md for more details on the model selector versioning
+CURRENT_SELECTOR_VERSION = 8
+REQUIRED_MIN_SELECTOR_VERSION = 6

 USE_ONNX = os.getenv('USE_ONNX', PC)

@@ -178,6 +178,10 @@ class ModelManagerSP:
            finally:
              self.params.put("ModelManager_DownloadIndex", "")

+        if self.params.get("ModelManager_ClearCache", block=False, encoding="utf-8"):
+            self.clear_model_cache()
+            self.params.remove("ModelManager_ClearCache")
+
        self._report_status()
        rk.keep_time()

@@ -185,6 +189,31 @@ class ModelManagerSP:
        cloudlog.exception(f"Error in main thread: {str(e)}")
        rk.keep_time()

+  def clear_model_cache(self) -> None:
+    """
+    Clears the model cache directory of all files except those in the active model bundle.
+    """
+
+    # Get list of files used by active model bundle
+    active_files = []
+    if self.active_bundle is not None: # When the default model is active
+      for model in self.active_bundle.models:
+        if hasattr(model, 'artifact') and model.artifact.fileName:
+          active_files.append(model.artifact.fileName)
+        if hasattr(model, 'metadata') and model.metadata.fileName:
+          active_files.append(model.metadata.fileName)
+
+    # Remove all files except active ones
+    model_dir = Paths.model_root()
+    try:
+      for filename in os.listdir(model_dir):
+        if filename not in active_files:
+          file_path = os.path.join(model_dir, filename)
+          if os.path.isfile(file_path):
+            os.remove(file_path)
+      cloudlog.info("Model cache cleared, keeping active model files")
+    except Exception as e:
+      cloudlog.exception(f"Error clearing model cache: {str(e)}")

 def main():
  ModelManagerSP().main_thread()
@@ -16,12 +16,12 @@ DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimen
 class LongitudinalPlannerSP:
  def __init__(self, CP: structs.CarParams, mpc):
    self.dec = DynamicExperimentalController(CP, mpc)
-    model_bundle = get_active_bundle()
-    self.generation = model_bundle.generation if model_bundle is not None else None
+    self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None

  @property
  def mlsim(self) -> bool:
-    return self.generation == 11
+    # If we don't have a generation set, we assume it's default model. Which as of today are mlsim.
+    return bool(self.generation is None or self.generation >= 11)

  def get_mpc_mode(self) -> str | None:
    if not self.dec.active():
@@ -381,20 +381,20 @@ def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: str = N
  return {"success": 1}


-def scan_dir(path: str, prefix: str) -> list[str]:
+def scan_dir(path: str, prefix: str, base: str) -> list[str]:
  files = []
  # only walk directories that match the prefix
  # (glob and friends traverse entire dir tree)
  with os.scandir(path) as i:
    for e in i:
-      rel_path = os.path.relpath(e.path, Paths.log_root())
+      rel_path = os.path.relpath(e.path, base)
      if e.is_dir(follow_symlinks=False):
        # add trailing slash
        rel_path = os.path.join(rel_path, '')
        # if prefix is a partial dir name, current dir will start with prefix
        # if prefix is a partial file name, prefix with start with dir name
        if rel_path.startswith(prefix) or prefix.startswith(rel_path):
-          files.extend(scan_dir(e.path, prefix))
+          files.extend(scan_dir(e.path, prefix, base))
      else:
        if rel_path.startswith(prefix):
          files.append(rel_path)
@@ -402,7 +402,12 @@ def scan_dir(path: str, prefix: str) -> list[str]:

@dispatcher.add_method
 def listDataDirectory(prefix='') -> list[str]:
-  return scan_dir(Paths.log_root(), prefix)
+  internal_files = scan_dir(Paths.log_root(), prefix, Paths.log_root())
+  try:
+    external_files = scan_dir(Paths.log_root_external(), prefix, Paths.log_root_external())
+  except FileNotFoundError:
+    external_files = []
+  return sorted(set(internal_files + external_files))


@dispatcher.add_method
@@ -427,8 +432,13 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo
      failed.append(file.fn)
      continue

-    path = os.path.join(Paths.log_root(), file.fn)
-    if not os.path.exists(path) and not os.path.exists(strip_zst_extension(path)):
+    path_internal = os.path.join(Paths.log_root(), file.fn)
+    path_external = os.path.join(Paths.log_root_external(), file.fn)
+    if os.path.exists(path_internal) or os.path.exists(strip_zst_extension(path_internal)):
+      path = path_internal
+    elif os.path.exists(path_external) or os.path.exists(strip_zst_extension(path_external)):
+      path = path_external
+    else:
      failed.append(file.fn)
      continue

@@ -55,4 +55,8 @@ namespace Path {
     return "/dev/shm";
    #endif
 }
+
+  inline std::string model_root() {
+    return Hardware::PC() ? Path::comma_home() + "/media/0/models" : "/data/media/0/models";
+  }
 }  // namespace Path
@@ -20,6 +20,10 @@ class Paths:
    else:
      return '/data/media/0/realdata/'

+  @staticmethod
+  def log_root_external() -> str:
+    return '/mnt/external_realdata/'
+
  @staticmethod
  def swaglog_root() -> str:
    if PC:
@@ -9,21 +9,26 @@ STATS_DIR_FILE_LIMIT = 10000
 STATS_SOCKET = "ipc:///tmp/stats"
 STATS_FLUSH_TIME_S = 60

-def get_available_percent(default: float) -> float:
+PATH_DICT = {
+  "internal": Paths.log_root(),
+  "external": Paths.log_root_external()
+}
+
+def get_available_percent(default: float, path_type="internal") -> float:
  try:
-    statvfs = os.statvfs(Paths.log_root())
+    statvfs = os.statvfs(PATH_DICT[path_type])
    available_percent = 100.0 * statvfs.f_bavail / statvfs.f_blocks
-  except OSError:
+  except (OSError, KeyError):
    available_percent = default

  return available_percent


-def get_available_bytes(default: int) -> int:
+def get_available_bytes(default: int, path_type="internal") -> int:
  try:
-    statvfs = os.statvfs(Paths.log_root())
+    statvfs = os.statvfs(PATH_DICT[path_type])
    available_bytes = statvfs.f_bavail * statvfs.f_frsize
-  except OSError:
+  except (OSError, KeyError):
    available_bytes = default

  return available_bytes
@@ -2,6 +2,7 @@
 import os
 import shutil
 import threading
+from pathlib import Path
 from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.loggerd.config import get_available_bytes, get_available_percent
@@ -61,6 +62,33 @@ def deleter_thread(exit_event: threading.Event):
        if any(name.endswith(".lock") for name in os.listdir(delete_path)):
          continue

+        if Path(Paths.log_root_external()).is_mount():
+          out_of_bytes_external = get_available_bytes(default=MIN_BYTES + 1, path_type="external") < MIN_BYTES
+          out_of_percent_external = get_available_percent(default=MIN_PERCENT + 1, path_type="external") < MIN_PERCENT
+
+          if out_of_percent_external or out_of_bytes_external:
+            dirs_external = listdir_by_creation(Paths.log_root_external())
+
+            # remove the earliest external directory we can
+            for delete_dir_external in sorted(dirs_external):
+              delete_path_external = os.path.join(Paths.log_root_external(), delete_dir_external)
+              try:
+                cloudlog.info(f"deleting {delete_path_external}")
+                shutil.rmtree(delete_path_external)
+                break
+              except OSError:
+                cloudlog.exception(f"issue deleting {delete_path_external}")
+
+          # move directory from internal to external
+          path_external = os.path.join(Paths.log_root_external(), delete_dir)
+          try:
+            cloudlog.info(f"moving {delete_path} to {path_external}")
+            shutil.move(delete_path, path_external)
+            break
+          except Exception as e:
+            cloudlog.exception(f"issue moving {delete_path} to {path_external}: {str(e)}")
+          continue
+
        try:
          cloudlog.info(f"deleting {delete_path}")
          shutil.rmtree(delete_path)
@@ -50,10 +50,13 @@ def manager_init() -> None:
    ("BlindSpot", "0"),
    ("BlinkerMinLateralControlSpeed", "20"),  # MPH or km/h
    ("BlinkerPauseLateralControl", "0"),
+    ("Brightness", "0"),
+    ("ChevronInfo", "4"),
    ("CustomAccIncrementsEnabled", "0"),
    ("CustomAccLongPressIncrement", "5"),
    ("CustomAccShortPressIncrement", "1"),
    ("DeviceBootMode", "0"),
+    ("DisableUpdates", "0"),
    ("DynamicExperimentalControl", "0"),
    ("HyundaiLongitudinalTuning", "0"),
    ("InteractivityTimeout", "0"),
@@ -65,11 +68,18 @@ def manager_init() -> None:
    ("MadsUnifiedEngagementMode", "1"),
    ("MapdVersion", f"{VERSION}"),
    ("MaxTimeOffroad", "1800"),
-    ("Brightness", "0"),
    ("ModelManager_LastSyncTime", "0"),
    ("ModelManager_ModelsCache", ""),
    ("NeuralNetworkLateralControl", "0"),
+    ("QuickBootToggle", "0"),
    ("QuietMode", "0"),
+    ("ShowAdvancedControls", "0" if build_metadata.tested_channel else "1"),
+    ("EnableHkgTuningAngleSmoothingFactor", "1"),
+    ("HkgTuningAngleMinTorqueReductionGain", "10"),
+    ("HkgTuningAngleActiveTorqueReductionGain", "60"),
+    ("HkgTuningAngleMaxTorqueReductionGain", "100"),
+    ("HkgTuningOverridingCycles", "17"),
+    ("HkgAngleLiveTuning", "0"),
  ]

  # device boot mode
@@ -101,6 +111,7 @@ def manager_init() -> None:
  params.put("GitCommitDate", build_metadata.openpilot.git_commit_date)
  params.put("GitBranch", build_metadata.channel)
  params.put("GitRemote", build_metadata.openpilot.git_origin)
+  params.put_bool("IsDevelopmentBranch", build_metadata.development_channel)
  params.put_bool("IsTestedBranch", build_metadata.tested_channel)
  params.put_bool("IsReleaseBranch", build_metadata.release_channel)
  params.put("HardwareSerial", serial)
@@ -88,6 +88,9 @@ def is_stock_model(started, params, CP: car.CarParams) -> bool:
  """Check if the active model runner is stock."""
  return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.stock)

+def mapd_ready(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return bool(os.path.exists(Paths.mapd_root()))
+
 def or_(*fns):
  return lambda *args: operator.or_(*(fn(*args) for fn in fns))

@@ -114,7 +117,7 @@ procs = [

  PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
  NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
-  PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
+  PythonProcess("soundd", "selfdrive.ui.soundd", and_(only_onroad, not_joystick)),
  PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
  NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
  PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
@@ -162,7 +165,7 @@ procs += [
  PythonProcess("backup_manager", "sunnypilot.sunnylink.backups.manager", and_(only_offroad, sunnylink_ready_shim)),

  # mapd
-  NativeProcess("mapd", Paths.mapd_root(), [MAPD_PATH], always_run),
+  NativeProcess("mapd", Paths.mapd_root(), [MAPD_PATH], mapd_ready),
  PythonProcess("mapd_manager", "sunnypilot.mapd.mapd_manager", always_run),
 ]

@@ -83,6 +83,10 @@ class OpenpilotMetadata:
    # touch this to get rid of the orange startup alert. there's better ways to do that
    return self.git_normalized_origin == "github.com/commaai/openpilot"

+  @property
+  def sunnypilot_remote(self) -> bool:
+    return self.git_normalized_origin == "github.com/sunnypilot/sunnypilot"
+
  @property
  def git_normalized_origin(self) -> str:
    return self.git_origin \
@@ -117,9 +121,13 @@ class BuildMetadata:
  def master_channel(self) -> bool:
    return self.channel in MASTER_SP_BRANCHES

+  @property
+  def development_channel(self) -> bool:
+    return self.channel.startswith("dev-") or self.channel.endswith("-prebuilt")
+
  @property
  def channel_type(self) -> str:
-    if self.channel.startswith("dev-"):
+    if self.development_channel:
      return "development"
    elif self.channel.startswith("staging-"):
      return "staging"
@@ -5,6 +5,10 @@
 With joystick_control, you can connect your laptop to your comma device over the network and debug controls using a joystick or keyboard.
 joystick_control uses [inputs](https://pypi.org/project/inputs) which supports many common gamepads and joysticks.

+## Note
+You might need to install [xow](https://github.com/medusalix/xow) to use the Xbox One controller on comma device. 
+Even though **xone** is recommended on the xow page, **xow** is the one that works with the comma device.
+
 ## Usage

 The car must be off, and openpilot must be offroad before starting `joystick_control`.
@@ -3,7 +3,10 @@ import os
 import argparse
 import threading
 import numpy as np
-from inputs import UnpluggedError, get_gamepad
+try:
+  import pygame as pg
+except ImportError:
+  print("pygame is not installed. Please install it with 'uv pip install pygame'")

 from cereal import messaging
 from openpilot.common.params import Params
@@ -11,7 +14,10 @@ from openpilot.common.realtime import Ratekeeper
 from openpilot.system.hardware import HARDWARE
 from openpilot.tools.lib.kbhit import KBHit

-EXPO = 0.4
+# Set SDL environment variable to avoid using a video driver for headless operation
+os.environ["SDL_VIDEODRIVER"] = "dummy"
+
+EXPO = 0.4  # Exponential factor for joystick response curve


 class Keyboard:
@@ -40,60 +46,122 @@ class Keyboard:
    return True


-class Joystick:
+class PyGameJoystick:
  def __init__(self):
-    # This class supports a PlayStation 5 DualSense controller on the comma 3X
-    # TODO: find a way to get this from API or detect gamepad/PC, perhaps "inputs" doesn't support it
-    self.cancel_button = 'BTN_NORTH'  # BTN_NORTH=X/triangle
-    if HARDWARE.get_device_type() == 'pc':
-      accel_axis = 'ABS_Z'
-      steer_axis = 'ABS_RX'
-      # TODO: once the longcontrol API is finalized, we can replace this with outputting gas/brake and steering
-      self.flip_map = {'ABS_RZ': accel_axis}
-    else:
-      accel_axis = 'ABS_RX'
-      steer_axis = 'ABS_Z'
-      self.flip_map = {'ABS_RY': accel_axis}
+    # Initialize pygame and joystick subsystem
+    pg.init()
+    if not pg.joystick.get_init():
+      pg.joystick.init()

-    self.min_axis_value = {accel_axis: 0., steer_axis: 0.}
-    self.max_axis_value = {accel_axis: 255., steer_axis: 255.}
-    self.axes_values = {accel_axis: 0., steer_axis: 0.}
-    self.axes_order = [accel_axis, steer_axis]
+    # Find connected joysticks
+    joystick_count = pg.joystick.get_count()
+    if joystick_count == 0:
+      print("No joysticks found. Please connect a controller.")
+      exit(1)
+
+    # Initialize the first joystick
+    self.joystick = pg.joystick.Joystick(0)
+    self.joystick.init()
+
+    print(f"Using joystick: {self.joystick.get_name()}")
+    print(f"Number of axes: {self.joystick.get_numaxes()}")
+    print(f"Number of buttons: {self.joystick.get_numbuttons()}")
+    print(f"Number of hats: {self.joystick.get_numhats()}")
+
+    # This supports PlayStation and Xbox controllers on different platforms
+    if HARDWARE.get_device_type() == 'pc':
+      # Xbox mapping on PC
+      self.accel_axis = 5  # Right trigger
+      self.brake_axis = 4  # Left trigger
+      self.steer_axis = 0  # Left stick horizontal
+      self.cancel_button = 3  # Y/Triangle button
+    else:
+      # PlayStation mapping on comma device
+      self.accel_axis = 5  # R2
+      self.brake_axis = 4  # L2
+      self.steer_axis = 0  # Left stick horizontal
+      self.cancel_button = 3  # Triangle button
+
+    # Configure for adaptive mappings based on detected controller
+    controller_name = self.joystick.get_name().lower()
+    if "xbox" in controller_name:
+      print("Xbox controller detected, using Xbox mappings")
+      self.accel_axis = 5  # Right trigger (RT)
+      self.brake_axis = 4  # Left trigger (LT)
+      self.cancel_button = 3  # Y button
+    elif "playstation" in controller_name or "dual" in controller_name:
+      print("PlayStation controller detected, using PlayStation mappings")
+      self.accel_axis = 5  # R2
+      self.brake_axis = 4  # L2
+      self.cancel_button = 3  # Triangle
+
+    # Initialize values
+    self.axes_values = {'gb': 0., 'steer': 0.}  # Maintain same keys as Keyboard class
+    self.axes_order = ['gb', 'steer']  # Match expected format
    self.cancel = False
+    self.deadzone = 0.03  # 3% deadzone for noisy joysticks
+
+    # Process events once to clear the event queue
+    pg.event.pump()

  def update(self):
+    # Process pygame events
    try:
-      joystick_event = get_gamepad()[0]
-    except (OSError, UnpluggedError):
-      self.axes_values = dict.fromkeys(self.axes_values, 0.)
+      for event in pg.event.get():
+        if event.type == pg.JOYDEVICEREMOVED:
+          if event.instance_id == self.joystick.get_instance_id():
+            print("Joystick disconnected!")
+            self.axes_values = {'gb': 0., 'steer': 0.}
+            return False
+
+        elif event.type == pg.JOYBUTTONDOWN:
+          if event.button == self.cancel_button:
+            self.cancel = True
+
+        elif event.type == pg.JOYBUTTONUP:
+          if event.button == self.cancel_button:
+            self.cancel = False
+    except Exception as e:
+      print(f"Error processing events: {e}")
      return False

-    event = (joystick_event.code, joystick_event.state)
+    # Read current joystick state directly
+    try:
+      if not self.joystick.get_init():
+        print("Joystick not initialized")
+        return False

-    # flip left trigger to negative accel
-    if event[0] in self.flip_map:
-      event = (self.flip_map[event[0]], -event[1])
+      # Read steering (left stick horizontal)
+      steer_raw = self.joystick.get_axis(self.steer_axis) * -1
+      steer = steer_raw if abs(steer_raw) > self.deadzone else 0.0

-    if event[0] == self.cancel_button:
-      if event[1] == 1:
-        self.cancel = True
-      elif event[1] == 0:   # state 0 is falling edge
-        self.cancel = False
-    elif event[0] in self.axes_values:
-      self.max_axis_value[event[0]] = max(event[1], self.max_axis_value[event[0]])
-      self.min_axis_value[event[0]] = min(event[1], self.min_axis_value[event[0]])
+      # Read gas (right trigger)
+      accel_raw = self.joystick.get_axis(self.accel_axis)
+      # Convert from [-1, 1] to [0, 1] range (triggers often start at -1 when not pressed)
+      accel = (accel_raw + 1) / 2 if self.accel_axis in [4, 5] else accel_raw
+      accel = accel if accel > self.deadzone else 0.0

-      norm = -float(np.interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.]))
-      norm = norm if abs(norm) > 0.03 else 0.  # center can be noisy, deadzone of 3%
-      self.axes_values[event[0]] = EXPO * norm ** 3 + (1 - EXPO) * norm  # less action near center for fine control
-    else:
+      # Read brake (left trigger)
+      brake_raw = self.joystick.get_axis(self.brake_axis)
+      # Convert from [-1, 1] to [0, 1] range (triggers often start at -1 when not pressed)
+      brake = (brake_raw + 1) / 2 if self.brake_axis in [4, 5] else brake_raw
+      brake = brake if brake > self.deadzone else 0.0
+
+      # Apply expo for steering
+      self.axes_values['steer'] = EXPO * steer**3 + (1 - EXPO) * steer  # Apply expo for fine control
+
+      # Calculate combined gas/brake value for output [-1, 1] where negative is brake
+      self.axes_values['gb'] = accel - brake
+
+    except Exception as e:
+      print(f"Error reading joystick: {e}")
+      self.axes_values = {'gb': 0., 'steer': 0.}
      return False
    return True


 def send_thread(joystick):
  pm = messaging.PubMaster(['testJoystick'])
-
  rk = Ratekeeper(100, print_delay_threshold=None)

  while True:
@@ -105,7 +173,6 @@ def send_thread(joystick):
    joystick_msg.testJoystick.axes = [joystick.axes_values[ax] for ax in joystick.axes_order]

    pm.send('testJoystick', joystick_msg)
-
    rk.keep_time()


@@ -117,13 +184,12 @@ def joystick_control_thread(joystick):


 def main():
-  joystick_control_thread(Joystick())
-
+  joystick_control_thread(PyGameJoystick())

 if __name__ == '__main__':
  parser = argparse.ArgumentParser(description='Publishes events from your joystick to control your car.\n' +
                                               'openpilot must be offroad before starting joystick_control. This tool supports ' +
-                                               'a PlayStation 5 DualSense controller on the comma 3X.',
+                                               'PlayStation and Xbox controllers on various platforms.',
                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
  parser.add_argument('--keyboard', action='store_true', help='Use your keyboard instead of a joystick')
  args = parser.parse_args()
@@ -139,9 +205,12 @@ if __name__ == '__main__':
    print('Buttons')
    print('- `R`: Resets axes')
    print('- `C`: Cancel cruise control')
+    joystick_control_thread(Keyboard())
  else:
-    print('Using joystick, make sure to run cereal/messaging/bridge on your device if running over the network!')
-    print('If not running on a comma device, the mapping may need to be adjusted.')
-
-  joystick = Keyboard() if args.keyboard else Joystick()
-  joystick_control_thread(joystick)
+    print('Using pygame joystick')
+    print('Standard controller mapping:')
+    print('- Left stick: Steering')
+    print('- Right trigger (R2): Gas')
+    print('- Left trigger (L2): Brake')
+    print('- Triangle/Y button: Cancel')
+    joystick_control_thread(PyGameJoystick())
@@ -19,18 +19,24 @@ def joystickd_thread():
  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
  VM = VehicleModel(CP)

-  sm = messaging.SubMaster(['carState', 'onroadEvents', 'liveParameters', 'selfdriveState', 'testJoystick'], frequency=1. / DT_CTRL)
+  sm = messaging.SubMaster(['carState', 'onroadEvents', 'liveParameters', 'selfdriveState', 'testJoystick', 'selfdriveStateSP'], frequency=1. / DT_CTRL)
  pm = messaging.PubMaster(['carControl', 'controlsState'])

  rk = Ratekeeper(100, print_delay_threshold=None)
  while 1:
    sm.update(0)
+    ss_sp = sm['selfdriveStateSP']
+    _lat_active = False
+    if ss_sp.mads.available:
+      _lat_active = ss_sp.mads.active
+    else:
+      _lat_active = sm['selfdriveState'].active

    cc_msg = messaging.new_message('carControl')
    cc_msg.valid = True
    CC = cc_msg.carControl
    CC.enabled = sm['selfdriveState'].enabled
-    CC.latActive = sm['selfdriveState'].active and not sm['carState'].steerFaultTemporary and not sm['carState'].steerFaultPermanent
+    CC.latActive = _lat_active and not sm['carState'].steerFaultTemporary and not sm['carState'].steerFaultPermanent
    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in sm['onroadEvents']) and CP.openpilotLongitudinalControl
    CC.cruiseControl.cancel = sm['carState'].cruiseState.enabled and (not CC.enabled or not CP.pcmCruise)
    CC.hudControl.leadDistanceBars = 2
@@ -0,0 +1,128 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget name="Main Window" parent="main_window">
+  <Tab containers="1" tab_name="actuator data">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
+       <range right="558.699945" bottom="-1.050000" top="1.050000" left="6.491930"/>
+       <limitY/>
+       <curve name="/carControl/actuators/torque" color="#17becf"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
+       <range right="558.699945" bottom="-553.384988" top="395.185006" left="6.491930"/>
+       <limitY/>
+       <curve name="/carControl/actuators/steeringAngleDeg" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
+       <range right="558.699945" bottom="-0.444933" top="18.242243" left="6.491930"/>
+       <limitY/>
+       <curve name="/carState/vEgoRaw" color="#ff7f0e"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
+       <range right="558.699945" bottom="-0.119883" top="0.177208" left="6.491930"/>
+       <limitY/>
+       <curve name="/carControl/actuators/curvature" color="#f14cc1"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="steering messages (CAN)">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.200218;0.200218;0.199129;0.200218;0.200218" count="5">
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
+       <range right="558.699945" bottom="-0.025000" top="1.025000" left="6.491930"/>
+       <limitY/>
+       <curve name="/can/128/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
+       <range right="558.699945" bottom="-189.000000" top="189.000000" left="6.491930"/>
+       <limitY/>
+       <curve name="/can/128/LKAS_ALT/ADAS_StrAnglReqVal" color="#d62728"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
+       <range right="558.699945" bottom="-0.025000" top="1.025000" left="6.491930"/>
+       <limitY/>
+       <curve name="/carState/steeringPressed" color="#d62728"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
+       <range right="558.699945" bottom="-4.150000" top="170.150000" left="6.491930"/>
+       <limitY/>
+       <curve name="/pandaStates/0/safetyTxBlocked" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
+       <range right="558.699945" bottom="-0.025000" top="1.025000" left="6.491930"/>
+       <limitY/>
+       <curve name="/can/1/CCNC_0x161/DAW_ICON" color="#f14cc1"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Understanding Torque">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.5;0.5" count="2">
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
+       <range right="590.696728" bottom="-6.175000" top="253.175000" left="429.901019"/>
+       <limitY/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
+       <range right="558.699945" bottom="-107.707498" top="64.807501" left="6.491930"/>
+       <limitY/>
+       <curve name="/carState/steeringTorqueEps" color="#1ac938"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="1"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad CSV">
+   <default time_axis="" delimiter="0"/>
+  </plugin>
+  <plugin ID="DataLoad MCAP"/>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="DataLoad ULog"/>
+  <plugin ID="Cereal Subscriber"/>
+  <plugin ID="UDP Server"/>
+  <plugin ID="WebSocket Server"/>
+  <plugin ID="ZMQ Subscriber"/>
+  <plugin ID="Fast Fourier Transform"/>
+  <plugin ID="Quaternion to RPY"/>
+  <plugin ID="Reactive Script Editor">
+   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
+   <scripts/>
+  </plugin>
+  <plugin ID="CSV Exporter"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations/>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+
@@ -0,0 +1,209 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab tab_name="actuator data" containers="1">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
+     <DockArea name="...">
+      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
+       <range bottom="-1.050000" top="1.050000" right="722.420439" left="0.000000"/>
+       <limitY/>
+       <curve color="#17becf" name="/carControl/actuators/torque"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
+       <range bottom="-453.043646" top="538.555487" right="722.420439" left="0.000000"/>
+       <limitY/>
+       <curve color="#1f77b4" name="/carControl/actuators/steeringAngleDeg"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
+       <range bottom="-0.647461" top="26.545898" right="722.420439" left="0.000000"/>
+       <limitY/>
+       <curve color="#ff7f0e" name="/carState/vEgoRaw"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
+       <range bottom="-0.209157" top="0.175448" right="722.420439" left="0.000000"/>
+       <limitY/>
+       <curve color="#f14cc1" name="/carControl/actuators/curvature"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab tab_name="steering messages (CAN)" containers="1">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.200218;0.200218;0.199129;0.200218;0.200218" count="5">
+     <DockArea name="...">
+      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
+       <range bottom="-189.000000" top="189.000000" right="723.115449" left="6.371879"/>
+       <limitY/>
+       <curve color="#b6ff00" name="/can/128/LKAS_ALT/LKAS_ANGLE_CMD"/>
+       <curve color="#00fab2" name="/can/0/LKAS_ALT/LKAS_ANGLE_CMD"/>
+       <curve color="#d62728" name="/can/192/LKAS_ALT/LKAS_ANGLE_CMD"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
+       <range bottom="-6.250000" top="256.250000" right="722.420439" left="6.497277"/>
+       <limitY/>
+       <curve color="#00ffe8" name="/can/128/LKAS_ALT/LKAS_ANGLE_MAX_TORQUE"/>
+       <curve color="#e5fd00" name="/can/0/LKAS_ALT/LKAS_ANGLE_MAX_TORQUE"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
+       <range bottom="-4.399729" top="4.056632" right="722.420439" left="0.000000"/>
+       <limitY/>
+       <curve color="#ff7f0e" name="IMU_LatAccelVal_ms^2_roll_compensated"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
+       <range bottom="-0.025000" top="1.025000" right="722.420439" left="0.000000"/>
+       <limitY/>
+       <curve color="#d62728" name="/carState/steeringPressed"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
+       <range bottom="-0.025000" top="1.025000" right="722.420439" left="0.000000"/>
+       <limitY/>
+       <curve color="#f14cc1" name="/can/1/CCNC_0x161/DAW_ICON"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab tab_name="Understanding Torque" containers="1">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.5;0.5" count="2">
+     <DockArea name="...">
+      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
+       <range bottom="-6.250000" top="256.250000" right="722.420439" left="0.000000"/>
+       <limitY/>
+       <curve color="#1f77b4" name="/can/1/LFA_ALT/LKAS_ANGLE_MAX_TORQUE"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
+       <range bottom="-42.062501" top="78.162503" right="722.420439" left="0.000000"/>
+       <limitY/>
+       <curve color="#1ac938" name="/carState/steeringTorqueEps"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="1"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad CSV">
+   <default delimiter="0" time_axis=""/>
+  </plugin>
+  <plugin ID="DataLoad MCAP"/>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="DataLoad ULog"/>
+  <plugin ID="Cereal Subscriber"/>
+  <plugin ID="UDP Server"/>
+  <plugin ID="WebSocket Server"/>
+  <plugin ID="ZMQ Subscriber"/>
+  <plugin ID="Fast Fourier Transform"/>
+  <plugin ID="Quaternion to RPY"/>
+  <plugin ID="Reactive Script Editor">
+   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
+   <scripts/>
+  </plugin>
+  <plugin ID="CSV Exporter"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations>
+  <snippet name="Desired lateral accel (roll compensated)">
+   <global></global>
+   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
+   <linked_source>/controlsState/desiredCurvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="Actual lateral accel (roll compensated)">
+   <global></global>
+   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
+   <linked_source>/controlsState/curvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="IMU_LatAccelVal_ms^2_roll_compensated">
+   <global></global>
+   <function>if (v1 == 0 and v2 == 1) then
+  return  (value * -9.8) - (v3 * 9.81)
+end
+--return 0
+  return  (value * -9.8) - (v3 * 9.81)</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+    <v3>/liveParameters/roll</v3>
+   </additional_sources>
+  </snippet>
+  <snippet name="IMU_LatAccelVal_Ms^3">
+   <global></global>
+   <function>return  value * -9.8</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="IMU_LatAccelVal_Ms^2">
+   <global></global>
+   <function>if (v1 == 0 and v2 == 1) then
+  return  value * -9.8
+end
+return 0</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="roll compensated lateral acceleration">
+   <global></global>
+   <function>if (v3 == 0 and v4 == 1) then
+  return  (value * v1 ^ 2) - (v2 * 9.81)
+end
+return 0</function>
+   <linked_source>/controlsState/curvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+    <v3>/carState/steeringPressed</v3>
+    <v4>/carControl/latActive</v4>
+   </additional_sources>
+  </snippet>
+  <snippet name="IMU_LatAccelVal_ms^2">
+   <global></global>
+   <function>return  value * -9.8</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+   </additional_sources>
+  </snippet>
+ </customMathEquations>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+
@@ -0,0 +1,281 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget name="Main Window" parent="main_window">
+  <Tab containers="1" tab_name="tab1">
+   <Container>
+    <DockSplitter sizes="0.500397;0.499603" count="2" orientation="-">
+     <DockArea name="...">
+      <plot flip_x="false" flip_y="false" mode="TimeSeries" style="Lines">
+       <range top="256.250000" left="0.000000" right="421.102293" bottom="-6.250000"/>
+       <limitY/>
+       <curve color="#1ac938" name="/can/1/LFA_ALT/LKAS_ANGLE_MAX_TORQUE"/>
+       <curve color="#17becf" name="max torque(calc)">
+        <transform name="Moving Average" alias="max torque(calc)[Moving Average]">
+         <options compensate_offset="true" value="10"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" flip_y="false" mode="TimeSeries" style="Lines">
+       <range top="2.776497" left="0.000000" right="421.102293" bottom="-2.918548"/>
+       <limitY/>
+       <curve color="#f14cc1" name="desired lat accel"/>
+       <curve color="#888888" name="zero"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="0"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad CSV">
+   <default time_axis="" delimiter="0"/>
+  </plugin>
+  <plugin ID="DataLoad MCAP"/>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="DataLoad ULog"/>
+  <plugin ID="Cereal Subscriber"/>
+  <plugin ID="UDP Server"/>
+  <plugin ID="WebSocket Server"/>
+  <plugin ID="ZMQ Subscriber"/>
+  <plugin ID="Fast Fourier Transform"/>
+  <plugin ID="Quaternion to RPY"/>
+  <plugin ID="Reactive Script Editor">
+   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
+   <scripts/>
+  </plugin>
+  <plugin ID="CSV Exporter"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <previouslyLoaded_Datafiles>
+  <fileInfo prefix="" filename="../tmpa_e8kwpj.rlog">
+   <selected_datasources value=""/>
+  </fileInfo>
+ </previouslyLoaded_Datafiles>
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations>
+  <snippet name="zero">
+   <global>min=0
+max=250
+max_from_speed=96
+
+rate_lim = 500
+
+la_deadzone = 0.38
+
+k1=200
+k2=20
+k3=1.0
+k4=1
+k5=10
+
+old = 0
+
+function sign(number)
+    return number > 0 and 1 or (number == 0 and 0 or -1)
+end
+
+function apply_rate_limit(old, new, limit)
+    return math.min(math.max(new, old - limit), old + limit)
+end
+
+function apply_deadzone(val, deadzone)
+    if math.abs(val) &lt;= deadzone then
+        return 0.0
+    elseif val &lt; 0.0 then
+        return val + deadzone
+    else
+        return val - deadzone
+    end
+end</global>
+   <function>return 0</function>
+   <linked_source>/carState/aEgo</linked_source>
+  </snippet>
+  <snippet name="max torque lj adj">
+   <global>min=0
+max=250
+max_from_speed=96
+
+k1=200
+k2=30
+k3=1    
+k4=1
+k5=10
+
+function sign(number)
+    return number > 0 and 1 or (number == 0 and 0 or -1)
+end</global>
+   <function>return 250 - value * 20</function>
+   <linked_source>desired lateral jark</linked_source>
+  </snippet>
+  <snippet name="ang_cmd rate">
+   <global>firstX = 0
+firstY = 0
+is_first = true
+secondX = 0
+secondY = 0
+is_second = false</global>
+   <function>-- Wait for initial values
+if (is_first) then
+  is_first = false
+  is_second = true
+  firstX = time
+  firstY = value
+end
+
+if (is_second) then
+  is_second = false
+  secondX = time
+  secondY = value
+end
+
+-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
+dx = time - firstX
+dy = value - firstY
+-- Increment
+firstX = secondX
+firstY = secondY
+secondX = time
+secondY = value
+
+return dy/dx</function>
+   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
+  </snippet>
+  <snippet name="max torque(calc)">
+   <global>min=0
+max=250
+max_from_speed=96
+
+rate_lim = 500
+
+la_deadzone = 0.38
+
+k1=200
+k2=20
+k3=1.0
+k4=1
+k5=10
+
+old = 0
+
+function sign(number)
+    return number > 0 and 1 or (number == 0 and 0 or -1)
+end
+
+function apply_rate_limit(old, new, limit)
+    return math.min(math.max(new, old - limit), old + limit)
+end
+
+function apply_deadzone(val, deadzone)
+    if math.abs(val) &lt;= deadzone then
+        return 0.0
+    elseif val &lt; 0.0 then
+        return val + deadzone
+    else
+        return val - deadzone
+    end
+end</global>
+   <function>la = apply_deadzone(v2, la_deadzone)
+lj = v3
+
+if la == 0.0 then
+    lj = 0.0
+end
+
+fla = math.min(math.abs(k1 * la)^k3, max)
+flj = math.min(math.abs(k2 * lj)^k4, max)
+
+out = fla
+
+flv = math.min(max_from_speed, k5 * v4)
+
+out = out + flv
+
+out = math.max(math.min(out, max), min)
+
+if sign(la) == sign(lj) then
+    out = out - flj
+else
+    out = out + flj
+end
+
+
+if v5 == 1.0 then
+    out = 0.0
+end
+
+out = math.max(math.min(out, max), min)
+out = apply_rate_limit(old, out, rate_lim)
+old = out
+
+return out</function>
+   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
+   <additional_sources>
+    <v1>ang_cmd rate</v1>
+    <v2>desired lat accel</v2>
+    <v3>desired lateral jark</v3>
+    <v4>/carState/vEgo</v4>
+    <v5>/can/1/LFA_ALT/LKAS_ANGLE_ACTIVE</v5>
+   </additional_sources>
+  </snippet>
+  <snippet name="desired lateral jark">
+   <global>firstX = 0
+firstY = 0
+is_first = true
+secondX = 0
+secondY = 0
+is_second = false</global>
+   <function>-- Wait for initial values
+if (is_first) then
+  is_first = false
+  is_second = true
+  firstX = time
+  firstY = value
+end
+
+if (is_second) then
+  is_second = false
+  secondX = time
+  secondY = value
+end
+
+-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
+dx = time - firstX
+dy = value - firstY
+-- Increment
+firstX = secondX
+firstY = secondY
+secondX = time
+secondY = value
+
+return dy/dx</function>
+   <linked_source>desired lat accel</linked_source>
+  </snippet>
+  <snippet name="abs(des la accel)">
+   <global></global>
+   <function>return math.abs(value)</function>
+   <linked_source>desired lat accel</linked_source>
+  </snippet>
+  <snippet name="desired lat accel">
+   <global></global>
+   <function>return value * v1^2</function>
+   <linked_source>/controlsState/desiredCurvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+   </additional_sources>
+  </snippet>
+  <snippet name="abs(ang_cmd)">
+   <global></global>
+   <function>return math.abs(value)</function>
+   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
+  </snippet>
+ </customMathEquations>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+
@@ -0,0 +1,175 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab tab_name="tab1" containers="1">
+   <Container>
+    <DockSplitter sizes="0.25;0.25;0.25;0.25" count="4" orientation="-">
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range bottom="-3.582051" right="1431.113121" top="5.314632" left="5.322399"/>
+       <limitY/>
+       <curve name="Actual lateral accel (roll compensated)" color="#1ac938"/>
+       <curve name="Desired lateral accel (roll compensated)" color="#ff7f0e"/>
+       <curve name="IMU_LatAccelVal_ms^2" color="#f14cc1"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range bottom="-3.741271" right="1431.113121" top="3.756006" left="5.322399"/>
+       <limitY/>
+       <curve name="roll compensated lateral acceleration" color="#ff7f0e"/>
+       <curve name="IMU_LatAccelVal_Ms^2" color="#1ac938"/>
+       <curve name="IMU_LatAccelVal_ms^2_roll_compensated" color="#9467bd"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range bottom="-0.025000" right="1431.113121" top="1.025000" left="5.322399"/>
+       <limitY/>
+       <curve name="/carState/steeringPressed" color="#0097ff"/>
+       <curve name="/carOutput/actuatorsOutput/torque" color="#d62728"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range bottom="-1.660728" right="1431.113121" top="67.942958" left="5.322399"/>
+       <limitY/>
+       <curve name="/carState/vEgo" color="#f14cc1">
+        <transform name="Scale/Offset" alias="/carState/vEgo[Scale/Offset]">
+         <options value_scale="2.23694" time_offset="0" value_offset="0"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab tab_name="tab2" containers="1">
+   <Container>
+    <DockSplitter sizes="0.5;0.5" count="2" orientation="-">
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range bottom="30595.900000" right="1431.113121" top="34884.100000" left="5.322399"/>
+       <limitY/>
+       <curve name="/can/1/IMU_01_10ms/IMU_RollRtVal" color="#17becf"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range bottom="-0.058795" right="1431.113121" top="0.072448" left="5.322399"/>
+       <limitY/>
+       <curve name="/liveParameters/roll" color="#bcbd22"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="1"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad CSV">
+   <default time_axis="" delimiter="0"/>
+  </plugin>
+  <plugin ID="DataLoad MCAP"/>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="DataLoad ULog"/>
+  <plugin ID="Cereal Subscriber"/>
+  <plugin ID="UDP Server"/>
+  <plugin ID="WebSocket Server"/>
+  <plugin ID="ZMQ Subscriber"/>
+  <plugin ID="Fast Fourier Transform"/>
+  <plugin ID="Quaternion to RPY"/>
+  <plugin ID="Reactive Script Editor">
+   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
+   <scripts/>
+  </plugin>
+  <plugin ID="CSV Exporter"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations>
+  <snippet name="IMU_LatAccelVal_ms^2">
+   <global></global>
+   <function>return  value * -9.8</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="roll compensated lateral acceleration">
+   <global></global>
+   <function>if (v3 == 0 and v4 == 1) then
+  return  (value * v1 ^ 2) - (v2 * 9.81)
+end
+return 0</function>
+   <linked_source>/controlsState/curvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+    <v3>/carState/steeringPressed</v3>
+    <v4>/carControl/latActive</v4>
+   </additional_sources>
+  </snippet>
+  <snippet name="IMU_LatAccelVal_Ms^2">
+   <global></global>
+   <function>if (v1 == 0 and v2 == 1) then
+  return  value * -9.8
+end
+return 0</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="IMU_LatAccelVal_Ms^3">
+   <global></global>
+   <function>return  value * -9.8</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="IMU_LatAccelVal_ms^2_roll_compensated">
+   <global></global>
+   <function>
+
+if (v1 == 0 and v2 == 1) then
+  return  (value * -9.8) - (v3 * 9.81)
+end
+return 0</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+    <v3>/liveParameters/roll</v3>
+   </additional_sources>
+  </snippet>
+  <snippet name="Actual lateral accel (roll compensated)">
+   <global></global>
+   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
+   <linked_source>/controlsState/curvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="Desired lateral accel (roll compensated)">
+   <global></global>
+   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
+   <linked_source>/controlsState/desiredCurvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+   </additional_sources>
+  </snippet>
+ </customMathEquations>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+