mapd - Prevents freeway jumping to parallel service roads - Enables realistic city navigation (lots, side streets) - Smooth transitions between road types - Context-aware decision making with original functionality preserved

.github/workflows/auto_pr_review.yaml

@@ -40,10 +40,10 @@ jobs:
     runs-on: ubuntu-latest
     if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize'))
     env:
-      PR_LABEL: 'dev'
+      PR_LABEL: 'dev-c3'
       TRUST_FORK_PR_LABEL: 'trust-fork-pr'
     steps:
-      - name: Check if PR has dev label
+      - name: Check if PR has dev-c3 label
         id: check-labels
         uses: actions/github-script@v7
         with:
@@ -62,11 +62,11 @@ jobs:
             console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
             console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
             
-            core.setOutput('has-dev', hasDevC3Label ? 'true' : 'false');
+            core.setOutput('has-dev-c3', hasDevC3Label ? 'true' : 'false');
             core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
 
       - name: Remove trust-fork-pr label if present
-        if: steps.check-labels.outputs.has-dev == 'true' && steps.check-labels.outputs.has-trust == 'true'
+        if: steps.check-labels.outputs.has-dev-c3 == 'true' && steps.check-labels.outputs.has-trust == 'true'
         uses: actions/github-script@v7
         with:
           github-token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/repo-maintenance.yaml

@@ -43,7 +43,6 @@ jobs:
       with:
         submodules: true
     - name: uv lock
-      if: github.repository == 'commaai/openpilot'
       run: |
         python3 -m ensurepip --upgrade
         pip3 install uv

.github/workflows/selfdrive_tests.yaml

@@ -107,6 +107,7 @@ jobs:
 
   build_mac:
     name: build macOS
+    if: false  # temp disable since homebrew install is getting stuck
     runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
     steps:
     - uses: actions/checkout@v4
@@ -115,9 +116,7 @@ jobs:
     - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
     - name: Homebrew cache
       uses: ./.github/workflows/auto-cache
-      if: false # disabling the cache for now because it is breaking macos builds...
       with:
-        save: false # No need save here if we manually save it later conditionally
         path: ~/Library/Caches/Homebrew
         key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
         restore-keys: |
@@ -126,8 +125,8 @@ jobs:
     - name: Install dependencies
       run: ./tools/mac_setup.sh
       env:
-        PYTHONWARNINGS: default  # package install has DeprecationWarnings
+        # package install has DeprecationWarnings
-        HOMEBREW_DISPLAY_INSTALL_TIMES: 1
+        PYTHONWARNINGS: default
     - name: Save Homebrew cache
       uses: actions/cache/save@v4
       if: github.ref == 'refs/heads/master'
@@ -138,7 +137,6 @@ jobs:
     - name: Getting scons cache
       uses: ./.github/workflows/auto-cache
       with:
-        save: false # No need save here if we manually save it later conditionally
         path: /tmp/scons_cache
         key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
         restore-keys: |

.github/workflows/sunnypilot-build-prebuilt.yaml

@@ -8,14 +8,14 @@ env:
   PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
   
   # Branch configurations
-  STAGING_SOURCE_BRANCH: 'master'
+  STAGING_C3_SOURCE_BRANCH: ${{ vars.STAGING_C3_SOURCE_BRANCH || 'master' }} # vars are set on repo settings.
   
   # Runtime configuration
   SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
 
 on:
   push:
-    branches: [ master, master-dev ]
+    branches: [ master, master-dev-c3-new ]
     tags: [ 'release/*' ]
   pull_request_target:
     types: [ labeled ]
@@ -138,7 +138,7 @@ jobs:
           #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
           restore-keys: |
             scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_SOURCE_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_C3_SOURCE_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}
 
       - name: Set environment variables

.github/workflows/sunnypilot-master-dev-c3-prep.yaml

@@ -1,9 +1,9 @@
-name: Build dev
+name: Build dev-c3-new
 
 env:
   DEFAULT_SOURCE_BRANCH: "master"
-  DEFAULT_TARGET_BRANCH: "master-dev"
+  DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
-  PR_LABEL: "dev"
+  PR_LABEL: "dev-c3"
   LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
   LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
 
@@ -25,7 +25,7 @@ on:
       target_branch:
         description: 'Target branch to reset and squash into'
         required: true
-        default: 'master-dev'
+        default: 'master-dev-c3-new'
         type: string
       cancel_in_progress:
         description: 'Cancel any in-progress runs of this workflow'
@@ -43,7 +43,7 @@ jobs:
     if: (
       (github.event_name == 'workflow_dispatch')
       || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev'))))
+      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
       )
     steps:
       - uses: actions/checkout@v4
@@ -55,7 +55,7 @@ jobs:
         uses: ./.github/workflows/wait-for-action # Path to where you place the action
         if: (
           (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev'))))
+          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
           )
         with:
           workflow: selfdrive_tests.yaml # The workflow file to monitor

.gitignore

@@ -50,6 +50,7 @@ cereal/services.h
 cereal/gen
 cereal/messaging/bridge
 selfdrive/mapd/default_speeds_by_region.json
+system/proclogd/proclogd
 selfdrive/ui/translations/tmp
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/car/tests/cars_dump

.vscode/launch.json

@@ -23,11 +23,6 @@
       "id": "args",
       "description": "Arguments to pass to the process",
       "type": "promptString"
-    },
-    {
-      "id": "replayArg",
-      "type": "promptString",
-      "description": "Enter route or segment to replay."
     }
   ],
   "configurations": [
@@ -45,41 +40,7 @@
       "type": "cppdbg",
       "request": "launch",
       "program": "${workspaceFolder}/${input:cpp_process}",
-      "cwd": "${workspaceFolder}"
+      "cwd": "${workspaceFolder}",
-    },
-    {
-      "name": "Attach LLDB to Replay drive",
-      "type": "lldb",
-      "request": "attach",
-      "pid": "${command:pickMyProcess}",
-      "initCommands": [
-        "script import time; time.sleep(3)"
-      ]
-    },
-    {
-      "name": "Replay drive",
-      "type": "debugpy",
-      "request": "launch",
-      "program": "${workspaceFolder}/opendbc/safety/tests/safety_replay/replay_drive.py",
-      "args": [
-        "${input:replayArg}"
-      ],
-      "console": "integratedTerminal",
-      "justMyCode": false,
-      "env": {
-        "PYTHONPATH": "${workspaceFolder}"
-      },
-      "subProcess": true,
-      "stopOnEntry": false
-    }
-  ],
-  "compounds": [
-    {
-      "name": "Replay drive + Safety LLDB",
-      "configurations": [
-        "Replay drive",
-        "Attach LLDB to Replay drive"
-      ]
     }
   ]
 }

Jenkinsfile

@@ -178,7 +178,7 @@ node {
 
   try {
     if (env.BRANCH_NAME == 'devel-staging') {
-      deviceStage("build release3-staging", "tizi-needs-can", [], [
+      deviceStage("build release3-staging", "tici-needs-can", [], [
         step("build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"),
       ])
     }
@@ -186,12 +186,12 @@ node {
     if (env.BRANCH_NAME == '__nightly') {
       parallel (
         'nightly': {
-          deviceStage("build nightly", "tizi-needs-can", [], [
+          deviceStage("build nightly", "tici-needs-can", [], [
             step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
           ])
         },
         'nightly-dev': {
-          deviceStage("build nightly-dev", "tizi-needs-can", [], [
+          deviceStage("build nightly-dev", "tici-needs-can", [], [
             step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
           ])
         },
@@ -200,30 +200,39 @@ node {
 
     if (!env.BRANCH_NAME.matches(excludeRegex)) {
     parallel (
+      // tici tests
       'onroad tests': {
-        deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
+        deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
           step("build openpilot", "cd system/manager && ./build.py"),
           step("check dirty", "release/check-dirty.sh"),
           step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
         ])
       },
       'HW + Unit Tests': {
-        deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
+        deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
           step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
           step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
           step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
+          step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py", [diffPaths: ["system/ubloxd/"]]),
           step("test manager", "pytest system/manager/test/test_manager.py"),
         ])
       },
       'loopback': {
-        deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [
+        deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
           step("build openpilot", "cd system/manager && ./build.py"),
           step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
         ])
       },
+      'camerad AR0231': {
+        deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
+          step("build", "cd system/manager && ./build.py"),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
+          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
+        ])
+      },
       'camerad OX03C10': {
-        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
+        deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
           step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
           step("test exposure", "pytest system/camerad/test/test_exposure.py"),
@@ -237,13 +246,17 @@ node {
         ])
       },
       'sensord': {
-        deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
+        deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
+          step("build", "cd system/manager && ./build.py"),
+          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
+        ])
+        deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
           step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
         ])
       },
       'replay': {
-        deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
+        deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
           step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
         ])
@@ -253,6 +266,7 @@ node {
           step("build openpilot", "cd system/manager && ./build.py"),
           step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
           step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
           step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
           // TODO: enable once new AGNOS is available
           // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),

RELEASES.md

@@ -1,13 +1,7 @@
 Version 0.10.1 (2025-09-08)
 ========================
-* New driving model
+* Record driving feedback using LKAS button
-  * World Model: removed global localization inputs
+* Honda City 2023 support thanks to drFritz!
-  * World Model: 2x the number of parameters
-  * World Model: trained on 4x the number of segments
-  * Driving Vision Model: trained on 4x the number of segments
-* Honda City 2023 support thanks to vanillagorillaa and drFritz!
-* Honda N-Box 2018 support thanks to miettal!
-* Honda Odyssey 2021-25 support thanks to csouers and MVL!
 
 Version 0.10.0 (2025-08-05)
 ========================

SConstruct

@@ -359,6 +359,11 @@ SConscript([
   'system/ubloxd/SConscript',
   'system/loggerd/SConscript',
 ])
+if arch != "Darwin":
+  SConscript([
+    'system/logcatd/SConscript',
+    'system/proclogd/SConscript',
+  ])
 
 if arch == "larch64":
   SConscript(['system/camerad/SConscript'])

cereal/custom.capnp

@@ -25,26 +25,6 @@ struct ModularAssistiveDrivingSystem {
   }
 }
 
-struct IntelligentCruiseButtonManagement {
-  state @0 :IntelligentCruiseButtonManagementState;
-  sendButton @1 :SendButtonState;
-  vTarget @2 :Float32;
-
-  enum IntelligentCruiseButtonManagementState {
-    inactive @0;      # No button press or default state
-    preActive @1;     # Pre-active state before transitioning to increasing or decreasing
-    increasing @2;    # Increasing speed
-    decreasing @3;    # Decreasing speed
-    holding @4;       # Holding steady speed
-  }
-
-  enum SendButtonState {
-    none @0;
-    increase @1;
-    decrease @2;
-  }
-}
-
 # Same struct as Log.RadarState.LeadData
 struct LeadData {
   dRel @0 :Float32;
@@ -68,7 +48,6 @@ struct LeadData {
 
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
-  intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
 }
 
 struct ModelManagerSP @0xaedffd8f31e7b55d {
@@ -143,13 +122,6 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
 
 struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   dec @0 :DynamicExperimentalControl;
-  longitudinalPlanSource @1 :LongitudinalPlanSource;
-  smartCruiseControl @2 :SmartCruiseControl;
-  speedLimit @3 :SpeedLimit;
-  vTarget @4 :Float32;
-  aTarget @5 :Float32;
-  events @6 :List(OnroadEventSP.Event);
-  e2eAlerts @7 :E2eAlerts;
 
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
@@ -161,97 +133,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
       blended @1;
     }
   }
-
-  struct SmartCruiseControl {
-    vision @0 :Vision;
-    map @1 :Map;
-
-    struct Vision {
-      state @0 :VisionState;
-      vTarget @1 :Float32;
-      aTarget @2 :Float32;
-      currentLateralAccel @3 :Float32;
-      maxPredictedLateralAccel @4 :Float32;
-      enabled @5 :Bool;
-      active @6 :Bool;
-    }
-
-    struct Map {
-      state @0 :MapState;
-      vTarget @1 :Float32;
-      aTarget @2 :Float32;
-      enabled @3 :Bool;
-      active @4 :Bool;
-    }
-
-    enum VisionState {
-      disabled @0; # System disabled or inactive.
-      enabled @1; # No predicted substantial turn on vision range.
-      entering @2; # A substantial turn is predicted ahead, adapting speed to turn comfort levels.
-      turning @3; # Actively turning. Managing acceleration to provide a roll on turn feeling.
-      leaving @4; # Road ahead straightens. Start to allow positive acceleration.
-      overriding @5; # System overriding with manual control.
-    }
-
-    enum MapState {
-      disabled @0; # System disabled or inactive.
-      enabled @1; # No predicted substantial turn on map range.
-      turning @2; # Actively turning. Managing acceleration to provide a roll on turn feeling.
-      overriding @3; # System overriding with manual control.
-    }
-  }
-
-  struct SpeedLimit {
-    resolver @0 :Resolver;
-    assist @1 :Assist;
-
-    struct Resolver {
-      speedLimit @0 :Float32;
-      distToSpeedLimit @1 :Float32;
-      source @2 :Source;
-      speedLimitOffset @3 :Float32;
-      speedLimitLast @4 :Float32;
-      speedLimitFinal @5 :Float32;
-      speedLimitFinalLast @6 :Float32;
-      speedLimitValid @7 :Bool;
-      speedLimitLastValid @8 :Bool;
-    }
-
-    struct Assist {
-      state @0 :AssistState;
-      enabled @1 :Bool;
-      active @2 :Bool;
-      vTarget @3 :Float32;
-      aTarget @4 :Float32;
-    }
-
-    enum Source {
-      none @0;
-      car @1;
-      map @2;
-    }
-
-    enum AssistState {
-      disabled @0;
-      inactive @1; # No speed limit set or not enabled by parameter.
-      preActive @2;
-      pending @3; # Awaiting new speed limit.
-      adapting @4; # Reducing speed to match new speed limit.
-      active @5; # Cruising at speed limit.
-    }
-  }
-
-  enum LongitudinalPlanSource {
-    cruise @0;
-    sccVision @1;
-    sccMap @2;
-    speedLimitAssist @3;
-  }
-
-  struct E2eAlerts {
-    greenLightAlert @0 :Bool;
-    leadDepartAlert @1 :Bool;
-  }
 }
 
 struct OnroadEventSP @0xda96579883444c35 {
@@ -291,22 +172,12 @@ struct OnroadEventSP @0xda96579883444c35 {
     experimentalModeSwitched @14;
     wrongCarModeAlertOnly @15;
     pedalPressedAlertOnly @16;
-    laneTurnLeft @17;
-    laneTurnRight @18;
-    speedLimitPreActive @19;
-    speedLimitActive @20;
-    speedLimitChanged @21;
-    speedLimitPending @22;
-    e2eChime @23;
   }
 }
 
 struct CarParamsSP @0x80ae746ee2596b11 {
   flags @0 :UInt32;        # flags for car specific quirks in sunnypilot
   safetyParam @1 : Int16;  # flags for sunnypilot's custom safety flags
-  pcmCruiseSpeed @3 :Bool;
-  intelligentCruiseButtonManagementAvailable @4 :Bool;
-  enableGasInterceptor @5 :Bool;
 
   neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
 
@@ -326,24 +197,10 @@ struct CarControlSP @0xa5cd762cd951a455 {
   params @1 :List(Param);
   leadOne @2 :LeadData;
   leadTwo @3 :LeadData;
-  intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
 
   struct Param {
     key @0 :Text;
-    type @2 :ParamType;
+    value @1 :Text;
-    value @3 :Data;
-
-    valueDEPRECATED @1 :Text; # The data type change may cause issues with backwards compatibility.
-  }
-
-  enum ParamType {
-    string @0;
-    bool @1;
-    int @2;
-    float @3;
-    time @4;
-    json @5;
-    bytes @6;
   }
 }
 
@@ -390,7 +247,6 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
 }
 
 struct CarStateSP @0xb86e6369214c01c8 {
-  speedLimit @0 :Float32;
 }
 
 struct LiveMapDataSP @0xf416ec09499d9d19 {
@@ -402,16 +258,9 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
   roadName @5 :Text;
 }
 
-struct ModelDataV2SP @0xa1680744031fdb2d {
+struct CustomReserved9 @0xa1680744031fdb2d {
-  laneTurnDirection @0 :TurnDirection;
 }
 
-  enum TurnDirection {
-    none @0;
-    turnLeft @1;
-    turnRight @2;
-  }
-
 struct CustomReserved10 @0xcb9fd56c7057593a {
 }
 

cereal/log.capnp

@@ -585,6 +585,7 @@ struct PandaState @0xa7649e2575e4591e {
   heartbeatLost @22 :Bool;
   interruptLoad @25 :Float32;
   fanPower @28 :UInt8;
+  fanStallCount @34 :UInt8;
 
   spiErrorCount @33 :UInt16;
 
@@ -713,7 +714,6 @@ struct PandaState @0xa7649e2575e4591e {
   usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
   safetyParamDEPRECATED @20 :Int16;
   safetyParam2DEPRECATED @26 :UInt32;
-  fanStallCountDEPRECATED @34 :UInt8;
 }
 
 struct PeripheralState {
@@ -2631,7 +2631,7 @@ struct Event {
     backupManagerSP @113 :Custom.BackupManagerSP;
     carStateSP @114 :Custom.CarStateSP;
     liveMapDataSP @115 :Custom.LiveMapDataSP;
-    modelDataV2SP @116 :Custom.ModelDataV2SP;
+    customReserved9 @116 :Custom.CustomReserved9;
     customReserved10 @136 :Custom.CustomReserved10;
     customReserved11 @137 :Custom.CustomReserved11;
     customReserved12 @138 :Custom.CustomReserved12;
@@ -2684,7 +2684,7 @@ struct Event {
     lateralPlanDEPRECATED @64 :LateralPlan;
     navModelDEPRECATED @104 :NavModelData;
     uiPlanDEPRECATED @106 :UiPlan;
-    liveLocationKalman @72 :LiveLocationKalman;
+    liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
     liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
     onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
   }

cereal/messaging/socketmaster.cc

@@ -33,7 +33,7 @@ MessageContext message_context;
 struct SubMaster::SubMessage {
   std::string name;
   SubSocket *socket = nullptr;
-  float freq = 0.0f;
+  int freq = 0;
   bool updated = false, alive = false, valid = false, ignore_alive;
   uint64_t rcv_time = 0, rcv_frame = 0;
   void *allocated_msg_reader = nullptr;

cereal/services.py

@@ -88,8 +88,6 @@ _services: dict[str, tuple] = {
   "carControlSP": (True, 100., 10),
   "carStateSP": (True, 100., 10),
   "liveMapDataSP": (True, 1., 1),
-  "modelDataV2SP": (True, 20.),
-  "liveLocationKalman": (True, 20.),
 
   # debug
   "uiDebug": (True, 0., 1),
@@ -122,12 +120,12 @@ def build_header():
   h += "#include <map>\n"
   h += "#include <string>\n"
 
-  h += "struct service { std::string name; bool should_log; float frequency; int decimation; };\n"
+  h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n"
   h += "static std::map<std::string, service> services = {\n"
   for k, v in SERVICE_LIST.items():
     should_log = "true" if v.should_log else "false"
     decimation = -1 if v.decimation is None else v.decimation
-    h += '  { "%s", {"%s", %s, %f, %d}},\n' % \
+    h += '  { "%s", {"%s", %s, %d, %d}},\n' % \
          (k, k, should_log, v.frequency, decimation)
   h += "};\n"
 

common/model.h

@@ -1 +1 @@
-#define DEFAULT_MODEL "Firehose (Default)"
+#define DEFAULT_MODEL "Steam Powered (Default)"

common/params_keys.h

@@ -94,6 +94,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_StorageMissing", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},
@@ -145,28 +146,18 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
     {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
     {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
-    {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
     {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
-    {"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
-    {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
     {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
     {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"LastGPSPositionLLK", {PERSISTENT, STRING}},
-    {"LeadDepartAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
     {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
     {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
-    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "100"}},
-    {"OnroadScreenOffControl", {PERSISTENT | BACKUP, BOOL}},
-    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "0"}},
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // MADS params
     {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -192,7 +183,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SunnylinkCache_Users", {PERSISTENT, STRING}},
     {"SunnylinkDongleId", {PERSISTENT, STRING}},
     {"SunnylinkdPid", {PERSISTENT, INT}},
-    {"SunnylinkEnabled", {PERSISTENT, BOOL, "1"}},
+    {"SunnylinkEnabled", {PERSISTENT, BOOL}},
 
     // Backup Manager params
     {"BackupManager_CreateBackup", {PERSISTENT, BOOL}},
@@ -204,12 +195,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
 
-    // sunnypilot model params
+    // model panel params
     {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
     {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
-    {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
 
     // mapd
     {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
@@ -230,25 +219,4 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OsmStateTitle", {PERSISTENT, STRING}},
     {"OsmWayTest", {PERSISTENT, STRING}},
     {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
-    {"RoadNameToggle", {PERSISTENT, STRING}},
-
-    // Speed Limit
-    {"SpeedLimitMode", {PERSISTENT | BACKUP, INT, "1"}},
-    {"SpeedLimitOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
-    {"SpeedLimitPolicy", {PERSISTENT | BACKUP, INT, "3"}},
-    {"SpeedLimitValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
-
-    // Smart Cruise Control
-    {"MapTargetVelocities", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
-    {"SmartCruiseControlMap", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"SmartCruiseControlVision", {PERSISTENT | BACKUP, BOOL, "0"}},
-
-    // Torque lateral control custom params
-    {"CustomTorqueParams", {PERSISTENT | BACKUP , BOOL}},
-    {"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
-    {"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
-    {"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
-    {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
-    {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
 };

common/util.h

@@ -36,7 +36,6 @@ const double MS_TO_KPH = 3.6;
 const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE;
 const double METER_TO_MILE = KM_TO_MILE / 1000.0;
 const double METER_TO_FOOT = 3.28084;
-const double METER_TO_KM = 1. / 1000.0;
 
 #define ALIGNED_SIZE(x, align) (((x) + (align)-1) & ~((align)-1))
 

docs/CONTRIBUTING.md

@@ -39,7 +39,7 @@ All of these are examples of good PRs:
 ### First contribution
 
 [Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
-There's lot of bounties that don't require a comma 3X or a car.
+There's lot of bounties that don't require a comma 3/3X or a car.
 
 ## Pull Requests
 

docs/DEBUGGING_SAFETY.md

@@ -1,30 +0,0 @@
-# Debugging Panda Safety with Replay Drive + LLDB
-
-## 1. Start the debugger in VS Code
-
-* Select **Replay drive + Safety LLDB**.
-* Enter the route or segment when prompted.
-[<img src="https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604">](https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604)
-
-## 2. Attach LLDB
-
-* When prompted, pick the running **`replay_drive` process**.
-* ⚠️ Attach quickly, or `replay_drive` will start consuming messages.
-
-> [!TIP]
-> Add a Python breakpoint at the start of `replay_drive.py` to pause execution and give yourself time to attach LLDB.
-
-## 3. Set breakpoints in VS Code
-Breakpoints can be set directly in `modes/xxx.h` (or any C file).
-No extra LLDB commands are required — just place breakpoints in the editor.
-
-## 4. Resume execution
-Once attached, you can step through both Python (on the replay) and C safety code as CAN logs are replayed.
-
-> [!NOTE]
-> * Use short routes for quicker iteration.
-> * Pause `replay_drive` early to avoid wasting log messages.
-
-## Video
-
-View a demo of this workflow on the PR that added it: https://github.com/commaai/openpilot/pull/36055#issue-3352911578

docs/SAFETY.md

@@ -16,7 +16,7 @@ industry standards of safety for Level 2 Driver Assistance Systems. In particula
 ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
 released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/))
 on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
-hardware-in-the-loop, and in-vehicle tests before each software release.
+hardware-in-the-loop and in-vehicle tests before each software release.
 
 Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
 ensuring two main safety requirements.
@@ -29,18 +29,8 @@ ensuring two main safety requirements.
 
 For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [opendbc/safety/safety](https://github.com/commaai/opendbc/tree/master/opendbc/safety/safety).
 
+**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
+  not fully meeting the above requirements.
+
 [^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation. 
 
----
-
-### Forks of openpilot
-
-* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/selfdrive/monitoring)
-* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/selfdrive/selfdrived/helpers.py)
-* If your fork modifies any of the code in `opendbc/safety/`:
-   * your fork cannot use the openpilot trademark
-   * your fork must preserve the full [safety test suite](https://github.com/commaai/opendbc/tree/master/opendbc/safety/tests) and all tests must pass, including any new coverage required by the fork's changes
-
-Failure to comply with these standards will get you and your users banned from comma.ai servers.
-
-**comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements.**

docs/how-to/connect-to-comma.md

@@ -1,11 +1,11 @@
-# connect to a comma 3X
+# connect to a comma 3/3X
 
-A comma 3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
+A comma 3/3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
 
 ## Serial Console
 
 On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
-Connect the comma 3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
+Connect the comma 3/3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
 
 On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.
 
@@ -45,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
     * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
 
 > [!NOTE]
-> The default port for ADB is 5555 on the comma 3X.
+> The default port for ADB is 5555 on the comma 3/3X.
 
 For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
 

docs/how-to/replay-a-drive.md

@@ -8,7 +8,7 @@ Replaying is a critical tool for openpilot development and debugging.
 Just run `tools/replay/replay --demo`.
 
 ## Replaying CAN data
-*Hardware required: jungle and comma 3X*
+*Hardware required: jungle and comma 3/3X*
 
 1. Connect your PC to a jungle.
 2.

docs/how-to/turn-the-speed-blue.md

@@ -3,7 +3,7 @@
 
 In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.
 
-And if you have a comma 3X, we'll deploy the change to your device for testing.
+And if you have a comma 3/3X, we'll deploy the change to your device for testing.
 
 ## 1. Set up your development environment
 

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="13.1"
+  export AGNOS_VERSION="12.8"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

mkdocs.yml

@@ -21,7 +21,7 @@ nav:
     - What is openpilot?: getting-started/what-is-openpilot.md
   - How-to:
     - Turn the speed blue: how-to/turn-the-speed-blue.md
-    - Connect to a comma 3X: how-to/connect-to-comma.md
+    - Connect to a comma 3/3X: how-to/connect-to-comma.md
     # - Make your first pull request: how-to/make-first-pr.md
     #- Replay a drive: how-to/replay-a-drive.md
   - Concepts:

pyproject.toml

@@ -36,9 +36,6 @@ dependencies = [
   "pyopenssl < 24.3.0",
   "pyaudio",
 
-  # ubloxd (TODO: just use struct)
-  "kaitaistruct",
-
   # panda
   "libusb1",
   "spidev; platform_system == 'Linux'",
@@ -104,9 +101,8 @@ dev = [
   "av",
   "azure-identity",
   "azure-storage-blob",
-  "dbus-next", # TODO: remove once we moved everything to jeepney
+  "dbus-next",
   "dictdiffer",
-  "jeepney",
   "matplotlib",
   "opencv-python-headless",
   "parameterized >=0.8, <0.9",
@@ -124,7 +120,6 @@ dev = [
 
 tools = [
   "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
-  "dearpygui>=2.1.0",
 ]
 
 [project.urls]
@@ -162,6 +157,7 @@ testpaths = [
   "system/camerad",
   "system/hardware",
   "system/loggerd",
+  "system/proclogd",
   "system/tests",
   "system/ubloxd",
   "system/webrtc",
@@ -177,7 +173,7 @@ quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
 ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
-skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*"
+skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*"
 
 [tool.mypy]
 python_version = "3.11"
@@ -251,7 +247,6 @@ exclude = [
   "teleoprtc_repo",
   "third_party",
   "*.ipynb",
-  "generated",
 ]
 lint.flake8-implicit-str-concat.allow-multiline = false
 

release/ci/squash_and_merge_prs.py

@@ -14,7 +14,7 @@ def setup_argument_parser():
   parser.add_argument('--pr-data', type=str, help='PR data in JSON format')
   parser.add_argument('--source-branch', type=str, default='master',
                       help='Source branch for merging')
-  parser.add_argument('--target-branch', type=str, default='master-dev-test',
+  parser.add_argument('--target-branch', type=str, default='master-dev-c3-new-test',
                       help='Target branch for merging')
   parser.add_argument('--squash-script-path', type=str, required=True,
                       help='Path to the squash_and_merge.py script')

selfdrive/car/card.py

@@ -71,7 +71,7 @@ class Car:
 
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
-    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP', 'longitudinalPlanSP'])
+    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP'])
     self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP', 'carStateSP'])
 
     self.can_rcv_cum_timeout_counter = 0
@@ -124,7 +124,7 @@ class Car:
 
     self.CP.alternativeExperience = 0
     # mads
-    set_alternative_experience(self.CP, self.CP_SP, self.params)
+    set_alternative_experience(self.CP, self.params)
     set_car_specific_params(self.CP, self.CP_SP, self.params)
 
     # Dynamic Experimental Control
@@ -179,7 +179,7 @@ class Car:
     self.params.put_nonblocking("CarParamsSPPersistent", cp_sp_bytes)
 
     self.mock_carstate = MockCarState()
-    self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
+    self.v_cruise_helper = VCruiseHelper(self.CP)
 
     self.is_metric = self.params.get_bool("IsMetric")
     self.experimental_mode = self.params.get_bool("ExperimentalMode")
@@ -216,7 +216,6 @@ class Car:
     if can_rcv_valid and REPLAY:
       self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
 
-    self.v_cruise_helper.update_speed_limit_assist(self.is_metric, self.sm['longitudinalPlanSP'])
     self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
     if self.sm['carControl'].enabled and not self.CC_prev.enabled:
       # Use CarState w/ buttons from the step selfdrived enables on

selfdrive/car/cruise.py

@@ -30,8 +30,8 @@ CRUISE_INTERVAL_SIGN = {
 
 
 class VCruiseHelper(VCruiseHelperSP):
-  def __init__(self, CP, CP_SP):
+  def __init__(self, CP):
-    VCruiseHelperSP.__init__(self, CP, CP_SP)
+    VCruiseHelperSP.__init__(self)
     self.CP = CP
     self.v_cruise_kph = V_CRUISE_UNSET
     self.v_cruise_cluster_kph = V_CRUISE_UNSET
@@ -46,14 +46,10 @@ class VCruiseHelper(VCruiseHelperSP):
   def update_v_cruise(self, CS, enabled, is_metric):
     self.v_cruise_kph_last = self.v_cruise_kph
 
-    self.get_minimum_set_speed(is_metric)
-
     if CS.cruiseState.available:
-      _enabled = self.update_enabled_state(CS, enabled)
+      if not self.CP.pcmCruise:
-      if not self.CP.pcmCruise or (not self.CP_SP.pcmCruiseSpeed and _enabled):
         # if stock cruise is completely disabled, then we can use our own set speed logic
-        self._update_v_cruise_non_pcm(CS, _enabled, is_metric)
+        self._update_v_cruise_non_pcm(CS, enabled, is_metric)
-        self.update_speed_limit_assist_v_cruise_non_pcm()
         self.v_cruise_cluster_kph = self.v_cruise_kph
         self.update_button_timers(CS, enabled)
       else:
@@ -105,12 +101,6 @@ class VCruiseHelper(VCruiseHelperSP):
     if not self.button_change_states[button_type]["enabled"]:
       return
 
-    # Speed Limit Assist for Non PCM long cars.
-    # True: Disallow set speed changes when user confirmed the target set speed during preActive state
-    # False: Allow set speed changes as SLA is not requesting user confirmation
-    if self.update_speed_limit_assist_pre_active_confirmed(button_type):
-      return
-
     long_press, v_cruise_delta = VCruiseHelperSP.update_v_cruise_delta(self, long_press, v_cruise_delta)
     if long_press and self.v_cruise_kph % v_cruise_delta != 0:  # partial interval
       self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta
@@ -121,7 +111,7 @@ class VCruiseHelper(VCruiseHelperSP):
     if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
       self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)
 
-    self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), self.v_cruise_min, V_CRUISE_MAX)
+    self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
 
   def update_button_timers(self, CS, enabled):
     # increment timer for buttons still pressed

selfdrive/car/helpers.py

@@ -60,8 +60,5 @@ def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> struct
   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(
-    **remove_deprecated(struct_dict.get('intelligentCruiseButtonManagement', {}))
-  )
 
   return struct_dataclass

selfdrive/car/tests/test_car_interfaces.py

@@ -1,12 +1,15 @@
 import os
+import math
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from parameterized import parameterized
 
 from cereal import car, custom
 from opendbc.car import DT_CTRL
+from opendbc.car.car_helpers import interfaces
 from opendbc.car.structs import CarParams
-from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface
+from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args
+from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
 from opendbc.car.mock.values import CAR as MOCK
 from opendbc.car.values import PLATFORMS
 from openpilot.selfdrive.car.helpers import convert_carControlSP
@@ -18,6 +21,11 @@ from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
 
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
 
+ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}
+ALL_ECUS |= {ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra_ecus}
+
+ALL_REQUESTS = {tuple(r.request) for config in FW_QUERY_CONFIGS.values() for r in config.requests}
+
 MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60'))
 
 
@@ -29,10 +37,43 @@ class TestCarInterfaces:
             phases=(Phase.reuse, Phase.generate, Phase.shrink))
   @given(data=st.data())
   def test_car_interfaces(self, car_name, data):
-    car_interface = get_fuzzy_car_interface(car_name, data.draw)
+    CarInterface = interfaces[car_name]
-    car_params = car_interface.CP.as_reader()
+
-    car_params_sp = car_interface.CP_SP
+    args = get_fuzzy_car_interface_args(data.draw)
+
+    car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
+                                         alpha_long=args['alpha_long'], is_release=False, docs=False)
+    car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
+                                               alpha_long=args['alpha_long'], docs=False)
+    car_params = car_params.as_reader()
+    car_interface = CarInterface(car_params, car_params_sp)
     sunnypilot_interfaces.setup_interfaces(car_interface)
+    assert car_params
+    assert car_params_sp
+    assert car_interface
+
+    assert car_params.mass > 1
+    assert car_params.wheelbase > 0
+    # centerToFront is center of gravity to front wheels, assert a reasonable range
+    assert car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7
+    assert car_params.maxLateralAccel > 0
+
+    # Longitudinal sanity checks
+    assert len(car_params.longitudinalTuning.kpV) == len(car_params.longitudinalTuning.kpBP)
+    assert len(car_params.longitudinalTuning.kiV) == len(car_params.longitudinalTuning.kiBP)
+
+    # Lateral sanity checks
+    if car_params.steerControlType != CarParams.SteerControlType.angle:
+      tune = car_params.lateralTuning
+      if tune.which() == 'pid':
+        if car_name != MOCK.MOCK:
+          assert not math.isnan(tune.pid.kf) and tune.pid.kf > 0
+          assert len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP)
+          assert len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP)
+
+      elif tune.which() == 'torque':
+        assert not math.isnan(tune.torque.kf) and tune.torque.kf > 0
+        assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0
 
     cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
     cc_sp_msg = FuzzyGenerator.get_random_msg(data.draw, custom.CarControlSP, real_floats=True)
@@ -60,7 +101,7 @@ class TestCarInterfaces:
     # Test controller initialization
     # TODO: wait until card refactor is merged to run controller a few times,
     #  hypothesis also slows down significantly with just one more message draw
-    LongControl(car_params, car_params_sp)
+    LongControl(car_params)
     if car_params.steerControlType == CarParams.SteerControlType.angle:
       LatControlAngle(car_params, car_params_sp, car_interface)
     elif car_params.lateralTuning.which() == 'pid':

selfdrive/car/tests/test_cruise_speed.py

@@ -5,7 +5,7 @@ import numpy as np
 from parameterized import parameterized_class
 from cereal import log
 from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
-from cereal import car, custom
+from cereal import car
 from openpilot.common.constants import CV
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
@@ -44,13 +44,12 @@ class TestCruiseSpeed:
     assert simulation_steady_state == pytest.approx(cruise_speed, abs=.01), f'Did not reach {self.speed} m/s'
 
 
-# TODO: test pcmCruise and pcmCruiseSpeed
+# TODO: test pcmCruise
-@parameterized_class(('pcm_cruise', 'pcm_cruise_speed'), [(False, True)])
+@parameterized_class(('pcm_cruise',), [(False,)])
 class TestVCruiseHelper:
   def setup_method(self):
     self.CP = car.CarParams(pcmCruise=self.pcm_cruise)
-    self.CP_SP = custom.CarParamsSP(pcmCruiseSpeed=self.pcm_cruise_speed)
+    self.v_cruise_helper = VCruiseHelper(self.CP)
-    self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
     self.reset_cruise_speed_state()
 
   def reset_cruise_speed_state(self):

selfdrive/controls/controlsd.py

@@ -58,7 +58,7 @@ class Controls(ControlsExt, ModelStateBase):
     self.pose_calibrator = PoseCalibrator()
     self.calibrated_pose: Pose | None = None
 
-    self.LoC = LongControl(self.CP, self.CP_SP)
+    self.LoC = LongControl(self.CP)
     self.VM = VehicleModel(self.CP)
     self.LaC: LatControl
     if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
@@ -116,8 +116,7 @@ class Controls(ControlsExt, ModelStateBase):
 
     CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
                    (not standstill or self.CP.steerAtStandstill)
-    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and \
+    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
-                    (self.CP.openpilotLongitudinalControl or not self.CP_SP.pcmCruiseSpeed)
 
     actuators = CC.actuators
     actuators.longControlState = self.LoC.long_control_state
@@ -169,7 +168,7 @@ class Controls(ControlsExt, ModelStateBase):
       CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist()
       CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist()
 
-    CC.cruiseControl.override = CC.enabled and not CC.longActive and (self.CP.openpilotLongitudinalControl or not self.CP_SP.pcmCruiseSpeed)
+    CC.cruiseControl.override = CC.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl
     CC.cruiseControl.cancel = CS.cruiseState.enabled and (not CC.enabled or not self.CP.pcmCruise)
     CC.cruiseControl.resume = CC.enabled and CS.cruiseState.standstill and not self.sm['longitudinalPlan'].shouldStop
 

selfdrive/controls/lib/desire_helper.py

@@ -1,8 +1,7 @@
-from cereal import log, custom
+from cereal import log
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
-from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController
 
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -31,12 +30,6 @@ DESIRES = {
   },
 }
 
-TURN_DESIRES = {
-  custom.TurnDirection.none: log.Desire.none,
-  custom.TurnDirection.turnLeft: log.Desire.turnLeft,
-  custom.TurnDirection.turnRight: log.Desire.turnRight,
-}
-
 
 class DesireHelper:
   def __init__(self):
@@ -48,25 +41,13 @@ class DesireHelper:
     self.prev_one_blinker = False
     self.desire = log.Desire.none
     self.alc = AutoLaneChangeController(self)
-    self.lane_turn_controller = LaneTurnController(self)
-    self.lane_turn_direction = custom.TurnDirection.none
-
-  @staticmethod
-  def get_lane_change_direction(CS):
-    return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right
 
   def update(self, carstate, lateral_active, lane_change_prob):
     self.alc.update_params()
-    self.lane_turn_controller.update_params()
     v_ego = carstate.vEgo
     one_blinker = carstate.leftBlinker != carstate.rightBlinker
     below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
 
-    # Lane turn controller update
-    self.lane_turn_controller.update_lane_turn(blindspot_left=carstate.leftBlindspot, blindspot_right=carstate.rightBlindspot,
-                                               left_blinker=carstate.leftBlinker, right_blinker=carstate.rightBlinker, v_ego=v_ego)
-    self.lane_turn_direction = self.lane_turn_controller.get_turn_direction()
-
     if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX or self.alc.lane_change_set_timer == AutoLaneChangeMode.OFF:
       self.lane_change_state = LaneChangeState.off
       self.lane_change_direction = LaneChangeDirection.none
@@ -75,13 +56,12 @@ class DesireHelper:
       if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
         self.lane_change_state = LaneChangeState.preLaneChange
         self.lane_change_ll_prob = 1.0
-        # Initialize lane change direction to prevent UI alert flicker
-        self.lane_change_direction = self.get_lane_change_direction(carstate)
 
       # LaneChangeState.preLaneChange
       elif self.lane_change_state == LaneChangeState.preLaneChange:
-        # Update lane change direction
+        # Set lane change direction
-        self.lane_change_direction = self.get_lane_change_direction(carstate)
+        self.lane_change_direction = LaneChangeDirection.left if \
+          carstate.leftBlinker else LaneChangeDirection.right
 
         torque_applied = carstate.steeringPressed and \
                          ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
@@ -126,10 +106,7 @@ class DesireHelper:
 
     self.prev_one_blinker = one_blinker
 
-    if self.lane_turn_direction != custom.TurnDirection.none:
+    self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
-      self.desire = TURN_DESIRES[self.lane_turn_direction]
-    else:
-      self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
 
     # Send keep pulse once per second during LaneChangeStart.preLaneChange
     if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting):

selfdrive/controls/lib/latcontrol_torque.py

@@ -48,10 +48,6 @@ class LatControlTorque(LatControl):
                         self.lateral_accel_from_torque(-self.steer_max, self.torque_params))
 
   def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
-    # Override torque params from extension
-    if self.extension.update_override_torque_params(self.torque_params):
-      self.update_limits()
-
     pid_log = log.ControlsState.LateralTorqueState.new_message()
     if not active:
       output_torque = 0.0
@@ -60,8 +56,10 @@ class LatControlTorque(LatControl):
       actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
       roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
       curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
-
       desired_lateral_accel = desired_curvature * CS.vEgo ** 2
+
+      # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
+      # desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2
       actual_lateral_accel = actual_curvature * CS.vEgo ** 2
       lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
 
@@ -73,8 +71,6 @@ class LatControlTorque(LatControl):
       # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
       pid_log.error = float(setpoint - measurement)
       ff = gravity_adjusted_lateral_accel
-      # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
-      ff -= self.torque_params.latAccelOffset
       ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
 
       freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5

selfdrive/controls/lib/longcontrol.py

@@ -10,11 +10,8 @@ CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
 
-def long_control_state_trans(CP, CP_SP, active, long_control_state, v_ego,
+def long_control_state_trans(CP, active, long_control_state, v_ego,
                              should_stop, brake_pressed, cruise_standstill):
-  # Gas Interceptor
-  cruise_standstill = cruise_standstill and not CP_SP.enableGasInterceptor
-
   stopping_condition = should_stop
   starting_condition = (not should_stop and
                         not cruise_standstill and
@@ -48,9 +45,8 @@ def long_control_state_trans(CP, CP_SP, active, long_control_state, v_ego,
   return long_control_state
 
 class LongControl:
-  def __init__(self, CP, CP_SP):
+  def __init__(self, CP):
     self.CP = CP
-    self.CP_SP = CP_SP
     self.long_control_state = LongCtrlState.off
     self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
                              (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
@@ -65,7 +61,7 @@ class LongControl:
     self.pid.neg_limit = accel_limits[0]
     self.pid.pos_limit = accel_limits[1]
 
-    self.long_control_state = long_control_state_trans(self.CP, self.CP_SP, active, self.long_control_state, CS.vEgo,
+    self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo,
                                                        should_stop, CS.brakePressed,
                                                        CS.cruiseState.standstill)
     if self.long_control_state == LongCtrlState.off:

selfdrive/controls/lib/longitudinal_planner.py

@@ -146,9 +146,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
       clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
       accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)
 
-    # Get new v_cruise and a_desired from Smart Cruise Control and Speed Limit Assist
-    v_cruise, self.a_desired = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)
-
     if force_slow_decel:
       v_cruise = 0.0
 

selfdrive/controls/plannerd.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 from cereal import car
-from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
@@ -17,18 +16,14 @@ def main():
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("plannerd got CarParams: %s", CP.brand)
 
-  gps_location_service = get_gps_location_service(params)
-
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
-                            'liveMapDataSP', 'carStateSP', gps_location_service],
+                           poll='modelV2')
-                           poll='carState')
 
   while True:
     sm.update()
-    longitudinal_planner.sla.update_car_state(sm['carState'])
     if sm.updated['modelV2']:
       longitudinal_planner.update(sm)
       longitudinal_planner.publish(sm, pm)

selfdrive/controls/tests/test_longcontrol.py

@@ -1,4 +1,4 @@
-from cereal import car, custom
+from cereal import car
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
 
 
@@ -8,52 +8,49 @@ class TestLongControlStateTransition:
 
   def test_stay_stopped(self):
     CP = car.CarParams.new_message()
-    CP_SP = custom.CarParamsSP.new_message()
     active = True
     current_state = LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
+    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
                              should_stop=True, brake_pressed=False, cruise_standstill=False)
     assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
+    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
                              should_stop=False, brake_pressed=True, cruise_standstill=False)
     assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
+    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
                              should_stop=False, brake_pressed=False, cruise_standstill=True)
     assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
+    next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
     assert next_state == LongCtrlState.pid
     active = False
-    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
+    next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
     assert next_state == LongCtrlState.off
 
 def test_engage():
   CP = car.CarParams.new_message()
-  CP_SP = custom.CarParamsSP.new_message()
   active = True
   current_state = LongCtrlState.off
-  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
                              should_stop=True, brake_pressed=False, cruise_standstill=False)
   assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
                              should_stop=False, brake_pressed=True, cruise_standstill=False)
   assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
                              should_stop=False, brake_pressed=False, cruise_standstill=True)
   assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
   assert next_state == LongCtrlState.pid
 
 def test_starting():
   CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
-  CP_SP = custom.CarParamsSP.new_message()
   active = True
   current_state = LongCtrlState.starting
-  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
   assert next_state == LongCtrlState.starting
-  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
+  next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
   assert next_state == LongCtrlState.pid

selfdrive/controls/tests/test_torqued_lat_accel_offset.py

@@ -1,70 +0,0 @@
-import numpy as np
-from cereal import car, messaging
-from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
-from opendbc.car import structs
-from opendbc.car.lateral import get_friction, FRICTION_THRESHOLD
-from openpilot.common.realtime import DT_MDL
-from openpilot.selfdrive.locationd.torqued import TorqueEstimator, MIN_BUCKET_POINTS, POINTS_PER_BUCKET, STEER_BUCKET_BOUNDS
-
-np.random.seed(0)
-
-LA_ERR_STD = 1.0
-INPUT_NOISE_STD = 0.08
-V_EGO = 30.0
-
-WARMUP_BUCKET_POINTS = (1.5*MIN_BUCKET_POINTS).astype(int)
-STRAIGHT_ROAD_LA_BOUNDS = (0.02, 0.03)
-
-ROLL_BIAS_DEG = 2.0
-ROLL_COMPENSATION_BIAS = ACCELERATION_DUE_TO_GRAVITY*float(np.sin(np.deg2rad(ROLL_BIAS_DEG)))
-TORQUE_TUNE = structs.CarParams.LateralTorqueTuning(latAccelFactor=2.0, latAccelOffset=0.0, friction=0.2)
-TORQUE_TUNE_BIASED = structs.CarParams.LateralTorqueTuning(latAccelFactor=2.0, latAccelOffset=-ROLL_COMPENSATION_BIAS, friction=0.2)
-
-def generate_inputs(torque_tune, la_err_std, input_noise_std=None):
-  rng = np.random.default_rng(0)
-  steer_torques = np.concat([rng.uniform(bnd[0], bnd[1], pts) for bnd, pts in zip(STEER_BUCKET_BOUNDS, WARMUP_BUCKET_POINTS, strict=True)])
-  la_errs = rng.normal(scale=la_err_std, size=steer_torques.size)
-  frictions = np.array([get_friction(la_err, 0.0, FRICTION_THRESHOLD, torque_tune) for la_err in la_errs])
-  lat_accels = torque_tune.latAccelFactor*steer_torques + torque_tune.latAccelOffset + frictions
-  if input_noise_std is not None:
-    steer_torques += rng.normal(scale=input_noise_std, size=steer_torques.size)
-    lat_accels += rng.normal(scale=input_noise_std, size=steer_torques.size)
-  return steer_torques, lat_accels
-
-def get_warmed_up_estimator(steer_torques, lat_accels):
-  est = TorqueEstimator(car.CarParams())
-  for steer_torque, lat_accel in zip(steer_torques, lat_accels, strict=True):
-    est.filtered_points.add_point(steer_torque, lat_accel)
-  return est
-
-def simulate_straight_road_msgs(est):
-  carControl = messaging.new_message('carControl').carControl
-  carOutput = messaging.new_message('carOutput').carOutput
-  carState = messaging.new_message('carState').carState
-  livePose = messaging.new_message('livePose').livePose
-  carControl.latActive = True
-  carState.vEgo = V_EGO
-  carState.steeringPressed = False
-  ts = DT_MDL*np.arange(2*POINTS_PER_BUCKET)
-  steer_torques = np.concat((np.linspace(-0.03, -0.02, POINTS_PER_BUCKET), np.linspace(0.02, 0.03, POINTS_PER_BUCKET)))
-  lat_accels = TORQUE_TUNE.latAccelFactor * steer_torques
-  for t, steer_torque, lat_accel in zip(ts, steer_torques, lat_accels, strict=True):
-    carOutput.actuatorsOutput.torque = float(-steer_torque)
-    livePose.orientationNED.x = float(np.deg2rad(ROLL_BIAS_DEG))
-    livePose.angularVelocityDevice.z = float(lat_accel / V_EGO)
-    for which, msg in (('carControl', carControl), ('carOutput', carOutput), ('carState', carState), ('livePose', livePose)):
-      est.handle_log(t, which, msg)
-
-def test_estimated_offset():
-  steer_torques, lat_accels = generate_inputs(TORQUE_TUNE_BIASED, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
-  est = get_warmed_up_estimator(steer_torques, lat_accels)
-  msg = est.get_msg()
-  # TODO add lataccelfactor and friction check when we have more accurate estimates
-  assert abs(msg.liveTorqueParameters.latAccelOffsetRaw - TORQUE_TUNE_BIASED.latAccelOffset) < 0.1
-
-def test_straight_road_roll_bias():
-  steer_torques, lat_accels = generate_inputs(TORQUE_TUNE, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
-  est = get_warmed_up_estimator(steer_torques, lat_accels)
-  simulate_straight_road_msgs(est)
-  msg = est.get_msg()
-  assert (msg.liveTorqueParameters.latAccelOffsetRaw < -0.05) and np.isfinite(msg.liveTorqueParameters.latAccelOffsetRaw)

selfdrive/locationd/torqued.py

@@ -11,7 +11,6 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, PoseCalibrator, Pose
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
-from openpilot.sunnypilot.selfdrive.locationd.torqued_ext import TorqueEstimatorExt
 
 HISTORY = 5  # secs
 POINTS_PER_BUCKET = 1500
@@ -51,10 +50,9 @@ class TorqueBuckets(PointBuckets):
         break
 
 
-class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
+class TorqueEstimator(ParameterEstimator):
   def __init__(self, CP, decimated=False, track_all_points=False):
-    ParameterEstimator.__init__(self)
+    super().__init__()
-    TorqueEstimatorExt.__init__(self, CP)
     self.CP = CP
     self.hist_len = int(HISTORY / DT_MDL)
     self.lag = 0.0
@@ -84,8 +82,6 @@ class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
 
     self.calibrator = PoseCalibrator()
 
-    TorqueEstimatorExt.initialize_custom_params(self, decimated)
-
     self.reset()
 
     initial_params = {
@@ -264,8 +260,6 @@ def main(demo=False):
           t = sm.logMonoTime[which] * 1e-9
           estimator.handle_log(t, which, sm[which])
 
-    TorqueEstimatorExt.update_use_params(estimator)
-
     # 4Hz driven by livePose
     if sm.frame % 5 == 0:
       pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks()))

selfdrive/modeld/constants.py

@@ -13,9 +13,12 @@ class ModelConstants:
   META_T_IDXS = [2., 4., 6., 8., 10.]
 
   # model inputs constants
-  N_FRAMES = 2
+  MODEL_FREQ = 20
-  MODEL_RUN_FREQ = 20
+  HISTORY_FREQ = 5
-  MODEL_CONTEXT_FREQ = 5 # "model_trained_fps"
+  HISTORY_LEN_SECONDS = 5
+  TEMPORAL_SKIP = MODEL_FREQ // HISTORY_FREQ
+  FULL_HISTORY_BUFFER_LEN = MODEL_FREQ * HISTORY_LEN_SECONDS
+  INPUT_HISTORY_BUFFER_LEN = HISTORY_FREQ * HISTORY_LEN_SECONDS
 
   FEATURE_LEN = 512
 

selfdrive/modeld/fill_model_msg.py

@@ -3,7 +3,6 @@ import capnp
 import numpy as np
 from cereal import log
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
-from openpilot.sunnypilot.models.helpers import plan_x_idxs_helper
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
@@ -96,8 +95,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   # action
   modelV2.action = action
 
-  # times at X_IDXS of edges and lines
+  # times at X_IDXS of edges and lines aren't used
-  LINE_T_IDXS: list[float] = plan_x_idxs_helper(ModelConstants, Plan, net_output_data)
+  LINE_T_IDXS: list[float] = []
 
   # lane lines
   modelV2.init('laneLines', 4)
@@ -150,7 +149,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   meta.hardBrakePredicted = hard_brake_predicted.item()
 
   # confidence
-  if vipc_frame_id % (2*ModelConstants.MODEL_RUN_FREQ) == 0:
+  if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
     # any disengage prob
     brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE]
     gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE]

selfdrive/modeld/modeld.py

@@ -80,64 +80,6 @@ class FrameMeta:
     if vipc is not None:
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
-class InputQueues:
-  def __init__ (self, model_fps, env_fps, n_frames_input):
-    assert env_fps % model_fps == 0
-    assert env_fps >= model_fps
-    self.model_fps = model_fps
-    self.env_fps = env_fps
-    self.n_frames_input = n_frames_input
-
-    self.dtypes = {}
-    self.shapes = {}
-    self.q = {}
-
-  def update_dtypes_and_shapes(self, input_dtypes, input_shapes) -> None:
-    self.dtypes.update(input_dtypes)
-    if self.env_fps == self.model_fps:
-      self.shapes.update(input_shapes)
-    else:
-      for k in input_shapes:
-        shape = list(input_shapes[k])
-        if 'img' in k:
-          n_channels = shape[1] // self.n_frames_input
-          shape[1] = (self.env_fps // self.model_fps + (self.n_frames_input - 1)) * n_channels
-        else:
-          shape[1] = (self.env_fps // self.model_fps) * shape[1]
-        self.shapes[k] = tuple(shape)
-
-  def reset(self) -> None:
-    self.q = {k: np.zeros(self.shapes[k], dtype=self.dtypes[k]) for k in self.dtypes.keys()}
-
-  def enqueue(self, inputs:dict[str, np.ndarray]) -> None:
-    for k in inputs.keys():
-      if inputs[k].dtype != self.dtypes[k]:
-        raise ValueError(f'supplied input <{k}({inputs[k].dtype})> has wrong dtype, expected {self.dtypes[k]}')
-      input_shape = list(self.shapes[k])
-      input_shape[1] = -1
-      single_input = inputs[k].reshape(tuple(input_shape))
-      sz = single_input.shape[1]
-      self.q[k][:,:-sz] = self.q[k][:,sz:]
-      self.q[k][:,-sz:] = single_input
-
-  def get(self, *names) -> dict[str, np.ndarray]:
-    if self.env_fps == self.model_fps:
-      return {k: self.q[k] for k in names}
-    else:
-      out = {}
-      for k in names:
-        shape = self.shapes[k]
-        if 'img' in k:
-          n_channels = shape[1] // (self.env_fps // self.model_fps + (self.n_frames_input - 1))
-          out[k] = np.concatenate([self.q[k][:, s:s+n_channels] for s in np.linspace(0, shape[1] - n_channels, self.n_frames_input, dtype=int)], axis=1)
-        elif 'pulse' in k:
-          # any pulse within interval counts
-          out[k] = self.q[k].reshape((shape[0], shape[1] * self.model_fps // self.env_fps, self.env_fps // self.model_fps, -1)).max(axis=2)
-        else:
-          idxs = np.arange(-1, -shape[1], -self.env_fps // self.model_fps)[::-1]
-          out[k] = self.q[k][:, idxs]
-      return out
-
 class ModelState(ModelStateBase):
   frames: dict[str, DrivingModelFrame]
   inputs: dict[str, np.ndarray]
@@ -160,15 +102,19 @@ class ModelState(ModelStateBase):
       self.policy_output_slices = policy_metadata['output_slices']
       policy_output_size = policy_metadata['output_shapes']['outputs'][1]
 
-    self.frames = {name: DrivingModelFrame(context, ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ) for name in self.vision_input_names}
+    self.frames = {name: DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP) for name in self.vision_input_names}
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
 
+    self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32)
+    self.full_desire = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32)
+    self.temporal_idxs = slice(-1-(ModelConstants.TEMPORAL_SKIP*(ModelConstants.INPUT_HISTORY_BUFFER_LEN-1)), None, ModelConstants.TEMPORAL_SKIP)
+
     # policy inputs
-    self.numpy_inputs = {k: np.zeros(self.policy_input_shapes[k], dtype=np.float32) for k in self.policy_input_shapes}
+    self.numpy_inputs = {
-    self.full_input_queues = InputQueues(ModelConstants.MODEL_CONTEXT_FREQ, ModelConstants.MODEL_RUN_FREQ, ModelConstants.N_FRAMES)
+      'desire': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32),
-    for k in ['desire_pulse', 'features_buffer']:
+      'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
-      self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape})
+      'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
-    self.full_input_queues.reset()
+    }
 
     # img buffers are managed in openCL transform code
     self.vision_inputs: dict[str, Tensor] = {}
@@ -190,10 +136,15 @@ class ModelState(ModelStateBase):
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs['desire_pulse'][0] = 0
+    inputs['desire'][0] = 0
-    new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
+    new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
-    self.prev_desire[:] = inputs['desire_pulse']
+    self.prev_desire[:] = inputs['desire']
 
+    self.full_desire[0,:-1] = self.full_desire[0,1:]
+    self.full_desire[0,-1] = new_desire
+    self.numpy_inputs['desire'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2)
+
+    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
     imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names}
 
     if TICI and not USBGPU:
@@ -212,10 +163,9 @@ class ModelState(ModelStateBase):
     self.vision_output = self.vision_run(**self.vision_inputs).contiguous().realize().uop.base.buffer.numpy()
     vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices))
 
-    self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire})
+    self.full_features_buffer[0,:-1] = self.full_features_buffer[0,1:]
-    for k in ['desire_pulse', 'features_buffer']:
+    self.full_features_buffer[0,-1] = vision_outputs_dict['hidden_state'][0, :]
-      self.numpy_inputs[k][:] = self.full_input_queues.get(k)[k]
+    self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
-    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
 
     self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
     policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
@@ -266,14 +216,14 @@ def main(demo=False):
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
   # messaging
-  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
   sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
 
   publish_state = PublishState()
   params = Params()
 
   # setup filter to track dropped frames
-  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_RUN_FREQ)
+  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
   frame_id = 0
   last_vipc_frame_id = 0
   run_count = 0
@@ -370,7 +320,7 @@ def main(demo=False):
     bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
     transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
     inputs:dict[str, np.ndarray] = {
-      'desire_pulse': vec_desire,
+      'desire': vec_desire,
       'traffic_convention': traffic_convention,
     }
 
@@ -383,7 +333,6 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
-      mdv2sp_send = messaging.new_message('modelDataV2SP')
 
       action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
       prev_action = action
@@ -398,7 +347,6 @@ def main(demo=False):
       DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
-      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 
@@ -406,7 +354,6 @@ def main(demo=False):
       pm.send('modelV2', modelv2_send)
       pm.send('drivingModelData', drivingdata_send)
       pm.send('cameraOdometry', posenet_send)
-      pm.send('modelDataV2SP', mdv2sp_send)
     last_vipc_frame_id = meta_main.frame_id
 
 

selfdrive/modeld/models/driving_policy.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ebb38a934d6472c061cc6010f46d9720ca132d631a47e585a893bdd41ade2419
+oid sha256:04b763fb71efe57a8a4c4168a8043ecd58939015026ded0dc755ded6905ac251
-size 12343535
+size 12343523

selfdrive/modeld/models/driving_vision.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:befac016a247b7ad5dc5b55d339d127774ed7bd2b848f1583f72aa4caee37781
+oid sha256:e66bb8d53eced3786ed71a59b55ffc6810944cb217f0518621cc76303260a1ef
 size 46271991

selfdrive/pandad/pandad.cc

@@ -84,10 +84,12 @@ Panda *connect(std::string serial="", uint32_t index=0) {
     panda->set_can_fd_auto(i, true);
   }
 
-  bool is_supported_panda = std::find(SUPPORTED_PANDA_TYPES.begin(), SUPPORTED_PANDA_TYPES.end(), panda->hw_type) != SUPPORTED_PANDA_TYPES.end();
+  bool is_deprecated_panda = std::find(DEPRECATED_PANDA_TYPES.begin(),
+                                       DEPRECATED_PANDA_TYPES.end(),
+                                       panda->hw_type) != DEPRECATED_PANDA_TYPES.end();
 
-  if (!is_supported_panda) {
+  if (is_deprecated_panda) {
-    LOGW("panda %s is not supported (hw_type: %i), skipping firmware check...", panda->hw_serial().c_str(), static_cast<uint16_t>(panda->hw_type));
+    LOGW("panda %s is deprecated (hw_type: %i), skipping firmware check...", panda->hw_serial().c_str(), static_cast<uint16_t>(panda->hw_type));
     return panda.release();
   }
 
@@ -173,6 +175,7 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
   ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
   ps.setInterruptLoad(health.interrupt_load_pkt);
   ps.setFanPower(health.fan_power);
+  ps.setFanStallCount(health.fan_stall_count);
   ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt));
   ps.setSpiErrorCount(health.spi_error_count_pkt);
   ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);

selfdrive/pandad/pandad.h

@@ -9,10 +9,13 @@
 void pandad_main_thread(std::vector<std::string> serials);
 
 // deprecated devices
-static const std::vector<cereal::PandaState::PandaType> SUPPORTED_PANDA_TYPES = {
+static const std::vector<cereal::PandaState::PandaType> DEPRECATED_PANDA_TYPES = {
-  cereal::PandaState::PandaType::RED_PANDA,
+  cereal::PandaState::PandaType::WHITE_PANDA,
-  cereal::PandaState::PandaType::TRES,
+  cereal::PandaState::PandaType::GREY_PANDA,
-  cereal::PandaState::PandaType::CUATRO,
+  cereal::PandaState::PandaType::BLACK_PANDA,
+  cereal::PandaState::PandaType::PEDAL,
+  cereal::PandaState::PandaType::UNO,
+  cereal::PandaState::PandaType::RED_PANDA_V2
 };
 
 

selfdrive/pandad/pandad.py

@@ -29,12 +29,6 @@ def flash_panda(panda_serial: str) -> Panda:
     HARDWARE.recover_internal_panda()
     raise
 
-  # skip flashing if the detected panda is not supported
-  supported_panda = check_panda_support(panda)
-  if not supported_panda:
-    cloudlog.warning(f"Panda {panda_serial} is not supported (hw_type: {panda.get_type()}), skipping flash...")
-    return panda
-
   fw_signature = get_expected_signature(panda)
   internal_panda = panda.is_internal()
 
@@ -42,6 +36,12 @@ def flash_panda(panda_serial: str) -> Panda:
   panda_signature = b"" if panda.bootstub else panda.get_signature()
   cloudlog.warning(f"Panda {panda_serial} connected, version: {panda_version}, signature {panda_signature.hex()[:16]}, expected {fw_signature.hex()[:16]}")
 
+  # skip flashing if the detected device is deprecated from upstream
+  hw_type = panda.get_type()
+  if hw_type in Panda.DEPRECATED_DEVICES:
+    cloudlog.warning(f"Panda {panda_serial} is deprecated (hw_type: {hw_type}), skipping flash...")
+    return panda
+
   if panda.bootstub or panda_signature != fw_signature:
     cloudlog.info("Panda firmware out of date, update required")
     panda.flash()
@@ -67,14 +67,6 @@ def flash_panda(panda_serial: str) -> Panda:
   return panda
 
 
-def check_panda_support(panda) -> bool:
-  hw_type = panda.get_type()
-  if hw_type in Panda.SUPPORTED_DEVICES:
-    return True
-
-  return False
-
-
 def main() -> None:
   # signal pandad to close the relay and exit
   def signal_handler(signum, frame):
@@ -99,6 +91,11 @@ def main() -> None:
       cloudlog.event("pandad.flash_and_connect", count=count)
       params.remove("PandaSignatures")
 
+      # TODO: remove this in the next AGNOS
+      # wait until USB is up before counting
+      if time.monotonic() < 60.:
+        no_internal_panda_count = 0
+
       # Handle missing internal panda
       if no_internal_panda_count > 0:
         if no_internal_panda_count == 3:
@@ -148,12 +145,6 @@ def main() -> None:
       params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas))
 
       for panda in pandas:
-        # skip health check if the detected panda is not supported
-        supported_panda = check_panda_support(panda)
-        if not supported_panda:
-          cloudlog.warning(f"Panda {panda.get_usb_serial()} is not supported (hw_type: {panda.get_type()}), skipping health check...")
-          continue
-
         # check health for lost heartbeat
         health = panda.health()
         if health["heartbeat_lost"]:

selfdrive/pandad/tests/test_pandad.py

@@ -22,6 +22,8 @@ class TestPandad:
     if len(Panda.list()) == 0:
       self._run_test(60)
 
+    self.spi = HARDWARE.get_device_type() != 'tici'
+
   def teardown_method(self):
     managed_processes['pandad'].stop()
 
@@ -104,9 +106,11 @@ class TestPandad:
     # - 0.2s pandad -> pandad
     # - plus some buffer
     print("startup times", ts, sum(ts) / len(ts))
-    assert 0.1 < (sum(ts)/len(ts)) < 0.7
+    assert 0.1 < (sum(ts)/len(ts)) < (0.7 if self.spi else 5.0)
 
   def test_protocol_version_check(self):
+    if not self.spi:
+      pytest.skip("SPI test")
     # flash old fw
     fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
     self._flash_bootstub_and_test(fn, expect_mismatch=True)

selfdrive/pandad/tests/test_pandad_spi.py

@@ -6,6 +6,7 @@ import random
 
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
+from openpilot.system.hardware import HARDWARE
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages
 
@@ -15,6 +16,8 @@ JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
 class TestBoarddSpi:
   @classmethod
   def setup_class(cls):
+    if HARDWARE.get_device_type() == 'tici':
+      pytest.skip("only for spi pandas")
     os.environ['STARTED'] = '1'
     os.environ['SPI_ERR_PROB'] = '0.001'
     if not JUNGLE_SPAM:

selfdrive/selfdrived/alerts_offroad.json

@@ -29,6 +29,10 @@
     "text": "Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.",
     "severity": 1
   },
+  "Offroad_StorageMissing": {
+    "text": "NVMe drive not mounted.",
+    "severity": 1
+  },
   "Offroad_CarUnrecognized": {
     "text": "sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.",
     "severity": 0
@@ -45,10 +49,5 @@
     "text": "openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting.",
     "severity": 1,
     "_comment": "Set extra field to lateral or longitudinal."
-  },
-  "Offroad_TiciSupport": {
-    "text": "<b>Unsupported branch detected</b> - The current version of <b><u>%1</u></b> branch is no longer supported on the comma three. Please go to <b>[Device > Software]</b> and install a supported branch with <b><u>-tici</u></b> in the branch name for the comma three.",
-    "severity": 1,
-    "_comment": "Set extra field to the current branch name."
   }
 }

selfdrive/selfdrived/events.py

@@ -83,7 +83,7 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
     f"Steer Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}",
     "",
     AlertStatus.userPrompt, AlertSize.small,
-    Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.4)
+    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 0.4)
 
 
 def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:

selfdrive/selfdrived/selfdrived.py

@@ -21,12 +21,12 @@ from openpilot.selfdrive.selfdrived.helpers import ExcessiveActuationCheck
 from openpilot.selfdrive.selfdrived.state import StateMachine
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
 
+from openpilot.system.hardware import HARDWARE
 from openpilot.system.version import get_build_metadata
 
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
 from openpilot.sunnypilot.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
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
 REPLAY = "REPLAY" in os.environ
@@ -86,7 +86,7 @@ class SelfdriveD(CruiseHelper):
     # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
     self.car_state_sock = messaging.sub_sock('carState', timeout=20)
 
-    ignore = self.sensor_packets + self.gps_packets + ['alertDebug'] + ['modelDataV2SP']
+    ignore = self.sensor_packets + self.gps_packets + ['alertDebug']
     if SIMULATION:
       ignore += ['driverCameraState', 'managerState']
     if REPLAY:
@@ -95,8 +95,7 @@ class SelfdriveD(CruiseHelper):
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
+                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback'] + \
-                                   'modelDataV2SP', 'longitudinalPlanSP'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore,
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))
@@ -135,7 +134,13 @@ class SelfdriveD(CruiseHelper):
     self.state_machine = StateMachine()
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
-    self.ignored_processes = {'mapd', }
+    # some comma three with NVMe experience NVMe dropouts mid-drive that
+    # cause loggerd to crash on write, so ignore it only on that platform
+    self.ignored_processes = set()
+    nvme_expected = os.path.exists('/dev/nvme0n1') or (not os.path.isfile("/persist/comma/living-in-the-moment"))
+    if HARDWARE.get_device_type() == 'tici' and nvme_expected:
+      self.ignored_processes = {'loggerd', }
+    self.ignored_processes.update({'mapd'})
 
     # Determine startup event
     is_remote = build_metadata.openpilot.comma_remote or build_metadata.openpilot.sunnypilot_remote
@@ -157,9 +162,8 @@ class SelfdriveD(CruiseHelper):
     self.events_sp_prev = []
 
     self.mads = ModularAssistiveDrivingSystem(self)
-    self.icbm = IntelligentCruiseButtonManagement(self.CP, self.CP_SP)
 
-    self.car_events_sp = CarSpecificEventsSP(self.CP, self.CP_SP)
+    self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)
 
     CruiseHelper.__init__(self, self.CP)
 
@@ -205,7 +209,6 @@ class SelfdriveD(CruiseHelper):
 
     if not self.CP.notCar:
       self.events.add_from_msg(self.sm['driverMonitoringState'].events)
-      self.events_sp.add_from_msg(self.sm['longitudinalPlanSP'].events)
 
     # Add car events, ignore if CAN isn't valid
     if CS.canValid:
@@ -297,13 +300,6 @@ class SelfdriveD(CruiseHelper):
                                                     LaneChangeState.laneChangeFinishing):
       self.events.add(EventName.laneChange)
 
-    # Handle lane turn
-    lane_turn_direction = self.sm['modelDataV2SP'].laneTurnDirection
-    if lane_turn_direction == custom.TurnDirection.turnLeft:
-      self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnLeft)
-    elif lane_turn_direction == custom.TurnDirection.turnRight:
-      self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnRight)
-
     for i, pandaState in enumerate(self.sm['pandaStates']):
       # All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput
       if i < len(self.CP.safetyConfigs):
@@ -445,8 +441,6 @@ class SelfdriveD(CruiseHelper):
           self.events.add(EventName.personalityChanged)
         self.experimental_mode_switched = False
 
-    self.icbm.run(CS, self.sm['carControl'], self.sm['longitudinalPlanSP'], self.is_metric)
-
   def data_sample(self):
     _car_state = messaging.recv_one(self.car_state_sock)
     CS = _car_state.carState if _car_state else self.CS_prev
@@ -551,11 +545,6 @@ class SelfdriveD(CruiseHelper):
     mads.active = self.mads.active
     mads.available = self.mads.enabled_toggle
 
-    icbm = ss_sp.intelligentCruiseButtonManagement
-    icbm.state = self.icbm.state
-    icbm.sendButton = self.icbm.cruise_button
-    icbm.vTarget = self.icbm.v_target
-
     self.pm.send('selfdriveStateSP', ss_sp_msg)
 
     # onroadEventsSP - logged every second or on change

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -67,9 +67,6 @@ class Plant:
     lp = messaging.new_message('liveParameters')
     car_control = messaging.new_message('carControl')
     model = messaging.new_message('modelV2')
-    car_state_sp = messaging.new_message('carStateSP')
-    live_map_data_sp = messaging.new_message('liveMapDataSP')
-    gps_data = messaging.new_message('gpsLocation')
     a_lead = (v_lead - self.v_lead_prev)/self.ts
     self.v_lead_prev = v_lead
 
@@ -136,10 +133,7 @@ class Plant:
           'controlsState': control.controlsState,
           'selfdriveState': ss.selfdriveState,
           'liveParameters': lp.liveParameters,
-          'modelV2': model.modelV2,
+          'modelV2': model.modelV2}
-          'carStateSP': car_state_sp.carStateSP,
-          'liveMapDataSP': live_map_data_sp.liveMapDataSP,
-          'gpsLocation': gps_data.gpsLocation}
     self.planner.update(sm)
     self.acceleration = self.planner.output_a_target
     self.speed = self.speed + self.acceleration * self.ts

selfdrive/test/process_replay/migration.py

@@ -28,8 +28,7 @@ MigrationFunc = Callable[[list[MessageWithIndex]], MigrationOps]
 # 3. product is the message type created by the migration function, and the function will be skipped if product type already exists in lr
 # 4. it must return a list of operations to be applied to the logreader (replace, add, delete)
 # 5. all migration functions must be independent of each other
-def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: bool = False, camera_states: bool = False,
+def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: bool = False, camera_states: bool = False):
-                live_location_kalman: bool = True):
   migrations = [
     migrate_sensorEvents,
     migrate_carParams,
@@ -38,6 +37,7 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo
     migrate_carOutput,
     migrate_controlsState,
     migrate_carState,
+    migrate_liveLocationKalman,
     migrate_liveTracks,
     migrate_driverAssistance,
     migrate_drivingModelData,
@@ -51,8 +51,6 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo
     migrations.extend([migrate_pandaStates, migrate_peripheralState])
   if camera_states:
     migrations.append(migrate_cameraStates)
-  if live_location_kalman:
-    migrations.append(migrate_liveLocationKalman)
 
   return migrate(lr, migrations)
 

selfdrive/test/process_replay/process_replay.py

@@ -496,7 +496,7 @@ CONFIGS = [
     pubs=[
       "cameraOdometry", "accelerometer", "gyroscope", "liveCalibration", "carState"
     ],
-    subs=["liveLocationKalman", "livePose"],
+    subs=["livePose"],
     ignore=["logMonoTime"],
     should_recv_callback=MessageBasedRcvCallback("cameraOdometry"),
     tolerance=NUMPY_TOLERANCE,
@@ -595,7 +595,7 @@ def get_custom_params_from_lr(lr: LogIterable, initial_state: str = "first") ->
   if len(live_calibration) > 0:
     custom_params["CalibrationParams"] = live_calibration[msg_index].as_builder().to_bytes()
   if len(live_parameters) > 0:
-    custom_params["LiveParametersV2"] = live_parameters[msg_index].as_builder().to_bytes()
+    custom_params["LiveParameters"] = live_parameters[msg_index].as_builder().to_bytes()
   if len(live_torque_parameters) > 0:
     custom_params["LiveTorqueParameters"] = live_torque_parameters[msg_index].as_builder().to_bytes()
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-afcab1abb62b9d5678342956cced4712f44e909e
+6d3219bca9f66a229b38a5382d301a92b0147edb

selfdrive/test/test_onroad.py

@@ -18,6 +18,7 @@ from openpilot.common.timeout import Timeout
 from openpilot.common.params import Params
 from openpilot.selfdrive.selfdrived.events import EVENTS, ET
 from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
+from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.hw import Paths
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.log_time_series import msgs_to_time_series
@@ -32,7 +33,7 @@ CPU usage budget
 TEST_DURATION = 25
 LOG_OFFSET = 8
 
-MAX_TOTAL_CPU = 300.  # total for all 8 cores
+MAX_TOTAL_CPU = 280.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
   "selfdrive.controls.controlsd": 16.0,
@@ -56,20 +57,30 @@ PROCS = {
   "selfdrive.ui.soundd": 3.0,
   "selfdrive.ui.feedback.feedbackd": 1.0,
   "selfdrive.monitoring.dmonitoringd": 4.0,
-  "system.proclogd": 3.0,
+  "./proclogd": 2.0,
   "system.logmessaged": 1.0,
   "system.tombstoned": 0,
-  "system.journald": 1.0,
+  "./logcatd": 1.0,
   "system.micd": 5.0,
   "system.timed": 0,
   "selfdrive.pandad.pandad": 0,
   "system.statsd": 1.0,
   "system.loggerd.uploader": 15.0,
   "system.loggerd.deleter": 1.0,
-  "./pandad": 19.0,
-  "system.qcomgpsd.qcomgpsd": 1.0,
 }
 
+PROCS.update({
+  "tici": {
+    "./pandad": 5.0,
+    "./ubloxd": 1.0,
+    "system.ubloxd.pigeond": 6.0,
+  },
+  "tizi": {
+     "./pandad": 19.0,
+    "system.qcomgpsd.qcomgpsd": 1.0,
+  }
+}.get(HARDWARE.get_device_type(), {}))
+
 TIMINGS = {
   # rtols: max/min, rsd
   "can": [2.5, 0.35],

selfdrive/ui/layouts/main.py

@@ -63,20 +63,14 @@ class MainLayout(Widget):
       # Don't hide sidebar from interactive timeout
       if self._current_mode != MainState.ONROAD:
         self._sidebar.set_visible(False)
-      self._set_current_layout(MainState.ONROAD)
+      self._current_mode = MainState.ONROAD
     else:
-      self._set_current_layout(MainState.HOME)
+      self._current_mode = MainState.HOME
       self._sidebar.set_visible(True)
 
-  def _set_current_layout(self, layout: MainState):
-    if layout != self._current_mode:
-      self._layouts[self._current_mode].hide_event()
-      self._current_mode = layout
-      self._layouts[self._current_mode].show_event()
-
   def open_settings(self, panel_type: PanelType):
     self._layouts[MainState.SETTINGS].set_current_panel(panel_type)
-    self._set_current_layout(MainState.SETTINGS)
+    self._current_mode = MainState.SETTINGS
     self._sidebar.set_visible(False)
 
   def _on_settings_clicked(self):

selfdrive/ui/layouts/network.py

@@ -0,0 +1,17 @@
+import pyray as rl
+from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.network import WifiManagerUI
+
+
+class NetworkLayout(Widget):
+  def __init__(self):
+    super().__init__()
+    self.wifi_manager = WifiManagerWrapper()
+    self.wifi_ui = WifiManagerUI(self.wifi_manager)
+
+  def _render(self, rect: rl.Rectangle):
+    self.wifi_ui.render(rect)
+
+  def shutdown(self):
+    self.wifi_manager.shutdown()

selfdrive/ui/layouts/settings/firehose.py

@@ -2,7 +2,7 @@ import pyray as rl
 import time
 import threading
 
-from openpilot.common.api import api_get
+from openpilot.common.api import Api, api_get
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.ui_state import ui_state
@@ -11,7 +11,7 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.wrap_text import wrap_text
 from openpilot.system.ui.widgets import Widget
-from openpilot.selfdrive.ui.lib.api_helpers import get_token
+
 
 TITLE = "Firehose Mode"
 DESCRIPTION = (
@@ -163,7 +163,7 @@ class FirehoseLayout(Widget):
       dongle_id = self.params.get("DongleId")
       if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
         return
-      identity_token = get_token(dongle_id)
+      identity_token = Api(dongle_id).get_token()
       response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
       if response.status_code == 200:
         data = response.json()

selfdrive/ui/layouts/settings/settings.py

@@ -2,6 +2,7 @@ import pyray as rl
 from dataclasses import dataclass
 from enum import IntEnum
 from collections.abc import Callable
+from openpilot.selfdrive.ui.layouts.network import NetworkLayout
 from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
 from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
 from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
@@ -9,9 +10,7 @@ from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
 from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.lib.wifi_manager import WifiManager
 from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.network import WifiManagerUI
 
 # Settings close button
 SETTINGS_CLOSE_TEXT = "×"
@@ -44,7 +43,7 @@ class PanelType(IntEnum):
 @dataclass
 class PanelInfo:
   name: str
-  instance: Widget
+  instance: object
   button_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
 
 
@@ -54,12 +53,9 @@ class SettingsLayout(Widget):
     self._current_panel = PanelType.DEVICE
 
     # Panel configuration
-    wifi_manager = WifiManager()
-    wifi_manager.set_active(False)
-
     self._panels = {
       PanelType.DEVICE: PanelInfo("Device", DeviceLayout()),
-      PanelType.NETWORK: PanelInfo("Network", WifiManagerUI(wifi_manager)),
+      PanelType.NETWORK: PanelInfo("Network", NetworkLayout()),
       PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayout()),
       PanelType.SOFTWARE: PanelInfo("Software", SoftwareLayout()),
       PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout()),
@@ -153,14 +149,8 @@ class SettingsLayout(Widget):
 
   def set_current_panel(self, panel_type: PanelType):
     if panel_type != self._current_panel:
-      self._panels[self._current_panel].instance.hide_event()
       self._current_panel = panel_type
-      self._panels[self._current_panel].instance.show_event()
 
-  def show_event(self):
+  def close_settings(self):
-    super().show_event()
+    if self._close_callback:
-    self._panels[self._current_panel].instance.show_event()
+      self._close_callback()
-
-  def hide_event(self):
-    super().hide_event()
-    self._panels[self._current_panel].instance.hide_event()

selfdrive/ui/lib/api_helpers.py

@@ -1,14 +0,0 @@
-import time
-from functools import lru_cache
-from openpilot.common.api import Api
-
-TOKEN_EXPIRY_HOURS = 2
-
-
-@lru_cache(maxsize=1)
-def _get_token(dongle_id: str, t: int):
-  return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS)
-
-
-def get_token(dongle_id: str):
-  return _get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60)))

selfdrive/ui/lib/prime_state.py

@@ -2,12 +2,14 @@ from enum import IntEnum
 import os
 import threading
 import time
+from functools import lru_cache
 
-from openpilot.common.api import api_get
+from openpilot.common.api import Api, api_get
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
-from openpilot.selfdrive.ui.lib.api_helpers import get_token
+
+TOKEN_EXPIRY_HOURS = 2
 
 
 class PrimeType(IntEnum):
@@ -21,6 +23,12 @@ class PrimeType(IntEnum):
   PURPLE = 5,
 
 
+@lru_cache(maxsize=1)
+def get_token(dongle_id: str, t: int):
+  print('getting token')
+  return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS)
+
+
 class PrimeState:
   FETCH_INTERVAL = 5.0  # seconds between API calls
   API_TIMEOUT = 10.0  # seconds for API requests
@@ -50,13 +58,15 @@ class PrimeState:
       return
 
     try:
-      identity_token = get_token(dongle_id)
+      identity_token = get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60)))
       response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token)
       if response.status_code == 200:
         data = response.json()
         is_paired = data.get("is_paired", False)
         prime_type = data.get("prime_type", 0)
         self.set_type(PrimeType(prime_type) if is_paired else PrimeType.UNPAIRED)
+      elif response.status_code == 401:
+        get_token.cache_clear()
     except Exception as e:
       cloudlog.error(f"Failed to fetch prime status: {e}")
 

selfdrive/ui/qt/onroad/alerts.cc

@@ -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

selfdrive/ui/qt/onroad/annotated_camera.h

@@ -12,7 +12,6 @@
 #include "selfdrive/ui/sunnypilot/qt/onroad/model.h"
 #define ExperimentalButton ExperimentalButtonSP
 #define ModelRenderer ModelRendererSP
-#define HudRenderer HudRendererSP
 #else
 #include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/onroad/hud.h"

selfdrive/ui/qt/onroad/driver_monitoring.cc

@@ -73,11 +73,6 @@ void DriverMonitorRenderer::draw(QPainter &painter, const QRect &surface_rect) {
   float y = surface_rect.height() - offset;
   float opacity = is_active ? 0.65f : 0.2f;
 
-#ifdef SUNNYPILOT
-  const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
-  y -= dev_ui_info > 1 ? 50 : 0;
-#endif
-
   drawIcon(painter, QPoint(x, y), dm_img, QColor(0, 0, 0, 70), opacity);
 
   QPointF keypoints[std::size(DEFAULT_FACE_KPTS_3D)];

selfdrive/ui/qt/onroad/hud.cc

@@ -47,11 +47,10 @@ void HudRenderer::draw(QPainter &p, const QRect &surface_rect) {
   bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0));
   p.fillRect(0, 0, surface_rect.width(), UI_HEADER_HEIGHT, bg);
 
-#ifndef SUNNYPILOT
+
   if (is_cruise_available) {
     drawSetSpeed(p, surface_rect);
   }
-#endif
   drawCurrentSpeed(p, surface_rect);
 
   p.restore();

selfdrive/ui/sunnypilot/SConscript

@@ -24,7 +24,6 @@ qt_src = [
   "sunnypilot/qt/offroad/offroad_home.cc",
   "sunnypilot/qt/offroad/settings/developer_panel.cc",
   "sunnypilot/qt/offroad/settings/device_panel.cc",
-  "sunnypilot/qt/offroad/settings/display_panel.cc",
   "sunnypilot/qt/offroad/settings/lateral_panel.cc",
   "sunnypilot/qt/offroad/settings/longitudinal_panel.cc",
   "sunnypilot/qt/offroad/settings/max_time_offroad.cc",
@@ -40,7 +39,6 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/visuals_panel.cc",
   "sunnypilot/qt/onroad/annotated_camera.cc",
   "sunnypilot/qt/onroad/buttons.cc",
-  "sunnypilot/qt/onroad/developer_ui/developer_ui.cc",
   "sunnypilot/qt/onroad/hud.cc",
   "sunnypilot/qt/onroad/model.cc",
   "sunnypilot/qt/onroad/onroad_home.cc",
@@ -51,14 +49,10 @@ lateral_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
-  "sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.cc",
-  "sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.cc",
 ]
 
 longitudinal_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.cc",
-  "sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.cc",
-  "sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc",
 ]
 
 network_src = [
@@ -93,13 +87,9 @@ brand_settings_qt_src = [
   "sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc",
 ]
 
-display_panel_qt_src = [
-  "sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc",
-]
 
 sp_widgets_src = widgets_src + network_src
-sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src + \
+sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src + longitudinal_panel_qt_src + osm_panel_qt_src
-            longitudinal_panel_qt_src + osm_panel_qt_src + display_panel_qt_src
 sp_qt_util = qt_util
 
 Export('sp_widgets_src', 'sp_qt_src', "sp_qt_util")

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

@@ -1,63 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.h"
-
-OnroadScreenBrightnessControl::OnroadScreenBrightnessControl(const QString &param, const QString &title,
-                                                             const QString &description, const QString &icon,
-                                                             QWidget *parent)
-  : ExpandableToggleRow(param, title, description, icon, parent) {
-  auto *mainFrame = new QFrame(this);
-  auto *mainFrameLayout = new QGridLayout();
-  mainFrame->setLayout(mainFrameLayout);
-  mainFrameLayout->setSpacing(0);
-
-  onroadScreenOffTimer = new OptionControlSP(
-    "OnroadScreenOffTimer",
-    "",
-    "",
-    "",
-    {0, 11}, 1, true, &onroadScreenOffTimerOptions);
-
-  onroadScreenBrightness = new OptionControlSP(
-    "OnroadScreenOffBrightness",
-    "",
-    "",
-    "",
-    {0, 100}, 10, true, nullptr, false);
-
-  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);
-
-  addItem(mainFrame);
-
-  refresh();
-}
-
-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>";
-  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>";
-  onroadScreenBrightness->setLabel(QString::fromStdString(labelBrightness));
-}

selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.h

@@ -1,42 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
-
-static const QMap<QString, QString> onroadScreenOffTimerOptions = {
-  {"0", "15"},
-  {"1", "30"},
-  {"2", "60"},
-  {"3", "120"},
-  {"4", "180"},
-  {"5", "240"},
-  {"6", "300"},
-  {"7", "360"},
-  {"8", "420"},
-  {"9", "480"},
-  {"10", "540"},
-  {"11", "600"}
-};
-
-class OnroadScreenBrightnessControl : public ExpandableToggleRow {
-  Q_OBJECT
-
-public:
-  OnroadScreenBrightnessControl(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                                QWidget *parent = nullptr);
-  void refresh();
-
-private:
-  Params params;
-  OptionControlSP *onroadScreenOffTimer;
-  OptionControlSP *onroadScreenBrightness;
-};

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

@@ -1,40 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h"
-
-DisplayPanel::DisplayPanel(QWidget *parent) : QWidget(parent) {
-  main_layout = new QStackedLayout(this);
-  ListWidgetSP *list = new ListWidgetSP(this, false);
-
-  sunnypilotScreen = new QWidget(this);
-  QVBoxLayout* vlayout = new QVBoxLayout(sunnypilotScreen);
-  vlayout->setContentsMargins(50, 20, 50, 20);
-
-  // Onroad Screen Off/Brightness
-  onroadScreenBrightnessControl = new OnroadScreenBrightnessControl(
-    "OnroadScreenOffControl",
-    tr("Driving Screen Off: Non-Critical Events"),
-    tr("Turn off device screen or reduce brightness after driving starts. "
-       "It automatically brightens again when screen is touched or a critical event occurs."),
-    "",
-    this);
-  list->addItem(onroadScreenBrightnessControl);
-
-  sunnypilotScroller = new ScrollViewSP(list, this);
-  vlayout->addWidget(sunnypilotScroller);
-  main_layout->addWidget(sunnypilotScreen);
-}
-
-void DisplayPanel::showEvent(QShowEvent *event) {
-  QWidget::showEvent(event);
-  refresh();
-}
-
-void DisplayPanel::refresh() {
-  onroadScreenBrightnessControl->refresh();
-}

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

@@ -1,28 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "selfdrive/ui/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"
-
-class DisplayPanel : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit DisplayPanel(QWidget *parent = nullptr);
-  void showEvent(QShowEvent *event) override;
-  void refresh();
-
-private:
-  QStackedLayout* main_layout = nullptr;
-  QWidget* sunnypilotScreen = nullptr;
-  ScrollViewSP *sunnypilotScroller = nullptr;
-  Params params;
-  OnroadScreenBrightnessControl *onroadScreenBrightnessControl = nullptr;
-};

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

@@ -52,16 +52,12 @@ void MadsSettings::updateToggles(bool _offroad) {
   );
 
   auto cp_bytes = params.get("CarParamsPersistent");
-  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
+  if (!cp_bytes.empty()) {
-  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
     AlignedBuffer aligned_buf;
-    AlignedBuffer aligned_buf_sp;
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
-    capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size()));
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
-    cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
 
-    if (madsLimitedSettings(CP, CP_SP)) {
+    if (isBrandInList(CP.getBrand(), mads_limited_settings_brands)) {
       params.remove("MadsMainCruiseAllowed");
       params.putBool("MadsUnifiedEngagementMode", true);
       params.put("MadsSteeringMode", std::to_string(static_cast<int>(MadsSteeringMode::DISENGAGE)));

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

@@ -12,16 +12,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
-inline bool madsLimitedSettings(const cereal::CarParams::Reader &CP, const cereal::CarParamsSP::Reader &CP_SP) {
+const std::vector<std::string> mads_limited_settings_brands = {"rivian", "tesla"};
-  if (CP.getBrand() == "rivian") {
-    return true;
-  }
-  if (CP.getBrand() == "tesla") {
-    return !(CP_SP.getFlags() & 1);  // 1 == TeslaFlagsSP.HAS_VEHICLE_BUS
-  }
-
-  return false;
-}
 
 enum class MadsSteeringMode {
   REMAIN_ACTIVE = 0,

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

@@ -10,15 +10,14 @@
 NeuralNetworkLateralControl::NeuralNetworkLateralControl() :
   ParamControl("NeuralNetworkLateralControl", tr("Neural Network Lateral Control (NNLC)"),  "", "") {
   setConfirmation(true, false);
-  updateToggle(offroad);
+  updateToggle();
 }
 
-void NeuralNetworkLateralControl::updateToggle(bool _offroad) {
+void NeuralNetworkLateralControl::updateToggle() {
   QString statusInitText = "<font color='yellow'>" + STATUS_CHECK_COMPATIBILITY + "</font>";
   QString notLoadedText = "<font color='yellow'>" + STATUS_NOT_LOADED + "</font>";
   QString loadedText = "<font color=#00ff00>" + STATUS_LOADED + "</font>";
 
-  bool allowed = true;
   auto cp_bytes = params.get("CarParamsPersistent");
   auto cp_sp_bytes = params.get("CarParamsSPPersistent");
   if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
@@ -32,7 +31,7 @@ void NeuralNetworkLateralControl::updateToggle(bool _offroad) {
     if (CP.getSteerControlType() == cereal::CarParams::SteerControlType::ANGLE) {
       params.remove("NeuralNetworkLateralControl");
       setDescription(nnffDescriptionBuilder(STATUS_NOT_AVAILABLE));
-      allowed = false;
+      setEnabled(false);
     } else {
       QString nn_model_name = QString::fromStdString(CP_SP.getNeuralNetworkLateralControl().getModel().getName());
       QString nn_fuzzy = CP_SP.getNeuralNetworkLateralControl().getFuzzyFingerprint() ?
@@ -57,11 +56,4 @@ void NeuralNetworkLateralControl::updateToggle(bool _offroad) {
   if (getDescription() != getBaseDescription()) {
     showDescription();
   }
-
-  bool enforce_torque_toggle = params.getBool("EnforceTorqueControl");
-  setEnabled(_offroad && allowed && !enforce_torque_toggle);
-
-  refresh();
-
-  offroad = _offroad;
 }

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

@@ -20,11 +20,10 @@ public:
   NeuralNetworkLateralControl();
 
 public slots:
-  void updateToggle(bool _offroad);
+  void updateToggle();
 
 private:
   Params params;
-  bool offroad;
 
   // Status messages
   const QString STATUS_NOT_AVAILABLE = tr("NNLC is currently not available on this platform.");

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

@@ -1,58 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.h"
-
-TorqueLateralControlCustomParams::TorqueLateralControlCustomParams(const QString &param, const QString &title, const QString &description, const QString &icon, QWidget *parent)
-    : ExpandableToggleRow(param, title, description, icon, parent) {
-
-  QFrame *frame = new QFrame(this);
-  QGridLayout *frame_layout = new QGridLayout();
-  frame->setLayout(frame_layout);
-  frame_layout->setSpacing(0);
-
-  torqueLateralControlParamsOverride = new ParamControl(
-    "TorqueParamsOverrideEnabled",
-    tr("Manual Real-Time Tuning"),
-    tr("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."),
-    "../assets/offroad/icon_blank.png",
-    this
-  );
-  connect(torqueLateralControlParamsOverride, &ParamControl::toggleFlipped, this, &TorqueLateralControlCustomParams::refresh);
-
-  torqueParamsOverrideLatAccelFactor = new OptionControlSP("TorqueParamsOverrideLatAccelFactor", tr("Lateral Acceleration Factor"), "", "", {1, 500}, 1, false, nullptr, true, false);
-  connect(torqueParamsOverrideLatAccelFactor, &OptionControlSP::updateLabels, this, &TorqueLateralControlCustomParams::refresh);
-  torqueParamsOverrideLatAccelFactor->setFixedWidth(280);
-
-  torqueParamsOverrideFriction = new OptionControlSP("TorqueParamsOverrideFriction", tr("Friction"), "", "", {1, 100}, 1, false, nullptr, true, false);
-  connect(torqueParamsOverrideFriction, &OptionControlSP::updateLabels, this, &TorqueLateralControlCustomParams::refresh);
-  torqueParamsOverrideFriction->setFixedWidth(280);
-
-  frame_layout->addWidget(torqueLateralControlParamsOverride, 0, 0, 1, 2);
-  QSpacerItem *spacer = new QSpacerItem(20, 40);
-  frame_layout->addItem(spacer, 1, 0, 1, 2);
-  frame_layout->addWidget(torqueParamsOverrideLatAccelFactor, 2, 0, Qt::AlignCenter);
-  frame_layout->addWidget(torqueParamsOverrideFriction, 2, 1, Qt::AlignCenter);
-
-  addItem(frame);
-
-  refresh();
-}
-
-void TorqueLateralControlCustomParams::refresh() {
-  bool torque_override_param = params.getBool("TorqueParamsOverrideEnabled");
-  float laf_param = QString::fromStdString(params.get("TorqueParamsOverrideLatAccelFactor")).toFloat();
-  const QString laf_unit = "m/s²";
-
-  float friction_param = QString::fromStdString(params.get("TorqueParamsOverrideFriction")).toFloat();
-
-  torqueParamsOverrideLatAccelFactor->setTitle(tr("Lateral Acceleration Factor") + "\n(" + (torque_override_param ? tr("Real-time and Offline") : tr("Offline Only")) + ")");
-  torqueParamsOverrideFriction->setTitle(tr("Friction") + "\n(" + (torque_override_param ? tr("Real-time and Offline") : tr("Offline Only")) + ")");
-
-  torqueParamsOverrideLatAccelFactor->setLabel(QString::number(laf_param, 'f', 2) + " " + laf_unit);
-  torqueParamsOverrideFriction->setLabel(QString::number(friction_param, 'f', 2));
-}

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

@@ -1,27 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
-
-class TorqueLateralControlCustomParams : public ExpandableToggleRow {
-  Q_OBJECT
-
-public:
-  TorqueLateralControlCustomParams(const QString &param, const QString &title, const QString &description, const QString &icon, QWidget *parent = nullptr);
-  void refresh();
-
-private:
-  Params params;
-  ParamControl *torqueLateralControlParamsOverride;
-  OptionControlSP *torqueParamsOverrideFriction;
-  OptionControlSP *torqueParamsOverrideLatAccelFactor;
-};

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

@@ -1,81 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.h"
-
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
-TorqueLateralControlSettings::TorqueLateralControlSettings(QWidget *parent) : QWidget(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(50, 20, 50, 20);
-  main_layout->setSpacing(20);
-
-  // Back button
-  PanelBackButton *back = new PanelBackButton();
-  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
-  main_layout->addWidget(back, 0, Qt::AlignLeft);
-
-  ListWidget *list = new ListWidget(this, false);
-  // param, title, desc, icon
-  std::vector<std::tuple<QString, QString, QString, QString>> toggle_defs{
-    {
-      "LiveTorqueParamsToggle",
-      tr("Self-Tune"),
-      tr("Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default."),
-      "../assets/offroad/icon_blank.png",
-    },
-    {
-      "LiveTorqueParamsRelaxedToggle",
-      tr("Less Restrict Settings for Self-Tune (Beta)"),
-      tr("Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values."),
-      "../assets/offroad/icon_blank.png",
-    }
-  };
-
-  for (auto &[param, title, desc, icon] : toggle_defs) {
-    auto toggle = new ParamControlSP(param, title, desc, icon, this);
-    list->addItem(toggle);
-    toggles[param.toStdString()] = toggle;
-  }
-
-  torqueLateralControlCustomParams = new TorqueLateralControlCustomParams(
-    "CustomTorqueParams",
-    tr("Enable Custom Tuning"),
-    tr("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 \"opendbc/car/torque_data\". "
-       "The values will also be used live when \"Manual Real-Time Tuning\" toggle is enabled."),
-    "../assets/offroad/icon_blank.png",
-    this);
-  list->addItem(torqueLateralControlCustomParams);
-
-  QObject::connect(uiState(), &UIState::offroadTransition, this, &TorqueLateralControlSettings::updateToggles);
-  QObject::connect(toggles["LiveTorqueParamsToggle"], &ParamControlSP::toggleFlipped, [=](bool state) {
-    if (!state) {
-      params.remove("LiveTorqueParamsRelaxedToggle");
-      toggles["LiveTorqueParamsRelaxedToggle"]->refresh();
-    }
-
-    updateToggles(offroad);
-  });
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void TorqueLateralControlSettings::showEvent(QShowEvent *event) {
-  updateToggles(offroad);
-}
-
-void TorqueLateralControlSettings::updateToggles(bool _offroad) {
-  bool live_toggle = toggles["LiveTorqueParamsToggle"]->isToggled();
-
-  toggles["LiveTorqueParamsToggle"]->setEnabled(_offroad);
-  toggles["LiveTorqueParamsRelaxedToggle"]->setEnabled(_offroad && live_toggle);
-
-  torqueLateralControlCustomParams->setEnabled(_offroad);
-  torqueLateralControlCustomParams->refresh();
-
-  offroad = _offroad;
-}

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

@@ -1,36 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-class TorqueLateralControlSettings : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit TorqueLateralControlSettings(QWidget *parent = nullptr);
-
-  void showEvent(QShowEvent *event) override;
-
-  signals:
-    void backPress();
-
-public slots:
-  void updateToggles(bool _offroad);
-
-private:
-  Params params;
-  bool offroad;
-  std::map<std::string, ParamControlSP*> toggles;
-
-  TorqueLateralControlCustomParams *torqueLateralControlCustomParams;
-};

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

@@ -75,36 +75,6 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
 
   list->addItem(horizontal_line());
 
-  // Customized Torque Lateral Control
-  torqueLateralControlToggle = new ParamControl(
-    "EnforceTorqueControl",
-    tr("Enforce Torque Lateral Control"),
-    tr("Enable this to enforce sunnypilot to steer with Torque lateral control."),
-    "");
-  list->addItem(torqueLateralControlToggle);
-
-  torqueLateralControlSettingsButton = new PushButtonSP(tr("Customize Params"));
-  torqueLateralControlSettingsButton->setObjectName("torque_btn");
-  connect(torqueLateralControlSettingsButton, &QPushButton::clicked, [=]() {
-    sunnypilotScroller->setLastScrollPosition();
-    main_layout->setCurrentWidget(torqueLateralControlWidget);
-  });
-  QObject::connect(torqueLateralControlToggle, &ToggleControl::toggleFlipped, [=](bool state) {
-    torqueLateralControlSettingsButton->setEnabled(state);
-    nnlcToggle->updateToggle(offroad);
-    updateToggles(offroad);
-  });
-
-  torqueLateralControlWidget = new TorqueLateralControlSettings(this);
-  connect(torqueLateralControlWidget, &TorqueLateralControlSettings::backPress, [=]() {
-    sunnypilotScroller->restoreScrollPosition();
-    main_layout->setCurrentWidget(sunnypilotScreen);
-  });
-  list->addItem(torqueLateralControlSettingsButton);
-
-  list->addItem(vertical_space(0));
-  list->addItem(horizontal_line());
-
   // Neural Network Lateral Control
   nnlcToggle = new NeuralNetworkLateralControl();
   list->addItem(nnlcToggle);
@@ -116,10 +86,12 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
       nnlcToggle->hideDescription();
     }
 
-    nnlcToggle->updateToggle(offroad);
+    nnlcToggle->updateToggle();
-    updateToggles(offroad);
   });
 
+  toggleOffroadOnly = {
+    madsToggle, nnlcToggle,
+  };
   QObject::connect(uiState(), &UIState::offroadTransition, this, &LateralPanel::updateToggles);
 
   sunnypilotScroller = new ScrollViewSP(list, this);
@@ -128,7 +100,6 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
   main_layout->addWidget(sunnypilotScreen);
   main_layout->addWidget(madsWidget);
   main_layout->addWidget(laneChangeWidget);
-  main_layout->addWidget(torqueLateralControlWidget);
 
   setStyleSheet(R"(
     #back_btn {
@@ -149,7 +120,7 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
 }
 
 void LateralPanel::showEvent(QShowEvent *event) {
-  nnlcToggle->updateToggle(offroad);
+  nnlcToggle->updateToggle();
   updateToggles(offroad);
 }
 
@@ -158,40 +129,27 @@ void LateralPanel::hideEvent(QHideEvent *event) {
 }
 
 void LateralPanel::updateToggles(bool _offroad) {
-  bool torque_allowed = true;
+  for (auto *toggle : toggleOffroadOnly) {
-  auto cp_bytes = params.get("CarParamsPersistent");
+    toggle->setEnabled(_offroad);
-  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
+  }
-  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
-    AlignedBuffer aligned_buf;
-    AlignedBuffer aligned_buf_sp;
-    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
-    capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size()));
-    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
-    cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
 
-    if (madsLimitedSettings(CP, CP_SP)) {
+  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>();
+
+    if (isBrandInList(CP.getBrand(), mads_limited_settings_brands)) {
       madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_LIMITED_COMPATIBILITY, MADS_BASE_DESC));
     } else {
       madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_FULL_COMPATIBILITY, MADS_BASE_DESC));
     }
-
-    if (CP.getSteerControlType() == cereal::CarParams::SteerControlType::ANGLE) {
-      params.remove("EnforceTorqueControl");
-      torque_allowed = false;
-    }
   } else {
     madsToggle->setDescription(descriptionBuilder(STATUS_MADS_CHECK_COMPATIBILITY, MADS_BASE_DESC));
-
-    params.remove("EnforceTorqueControl");
-    torque_allowed = false;
   }
 
-  madsToggle->setEnabled(_offroad);
   madsSettingsButton->setEnabled(madsToggle->isToggled());
 
-  torqueLateralControlToggle->setEnabled(_offroad && torque_allowed && !nnlcToggle->isToggled());
-  torqueLateralControlSettingsButton->setEnabled(torqueLateralControlToggle->isToggled());
-
   blinkerPauseLateralSettings->refresh();
 
   offroad = _offroad;

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

@@ -15,7 +15,6 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
@@ -36,6 +35,7 @@ private:
   QStackedLayout* main_layout = nullptr;
   QWidget* sunnypilotScreen = nullptr;
   ScrollViewSP *sunnypilotScroller = nullptr;
+  std::vector<ParamControl *> toggleOffroadOnly;
   bool offroad;
 
   ParamControl *madsToggle;
@@ -45,9 +45,6 @@ private:
   LaneChangeSettings *laneChangeWidget = nullptr;
   NeuralNetworkLateralControl *nnlcToggle = nullptr;
   BlinkerPauseLateralSettings *blinkerPauseLateralSettings = nullptr;
-  ParamControl *torqueLateralControlToggle;
-  PushButtonSP *torqueLateralControlSettingsButton;
-  TorqueLateralControlSettings *torqueLateralControlWidget = nullptr;
 
   const QString MADS_BASE_DESC = tr("Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).");
 

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h

@@ -1,49 +0,0 @@
-/*
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-#pragma once
-
-enum class SpeedLimitOffsetType {
-  NONE,
-  FIXED,
-  PERCENT,
-};
-
-inline const QString SpeedLimitOffsetTypeTexts[]{
-  QObject::tr("None"),
-  QObject::tr("Fixed"),
-  QObject::tr("Percent"),
-};
-
-enum class SpeedLimitSourcePolicy {
-  CAR_ONLY,
-  MAP_ONLY,
-  CAR_FIRST,
-  MAP_FIRST,
-  COMBINED,
-};
-
-inline const QString SpeedLimitSourcePolicyTexts[]{
-  QObject::tr("Car\nOnly"),
-  QObject::tr("Map\nOnly"),
-  QObject::tr("Car\nFirst"),
-  QObject::tr("Map\nFirst"),
-  QObject::tr("Combined\nData")
-};
-
-enum class SpeedLimitMode {
-  OFF,
-  INFORMATION,
-  WARNING,
-  ASSIST,
-};
-
-inline const QString SpeedLimitModeTexts[]{
-  QObject::tr("Off"),
-  QObject::tr("Information"),
-  QObject::tr("Warning"),
-  QObject::tr("Assist"),
-};

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.cc

@@ -1,56 +0,0 @@
-/*
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-#include <QScrollBar>
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.h"
-
-SpeedLimitPolicy::SpeedLimitPolicy(QWidget *parent) : QWidget(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-  main_layout->setSpacing(0);
-
-  // Back button
-  PanelBackButton *back = new PanelBackButton(tr("Back"));
-  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
-  main_layout->addWidget(back, 0, Qt::AlignLeft);
-
-  main_layout->addSpacing(10);
-
-  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)]
-  };
-  speed_limit_policy = new ButtonParamControlSP(
-    "SpeedLimitPolicy",
-    tr("Speed Limit Source"),
-    "",
-    "",
-    speed_limit_policy_texts,
-    250);
-  list->addItem(speed_limit_policy);
-  connect(speed_limit_policy, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitPolicy::refresh);
-
-  speedLimitPolicyScroller = new ScrollViewSP(list, this);
-  main_layout->addWidget(speedLimitPolicyScroller);
-  refresh();
-};
-
-void SpeedLimitPolicy::refresh() {
-  SpeedLimitSourcePolicy policy_param = static_cast<SpeedLimitSourcePolicy>(std::atoi(params.get("SpeedLimitPolicy").c_str()));
-  speed_limit_policy->setDescription(sourceDescription(policy_param));
-}
-
-void SpeedLimitPolicy::showEvent(QShowEvent *event) {
-  speedLimitPolicyScroller->verticalScrollBar()->setValue(0);
-  refresh();
-  speed_limit_policy->showDescription();
-}

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.h

@@ -1,57 +0,0 @@
-/*
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
-class SpeedLimitPolicy : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit SpeedLimitPolicy(QWidget *parent = nullptr);
-  void refresh();
-  void showEvent(QShowEvent *event) override;
-
-signals:
-  void backPress();
-
-private:
-  Params params;
-  ButtonParamControlSP *speed_limit_policy;
-  ScrollViewSP *speedLimitPolicyScroller;
-
-  static QString sourceDescription(SpeedLimitSourcePolicy type = SpeedLimitSourcePolicy::CAR_ONLY) {
-    QString car_only = tr("⦿ Car Only: Use Speed Limit data only from Car");
-    QString map_only = tr("⦿ Map Only: Use Speed Limit data only from OpenStreetMaps");
-    QString car_first = tr("⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps");
-    QString map_first = tr("⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car");
-    QString combined = tr("⦿ Combined: Use combined Speed Limit data from Car & OpenStreetMaps");
-
-    if (type == SpeedLimitSourcePolicy::CAR_ONLY) {
-      car_only = "<font color='white'><b>" + car_only + "</b></font>";
-    } else if (type == SpeedLimitSourcePolicy::MAP_ONLY) {
-      map_only = "<font color='white'><b>" + map_only + "</b></font>";
-    } else if (type == SpeedLimitSourcePolicy::CAR_FIRST) {
-      car_first = "<font color='white'><b>" + car_first + "</b></font>";
-    } else if (type == SpeedLimitSourcePolicy::MAP_FIRST) {
-      map_first = "<font color='white'><b>" + map_first + "</b></font>";
-    } else {
-      combined = "<font color='white'><b>" + combined + "</b></font>";
-    }
-
-    return QString("%1<br>%2<br>%3<br>%4<br>%5")
-        .arg(car_only)
-        .arg(map_only)
-        .arg(car_first)
-        .arg(map_first)
-        .arg(combined);
-  }
-};

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc

@@ -1,160 +0,0 @@
-/*
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h"
-
-SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent) {
-  subPanelFrame = new QFrame();
-  QVBoxLayout *subPanelLayout = new QVBoxLayout(subPanelFrame);
-  subPanelLayout->setContentsMargins(0, 0, 0, 0);
-  subPanelLayout->setSpacing(0);
-
-  // Back button
-  PanelBackButton *back = new PanelBackButton(tr("Back"));
-  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
-  subPanelLayout->addWidget(back, 0, Qt::AlignLeft);
-
-  subPanelLayout->addSpacing(20);
-
-  ListWidgetSP *list = new ListWidgetSP(this, false);
-
-  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)],
-  };
-  speed_limit_mode_settings = new ButtonParamControlSP(
-    "SpeedLimitMode",
-    tr("Speed Limit"),
-    "",
-    "",
-    speed_limit_mode_texts,
-    380);
-  list->addItem(speed_limit_mode_settings);
-
-  list->addItem(horizontal_line());
-  list->addItem(vertical_space());
-
-  speedLimitSource = new PushButtonSP(tr("Customize Source"));
-  connect(speedLimitSource, &QPushButton::clicked, [&]() {
-    speedLimitScroller->setLastScrollPosition();
-    setCurrentWidget(speedLimitPolicyScreen);
-    speedLimitPolicyScreen->refresh();
-  });
-  connect(speedLimitPolicyScreen, &SpeedLimitPolicy::backPress, [&]() {
-    speedLimitScroller->restoreScrollPosition();
-    setCurrentWidget(subPanelFrame);
-    showEvent(new QShowEvent());
-  });
-
-  speedLimitSource->setFixedWidth(720);
-  list->addItem(speedLimitSource);
-
-  list->addItem(vertical_space(0));
-  list->addItem(horizontal_line());
-
-  QFrame *offsetFrame = new QFrame(this);
-  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)]
-  };
-  speed_limit_offset_settings = new ButtonParamControlSP(
-    "SpeedLimitOffsetType",
-    tr("Speed Limit Offset"),
-    "",
-    "",
-    speed_limit_offset_texts,
-    500);
-
-  offsetLayout->addWidget(speed_limit_offset_settings);
-
-  speed_limit_offset = new OptionControlSP(
-    "SpeedLimitValueOffset",
-    "",
-    "",
-    "",
-    {-30, 30}
-    );
-  offsetLayout->addWidget(speed_limit_offset);
-
-  list->addItem(offsetFrame);
-
-  connect(speed_limit_mode_settings, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitSettings::refresh);
-  connect(speed_limit_offset, &OptionControlSP::updateLabels, this, &SpeedLimitSettings::refresh);
-  connect(speed_limit_offset_settings, &ButtonParamControlSP::showDescriptionEvent, speed_limit_offset, &OptionControlSP::showDescription);
-  connect(speed_limit_offset_settings, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitSettings::refresh);
-
-  refresh();
-  speedLimitScroller = new ScrollViewSP(list, this);
-  subPanelLayout->addWidget(speedLimitScroller);
-  addWidget(subPanelFrame);
-  addWidget(speedLimitPolicyScreen);
-  setCurrentWidget(subPanelFrame);
-}
-
-void SpeedLimitSettings::refresh() {
-  bool is_metric_param = params.getBool("IsMetric");
-  SpeedLimitMode speed_limit_mode_param = static_cast<SpeedLimitMode>(std::atoi(params.get("SpeedLimitMode").c_str()));
-  SpeedLimitOffsetType offset_type_param = static_cast<SpeedLimitOffsetType>(std::atoi(params.get("SpeedLimitOffsetType").c_str()));
-  QString offsetLabel = QString::fromStdString(params.get("SpeedLimitValueOffset"));
-
-  bool has_longitudinal_control;
-  bool intelligent_cruise_button_management_available;
-  auto cp_bytes = params.get("CarParamsPersistent");
-  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
-  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
-    AlignedBuffer aligned_buf;
-    AlignedBuffer aligned_buf_sp;
-    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
-    capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size()));
-    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
-    cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
-
-    has_longitudinal_control = hasLongitudinalControl(CP);
-    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
-  } else {
-    has_longitudinal_control = false;
-    intelligent_cruise_button_management_available = false;
-  }
-
-  speed_limit_mode_settings->setDescription(modeDescription(speed_limit_mode_param));
-  speed_limit_offset->setDescription(offsetDescription(offset_type_param));
-
-  if (offset_type_param == SpeedLimitOffsetType::PERCENT) {
-    offsetLabel += "%";
-  } else if (offset_type_param == SpeedLimitOffsetType::FIXED) {
-    offsetLabel += QString(" %1").arg(is_metric_param ? "km/h" : "mph");
-  }
-
-  if (offset_type_param == SpeedLimitOffsetType::NONE) {
-    speed_limit_offset->setVisible(false);
-  } else {
-    speed_limit_offset->setVisible(true);
-    speed_limit_offset->setLabel(offsetLabel);
-    speed_limit_offset->showDescription();
-  }
-
-  if (has_longitudinal_control || intelligent_cruise_button_management_available) {
-    speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(getSpeedLimitModeValues()));
-  } else {
-    speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(
-      {SpeedLimitMode::OFF,SpeedLimitMode::INFORMATION, SpeedLimitMode::WARNING}));
-  }
-
-  speed_limit_mode_settings->showDescription();
-  speed_limit_offset->showDescription();
-}
-
-void SpeedLimitSettings::showEvent(QShowEvent *event) {
-  refresh();
-}

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

@@ -1,96 +0,0 @@
-/*
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
-class SpeedLimitSettings : public QStackedWidget {
-  Q_OBJECT
-
-public:
-  SpeedLimitSettings(QWidget *parent = nullptr);
-  void refresh();
-  void showEvent(QShowEvent *event) override;
-
-signals:
-  void backPress();
-
-private:
-  Params params;
-  ScrollViewSP *speedLimitScroller;
-  QFrame *subPanelFrame;
-  ButtonParamControlSP *speed_limit_mode_settings;
-  PushButtonSP *speedLimitSource;
-  SpeedLimitPolicy *speedLimitPolicyScreen;
-  ButtonParamControlSP *speed_limit_offset_settings;
-  OptionControlSP *speed_limit_offset;
-
-  static QString offsetDescription(SpeedLimitOffsetType type = SpeedLimitOffsetType::NONE) {
-    QString none_str = tr("⦿ None: No Offset");
-    QString fixed_str = tr("⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]");
-    QString percent_str = tr("⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]");
-
-    if (type == SpeedLimitOffsetType::FIXED) {
-      fixed_str = "<font color='white'><b>" + fixed_str + "</b></font>";
-    } else if (type == SpeedLimitOffsetType::PERCENT) {
-      percent_str = "<font color='white'><b>" + percent_str + "</b></font>";
-    } else {
-      none_str = "<font color='white'><b>" + none_str + "</b></font>";
-    }
-
-    return QString("%1<br>%2<br>%3")
-        .arg(none_str)
-        .arg(fixed_str)
-        .arg(percent_str);
-  }
-
-  static QString modeDescription(SpeedLimitMode mode = SpeedLimitMode::OFF) {
-    QString off_str = tr("⦿ Off: Disables the Speed Limit functions.");
-    QString info_str = tr("⦿ Information: Displays the current road's speed limit.");
-    QString warning_str = tr("⦿ Warning: Provides a warning when exceeding the current road's speed limit.");
-    QString assist_str = tr("⦿ Assist: Adjusts the vehicle's cruise speed based on the current road's speed limit when operating the +/- buttons.");
-
-    if (mode == SpeedLimitMode::ASSIST) {
-      assist_str = "<font color='white'><b>" + assist_str + "</b></font>";
-    } else if (mode == SpeedLimitMode::WARNING) {
-      warning_str = "<font color='white'><b>" + warning_str + "</b></font>";
-    } else if (mode == SpeedLimitMode::INFORMATION) {
-      info_str = "<font color='white'><b>" + info_str + "</b></font>";
-    } else {
-      off_str = "<font color='white'><b>" + off_str + "</b></font>";
-    }
-
-    return QString("%1<br>%2<br>%3<br>%4")
-        .arg(off_str)
-        .arg(info_str)
-        .arg(warning_str)
-        .arg(assist_str);
-  }
-
-  static std::vector<SpeedLimitMode> getSpeedLimitModeValues() {
-    std::vector<SpeedLimitMode> values;
-    for (int i = static_cast<int>(SpeedLimitMode::OFF);
-         i <= static_cast<int>(SpeedLimitMode::ASSIST); ++i) {
-      values.push_back(static_cast<SpeedLimitMode>(i));
-    }
-    return values;
-  }
-
-  static std::vector<int> convertSpeedLimitModeValues(const std::vector<SpeedLimitMode> &modes) {
-    std::vector<int> values;
-    for (const auto& mode : modes) {
-      values.push_back(static_cast<int>(mode));
-    }
-    return values;
-  }
-};

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

@@ -8,21 +8,6 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"
 
 LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
-  setStyleSheet(R"(
-    #back_btn {
-      font-size: 50px;
-      margin: 0px;
-      padding: 15px;
-      border-width: 0;
-      border-radius: 30px;
-      color: #dddddd;
-      background-color: #393939;
-    }
-    #back_btn:pressed {
-      background-color:  #4a4a4a;
-    }
-  )");
-
   main_layout = new QStackedLayout(this);
   ListWidget *list = new ListWidget(this, false);
 
@@ -33,50 +18,12 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
   cruisePanelScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(cruisePanelScroller);
 
-  intelligentCruiseButtonManagement = new ParamControlSP(
-    "IntelligentCruiseButtonManagement",
-    tr("Intelligent Cruise Button Management (ICBM) (Alpha)"),
-    tr("When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control."),
-    "",
-    this
-  );
-  intelligentCruiseButtonManagement->setConfirmation(true, false);
-  list->addItem(intelligentCruiseButtonManagement);
-
-  SmartCruiseControlVision = new ParamControl(
-    "SmartCruiseControlVision",
-    tr("Smart Cruise Control - Vision"),
-    tr("Use vision path predictions to estimate the appropriate speed to drive through turns ahead."),
-    "");
-  list->addItem(SmartCruiseControlVision);
-
-  SmartCruiseControlMap = new ParamControl(
-    "SmartCruiseControlMap",
-    tr("Smart Cruise Control - Map"),
-    tr("Use map data to estimate the appropriate speed to drive through turns ahead."),
-    "");
-  list->addItem(SmartCruiseControlMap);
-
   customAccIncrement = new CustomAccIncrement("CustomAccIncrementsEnabled", tr("Custom ACC Speed Increments"), "", "", this);
   list->addItem(customAccIncrement);
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &LongitudinalPanel::refresh);
 
-  speedLimitSettings = new PushButtonSP(tr("Speed Limit"), 750, this);
-  connect(speedLimitSettings, &QPushButton::clicked, [&]() {
-    cruisePanelScroller->setLastScrollPosition();
-    main_layout->setCurrentWidget(speedLimitScreen);
-  });
-  list->addItem(speedLimitSettings);
-
-  speedLimitScreen = new SpeedLimitSettings(this);
-  connect(speedLimitScreen, &SpeedLimitSettings::backPress, [=]() {
-    cruisePanelScroller->restoreScrollPosition();
-    main_layout->setCurrentWidget(cruisePanelScreen);
-  });
-
   main_layout->addWidget(cruisePanelScreen);
-  main_layout->addWidget(speedLimitScreen);
   main_layout->setCurrentWidget(cruisePanelScreen);
   refresh(offroad);
 }
@@ -88,22 +35,16 @@ void LongitudinalPanel::showEvent(QShowEvent *event) {
 
 void LongitudinalPanel::refresh(bool _offroad) {
   auto cp_bytes = params.get("CarParamsPersistent");
-  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
+  if (!cp_bytes.empty()) {
-  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
     AlignedBuffer aligned_buf;
-    AlignedBuffer aligned_buf_sp;
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
-    capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size()));
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
-    cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
 
     has_longitudinal_control = hasLongitudinalControl(CP);
     is_pcm_cruise = CP.getPcmCruise();
-    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
   } else {
     has_longitudinal_control = false;
     is_pcm_cruise = false;
-    intelligent_cruise_button_management_available = false;
   }
 
   QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");
@@ -115,7 +56,7 @@ void LongitudinalPanel::refresh(bool _offroad) {
     customAccIncrement->setDescription(onroadOnlyDescription);
     customAccIncrement->showDescription();
   } else {
-    if (has_longitudinal_control || intelligent_cruise_button_management_available) {
+    if (has_longitudinal_control) {
       if (is_pcm_cruise) {
         customAccIncrement->setDescription(accPcmCruiseDisabledDescription);
         customAccIncrement->showDescription();
@@ -127,21 +68,12 @@ void LongitudinalPanel::refresh(bool _offroad) {
       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(has_longitudinal_control && !is_pcm_cruise && !offroad);
-  customAccIncrement->setEnabled(cai_allowed && !offroad);
   customAccIncrement->refresh();
 
-  SmartCruiseControlVision->setEnabled(has_longitudinal_control || icbm_allowed);
-  SmartCruiseControlMap->setEnabled(has_longitudinal_control || icbm_allowed);
-
   offroad = _offroad;
 }

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

@@ -8,7 +8,6 @@
 #pragma once
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
@@ -24,16 +23,10 @@ private:
   Params params;
   bool has_longitudinal_control = false;
   bool is_pcm_cruise = false;
-  bool intelligent_cruise_button_management_available = false;;
   bool offroad = false;
 
   QStackedLayout *main_layout = nullptr;
   ScrollViewSP *cruisePanelScroller = nullptr;
   QWidget *cruisePanelScreen = nullptr;
   CustomAccIncrement *customAccIncrement = nullptr;
-  ParamControl *SmartCruiseControlVision;
-  ParamControl *SmartCruiseControlMap;
-  ParamControl *intelligentCruiseButtonManagement = nullptr;
-  SpeedLimitSettings *speedLimitScreen;
-  PushButtonSP *speedLimitSettings;
 };

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

@@ -101,42 +101,32 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   QString policyType = tr("Policy Model");
   policyFrame = createModelDetailFrame(this, policyType, policyProgressBar);
   list->addItem(policyFrame);
+
   list->addItem(horizontal_line());
 
-  // Lane Turn Desire toggle
-  lane_turn_desire_toggle = new ParamControlSP("LaneTurnDesire", tr("Use Lane Turn Desires"),
-                            "If you’re driving at 20 mph (32 km/h) or below and have your blinker on, "
-                            "the car will plan a turn in that direction at the nearest drivable path. "
-                            "This prevents situations (like at red lights) where the car might plan the wrong turn direction.",
-                             "../assets/offroad/icon_shell.png");
-  list->addItem(lane_turn_desire_toggle);
-
-  // Lane Turn Value control
-  int max_value_mph = 20;
-  bool is_metric_initial = params.getBool("IsMetric");
-  const float K = 1.609344f;
-  int per_value_change_scaled = is_metric_initial ? static_cast<int>(std::round((1.0f / K) * 100.0f)) : 100; // 100 -> 1 mph
-  lane_turn_value_control = new OptionControlSP("LaneTurnValue", tr("Adjust Lane Turn Speed"),
-    tr("Set the maximum speed for lane turn desires. Default is 19 %1.").arg(is_metric_initial ? "km/h" : "mph"),
-    "", {5 * 100, max_value_mph * 100}, per_value_change_scaled, false, nullptr, true, true);
-  lane_turn_value_control->showDescription();
-  list->addItem(lane_turn_value_control);
-
-  // Show based on toggle
-  refreshLaneTurnValueControl();
-  connect(lane_turn_desire_toggle, &ParamControlSP::toggleFlipped, this, &ModelsPanel::refreshLaneTurnValueControl);
-  connect(lane_turn_value_control, &OptionControlSP::updateLabels, this, &ModelsPanel::refreshLaneTurnValueControl);
-
   // LiveDelay toggle
   lagd_toggle_control = new ParamControlSP("LagdToggle", tr("Live Learning Steer Delay"), "", "../assets/offroad/icon_shell.png");
   lagd_toggle_control->showDescription();
   list->addItem(lagd_toggle_control);
 
   // Software delay control
+  int liveDelayMaxInt = 30;
+  std::string liveDelayBytes = params.get("LiveDelay");
+  if (!liveDelayBytes.empty()) {
+    capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
+      reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
+      liveDelayBytes.size() / sizeof(capnp::word)));
+    auto event = msg.getRoot<cereal::Event>();
+    if (event.hasLiveDelay()) {
+      auto liveDelay = event.getLiveDelay();
+      float lateralDelay = liveDelay.getLateralDelay();
+      liveDelayMaxInt = static_cast<int>(lateralDelay * 100.0f) + 20;
+    }
+  }
   delay_control = new OptionControlSP("LagdToggleDelay", tr("Adjust Software Delay"),
-                                      tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
+                                     tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
-                                         "\nThe default software delay value is 0.2"),
+                                        "\nThe default software delay value is 0.2"),
-                                      "", {5, 50}, 1, false, nullptr, true, true);
+                                     "", {5, liveDelayMaxInt}, 1, false, nullptr, true, true);
 
   connect(delay_control, &OptionControlSP::updateLabels, [=]() {
     float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
@@ -169,19 +159,6 @@ QFrame* ModelsPanel::createModelDetailFrame(QWidget *parent, QString &typeName,
   return frame;
 }
 
-void ModelsPanel::refreshLaneTurnValueControl() {
-  if (!lane_turn_value_control) return;
-  float stored_mph = QString::fromStdString(params.get("LaneTurnValue")).toFloat();
-  bool is_metric = params.getBool("IsMetric");
-  QString unit = is_metric ? "km/h" : "mph";
-  float display_value = stored_mph;
-  if (is_metric) {
-    display_value = stored_mph * 1.609344f;
-  }
-  lane_turn_value_control->setLabel(QString::number(static_cast<int>(std::round(display_value))) + " " + unit);
-  lane_turn_value_control->setVisible(params.getBool("LaneTurnDesire"));
-}
-
 /**
  * @brief Updates the UI with bundle download progress information
  * Reads status from modelManagerSP cereal message and displays status for all models
@@ -424,28 +401,34 @@ void ModelsPanel::updateLabels() {
                    "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.");
   bool lagdEnabled = params.getBool("LagdToggle");
   if (lagdEnabled) {
-    auto liveDelayBytes = params.get("LiveDelay");
+    std::string liveDelayBytes = params.get("LiveDelay");
     if (!liveDelayBytes.empty()) {
-      auto LD = loadCerealEvent(params, "LiveDelay");
+      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
-      float lateralDelay = LD->getLiveDelay().getLateralDelay();
+        reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
-      desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
+        liveDelayBytes.size() / sizeof(capnp::word)));
-              .arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 3));
+      auto event = msg.getRoot<cereal::Event>();
+      if (event.hasLiveDelay()) {
+        auto liveDelay = event.getLiveDelay();
+        float lateralDelay = liveDelay.getLateralDelay();
+        desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
+                .arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 3));
+      }
     }
   } else {
-    auto carParamsBytes = params.get("CarParamsPersistent");
+    std::string carParamsBytes = params.get("CarParamsPersistent");
     if (!carParamsBytes.empty()) {
-      AlignedBuffer aligned_buf_cp;
+      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
-      capnp::FlatArrayMessageReader cmsg(aligned_buf_cp.align(carParamsBytes.data(), carParamsBytes.size()));
+        reinterpret_cast<const capnp::word*>(carParamsBytes.data()),
-      cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+        carParamsBytes.size() / sizeof(capnp::word)));
-
+      auto carParams = msg.getRoot<cereal::CarParams>();
-      float steerDelay = CP.getSteerActuatorDelay();
+      float steerDelay = carParams.getSteerActuatorDelay();
       float softwareDelay = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
       float totalLag = steerDelay + softwareDelay;
       desc += QString("<br><br><span style=\"color:#e0e0e0\">"
                       "<b>%1</b> %2 s + <b>%3</b> %4 s = <b>%5</b> %6 s</span>")
-             .arg(tr("Actuator Delay:"), QString::number(steerDelay, 'f', 2),
+           .arg(tr("Actuator Delay:"), QString::number(steerDelay, 'f', 2),
-                  tr("Software Delay:"), QString::number(softwareDelay, 'f', 2),
+                tr("Software Delay:"), QString::number(softwareDelay, 'f', 2),
-                  tr("Total Delay:"), QString::number(totalLag, 'f', 2));
+                tr("Total Delay:"), QString::number(totalLag, 'f', 2));
     }
   }
   lagd_toggle_control->setDescription(desc);
@@ -456,9 +439,6 @@ void ModelsPanel::updateLabels() {
     delay_control->setLabel(QString::number(value, 'f', 2) + "s");
   }
 
-  // Update lane turn desire label and visibility
-  refreshLaneTurnValueControl();
-
   clearModelCacheBtn->setValue(QString::number(calculateCacheSize(), 'f', 2) + " MB");
 }
 

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

@@ -9,7 +9,6 @@
 
 #include <QProgressBar>
 
-#include "selfdrive/ui/sunnypilot/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 
 class ModelsPanel : public QWidget {
@@ -38,7 +37,6 @@ private:
   void updateLabels();
   void handleCurrentModelLblBtnClicked();
   void handleBundleDownloadProgress();
-  void refreshLaneTurnValueControl();
   void showResetParamsDialog();
   QProgressBar* createProgressBar(QWidget *parent);
   QFrame* createModelDetailFrame(QWidget *parent, QString &typeName, QProgressBar *progressBar);
@@ -83,6 +81,5 @@ private:
   Params params;
   ButtonControlSP *clearModelCacheBtn;
   ButtonControlSP *refreshAvailableModelsBtn;
-  ParamControlSP *lane_turn_desire_toggle;
+
-  OptionControlSP *lane_turn_value_control;
 };

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

@@ -13,7 +13,6 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
@@ -88,7 +87,6 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
     PanelInfo("   " + tr("Steering"), new LateralPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
     PanelInfo("   " + tr("Cruise"), new LongitudinalPanel(this), "../assets/icons/speed_limit.png"),
     PanelInfo("   " + tr("Visuals"), new VisualsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_visuals.png"),
-    PanelInfo("   " + tr("Display"), new DisplayPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_display.png"),
     PanelInfo("   " + tr("OSM"), new OsmPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_map.png"),
     PanelInfo("   " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
     PanelInfo("   " + tr("Vehicle"), new VehiclePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),

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

@@ -11,39 +11,12 @@ SoftwarePanelSP::SoftwarePanelSP(QWidget *parent) : SoftwarePanel(parent) {
   // branch selector
   QObject::disconnect(targetBranchBtn, nullptr, nullptr, nullptr);
   connect(targetBranchBtn, &ButtonControlSP::clicked, [=]() {
-    if (Hardware::get_device_type() == cereal::InitData::DeviceType::TICI) {
+    InputDialog d(tr("Search Branch"), this, tr("Enter search keywords, or leave blank to list all branches."), false);
-      auto current = params.get("GitBranch");
-      QStringList allBranches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(",");
-      QStringList branches;
-      for (const QString &b : allBranches) {
-        if (b.endsWith("-tici")) {
-          branches.append(b);
-        }
-      }
-
-      for (QString b : {current.c_str(), "master-tici", "staging-tici", "release-tici"}) {
-        auto i = branches.indexOf(b);
-        if (i >= 0) {
-          branches.removeAt(i);
-          branches.insert(0, b);
-        }
-      }
-
-      QString cur = QString::fromStdString(params.get("UpdaterTargetBranch"));
-      QString selection = MultiOptionDialog::getSelection(tr("Select a branch"), branches, cur, this);
-      if (!selection.isEmpty()) {
-        params.put("UpdaterTargetBranch", selection.toStdString());
-        targetBranchBtn->setValue(QString::fromStdString(params.get("UpdaterTargetBranch")));
-        checkForUpdates();
-      }
-    } else {
-      InputDialog d(tr("Search Branch"), this, tr("Enter search keywords, or leave blank to list all branches."), false);
       d.setMinLength(0);
       const int ret = d.exec();
       if (ret) {
         searchBranches(d.text());
       }
-    }
   });
 
   // Disable Updates toggle

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

@@ -25,48 +25,14 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
       "BlindSpot",
       tr("Show Blind Spot Warnings"),
       tr("Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported."),
-      "",
+      "../assets/offroad/icon_monitoring.png",
       false,
     },
     {
       "RainbowMode",
       tr("Enable Tesla Rainbow Mode"),
       RainbowizeWords(tr("A beautiful rainbow effect on the path the model wants to take.")) + "<br/><i>" + tr("It")+ " <b>" + tr("does not") + "</b> " + tr("affect driving in any way.") + "</i>",
-      "",
+      "../assets/offroad/icon_monitoring.png",
-      false,
-    },
-    {
-      "StandstillTimer",
-      tr("Enable Standstill Timer"),
-      tr("Show a timer on the HUD when the car is at a standstill."),
-      "",
-      false,
-    },
-    {
-      "RoadNameToggle",
-      tr("Display Road Name"),
-      tr("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."),
-      "",
-      false,
-    },
-    {
-      "GreenLightAlert",
-      tr("Green Traffic Light Alert (Beta)"),
-      QString("%1<br>"
-        "<h4>%2</h4><br>")
-        .arg(tr("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."))
-        .arg(tr("Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly.")),
-      "",
-      false,
-    },
-    {
-      "LeadDepartAlert",
-      tr("Lead Departure Alert (Beta)"),
-      QString("%1<br>"
-        "<h4>%2</h4><br>")
-        .arg(tr("A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving."))
-        .arg(tr("Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly.")),
-      "",
       false,
     },
   };
@@ -106,15 +72,6 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
   list->addItem(chevron_info_settings);
   param_watcher->addParam("ChevronInfo");
 
-  // Visuals: Developer UI Info (Dev UI)
-  std::vector<QString> dev_ui_settings_texts{tr("Off"), tr("Right"), tr("Right &&\nBottom")};
-  dev_ui_settings = new ButtonParamControlSP(
-    "DevUIInfo", tr("Developer UI"), tr("Display real-time parameters and metrics from various sources."),
-    "",
-    dev_ui_settings_texts,
-    380);
-  list->addItem(dev_ui_settings);
-
   sunnypilotScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(sunnypilotScroller);
 
@@ -133,7 +90,4 @@ void VisualsPanel::paramsRefresh() {
   if (chevron_info_settings) {
     chevron_info_settings->refresh();
   }
-  if (dev_ui_settings) {
-    dev_ui_settings->refresh();
-  }
 }

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

@@ -28,5 +28,4 @@ protected:
  std::map<std::string, ParamControlSP*> toggles;
  ParamWatcher * param_watcher;
  ButtonParamControlSP *chevron_info_settings;
- ButtonParamControlSP *dev_ui_settings;
 };