Merge remote-tracking branch 'sunnypilot/sunnypilot/master' into rivian-non-pcm

# Conflicts: # opendbc_repo
ui: update longitudinal-related settings handling (#1401 )
2026-06-20 01:02:07 +08:00 · 2025-10-20 10:51:08 -04:00 · 2025-10-18 04:04:48 -04:00 · 2025-10-17 23:41:33 -04:00 · 2025-10-17 23:30:06 -04:00 · 2025-10-17 22:53:31 -04:00
98 changed files with 7114 additions and 1083 deletions
@@ -118,8 +118,8 @@ jobs:
        run: |
          # Use GitHub API to get PRs with specific label, ordered by creation date
          PR_LIST=$(gh api graphql -f query='
-            query($label:String!) {
-              search(query: $label, type:ISSUE, first:100) {
+            query($search_query:String!) {
+              search(query: $search_query, type:ISSUE, first:100) {
                nodes {
                  ... on PullRequest {
                    number
@@ -149,7 +149,7 @@ jobs:
                  }
                }
              }
-            }' -F label="is:pr is:open label:${PR_LABEL} draft:false sort:created-asc")
+            }' -F search_query="repo:${{ github.repository }} is:pr is:open label:${PR_LABEL},${PR_LABEL}-c3 draft:false sort:created-asc")

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

 struct ModelManagerSP @0xaedffd8f31e7b55d {
@@ -404,13 +446,13 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {

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

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

 struct CustomReserved10 @0xcb9fd56c7057593a {
 }
@@ -150,6 +150,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
    {"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
+    {"HideVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
    {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
    {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
@@ -159,14 +160,17 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
    {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
    {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
-    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "100"}},
+    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
    {"OnroadScreenOffControl", {PERSISTENT | BACKUP, BOOL}},
-    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "0"}},
+    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
+    {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
    {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},

    // MADS params
    {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -193,6 +197,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"SunnylinkDongleId", {PERSISTENT, STRING}},
    {"SunnylinkdPid", {PERSISTENT, INT}},
    {"SunnylinkEnabled", {PERSISTENT, BOOL, "1"}},
+    {"SunnylinkTempFault", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0"}},

    // Backup Manager params
    {"BackupManager_CreateBackup", {PERSISTENT, BOOL}},
@@ -200,6 +205,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {

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

    {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -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.

-# 334 Supported Cars
+# 337 Supported Cars

 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -83,7 +83,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2022-24|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 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic Hatchback Hybrid 2025|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 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback Hybrid 2025-26|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 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|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 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic Hybrid 2025|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 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025">Buy Here</a></sub></details>|||
 |Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector + Honda Clarity Proxy Board<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://shop.retropilot.org/product/honda-clarity-proxy-board-kit">Buy Here</a></sub></details>|||
@@ -99,7 +99,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
 |Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
 |Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
+|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
+|Honda|Odyssey 2021-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-25">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
 |Honda|Pilot 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
@@ -163,6 +165,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|EV6 (without HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist|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 L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Kia|Forte 2019-21|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 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?harness=Kia Forte 2019-21">Buy Here</a></sub></details>|||
 |Kia|Forte 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 E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
+|Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-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 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?harness=Kia Forte Non-SCC 2019">Buy Here</a></sub></details>|||
 |Kia|K5 2021-24|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 A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
 |Kia|K5 Hybrid 2020-22|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 A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|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 Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
@@ -259,7 +262,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>10</sup>](#footnotes)|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 Tesla 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?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
 |Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>10</sup>](#footnotes)|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 Tesla B 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?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
 |Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>10</sup>](#footnotes)|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 Tesla 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?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2024[<sup>10</sup>](#footnotes)|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 Tesla B 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?harness=Tesla Model Y (with HW4) 2024">Buy Here</a></sub></details>|||
+|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>10</sup>](#footnotes)|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 Tesla B 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?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
 |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbfa5858c0a672411ffdc691efdecb06d01ae458cc1df409bcf3fdeaa4756f72
+size 34638
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db9671bb03e01f119bba1eb6cc0507e0f039ac4e5b7f9f839a87071c52e86e56
+size 44416
@@ -57,7 +57,7 @@ def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> struct
  struct_dataclass = structs.CarControlSP(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))

  struct_dataclass.mads = structs.ModularAssistiveDrivingSystem(**remove_deprecated(struct_dict.get('mads', {})))
-  struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
+  # struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
  struct_dataclass.leadOne = structs.LeadData(**remove_deprecated(struct_dict.get('leadOne', {})))
  struct_dataclass.leadTwo = structs.LeadData(**remove_deprecated(struct_dict.get('leadTwo', {})))
  struct_dataclass.intelligentCruiseButtonManagement = structs.IntelligentCruiseButtonManagement(
@@ -99,7 +99,6 @@ class Controls(ControlsExt, ModelStateBase):

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

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

    long_plan = self.sm['longitudinalPlan']
@@ -234,6 +233,9 @@ class Controls(ControlsExt, ModelStateBase):
    while not evt.is_set():
      self.get_params_sp()

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

  def run(self):
@@ -6,6 +6,7 @@ from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTur

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

 LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
 LANE_CHANGE_TIME_MAX = 10.
@@ -32,9 +33,9 @@ DESIRES = {
 }

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


@@ -49,7 +50,7 @@ class DesireHelper:
    self.desire = log.Desire.none
    self.alc = AutoLaneChangeController(self)
    self.lane_turn_controller = LaneTurnController(self)
-    self.lane_turn_direction = custom.TurnDirection.none
+    self.lane_turn_direction = TurnDirection.none

  @staticmethod
  def get_lane_change_direction(CS):
@@ -126,7 +127,7 @@ class DesireHelper:

    self.prev_one_blinker = one_blinker

-    if self.lane_turn_direction != custom.TurnDirection.none:
+    if self.lane_turn_direction != TurnDirection.none:
      self.desire = TURN_DESIRES[self.lane_turn_direction]
    else:
      self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
@@ -24,6 +24,7 @@ from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroa
 from openpilot.system.version import get_build_metadata

 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
+from openpilot.sunnypilot import get_sanitize_int_param
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
 from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
@@ -43,6 +44,7 @@ LaneChangeDirection = log.LaneChangeDirection
 EventName = log.OnroadEvent.EventName
 ButtonType = car.CarState.ButtonEvent.Type
 SafetyModel = car.CarParams.SafetyModel
+TurnDirection = custom.ModelDataV2SP.TurnDirection

 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)

@@ -130,7 +132,12 @@ class SelfdriveD(CruiseHelper):
    self.logged_comm_issue = None
    self.not_running_prev = None
    self.experimental_mode = False
-    self.personality = self.params.get("LongitudinalPersonality", return_default=True)
+    self.personality = get_sanitize_int_param(
+      "LongitudinalPersonality",
+      min(log.LongitudinalPersonality.schema.enumerants.values()),
+      max(log.LongitudinalPersonality.schema.enumerants.values()),
+      self.params
+    )
    self.recalibrating_seen = False
    self.state_machine = StateMachine()
    self.rk = Ratekeeper(100, print_delay_threshold=None)
@@ -299,9 +306,9 @@ class SelfdriveD(CruiseHelper):

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

    for i, pandaState in enumerate(self.sm['pandaStates']):
@@ -33,13 +33,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
      "../assets/icons/experimental_white.svg",
      false,
    },
-    {
-      "DynamicExperimentalControl",
-      tr("Enable Dynamic Experimental Control"),
-      tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
-      "../assets/offroad/icon_blank.png",
-      false,
-    },
    {
      "DisengageOnAccelerator",
      tr("Disengage on Accelerator Pedal"),
@@ -4,9 +4,6 @@
 #include <map>

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

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

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

  // draw background + gradient
@@ -51,8 +51,8 @@ void HudRenderer::draw(QPainter &p, const QRect &surface_rect) {
  if (is_cruise_available) {
    drawSetSpeed(p, surface_rect);
  }
-#endif
  drawCurrentSpeed(p, surface_rect);
+#endif

  p.restore();
 }
@@ -22,7 +22,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {

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

  if (longitudinal_control && sm.alive("radarState")) {
    update_leads(radar_state, model.getPosition());
@@ -34,7 +34,6 @@ 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();
 }
@@ -174,173 +173,6 @@ 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.;
@@ -34,20 +34,11 @@ protected:
  bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out);
  void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
                        QPolygonF *pvd, int max_idx, bool allow_invert = true);
-  void drawLeadStatus(QPainter &painter, int height, int width);
-  void drawLeadStatusAtPosition(QPainter &painter,
-                             const cereal::RadarState::LeadData::Reader &lead_data,
-                             const QPointF &chevron_pos,
-                             int height, int width,
-                             const QString &label);
  void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect);
  void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
  virtual void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
  void drawLaneLines(QPainter &painter);
  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
-  virtual void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {;
-    drawPath(painter, model, surface_rect.height());
-  }
  void updatePathGradient(QLinearGradient &bg);
  QColor blendColors(const QColor &start, const QColor &end, float t);

@@ -64,9 +55,4 @@ 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;
 };
@@ -4,8 +4,10 @@

 #ifdef SUNNYPILOT
 #include "selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/alerts.h"
 #define UIState UIStateSP
 #define AnnotatedCameraWidget AnnotatedCameraWidgetSP
+#define OnroadAlerts OnroadAlertsSP
 #else
 #include "selfdrive/ui/qt/onroad/annotated_camera.h"
 #endif
@@ -92,6 +92,16 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
      // ignore events when device is awakened by resetInteractiveTimeout
      ignore = !device()->isAwake();
      device()->resetInteractiveTimeout();
+
+#ifdef SUNNYPILOT
+      auto *s_sp = uiStateSP();
+      bool onroadScreenControl = s_sp->scene.onroadScreenOffControl;
+      bool started = s_sp->scene.started;
+      bool timerExpired = (s_sp->scene.onroadScreenOffTimer == 0);
+      ignore |= (onroadScreenControl and started and timerExpired);
+      s_sp->reset_onroad_sleep_timer();
+#endif
+
      break;
    }
    default:
@@ -7,6 +7,10 @@
 #include "selfdrive/ui/qt/offroad/onboarding.h"
 #include "selfdrive/ui/qt/offroad/settings.h"

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

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


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

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


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

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

 def check_selfdrive_timeout_alert(sm):
@@ -38,6 +38,7 @@ qt_src = [
  "sunnypilot/qt/offroad/settings/trips_panel.cc",
  "sunnypilot/qt/offroad/settings/vehicle_panel.cc",
  "sunnypilot/qt/offroad/settings/visuals_panel.cc",
+  "sunnypilot/qt/onroad/alerts.cc",
  "sunnypilot/qt/onroad/annotated_camera.cc",
  "sunnypilot/qt/onroad/buttons.cc",
  "sunnypilot/qt/onroad/developer_ui/developer_ui.cc",
@@ -25,8 +25,8 @@ const QMap<QString, QString> Brightness::brightness_options = {

 Brightness::Brightness() : OptionControlSP(
  "Brightness",
-  tr("Brightness"),
-  tr("Overrides the brightness of the device."),
+  tr("Global Brightness"),
+  tr("Overrides the brightness of the device. This applies to both onroad and offroad screens. "),
  "../assets/offroad/icon_blank.png",
  {0, 11}, 1, true, &brightness_options) {

@@ -56,14 +56,13 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare
  addItem(errorLogBtn);

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

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

  prebuiltToggle->setVisible(!is_release && !is_tested && !is_development);
  prebuiltToggle->setEnabled(disable_updates);
@@ -22,9 +22,6 @@ private:
  ParamControlSP *prebuiltToggle;
  Params params;
  ParamControlSP *showAdvancedControls;
-  bool is_development;
-  bool is_release;
-  bool is_tested;

 private slots:
  void updateToggles(bool offroad);
@@ -23,6 +23,7 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
    {"regulatoryBtn", tr("Regulatory"), ""},
    {"translateBtn", tr("Language"), ""},
    {"resetParams", tr("Reset Settings"), ""},
+    {"onroadUploadsBtn", tr("Onroad Uploads"), "OnroadUploads"}
  };

  int row = 0, col = 0;
@@ -75,35 +76,21 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {

  connect(buttons["resetParams"], &PushButtonSP::clicked, this, &DevicePanelSP::resetSettings);

+  connect(buttons["onroadUploadsBtn"], &PushButtonSP::clicked, buttons["onroadUploadsBtn"], &PushButtonSP::updateButton);
+
  // Max Time Offroad
  maxTimeOffroad = new MaxTimeOffroad();
  connect(maxTimeOffroad, &OptionControlSP::updateLabels, maxTimeOffroad, &MaxTimeOffroad::refresh);
  addItem(maxTimeOffroad);

-    toggleDeviceBootMode = new ButtonParamControlSP("DeviceBootMode", tr("Wake-Up Behavior"), "", "", {"Default", "Offroad"}, 375, true);
+  toggleDeviceBootMode = new ButtonParamControlSP("DeviceBootMode", tr("Wake-Up Behavior"), "", "", {"Default", "Offroad"}, 375, true);
  addItem(toggleDeviceBootMode);

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

-  interactivityTimeout =  new OptionControlSP("InteractivityTimeout", tr("Interactivity Timeout"),
-                                     tr("Apply a custom timeout for settings UI."
-                                        "\nThis is the time after which settings UI closes automatically if user is not interacting with the screen."),
-                                     "", {0, 120}, 10, true, nullptr, false);
-
-  connect(interactivityTimeout, &OptionControlSP::updateLabels, [=]() {
-    updateState();
-  });
-
-  addItem(interactivityTimeout);
-  
-  // Brightness
-  brightness = new Brightness();
-  connect(brightness, &OptionControlSP::updateLabels, brightness, &Brightness::refresh);
-  addItem(brightness);
-
  addItem(device_grid_layout);

  // offroad mode and power buttons
@@ -129,29 +116,21 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
  offroadBtn->setFixedWidth(power_layout->sizeHint().width());
  QObject::connect(offroadBtn, &PushButtonSP::clicked, this, &DevicePanelSP::setOffroadMode);

-  QVBoxLayout *power_group_layout = new QVBoxLayout();
+  power_group_layout = new QVBoxLayout();
  power_group_layout->setSpacing(25);
-  power_group_layout->addWidget(offroadBtn, 0, Qt::AlignHCenter);
  power_group_layout->addLayout(power_layout);

  addItem(power_group_layout);

-  std::vector always_enabled_btns = {
+  always_enabled_btns = {
    rebootBtn,
    poweroffBtn,
    offroadBtn,
    buttons["quietModeBtn"],
+    buttons["onroadUploadsBtn"],
  };

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

 void DevicePanelSP::setOffroadMode() {
@@ -175,7 +154,7 @@ void DevicePanelSP::setOffroadMode() {
    ConfirmationDialog::alert(tr("Disengage to Enter Always Offroad Mode"), this);
  }

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

 void DevicePanelSP::resetSettings() {
@@ -192,16 +171,20 @@ void DevicePanelSP::resetSettings() {
 }

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

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

  bool offroad_mode_param = params.getBool("OffroadMode");
-  offroadBtn->setText(offroad_mode_param ? tr("Exit Always Offroad") : tr("Always Offroad"));
+  offroadBtn->setText(offroad_mode_param ? tr("Exit Always Offroad") : tr("Enable Always Offroad"));
  offroadBtn->setStyleSheet(offroad_mode_param ? alwaysOffroadStyle : autoOffroadStyle);

  DeviceSleepModeStatus currStatus = DeviceSleepModeStatus::DEFAULT;
@@ -210,10 +193,11 @@ void DevicePanelSP::updateState() {
  }
  toggleDeviceBootMode->setDescription(deviceSleepModeDescription(currStatus));

-  QString timeoutValue = QString::fromStdString(params.get("InteractivityTimeout"));
-  if (timeoutValue == "0" || timeoutValue.isEmpty()) {
-    interactivityTimeout->setLabel("Default");
+  if (offroad and not offroad_mode_param) {
+    power_group_layout->insertWidget(0, offroadBtn, 0, Qt::AlignHCenter);
  } else {
-    interactivityTimeout->setLabel(timeoutValue + "s");
+    AddWidgetAt(0, offroadBtn);
  }
+
+  offroad = _offroad;
 }
@@ -8,7 +8,6 @@
 #pragma once

 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"

@@ -24,7 +23,7 @@ public:
  explicit DevicePanelSP(SettingsWindowSP *parent = 0);
  void showEvent(QShowEvent *event) override;
  void setOffroadMode();
-  void updateState();
+  void updateState(bool _offroad);
  void resetSettings();

 private:
@@ -32,8 +31,10 @@ private:
  PushButtonSP *offroadBtn;
  MaxTimeOffroad *maxTimeOffroad;
  ButtonParamControlSP *toggleDeviceBootMode;
-  Brightness *brightness;
-  OptionControlSP *interactivityTimeout;
+  QVBoxLayout *power_group_layout;
+  bool offroad;
+
+  std::vector<PushButtonSP*> always_enabled_btns = {};

  const QString alwaysOffroadStyle = R"(
    PushButtonSP {
@@ -12,30 +12,29 @@ OnroadScreenBrightnessControl::OnroadScreenBrightnessControl(const QString &para
                                                             QWidget *parent)
  : ExpandableToggleRow(param, title, description, icon, parent) {
  auto *mainFrame = new QFrame(this);
-  auto *mainFrameLayout = new QGridLayout();
+  auto *mainFrameLayout = new QVBoxLayout();
  mainFrame->setLayout(mainFrameLayout);
-  mainFrameLayout->setSpacing(0);
+  mainFrameLayout->setSpacing(30);
+  mainFrameLayout->setContentsMargins(0, 0, 0, 0);

  onroadScreenOffTimer = new OptionControlSP(
    "OnroadScreenOffTimer",
-    "",
+    "Onroad Brightness Delay",
    "",
    "",
    {0, 11}, 1, true, &onroadScreenOffTimerOptions);

  onroadScreenBrightness = new OptionControlSP(
    "OnroadScreenOffBrightness",
+    "Onroad Brightness",
    "",
    "",
-    "",
-    {0, 100}, 10, true, nullptr, false);
+    {0, 90}, 10, true);

  connect(onroadScreenOffTimer, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);
  connect(onroadScreenBrightness, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);
-  onroadScreenOffTimer->setFixedWidth(280);
-  onroadScreenBrightness->setFixedWidth(280);
-  mainFrameLayout->addWidget(onroadScreenOffTimer, 0, 0, Qt::AlignLeft);
-  mainFrameLayout->addWidget(onroadScreenBrightness, 0, 1, Qt::AlignRight);
+  mainFrameLayout->addWidget(onroadScreenBrightness);
+  mainFrameLayout->addWidget(onroadScreenOffTimer);

  addItem(mainFrame);

@@ -45,19 +44,11 @@ OnroadScreenBrightnessControl::OnroadScreenBrightnessControl(const QString &para
 void OnroadScreenBrightnessControl::refresh() {
  // Driving Screen Off Timer
  int valTimer = std::atoi(params.get("OnroadScreenOffTimer").c_str());
-  std::string labelTimer = "<span style='font-size: 45px; font-weight: 450; color: #FFFFFF;'>";
-  labelTimer += "Delay";
-  labelTimer += " <br><span style='font-size: 40px; font-weight: 450; color:rgb(174, 255, 195);'>";
-  labelTimer += (valTimer < 60 ? std::to_string(valTimer) + "s" : std::to_string(valTimer / 60) + "m");
-  labelTimer += "</span></span>";
+  std::string labelTimer = (valTimer < 60 ? std::to_string(valTimer) + "s" : std::to_string(valTimer / 60) + "m");
  onroadScreenOffTimer->setLabel(QString::fromStdString(labelTimer));

  // Driving Screen Off Brightness
  std::string valBrightness = params.get("OnroadScreenOffBrightness");
-  std::string labelBrightness = "<span style='font-size: 45px; font-weight: 450; color: #FFFFFF;'>";
-  labelBrightness += "Brightness";
-  labelBrightness += " <br><span style='font-size: 40px; font-weight: 450; color:rgb(174, 255, 195);'>";
-  labelBrightness += (valBrightness == "0" ? " Screen Off" : valBrightness + "%");
-  labelBrightness += "</span></span>";
+  std::string labelBrightness = (valBrightness == "0" ? " Screen Off" : valBrightness + "%");
  onroadScreenBrightness->setLabel(QString::fromStdString(labelBrightness));
 }
@@ -18,12 +18,30 @@ DisplayPanel::DisplayPanel(QWidget *parent) : QWidget(parent) {
  // Onroad Screen Off/Brightness
  onroadScreenBrightnessControl = new OnroadScreenBrightnessControl(
    "OnroadScreenOffControl",
-    tr("Driving Screen Off: Non-Critical Events"),
+    tr("Onroad Screen: Reduced Brightness"),
    tr("Turn off device screen or reduce brightness after driving starts. "
-       "It automatically brightens again when screen is touched or a critical event occurs."),
+       "It automatically brightens again when screen is touched or a visible alert is displayed."),
    "",
    this);
  list->addItem(onroadScreenBrightnessControl);
+  list->addItem(horizontal_line());
+
+  // Global Brightness
+  brightness = new Brightness();
+  connect(brightness, &OptionControlSP::updateLabels, brightness, &Brightness::refresh);
+  list->addItem(brightness);
+  list->addItem(horizontal_line());
+
+  // Interactivity Timeout
+  interactivityTimeout =  new OptionControlSP("InteractivityTimeout", tr("Interactivity Timeout"),
+                                   tr("Apply a custom timeout for settings UI."
+                                      "\nThis is the time after which settings UI closes automatically if user is not interacting with the screen."),
+                                   "", {0, 120}, 10, true, nullptr, false);
+
+  connect(interactivityTimeout, &OptionControlSP::updateLabels, [=]() {
+    refresh();
+  });
+  list->addItem(interactivityTimeout);

  sunnypilotScroller = new ScrollViewSP(list, this);
  vlayout->addWidget(sunnypilotScroller);
@@ -37,4 +55,11 @@ void DisplayPanel::showEvent(QShowEvent *event) {

 void DisplayPanel::refresh() {
  onroadScreenBrightnessControl->refresh();
+
+  QString timeoutValue = QString::fromStdString(params.get("InteractivityTimeout"));
+  if (timeoutValue == "0" || timeoutValue.isEmpty()) {
+    interactivityTimeout->setLabel("Default");
+  } else {
+    interactivityTimeout->setLabel(timeoutValue + "s");
+  }
 }
@@ -7,6 +7,7 @@

 #pragma once

+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
@@ -25,4 +26,6 @@ private:
  ScrollViewSP *sunnypilotScroller = nullptr;
  Params params;
  OnroadScreenBrightnessControl *onroadScreenBrightnessControl = nullptr;
+  Brightness *brightness;
+  OptionControlSP *interactivityTimeout;
 };
@@ -13,9 +13,9 @@ enum class SpeedLimitOffsetType {
 };

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

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

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

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

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

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

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

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

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

  std::vector<QString> speed_limit_offset_texts{
-    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::NONE)],
-    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::FIXED)],
-    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::PERCENT)]
+    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::NONE)].toStdString().c_str()),
+    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::FIXED)].toStdString().c_str()),
+    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::PERCENT)].toStdString().c_str())
  };
  speed_limit_offset_settings = new ButtonParamControlSP(
    "SpeedLimitOffsetType",
@@ -109,7 +111,7 @@ void SpeedLimitSettings::refresh() {
  QString offsetLabel = QString::fromStdString(params.get("SpeedLimitValueOffset"));

  bool has_longitudinal_control;
-  bool intelligent_cruise_button_management_available;
+  bool has_icbm;
  auto cp_bytes = params.get("CarParamsPersistent");
  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
@@ -121,10 +123,16 @@ void SpeedLimitSettings::refresh() {
    cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();

    has_longitudinal_control = hasLongitudinalControl(CP);
-    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
+    has_icbm = hasIntelligentCruiseButtonManagement(CP_SP);
+
+    if (!has_longitudinal_control && !has_icbm) {
+      if (speed_limit_mode_param == SpeedLimitMode::ASSIST) {
+        params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
+      }
+    }
  } else {
    has_longitudinal_control = false;
-    intelligent_cruise_button_management_available = false;
+    has_icbm = false;
  }

  speed_limit_mode_settings->setDescription(modeDescription(speed_limit_mode_param));
@@ -144,13 +152,14 @@ void SpeedLimitSettings::refresh() {
    speed_limit_offset->showDescription();
  }

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

+  speed_limit_mode_settings->refresh();
  speed_limit_mode_settings->showDescription();
  speed_limit_offset->showDescription();
 }
@@ -158,3 +167,7 @@ void SpeedLimitSettings::refresh() {
 void SpeedLimitSettings::showEvent(QShowEvent *event) {
  refresh();
 }
+
+void SpeedLimitSettings::hideEvent(QHideEvent *event) {
+  setCurrentWidget(subPanelFrame);
+}
@@ -21,6 +21,7 @@ public:
  SpeedLimitSettings(QWidget *parent = nullptr);
  void refresh();
  void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent *event) override;

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

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

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

+#include "selfdrive/ui/sunnypilot/qt/util.h"
+
 LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
  setStyleSheet(R"(
    #back_btn {
@@ -40,9 +42,20 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
    "",
    this
  );
-  intelligentCruiseButtonManagement->setConfirmation(true, false);
+  QObject::connect(intelligentCruiseButtonManagement, &ParamControlSP::toggleFlipped, this, [=](bool) {
+    refresh(offroad);
+  });
  list->addItem(intelligentCruiseButtonManagement);

+  dynamicExperimentalControl = new ParamControlSP(
+    "DynamicExperimentalControl",
+    tr("Dynamic Experimental Control (DEC)"),
+    tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
+    "",
+    this
+  );
+  list->addItem(dynamicExperimentalControl);
+
  SmartCruiseControlVision = new ParamControl(
    "SmartCruiseControlVision",
    tr("Smart Cruise Control - Vision"),
@@ -86,6 +99,10 @@ void LongitudinalPanel::showEvent(QShowEvent *event) {
  refresh(offroad);
 }

+void LongitudinalPanel::hideEvent(QHideEvent *event) {
+  main_layout->setCurrentWidget(cruisePanelScreen);
+}
+
 void LongitudinalPanel::refresh(bool _offroad) {
  auto cp_bytes = params.get("CarParamsPersistent");
  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
@@ -99,11 +116,41 @@ void LongitudinalPanel::refresh(bool _offroad) {

    has_longitudinal_control = hasLongitudinalControl(CP);
    is_pcm_cruise = CP.getPcmCruise();
-    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
+    has_icbm = hasIntelligentCruiseButtonManagement(CP_SP);
+
+    if (CP_SP.getIntelligentCruiseButtonManagementAvailable() && !has_longitudinal_control) {
+      intelligentCruiseButtonManagement->setEnabled(offroad);
+    } else {
+      params.remove("IntelligentCruiseButtonManagement");
+      intelligentCruiseButtonManagement->setEnabled(false);
+    }
+
+    if (has_longitudinal_control || has_icbm) {
+      // enable Custom ACC Increments when long is available and is not PCM cruise
+      customAccIncrement->setEnabled(((has_longitudinal_control && !is_pcm_cruise) || has_icbm) && offroad);
+      dynamicExperimentalControl->setEnabled(has_longitudinal_control);
+      SmartCruiseControlVision->setEnabled(true);
+      SmartCruiseControlMap->setEnabled(true);
+    } else {
+      params.remove("CustomAccIncrementsEnabled");
+      params.remove("DynamicExperimentalControl");
+      params.remove("SmartCruiseControlVision");
+      params.remove("SmartCruiseControlMap");
+      customAccIncrement->setEnabled(false);
+      dynamicExperimentalControl->setEnabled(false);
+      SmartCruiseControlVision->setEnabled(false);
+      SmartCruiseControlMap->setEnabled(false);
+    }
+
+    intelligentCruiseButtonManagement->refresh();
+    customAccIncrement->refresh();
+    dynamicExperimentalControl->refresh();
+    SmartCruiseControlVision->refresh();
+    SmartCruiseControlMap->refresh();
  } else {
    has_longitudinal_control = false;
    is_pcm_cruise = false;
-    intelligent_cruise_button_management_available = false;
+    has_icbm = false;
  }

  QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");
@@ -115,33 +162,19 @@ void LongitudinalPanel::refresh(bool _offroad) {
    customAccIncrement->setDescription(onroadOnlyDescription);
    customAccIncrement->showDescription();
  } else {
-    if (has_longitudinal_control || intelligent_cruise_button_management_available) {
-      if (is_pcm_cruise) {
+    if (has_longitudinal_control || has_icbm) {
+      if (has_longitudinal_control && is_pcm_cruise) {
        customAccIncrement->setDescription(accPcmCruiseDisabledDescription);
        customAccIncrement->showDescription();
      } else {
        customAccIncrement->setDescription(accEnabledDescription);
      }
    } else {
-      params.remove("CustomAccIncrementsEnabled");
      customAccIncrement->toggleFlipped(false);
      customAccIncrement->setDescription(accNoLongDescription);
      customAccIncrement->showDescription();
-      params.remove("IntelligentCruiseButtonManagement");
-      intelligentCruiseButtonManagement->toggleFlipped(false);
    }
  }

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

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

  QStackedLayout *main_layout = nullptr;
@@ -34,6 +35,7 @@ private:
  ParamControl *SmartCruiseControlVision;
  ParamControl *SmartCruiseControlMap;
  ParamControl *intelligentCruiseButtonManagement = nullptr;
+  ParamControl *dynamicExperimentalControl = nullptr;
  SpeedLimitSettings *speedLimitScreen;
  PushButtonSP *speedLimitSettings;
 };
@@ -12,6 +12,7 @@
 #include <string>

 #include "common/swaglog.h"
+#include "selfdrive/ui/sunnypilot/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"

 OsmPanel::OsmPanel(QWidget *parent) : QFrame(parent) {
@@ -91,24 +92,30 @@ ButtonControlSP *OsmPanel::setupOsmDownloadButton(QWidget *parent) {
      locationTitles.push_back(std::get<0>(loc));
    }

-    const QString selection = MultiOptionDialog::getSelection(tr("Country"), locationTitles, currentTitle, this);
-    if (!selection.isEmpty()) {
-      params.put("OsmLocal", "1");
-      params.put("OsmLocationTitle", selection.toStdString());
-      for (auto &loc: locations) {
-        if (std::get<0>(loc) == selection) {
-          params.put("OsmLocationName", std::get<1>(loc).toStdString());
-          break;
+    InputDialog d(tr("Search Country"), this, tr("Enter search keywords, or leave blank to list all countries."), false);
+    d.setMinLength(0);
+    const int ret = d.exec();
+    if (ret) {
+      const QString selection = search(d.text(), locationTitles, tr("Select Country"));
+      if (!selection.isEmpty()) {
+        params.put("OsmLocal", "1");
+        params.put("OsmLocationTitle", selection.toStdString());
+        for (auto &loc: locations) {
+          if (std::get<0>(loc) == selection) {
+            params.put("OsmLocationName", std::get<1>(loc).toStdString());
+            break;
+          }
        }
-      }
-      if (params.get("OsmLocationName") == "US") {
-        usStatesBtn->click();
-        return;
-      } else if (selection != "== None ==") {
-        if (showConfirmationDialog(parent)) {
-          osm_download_in_progress = true;
-          params.putBool("OsmDbUpdatesCheck", true);
-          updateLabels();
+        if (params.get("OsmLocationName") == "US") {
+          usStatesBtn->click();
+          return;
+        }
+        if (selection != "== None ==") {
+          if (showConfirmationDialog(parent)) {
+            osm_download_in_progress = true;
+            params.putBool("OsmDbUpdatesCheck", true);
+            updateLabels();
+          }
        }
      }
    }
@@ -135,20 +142,25 @@ ButtonControlSP *OsmPanel::setupUsStatesButton(QWidget *parent) {
      locationTitles.push_back(std::get<0>(loc));
    }

-    const QString selection = MultiOptionDialog::getSelection(tr("State"), locationTitles, currentTitle, this);
-    if (!selection.isEmpty()) {
-      params.put("OsmStateTitle", selection.toStdString());
-      for (auto &loc: locations) {
-        if (std::get<0>(loc) == selection) {
-          params.put("OsmStateName", std::get<1>(loc).toStdString());
-          break;
+    InputDialog d(tr("Search State"), this, tr("Enter search keywords, or leave blank to list all states."), false);
+    d.setMinLength(0);
+    const int ret = d.exec();
+    if (ret) {
+      const QString selection = search(d.text(), locationTitles, tr("Select State"));
+      if (!selection.isEmpty()) {
+        params.put("OsmStateTitle", selection.toStdString());
+        for (auto &loc: locations) {
+          if (std::get<0>(loc) == selection) {
+            params.put("OsmStateName", std::get<1>(loc).toStdString());
+            break;
+          }
+        }
+        usStatesBtn->setValue(selection);
+        if (showConfirmationDialog(parent)) {
+          osm_download_in_progress = true;
+          params.putBool("OsmDbUpdatesCheck", true);
+          updateLabels();
        }
-      }
-      usStatesBtn->setValue(selection);
-      if (showConfirmationDialog(parent)) {
-        osm_download_in_progress = true;
-        params.putBool("OsmDbUpdatesCheck", true);
-        updateLabels();
      }
    }
    updateLabels();
@@ -281,3 +293,15 @@ void OsmPanel::updateMapSize() {
    mapSizeFuture = QtConcurrent::run(getDirSize, MAP_PATH);
  }
 }
+
+QString OsmPanel::search(const QString &query, const QStringList &list, const QString &prompt_text) {
+  QStringList lst_results = searchFromList(query, list);
+  QString selection;
+
+  if (lst_results.isEmpty()) {
+    ConfirmationDialog::alert(tr("No results found for keywords: %1").arg(query), this);
+    return selection;
+  }
+  selection = MultiOptionDialog::getSelection(prompt_text, lst_results, "", this);
+  return selection;
+}
@@ -76,6 +76,7 @@ private:
  void updateDownloadProgress();
  static int extractIntFromJson(const QJsonObject &json, const QString &key);
  QString processUpdateStatus(bool pending_update_check, int total_files, int downloaded_files, const QJsonObject &json, bool failed_state);
+  QString search(const QString &query, const QStringList &list, const QString &prompt_text);

  ConfirmationDialog *confirmationDialog;
  LabelControlSP *mapdVersion;
@@ -21,7 +21,7 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
    paramsRefresh(param_name, param_value);
  });

-  is_sunnylink_enabled = Params().getBool("SunnylinkEnabled");
+  is_sunnylink_enabled = params.getBool("SunnylinkEnabled");
  connect(uiStateSP(), &UIStateSP::sunnylinkRolesChanged, this, &SunnylinkPanel::updatePanel);
  connect(uiStateSP(), &UIStateSP::sunnylinkDeviceUsersChanged, this, &SunnylinkPanel::updatePanel);
  connect(uiStateSP(), &UIStateSP::offroadTransition, [=](bool offroad) {
@@ -272,7 +272,7 @@ void SunnylinkPanel::updatePanel() {
  const auto sunnylinkDongleId = getSunnylinkDongleId().value_or(tr("N/A"));
  sunnylinkEnabledBtn->setEnabled(!is_onroad);

-  is_sunnylink_enabled = Params().getBool("SunnylinkEnabled");
+  is_sunnylink_enabled = params.getBool("SunnylinkEnabled");
  bool is_sub = uiStateSP()->isSunnylinkSponsor() && is_sunnylink_enabled;
  auto max_current_sponsor_rule = uiStateSP()->sunnylinkSponsorRole();
  auto role_name = max_current_sponsor_rule.getSponsorTierString();
@@ -8,7 +8,52 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h"

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

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

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

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

 private:
  bool offroad = false;
+  bool is_subaru;
+  bool has_stop_and_go;
+
+  ParamControl* stopAndGoToggle;
+  ParamControl* stopAndGoManualParkingBrakeToggle;
+
+  QString stopAndGoDesc = tr("Experimental feature to enable auto-resume during stop-and-go for certain supported Subaru platforms.");
+  QString stopAndGoManualParkingBrakeDesc = tr("Experimental feature to enable stop and go for Subaru Global models with manual handbrake. Models with electric parking brake should keep this disabled. Thanks to martinl for this implementation!");
+
+  QString stopAndGoDisabledMsg() const {
+    if (is_subaru && !has_stop_and_go) {
+      return tr("This feature is currently not available on this platform.");
+    }
+
+    if (!is_subaru) {
+      return tr("Start the car to check car compatibility.");
+    }
+
+    if (!offroad) {
+      return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle.");
+    }
+
+    return QString();
+  }
+
+  static QString stopAndGoDescriptionBuilder(const QString &base_description, const QString &custom_description = "") {
+    return "<b>" + custom_description + "</b><br><br>" + base_description;
+  }
 };
@@ -69,6 +69,27 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
      "",
      false,
    },
+    {
+      "TrueVEgoUI",
+      tr("Speedometer: Always Display True Speed"),
+      tr("Always display the true vehicle current speed from wheel speed sensors."),
+      "",
+      false,
+    },
+    {
+      "HideVEgoUI",
+      tr("Speedometer: Hide from Onroad Screen"),
+      tr("When enabled, the speedometer on the onroad screen is not displayed."),
+      "",
+      false,
+    },
+    {
+      "ShowTurnSignals",
+      tr("Display Turn Signals"),
+      tr("When enabled, visual turn indicators are drawn on the HUD."),
+      "",
+      false,
+    },
  };

  // Add regular toggles first
@@ -119,6 +140,40 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
  vlayout->addWidget(sunnypilotScroller);

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

 void VisualsPanel::paramsRefresh() {
@@ -19,6 +19,7 @@ public:
 explicit VisualsPanel(QWidget *parent = nullptr);

 void paramsRefresh();
+ void refreshLongitudinalStatus();

 protected:
 QStackedLayout* main_layout = nullptr;
@@ -29,4 +30,6 @@ protected:
 ParamWatcher * param_watcher;
 ButtonParamControlSP *chevron_info_settings;
 ButtonParamControlSP *dev_ui_settings;
+
+ bool has_longitudinal_control = false;
 };
@@ -0,0 +1,102 @@
+/**
+ * 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/onroad/alerts.h"
+
+#include <QPainter>
+#include <map>
+#include <QRect>
+#include <QFont>
+
+OnroadAlerts::Alert OnroadAlertsSP::getAlert(const SubMaster &sm, uint64_t started_frame) {
+  OnroadAlerts::Alert alert = OnroadAlerts::getAlert(sm, started_frame);
+  alert.text1.replace("openpilot", "sunnypilot");
+  alert.text2.replace("openpilot", "sunnypilot");
+  return alert;
+}
+
+void OnroadAlertsSP::paintEvent(QPaintEvent *event) {
+  if (alert.size == cereal::SelfdriveState::AlertSize::NONE) {
+    return;
+  } else if (alert.size == cereal::SelfdriveState::AlertSize::FULL) {
+    OnroadAlerts::paintEvent(event);
+    return;
+  }
+  static std::map<cereal::SelfdriveState::AlertSize, const int> alert_heights = {
+    {cereal::SelfdriveState::AlertSize::SMALL, 271},
+    {cereal::SelfdriveState::AlertSize::MID, 420}
+  };
+  int h = alert_heights[alert.size];
+
+  QPainter p(this);
+  QFont topFont;
+  QFont bottomFont;
+  QRect topTextBoundingRect;
+  QRect bottomTextBoundingRect;
+  QRect rect;
+
+  int margin = 40;
+  int radius = 30;
+
+  const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
+  const int v_adjustment = dev_ui_info > 1 && alert.size != cereal::SelfdriveState::AlertSize::FULL ? 40 : 0;
+  const int h_adjustment = dev_ui_info > 0 && alert.size != cereal::SelfdriveState::AlertSize::FULL ? 230 : 0;
+
+  if (alert.size == cereal::SelfdriveState::AlertSize::SMALL) {
+    topFont = InterFont(74, QFont::DemiBold);
+    QFontMetrics fmTop(topFont);
+    topTextBoundingRect = fmTop.boundingRect(
+      QRect(0 + margin, height() - h + margin - v_adjustment, width() - margin * 2 - h_adjustment, 0), Qt::TextWordWrap,
+      alert.text1);
+    h = topTextBoundingRect.height();
+    rect = QRect(0 + margin, height() - h - margin * 2 - v_adjustment, width() - margin * 2 - h_adjustment, h + margin);
+  } else if (alert.size == cereal::SelfdriveState::AlertSize::MID) {
+    topFont = InterFont(88, QFont::Bold);
+    bottomFont = InterFont(66);
+    QFontMetrics fmTop(topFont);
+    QFontMetrics fmBotton(bottomFont);
+    topTextBoundingRect = fmTop.boundingRect(
+      QRect(0 + margin, height() - h + margin - v_adjustment, width() - margin * 2 - h_adjustment, 0), Qt::TextWordWrap,
+      alert.text1);
+    bottomTextBoundingRect = fmBotton.boundingRect(
+      QRect(0 + margin, height() - h + margin - v_adjustment + topTextBoundingRect.height(),
+            width() - margin * 2 - h_adjustment, 0), Qt::TextWordWrap, alert.text2);
+    h = topTextBoundingRect.height() + bottomTextBoundingRect.height() + margin * 2;
+    rect = QRect(0 + margin, height() - h - margin * 2 - v_adjustment, width() - margin * 2 - h_adjustment, h + margin);
+  }
+
+
+  // draw background + gradient
+  // draw background + gradient
+  p.setPen(Qt::NoPen);
+  p.setCompositionMode(QPainter::CompositionMode_SourceOver);
+  p.setBrush(QBrush(alert_colors[alert.status]));
+  p.drawRoundedRect(rect, radius, radius);
+
+  QLinearGradient g(0, rect.y(), 0, rect.bottom());
+  g.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.05));
+  g.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0.35));
+
+  p.setCompositionMode(QPainter::CompositionMode_DestinationOver);
+  p.setBrush(QBrush(g));
+  p.drawRoundedRect(rect, radius, radius);
+  p.setCompositionMode(QPainter::CompositionMode_SourceOver);
+
+  // text
+  p.setPen(QColor(0xff, 0xff, 0xff));
+  p.setRenderHint(QPainter::TextAntialiasing);
+  p.setFont(topFont);
+  if (alert.size == cereal::SelfdriveState::AlertSize::SMALL) {
+    p.drawText(rect, Qt::AlignCenter | Qt::TextWordWrap, alert.text1);
+  } else if (alert.size == cereal::SelfdriveState::AlertSize::MID) {
+    QRect topText = QRect(rect.x(), rect.top() + margin, rect.width(), topTextBoundingRect.height());
+    p.drawText(topText, Qt::AlignHCenter | Qt::AlignTop | Qt::TextWordWrap | Qt::AlignCenter, alert.text1);
+    p.setFont(bottomFont);
+    p.drawText(QRect(rect.x(), topText.bottom() + margin, rect.width(), bottomTextBoundingRect.height()),
+               Qt::AlignHCenter | Qt::TextWordWrap | Qt::AlignCenter, alert.text2);
+  }
+}
@@ -0,0 +1,22 @@
+/**
+ * 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/onroad/alerts.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+
+class OnroadAlertsSP : public OnroadAlerts {
+  Q_OBJECT
+
+public:
+  OnroadAlertsSP(QWidget *parent = 0) : OnroadAlerts(parent) {}
+
+protected:
+  void paintEvent(QPaintEvent *) override;
+  Alert getAlert(const SubMaster &sm, uint64_t started_frame);
+};
@@ -18,4 +18,10 @@ void AnnotatedCameraWidgetSP::updateState(const UIState &s) {
 void AnnotatedCameraWidgetSP::showEvent(QShowEvent *event) {
  AnnotatedCameraWidget::showEvent(event);
  ui_update_params_sp(uiState());
+  uiStateSP()->reset_onroad_sleep_timer(OnroadTimerStatusToggle::RESUME);
+}
+
+void AnnotatedCameraWidgetSP::hideEvent(QHideEvent *event) {
+  AnnotatedCameraWidget::hideEvent(event);
+  uiStateSP()->reset_onroad_sleep_timer(OnroadTimerStatusToggle::PAUSE);
 }
@@ -18,4 +18,5 @@ public:

 protected:
  void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent* event) override;
 };
@@ -12,43 +12,65 @@


 HudRendererSP::HudRendererSP() {
-  plus_arrow_up_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_plus_arrow_up", {105, 105});
-  minus_arrow_down_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_minus_arrow_down", {105, 105});
+  plus_arrow_up_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_plus_arrow_up", {90, 90});
+  minus_arrow_down_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_minus_arrow_down", {90, 90});

-  int small_max = e2e_alert_small * 2 - 40;
-  int large_max = e2e_alert_large * 2 - 40;
-  green_light_alert_small_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {small_max, small_max});
-  green_light_alert_large_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {large_max, large_max});
-  lead_depart_alert_small_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {small_max, small_max});
-  lead_depart_alert_large_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {large_max, large_max});
+  int size = e2e_alert_size * 2 - 40;
+  green_light_alert_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {size, size});
+  lead_depart_alert_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {size, size});
 }

 void HudRendererSP::updateState(const UIState &s) {
  HudRenderer::updateState(s);

+  float speedConv = is_metric ? MS_TO_KPH : MS_TO_MPH;
+  devUiInfo = s.scene.dev_ui_info;
+  roadName = s.scene.road_name;
+  showTurnSignals = s.scene.turn_signals;
+  speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
+  speedUnit = is_metric ? tr("km/h") : tr("mph");
+  standstillTimer = s.scene.standstill_timer;
+
  const SubMaster &sm = *(s.sm);
  const auto cs = sm["controlsState"].getControlsState();
  const auto car_state = sm["carState"].getCarState();
  const auto car_control = sm["carControl"].getCarControl();
  const auto radar_state = sm["radarState"].getRadarState();
  const auto is_gps_location_external = sm.rcv_frame("gpsLocationExternal") > 1;
-  const auto gpsLocation = is_gps_location_external ? sm["gpsLocationExternal"].getGpsLocationExternal() : sm["gpsLocation"].getGpsLocation();
+  const char *gps_source = is_gps_location_external ? "gpsLocationExternal" : "gpsLocation";
+  const auto gpsLocation = is_gps_location_external ? sm[gps_source].getGpsLocationExternal() : sm[gps_source].getGpsLocation();
  const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters();
  const auto car_params = sm["carParams"].getCarParams();
+  const auto car_params_sp = sm["carParamsSP"].getCarParamsSP();
  const auto lp_sp = sm["longitudinalPlanSP"].getLongitudinalPlanSP();
  const auto lmd = sm["liveMapDataSP"].getLiveMapDataSP();

-  float speedConv = is_metric ? MS_TO_KPH : MS_TO_MPH;
-  speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv;
-  speedLimitLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLast() * speedConv;
-  speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
-  speedLimitValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitValid();
-  speedLimitLastValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLastValid();
-  speedLimitFinalLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitFinalLast() * speedConv;
-  speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
-  speedLimitAssistState = lp_sp.getSpeedLimit().getAssist().getState();
-  speedLimitAssistActive = lp_sp.getSpeedLimit().getAssist().getActive();
-  roadName = s.scene.road_name;
+  if (sm.updated("carParams")) {
+    steerControlType = car_params.getSteerControlType();
+  }
+
+  if (sm.updated("carParamsSP")) {
+    pcmCruiseSpeed = car_params_sp.getPcmCruiseSpeed();
+  }
+
+  if (sm.updated("longitudinalPlanSP")) {
+    speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv;
+    speedLimitLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLast() * speedConv;
+    speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
+    speedLimitValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitValid();
+    speedLimitLastValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLastValid();
+    speedLimitFinalLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitFinalLast() * speedConv;
+    speedLimitSource = lp_sp.getSpeedLimit().getResolver().getSource();
+    speedLimitAssistState = lp_sp.getSpeedLimit().getAssist().getState();
+    speedLimitAssistActive = lp_sp.getSpeedLimit().getAssist().getActive();
+    smartCruiseControlVisionEnabled = lp_sp.getSmartCruiseControl().getVision().getEnabled();
+    smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive();
+    smartCruiseControlMapEnabled = lp_sp.getSmartCruiseControl().getMap().getEnabled();
+    smartCruiseControlMapActive = lp_sp.getSmartCruiseControl().getMap().getActive();
+  }
+  greenLightAlert = lp_sp.getE2eAlerts().getGreenLightAlert();
+  leadDepartAlert = lp_sp.getE2eAlerts().getLeadDepartAlert();
+
  if (sm.updated("liveMapDataSP")) {
    roadNameStr = QString::fromStdString(lmd.getRoadName());
    speedLimitAheadValid = lmd.getSpeedLimitAheadValid();
@@ -64,7 +86,7 @@ void HudRendererSP::updateState(const UIState &s) {

  static int reverse_delay = 0;
  bool reverse_allowed = false;
-  if (int(car_state.getGearShifter()) != 4) {
+  if (car_state.getGearShifter() != cereal::CarState::GearShifter::REVERSE) {
    reverse_delay = 0;
    reverse_allowed = false;
  } else {
@@ -76,45 +98,62 @@ void HudRendererSP::updateState(const UIState &s) {

  reversing = reverse_allowed;

+  if (sm.updated("liveParameters")) {
+    roll = sm["liveParameters"].getLiveParameters().getRoll();
+  }
+
+  if (sm.updated("deviceState")) {
+    memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent();
+  }
+
+  if (sm.updated(gps_source)) {
+    gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;  // External reports accuracy, internal does not.
+    altitude = gpsLocation.getAltitude();
+    bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
+    bearingDeg = gpsLocation.getBearingDeg();
+  }
+
+  if (sm.updated("liveTorqueParameters")) {
+    torquedUseParams = ltp.getUseParams();
+    latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
+    frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
+    liveValid = ltp.getLiveValid();
+  }
+
  latActive = car_control.getLatActive();
+  actuators = car_control.getActuators();
+  longOverride = car_control.getCruiseControl().getOverride();
+  carControlEnabled = car_control.getEnabled();
+
  steerOverride = car_state.getSteeringPressed();
-
-  devUiInfo = s.scene.dev_ui_info;
-
-  speedUnit = is_metric ? tr("km/h") : tr("mph");
  lead_d_rel = radar_state.getLeadOne().getDRel();
  lead_v_rel = radar_state.getLeadOne().getVRel();
  lead_status = radar_state.getLeadOne().getStatus();
-  steerControlType = car_params.getSteerControlType();
-  actuators = car_control.getActuators();
  torqueLateral = steerControlType == cereal::CarParams::SteerControlType::TORQUE;
  angleSteers = car_state.getSteeringAngleDeg();
  desiredCurvature = cs.getDesiredCurvature();
  curvature = cs.getCurvature();
-  roll = sm["liveParameters"].getLiveParameters().getRoll();
-  memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent();
-  gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;  // External reports accuracy, internal does not.
-  altitude = gpsLocation.getAltitude();
  vEgo = car_state.getVEgo();
  aEgo = car_state.getAEgo();
  steeringTorqueEps = car_state.getSteeringTorqueEps();
-  bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
-  bearingDeg = gpsLocation.getBearingDeg();
-  torquedUseParams = ltp.getUseParams();
-  latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
-  frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
-  liveValid = ltp.getLiveValid();

-  standstillTimer = s.scene.standstill_timer;
  isStandstill = car_state.getStandstill();
-  longOverride = car_control.getCruiseControl().getOverride();
-  smartCruiseControlVisionEnabled = lp_sp.getSmartCruiseControl().getVision().getEnabled();
-  smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive();
-  smartCruiseControlMapEnabled = lp_sp.getSmartCruiseControl().getMap().getEnabled();
-  smartCruiseControlMapActive = lp_sp.getSmartCruiseControl().getMap().getActive();
+  if (!s.scene.started) standstillElapsedTime = 0.0;

-  greenLightAlert = lp_sp.getE2eAlerts().getGreenLightAlert();
-  leadDepartAlert = lp_sp.getE2eAlerts().getLeadDepartAlert();
+  // override stock current speed values
+  float v_ego = (v_ego_cluster_seen && !s.scene.trueVEgoUI) ? car_state.getVEgoCluster() : car_state.getVEgo();
+  speed = std::max<float>(0.0f, v_ego * (is_metric ? MS_TO_KPH : MS_TO_MPH));
+  hideVEgoUI = s.scene.hideVEgoUI;
+
+  leftBlinkerOn = car_state.getLeftBlinker();
+  rightBlinkerOn = car_state.getRightBlinker();
+  leftBlindspot = car_state.getLeftBlindspot();
+  rightBlindspot = car_state.getRightBlindspot();
+
+  speedCluster = car_state.getCruiseState().getSpeedCluster() * speedConv;
+
+  allow_e2e_alerts = sm["selfdriveState"].getSelfdriveState().getAlertSize() == cereal::SelfdriveState::AlertSize::NONE &&
+                     sm.rcv_frame("driverStateV2") > s.scene.started_frame && !reversing;
 }

 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
@@ -128,6 +167,10 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
    drawSetSpeedSP(p, surface_rect);
  }

+  if (!hideVEgoUI) {
+    drawCurrentSpeedSP(p, surface_rect);
+  }
+
  if (!reversing) {
    // Smart Cruise Control
    int x_offset = -260;
@@ -170,11 +213,6 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
      drawRightDevUI(p, surface_rect.right() - 184 - UI_BORDER_SIZE * 2, UI_BORDER_SIZE * 2 + rect_right.height());
    }

-    // Standstill Timer
-    if (standstillTimer) {
-      drawStandstillTimer(p, surface_rect.right() / 12 * 10, surface_rect.bottom() / 12 * 1.53);
-    }
-
    // Speed Limit
    bool showSpeedLimit;
    bool speed_limit_assist_pre_active_pulse = pulseElement(speedLimitAssistFrame);
@@ -208,7 +246,7 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
    drawRoadName(p, surface_rect);

    // Green Light & Lead Depart Alerts
-    if (greenLightAlert or leadDepartAlert) {
+    if (greenLightAlert || leadDepartAlert) {
      e2eAlertDisplayTimer = 3 * UI_FREQ;
      // reset onroad sleep timer for e2e alerts
      uiStateSP()->reset_onroad_sleep_timer();
@@ -218,15 +256,34 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
      e2eAlertFrame++;
      if (greenLightAlert) {
        alert_text = tr("GREEN\nLIGHT");
-        alert_img = devUiInfo > 0 ? green_light_alert_small_img : green_light_alert_large_img;
+        alert_img = green_light_alert_img;
      }
      else if (leadDepartAlert) {
        alert_text = tr("LEAD VEHICLE\nDEPARTING");
-        alert_img = devUiInfo > 0 ? lead_depart_alert_small_img : lead_depart_alert_large_img;
+        alert_img = lead_depart_alert_img;
      }
      drawE2eAlert(p, surface_rect);
-    } else {
+    }
+    // Standstill Timer
+    else if (standstillTimer && isStandstill) {
+      alert_img = QPixmap();
+
+      standstillElapsedTime += 1.0 / UI_FREQ;
+      int minute = static_cast<int>(standstillElapsedTime / 60);
+      int second = static_cast<int>(standstillElapsedTime - (minute * 60));
+      alert_text = QString("%1:%2").arg(minute, 1, 10, QChar('0')).arg(second, 2, 10, QChar('0'));
+      drawE2eAlert(p, surface_rect, tr("STOPPED"));
+      e2eAlertFrame++;
+    }
+    // No Alerts displayed
+    else {
      e2eAlertFrame = 0;
+      if (!isStandstill) standstillElapsedTime = 0.0;
+    }
+
+    // Blinker
+    if (showTurnSignals) {
+      drawBlinker(p, surface_rect);
    }
  }

@@ -385,40 +442,6 @@ void HudRendererSP::drawBottomDevUI(QPainter &p, int x, int y) {
  rw += drawBottomDevUIElement(p, rw, y, altitudeElement.value, altitudeElement.label, altitudeElement.units, altitudeElement.color);
 }

-void HudRendererSP::drawStandstillTimer(QPainter &p, int x, int y) {
-  if (isStandstill) {
-    standstillElapsedTime += 1.0 / UI_FREQ;
-
-    int minute = static_cast<int>(standstillElapsedTime / 60);
-    int second = static_cast<int>(standstillElapsedTime - (minute * 60));
-
-    // stop sign for standstill timer
-    const int size = 190;  // size
-    const float angle = M_PI / 8.0;
-
-    QPolygon octagon;
-    for (int i = 0; i < 8; i++) {
-      float curr_angle = angle + i * M_PI / 4.0;
-      int point_x = x + size / 2 * cos(curr_angle);
-      int point_y = y + size / 2 * sin(curr_angle);
-      octagon << QPoint(point_x, point_y);
-    }
-
-    p.setPen(QPen(Qt::white, 6));
-    p.setBrush(QColor(255, 90, 81, 200)); // red pastel
-    p.drawPolygon(octagon);
-
-    QString time_str = QString("%1:%2").arg(minute, 1, 10, QChar('0')).arg(second, 2, 10, QChar('0'));
-    p.setFont(InterFont(55, QFont::Bold));
-    p.setPen(Qt::white);
-    QRect timerTextRect = p.fontMetrics().boundingRect(QString(time_str));
-    timerTextRect.moveCenter({x, y});
-    p.drawText(timerTextRect, Qt::AlignCenter, QString(time_str));
-  } else {
-    standstillElapsedTime = 0.0;
-  }
-}
-
 void HudRendererSP::drawSpeedLimitSigns(QPainter &p, QRect &sign_rect) {
  bool speedLimitWarningEnabled = speedLimitMode >= SpeedLimitMode::WARNING;  // TODO-SP: update to include SpeedLimitMode::ASSIST
  bool hasSpeedLimit = speedLimitValid || speedLimitLastValid;
@@ -546,7 +569,8 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p, QRect &sign_rect) {
 }

 void HudRendererSP::drawUpcomingSpeedLimit(QPainter &p) {
-  bool speed_limit_ahead = speedLimitAheadValid && speedLimitAhead > 0 && speedLimitAhead != speedLimit && speedLimitAheadValidFrame > 0;
+  bool speed_limit_ahead = speedLimitAheadValid && speedLimitAhead > 0 && speedLimitAhead != speedLimit && speedLimitAheadValidFrame > 0 &&
+                           speedLimitSource == cereal::LongitudinalPlanSP::SpeedLimit::Source::MAP;
  if (!speed_limit_ahead) {
    return;
  }
@@ -640,7 +664,7 @@ void HudRendererSP::drawRoadName(QPainter &p, const QRect &surface_rect) {

 void HudRendererSP::drawSpeedLimitPreActiveArrow(QPainter &p, QRect &sign_rect) {
  const int sign_margin = 12;
-  const int arrow_spacing = sign_margin * 3;
+  const int arrow_spacing = sign_margin * 1.4;
  int arrow_x = sign_rect.right() + arrow_spacing;

  int _set_speed = std::nearbyint(set_speed);
@@ -689,10 +713,23 @@ void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
    }
  }

-  // Draw "MAX" text
-  p.setFont(InterFont(40, QFont::DemiBold));
+  // Draw "MAX" or carState.cruiseState.speedCluster (when ICBM is active) text
+  if (!pcmCruiseSpeed && carControlEnabled) {
+    if (std::nearbyint(set_speed) != std::nearbyint(speedCluster)) {
+      icbm_active_counter = 3 * UI_FREQ;
+    } else if (icbm_active_counter > 0) {
+      icbm_active_counter--;
+    }
+  } else {
+    icbm_active_counter = 0;
+  }
+  int max_str_size = (icbm_active_counter != 0) ? 60 : 40;
+  int max_str_y = (icbm_active_counter != 0) ? 15 : 27;
+  QString max_str = (icbm_active_counter != 0) ? QString::number(std::nearbyint(speedCluster)) : tr("MAX");
+
+  p.setFont(InterFont(max_str_size, QFont::DemiBold));
  p.setPen(max_color);
-  p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("MAX"));
+  p.drawText(set_speed_rect.adjusted(0, max_str_y, 0, 0), Qt::AlignTop | Qt::AlignHCenter, max_str);

  // Draw set speed
  QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(set_speed)) : "–";
@@ -701,33 +738,150 @@ void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
  p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
 }

-void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect) {
-  int size = devUiInfo > 0 ? e2e_alert_small : e2e_alert_large;
-  int x = surface_rect.center().x() + surface_rect.width() / 4;
-  int y = surface_rect.center().y() + 40;
-  x += devUiInfo > 0 ? 0 : 50;
-  y += devUiInfo > 0 ? 0 : 80;
-  QRect alertRect(x - size, y - size, size * 2, size * 2);
+void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const QString &alert_alt_text) {
+  if (!allow_e2e_alerts) return;
+
+  int x = surface_rect.right() - e2e_alert_size - (devUiInfo > 0 ? 180 : 100) - (UI_BORDER_SIZE * 3);
+  int y = surface_rect.center().y() + 20;
+  QRect alertRect(x - e2e_alert_size, y - e2e_alert_size, e2e_alert_size * 2, e2e_alert_size * 2);

  // Alert Circle
  QPoint center = alertRect.center();
-  QColor frameColor = pulseElement(e2eAlertFrame) ? QColor(255, 255, 255, 75) : QColor(0, 255, 0, 75);
+  QColor frameColor;
+  if (!alert_alt_text.isEmpty()) frameColor = QColor(255, 255, 255, 75);
+  else frameColor = pulseElement(e2eAlertFrame) ? QColor(255, 255, 255, 75) : QColor(0, 255, 0, 75);
  p.setPen(QPen(frameColor, 15));
  p.setBrush(QColor(0, 0, 0, 190));
-  p.drawEllipse(center, size, size);
+  p.drawEllipse(center, e2e_alert_size, e2e_alert_size);

  // Alert Text
-  QColor txtColor = pulseElement(e2eAlertFrame) ? QColor(255, 255, 255, 255) : QColor(0, 255, 0, 255);
-  p.setFont(InterFont(48, QFont::Bold));
+  QColor txtColor;
+  QFont font;
+  int alert_bottom_adjustment;
+  if (!alert_alt_text.isEmpty()) {
+    font = InterFont(100, QFont::Bold);
+    alert_bottom_adjustment = 5;
+    txtColor = QColor(255, 255, 255, 255);
+  } else {
+    font = InterFont(48, QFont::Bold);
+    alert_bottom_adjustment = 7;
+    txtColor = pulseElement(e2eAlertFrame) ? QColor(255, 255, 255, 255) : QColor(0, 255, 0, 190);
+  }
  p.setPen(txtColor);
+  p.setFont(font);
  QFontMetrics fm(p.font());
  QRect textRect = fm.boundingRect(alertRect, Qt::TextWordWrap, alert_text);
  textRect.moveCenter({alertRect.center().x(), alertRect.center().y()});
-  textRect.moveBottom(alertRect.bottom() - alertRect.height() / 7);
+  textRect.moveBottom(alertRect.bottom() - alertRect.height() / alert_bottom_adjustment);
  p.drawText(textRect, Qt::AlignCenter, alert_text);

-  // Alert Image
-  QPointF pixmapCenterOffset = QPointF(alert_img.width() / 2.0, alert_img.height() / 2.0);
-  QPointF drawPoint = center - pixmapCenterOffset;
-  p.drawPixmap(drawPoint, alert_img);
+  if (!alert_alt_text.isEmpty()) {
+    // Alert Alternate Text
+    p.setFont(InterFont(80, QFont::Bold));
+    p.setPen(QColor(255, 175, 3, 240));
+    QFontMetrics fmt(p.font());
+    QRect topTextRect = fmt.boundingRect(alertRect, Qt::TextWordWrap, alert_alt_text);
+    topTextRect.moveCenter({alertRect.center().x(), alertRect.center().y()});
+    topTextRect.moveTop(alertRect.top() + alertRect.height() / 3.5);
+    p.drawText(topTextRect, Qt::AlignCenter, alert_alt_text);
+  } else {
+    // Alert Image instead of Top Text
+    QPointF pixmapCenterOffset = QPointF(alert_img.width() / 2.0, alert_img.height() / 2.0);
+    QPointF drawPoint = center - pixmapCenterOffset;
+    p.drawPixmap(drawPoint, alert_img);
+  }
+}
+
+void HudRendererSP::drawCurrentSpeedSP(QPainter &p, const QRect &surface_rect) {
+  QString speedStr = QString::number(std::nearbyint(speed));
+
+  p.setFont(InterFont(176, QFont::Bold));
+  HudRenderer::drawText(p, surface_rect.center().x(), 210, speedStr);
+
+  p.setFont(InterFont(66));
+  HudRenderer::drawText(p, surface_rect.center().x(), 290, is_metric ? tr("km/h") : tr("mph"), 200);
+}
+
+void HudRendererSP::drawBlinker(QPainter &p, const QRect &surface_rect) {
+  const bool hazard = leftBlinkerOn && rightBlinkerOn;
+  int blinkerStatus = hazard ? 2 : (leftBlinkerOn || rightBlinkerOn) ? 1 : 0;
+
+  if (!leftBlinkerOn && !rightBlinkerOn) {
+    blinkerFrameCounter = 0;
+    lastBlinkerStatus = 0;
+    return;
+  }
+
+  if (blinkerStatus != lastBlinkerStatus) {
+    blinkerFrameCounter = 0;
+    lastBlinkerStatus = blinkerStatus;
+  }
+
+  ++blinkerFrameCounter;
+
+  const int BLINKER_COOLDOWN_FRAMES = UI_FREQ / 10;
+  if (blinkerFrameCounter < BLINKER_COOLDOWN_FRAMES) {
+    return;
+  }
+
+  const int circleRadius = 60;
+  const int arrowLength = 60;
+  const int x_gap = 160;
+  const int y_offset = 272;
+
+  const int centerX = surface_rect.center().x();
+
+  const QPen bgBorder(Qt::white, 5);
+  const QPen arrowPen(Qt::NoPen);
+
+  p.save();
+
+  auto drawArrow = [&](int cx, int cy, int dir, const QBrush &arrowBrush) {
+    const int bodyLength = arrowLength / 2;
+    const int bodyWidth = arrowLength / 2;
+    const int headLength = arrowLength / 2;
+    const int headWidth = arrowLength;
+
+    QPolygon arrow;
+    arrow.reserve(7);
+    arrow << QPoint(cx - dir * bodyLength, cy - bodyWidth / 2)
+        << QPoint(cx, cy - bodyWidth / 2)
+        << QPoint(cx, cy - headWidth / 2)
+        << QPoint(cx + dir * headLength, cy)
+        << QPoint(cx, cy + headWidth / 2)
+        << QPoint(cx, cy + bodyWidth / 2)
+        << QPoint(cx - dir * bodyLength, cy + bodyWidth / 2);
+
+    p.setPen(arrowPen);
+    p.setBrush(arrowBrush);
+    p.drawPolygon(arrow);
+  };
+
+  auto drawCircle = [&](int cx, int cy, const QBrush &bgBrush) {
+    p.setPen(bgBorder);
+    p.setBrush(bgBrush);
+    p.drawEllipse(QPoint(cx, cy), circleRadius, circleRadius);
+  };
+
+  struct BlinkerSide { bool on; int dir; bool blocked; int cx; };
+  const std::array<BlinkerSide, 2> sides = {{
+    {leftBlinkerOn, -1, hazard ? true : (leftBlinkerOn  && leftBlindspot), centerX - x_gap},
+    {rightBlinkerOn, 1, hazard ? true : (rightBlinkerOn && rightBlindspot), centerX + x_gap},
+  }};
+
+  for (const auto &s: sides) {
+    if (!s.on) continue;
+
+    QColor bgColor = s.blocked ? QColor(135, 23, 23) : QColor(23, 134, 68);
+    QColor arrowColor = s.blocked ? QColor(66, 12, 12) : QColor(12, 67, 34);
+    if (pulseElement(blinkerFrameCounter)) arrowColor = Qt::white;
+
+    const QBrush bgBrush(bgColor);
+    const QBrush arrowBrush(arrowColor);
+
+    drawCircle(s.cx, y_offset, bgBrush);
+    drawArrow(s.cx, y_offset, s.dir, arrowBrush);
+  }
+
+  p.restore();
 }
@@ -36,7 +36,9 @@ private:
  void drawRoadName(QPainter &p, const QRect &surface_rect);
  void drawSpeedLimitPreActiveArrow(QPainter &p, QRect &sign_rect);
  void drawSetSpeedSP(QPainter &p, const QRect &surface_rect);
-  void drawE2eAlert(QPainter &p, const QRect &surface_rect);
+  void drawE2eAlert(QPainter &p, const QRect &surface_rect, const QString &alert_alt_text = "");
+  void drawCurrentSpeedSP(QPainter &p, const QRect &surface_rect);
+  void drawBlinker(QPainter &p, const QRect &surface_rect);

  bool lead_status;
  float lead_d_rel;
@@ -81,6 +83,7 @@ private:
  bool speedLimitValid;
  bool speedLimitLastValid;
  float speedLimitFinalLast;
+  cereal::LongitudinalPlanSP::SpeedLimit::Source speedLimitSource;
  bool speedLimitAheadValid;
  float speedLimitAhead;
  float speedLimitAheadDistance;
@@ -94,16 +97,27 @@ private:
  int speedLimitAssistFrame;
  QPixmap plus_arrow_up_img;
  QPixmap minus_arrow_down_img;
-  int e2e_alert_small = 250;
-  int e2e_alert_large = 300;
-  QPixmap green_light_alert_small_img;
-  QPixmap green_light_alert_large_img;
+  int e2e_alert_size = 250;
+  QPixmap green_light_alert_img;
  bool greenLightAlert;
  int e2eAlertFrame;
  int e2eAlertDisplayTimer = 0;
+  bool allow_e2e_alerts;
  bool leadDepartAlert;
-  QPixmap lead_depart_alert_small_img;
-  QPixmap lead_depart_alert_large_img;
+  QPixmap lead_depart_alert_img;
  QString alert_text;
  QPixmap alert_img;
+  bool hideVEgoUI;
+  bool leftBlinkerOn;
+  bool rightBlinkerOn;
+  bool leftBlindspot;
+  bool rightBlindspot;
+  int blinkerFrameCounter;
+  int lastBlinkerStatus;
+  bool showTurnSignals;
+
+  bool carControlEnabled;
+  float speedCluster = 0;
+  int icbm_active_counter = 0;
+  bool pcmCruiseSpeed = true;
 };
@@ -21,70 +21,234 @@ void ModelRendererSP::update_model(const cereal::ModelDataV2::Reader &model, con
  mapLineToPolygon(model.getLaneLines()[2], 0.2, -0.05, &right_blindspot_vertices, max_idx_barrier);
 }

-void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {
+void ModelRendererSP::draw(QPainter &painter, const QRect &surface_rect) {
  auto *s = uiState();
  auto &sm = *(s->sm);
-  bool blindspot = Params().getBool("BlindSpot");

-  if (blindspot) {
-    bool left_blindspot = sm["carState"].getCarState().getLeftBlindspot();
-    bool right_blindspot = sm["carState"].getCarState().getRightBlindspot();
-
-    //painter.setBrush(QColor::fromRgbF(1.0, 0.0, 0.0, 0.4));  // Red with alpha for blind spot
-
-    if (left_blindspot && !left_blindspot_vertices.isEmpty()) {
-      QLinearGradient gradient(0, 0, surface_rect.width(), 0); // Horizontal gradient from left to right
-      gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
-      gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
-      painter.setBrush(gradient);
-      painter.drawPolygon(left_blindspot_vertices);
-    }
-
-    if (right_blindspot && !right_blindspot_vertices.isEmpty()) {
-      QLinearGradient gradient(surface_rect.width(), 0, 0, 0); // Horizontal gradient from right to left
-      gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
-      gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
-      painter.setBrush(gradient);
-      painter.drawPolygon(right_blindspot_vertices);
-    }
+  if (sm.rcv_frame("liveCalibration") < s->scene.started_frame ||
+      sm.rcv_frame("modelV2") < s->scene.started_frame) {
+    return;
  }

-  bool rainbow = Params().getBool("RainbowMode");
-  //float v_ego = sm["carState"].getCarState().getVEgo();
+  clip_region = surface_rect.adjusted(-CLIP_MARGIN, -CLIP_MARGIN, CLIP_MARGIN, CLIP_MARGIN);
+  experimental_mode = sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
+  longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
+  path_offset_z = sm["liveCalibration"].getLiveCalibration().getHeight()[0];

-  if (rainbow) {
-    // Simple time-based animation
-    float time_offset = std::chrono::duration_cast<std::chrono::milliseconds>(
-        std::chrono::steady_clock::now().time_since_epoch()).count() / 1000.0f;
+  painter.save();

-    // simple linear gradient from bottom to top
-    QLinearGradient bg(0, surface_rect.height(), 0, 0);
+  const auto &model = sm["modelV2"].getModelV2();
+  const auto &radar_state = sm["radarState"].getRadarState();
+  const auto &lead_one = radar_state.getLeadOne();
+  const auto &car_state = sm["carState"].getCarState();

-    // evenly spaced colors across the spectrum
-    // The animation shifts the entire spectrum smoothly
-    float animation_speed = 40.0f; // speed vroom vroom
-    float hue_offset = fmod(time_offset * animation_speed, 360.0f);
+  update_model(model, lead_one);
+  drawLaneLines(painter);

-    // 6-8 color stops for smooth transitions more color makes it laggy
-    const int num_stops = 7;
-    for (int i = 0; i < num_stops; i++) {
-      float position = static_cast<float>(i) / (num_stops - 1);
-
-      float hue = fmod(hue_offset + position * 360.0f, 360.0f);
-      float saturation = 0.9f;
-      float lightness = 0.6f;
-
-      // Alpha fades out towards the far end of the path
-      float alpha = 0.8f * (1.0f - position * 0.3f);
-
-      QColor color = QColor::fromHslF(hue / 360.0f, saturation, lightness, alpha);
-      bg.setColorAt(position, color);
-    }
-
-    painter.setBrush(bg);
-    painter.drawPolygon(track_vertices);
+  if (s->scene.rainbow_mode) {
+    drawRainbowPath(painter, surface_rect);
  } else {
-    // Normal path rendering
    ModelRenderer::drawPath(painter, model, surface_rect.height());
  }
+
+  if (longitudinal_control && sm.alive("radarState")) {
+    update_leads(radar_state, model.getPosition());
+    const auto &lead_two = radar_state.getLeadTwo();
+    if (lead_one.getStatus()) {
+      drawLead(painter, lead_one, lead_vertices[0], surface_rect);
+    }
+    if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
+      drawLead(painter, lead_two, lead_vertices[1], surface_rect);
+    }
+  }
+
+  if (s->scene.blindspot_ui) {
+    const bool left_blindspot = car_state.getLeftBlindspot();
+    const bool right_blindspot = car_state.getRightBlindspot();
+    drawBlindspot(painter, surface_rect, left_blindspot, right_blindspot);
+  }
+  drawLeadStatus(painter, surface_rect.height(), surface_rect.width());
+
+  painter.restore();
+}
+
+void ModelRendererSP::drawBlindspot(QPainter &painter, const QRect &surface_rect, bool left_blindspot, bool right_blindspot) {
+  if (left_blindspot && !left_blindspot_vertices.isEmpty()) {
+    QLinearGradient gradient(0, 0, surface_rect.width(), 0); // Horizontal gradient from left to right
+    gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
+    gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
+    painter.setBrush(gradient);
+    painter.drawPolygon(left_blindspot_vertices);
+  }
+
+  if (right_blindspot && !right_blindspot_vertices.isEmpty()) {
+    QLinearGradient gradient(surface_rect.width(), 0, 0, 0); // Horizontal gradient from right to left
+    gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
+    gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
+    painter.setBrush(gradient);
+    painter.drawPolygon(right_blindspot_vertices);
+  }
+}
+
+void ModelRendererSP::drawLeadStatus(QPainter &painter, int height, int width) {
+  auto *s = uiState();
+  auto &sm = *(s->sm);
+
+  bool longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
+  if (!longitudinal_control) {
+    lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
+    return;
+  }
+
+  if (!sm.alive("radarState")) {
+    lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
+    return;
+  }
+
+  const auto &radar_state = sm["radarState"].getRadarState();
+  const auto &lead_one = radar_state.getLeadOne();
+  const auto &lead_two = radar_state.getLeadTwo();
+
+  bool has_lead_one = lead_one.getStatus();
+  bool has_lead_two = lead_two.getStatus();
+
+  if (!has_lead_one && !has_lead_two) {
+    lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
+    if (lead_status_alpha <= 0.0f) return;
+  } else {
+    lead_status_alpha = std::min(1.0f, lead_status_alpha + 0.1f);
+  }
+
+  if (has_lead_one) {
+    drawLeadStatusPosition(painter, lead_one, lead_vertices[0], height, width);
+  }
+
+  if (has_lead_two && std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0) {
+    drawLeadStatusPosition(painter, lead_two, lead_vertices[1], height, width);
+  }
+}
+
+void ModelRendererSP::drawLeadStatusPosition(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
+                                             const QPointF &chevron_pos, int height, int width) {
+  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 = s->scene.chevron_info;
+  float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
+
+  QFont content_font = painter.font();
+  content_font.setPixelSize(50);
+  content_font.setBold(true);
+  painter.setFont(content_font);
+
+  bool is_metric = s->scene.is_metric;
+  QStringList text_lines;
+  const int chevron_all = 4;
+  QStringList chevron_text[3];
+
+  // Distance display
+  if (chevron_data == 1 || chevron_data == chevron_all) {
+    int pos = 0;
+    float val = std::max(0.0f, d_rel);
+    QString unit = is_metric ? "m" : "ft";
+    if (!is_metric) val *= 3.28084f;
+    chevron_text[pos].append(QString::number(val, 'f', 0) + " " + unit);
+  }
+
+  // Speed display
+  if (chevron_data == 2 || chevron_data == chevron_all) {
+    int pos = (chevron_data == 2) ? 0 : 1;
+    float multiplier = is_metric ? static_cast<float>(MS_TO_KPH) : static_cast<float>(MS_TO_MPH);
+    float val = std::max(0.0f, (v_rel + v_ego) * multiplier);
+    QString unit = is_metric ? "km/h" : "mph";
+    chevron_text[pos].append(QString::number(val, 'f', 0) + " " + unit);
+  }
+
+  // Time to contact
+  if (chevron_data == 3 || chevron_data == chevron_all) {
+    int pos = (chevron_data == 3) ? 0 : 2;
+    float val = (d_rel > 0 && v_ego > 0) ? std::max(0.0f, d_rel / v_ego) : 0.0f;
+    QString ttc = (val > 0 && val < 200) ? QString::number(val, 'f', 1) + "s" : "---";
+    chevron_text[pos].append(ttc);
+  }
+
+  for (int i = 0; i < 3; ++i) {
+    if (!chevron_text[i].isEmpty()) text_lines.append(chevron_text[i]);
+  }
+
+  if (text_lines.isEmpty()) return;
+
+  QFontMetrics fm(content_font);
+  float text_width = 120.0f;
+  for (const QString &line : text_lines) {
+    text_width = std::max(text_width, fm.horizontalAdvance(line) + 20.0f);
+  }
+  text_width = std::min(text_width, 250.0f);
+
+  float line_height = 50.0f;
+  float total_height = text_lines.size() * line_height;
+  float margin = 20.0f;
+
+  float text_y = chevron_pos.y() + sz + 15;
+  if (text_y + total_height > height - margin) {
+    float y_max = chevron_pos.y() > (height - margin) ? (height - margin) : chevron_pos.y();
+    text_y = y_max - 15 - total_height;
+    text_y = std::max(margin, text_y);
+  }
+
+  float text_x = chevron_pos.x() - text_width / 2;
+  text_x = std::clamp(text_x, margin, (float)width - text_width - margin);
+
+  QPoint shadow_offset(2, 2);
+  QColor text_color = QColor(255, 255, 255, (int)(255 * lead_status_alpha));
+  for (int i = 0; i < text_lines.size(); ++i) {
+    float y = text_y + (i * line_height);
+    if (y + line_height > height - margin) break;
+
+    QRect rect(text_x, y, text_width, line_height);
+
+    // Draw shadow
+    painter.setPen(QColor(0, 0, 0, (int)(200 * lead_status_alpha)));
+    painter.drawText(rect.translated(shadow_offset), Qt::AlignCenter, text_lines[i]);
+    painter.setPen(text_color);
+    painter.drawText(rect, Qt::AlignCenter, text_lines[i]);
+  }
+
+  painter.setPen(Qt::NoPen);
+}
+
+void ModelRendererSP::drawRainbowPath(QPainter &painter, const QRect &surface_rect) {
+  // Simple time-based animation
+  float time_offset = std::chrono::duration_cast<std::chrono::milliseconds>(
+      std::chrono::steady_clock::now().time_since_epoch()).count() / 1000.0f;
+
+  // simple linear gradient from bottom to top
+  QLinearGradient bg(0, surface_rect.height(), 0, 0);
+
+  // evenly spaced colors across the spectrum
+  // The animation shifts the entire spectrum smoothly
+  float animation_speed = 40.0f; // speed vroom vroom
+  float hue_offset = fmod(time_offset * animation_speed, 360.0f);
+
+  // 6-8 color stops for smooth transitions more color makes it laggy
+  const int num_stops = 7;
+  for (int i = 0; i < num_stops; i++) {
+    float position = static_cast<float>(i) / (num_stops - 1);
+
+    float hue = fmod(hue_offset + position * 360.0f, 360.0f);
+    float saturation = 0.9f;
+    float lightness = 0.6f;
+
+    // Alpha fades out towards the far end of the path
+    float alpha = 0.8f * (1.0f - position * 0.3f);
+
+    QColor color = QColor::fromHslF(hue / 360.0f, saturation, lightness, alpha);
+    bg.setColorAt(position, color);
+  }
+
+  painter.setBrush(bg);
+  painter.drawPolygon(track_vertices);
 }
@@ -13,10 +13,19 @@ class ModelRendererSP : public ModelRenderer {
 public:
  ModelRendererSP() = default;

+  void draw(QPainter &painter, const QRect &surface_rect);
+
 private:
  void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) override;
-  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &rect) override;
+  void drawLeadStatus(QPainter &painter, int height, int width);
+  void drawLeadStatusPosition(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
+                              const QPointF &chevron_pos, int height, int width);
+  void drawBlindspot(QPainter &painter, const QRect &surface_rect, bool left_blindspot, bool right_blindspot);
+  void drawRainbowPath(QPainter &painter, const QRect &surface_rect);

  QPolygonF left_blindspot_vertices;
  QPolygonF right_blindspot_vertices;
+
+  // Lead status animation
+  float lead_status_alpha = 0.0f;
 };
@@ -25,10 +25,8 @@ void OnroadWindowSP::updateState(const UIStateSP &s) {

 void OnroadWindowSP::mousePressEvent(QMouseEvent *e) {
  OnroadWindow::mousePressEvent(e);
-  uiStateSP()->reset_onroad_sleep_timer();
 }

 void OnroadWindowSP::offroadTransition(bool offroad) {
  OnroadWindow::offroadTransition(offroad);
-  uiStateSP()->reset_onroad_sleep_timer();
 }
@@ -95,13 +95,12 @@ QStringList searchFromList(const QString &query, const QStringList &list) {
    return list;
  }

-  QStringList search_terms = query.simplified().toLower().split(" ", QString::SkipEmptyParts);
+  QStringList search_terms = query.simplified().toLower().replace(QRegularExpression("[^a-zA-Z0-9\\s]"), " ").split(" ", QString::SkipEmptyParts);
  QStringList search_results;

  for (const QString &element : list) {
    if (std::all_of(search_terms.begin(), search_terms.end(), [&](const QString &term) {
          QString normalized_term = term.normalized(QString::NormalizationForm_KD).toLower();
-          normalized_term.remove(QRegularExpression("[^a-zA-Z0-9\\s]"));
          QString normalized_element = element.normalized(QString::NormalizationForm_KD).toLower();
          return normalized_element.contains(normalized_term, Qt::CaseInsensitive);
        })) {
@@ -123,3 +122,7 @@ std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::
    return std::nullopt;
  }
 }
+
+bool hasIntelligentCruiseButtonManagement(const cereal::CarParamsSP::Reader &car_params_sp) {
+  return car_params_sp.getIntelligentCruiseButtonManagementAvailable() && Params().getBool("IntelligentCruiseButtonManagement");
+}
@@ -23,3 +23,4 @@ std::optional<QString> getParamIgnoringDefault(const std::string &param_name, co
 QMap<QString, QVariantMap> loadPlatformList();
 QStringList searchFromList(const QString &query, const QStringList &list);
 std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::string& _param);
+bool hasIntelligentCruiseButtonManagement(const cereal::CarParamsSP::Reader &car_params_sp);
@@ -545,10 +545,8 @@ public:
        main_layout->removeWidget(title_label);
        hlayout->addWidget(title_label, 1);
      }
-      if (spacingItem != nullptr && main_layout->indexOf(spacingItem) != -1) {
-        main_layout->removeItem(spacingItem);
-        spacingItem = nullptr;
-      }
+      main_layout->removeItem(spacingItem);
+      spacingItem = nullptr;
    }

    label.setStyleSheet(label_enabled_style);
@@ -14,10 +14,10 @@ ExpandableToggleRow::ExpandableToggleRow(const QString &param, const QString &ti
  QObject::connect(this, &ExpandableToggleRow::toggleFlipped, this, &ExpandableToggleRow::toggleClicked);

  collapsibleWidget = new QFrame(this);
-  collapsibleWidget->setContentsMargins(0, 0, 0, 0);
  collapsibleWidget->setVisible(false);
  QVBoxLayout *collapsible_layout = new QVBoxLayout();
  collapsibleWidget->setLayout(collapsible_layout);
+  collapsible_layout->setContentsMargins(0, 0, 0, 0);

  list = new ListWidgetSP(this, false);

@@ -29,7 +29,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
    "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
    "carControl", "gpsLocationExternal", "gpsLocation", "liveTorqueParameters",
-    "carStateSP", "liveParameters", "liveMapDataSP"
+    "carStateSP", "liveParameters", "liveMapDataSP", "carParamsSP"
  });

  // update timer
@@ -64,20 +64,29 @@ void ui_update_params_sp(UIStateSP *s) {
  s->scene.standstill_timer = params.getBool("StandstillTimer");
  s->scene.speed_limit_mode = std::atoi(params.get("SpeedLimitMode").c_str());
  s->scene.road_name = params.getBool("RoadNameToggle");
+  s->scene.trueVEgoUI = params.getBool("TrueVEgoUI");
+  s->scene.hideVEgoUI = params.getBool("HideVEgoUI");

  // Onroad Screen Brightness
  s->scene.onroadScreenOffBrightness = std::atoi(params.get("OnroadScreenOffBrightness").c_str());
  s->scene.onroadScreenOffControl = params.getBool("OnroadScreenOffControl");
  s->scene.onroadScreenOffTimerParam = std::atoi(params.get("OnroadScreenOffTimer").c_str());
-  s->reset_onroad_sleep_timer();
+
+  s->scene.turn_signals = params.getBool("ShowTurnSignals");
+  s->scene.chevron_info = std::atoi(params.get("ChevronInfo").c_str());
+  s->scene.blindspot_ui = params.getBool("BlindSpot");
+  s->scene.rainbow_mode = params.getBool("RainbowMode");
 }

-void UIStateSP::reset_onroad_sleep_timer() {
-  if (scene.onroadScreenOffTimerParam >= 0 and scene.onroadScreenOffControl) {
-    scene.onroadScreenOffTimer = scene.onroadScreenOffTimerParam * UI_FREQ;
-  } else {
+void UIStateSP::reset_onroad_sleep_timer(OnroadTimerStatusToggle toggleTimerStatus) {
+  // Toggling from active state to inactive
+  if (toggleTimerStatus == OnroadTimerStatusToggle::PAUSE and scene.onroadScreenOffTimer != -1) {
    scene.onroadScreenOffTimer = -1;
  }
+  // Toggling from a previously inactive state or resetting an active timer
+  else if ((scene.onroadScreenOffTimerParam >= 0 and scene.onroadScreenOffControl and scene.onroadScreenOffTimer != -1) or toggleTimerStatus == OnroadTimerStatusToggle::RESUME) {
+    scene.onroadScreenOffTimer = scene.onroadScreenOffTimerParam * UI_FREQ;
+  }
 }

 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {
@@ -15,6 +15,12 @@
 #include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/util.h"

+enum OnroadTimerStatusToggle {
+  NONE,
+  PAUSE,
+  RESUME
+};
+
 class UIStateSP : public UIState {
  Q_OBJECT

@@ -61,7 +67,7 @@ public:
      return user.user_id.toLower() != "unregisteredsponsor" && user.user_id.toLower() != "temporarysponsor";
    });
  }
-  void reset_onroad_sleep_timer();
+  void reset_onroad_sleep_timer(OnroadTimerStatusToggle toggleTimerStatus = OnroadTimerStatusToggle::NONE);

 signals:
  void sunnylinkRoleChanged(bool subscriber);
@@ -15,4 +15,10 @@ typedef struct UISceneSP : UIScene {
  int onroadScreenOffBrightness, onroadScreenOffTimer = 0;
  bool onroadScreenOffControl;
  int onroadScreenOffTimerParam;
+  bool trueVEgoUI;
+  bool hideVEgoUI;
+  bool turn_signals = false;
+  int chevron_info;
+  bool blindspot_ui;
+  bool rainbow_mode;
 } UISceneSP;
@@ -133,14 +133,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </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>
@@ -149,6 +141,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Auto</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Global Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device. This applies to both onroad and offroad screens. </source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>ConfirmationDialog</name>
@@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual
        <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>
+    <message>
+        <source>Enable Copyparty service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it&apos;s IP.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -464,15 +472,6 @@ Steering lag calibration is complete.</source>
        <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>Reboot</source>
        <translation type="unfinished">إعادة التشغيل</translation>
@@ -517,10 +516,6 @@ This is the time after which settings UI closes automatically if user is not int
        <source>Exit Always Offroad</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Always Offroad</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>
@@ -533,6 +528,34 @@ This is the time after which settings UI closes automatically if user is not int
        <source>Controls state of the device after boot/sleep.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Onroad Uploads</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DisplayPanel</name>
+    <message>
+        <source>Onroad Screen: Reduced Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed.</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>
 </context>
 <context>
    <name>DriveStats</name>
@@ -594,6 +617,61 @@ This is the time after which settings UI closes automatically if user is not int
        <translation>تشغيل وضع الراحة</translation>
    </message>
 </context>
+<context>
+    <name>ExternalStorageControl</name>
+    <message>
+        <source>External Storage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Extend your comma device&apos;s storage by inserting a USB drive into the aux port.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">التحقق</translation>
+    </message>
+    <message>
+        <source>MOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UNMOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>FORMAT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to format this drive? This will erase all data.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>formatting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>insert drive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>needs format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>FirehosePanel</name>
    <message>
@@ -649,6 +727,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>MAX</translation>
    </message>
 </context>
+<context>
+    <name>HudRendererSP</name>
+    <message>
+        <source>km/h</source>
+        <translation type="unfinished">كم/س</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="unfinished">ميل/س</translation>
+    </message>
+    <message>
+        <source>GREEN
+LIGHT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LEAD VEHICLE
+DEPARTING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Near</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>km</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>AHEAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="unfinished">MAX</translation>
+    </message>
+</context>
 <context>
    <name>HyundaiSettings</name>
    <message>
@@ -767,6 +902,18 @@ 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>Enforce Torque Lateral Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Params</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>LongitudinalPanel</name>
@@ -790,6 +937,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>Start the vehicle to check vehicle compatibility.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Intelligent Cruise Button Management (ICBM) (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use map data to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MadsSettings</name>
@@ -1048,6 +1223,18 @@ The default software delay value is 0.2</source>
        <source>Total Delay:</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Use Lane Turn Desires</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Lane Turn Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set the maximum speed for lane turn desires. Default is 19 %1.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -1169,10 +1356,6 @@ The default software delay value is 0.2</source>
        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
        <translation>يتم تنزيل تحديث لنظام تشغيل جهازك في الخلفية. سيطلَب منك التحديث عندما يصبح جاهزاً للتثبيت.</translation>
    </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>محرك NVMe غير مثبَّت.</translation>
-    </message>
    <message>
        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
        <translation type="unfinished"></translation>
@@ -1211,6 +1394,10 @@ The default software delay value is 0.2</source>
 %1</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>&lt;b&gt;Unsupported branch detected&lt;/b&gt; - The current version of &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; branch is no longer supported on the comma three. Please go to &lt;b&gt;[Device &gt; Software]&lt;/b&gt; and install a supported branch with &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; in the branch name for the comma three.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>OffroadHome</name>
@@ -1597,6 +1784,59 @@ Warning: You are on a metered connection!</source>
        <source>sunnypilot</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>None</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SettingsWindow</name>
@@ -1691,6 +1931,10 @@ Warning: You are on a metered connection!</source>
        <source>Developer</source>
        <translation type="unfinished">المطور</translation>
    </message>
+    <message>
+        <source>Display</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -1927,6 +2171,84 @@ Warning: You are on a metered connection!</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>SpeedLimitPolicy</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">السابق</translation>
+    </message>
+    <message>
+        <source>Speed Limit Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car Only: Use Speed Limit data only from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map Only: Use Speed Limit data only from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SpeedLimitSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">السابق</translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ None: No Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Off: Disables the Speed Limit functions.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Information: Displays the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Warning: Provides a warning when exceeding the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>SshControl</name>
    <message>
@@ -2309,6 +2631,60 @@ Warning: You are on a metered connection!</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>TorqueLateralControlCustomParams</name>
+    <message>
+        <source>Manual Real-Time Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lateral Acceleration Factor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Friction</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Real-time and Offline</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TorqueLateralControlSettings</name>
+    <message>
+        <source>Self-Tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less Restrict Settings for Self-Tune (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Custom Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within &quot;opendbc/car/torque_data&quot;. The values will also be used live when &quot;Manual Real-Time Tuning&quot; toggle is enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>TreeOptionDialog</name>
    <message>
@@ -2319,6 +2695,10 @@ Warning: You are on a metered connection!</source>
        <source>Cancel</source>
        <translation type="unfinished">إلغاء</translation>
    </message>
+    <message>
+        <source>Favorites</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>VisualsPanel</name>
@@ -2362,6 +2742,91 @@ Warning: You are on a metered connection!</source>
        <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>
+    <message>
+        <source>Enable Tesla Rainbow Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A beautiful rainbow effect on the path the model wants to take.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>It</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>does not</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>affect driving in any way.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Standstill Timer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Show a timer on the HUD when the car is at a standstill.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Green Traffic Light Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: This chime is only designed as a notification. It is the driver&apos;s responsibility to observe their environment and make decisions accordingly.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lead Departure Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Always Display True Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always display the true vehicle current speed from wheel speed sensors.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Hide from Onroad Screen</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right &amp;&amp;
+Bottom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Developer UI</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display real-time parameters and metrics from various sources.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>WiFiPromptWidget</name>
@@ -133,14 +133,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </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>
@@ -149,6 +141,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Auto</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Global Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device. This applies to both onroad and offroad screens. </source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>ConfirmationDialog</name>
@@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual
        <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>
+    <message>
+        <source>Enable Copyparty service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it&apos;s IP.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -464,15 +472,6 @@ Steering lag calibration is complete.</source>
        <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>Reboot</source>
        <translation type="unfinished">Neustart</translation>
@@ -517,10 +516,6 @@ This is the time after which settings UI closes automatically if user is not int
        <source>Exit Always Offroad</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Always Offroad</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>
@@ -533,6 +528,34 @@ This is the time after which settings UI closes automatically if user is not int
        <source>Controls state of the device after boot/sleep.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Onroad Uploads</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DisplayPanel</name>
+    <message>
+        <source>Onroad Screen: Reduced Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed.</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>
 </context>
 <context>
    <name>DriveStats</name>
@@ -594,6 +617,61 @@ This is the time after which settings UI closes automatically if user is not int
        <translation>ENTSPANNTER MODUS AN</translation>
    </message>
 </context>
+<context>
+    <name>ExternalStorageControl</name>
+    <message>
+        <source>External Storage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Extend your comma device&apos;s storage by inserting a USB drive into the aux port.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">ÜBERPRÜFEN</translation>
+    </message>
+    <message>
+        <source>MOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UNMOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>FORMAT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to format this drive? This will erase all data.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>formatting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>insert drive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>needs format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>FirehosePanel</name>
    <message>
@@ -645,6 +723,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>MAX</translation>
    </message>
 </context>
+<context>
+    <name>HudRendererSP</name>
+    <message>
+        <source>km/h</source>
+        <translation type="unfinished">km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="unfinished">mph</translation>
+    </message>
+    <message>
+        <source>GREEN
+LIGHT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LEAD VEHICLE
+DEPARTING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Near</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>km</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>AHEAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="unfinished">MAX</translation>
+    </message>
+</context>
 <context>
    <name>HyundaiSettings</name>
    <message>
@@ -759,6 +894,18 @@ 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>Enforce Torque Lateral Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Params</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>LongitudinalPanel</name>
@@ -782,6 +929,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>Start the vehicle to check vehicle compatibility.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Intelligent Cruise Button Management (ICBM) (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use map data to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MadsSettings</name>
@@ -1040,6 +1215,18 @@ The default software delay value is 0.2</source>
        <source>Total Delay:</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Use Lane Turn Desires</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Lane Turn Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set the maximum speed for lane turn desires. Default is 19 %1.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -1157,10 +1344,6 @@ The default software delay value is 0.2</source>
        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
        <translation>Ein Update für das Betriebssystem deines Geräts wird im Hintergrund heruntergeladen. Du wirst aufgefordert, das Update zu installieren, sobald es bereit ist.</translation>
    </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>NVMe-Laufwerk nicht gemounted.</translation>
-    </message>
    <message>
        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
        <translation>Gerätetemperatur zu hoch. Das System kühlt ab, bevor es startet. Aktuelle interne Komponententemperatur: %1</translation>
@@ -1203,6 +1386,10 @@ The default software delay value is 0.2</source>
 %1</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>&lt;b&gt;Unsupported branch detected&lt;/b&gt; - The current version of &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; branch is no longer supported on the comma three. Please go to &lt;b&gt;[Device &gt; Software]&lt;/b&gt; and install a supported branch with &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; in the branch name for the comma three.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>OffroadHome</name>
@@ -1577,6 +1764,59 @@ Warning: You are on a metered connection!</source>
        <source>sunnypilot</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>None</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SettingsWindow</name>
@@ -1671,6 +1911,10 @@ Warning: You are on a metered connection!</source>
        <source>Developer</source>
        <translation type="unfinished">Entwickler</translation>
    </message>
+    <message>
+        <source>Display</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -1909,6 +2153,84 @@ Warning: You are on a metered connection!</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>SpeedLimitPolicy</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">Zurück</translation>
+    </message>
+    <message>
+        <source>Speed Limit Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car Only: Use Speed Limit data only from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map Only: Use Speed Limit data only from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SpeedLimitSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">Zurück</translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ None: No Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Off: Disables the Speed Limit functions.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Information: Displays the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Warning: Provides a warning when exceeding the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>SshControl</name>
    <message>
@@ -2291,6 +2613,60 @@ Warning: You are on a metered connection!</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>TorqueLateralControlCustomParams</name>
+    <message>
+        <source>Manual Real-Time Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lateral Acceleration Factor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Friction</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Real-time and Offline</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TorqueLateralControlSettings</name>
+    <message>
+        <source>Self-Tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less Restrict Settings for Self-Tune (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Custom Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within &quot;opendbc/car/torque_data&quot;. The values will also be used live when &quot;Manual Real-Time Tuning&quot; toggle is enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>TreeOptionDialog</name>
    <message>
@@ -2301,6 +2677,10 @@ Warning: You are on a metered connection!</source>
        <source>Cancel</source>
        <translation type="unfinished">Abbrechen</translation>
    </message>
+    <message>
+        <source>Favorites</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>VisualsPanel</name>
@@ -2344,6 +2724,91 @@ Warning: You are on a metered connection!</source>
        <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>
+    <message>
+        <source>Enable Tesla Rainbow Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A beautiful rainbow effect on the path the model wants to take.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>It</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>does not</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>affect driving in any way.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Standstill Timer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Show a timer on the HUD when the car is at a standstill.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Green Traffic Light Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: This chime is only designed as a notification. It is the driver&apos;s responsibility to observe their environment and make decisions accordingly.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lead Departure Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Always Display True Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always display the true vehicle current speed from wheel speed sensors.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Hide from Onroad Screen</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right &amp;&amp;
+Bottom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Developer UI</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display real-time parameters and metrics from various sources.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>WiFiPromptWidget</name>
@@ -133,14 +133,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </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>
@@ -149,6 +141,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Auto</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Global Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device. This applies to both onroad and offroad screens. </source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>ConfirmationDialog</name>
@@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual
        <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>
+    <message>
+        <source>Enable Copyparty service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it&apos;s IP.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -468,15 +476,6 @@ La calibración del retraso de la dirección está completa.</translation>
        <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>Reboot</source>
        <translation type="unfinished">Reiniciar</translation>
@@ -521,10 +520,6 @@ This is the time after which settings UI closes automatically if user is not int
        <source>Exit Always Offroad</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Always Offroad</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>
@@ -537,6 +532,34 @@ This is the time after which settings UI closes automatically if user is not int
        <source>Controls state of the device after boot/sleep.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Onroad Uploads</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DisplayPanel</name>
+    <message>
+        <source>Onroad Screen: Reduced Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed.</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>
 </context>
 <context>
    <name>DriveStats</name>
@@ -598,6 +621,61 @@ This is the time after which settings UI closes automatically if user is not int
        <translation>MODO CHILL</translation>
    </message>
 </context>
+<context>
+    <name>ExternalStorageControl</name>
+    <message>
+        <source>External Storage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Extend your comma device&apos;s storage by inserting a USB drive into the aux port.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">VERIFICAR</translation>
+    </message>
+    <message>
+        <source>MOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UNMOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>FORMAT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to format this drive? This will erase all data.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>formatting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>insert drive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>needs format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>FirehosePanel</name>
    <message>
@@ -649,6 +727,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>MAX</translation>
    </message>
 </context>
+<context>
+    <name>HudRendererSP</name>
+    <message>
+        <source>km/h</source>
+        <translation type="unfinished">km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="unfinished">mph</translation>
+    </message>
+    <message>
+        <source>GREEN
+LIGHT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LEAD VEHICLE
+DEPARTING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Near</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>km</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>AHEAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="unfinished">MAX</translation>
+    </message>
+</context>
 <context>
    <name>HyundaiSettings</name>
    <message>
@@ -763,6 +898,18 @@ 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>Enforce Torque Lateral Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Params</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>LongitudinalPanel</name>
@@ -786,6 +933,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>Start the vehicle to check vehicle compatibility.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Intelligent Cruise Button Management (ICBM) (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use map data to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MadsSettings</name>
@@ -1044,6 +1219,18 @@ The default software delay value is 0.2</source>
        <source>Total Delay:</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Use Lane Turn Desires</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Lane Turn Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set the maximum speed for lane turn desires. Default is 19 %1.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -1165,10 +1352,6 @@ The default software delay value is 0.2</source>
        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
        <translation>Se está descargando una actualización del sistema operativo de su dispositivo en segundo plano. Se le pedirá que actualice cuando esté listo para instalarse.</translation>
    </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>Unidad NVMe no montada.</translation>
-    </message>
    <message>
        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
        <translation type="unfinished"></translation>
@@ -1207,6 +1390,10 @@ The default software delay value is 0.2</source>
 %1</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>&lt;b&gt;Unsupported branch detected&lt;/b&gt; - The current version of &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; branch is no longer supported on the comma three. Please go to &lt;b&gt;[Device &gt; Software]&lt;/b&gt; and install a supported branch with &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; in the branch name for the comma three.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>OffroadHome</name>
@@ -1581,6 +1768,59 @@ Warning: You are on a metered connection!</source>
        <source>sunnypilot</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>None</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SettingsWindow</name>
@@ -1675,6 +1915,10 @@ Warning: You are on a metered connection!</source>
        <source>Developer</source>
        <translation type="unfinished">Desarrollador</translation>
    </message>
+    <message>
+        <source>Display</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -1911,6 +2155,84 @@ Warning: You are on a metered connection!</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>SpeedLimitPolicy</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car Only: Use Speed Limit data only from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map Only: Use Speed Limit data only from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SpeedLimitSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ None: No Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Off: Disables the Speed Limit functions.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Information: Displays the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Warning: Provides a warning when exceeding the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>SshControl</name>
    <message>
@@ -2293,6 +2615,60 @@ Warning: You are on a metered connection!</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>TorqueLateralControlCustomParams</name>
+    <message>
+        <source>Manual Real-Time Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lateral Acceleration Factor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Friction</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Real-time and Offline</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TorqueLateralControlSettings</name>
+    <message>
+        <source>Self-Tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less Restrict Settings for Self-Tune (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Custom Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within &quot;opendbc/car/torque_data&quot;. The values will also be used live when &quot;Manual Real-Time Tuning&quot; toggle is enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>TreeOptionDialog</name>
    <message>
@@ -2303,6 +2679,10 @@ Warning: You are on a metered connection!</source>
        <source>Cancel</source>
        <translation type="unfinished">Cancelar</translation>
    </message>
+    <message>
+        <source>Favorites</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>VisualsPanel</name>
@@ -2346,6 +2726,91 @@ Warning: You are on a metered connection!</source>
        <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>
+    <message>
+        <source>Enable Tesla Rainbow Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A beautiful rainbow effect on the path the model wants to take.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>It</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>does not</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>affect driving in any way.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Standstill Timer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Show a timer on the HUD when the car is at a standstill.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Green Traffic Light Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: This chime is only designed as a notification. It is the driver&apos;s responsibility to observe their environment and make decisions accordingly.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lead Departure Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Always Display True Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always display the true vehicle current speed from wheel speed sensors.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Hide from Onroad Screen</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right &amp;&amp;
+Bottom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Developer UI</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display real-time parameters and metrics from various sources.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>WiFiPromptWidget</name>
@@ -133,14 +133,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </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>
@@ -149,6 +141,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Auto</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Global Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device. This applies to both onroad and offroad screens. </source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>ConfirmationDialog</name>
@@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual
        <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>
+    <message>
+        <source>Enable Copyparty service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it&apos;s IP.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -464,15 +472,6 @@ Steering lag calibration is complete.</source>
        <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>Reboot</source>
        <translation type="unfinished">Redémarrer</translation>
@@ -517,10 +516,6 @@ This is the time after which settings UI closes automatically if user is not int
        <source>Exit Always Offroad</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Always Offroad</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>
@@ -533,6 +528,34 @@ This is the time after which settings UI closes automatically if user is not int
        <source>Controls state of the device after boot/sleep.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Onroad Uploads</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DisplayPanel</name>
+    <message>
+        <source>Onroad Screen: Reduced Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed.</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>
 </context>
 <context>
    <name>DriveStats</name>
@@ -594,6 +617,61 @@ This is the time after which settings UI closes automatically if user is not int
        <translation>MODE DÉTENTE ACTIVÉ</translation>
    </message>
 </context>
+<context>
+    <name>ExternalStorageControl</name>
+    <message>
+        <source>External Storage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Extend your comma device&apos;s storage by inserting a USB drive into the aux port.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">VÉRIFIER</translation>
+    </message>
+    <message>
+        <source>MOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UNMOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>FORMAT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to format this drive? This will erase all data.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>formatting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>insert drive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>needs format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>FirehosePanel</name>
    <message>
@@ -645,6 +723,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>MAX</translation>
    </message>
 </context>
+<context>
+    <name>HudRendererSP</name>
+    <message>
+        <source>km/h</source>
+        <translation type="unfinished">km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="unfinished">mi/h</translation>
+    </message>
+    <message>
+        <source>GREEN
+LIGHT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LEAD VEHICLE
+DEPARTING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Near</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>km</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>AHEAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="unfinished">MAX</translation>
+    </message>
+</context>
 <context>
    <name>HyundaiSettings</name>
    <message>
@@ -759,6 +894,18 @@ 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>Enforce Torque Lateral Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Params</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>LongitudinalPanel</name>
@@ -782,6 +929,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>Start the vehicle to check vehicle compatibility.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Intelligent Cruise Button Management (ICBM) (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use map data to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MadsSettings</name>
@@ -1040,6 +1215,18 @@ The default software delay value is 0.2</source>
        <source>Total Delay:</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Use Lane Turn Desires</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Lane Turn Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set the maximum speed for lane turn desires. Default is 19 %1.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -1161,10 +1348,6 @@ The default software delay value is 0.2</source>
        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
        <translation>Une mise à jour du système d&apos;exploitation de votre appareil est en cours de téléchargement en arrière-plan. Vous serez invité à effectuer la mise à jour lorsqu&apos;elle sera prête à être installée.</translation>
    </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>Le disque NVMe n&apos;est pas monté.</translation>
-    </message>
    <message>
        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
        <translation type="unfinished"></translation>
@@ -1203,6 +1386,10 @@ The default software delay value is 0.2</source>
 %1</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>&lt;b&gt;Unsupported branch detected&lt;/b&gt; - The current version of &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; branch is no longer supported on the comma three. Please go to &lt;b&gt;[Device &gt; Software]&lt;/b&gt; and install a supported branch with &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; in the branch name for the comma three.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>OffroadHome</name>
@@ -1577,6 +1764,59 @@ Warning: You are on a metered connection!</source>
        <source>sunnypilot</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>None</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SettingsWindow</name>
@@ -1671,6 +1911,10 @@ Warning: You are on a metered connection!</source>
        <source>Developer</source>
        <translation type="unfinished">Dév.</translation>
    </message>
+    <message>
+        <source>Display</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -1907,6 +2151,84 @@ Warning: You are on a metered connection!</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>SpeedLimitPolicy</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">Retour</translation>
+    </message>
+    <message>
+        <source>Speed Limit Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car Only: Use Speed Limit data only from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map Only: Use Speed Limit data only from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SpeedLimitSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">Retour</translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ None: No Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Off: Disables the Speed Limit functions.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Information: Displays the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Warning: Provides a warning when exceeding the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>SshControl</name>
    <message>
@@ -2289,6 +2611,60 @@ Warning: You are on a metered connection!</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>TorqueLateralControlCustomParams</name>
+    <message>
+        <source>Manual Real-Time Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lateral Acceleration Factor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Friction</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Real-time and Offline</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TorqueLateralControlSettings</name>
+    <message>
+        <source>Self-Tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less Restrict Settings for Self-Tune (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Custom Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within &quot;opendbc/car/torque_data&quot;. The values will also be used live when &quot;Manual Real-Time Tuning&quot; toggle is enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>TreeOptionDialog</name>
    <message>
@@ -2299,6 +2675,10 @@ Warning: You are on a metered connection!</source>
        <source>Cancel</source>
        <translation type="unfinished">Annuler</translation>
    </message>
+    <message>
+        <source>Favorites</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>VisualsPanel</name>
@@ -2342,6 +2722,91 @@ Warning: You are on a metered connection!</source>
        <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>
+    <message>
+        <source>Enable Tesla Rainbow Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A beautiful rainbow effect on the path the model wants to take.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>It</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>does not</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>affect driving in any way.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Standstill Timer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Show a timer on the HUD when the car is at a standstill.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Green Traffic Light Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: This chime is only designed as a notification. It is the driver&apos;s responsibility to observe their environment and make decisions accordingly.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lead Departure Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Always Display True Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always display the true vehicle current speed from wheel speed sensors.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Hide from Onroad Screen</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right &amp;&amp;
+Bottom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Developer UI</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display real-time parameters and metrics from various sources.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>WiFiPromptWidget</name>
@@ -133,14 +133,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </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>
@@ -149,6 +141,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Auto</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Global Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device. This applies to both onroad and offroad screens. </source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>ConfirmationDialog</name>
@@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual
        <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>
+    <message>
+        <source>Enable Copyparty service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it&apos;s IP.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -468,15 +476,6 @@ Steering lag calibration is complete.</source>
        <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>Reboot</source>
        <translation type="unfinished">再起動</translation>
@@ -521,10 +520,6 @@ This is the time after which settings UI closes automatically if user is not int
        <source>Exit Always Offroad</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Always Offroad</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>
@@ -537,6 +532,34 @@ This is the time after which settings UI closes automatically if user is not int
        <source>Controls state of the device after boot/sleep.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Onroad Uploads</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DisplayPanel</name>
+    <message>
+        <source>Onroad Screen: Reduced Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed.</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>
 </context>
 <context>
    <name>DriveStats</name>
@@ -598,6 +621,61 @@ This is the time after which settings UI closes automatically if user is not int
        <translation>CHILLモード</translation>
    </message>
 </context>
+<context>
+    <name>ExternalStorageControl</name>
+    <message>
+        <source>External Storage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Extend your comma device&apos;s storage by inserting a USB drive into the aux port.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">確認</translation>
+    </message>
+    <message>
+        <source>MOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UNMOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>FORMAT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to format this drive? This will erase all data.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>formatting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>insert drive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>needs format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>FirehosePanel</name>
    <message>
@@ -648,6 +726,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>最大速度</translation>
    </message>
 </context>
+<context>
+    <name>HudRendererSP</name>
+    <message>
+        <source>km/h</source>
+        <translation type="unfinished">km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="unfinished">mph</translation>
+    </message>
+    <message>
+        <source>GREEN
+LIGHT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LEAD VEHICLE
+DEPARTING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Near</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>km</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>AHEAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="unfinished">最大速度</translation>
+    </message>
+</context>
 <context>
    <name>HyundaiSettings</name>
    <message>
@@ -761,6 +896,18 @@ 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>Enforce Torque Lateral Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Params</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>LongitudinalPanel</name>
@@ -784,6 +931,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>Start the vehicle to check vehicle compatibility.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Intelligent Cruise Button Management (ICBM) (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use map data to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MadsSettings</name>
@@ -1042,6 +1217,18 @@ The default software delay value is 0.2</source>
        <source>Total Delay:</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Use Lane Turn Desires</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Lane Turn Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set the maximum speed for lane turn desires. Default is 19 %1.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -1159,10 +1346,6 @@ The default software delay value is 0.2</source>
        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
        <translation>オペレーティングシステムがバックグラウンドでダウンロードされています。インストールの準備が整うと更新を促されます。</translation>
    </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>SSDドライブ(NVMe)がマウントされていません。</translation>
-    </message>
    <message>
        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
        <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>
@@ -1205,6 +1388,10 @@ The default software delay value is 0.2</source>
 %1</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>&lt;b&gt;Unsupported branch detected&lt;/b&gt; - The current version of &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; branch is no longer supported on the comma three. Please go to &lt;b&gt;[Device &gt; Software]&lt;/b&gt; and install a supported branch with &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; in the branch name for the comma three.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>OffroadHome</name>
@@ -1576,6 +1763,59 @@ Warning: You are on a metered connection!</source>
        <source>sunnypilot</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>None</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SettingsWindow</name>
@@ -1670,6 +1910,10 @@ Warning: You are on a metered connection!</source>
        <source>Developer</source>
        <translation type="unfinished">開発</translation>
    </message>
+    <message>
+        <source>Display</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -1906,6 +2150,84 @@ Warning: You are on a metered connection!</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>SpeedLimitPolicy</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">戻る</translation>
+    </message>
+    <message>
+        <source>Speed Limit Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car Only: Use Speed Limit data only from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map Only: Use Speed Limit data only from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SpeedLimitSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">戻る</translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ None: No Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Off: Disables the Speed Limit functions.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Information: Displays the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Warning: Provides a warning when exceeding the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>SshControl</name>
    <message>
@@ -2288,6 +2610,60 @@ Warning: You are on a metered connection!</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>TorqueLateralControlCustomParams</name>
+    <message>
+        <source>Manual Real-Time Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lateral Acceleration Factor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Friction</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Real-time and Offline</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TorqueLateralControlSettings</name>
+    <message>
+        <source>Self-Tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less Restrict Settings for Self-Tune (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Custom Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within &quot;opendbc/car/torque_data&quot;. The values will also be used live when &quot;Manual Real-Time Tuning&quot; toggle is enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>TreeOptionDialog</name>
    <message>
@@ -2298,6 +2674,10 @@ Warning: You are on a metered connection!</source>
        <source>Cancel</source>
        <translation type="unfinished">キャンセル</translation>
    </message>
+    <message>
+        <source>Favorites</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>VisualsPanel</name>
@@ -2341,6 +2721,91 @@ Warning: You are on a metered connection!</source>
        <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>
+    <message>
+        <source>Enable Tesla Rainbow Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A beautiful rainbow effect on the path the model wants to take.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>It</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>does not</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>affect driving in any way.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Standstill Timer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Show a timer on the HUD when the car is at a standstill.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Green Traffic Light Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: This chime is only designed as a notification. It is the driver&apos;s responsibility to observe their environment and make decisions accordingly.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lead Departure Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Always Display True Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always display the true vehicle current speed from wheel speed sensors.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Hide from Onroad Screen</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right &amp;&amp;
+Bottom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Developer UI</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display real-time parameters and metrics from various sources.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>WiFiPromptWidget</name>
@@ -134,14 +134,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </context>
 <context>
    <name>Brightness</name>
-    <message>
-        <source>Brightness</source>
-        <translation>밝기</translation>
-    </message>
-    <message>
-        <source>Overrides the brightness of the device.</source>
-        <translation>기기 밝기를 직접 설정합니다.</translation>
-    </message>
    <message>
        <source>Auto (Dark)</source>
        <translation>자동 (어둡게)</translation>
@@ -150,6 +142,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Auto</source>
        <translation>자동</translation>
    </message>
+    <message>
+        <source>Global Brightness</source>
+        <translation>전역 밝기</translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device. This applies to both onroad and offroad screens. </source>
+        <translation>기기의 밝기를 강제로 설정합니다. 이 설정은 주행 중 화면과 비주행 화면(설정 등) 모두에 적용됩니다. </translation>
+    </message>
 </context>
 <context>
    <name>ConfirmationDialog</name>
@@ -254,6 +254,14 @@ This only toggles the visibility of the controls; it does not toggle the actual
        <source>Quickboot mode requires updates to be disabled.&lt;br&gt;Enable &apos;Disable Updates&apos; in the Software panel first.</source>
        <translation>빠른 부팅 모드는 업데이트가 비활성화되어 있어야 합니다.&lt;br&gt;먼저 소프트웨어 패널에서 &apos;업데이트 비활성화&apos;를 활성화하세요.</translation>
    </message>
+    <message>
+        <source>Enable Copyparty service</source>
+        <translation>Copyparty 서비스 사용</translation>
+    </message>
+    <message>
+        <source>Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it&apos;s IP.</source>
+        <translation>Copyparty는 매우 유능한 파일 서버로, 이를 통해 주행 기록을 다운로드하고, 로그 파일을 확인하며, 심지어 브라우저에서 일부 파일을 편집할 수도 있습니다. 이 기능을 사용하려면 comma 기기의 로컬 IP를 통해 접속해야 합니다.</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -472,16 +480,6 @@ Steering lag calibration is complete.</source>
        <source>Wake-Up Behavior</source>
        <translation>깨우기 동작</translation>
    </message>
-    <message>
-        <source>Interactivity Timeout</source>
-        <translation>상호작용 타임아웃</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>설정 화면에 사용자 지정 타임아웃을 적용하세요.
-사용자가 화면과 상호작용하지 않으면 설정 화면이 자동으로 닫히는 시간입니다.</translation>
-    </message>
    <message>
        <source>Reboot</source>
        <translation>재부팅</translation>
@@ -526,10 +524,6 @@ This is the time after which settings UI closes automatically if user is not int
        <source>Exit Always Offroad</source>
        <translation>항상 오프로드 종료</translation>
    </message>
-    <message>
-        <source>Always Offroad</source>
-        <translation>항상 오프로드</translation>
-    </message>
    <message>
        <source>⁍ Default: Device will boot/wake-up normally &amp; will be ready to engage.</source>
        <translation>⁍ 기본값: 기기가 정상적으로 부팅/절전 모드에서 해제되며, 작동 준비가 완료됩니다.</translation>
@@ -542,6 +536,35 @@ This is the time after which settings UI closes automatically if user is not int
        <source>Controls state of the device after boot/sleep.</source>
        <translation>부팅/절전 모드 후 기기의 상태를 제어합니다.</translation>
    </message>
+    <message>
+        <source>Onroad Uploads</source>
+        <translation>주행 중 업로드</translation>
+    </message>
+    <message>
+        <source>Enable Always Offroad</source>
+        <translation>항상 오프로드 사용</translation>
+    </message>
+</context>
+<context>
+    <name>DisplayPanel</name>
+    <message>
+        <source>Onroad Screen: Reduced Brightness</source>
+        <translation>주행 중 화면: 밝기 감소</translation>
+    </message>
+    <message>
+        <source>Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed.</source>
+        <translation>운전이 시작된 후 기기 화면을 끄거나 밝기를 줄입니다. 화면을 터치하거나 시각적 알림이 표시되면 자동으로 다시 밝아집니다.</translation>
+    </message>
+    <message>
+        <source>Interactivity Timeout</source>
+        <translation>상호작용 타임아웃</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>설정 UI에 사용자 지정 타임아웃을 적용하세요.
+이는 사용자가 화면과 상호 작용하지 않으면 설정 UI가 자동으로 닫히는 시간입니다.</translation>
+    </message>
 </context>
 <context>
    <name>DriveStats</name>
@@ -603,6 +626,61 @@ This is the time after which settings UI closes automatically if user is not int
        <translation>안정 모드 켜짐</translation>
    </message>
 </context>
+<context>
+    <name>ExternalStorageControl</name>
+    <message>
+        <source>External Storage</source>
+        <translation>외부 저장소</translation>
+    </message>
+    <message>
+        <source>Extend your comma device&apos;s storage by inserting a USB drive into the aux port.</source>
+        <translation>USB 드라이브를 AUX 포트에 삽입하여 comma 기기의 저장 공간을 확장합니다.</translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation>확인</translation>
+    </message>
+    <message>
+        <source>MOUNT</source>
+        <translation>마운트</translation>
+    </message>
+    <message>
+        <source>UNMOUNT</source>
+        <translation>마운트 해제</translation>
+    </message>
+    <message>
+        <source>FORMAT</source>
+        <translation>포맷</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to format this drive? This will erase all data.</source>
+        <translation>이 드라이브를 포맷하시겠습니까? 이 작업은 모든 데이터를 지웁니다.</translation>
+    </message>
+    <message>
+        <source>Format</source>
+        <translation>포맷</translation>
+    </message>
+    <message>
+        <source>formatting</source>
+        <translation>포맷 중</translation>
+    </message>
+    <message>
+        <source>insert drive</source>
+        <translation>드라이브 삽입</translation>
+    </message>
+    <message>
+        <source>needs format</source>
+        <translation>포맷 필요</translation>
+    </message>
+    <message>
+        <source>mounting</source>
+        <translation>마운트 중</translation>
+    </message>
+    <message>
+        <source>unmounting</source>
+        <translation>마운트 해제 중</translation>
+    </message>
+</context>
 <context>
    <name>FirehosePanel</name>
    <message>
@@ -655,6 +733,64 @@ Firehose 모드를 사용하면 훈련 데이터 업로드를 극대화하여 op
        <translation>최대</translation>
    </message>
 </context>
+<context>
+    <name>HudRendererSP</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>GREEN
+LIGHT</source>
+        <translation>녹색 신호</translation>
+    </message>
+    <message>
+        <source>LEAD VEHICLE
+DEPARTING</source>
+        <translation>전방 차량이
+출발하였습니다</translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation>SPEED</translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation>LIMIT</translation>
+    </message>
+    <message>
+        <source>Near</source>
+        <translation>근처</translation>
+    </message>
+    <message>
+        <source>km</source>
+        <translation>km</translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation>m</translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation>mi</translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation>ft</translation>
+    </message>
+    <message>
+        <source>AHEAD</source>
+        <translation>전방</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>최대</translation>
+    </message>
+</context>
 <context>
    <name>HyundaiSettings</name>
    <message>
@@ -768,6 +904,18 @@ Firehose 모드를 사용하면 훈련 데이터 업로드를 극대화하여 op
        <source>This platform supports limited MADS settings.</source>
        <translation>이 플랫폼은 제한된 MADS 설정을 지원합니다.</translation>
    </message>
+    <message>
+        <source>Enforce Torque Lateral Control</source>
+        <translation>토크 조향 제어 강제 적용</translation>
+    </message>
+    <message>
+        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
+        <translation>sunnypilot이 토크 조향 제어를 통해 조향하도록 강제하려면 이 기능을 활성화하세요.</translation>
+    </message>
+    <message>
+        <source>Customize Params</source>
+        <translation>매개변수 사용자 지정</translation>
+    </message>
 </context>
 <context>
    <name>LongitudinalPanel</name>
@@ -791,6 +939,34 @@ Firehose 모드를 사용하면 훈련 데이터 업로드를 극대화하여 op
        <source>Start the vehicle to check vehicle compatibility.</source>
        <translation>차량 호환성을 확인하려면 차량 시동을 걸어주세요.</translation>
    </message>
+    <message>
+        <source>Intelligent Cruise Button Management (ICBM) (Alpha)</source>
+        <translation>지능형 크루즈 버튼 관리 (ICBM) (알파)</translation>
+    </message>
+    <message>
+        <source>When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.</source>
+        <translation>활성화하면, sunnypilot은 제한적인 가감속 제어를 위해 버튼 조작을 재현하여 내장 크루즈 컨트롤 버튼을 관리하려고 시도합니다.</translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Vision</source>
+        <translation>스마트 크루즈 컨트롤 - 비전</translation>
+    </message>
+    <message>
+        <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation>전방 커브 구간을 통과하기 위한 적절한 속도를 예측하기 위해 시각 경로 예측 기능을 사용합니다.</translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Map</source>
+        <translation>스마트 크루즈 컨트롤 - 지도</translation>
+    </message>
+    <message>
+        <source>Use map data to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation>전방 커브 구간을 통과하기 위한 적절한 속도를 예측하기 위해 지도 데이터를 사용합니다.</translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation>속도 제한</translation>
+    </message>
 </context>
 <context>
    <name>MadsSettings</name>
@@ -1020,35 +1196,47 @@ The default software delay value is 0.2</source>
    </message>
    <message>
        <source>Refresh Model List</source>
-        <translation type="unfinished"></translation>
+        <translation>모델 목록 새로고침</translation>
    </message>
    <message>
        <source>REFRESH</source>
-        <translation type="unfinished">새로 고침</translation>
+        <translation>새로고침</translation>
    </message>
    <message>
        <source>Fetching Latest Models</source>
-        <translation type="unfinished"></translation>
+        <translation>최신 모델 불러오는 중</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.</source>
-        <translation type="unfinished"></translation>
+        <translation>이 기능을 켜면 차량이 스스로 조향 응답 속도를 학습하고 맞춥니다. 끄면 고정된 조향 응답 속도를 사용합니다. 이 기능을 켜두는 것이 기본 openpilot 경험을 제공합니다.</translation>
    </message>
    <message>
        <source>Live Steer Delay:</source>
-        <translation type="unfinished"></translation>
+        <translation>실시간 조향 지연 시간:</translation>
    </message>
    <message>
        <source>Actuator Delay:</source>
-        <translation type="unfinished"></translation>
+        <translation>액츄에이터 지연 시간:</translation>
    </message>
    <message>
        <source>Software Delay:</source>
-        <translation type="unfinished"></translation>
+        <translation>소프트웨어 지연 시간:</translation>
    </message>
    <message>
        <source>Total Delay:</source>
-        <translation type="unfinished"></translation>
+        <translation>전체 지연 시간:</translation>
+    </message>
+    <message>
+        <source>Use Lane Turn Desires</source>
+        <translation>차로 회전 의도 사용</translation>
+    </message>
+    <message>
+        <source>Adjust Lane Turn Speed</source>
+        <translation>차로 회전 속도 조정</translation>
+    </message>
+    <message>
+        <source>Set the maximum speed for lane turn desires. Default is 19 %1.</source>
+        <translation>차로 회전 의도의 최대 속도를 설정합니다. 기본값은 19 %1 입니다.</translation>
    </message>
 </context>
 <context>
@@ -1167,10 +1355,6 @@ The default software delay value is 0.2</source>
        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
        <translation>기기 운영체제 업데이트가 백그라운드에서 다운로드 중입니다. 설치가 준비되면 업데이트를 진행하라는 메시지가 표시됩니다.</translation>
    </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>NVMe 드라이브가 마운트되지 않았습니다.</translation>
-    </message>
    <message>
        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
        <translation>기기 온도가 너무 높습니다. 시스템이 시작하기 전에 온도를 낮추고 있습니다. 현재 내부 부품 온도는 %1입니다.</translation>
@@ -1215,6 +1399,10 @@ The default software delay value is 0.2</source>

 %1</translation>
    </message>
+    <message>
+        <source>&lt;b&gt;Unsupported branch detected&lt;/b&gt; - The current version of &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; branch is no longer supported on the comma three. Please go to &lt;b&gt;[Device &gt; Software]&lt;/b&gt; and install a supported branch with &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; in the branch name for the comma three.</source>
+        <translation>&lt;b&gt;지원되지 않는 브랜치 감지&lt;/b&gt; - 현재 사용 중인 &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; 브랜치는 comma three 기기에서 더 이상 지원되지 않습니다. &lt;b&gt;[기기 &gt; 소프트웨어]&lt;/b&gt;로 이동하여 브랜치 이름에 &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; 가 포함된 comma three용 브랜치로 설치하세요.</translation>
+    </message>
 </context>
 <context>
    <name>OffroadHome</name>
@@ -1684,6 +1872,10 @@ Warning: You are on a metered connection!</source>
        <source>Developer</source>
        <translation>개발자</translation>
    </message>
+    <message>
+        <source>Display</source>
+        <translation>화면</translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -1920,6 +2112,140 @@ Warning: You are on a metered connection!</source>
        <translation>이 설정들을 변경하려면 항상 오프로드 모드를 활성화하거나 차량 시동을 꺼야 합니다.</translation>
    </message>
 </context>
+<context>
+    <name>SpeedLimitPolicy</name>
+    <message>
+        <source>Back</source>
+        <translation>뒤로</translation>
+    </message>
+    <message>
+        <source>Speed Limit Source</source>
+        <translation>속도 제한 출처</translation>
+    </message>
+    <message>
+        <source>⦿ Car Only: Use Speed Limit data only from Car</source>
+        <translation>⦿ 차량만: 차량에서 제공되는 속도 제한 데이터만 사용</translation>
+    </message>
+    <message>
+        <source>⦿ Map Only: Use Speed Limit data only from OpenStreetMaps</source>
+        <translation>⦿ 지도만: OpenStreetMaps에서 제공되는 속도 제한 데이터만 사용</translation>
+    </message>
+    <message>
+        <source>⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps</source>
+        <translation>⦿ 차량 우선: 사용 가능한 경우 차량의 속도 제한 데이터를 사용하고, 그렇지 않은 경우 OpenStreetMaps의 데이터 사용</translation>
+    </message>
+    <message>
+        <source>⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car</source>
+        <translation>⦿ 지도 우선: 사용 가능한 경우 OpenStreetMaps의 속도 제한 데이터를 사용하고, 그렇지 않은 경우 차량의 데이터 사용</translation>
+    </message>
+    <message>
+        <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
+        <translation>⦿ 결합: 차량 및 OpenStreetMaps의 속도 제한 결합 데이터 사용</translation>
+    </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation>차량만</translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation>지도만</translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation>차량
+우선</translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation>지도
+우선</translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation>결합
+데이터</translation>
+    </message>
+</context>
+<context>
+    <name>SpeedLimitSettings</name>
+    <message>
+        <source>Back</source>
+        <translation>뒤로</translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation>속도 제한</translation>
+    </message>
+    <message>
+        <source>Customize Source</source>
+        <translation>출처 사용자 지정</translation>
+    </message>
+    <message>
+        <source>Speed Limit Offset</source>
+        <translation>속도 제한 오프셋</translation>
+    </message>
+    <message>
+        <source>⦿ None: No Offset</source>
+        <translation>⦿ 없음: 오프셋 없음</translation>
+    </message>
+    <message>
+        <source>⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]</source>
+        <translation>⦿ 고정: 고정 오프셋을 추가합니다. [제한 속도 + 오프셋]</translation>
+    </message>
+    <message>
+        <source>⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]</source>
+        <translation>⦿ 비율: 백분율 오프셋을 추가합니다. [제한 속도 + (오프셋 % 제한 속도)]</translation>
+    </message>
+    <message>
+        <source>⦿ Off: Disables the Speed Limit functions.</source>
+        <translation>⦿ 끄기: 속도 제한 기능을 비활성화합니다.</translation>
+    </message>
+    <message>
+        <source>⦿ Information: Displays the current road&apos;s speed limit.</source>
+        <translation>⦿ 정보: 현재 도로의 제한 속도를 표시합니다.</translation>
+    </message>
+    <message>
+        <source>⦿ Warning: Provides a warning when exceeding the current road&apos;s speed limit.</source>
+        <translation>⦿ 경고: 현재 도로의 제한 속도를 초과할 경우 경고합니다.</translation>
+    </message>
+    <message>
+        <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
+        <translation>⦿ 보조: +/- 버튼을 조작할 때 현재 도로의 제한 속도를 기준으로 차량의 크루즈 속도를 조정합니다.</translation>
+    </message>
+    <message>
+        <source>None</source>
+        <translation>없음</translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation>고정</translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation>비율</translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation>끄기</translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation>정보</translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation>경고</translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation>보조</translation>
+    </message>
+</context>
 <context>
    <name>SshControl</name>
    <message>
@@ -2090,27 +2416,27 @@ Warning: You are on a metered connection!</source>
    </message>
    <message>
        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
-        <translation type="unfinished"></translation>
+        <translation>sunnylink 업로더를 활성화하여 sunnypilot이 귀하의 주행 데이터를 sunnypilot 서버로 업로드하도록 허용합니다. (가장 높은 등급에서만 해당하며, 사용자에게는 어떠한 이점도 제공하지 않습니다. 저희는 그냥 데이터 용량을 테스트하는 중입니다.)</translation>
    </message>
    <message>
        <source>[Don&apos;t use] Enable sunnylink uploader</source>
-        <translation type="unfinished"></translation>
+        <translation>[사용하지 마세요] sunnylink 업로더 사용</translation>
    </message>
    <message>
        <source>🚀 sunnylink 🚀</source>
-        <translation type="unfinished"></translation>
+        <translation>🚀 sunnylink 🚀</translation>
    </message>
    <message>
        <source>For secure backup, restore, and remote configuration</source>
-        <translation type="unfinished"></translation>
+        <translation>안전한 백업, 복원 및 원격 설정을 위해</translation>
    </message>
    <message>
        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
-        <translation type="unfinished"></translation>
+        <translation>기본적인 백업/복원은 후원이 필요하지 않습니다</translation>
    </message>
    <message>
        <source>Click the sponsor button for more details</source>
-        <translation type="unfinished"></translation>
+        <translation>후원 버튼을 눌러 더 자세한 정보를 확인하세요</translation>
    </message>
 </context>
 <context>
@@ -2302,6 +2628,60 @@ Warning: You are on a metered connection!</source>
        <translation>실험 모드를 활성화하려면 sunnypilot 가감속 제어(알파) 토글을 켜세요.</translation>
    </message>
 </context>
+<context>
+    <name>TorqueLateralControlCustomParams</name>
+    <message>
+        <source>Manual Real-Time Tuning</source>
+        <translation>실시간 수동 튜닝</translation>
+    </message>
+    <message>
+        <source>Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values.</source>
+        <translation>토크 조향 제어기가 셀프 튜닝에서 학습된 값 대신 고정된 값을 사용하도록 강제합니다. 이 토글을 활성화하면 셀프 튜닝 값이 무시됩니다.</translation>
+    </message>
+    <message>
+        <source>Lateral Acceleration Factor</source>
+        <translation>조향 가속 계수</translation>
+    </message>
+    <message>
+        <source>Friction</source>
+        <translation>마찰</translation>
+    </message>
+    <message>
+        <source>Real-time and Offline</source>
+        <translation>실시간 및 오프라인</translation>
+    </message>
+    <message>
+        <source>Offline Only</source>
+        <translation>오프라인만</translation>
+    </message>
+</context>
+<context>
+    <name>TorqueLateralControlSettings</name>
+    <message>
+        <source>Self-Tune</source>
+        <translation>셀프 튜닝</translation>
+    </message>
+    <message>
+        <source>Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.</source>
+        <translation>기본적으로 토크 조향 제어를 사용하지 않는 플랫폼에 대해 토크 조향 제어의 셀프 튜닝 기능을 활성화합니다.</translation>
+    </message>
+    <message>
+        <source>Less Restrict Settings for Self-Tune (Beta)</source>
+        <translation>셀프 튜닝 제한 완화 설정 (베타)</translation>
+    </message>
+    <message>
+        <source>Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.</source>
+        <translation>셀프 튜닝 사용 시 덜 엄격한 설정을 사용합니다. 이는 학습 값에 대해 torqued가 더 관대하도록 허용합니다.</translation>
+    </message>
+    <message>
+        <source>Enable Custom Tuning</source>
+        <translation>사용자 지정 튜닝 사용</translation>
+    </message>
+    <message>
+        <source>Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within &quot;opendbc/car/torque_data&quot;. The values will also be used live when &quot;Manual Real-Time Tuning&quot; toggle is enabled.</source>
+        <translation>토크 조향 제어에 대한 사용자 지정 튜닝을 활성화합니다. 아래에서 조향 가속 계수 및 마찰을 수정하면 &quot;opendbc/car/torque_data&quot; 내의 YAML 파일에 명시된 오프라인 값이 무시됩니다. 이 값들은 &quot;실시간 수동 튜닝&quot; 토글이 활성화되면 실시간으로도 사용됩니다.</translation>
+    </message>
+</context>
 <context>
    <name>TreeOptionDialog</name>
    <message>
@@ -2312,6 +2692,10 @@ Warning: You are on a metered connection!</source>
        <source>Cancel</source>
        <translation>취소</translation>
    </message>
+    <message>
+        <source>Favorites</source>
+        <translation>즐겨찾기</translation>
+    </message>
 </context>
 <context>
    <name>VisualsPanel</name>
@@ -2355,6 +2739,92 @@ Warning: You are on a metered connection!</source>
        <source>Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).</source>
        <translation>앞차를 추적하는 역삼각형 아래에 유용한 측정 지표를 표시합니다. (openpilot 가감속 제어 기능이 있는 차량에만 해당됩니다)</translation>
    </message>
+    <message>
+        <source>Enable Tesla Rainbow Mode</source>
+        <translation>테슬라 무지개 모드 사용</translation>
+    </message>
+    <message>
+        <source>A beautiful rainbow effect on the path the model wants to take.</source>
+        <translation>모델이 가고자 하는 경로에 아름다운 무지개 효과를 추가합니다.</translation>
+    </message>
+    <message>
+        <source>It</source>
+        <translation>이는 운전에</translation>
+    </message>
+    <message>
+        <source>does not</source>
+        <translation>어떠한</translation>
+    </message>
+    <message>
+        <source>affect driving in any way.</source>
+        <translation>영향도 미치지 않습니다.</translation>
+    </message>
+    <message>
+        <source>Enable Standstill Timer</source>
+        <translation>정차 타이머 사용</translation>
+    </message>
+    <message>
+        <source>Show a timer on the HUD when the car is at a standstill.</source>
+        <translation>차량이 정차 상태일 때 HUD에 타이머를 표시합니다.</translation>
+    </message>
+    <message>
+        <source>Display Road Name</source>
+        <translation>도로 이름 표시</translation>
+    </message>
+    <message>
+        <source>Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name.</source>
+        <translation>차량이 주행 중인 도로의 이름을 표시합니다. 도로 이름을 가져오려면 OSM 패널에서 해당 위치의 OpenStreetMap 데이터베이스를 다운로드해야 합니다.</translation>
+    </message>
+    <message>
+        <source>Green Traffic Light Alert (Beta)</source>
+        <translation>녹색 신호 감지 알림 (베타)</translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you.</source>
+        <translation>앞 신호등이 초록 신호로 바뀌고 전방에 차량이 없을 때, 알림음과 화면 경고가 표시됩니다.</translation>
+    </message>
+    <message>
+        <source>Note: This chime is only designed as a notification. It is the driver&apos;s responsibility to observe their environment and make decisions accordingly.</source>
+        <translation>참고: 이 알림음은 단순한 알림 목적으로만 설계되었습니다. 주변 환경을 살피고 그에 따라 결정하는 것은 운전자의 책임입니다.</translation>
+    </message>
+    <message>
+        <source>Lead Departure Alert (Beta)</source>
+        <translation>전방 차량 출발 알림 (베타)</translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.</source>
+        <translation>당신이 정차 중이고 전방 차량이 움직이기 시작할 때, 알림음과 화면 경고가 표시됩니다.</translation>
+    </message>
+    <message>
+        <source>Speedometer: Always Display True Speed</source>
+        <translation>속도계: 항상 실제 속도 표시</translation>
+    </message>
+    <message>
+        <source>Always display the true vehicle current speed from wheel speed sensors.</source>
+        <translation>항상 휠 스피드 센서에서 얻은 실제 차량 속도를 표시합니다.</translation>
+    </message>
+    <message>
+        <source>Speedometer: Hide from Onroad Screen</source>
+        <translation>속도계: 주행 화면에서 숨기기</translation>
+    </message>
+    <message>
+        <source>Right</source>
+        <translation>오른쪽</translation>
+    </message>
+    <message>
+        <source>Right &amp;&amp;
+Bottom</source>
+        <translation>오른쪽 &amp;&amp;
+아래</translation>
+    </message>
+    <message>
+        <source>Developer UI</source>
+        <translation>개발자 UI</translation>
+    </message>
+    <message>
+        <source>Display real-time parameters and metrics from various sources.</source>
+        <translation>다양한 출처의 실시간 매개변수 및 측정 지표를 표시합니다.</translation>
+    </message>
 </context>
 <context>
    <name>WiFiPromptWidget</name>
@@ -133,14 +133,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </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>
@@ -149,6 +141,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Auto</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Global Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device. This applies to both onroad and offroad screens. </source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>ConfirmationDialog</name>
@@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual
        <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>
+    <message>
+        <source>Enable Copyparty service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it&apos;s IP.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -468,15 +476,6 @@ A calibração do atraso da direção foi concluída.</translation>
        <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>Reboot</source>
        <translation type="unfinished">Reiniciar</translation>
@@ -521,10 +520,6 @@ This is the time after which settings UI closes automatically if user is not int
        <source>Exit Always Offroad</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Always Offroad</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>
@@ -537,6 +532,34 @@ This is the time after which settings UI closes automatically if user is not int
        <source>Controls state of the device after boot/sleep.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Onroad Uploads</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DisplayPanel</name>
+    <message>
+        <source>Onroad Screen: Reduced Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed.</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>
 </context>
 <context>
    <name>DriveStats</name>
@@ -598,6 +621,61 @@ This is the time after which settings UI closes automatically if user is not int
        <translation>MODO CHILL ON</translation>
    </message>
 </context>
+<context>
+    <name>ExternalStorageControl</name>
+    <message>
+        <source>External Storage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Extend your comma device&apos;s storage by inserting a USB drive into the aux port.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">VERIFICAR</translation>
+    </message>
+    <message>
+        <source>MOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UNMOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>FORMAT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to format this drive? This will erase all data.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>formatting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>insert drive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>needs format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>FirehosePanel</name>
    <message>
@@ -649,6 +727,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>LIMITE</translation>
    </message>
 </context>
+<context>
+    <name>HudRendererSP</name>
+    <message>
+        <source>km/h</source>
+        <translation type="unfinished">km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="unfinished">mph</translation>
+    </message>
+    <message>
+        <source>GREEN
+LIGHT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LEAD VEHICLE
+DEPARTING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Near</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>km</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>AHEAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="unfinished">LIMITE</translation>
+    </message>
+</context>
 <context>
    <name>HyundaiSettings</name>
    <message>
@@ -763,6 +898,18 @@ 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>Enforce Torque Lateral Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Params</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>LongitudinalPanel</name>
@@ -786,6 +933,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>Start the vehicle to check vehicle compatibility.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Intelligent Cruise Button Management (ICBM) (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use map data to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MadsSettings</name>
@@ -1044,6 +1219,18 @@ The default software delay value is 0.2</source>
        <source>Total Delay:</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Use Lane Turn Desires</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Lane Turn Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set the maximum speed for lane turn desires. Default is 19 %1.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -1161,10 +1348,6 @@ The default software delay value is 0.2</source>
        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
        <translation>Uma atualização para o sistema operacional do seu dispositivo está sendo baixada em segundo plano. Você será solicitado a atualizar quando estiver pronto para instalar.</translation>
    </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>Unidade NVMe não montada.</translation>
-    </message>
    <message>
        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
        <translation>Temperatura do dispositivo muito alta. O sistema está sendo resfriado antes de iniciar. A temperatura atual do componente interno é: %1</translation>
@@ -1207,6 +1390,10 @@ The default software delay value is 0.2</source>
 %1</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>&lt;b&gt;Unsupported branch detected&lt;/b&gt; - The current version of &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; branch is no longer supported on the comma three. Please go to &lt;b&gt;[Device &gt; Software]&lt;/b&gt; and install a supported branch with &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; in the branch name for the comma three.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>OffroadHome</name>
@@ -1581,6 +1768,59 @@ Warning: You are on a metered connection!</source>
        <source>sunnypilot</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>None</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SettingsWindow</name>
@@ -1675,6 +1915,10 @@ Warning: You are on a metered connection!</source>
        <source>Developer</source>
        <translation type="unfinished">Desenvdor</translation>
    </message>
+    <message>
+        <source>Display</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -1911,6 +2155,84 @@ Warning: You are on a metered connection!</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>SpeedLimitPolicy</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">Voltar</translation>
+    </message>
+    <message>
+        <source>Speed Limit Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car Only: Use Speed Limit data only from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map Only: Use Speed Limit data only from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SpeedLimitSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">Voltar</translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ None: No Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Off: Disables the Speed Limit functions.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Information: Displays the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Warning: Provides a warning when exceeding the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>SshControl</name>
    <message>
@@ -2293,6 +2615,60 @@ Warning: You are on a metered connection!</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>TorqueLateralControlCustomParams</name>
+    <message>
+        <source>Manual Real-Time Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lateral Acceleration Factor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Friction</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Real-time and Offline</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TorqueLateralControlSettings</name>
+    <message>
+        <source>Self-Tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less Restrict Settings for Self-Tune (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Custom Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within &quot;opendbc/car/torque_data&quot;. The values will also be used live when &quot;Manual Real-Time Tuning&quot; toggle is enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>TreeOptionDialog</name>
    <message>
@@ -2303,6 +2679,10 @@ Warning: You are on a metered connection!</source>
        <source>Cancel</source>
        <translation type="unfinished">Cancelar</translation>
    </message>
+    <message>
+        <source>Favorites</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>VisualsPanel</name>
@@ -2346,6 +2726,91 @@ Warning: You are on a metered connection!</source>
        <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>
+    <message>
+        <source>Enable Tesla Rainbow Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A beautiful rainbow effect on the path the model wants to take.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>It</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>does not</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>affect driving in any way.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Standstill Timer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Show a timer on the HUD when the car is at a standstill.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Green Traffic Light Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: This chime is only designed as a notification. It is the driver&apos;s responsibility to observe their environment and make decisions accordingly.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lead Departure Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Always Display True Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always display the true vehicle current speed from wheel speed sensors.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Hide from Onroad Screen</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right &amp;&amp;
+Bottom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Developer UI</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display real-time parameters and metrics from various sources.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>WiFiPromptWidget</name>
@@ -133,14 +133,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </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>
@@ -149,6 +141,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Auto</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Global Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device. This applies to both onroad and offroad screens. </source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>ConfirmationDialog</name>
@@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual
        <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>
+    <message>
+        <source>Enable Copyparty service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it&apos;s IP.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -464,15 +472,6 @@ Steering lag calibration is complete.</source>
        <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>Reboot</source>
        <translation type="unfinished">รีบูต</translation>
@@ -517,10 +516,6 @@ This is the time after which settings UI closes automatically if user is not int
        <source>Exit Always Offroad</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Always Offroad</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>
@@ -533,6 +528,34 @@ This is the time after which settings UI closes automatically if user is not int
        <source>Controls state of the device after boot/sleep.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Onroad Uploads</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DisplayPanel</name>
+    <message>
+        <source>Onroad Screen: Reduced Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed.</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>
 </context>
 <context>
    <name>DriveStats</name>
@@ -594,6 +617,61 @@ This is the time after which settings UI closes automatically if user is not int
        <translation>คุณกำลังใช้โหมดชิล</translation>
    </message>
 </context>
+<context>
+    <name>ExternalStorageControl</name>
+    <message>
+        <source>External Storage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Extend your comma device&apos;s storage by inserting a USB drive into the aux port.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">ตรวจสอบ</translation>
+    </message>
+    <message>
+        <source>MOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UNMOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>FORMAT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to format this drive? This will erase all data.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>formatting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>insert drive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>needs format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>FirehosePanel</name>
    <message>
@@ -644,6 +722,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>สูงสุด</translation>
    </message>
 </context>
+<context>
+    <name>HudRendererSP</name>
+    <message>
+        <source>km/h</source>
+        <translation type="unfinished">กม./ชม.</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="unfinished">ไมล์/ชม.</translation>
+    </message>
+    <message>
+        <source>GREEN
+LIGHT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LEAD VEHICLE
+DEPARTING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Near</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>km</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>AHEAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="unfinished">สูงสุด</translation>
+    </message>
+</context>
 <context>
    <name>HyundaiSettings</name>
    <message>
@@ -757,6 +892,18 @@ 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>Enforce Torque Lateral Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Params</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>LongitudinalPanel</name>
@@ -780,6 +927,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>Start the vehicle to check vehicle compatibility.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Intelligent Cruise Button Management (ICBM) (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use map data to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MadsSettings</name>
@@ -1038,6 +1213,18 @@ The default software delay value is 0.2</source>
        <source>Total Delay:</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Use Lane Turn Desires</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Lane Turn Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set the maximum speed for lane turn desires. Default is 19 %1.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -1159,10 +1346,6 @@ The default software delay value is 0.2</source>
        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
        <translation>กำลังดาวน์โหลดอัปเดทสำหรับระบบปฏิบัติการอยู่เบื้องหลัง คุณจะได้รับการแจ้งเตือนเมื่อระบบพร้อมสำหรับการติดตั้ง</translation>
    </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>ไม่ได้ติดตั้งไดร์ฟ NVMe</translation>
-    </message>
    <message>
        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
        <translation type="unfinished"></translation>
@@ -1201,6 +1384,10 @@ The default software delay value is 0.2</source>
 %1</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>&lt;b&gt;Unsupported branch detected&lt;/b&gt; - The current version of &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; branch is no longer supported on the comma three. Please go to &lt;b&gt;[Device &gt; Software]&lt;/b&gt; and install a supported branch with &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; in the branch name for the comma three.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>OffroadHome</name>
@@ -1572,6 +1759,59 @@ Warning: You are on a metered connection!</source>
        <source>sunnypilot</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>None</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SettingsWindow</name>
@@ -1666,6 +1906,10 @@ Warning: You are on a metered connection!</source>
        <source>Developer</source>
        <translation type="unfinished">นักพัฒนา</translation>
    </message>
+    <message>
+        <source>Display</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -1902,6 +2146,84 @@ Warning: You are on a metered connection!</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>SpeedLimitPolicy</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">ย้อนกลับ</translation>
+    </message>
+    <message>
+        <source>Speed Limit Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car Only: Use Speed Limit data only from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map Only: Use Speed Limit data only from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SpeedLimitSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">ย้อนกลับ</translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ None: No Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Off: Disables the Speed Limit functions.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Information: Displays the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Warning: Provides a warning when exceeding the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>SshControl</name>
    <message>
@@ -2284,6 +2606,60 @@ Warning: You are on a metered connection!</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>TorqueLateralControlCustomParams</name>
+    <message>
+        <source>Manual Real-Time Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lateral Acceleration Factor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Friction</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Real-time and Offline</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TorqueLateralControlSettings</name>
+    <message>
+        <source>Self-Tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less Restrict Settings for Self-Tune (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Custom Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within &quot;opendbc/car/torque_data&quot;. The values will also be used live when &quot;Manual Real-Time Tuning&quot; toggle is enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>TreeOptionDialog</name>
    <message>
@@ -2294,6 +2670,10 @@ Warning: You are on a metered connection!</source>
        <source>Cancel</source>
        <translation type="unfinished">ยกเลิก</translation>
    </message>
+    <message>
+        <source>Favorites</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>VisualsPanel</name>
@@ -2337,6 +2717,91 @@ Warning: You are on a metered connection!</source>
        <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>
+    <message>
+        <source>Enable Tesla Rainbow Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A beautiful rainbow effect on the path the model wants to take.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>It</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>does not</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>affect driving in any way.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Standstill Timer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Show a timer on the HUD when the car is at a standstill.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Green Traffic Light Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: This chime is only designed as a notification. It is the driver&apos;s responsibility to observe their environment and make decisions accordingly.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lead Departure Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Always Display True Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always display the true vehicle current speed from wheel speed sensors.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Hide from Onroad Screen</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right &amp;&amp;
+Bottom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Developer UI</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display real-time parameters and metrics from various sources.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>WiFiPromptWidget</name>
@@ -133,14 +133,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </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>
@@ -149,6 +141,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Auto</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Global Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device. This applies to both onroad and offroad screens. </source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>ConfirmationDialog</name>
@@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual
        <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>
+    <message>
+        <source>Enable Copyparty service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it&apos;s IP.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -464,15 +472,6 @@ Steering lag calibration is complete.</source>
        <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>Reboot</source>
        <translation type="unfinished">Yeniden başlat</translation>
@@ -517,10 +516,6 @@ This is the time after which settings UI closes automatically if user is not int
        <source>Exit Always Offroad</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Always Offroad</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>
@@ -533,6 +528,34 @@ This is the time after which settings UI closes automatically if user is not int
        <source>Controls state of the device after boot/sleep.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Onroad Uploads</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DisplayPanel</name>
+    <message>
+        <source>Onroad Screen: Reduced Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed.</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>
 </context>
 <context>
    <name>DriveStats</name>
@@ -594,6 +617,61 @@ This is the time after which settings UI closes automatically if user is not int
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>ExternalStorageControl</name>
+    <message>
+        <source>External Storage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Extend your comma device&apos;s storage by inserting a USB drive into the aux port.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">KONTROL ET</translation>
+    </message>
+    <message>
+        <source>MOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UNMOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>FORMAT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to format this drive? This will erase all data.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>formatting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>insert drive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>needs format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>FirehosePanel</name>
    <message>
@@ -644,6 +722,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>MAX</translation>
    </message>
 </context>
+<context>
+    <name>HudRendererSP</name>
+    <message>
+        <source>km/h</source>
+        <translation type="unfinished">km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="unfinished">mph</translation>
+    </message>
+    <message>
+        <source>GREEN
+LIGHT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LEAD VEHICLE
+DEPARTING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Near</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>km</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>AHEAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="unfinished">MAX</translation>
+    </message>
+</context>
 <context>
    <name>HyundaiSettings</name>
    <message>
@@ -757,6 +892,18 @@ 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>Enforce Torque Lateral Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Params</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>LongitudinalPanel</name>
@@ -780,6 +927,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>Start the vehicle to check vehicle compatibility.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Intelligent Cruise Button Management (ICBM) (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use map data to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MadsSettings</name>
@@ -1038,6 +1213,18 @@ The default software delay value is 0.2</source>
        <source>Total Delay:</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Use Lane Turn Desires</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Lane Turn Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set the maximum speed for lane turn desires. Default is 19 %1.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -1158,10 +1345,6 @@ The default software delay value is 0.2</source>
        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
        <translation type="unfinished"></translation>
@@ -1200,6 +1383,10 @@ The default software delay value is 0.2</source>
 %1</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>&lt;b&gt;Unsupported branch detected&lt;/b&gt; - The current version of &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; branch is no longer supported on the comma three. Please go to &lt;b&gt;[Device &gt; Software]&lt;/b&gt; and install a supported branch with &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; in the branch name for the comma three.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>OffroadHome</name>
@@ -1571,6 +1758,59 @@ Warning: You are on a metered connection!</source>
        <source>sunnypilot</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>None</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SettingsWindow</name>
@@ -1665,6 +1905,10 @@ Warning: You are on a metered connection!</source>
        <source>Developer</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Display</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -1901,6 +2145,84 @@ Warning: You are on a metered connection!</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>SpeedLimitPolicy</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car Only: Use Speed Limit data only from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map Only: Use Speed Limit data only from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SpeedLimitSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ None: No Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Off: Disables the Speed Limit functions.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Information: Displays the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Warning: Provides a warning when exceeding the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>SshControl</name>
    <message>
@@ -2283,6 +2605,60 @@ Warning: You are on a metered connection!</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>TorqueLateralControlCustomParams</name>
+    <message>
+        <source>Manual Real-Time Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lateral Acceleration Factor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Friction</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Real-time and Offline</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TorqueLateralControlSettings</name>
+    <message>
+        <source>Self-Tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less Restrict Settings for Self-Tune (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Custom Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within &quot;opendbc/car/torque_data&quot;. The values will also be used live when &quot;Manual Real-Time Tuning&quot; toggle is enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>TreeOptionDialog</name>
    <message>
@@ -2293,6 +2669,10 @@ Warning: You are on a metered connection!</source>
        <source>Cancel</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Favorites</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>VisualsPanel</name>
@@ -2336,6 +2716,91 @@ Warning: You are on a metered connection!</source>
        <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>
+    <message>
+        <source>Enable Tesla Rainbow Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A beautiful rainbow effect on the path the model wants to take.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>It</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>does not</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>affect driving in any way.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Standstill Timer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Show a timer on the HUD when the car is at a standstill.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Green Traffic Light Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: This chime is only designed as a notification. It is the driver&apos;s responsibility to observe their environment and make decisions accordingly.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lead Departure Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Always Display True Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always display the true vehicle current speed from wheel speed sensors.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Hide from Onroad Screen</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right &amp;&amp;
+Bottom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Developer UI</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display real-time parameters and metrics from various sources.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>WiFiPromptWidget</name>
@@ -133,14 +133,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </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>
@@ -149,6 +141,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Auto</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Global Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device. This applies to both onroad and offroad screens. </source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>ConfirmationDialog</name>
@@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual
        <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>
+    <message>
+        <source>Enable Copyparty service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it&apos;s IP.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -468,15 +476,6 @@ Steering lag calibration is complete.</source>
        <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>Reboot</source>
        <translation type="unfinished">重启</translation>
@@ -521,10 +520,6 @@ This is the time after which settings UI closes automatically if user is not int
        <source>Exit Always Offroad</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Always Offroad</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>
@@ -537,6 +532,34 @@ This is the time after which settings UI closes automatically if user is not int
        <source>Controls state of the device after boot/sleep.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Onroad Uploads</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DisplayPanel</name>
+    <message>
+        <source>Onroad Screen: Reduced Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed.</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>
 </context>
 <context>
    <name>DriveStats</name>
@@ -598,6 +621,61 @@ This is the time after which settings UI closes automatically if user is not int
        <translation>轻松模式运行</translation>
    </message>
 </context>
+<context>
+    <name>ExternalStorageControl</name>
+    <message>
+        <source>External Storage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Extend your comma device&apos;s storage by inserting a USB drive into the aux port.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">查看</translation>
+    </message>
+    <message>
+        <source>MOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UNMOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>FORMAT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to format this drive? This will erase all data.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>formatting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>insert drive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>needs format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>FirehosePanel</name>
    <message>
@@ -648,6 +726,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>最高定速</translation>
    </message>
 </context>
+<context>
+    <name>HudRendererSP</name>
+    <message>
+        <source>km/h</source>
+        <translation type="unfinished">km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="unfinished">mph</translation>
+    </message>
+    <message>
+        <source>GREEN
+LIGHT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LEAD VEHICLE
+DEPARTING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Near</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>km</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>AHEAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="unfinished">最高定速</translation>
+    </message>
+</context>
 <context>
    <name>HyundaiSettings</name>
    <message>
@@ -761,6 +896,18 @@ 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>Enforce Torque Lateral Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Params</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>LongitudinalPanel</name>
@@ -784,6 +931,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>Start the vehicle to check vehicle compatibility.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Intelligent Cruise Button Management (ICBM) (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use map data to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MadsSettings</name>
@@ -1042,6 +1217,18 @@ The default software delay value is 0.2</source>
        <source>Total Delay:</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Use Lane Turn Desires</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Lane Turn Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set the maximum speed for lane turn desires. Default is 19 %1.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -1159,10 +1346,6 @@ The default software delay value is 0.2</source>
        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
        <translation>一个针对您设备的操作系统更新正在后台下载中。当更新准备好安装时，您将收到提示进行更新。</translation>
    </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>NVMe固态硬盘未被挂载。</translation>
-    </message>
    <message>
        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
        <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>
@@ -1205,6 +1388,10 @@ The default software delay value is 0.2</source>
 %1</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>&lt;b&gt;Unsupported branch detected&lt;/b&gt; - The current version of &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; branch is no longer supported on the comma three. Please go to &lt;b&gt;[Device &gt; Software]&lt;/b&gt; and install a supported branch with &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; in the branch name for the comma three.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>OffroadHome</name>
@@ -1576,6 +1763,59 @@ Warning: You are on a metered connection!</source>
        <source>sunnypilot</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>None</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SettingsWindow</name>
@@ -1670,6 +1910,10 @@ Warning: You are on a metered connection!</source>
        <source>Developer</source>
        <translation type="unfinished">开发人员</translation>
    </message>
+    <message>
+        <source>Display</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -1906,6 +2150,84 @@ Warning: You are on a metered connection!</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>SpeedLimitPolicy</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">返回</translation>
+    </message>
+    <message>
+        <source>Speed Limit Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car Only: Use Speed Limit data only from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map Only: Use Speed Limit data only from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SpeedLimitSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">返回</translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ None: No Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Off: Disables the Speed Limit functions.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Information: Displays the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Warning: Provides a warning when exceeding the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>SshControl</name>
    <message>
@@ -2288,6 +2610,60 @@ Warning: You are on a metered connection!</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>TorqueLateralControlCustomParams</name>
+    <message>
+        <source>Manual Real-Time Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lateral Acceleration Factor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Friction</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Real-time and Offline</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TorqueLateralControlSettings</name>
+    <message>
+        <source>Self-Tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less Restrict Settings for Self-Tune (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Custom Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within &quot;opendbc/car/torque_data&quot;. The values will also be used live when &quot;Manual Real-Time Tuning&quot; toggle is enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>TreeOptionDialog</name>
    <message>
@@ -2298,6 +2674,10 @@ Warning: You are on a metered connection!</source>
        <source>Cancel</source>
        <translation type="unfinished">取消</translation>
    </message>
+    <message>
+        <source>Favorites</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>VisualsPanel</name>
@@ -2341,6 +2721,91 @@ Warning: You are on a metered connection!</source>
        <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>
+    <message>
+        <source>Enable Tesla Rainbow Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A beautiful rainbow effect on the path the model wants to take.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>It</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>does not</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>affect driving in any way.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Standstill Timer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Show a timer on the HUD when the car is at a standstill.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Green Traffic Light Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: This chime is only designed as a notification. It is the driver&apos;s responsibility to observe their environment and make decisions accordingly.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lead Departure Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Always Display True Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always display the true vehicle current speed from wheel speed sensors.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Hide from Onroad Screen</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right &amp;&amp;
+Bottom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Developer UI</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display real-time parameters and metrics from various sources.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>WiFiPromptWidget</name>
@@ -133,14 +133,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </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>
@@ -149,6 +141,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Auto</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Global Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Overrides the brightness of the device. This applies to both onroad and offroad screens. </source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>ConfirmationDialog</name>
@@ -250,6 +250,14 @@ This only toggles the visibility of the controls; it does not toggle the actual
        <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>
+    <message>
+        <source>Enable Copyparty service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it&apos;s IP.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -468,15 +476,6 @@ Steering lag calibration is complete.</source>
        <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>Reboot</source>
        <translation type="unfinished">重新啟動</translation>
@@ -521,10 +520,6 @@ This is the time after which settings UI closes automatically if user is not int
        <source>Exit Always Offroad</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Always Offroad</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>
@@ -537,6 +532,34 @@ This is the time after which settings UI closes automatically if user is not int
        <source>Controls state of the device after boot/sleep.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Onroad Uploads</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DisplayPanel</name>
+    <message>
+        <source>Onroad Screen: Reduced Brightness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Turn off device screen or reduce brightness after driving starts. It automatically brightens again when screen is touched or a visible alert is displayed.</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>
 </context>
 <context>
    <name>DriveStats</name>
@@ -598,6 +621,61 @@ This is the time after which settings UI closes automatically if user is not int
        <translation>輕鬆模式 ON</translation>
    </message>
 </context>
+<context>
+    <name>ExternalStorageControl</name>
+    <message>
+        <source>External Storage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Extend your comma device&apos;s storage by inserting a USB drive into the aux port.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation type="unfinished">檢查</translation>
+    </message>
+    <message>
+        <source>MOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UNMOUNT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>FORMAT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Are you sure you want to format this drive? This will erase all data.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>formatting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>insert drive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>needs format</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmounting</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>FirehosePanel</name>
    <message>
@@ -648,6 +726,63 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>最高</translation>
    </message>
 </context>
+<context>
+    <name>HudRendererSP</name>
+    <message>
+        <source>km/h</source>
+        <translation type="unfinished">km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="unfinished">mph</translation>
+    </message>
+    <message>
+        <source>GREEN
+LIGHT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LEAD VEHICLE
+DEPARTING</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Near</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>km</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>AHEAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="unfinished">最高</translation>
+    </message>
+</context>
 <context>
    <name>HyundaiSettings</name>
    <message>
@@ -761,6 +896,18 @@ 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>Enforce Torque Lateral Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Params</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>LongitudinalPanel</name>
@@ -784,6 +931,34 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <source>Start the vehicle to check vehicle compatibility.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Intelligent Cruise Button Management (ICBM) (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smart Cruise Control - Map</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use map data to estimate the appropriate speed to drive through turns ahead.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MadsSettings</name>
@@ -1042,6 +1217,18 @@ The default software delay value is 0.2</source>
        <source>Total Delay:</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Use Lane Turn Desires</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Adjust Lane Turn Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Set the maximum speed for lane turn desires. Default is 19 %1.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -1159,10 +1346,6 @@ The default software delay value is 0.2</source>
        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
        <translation>一個有關操作系統的更新正在後台下載中。當更新準備好安裝時，您將收到提示進行更新。</translation>
    </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>NVMe 固態硬碟未被掛載。</translation>
-    </message>
    <message>
        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
        <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>
@@ -1205,6 +1388,10 @@ The default software delay value is 0.2</source>
 %1</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>&lt;b&gt;Unsupported branch detected&lt;/b&gt; - The current version of &lt;b&gt;&lt;u&gt;%1&lt;/u&gt;&lt;/b&gt; branch is no longer supported on the comma three. Please go to &lt;b&gt;[Device &gt; Software]&lt;/b&gt; and install a supported branch with &lt;b&gt;&lt;u&gt;-tici&lt;/u&gt;&lt;/b&gt; in the branch name for the comma three.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>OffroadHome</name>
@@ -1576,6 +1763,59 @@ Warning: You are on a metered connection!</source>
        <source>sunnypilot</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>None</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SettingsWindow</name>
@@ -1670,6 +1910,10 @@ Warning: You are on a metered connection!</source>
        <source>Developer</source>
        <translation type="unfinished">開發人員</translation>
    </message>
+    <message>
+        <source>Display</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -1906,6 +2150,84 @@ Warning: You are on a metered connection!</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>SpeedLimitPolicy</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">回上頁</translation>
+    </message>
+    <message>
+        <source>Speed Limit Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car Only: Use Speed Limit data only from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map Only: Use Speed Limit data only from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SpeedLimitSettings</name>
+    <message>
+        <source>Back</source>
+        <translation type="unfinished">回上頁</translation>
+    </message>
+    <message>
+        <source>Speed Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Customize Source</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speed Limit Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ None: No Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Off: Disables the Speed Limit functions.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Information: Displays the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Warning: Provides a warning when exceeding the current road&apos;s speed limit.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>SshControl</name>
    <message>
@@ -2288,6 +2610,60 @@ Warning: You are on a metered connection!</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>TorqueLateralControlCustomParams</name>
+    <message>
+        <source>Manual Real-Time Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lateral Acceleration Factor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Friction</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Real-time and Offline</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Offline Only</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>TorqueLateralControlSettings</name>
+    <message>
+        <source>Self-Tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less Restrict Settings for Self-Tune (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Custom Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within &quot;opendbc/car/torque_data&quot;. The values will also be used live when &quot;Manual Real-Time Tuning&quot; toggle is enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
    <name>TreeOptionDialog</name>
    <message>
@@ -2298,6 +2674,10 @@ Warning: You are on a metered connection!</source>
        <source>Cancel</source>
        <translation type="unfinished">取消</translation>
    </message>
+    <message>
+        <source>Favorites</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>VisualsPanel</name>
@@ -2341,6 +2721,91 @@ Warning: You are on a metered connection!</source>
        <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>
+    <message>
+        <source>Enable Tesla Rainbow Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A beautiful rainbow effect on the path the model wants to take.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>It</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>does not</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>affect driving in any way.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Standstill Timer</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Show a timer on the HUD when the car is at a standstill.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display Road Name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Green Traffic Light Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: This chime is only designed as a notification. It is the driver&apos;s responsibility to observe their environment and make decisions accordingly.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lead Departure Alert (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Always Display True Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always display the true vehicle current speed from wheel speed sensors.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Speedometer: Hide from Onroad Screen</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Right &amp;&amp;
+Bottom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Developer UI</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Display real-time parameters and metrics from various sources.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>WiFiPromptWidget</name>
@@ -4,4 +4,36 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+
+from enum import IntEnum
+import hashlib
+
 PARAMS_UPDATE_PERIOD = 3  # seconds
+
+
+def get_file_hash(path: str) -> str:
+  sha256_hash = hashlib.sha256()
+  with open(path, "rb") as f:
+    for byte_block in iter(lambda: f.read(4096), b""):
+      sha256_hash.update(byte_block)
+  return sha256_hash.hexdigest()
+
+
+class IntEnumBase(IntEnum):
+  @classmethod
+  def min(cls):
+    return min(cls)
+
+  @classmethod
+  def max(cls):
+    return max(cls)
+
+
+def get_sanitize_int_param(key: str, min_val: int, max_val: int, params) -> int:
+  val: int = params.get(key, return_default=True)
+  clipped_val = max(min_val, min(max_val, val))
+
+  if clipped_val != val:
+    params.put(key, clipped_val)
+
+  return clipped_val
@@ -8,8 +8,12 @@ from abc import abstractmethod, ABC

 import cereal.messaging as messaging
 from openpilot.common.params import Params
+from openpilot.common.constants import CV
+from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
 from openpilot.sunnypilot.navd.helpers import coordinate_from_param

+MAX_SPEED_LIMIT = V_CRUISE_UNSET * CV.KPH_TO_MS
+

 class BaseMapData(ABC):
  def __init__(self):
@@ -46,9 +50,9 @@ class BaseMapData(ABC):
    mapd_sp_send.valid = self.sm['liveLocationKalman'].gpsOK
    live_map_data = mapd_sp_send.liveMapDataSP

-    live_map_data.speedLimitValid = bool(speed_limit > 0)
+    live_map_data.speedLimitValid = bool(MAX_SPEED_LIMIT > speed_limit > 0)
    live_map_data.speedLimit = speed_limit
-    live_map_data.speedLimitAheadValid = bool(next_speed_limit > 0)
+    live_map_data.speedLimitAheadValid = bool(MAX_SPEED_LIMIT > next_speed_limit > 0)
    live_map_data.speedLimitAhead = next_speed_limit
    live_map_data.speedLimitAheadDistance = next_speed_limit_distance
    live_map_data.roadName = self.get_current_road_name()
@@ -22,7 +22,7 @@ from openpilot.system.version import is_prebuilt
 from openpilot.sunnypilot.mapd import MAPD_PATH, MAPD_BIN_DIR
 import openpilot.system.sentry as sentry

-VERSION = 'v1.11.0'
+VERSION = "v1.12.0"
 URL = f"https://github.com/pfeiferj/openpilot-mapd/releases/download/{VERSION}/mapd"


@@ -0,0 +1 @@
+fdb3b49ee19956e6ce09fdc3373cbba557f1263b2180e9f344c1d4053852284b
@@ -0,0 +1,19 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.sunnypilot import get_file_hash
+from openpilot.sunnypilot.mapd import MAPD_PATH
+from openpilot.sunnypilot.mapd.update_version import MAPD_HASH_PATH
+
+
+class TestMapdVersion:
+  def test_compare_versions(self):
+    mapd_hash = get_file_hash(MAPD_PATH)
+
+    with open(MAPD_HASH_PATH) as f:
+      current_hash = f.read().strip()
+
+    assert current_hash == mapd_hash, "Run sunnypilot/mapd/update_version.py to update the current mapd version and hash"
@@ -0,0 +1,97 @@
+#!/usr/bin/env python3
+"""
+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.
+"""
+import argparse
+import os
+import re
+
+from openpilot.sunnypilot import get_file_hash
+from openpilot.common.basedir import BASEDIR
+from openpilot.sunnypilot.mapd import MAPD_PATH
+
+MAPD_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "mapd", "tests", "mapd_hash")
+MAPD_VERSION_PATH = os.path.join(BASEDIR, "sunnypilot", "mapd", "mapd_installer.py")
+
+
+def update_mapd_hash():
+  mapd_hash = get_file_hash(MAPD_PATH)
+
+  with open(MAPD_HASH_PATH, "w") as f:
+    f.write(mapd_hash)
+
+  print(f"Generated and updated new mapd hash to {MAPD_HASH_PATH}")
+
+
+def get_current_mapd_version(path: str) -> str:
+  print("[GET CURRENT MAPD VERSION]")
+  with open(path) as f:
+    for line in f:
+      if line.strip().startswith("VERSION"):
+        # Match VERSION = 'v1.11.0' or VERSION="v1.11.0" (with optional spaces)
+        match = re.search(r'VERSION\s*=\s*[\'"]([^\'"]+)[\'"]', line)
+        if match:
+          ver = match.group(1)
+          print(f'Current mapd version: "{ver}"')
+          return ver
+        else:
+          print("[ERROR] VERSION line found but no quoted value detected.")
+          return ""
+  print("[ERROR] VERSION not found in file!")
+  return ""
+
+
+def update_mapd_version(ver: str, path: str):
+  print("[CHANGE CURRENT MAPD VERSION]")
+
+  with open(path) as f:
+    lines = f.readlines()
+
+  found = False
+  new_lines = []
+  for line in lines:
+    if not found and line.startswith("VERSION ="):
+      new_lines.append(f'VERSION = "{ver}"\n')
+      found = True
+      new_lines.extend(lines[lines.index(line) + 1:])
+      break
+    else:
+      new_lines.append(line)
+
+  if not found:
+    print("[ERROR] VERSION line not found! Aborting without writing.")
+    return
+
+  with open(path, "w") as f:
+    f.writelines(new_lines)
+
+  print(f'New mapd version: "{ver}"')
+  print("[DONE]")
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Update mapd version and hash")
+  parser.add_argument("--new_ver", type=str, help="New mapd version")
+  args = parser.parse_args()
+
+  if not args.new_ver:
+    print("Warning: No new mapd version provided. Use --new_ver to specify")
+    print("Example:")
+    print("  python sunnypilot/mapd/update_version.py --new_ver \"v1.12.0\"")
+    print("Current mapd version and hash will not be updated! (aborted)")
+    exit(0)
+
+  current_ver = get_current_mapd_version(MAPD_VERSION_PATH)
+  new_ver = f"{args.new_ver}"
+  if current_ver == new_ver:
+    print(f'Proposed mapd version: "{new_ver}"')
+    confirm = input("Proposed mapd version is the same as the current mapd version. Confirm? (y/n): ").upper().strip()
+    if confirm != "Y":
+      print("Current mapd version and hash will not be updated! (aborted)")
+      exit(0)
+
+  update_mapd_version(new_ver, MAPD_VERSION_PATH)
+  update_mapd_hash()
@@ -3,6 +3,7 @@ import os
 import hashlib

 from openpilot.common.basedir import BASEDIR
+from openpilot.sunnypilot import get_file_hash

 DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "common", "model.h")
 MODEL_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "tests", "model_hash")
@@ -10,14 +11,6 @@ VISION_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "drivi
 POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_policy.onnx")


-def get_file_hash(path: str) -> str:
-  sha256_hash = hashlib.sha256()
-  with open(path, "rb") as f:
-    for byte_block in iter(lambda: f.read(4096), b""):
-      sha256_hash.update(byte_block)
-  return sha256_hash.hexdigest()
-
-
 def update_model_hash():
  vision_hash = get_file_hash(VISION_ONNX_PATH)
  policy_hash = get_file_hash(POLICY_ONNX_PATH)
@@ -1,4 +1,12 @@
-from openpilot.sunnypilot.models.default_model import get_file_hash, MODEL_HASH_PATH, VISION_ONNX_PATH, POLICY_ONNX_PATH
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from openpilot.sunnypilot import get_file_hash
+from openpilot.sunnypilot.models.default_model import MODEL_HASH_PATH, VISION_ONNX_PATH, POLICY_ONNX_PATH
 import hashlib


@@ -11,6 +11,7 @@ from opendbc.car.interfaces import CarInterfaceBase
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import get_nn_model_path
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode

 import openpilot.system.sentry as sentry

@@ -66,6 +67,30 @@ def _initialize_torque_lateral_control(CI: CarInterfaceBase, CP: structs.CarPara
    CI.configure_torque_tune(CP.carFingerprint, CP.lateralTuning)


+def _cleanup_unsupported_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
+  if params is None:
+    params = Params()
+
+  if CP.steerControlType == structs.CarParams.SteerControlType.angle:
+    cloudlog.warning("SteerControlType is angle, cleaning up params")
+    params.remove("NeuralNetworkLateralControl")
+    params.remove("EnforceTorqueControl")
+
+  if not CP_SP.intelligentCruiseButtonManagementAvailable or CP.openpilotLongitudinalControl:
+    cloudlog.warning("ICBM not available or openpilot Longitudinal Control enabled, cleaning up params")
+    params.remove("IntelligentCruiseButtonManagement")
+
+  if not CP.openpilotLongitudinalControl and CP_SP.pcmCruiseSpeed:
+    cloudlog.warning("openpilot Longitudinal Control and ICBM not available, cleaning up params")
+    params.remove("DynamicExperimentalControl")
+    params.remove("CustomAccIncrementsEnabled")
+    params.remove("SmartCruiseControlVision")
+    params.remove("SmartCruiseControlMap")
+
+    if params.get("SpeedLimitMode", return_default=True) == SpeedLimitMode.assist:
+      params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
+
+
 def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
  CP = CI.CP
  CP_SP = CI.CP_SP
@@ -74,6 +99,7 @@ def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
  nnlc_enabled = _initialize_neural_network_lateral_control(CP, CP_SP, params)
  _initialize_intelligent_cruise_button_management(CP, CP_SP, params)
  _initialize_torque_lateral_control(CI, CP, enforce_torque, nnlc_enabled)
+  _cleanup_unsupported_params(CP, CP_SP)


 def initialize_params(params) -> list[dict[str, Any]]:
@@ -84,4 +110,10 @@ def initialize_params(params) -> list[dict[str, Any]]:
    "HyundaiLongitudinalTuning"
  ])

+  # subaru
+  keys.extend([
+    "SubaruStopAndGo",
+    "SubaruStopAndGoManualParkingBrake",
+  ])
+
  return [{k: params.get(k, return_default=True)} for k in keys]
@@ -10,7 +10,6 @@ from cereal import log, custom
 from opendbc.car import structs
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
-from openpilot.sunnypilot.selfdrive.controls.lib.param_store import ParamStore
 from openpilot.sunnypilot.selfdrive.controls.lib.blinker_pause_lateral import BlinkerPauseLateral


@@ -19,7 +18,6 @@ class ControlsExt:
    self.CP = CP
    self.params = params
    self.blinker_pause_lateral = BlinkerPauseLateral()
-    self.param_store = ParamStore(self.CP)
    self.get_params_sp()

    cloudlog.info("controlsd_ext is waiting for CarParamsSP")
@@ -30,7 +28,6 @@ class ControlsExt:
    self.pm_services_ext = ['carControlSP']

  def get_params_sp(self) -> None:
-    self.param_store.update(self.params)
    self.blinker_pause_lateral.get_params()

  def get_lat_active(self, sm: messaging.SubMaster) -> bool:
@@ -73,8 +70,6 @@ class ControlsExt:
    # MADS state
    CC_SP.mads = sm['selfdriveStateSP'].mads

-    CC_SP.params = self.param_store.param_list
-
    CC_SP.intelligentCruiseButtonManagement = sm['selfdriveStateSP'].intelligentCruiseButtonManagement

    return CC_SP
@@ -12,47 +12,159 @@ from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP

-TRIGGER_THRESHOLD = 30
+GREEN_LIGHT_X_THRESHOLD = 30
+LEAD_DEPART_DIST_THRESHOLD = 1.0
+TRIGGER_TIMER_THRESHOLD = 0.3
+
+
+class E2EStates:
+  INACTIVE = 0
+  ARMED = 1
+  CONSUMED = 2


 class E2EAlertsHelper:
  def __init__(self):
    self._params = Params()
-    self._frame = -1
+    self.frame = -1
+    self.green_light_state = E2EStates.INACTIVE
+    self.prev_green_light_state = E2EStates.INACTIVE
+    self.lead_depart_state = E2EStates.INACTIVE
+    self.prev_lead_depart_state = E2EStates.INACTIVE

    self.green_light_alert = False
    self.green_light_alert_enabled = self._params.get_bool("GreenLightAlert")
    self.lead_depart_alert = False
    self.lead_depart_alert_enabled = self._params.get_bool("LeadDepartAlert")

+    self.green_light_trigger_timer = 0
+    self.lead_depart_trigger_timer = 0
+    self.last_lead_distance = -1
+    self.last_moving_frame = -1
+
+    self.allowed = False
+    self.last_allowed = False
+    self.has_lead = False
+
+    self.lead_depart_arm_timer = 0
+    self.lead_depart_confirmed_lead = False
+    self.lead_depart_armed = False
+
  def _read_params(self) -> None:
-    if self._frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
+    if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
      self.green_light_alert_enabled = self._params.get_bool("GreenLightAlert")
      self.lead_depart_alert_enabled = self._params.get_bool("LeadDepartAlert")

-    self._frame += 1
-
-  def update(self, sm: messaging.SubMaster, events_sp: EventsSP) -> None:
-    self._read_params()
-
-    if not (self.green_light_alert_enabled or self.lead_depart_alert_enabled):
-      return
-
+  def update_alert_trigger(self, sm: messaging.SubMaster):
    CS = sm['carState']
    CC = sm['carControl']

    model_x = sm['modelV2'].position.x
    max_idx = len(model_x) - 1
-    has_lead = sm['radarState'].leadOne.status
-    lead_vRel: float = sm['radarState'].leadOne.vRel
+    self.has_lead = sm['radarState'].leadOne.status
+    lead_dRel = sm['radarState'].leadOne.dRel

-    # Green light alert
-    self.green_light_alert = (self.green_light_alert_enabled and model_x[max_idx] > TRIGGER_THRESHOLD
-                              and not has_lead and CS.standstill and not CS.gasPressed and not CC.enabled)
+    standstill = CS.standstill
+    moving = not standstill and CS.vEgo > 0.1
+
+    if moving:
+      self.last_moving_frame = self.frame
+    recent_moving = self.last_moving_frame == -1 or (self.frame - self.last_moving_frame) * DT_MDL < 2.0
+
+    self.allowed = not moving and not CS.gasPressed and not CC.enabled and not recent_moving
+
+    # Green Light Alert
+    green_light_trigger = False
+    if self.green_light_state == E2EStates.ARMED:
+      if model_x[max_idx] > GREEN_LIGHT_X_THRESHOLD:
+        self.green_light_trigger_timer += 1
+      else:
+        self.green_light_trigger_timer = 0
+
+      if self.green_light_trigger_timer * DT_MDL > TRIGGER_TIMER_THRESHOLD:
+        green_light_trigger = True
+    elif self.green_light_state != E2EStates.ARMED:
+      self.green_light_trigger_timer = 0

    # Lead Departure Alert
-    self.lead_depart_alert = (self.lead_depart_alert_enabled and CS.standstill and model_x[max_idx] > 30
-                              and has_lead and lead_vRel > 1 and not CS.gasPressed)
+    close_lead_valid = self.has_lead and lead_dRel < 8.0
+    if self.allowed and not self.last_allowed and close_lead_valid:
+      self.lead_depart_confirmed_lead = True
+    elif not self.allowed:
+      self.lead_depart_confirmed_lead = False
+
+    if self.allowed and self.lead_depart_confirmed_lead and close_lead_valid:
+      self.lead_depart_arm_timer += 1
+
+      if self.lead_depart_arm_timer * DT_MDL >= 1.0:
+        self.lead_depart_armed = True
+    else:
+      self.lead_depart_arm_timer = 0
+      self.lead_depart_armed = False
+
+    lead_depart_trigger = False
+    if self.lead_depart_state == E2EStates.ARMED:
+      if self.last_lead_distance == -1 or lead_dRel < self.last_lead_distance:
+        self.last_lead_distance = lead_dRel
+
+      if self.last_lead_distance != -1 and (lead_dRel - self.last_lead_distance > LEAD_DEPART_DIST_THRESHOLD):
+        self.lead_depart_trigger_timer += 1
+      else:
+        self.lead_depart_trigger_timer = 0
+
+      if self.lead_depart_trigger_timer * DT_MDL > TRIGGER_TIMER_THRESHOLD:
+        lead_depart_trigger = True
+    elif self.lead_depart_state != E2EStates.ARMED:
+      self.last_lead_distance = -1
+      self.lead_depart_trigger_timer = 0
+
+    self.last_allowed = self.allowed
+
+    return green_light_trigger, lead_depart_trigger
+
+  @staticmethod
+  def update_state_machine(state: int, enabled: bool, allowed: bool, triggered: bool) -> tuple[int, bool]:
+    if state != E2EStates.INACTIVE:
+      if not allowed or not enabled:
+        state = E2EStates.INACTIVE
+
+      else:
+        if state == E2EStates.ARMED:
+          if triggered:
+            state = E2EStates.CONSUMED
+
+        elif state == E2EStates.CONSUMED:
+          pass
+
+    elif state == E2EStates.INACTIVE:
+      if allowed and enabled:
+        state = E2EStates.ARMED
+
+    return state, triggered
+
+  def update(self, sm: messaging.SubMaster, events_sp: EventsSP) -> None:
+    self._read_params()
+
+    green_light_trigger, lead_depart_trigger = self.update_alert_trigger(sm)
+
+    self.prev_green_light_state = self.green_light_state
+    self.prev_lead_depart_state = self.lead_depart_state
+
+    self.green_light_state, self.green_light_alert = self.update_state_machine(
+      self.green_light_state,
+      self.green_light_alert_enabled,
+      self.allowed and not self.has_lead,
+      green_light_trigger
+    )
+
+    self.lead_depart_state, self.lead_depart_alert = self.update_state_machine(
+      self.lead_depart_state,
+      self.lead_depart_alert_enabled,
+      self.allowed and self.lead_depart_armed,
+      lead_depart_trigger
+    )

    if self.green_light_alert or self.lead_depart_alert:
      events_sp.add(custom.OnroadEventSP.EventName.e2eChime)
+
+    self.frame += 1
@@ -9,13 +9,15 @@ from cereal import custom
 from openpilot.common.constants import CV
 from openpilot.common.params import Params

+TurnDirection = custom.ModelDataV2SP.TurnDirection
+
 LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS


 class LaneTurnController:
  def __init__(self, desire_helper):
    self.DH = desire_helper
-    self.turn_direction = custom.TurnDirection.none
+    self.turn_direction = TurnDirection.none
    self.params = Params()
    self.lane_turn_value = float(self.params.get("LaneTurnValue", return_default=True)) * CV.MPH_TO_MS
    self.param_read_counter = 0
@@ -33,13 +35,13 @@ class LaneTurnController:

  def update_lane_turn(self, blindspot_left: bool, blindspot_right: bool, left_blinker: bool, right_blinker: bool, v_ego: float) -> None:
    if left_blinker and not right_blinker and v_ego < self.lane_turn_value and not blindspot_left:
-      self.turn_direction = custom.TurnDirection.turnLeft
+      self.turn_direction = TurnDirection.turnLeft
    elif right_blinker and not left_blinker and v_ego < self.lane_turn_value and not blindspot_right:
-      self.turn_direction = custom.TurnDirection.turnRight
+      self.turn_direction = TurnDirection.turnRight
    else:
-      self.turn_direction = custom.TurnDirection.none
+      self.turn_direction = TurnDirection.none

  def get_turn_direction(self):
    if not self.enabled:
-      return custom.TurnDirection.none
+      return TurnDirection.none
    return self.turn_direction
@@ -58,7 +58,8 @@ class LatControlTorqueExtBase:
    self.torque_from_lateral_accel_in_torque_space = CI.torque_from_lateral_accel_in_torque_space()

    self._ff = 0.0
-    self._pid = PIDController(0.0, 0.0, k_f=0.0)
+    self._pid = PIDController(self.torque_params.kp, self.torque_params.ki,
+                              k_f=self.torque_params.kf)
    self._pid_log = None
    self._setpoint = 0.0
    self._measurement = 0.0
@@ -1,44 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from cereal import custom
-from opendbc.car import structs
-from openpilot.common.params import Params
-
-from sunnypilot.sunnylink.utils import get_param_as_byte
-
-
-class ParamStore:
-  keys: list[str]
-  _params: dict[str, custom.CarControlSP.Param]
-
-  def __init__(self, CP: structs.CarParams):
-    universal_params: list[str] = []
-    brand_params: list[str] = []
-
-    self.keys = universal_params + brand_params
-    self._params = {}
-
-    self.frame = -1
-
-  def update(self, params: Params) -> None:
-    self.frame += 1
-    if self.frame % 300 != 0:
-      return
-
-    for key in self.keys:
-      param_type = params.get_type(key).name.lower()  # Using string instead of number because its "loose" dependency, and could change by OP at anytime.
-
-      # Over engineering opportunity: It's possible this conversion is slow, we may check the value as params returns it for cache purposes. Not today.
-      param_value = get_param_as_byte(key, params)
-      if (existing_param := self._params.get(key)) is not None and existing_param.value == param_value:
-        continue
-
-      self._params[key] = custom.CarControlSP.Param(key=key, value=param_value, type=param_type)
-
-  @property
-  def param_list(self) -> list[custom.CarControlSP.Param]:
-    return [v for k,v in self._params.items()]
@@ -4,10 +4,11 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from enum import IntEnum
+
+from openpilot.sunnypilot import IntEnumBase


-class Policy(IntEnum):
+class Policy(IntEnumBase):
  car_state_only = 0
  map_data_only = 1
  car_state_priority = 2
@@ -15,13 +16,13 @@ class Policy(IntEnum):
  combined = 4


-class OffsetType(IntEnum):
+class OffsetType(IntEnumBase):
  off = 0
  fixed = 1
  percentage = 2


-class Mode(IntEnum):
+class Mode(IntEnumBase):
  off = 0
  information = 1
  warning = 2
@@ -27,7 +27,11 @@ ACTIVE_STATES = (SpeedLimitAssistState.active, SpeedLimitAssistState.adapting)
 ENABLED_STATES = (SpeedLimitAssistState.preActive, SpeedLimitAssistState.pending, *ACTIVE_STATES)

 DISABLED_GUARD_PERIOD = 0.5  # secs.
-PRE_ACTIVE_GUARD_PERIOD = 15  # secs. Time to wait after activation before considering temp deactivation signal.
+# secs. Time to wait after activation before considering temp deactivation signal.
+PRE_ACTIVE_GUARD_PERIOD = {
+  True: 15,
+  False: 5,
+}
 SPEED_LIMIT_CHANGED_HOLD_PERIOD = 1  # secs. Time to wait after speed limit change before switching to preActive.

 LIMIT_MIN_ACC = -1.5  # m/s^2 Maximum deceleration allowed for limit controllers to provide.
@@ -109,6 +113,16 @@ class SpeedLimitAssist:
  def target_set_speed_confirmed(self) -> bool:
    return bool(self.v_cruise_cluster_conv == self.target_set_speed_conv)

+  @property
+  def v_cruise_cluster_below_confirm_speed_threshold(self) -> bool:
+    return bool(self.v_cruise_cluster_conv < CONFIRM_SPEED_THRESHOLD[self.is_metric])
+
+  def update_active_event(self, events_sp: EventsSP) -> None:
+    if self.v_cruise_cluster_below_confirm_speed_threshold:
+      events_sp.add(EventNameSP.speedLimitChanged)
+    else:
+      events_sp.add(EventNameSP.speedLimitActive)
+
  def get_v_target_from_control(self) -> float:
    if self._has_speed_limit:
      if self.pcm_op_long and self.is_enabled:
@@ -175,7 +189,7 @@ class SpeedLimitAssist:
  @property
  def apply_confirm_speed_threshold(self) -> bool:
    # below CST: always require user confirmation
-    if self.v_cruise_cluster_conv < CONFIRM_SPEED_THRESHOLD[self.is_metric]:
+    if self.v_cruise_cluster_below_confirm_speed_threshold:
      return True

    # at/above CST:
@@ -231,7 +245,7 @@ class SpeedLimitAssist:
            self.state = SpeedLimitAssistState.inactive
          elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
            self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
          elif self._has_speed_limit and self.v_offset < LIMIT_SPEED_OFFSET_TH:
            self.state = SpeedLimitAssistState.adapting

@@ -241,7 +255,7 @@ class SpeedLimitAssist:
            self.state = SpeedLimitAssistState.inactive
          elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
            self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
          elif self.v_offset >= LIMIT_SPEED_OFFSET_TH:
            self.state = SpeedLimitAssistState.active

@@ -251,7 +265,7 @@ class SpeedLimitAssist:
            self._update_confirmed_state()
          elif self.speed_limit_changed:
            self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)

        # PRE_ACTIVE
        elif self.state == SpeedLimitAssistState.preActive:
@@ -277,7 +291,7 @@ class SpeedLimitAssist:
            self._update_confirmed_state()
          elif self._has_speed_limit:
            self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
          else:
            self.state = SpeedLimitAssistState.pending

@@ -303,7 +317,7 @@ class SpeedLimitAssist:

          elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
            self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)

        # PRE_ACTIVE
        elif self.state == SpeedLimitAssistState.preActive:
@@ -317,7 +331,7 @@ class SpeedLimitAssist:
        elif self.state == SpeedLimitAssistState.inactive:
          if self.speed_limit_changed:
            self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
          elif self._update_non_pcm_long_confirmed_state():
            self.state = SpeedLimitAssistState.active

@@ -333,7 +347,7 @@ class SpeedLimitAssist:
            self.state = SpeedLimitAssistState.active
          elif self._has_speed_limit:
            self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
          else:
            self.state = SpeedLimitAssistState.inactive

@@ -351,15 +365,15 @@ class SpeedLimitAssist:

    if self.is_active:
      if self._state_prev not in ACTIVE_STATES:
-        events_sp.add(EventNameSP.speedLimitActive)
+        self.update_active_event(events_sp)

      # only notify if we acquire a valid speed limit
      # do not check has_speed_limit here
      elif self._speed_limit != self.speed_limit_prev:
        if self.speed_limit_prev <= 0:
-          events_sp.add(EventNameSP.speedLimitActive)
+          self.update_active_event(events_sp)
        elif self.speed_limit_prev > 0 and self._speed_limit > 0:
-          events_sp.add(EventNameSP.speedLimitChanged)
+          self.update_active_event(events_sp)

  def update(self, long_enabled: bool, long_override: bool, v_ego: float, a_ego: float, v_cruise_cluster: float, speed_limit: float,
             speed_limit_final_last: float, has_speed_limit: bool, distance: float, events_sp: EventsSP) -> None:
@@ -12,7 +12,7 @@ from openpilot.common.constants import CV
 from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD, get_sanitize_int_param
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import LIMIT_MAX_MAP_DATA_AGE, LIMIT_ADAPT_ACC
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy, OffsetType

@@ -42,6 +42,12 @@ class SpeedLimitResolver:
    self.distance_solutions = {}  # Store for distance to current speed limit start for different sources

    self.policy = self.params.get("SpeedLimitPolicy", return_default=True)
+    self.policy = get_sanitize_int_param(
+      "SpeedLimitPolicy",
+      Policy.min().value,
+      Policy.max().value,
+      self.params
+    )
    self._policy_to_sources_map = {
      Policy.car_state_only: [SpeedLimitSource.car],
      Policy.map_data_only: [SpeedLimitSource.map],
@@ -54,7 +60,12 @@ class SpeedLimitResolver:
      self._reset_limit_sources(source)

    self.is_metric = self.params.get_bool("IsMetric")
-    self.offset_type = self.params.get("SpeedLimitOffsetType", return_default=True)
+    self.offset_type = get_sanitize_int_param(
+      "SpeedLimitOffsetType",
+      OffsetType.min().value,
+      OffsetType.max().value,
+      self.params
+    )
    self.offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)

    self.speed_limit = 0.
@@ -131,6 +142,7 @@ class SpeedLimitResolver:
    self.limit_solutions[SpeedLimitSource.map] = speed_limit
    self.distance_solutions[SpeedLimitSource.map] = 0.

+    # FIXME-SP: this is not working as expected
    if 0. < next_speed_limit < self.v_ego:
      adapt_time = (next_speed_limit - self.v_ego) / LIMIT_ADAPT_ACC
      adapt_distance = self.v_ego * adapt_time + 0.5 * LIMIT_ADAPT_ACC * adapt_time ** 2
@@ -39,7 +39,7 @@ class TestSpeedLimitAssist:
    self.events_sp = EventsSP()
    CI = self._setup_platform(TOYOTA.TOYOTA_RAV4_TSS2)
    self.sla = SpeedLimitAssist(CI.CP)
-    self.sla.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+    self.sla.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.sla.pcm_op_long] / DT_MDL)
    self.pcm_long_max_set_speed = PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric][1]  # use 80 MPH for now
    self.speed_conv = CV.MS_TO_KPH if self.sla.is_metric else CV.MS_TO_MPH

@@ -114,7 +114,7 @@ class TestSpeedLimitAssist:
    self.sla.state = SpeedLimitAssistState.preActive
    self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)

-    for _ in range(int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)):
+    for _ in range(int(PRE_ACTIVE_GUARD_PERIOD[self.sla.pcm_op_long] / DT_MDL)):
      self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
    assert self.sla.state == SpeedLimitAssistState.inactive

@@ -1,113 +1,113 @@
 import pytest
-from cereal import log
+from cereal import log, custom
 from openpilot.common.params import Params

 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController, LANE_CHANGE_SPEED_MIN
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode

-
-class TurnDirection:
-    none = 0
-    turnLeft = 1
-    turnRight = 2
+TurnDirection = custom.ModelDataV2SP.TurnDirection


@pytest.mark.parametrize("left_blinker,right_blinker,v_ego,blindspot_left,blindspot_right,expected", [
-    (True, False, 5, False, False, TurnDirection.turnLeft),
-    (False, True, 6, False, False, TurnDirection.turnRight),
-    (True, False, 9, False, False, TurnDirection.none),
-    (True, False, 7, True, False, TurnDirection.none),
-    (False, True, 6, False, True, TurnDirection.none),
-    (False, False, 5, False, False, TurnDirection.none),
-    (True, True, 5, False, False, TurnDirection.none),
+  (True, False, 5, False, False, TurnDirection.turnLeft),
+  (False, True, 6, False, False, TurnDirection.turnRight),
+  (True, False, 9, False, False, TurnDirection.none),
+  (True, False, 7, True, False, TurnDirection.none),
+  (False, True, 6, False, True, TurnDirection.none),
+  (False, False, 5, False, False, TurnDirection.none),
+  (True, True, 5, False, False, TurnDirection.none),
 ])
 def test_lane_turn_desire_conditions(left_blinker, right_blinker, v_ego, blindspot_left, blindspot_right, expected):
-    dh = DesireHelper()
-    controller = LaneTurnController(dh)
-    controller.enabled = True
-    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-    controller.turn_direction = TurnDirection.none
-    controller.update_lane_turn(blindspot_left, blindspot_right, left_blinker, right_blinker, v_ego)
-    assert controller.get_turn_direction() == expected
+  dh = DesireHelper()
+  controller = LaneTurnController(dh)
+  controller.enabled = True
+  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+  controller.turn_direction = TurnDirection.none
+  controller.update_lane_turn(blindspot_left, blindspot_right, left_blinker, right_blinker, v_ego)
+  assert controller.get_turn_direction() == expected


 def test_lane_turn_desire_disabled():
-    dh = DesireHelper()
-    controller = LaneTurnController(dh)
-    controller.enabled = False
-    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-    controller.turn_direction = TurnDirection.none
-    controller.update_lane_turn(False, False, True, False, 7)
-    assert controller.get_turn_direction() == TurnDirection.none
+  dh = DesireHelper()
+  controller = LaneTurnController(dh)
+  controller.enabled = False
+  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+  controller.turn_direction = TurnDirection.none
+  controller.update_lane_turn(False, False, True, False, 7)
+  assert controller.get_turn_direction() == TurnDirection.none


 def test_lane_turn_overrides_lane_change():
-    dh = DesireHelper()
-    controller = LaneTurnController(dh)
-    controller.enabled = True
-    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-    controller.turn_direction = TurnDirection.none
-    # left turn desire
-    controller.update_lane_turn(False, False, True, False, 5)
-    assert controller.get_turn_direction() == TurnDirection.turnLeft
-    # right turn desire
-    controller.update_lane_turn(False, False, False, True, 6)
-    assert controller.get_turn_direction() == TurnDirection.turnRight
-    # no turn
-    controller.update_lane_turn(False, False, False, False, 7)
-    assert controller.get_turn_direction() == TurnDirection.none
+  dh = DesireHelper()
+  controller = LaneTurnController(dh)
+  controller.enabled = True
+  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+  controller.turn_direction = TurnDirection.none
+  # left turn desire
+  controller.update_lane_turn(False, False, True, False, 5)
+  assert controller.get_turn_direction() == TurnDirection.turnLeft
+  # right turn desire
+  controller.update_lane_turn(False, False, False, True, 6)
+  assert controller.get_turn_direction() == TurnDirection.turnRight
+  # no turn
+  controller.update_lane_turn(False, False, False, False, 7)
+  assert controller.get_turn_direction() == TurnDirection.none


@pytest.mark.parametrize("v_ego,expected", [
-    (8.93, TurnDirection.turnLeft),   # just below threshold
-    (8.96, TurnDirection.none),       # above threshold
-    (8.95, TurnDirection.none),       # just above threshold
+  (8.93, TurnDirection.turnLeft),  # just below threshold
+  (8.96, TurnDirection.none),  # above threshold
+  (8.95, TurnDirection.none),  # just above threshold
 ])
 def test_lane_turn_desire_speed_boundary(v_ego, expected):
-    dh = DesireHelper()
-    controller = LaneTurnController(dh)
-    controller.enabled = True
-    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-    controller.turn_direction = TurnDirection.none
-    controller.update_lane_turn(False, True, True, False, v_ego)
-    assert controller.get_turn_direction() == expected
+  dh = DesireHelper()
+  controller = LaneTurnController(dh)
+  controller.enabled = True
+  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+  controller.turn_direction = TurnDirection.none
+  controller.update_lane_turn(False, True, True, False, v_ego)
+  assert controller.get_turn_direction() == expected


 class DummyCarState:
-    def __init__(self, vEgo=0, leftBlinker=False, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
-                 steeringPressed=False, steeringTorque=0, brakePressed=False):
-        self.vEgo = vEgo
-        self.leftBlinker = leftBlinker
-        self.rightBlinker = rightBlinker
-        self.leftBlindspot = leftBlindspot
-        self.rightBlindspot = rightBlindspot
-        self.steeringPressed = steeringPressed
-        self.steeringTorque = steeringTorque
-        self.brakePressed = brakePressed
+  def __init__(self, vEgo=0, leftBlinker=False, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
+               steeringPressed=False, steeringTorque=0, brakePressed=False):
+    self.vEgo = vEgo
+    self.leftBlinker = leftBlinker
+    self.rightBlinker = rightBlinker
+    self.leftBlindspot = leftBlindspot
+    self.rightBlindspot = rightBlindspot
+    self.steeringPressed = steeringPressed
+    self.steeringTorque = steeringTorque
+    self.brakePressed = brakePressed
+

@pytest.fixture
 def set_lane_turn_params():
-    params = Params()
-    params.put("LaneTurnDesire", True)
-    params.put("LaneTurnValue", 20.0)
+  params = Params()
+  params.put("LaneTurnDesire", True)
+  params.put("LaneTurnValue", 20.0)
+

@pytest.mark.parametrize("carstate, lateral_active, lane_change_prob, expected_desire", [
-    # Lane turn desire overrides lane change desire
-    (DummyCarState(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False), True, 1.0, log.Desire.turnLeft),
-    (DummyCarState(vEgo=7, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False), True, 1.0, log.Desire.turnRight),
-    # Lane change desire only (no turn desires)
-    (DummyCarState(vEgo=9, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
-                   steeringPressed=True, steeringTorque=1), True, 1.0, log.Desire.laneChangeLeft),
-    (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False,
-                   steeringPressed=True, steeringTorque=-1), True, 1.0, log.Desire.laneChangeRight),
-    # No desire (inactive)
-    (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=False), False, 1.0, log.Desire.none),
-    (DummyCarState(vEgo=4, leftBlinker=False, rightBlinker=False), True, 1.0, log.Desire.none),  # No blinkers? no desire!
+  # Lane turn desire overrides lane change desire
+  (DummyCarState(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False), True, 1.0,
+   log.Desire.turnLeft),
+  (DummyCarState(vEgo=7, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False), True, 1.0,
+   log.Desire.turnRight),
+  # Lane change desire only (no turn desires)
+  (DummyCarState(vEgo=9, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
+                 steeringPressed=True, steeringTorque=1), True, 1.0, log.Desire.laneChangeLeft),
+  (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False,
+                 steeringPressed=True, steeringTorque=-1), True, 1.0, log.Desire.laneChangeRight),
+  # No desire (inactive)
+  (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=False), False, 1.0, log.Desire.none),
+  (DummyCarState(vEgo=4, leftBlinker=False, rightBlinker=False), True, 1.0, log.Desire.none),  # No blinkers? no desire!
 ])
 def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, expected_desire, set_lane_turn_params):
-    dh = DesireHelper()
-    dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
-    for _ in range(10):
-        dh.update(carstate, lateral_active, lane_change_prob)
-    assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
+  dh = DesireHelper()
+  dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
+  for _ in range(10):
+    dh.update(carstate, lateral_active, lane_change_prob)
+  assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
@@ -13,7 +13,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD

-RELAXED_MIN_BUCKET_POINTS = np.array([0, 200, 300, 500, 500, 300, 200, 0])
+RELAXED_MIN_BUCKET_POINTS = np.array([1, 200, 300, 500, 500, 300, 200, 1])

 ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda']

@@ -4,13 +4,13 @@ from openpilot.common.constants import CV
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
  NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, wrong_car_mode_alert
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target


 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+AudibleAlertSP = custom.SelfdriveStateSP.AudibleAlert
 EventNameSP = custom.OnroadEventSP.EventName


@@ -33,6 +33,9 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
  speed_conv = CV.MS_TO_KPH if metric else CV.MS_TO_MPH
  speed_limit_final_last = sm['longitudinalPlanSP'].speedLimit.resolver.speedLimitFinalLast
  speed_limit_final_last_conv = round(speed_limit_final_last * speed_conv)
+  alert_1_str = ""
+  alert_2_str = ""
+  alert_size = AlertSize.none

  if CP.openpilotLongitudinalControl and CP.pcmCruise:
    # PCM long
@@ -40,25 +43,16 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
    pcm_long_required_max = cst_low if speed_limit_final_last_conv < CONFIRM_SPEED_THRESHOLD[metric] else cst_high
    pcm_long_required_max_set_speed_conv = round(pcm_long_required_max * speed_conv)
    speed_unit = "km/h" if metric else "mph"
+
+    alert_1_str = "Speed Limit Assist: Activation Required"
    alert_2_str = f"Manually change set speed to {pcm_long_required_max_set_speed_conv} {speed_unit} to activate"
-  else:
-    # Non PCM long
-    v_cruise_cluster = CS.vCruiseCluster * CV.KPH_TO_MS
-
-    req_plus, req_minus = compare_cluster_target(v_cruise_cluster, speed_limit_final_last, metric)
-    arrow_str = ""
-    if req_plus:
-      arrow_str = "RES/+"
-    elif req_minus:
-      arrow_str = "SET/-"
-
-    alert_2_str = f"Operate the {arrow_str} cruise control button to activate"
+    alert_size = AlertSize.mid

  return Alert(
-    "Speed Limit Assist: Activation Required",
+    alert_1_str,
    alert_2_str,
-    AlertStatus.normal, AlertSize.mid,
-    Priority.LOW, VisualAlert.none, AudibleAlert.none, .1)
+    AlertStatus.normal, alert_size,
+    Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleLow, .1)


 class EventsSP(EventsBase):
@@ -202,7 +196,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
      "Automatically adjusting to the posted speed limit",
      "",
      AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
+      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
  },

  EventNameSP.speedLimitChanged: {
@@ -210,7 +204,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
      "Set speed changed",
      "",
      AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
+      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
  },

  EventNameSP.speedLimitPreActive: {
@@ -222,7 +216,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
      "Automatically adjusting to the last speed limit",
      "",
      AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
+      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
  },

  EventNameSP.e2eChime: {
@@ -230,6 +224,6 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
      "",
      "",
      AlertStatus.normal, AlertSize.none,
-      Priority.MID, VisualAlert.none, AudibleAlert.prompt, 0.1),
+      Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
  },
 }
@@ -147,7 +147,7 @@ class SunnylinkApi(BaseApi):
    self.params.put("SunnylinkDongleId", sunnylink_dongle_id or UNREGISTERED_SUNNYLINK_DONGLE_ID)

    # Set the last ping time to the current time since we were just talking to the API
-    last_ping = int(time.monotonic() * 1e9) if successful_registration else start_time
+    last_ping = int((time.monotonic() if successful_registration else start_time) * 1e9)
    Params().put("LastSunnylinkPingTime", last_ping)

    # Disable sunnylink if registration was not successful
@@ -178,12 +178,29 @@ def getParamsAllKeys() -> list[str]:
  return keys


+@dispatcher.add_method
+def getParamsAllKeysV1() -> dict[str, str]:
+  available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
+
+  params_dict: dict[str, list[dict[str, str | bool | int | None]]] = {"params": []}
+  for key in available_keys:
+    value = get_param_as_byte(key, get_default=True)
+    params_dict["params"].append({
+      "key": key,
+      "type": int(params.get_type(key).value),
+      "default_value": base64.b64encode(value).decode('utf-8') if value else None,
+    })
+
+  return {"keys": json.dumps(params_dict.get("params", []))}
+
+
@dispatcher.add_method
 def getParams(params_keys: list[str], compression: bool = False) -> str | dict[str, str]:
  params = Params()
+  available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]

  try:
-    param_keys_validated = [key for key in params_keys if key in getParamsAllKeys()]
+    param_keys_validated = [key for key in params_keys if key in available_keys]
    params_dict: dict[str, list[dict[str, str | bool | int]]] = {"params": []}
    for key in param_keys_validated:
      value = get_param_as_byte(key)
@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import time

+from openpilot.common.params import Params
 from openpilot.common.realtime import Ratekeeper
 from openpilot.common.swaglog import cloudlog

@@ -12,17 +13,22 @@ NetworkType = log.DeviceState.NetworkType

 def main():
  """The main method is expected to be called by the manager when the device boots up."""
-  rk = Ratekeeper(.5)
-  sm = messaging.SubMaster(['deviceState'], poll='deviceState')
-  while True:
-    sm.update(1000)
-    if sm['deviceState'].networkType != NetworkType.none:
-      break
+  try:
+    rk = Ratekeeper(.5)
+    sm = messaging.SubMaster(['deviceState'], poll='deviceState')
+    while True:
+      sm.update(1000)
+      if sm['deviceState'].networkType != NetworkType.none:
+        break

-    cloudlog.info(f"Waiting to become online... {time.monotonic()}")
-    rk.keep_time()
+      cloudlog.info(f"Waiting to become online... {time.monotonic()}")
+      rk.keep_time()

-  register_sunnylink()
+    register_sunnylink()
+  except Exception:
+    cloudlog.exception("Sunnylink registration failed")
+    Params().put_bool("SunnylinkTempFault", True)
+    raise


 if __name__ == "__main__":
@@ -6,31 +6,32 @@ from openpilot.common.params import Params, ParamKeyType
 from openpilot.system.version import is_prebuilt


-def get_sunnylink_status(params=None) -> tuple[bool, bool]:
+def get_sunnylink_status(params=None) -> tuple[bool, bool, bool]:
  """Get the status of Sunnylink on the device. Returns a tuple of (is_sunnylink_enabled, is_registered)."""
  params = params or Params()
  is_sunnylink_enabled = params.get_bool("SunnylinkEnabled")
  is_registered = params.get("SunnylinkDongleId") not in (None, UNREGISTERED_SUNNYLINK_DONGLE_ID)
-  return is_sunnylink_enabled, is_registered
+  is_on_temporary_fault = params.get_bool("SunnylinkTempFault")
+  return is_sunnylink_enabled, is_registered, is_on_temporary_fault


 def sunnylink_ready(params=None) -> bool:
  """Check if the device is ready to communicate with Sunnylink. That means it is enabled and registered."""
  params = params or Params()
-  is_sunnylink_enabled, is_registered = get_sunnylink_status(params)
-  return is_sunnylink_enabled and is_registered
+  is_sunnylink_enabled, is_registered, is_on_temporary_fault = get_sunnylink_status(params)
+  return is_sunnylink_enabled and is_registered and not is_on_temporary_fault


 def use_sunnylink_uploader(params) -> bool:
  """Check if the device is ready to use Sunnylink and the uploader is enabled."""
-  return sunnylink_ready(params) and params.get_bool("EnableSunnylinkUploader")
+  return not params.get_bool("NetworkMetered") and sunnylink_ready(params) and params.get_bool("EnableSunnylinkUploader")


 def sunnylink_need_register(params=None) -> bool:
  """Check if the device needs to be registered with Sunnylink."""
  params = params or Params()
-  is_sunnylink_enabled, is_registered = get_sunnylink_status(params)
-  return is_sunnylink_enabled and not is_registered
+  is_sunnylink_enabled, is_registered, is_on_temporary_fault = get_sunnylink_status(params)
+  return is_sunnylink_enabled and not is_registered and not is_on_temporary_fault


 def register_sunnylink():
@@ -47,8 +48,12 @@ def register_sunnylink():
      "timeout": 60
    }

-  sunnylink_id = SunnylinkApi(None).register_device(None, **extra_args)
-  print(f"SunnyLinkId: {sunnylink_id}")
+  try:
+    sunnylink_id = SunnylinkApi(None).register_device(None, **extra_args)
+    print(f"SunnyLinkId: {sunnylink_id}")
+  except Exception:
+    Params().put_bool("SunnylinkTempFault", True)
+    raise


 def get_api_token():
@@ -60,14 +65,20 @@ def get_api_token():
  print(f"API Token: {token}")


-def get_param_as_byte(param_name: str, params=None) -> bytes | None:
+def get_param_as_byte(param_name: str, params=None, get_default=False) -> bytes | None:
  """Get a parameter as bytes. Returns None if the parameter does not exist."""
-  params = params or Params() # Use existing Params instance if provided
-  param = params.get(param_name)
+  params = params or Params()
+  param = params.get(param_name) if not get_default else params.get_default_value(param_name)
+
  if param is None:
    return None

  param_type = params.get_type(param_name)
+  return _to_bytes(param, param_type)
+
+
+def _to_bytes(param: bytes, param_type: ParamKeyType) -> bytes | None:
+  """Convert a parameter value to bytes based on its type."""
  if param_type == ParamKeyType.BYTES:
    return bytes(param)
  elif param_type == ParamKeyType.JSON:
@@ -95,6 +95,12 @@ def is_stock_model(started, params, CP: car.CarParams) -> bool:
 def mapd_ready(started: bool, params: Params, CP: car.CarParams) -> bool:
  return bool(os.path.exists(Paths.mapd_root()))

+def uploader_ready(started: bool, params: Params, CP: car.CarParams) -> bool:
+  if not params.get_bool("OnroadUploads"):
+    return only_offroad(started, params, CP)
+
+  return always_run(started, params, CP)
+
 def or_(*fns):
  return lambda *args: operator.or_(*(fn(*args) for fn in fns))

@@ -145,7 +151,7 @@ procs = [
  PythonProcess("hardwared", "system.hardware.hardwared", always_run),
  PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
  PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
-  PythonProcess("uploader", "system.loggerd.uploader", always_run),
+  PythonProcess("uploader", "system.loggerd.uploader", uploader_ready),
  PythonProcess("statsd", "system.statsd", always_run),
  PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", only_onroad),
Author	SHA1	Message	Date
Jason Wen	4e4ec9f288	Merge remote-tracking branch 'sunnypilot/sunnypilot/master' into rivian-non-pcm # Conflicts: # opendbc_repo	2025-10-20 10:51:08 -04:00
Jason Wen	025a930ce8	ui: update longitudinal-related settings handling (#1401 ) * ui: update ICBM-related settings handling * oops * oops * single location * some more * fix cruise toggles * always init true * check this * nah * should be this	2025-10-18 04:04:48 -04:00
Jason Wen	523c92c6fe	Speed Limit Assist: lower `preActive` timer for Non PCM Longitudinal and ICBM cars (#1403 ) 5 seconds preActive for non pcm long now	2025-10-17 23:41:33 -04:00
Jason Wen	72282f2d2e	Speed Limit Assist: update events handling (#1400 ) * Speed Limit Assist: update active event handling * ok no more for non pcm long it was annoying * 5 seconds preActive for non pcm long now * Revert "5 seconds preActive for non pcm long now" This reverts commit `dfcc601035`. * dynamic alert size * do the same here * lint	2025-10-17 23:30:06 -04:00
Jason Wen	2825c00fcc	controlsd: update lateral delay param in a separate thread (#1402 )	2025-10-17 22:53:31 -04:00
Nayan	063aa994d2	ui: Resize E2E Alerts (#1396 ) because people be enabling ALL THE UI Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-16 01:03:45 -04:00
Jason Wen	50462a1d01	E2E Alert: universal state machine (#1395 ) * E2E Helper: universal state machine * not used * rename * 10 frames for both * time based * magic * lead depart: only arm if we have a confirmed close lead for over a second after allowing alert * less * shorter trigger * lol * always update	2025-10-16 00:55:17 -04:00
Jason Wen	437726b348	Speed Limit Mode: only cleanup param if Assist was selected (#1393 ) Speed Limit Mode: only cleanup param if it was Assist	2025-10-15 18:05:50 -04:00
Nayan	9e6af5ba74	ui: Adjust UI Elements to account for Sidebar & Dev UI (#1390 ) * resize & reposition * Apply suggestion from @sunnyhaibin * sir, this is Wendy's * this is still a Wendy's --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-15 17:40:52 -04:00
Nayan	99bd9075d5	ui: Fix Onroad Screen-Off default param (#1389 ) Change defaults Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-15 17:18:31 -04:00
Jason Wen	c438aeb5a5	ui: check for updated message before updating states in HUD (#1392 )	2025-10-15 16:47:00 -04:00
Jason Wen	f1ca81debf	ui: chevron should always be on top of driving path (#1391 )	2025-10-15 16:20:31 -04:00
Jason Wen	d7e1c42c2b	ui: move Dynamic Experimental Control (DEC) toggle to Longitudinal panel (#1388 ) - Implemented a new toggle for enabling Dynamic Experimental Control (DEC) in longitudinal settings. - Removed previous implementation for DEC from general settings. - Updated accessibility based on longitudinal control status.	2025-10-15 12:25:23 -04:00
Jason Wen	6d51d64285	interfaces: clean up unsupported params during initialization (#1385 ) * interfaces: clean up unsupported params during initialization * fix * logging and no DEC when no long * ui * ui	2025-10-15 09:46:53 -04:00
Jason Wen	e0ccc175e4	liveMapDataSP: improve speed limit validation logic (#1383 )	2025-10-15 00:59:40 -04:00
James Vecellio-Grant	734151f59b	Reapply "capnp: consolidate TurnDirection enum" (#1376 ) (#1382 ) * Reapply "capnp: consolidate TurnDirection enum" (#1376) This reverts commit `339bc0b8b3`. * cache it * format --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-14 23:32:10 -04:00
Nayan	9a14baac4d	Green Light and Lead Departure alerts improvements (#1381 )	2025-10-14 20:01:42 -04:00
Jason Wen	d3e3628a95	ui: only draw ahead speed limit if it's parsed from OSM (#1380 )	2025-10-14 11:40:42 -04:00
Nayan	fec6382b96	UI: Fix Speed Limit Assist (SLA) Translations (#1379 ) Fix SLA Translations	2025-10-14 11:29:27 -04:00
Jason Wen	4bd020e92b	Speed Limit Assist: audible alerts for certain states (#1378 )	2025-10-14 09:19:26 -04:00
Jason Wen	7f5342f378	soundd: custom audible alerts (#1377 ) * Revert "capnp: consolidate TurnDirection enum (#1370)" This reverts commit `7229c7541e`. * soundd: custom audible alerts * comment	2025-10-14 01:13:20 -04:00
Jason Wen	339bc0b8b3	Revert "capnp: consolidate TurnDirection enum" (#1376 ) Revert "capnp: consolidate TurnDirection enum (#1370)" This reverts commit `7229c7541e`.	2025-10-14 00:19:21 -04:00
Jason Wen	59c64acc29	Subaru: Stop and Go support (beta) (#1375 ) * Subaru: Stop and Go auto-resume support * bump * bump * fix * bump * fix init * wat * use just standstill for now * Revert "use just standstill for now" This reverts commit `f72cce6892`. * bump * bump * fix it * only send at 10 * bump * fix type * forget about planner resume, it sucks * try to send off_accel * still need it * always send * disable safety checks for now * same * more * all the time for both * don't need i guess * bump * try 15 frames per try * all should have it * try 3 for all * use throttle for all preglobal? * bump * bump * separate thresholds between preglobal and global * longer wait before sending * shorter time but immediately resend * quick * new timeout * about to cry * same thing but another try * no need * round 3 * try 1.4 * lower! * 1.2 * last try * beta asf * bump	2025-10-13 22:26:47 -04:00
James Vecellio-Grant	7229c7541e	capnp: consolidate TurnDirection enum (#1370 ) Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-13 22:02:53 -04:00
Kumar	39e73cc46e	ui: add ModelRendererSP::draw (#1372 ) * ModelRendererSP::draw * match * less * huh? * unused --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-13 21:45:59 -04:00
Jason Wen	285fd97606	ui: only draw speedCluster speed over "MAX" when ICBM is enabled (#1374 )	2025-10-13 20:36:24 -04:00
Jason Wen	e5f1f86ac2	params: helper to clamp out-of-range int params (#1373 ) * params: helpers to clamp out-of-range values * lint * inline * fix access * actually fix the param * inherit them * more lint	2025-10-13 19:37:58 -04:00
Jason Wen	7e03277962	ui: bigger cluster set speed fonts when ICBM is active (#1369 )	2025-10-13 03:06:39 -04:00
Jason Wen	bd9bb74d03	custom cereal: fix formatting (#1367 )	2025-10-13 01:40:22 -04:00
Kirito3481	7d54b58b8d	ui: Update Korean translations (#1359 ) Update ko-kr translations Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-13 00:19:24 -04:00
Jason Wen	68d059fd5d	ui: ensure Cruise panel widget is reset when `hideEvent` (#1366 )	2025-10-12 23:48:58 -04:00
Nayan	728108f97f	ui: Optimize Param Read for Onroad UI (#1365 ) * Move params to uiscene * more --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-12 23:36:58 -04:00
Kumar	cb6fa622ee	Visuals: Move custom chevron info to `sunnypilot/qt` (#1066 ) * refactor: move to sp ui * pr suggestion * no need to check pcm just oplong * no color, big front, long check * Fix Rainbow Mode & Y Positioning * Move param to uiscene --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com> Co-authored-by: nayan <nayan8teen@gmail.com>	2025-10-12 23:11:23 -04:00
Nayan	5b29fd0f2c	UI: Onroad Screen Timeout Fixes (#1364 ) * Screen Timeout Fixes * rename * auto type --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-12 12:12:52 -04:00
Nayan	6f42bbab18	Reapply "UI: Make Always Offroad more accessible" (#1327 ) (#1361 ) * UI: Make Always Offroad more accessible * conditional - based on offroad * no need to delete * account for always offroad * fix offroad transition * do this inside updateState on every invoke --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-12 01:59:03 -04:00
Nayan	b89393a5a2	UI: Blinker Size & State Fix (#1363 ) Blinker Size & State Fix Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-12 00:34:15 -04:00
Nayan	1e5758e712	ui: Better E2E Alert UI Positioning (#1355 ) Better E2E Alert UI Positioning	2025-10-12 00:21:38 -04:00
James Vecellio-Grant	974a7a3f7d	ui: improve toggle states in Developer panel (#1352 ) ui: quickboot toggle race condition Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-11 02:47:45 -04:00
Jason Wen	fe6edda23a	Revert "UI: Make Always Offroad more accessible (#1327 )" (#1358 ) Reverts #1327	2025-10-11 01:52:33 -04:00
Jason Wen	17e25f78b4	ui: dynamic ICBM status (#1357 ) * ui: dynamic ICBM status * straight up pls	2025-10-10 17:00:44 -04:00
Nayan	9b92cdd2cc	ui: fix standstill timer reset when offroad (#1351 ) Standstill timer fix	2025-10-09 23:57:09 -04:00
Jason Wen	d6317ffd20	mapd: script to update version and hash (#1349 ) * init and hash for 1.11.0 * update version and example for 1.12.0	2025-10-09 19:04:43 -04:00
Nayan	3ba52bc6fe	ui: New? Old? Different? Standstill Timer UI (#1347 ) New Standstill Timer UI Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-09 17:30:59 -04:00
Nayan	d7fd78050b	OSM: Search!! (#1341 ) * OSM Search * cleanup * wat --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-09 16:29:55 -04:00
HazZelnutz	8864b79a6e	Visuals: Turn signals on screen when blinker is used (#1291 ) * get blinker state from car_state * Draw turn signals when blinker is active * reloacted and resized turning signals * add turn signal display setting * Lowered Blink Frequency * Moved x and y Offsets to drawing Function Co-authored-by: Nayan <nayan8teen@gmail.com> * Grouped Settings * Moved blinking Logic to pulseElement Function Co-authored-by: Nayan <nayan8teen@gmail.com> * Improved Blinker Size and Position * Get laneChangeBlocked Event from onroadEvents * Draw Blinker red if laneChangeBlocked event is set * Revert "Get laneChangeBlocked Event from onroadEvents" This reverts commit 4310931b6cd59aed22119c2b4b558f09d3ad9c90. * Get left and right Blindspot * Replaced laneChangeBlocked by Blindspot checks * slight optimization * more refinement --------- Co-authored-by: Nayan <nayan8teen@gmail.com> Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-09 15:59:28 -04:00
Nayan	e9f054b7ee	UI: Adjust Alert display with Developer UI (#1299 ) * Adjust Alert Rect for Dev UI * split out into SP classes * fix includes * formatting --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-09 15:26:14 -04:00
Nayan	f429f3191f	ui: Bug fix Search with special chars (#1344 ) Fix Search with special chars Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-09 14:53:47 -04:00
Jason Wen	3df1b53fab	ui: update description of Speedometer: Hide from Onroad Screen (#1346 )	2025-10-09 14:33:14 -04:00
Jason Wen	6bb87174b9	Revert "CarControlSP: live params (#943 )" (#1345 ) * Revert "`CarControlSP`: live params (#943)" This reverts commit `b5104377` * bump * bump	2025-10-09 14:14:12 -04:00
Jason Wen	6d356d520e	ui: HUD drawing optimizations and fixes (#1342 ) * no duplicated speed drawing * reuse polygon	2025-10-09 10:28:56 -04:00
Jason Wen	73123aa400	torqued_ext: adjust RELAXED_MIN_BUCKET_POINTS boundary values (#1340 )	2025-10-09 07:48:35 -04:00
github-actions[bot]	7dfe03b7a3	[bot] Update translations (#1200 ) Update translations Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>	2025-10-09 02:21:09 -04:00
DevTekVE	12a4b1b561	sunnylink: enhance fault handling and parameter checks (#1323 ) * enhance sunnylink fault handling and parameter checks - Added `SunnylinkTempFault` to handle temporary registration issues. - Updated methods to account for new fault state, improving robustness. - Improved uploader logic by considering metered network restrictions. * maybe it was overkill * Lol, kinda important --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-08 23:37:21 -04:00
Jason Wen	7aac14e6fc	ui: Speedometer: Hide from onroad screen (#1336 ) * ui: Speedometer: Display True Speed * update * ui: Speedometer: Hide from onroad screen * wrong * use stock one	2025-10-08 21:54:24 -04:00
Jason Wen	ae21d40a19	ui: Speedometer: Always display true speed (#1335 ) * ui: Speedometer: Display True Speed * update * use stock one	2025-10-08 20:33:19 -04:00
Nayan	41abede7f6	UI: Better layout for onroad screen-off settings (#1334 ) * OCD FIX * MORE FIX.. BECAUSE WE ALL HAVE OCD --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-08 17:55:56 -04:00
Kumar	f653566803	mapd: Bump version `v1.11.0` -> `v1.12.0` (#1288 ) v1.12.0 Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-08 17:39:14 -04:00
DevTekVE	e8a39c4a74	Reapply "sunnylink: enhanced param keys fetch with data type" (#1317 ) Reapply "sunnylink: enhanced param keys fetch with data type" (#1316)" This reverts commit `282a8b093d`. Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-08 15:01:33 -04:00
Nayan	517020ffb6	UI: Move Brightness & Interactivity Timeout to Display Panel (#1326 ) * UI: Move Brightness & Interactivity Timeout to Display Panel * why Qt.. WHYY --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-08 13:51:31 -04:00
Jason Wen	a85f3ce11c	Device: Onroad Uploads button (#1332 )	2025-10-08 13:03:15 -04:00
Nayan	014baf8e90	UI: Make Always Offroad more accessible (#1327 ) * UI: Make Always Offroad more accessible * conditional - based on offroad * no need to delete * account for always offroad --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-08 12:05:06 -04:00
Nayan	8050c56a43	UI: OptionControlSP - Fix Inline Spacer (#1325 ) OptionControlSP - Fix Inline Spacer issue!! Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-07 23:24:18 -04:00
Nayan	0b826002e9	UI: Expandable Row - Fix margins (#1324 ) Expandable Row - Fix margins Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-10-07 22:44:27 -04:00
Jason Wen	408d52d72a	NNLC: ensure PID is always initialized properly (#1304 )	2025-10-07 21:45:33 -04:00
DevTekVE	aeaac22274	ci: refine PR search query to avoid querying whole github (#1330 ) * ci: refine PR search query to improve label handling in GitHub Action workflow - Replaced `label` with `search_query` for better flexibility. - Added support for multiple labels (`PR_LABEL` and `${PR_LABEL}-c3`). * ci: fix PR search query for proper label matching in workflow - Adjusted `label` query syntax to correctly handle multiple labels. * Update .github/workflows/sunnypilot-master-dev-prep.yaml	2025-10-07 07:45:04 +02:00
github-actions[bot]	f28cea759d	[bot] Update Python packages (#1250 ) Update Python packages Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>	2025-10-06 02:52:02 -04:00
Jason Wen	09cb350d6f	Rivian: treat longitudinal upgrade variants as Non-PCM Longitudinal	2025-10-04 22:32:37 -04:00
				`@@ -0,0 +1 @@`
				`fdb3b49ee19956e6ce09fdc3373cbba557f1263b2180e9f344c1d4053852284b`