wrong btn

* DM: Enforce monitoring of MADS state in driver monitoring

Added `selfdriveStateSP.mads.enabled` to track MADS engagement. This ensures monitoring logic accounts for MADS alongside the existing selfdrive state checks, improving feature integration and event handling.

* how

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

@@ -122,10 +122,6 @@ jobs:
           fi
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
 
-      - name: Build Panda
-        run: |
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} ${{ github.workspace }}/panda
-
       - name: Build Main Project
         run: |
           export PYTHONPATH="$BUILD_DIR"

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

@@ -97,6 +97,17 @@ jobs:
                     headRefName
                     title
                     createdAt
+                    labels(last:10) {
+                      nodes {
+                        name
+                      }
+                    }
+                    headRepository {
+                      name
+                      nameWithOwner
+                      url
+                      isFork
+                    }
                     commits(last: 1) {
                       nodes {
                         commit {

README.md

@@ -42,7 +42,24 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
 | `staging-c3` | https://staging-c3.sunnypilot.ai |
 |   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
 
-Requires further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
+### If you want to use our newest branches (our rewrite)
+> [!TIP]
+>You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
+
+
+> [!IMPORTANT]
+> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
+> You can still restore the latest sunnylink backup made on the old branches.
+
+|      Branch      |                 Installation URL              |
+|:----------------:|:---------------------------------------------:|
+| `staging-c3-new` | `https://staging-c3-new.sunnypilot.ai`        |
+|   `dev-c3-new`   | `https://dev-c3-new.sunnypilot.ai`            |
+| `custom-branch`  | `https://install.sunnypilot.ai/{branch_name}` |
+| `release-c3-new` |            **Not yet available**.             |
+
+> [!TIP]
+> Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
 
 ## 🎆 Pull Requests
 We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.

cereal/custom.capnp

@@ -136,6 +136,7 @@ struct OnroadEventSP @0xda96579883444c35 {
     controlsMismatchLateral @12;
     hyundaiRadarTracksConfirmed @13;
     experimentalModeSwitched @14;
+    wrongCarModeAlertOnly @15;
   }
 }
 

common/params_keys.h

@@ -127,6 +127,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"CarParamsSPPersistent", PERSISTENT},
     {"CarPlatformBundle", PERSISTENT},
     {"EnableGithubRunner", PERSISTENT | BACKUP},
+    {"MaxTimeOffroad", PERSISTENT | BACKUP},
     {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
     {"OffroadMode", CLEAR_ON_MANAGER_START},
     {"OffroadMode_Status", CLEAR_ON_MANAGER_START},

docs/CARS.md

@@ -226,7 +226,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Škoda|Scala 2020-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
 |Škoda|Superb 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
 |Tesla|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>||
-|Tesla|Model 3 (with HW4) 2024[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW4) 2024">Buy Here</a></sub></details>||
+|Tesla|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>||
 |Tesla|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW3) 2020-23">Buy Here</a></sub></details>||
 |Tesla|Model Y (with HW4) 2024[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW4) 2024">Buy Here</a></sub></details>||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||

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="11.11"
+  export AGNOS_VERSION="11.13"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

release/ci/squash_and_merge_prs.py

@@ -7,6 +7,7 @@ import argparse
 import json
 from datetime import datetime
 
+TRUST_FORK_LABEL = "trust-fork-pr"
 
 def setup_argument_parser():
   parser = argparse.ArgumentParser(description='Process and squash GitHub PRs')
@@ -37,43 +38,25 @@ def sort_prs_by_creation(pr_data):
   )
 
 
-def add_pr_comment(pr_number, comment):
+def add_pr_comments(pr_number, comments: list[str]):
+  """Adds or updates a comment with multiple comments to a PR using gh cli"""
+  comment = "\n___\n".join(comments)
+  _add_pr_comment(pr_number, comment)
+
+
+def _add_pr_comment(pr_number, comment):
   """Add or update a comment to a PR using gh cli"""
   title = "## Squash and Merge"
 
   try:
-    result = subprocess.run(
+    full_comment = f"{title}\n\n{comment}"
-      ['gh', 'pr', 'view', str(pr_number), '--json', 'comments'],
+    subprocess.run(
+      ['gh', 'pr', 'comment', '--edit-last', '--create-if-none', f"#{pr_number}", '--body', full_comment],
       check=True,
       capture_output=True,
       text=True
     )
 
-    comments_data = json.loads(result.stdout)
-    has_existing_comment = False
-
-    for pr_comment in comments_data['comments']:
-      if pr_comment['body'].startswith(title):
-        has_existing_comment = True
-        break
-
-    full_comment = f"{title}\n\n{comment}"
-
-    if has_existing_comment:
-      subprocess.run(
-        ['gh', 'pr', 'comment', '--edit-last', f"#{pr_number}", '--body', full_comment],
-        check=True,
-        capture_output=True,
-        text=True
-      )
-    else:
-      subprocess.run(
-        ['gh', 'pr', 'comment', f"#{pr_number}", '--body', full_comment],
-        check=True,
-        capture_output=True,
-        text=True
-      )
-
   except subprocess.CalledProcessError as e:
     print(f"Failed to add/update comment on PR #{pr_number}: {e.stderr}")
   except json.JSONDecodeError:
@@ -104,8 +87,8 @@ def validate_pr(pr):
   if not merge_data.get('mergeable'):
     return False, "merge conflicts detected"
 
-  if (mergeStateStatus := merge_data.get('mergeStateStatus')) == "BEHIND":
+  # if (mergeStateStatus := merge_data.get('mergeStateStatus')) == "BEHIND":
-    return False, f"branch is `{mergeStateStatus}`"
+  #   return False, f"branch is `{mergeStateStatus}`"
 
   return True, None
 
@@ -122,24 +105,43 @@ def process_pr(pr_data, source_branch, target_branch, squash_script_path):
     subprocess.run(['git', 'branch', target_branch, f'origin/{source_branch}'], check=True)
     success_count = 0
     for pr in nodes:
-      pr_number = pr.get('number', 'UNKNOWN')
+      pr_comments = []
-      branch = pr.get('headRefName', '')
-      title = pr.get('title', '')
-      is_valid, skip_reason = validate_pr(pr)
-
-      if not is_valid:
-        print(f"Warning: {skip_reason} for PR #{pr_number}, skipping")
-        add_pr_comment(pr_number,
-                       f"⚠️ This PR was skipped in the automated `{target_branch}` squash because **{skip_reason}**.")
-        continue
-
       try:
+        pr_number = pr.get('number', 'UNKNOWN')
+        branch = pr.get('headRefName', '')
+        title = pr.get('title', '')
+        head_repository = pr.get('headRepository', {})
+        pr_labels = pr.get('labels', {}).get('nodes', [])
+        is_fork = head_repository.get('isFork', False)
+        trust_fork = any(label.get('name') == TRUST_FORK_LABEL for label in pr_labels)
+        is_valid, skip_reason = validate_pr(pr)
+        origin = "origin" if not head_repository.get('isFork', False) else head_repository.get('nameWithOwner', 'origin')
+
+        if is_fork and trust_fork:
+          print(f"Removing label `{TRUST_FORK_LABEL}` from PR #{pr_number} as it is being processed")
+          subprocess.run(['gh', 'pr', 'edit', str(pr_number), '--remove-label', TRUST_FORK_LABEL], check=True)
+          pr_comments.append(f"ℹ️️ This PR is from a fork. The `{TRUST_FORK_LABEL}` label was removed as it is being processed right now.")
+          print(f"Adding remote {origin} for PR #{pr_number}")
+          subprocess.run(['git', 'remote', 'add', origin, head_repository.get('url')], check=False)
+
+        if is_fork and not trust_fork:
+          pr_comments.append(
+            f"⚠️ This PR is from a fork. Please add the `{TRUST_FORK_LABEL}` label to include it in the squash." +
+            "\n**Note**: The label is removed after the squash is done and must be added again for the next execution for security reasons."
+          )
+          continue
+
+        if not is_valid:
+          print(f"Warning: {skip_reason} for PR #{pr_number}, skipping")
+          pr_comments.append(f"⚠️ This PR was skipped in the automated `{target_branch}` squash because **{skip_reason}**.")
+          continue
+
         # Fetch PR branch
-        subprocess.run(['git', 'fetch', 'origin', branch], check=True)
+        subprocess.run(['git', 'fetch', origin, branch], check=True)
         # Delete branch if it exists (ignore errors if it doesn't)
         subprocess.run(['git', 'branch', '-D', branch], check=False)
         # Create new branch pointing to origin's branch
-        subprocess.run(['git', 'branch', branch, f'origin/{branch}'], check=True)
+        subprocess.run(['git', 'branch', branch, f'{origin}/{branch}'], check=True)
 
         # Run squash script
         result = subprocess.run([
@@ -160,13 +162,17 @@ def process_pr(pr_data, source_branch, target_branch, squash_script_path):
         print(f"Command failed with exit code {result.returncode}")
         output = result.stdout
         print(f"Error output: {output}")
-        add_pr_comment(pr_number, f"⚠️ Error during automated `{target_branch}` squash:\n```\n{output}\n```")
+        pr_comments.append(f"⚠️ Error during automated `{target_branch}` squash:\n```\n{output}\n```")
         subprocess.run(['git', 'reset', '--hard'], check=True)
         continue
       except Exception as e:
         print(f"Unexpected error processing PR #{pr_number}: {str(e)}")
+        pr_comments.append(f"⚠️ Unexpected error during automated `{target_branch}` squash:\n```\n{str(e)}\n```")
         subprocess.run(['git', 'reset', '--hard'], check=True)
         continue
+      finally:
+        if pr_comments:
+          add_pr_comments(pr_number, pr_comments)  # This "commits" all the comments generated on this run before leaving loop on continue.
 
     return success_count
 

selfdrive/controls/radard.py

@@ -5,13 +5,17 @@ from collections import deque
 from typing import Any
 
 import capnp
-from cereal import messaging, log, car
+from cereal import messaging, log, car, custom
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.simple_kalman import KF1D
 
+from opendbc.car import structs
+from opendbc.car.hyundai.values import HyundaiFlags
+from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
+
 
 # Default lead acceleration decay set to 50% at 1s
 _LEAD_ACCEL_TAU = 1.5
@@ -157,7 +161,7 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
 
 
 def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader,
-             model_v_ego: float, low_speed_override: bool = True) -> dict[str, Any]:
+             model_v_ego: float, CP: structs.CarParams, CP_SP: structs.CarParamsSP, low_speed_override: bool = True) -> dict[str, Any]:
   # Determine leads, this is where the essential logic happens
   if len(tracks) > 0 and ready and lead_msg.prob > .5:
     track = match_vision_to_track(v_ego, lead_msg, tracks)
@@ -167,6 +171,7 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
   lead_dict = {'status': False}
   if track is not None:
     lead_dict = track.get_RadarState(lead_msg.prob)
+    lead_dict = get_custom_yrel(CP, CP_SP, lead_dict, lead_msg)
   elif (track is None) and ready and (lead_msg.prob > .5):
     lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego)
 
@@ -182,8 +187,20 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
   return lead_dict
 
 
+def get_custom_yrel(CP: structs.CarParams, CP_SP: structs.CarParamsSP, lead_dict: dict[str, Any],
+                    lead_msg: capnp._DynamicStructReader) -> dict[str, Any]:
+  if CP.brand == "hyundai" and (CP_SP.flags & HyundaiFlagsSP.ENHANCED_SCC or
+                                CP.flags & (HyundaiFlags.CANFD_CAMERA_SCC | HyundaiFlags.CAMERA_SCC)):
+    lead_dict['yRel'] = float(-lead_msg.y[0])
+
+  return lead_dict
+
+
 class RadarD:
-  def __init__(self, delay: float = 0.0):
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParams, delay: float = 0.0):
+    self.CP = CP
+    self.CP_SP = CP_SP
+
     self.current_time = 0.0
 
     self.tracks: dict[int, Track] = {}
@@ -239,8 +256,8 @@ class RadarD:
       model_v_ego = self.v_ego
     leads_v3 = sm['modelV2'].leadsV3
     if len(leads_v3) > 1:
-      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, low_speed_override=True)
+      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, self.CP, self.CP_SP, low_speed_override=True)
-      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, low_speed_override=False)
+      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, self.CP, self.CP_SP, low_speed_override=False)
 
   def publish(self, pm: messaging.PubMaster):
     assert self.radar_state is not None
@@ -260,11 +277,15 @@ def main() -> None:
   CP = messaging.log_from_bytes(Params().get("CarParams", block=True), car.CarParams)
   cloudlog.info("radard got CarParams")
 
+  cloudlog.info("radard is waiting for CarParamsSP")
+  CP_SP = messaging.log_from_bytes(Params().get("CarParamsSP", block=True), custom.CarParamsSP)
+  cloudlog.info("radard got CarParamsSP")
+
   # *** setup messaging
   sm = messaging.SubMaster(['modelV2', 'carState', 'liveTracks'], poll='modelV2')
   pm = messaging.PubMaster(['radarState'])
 
-  RD = RadarD(CP.radarDelay)
+  RD = RadarD(CP, CP_SP, CP.radarDelay)
 
   while 1:
     sm.update()

selfdrive/locationd/calibrationd.py

@@ -11,7 +11,7 @@ import capnp
 import numpy as np
 from typing import NoReturn
 
-from cereal import log
+from cereal import log, car
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
@@ -258,16 +258,18 @@ def main() -> NoReturn:
   config_realtime_process([0, 1, 2, 3], 5)
 
   pm = messaging.PubMaster(['liveCalibration'])
-  sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll='cameraOdometry')
+  sm = messaging.SubMaster(['cameraOdometry', 'carState'], poll='cameraOdometry')
+
+  params_reader = Params()
+  CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams)
 
   calibrator = Calibrator(param_put=True)
+  calibrator.not_car = CP.notCar
 
   while 1:
     timeout = 0 if sm.frame == -1 else 100
     sm.update(timeout)
 
-    calibrator.not_car = sm['carParams'].notCar
-
     if sm.updated['cameraOdometry']:
       calibrator.handle_v_ego(sm['carState'].vEgo)
       new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans,

selfdrive/locationd/locationd.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 import os
-import json
 import time
 import capnp
 import numpy as np
@@ -65,7 +64,7 @@ class LocationEstimator:
     self.observation_errors = {kind: np.zeros(3, dtype=np.float32) for kind in obs_kinds}
 
   def reset(self, t: float, x_initial: np.ndarray = PoseKalman.initial_x, P_initial: np.ndarray = PoseKalman.initial_P):
-    self.kf.reset(t, x_initial, P_initial)
+    self.kf.init_state(x_initial, covs=P_initial, filter_time=t)
 
   def _validate_sensor_source(self, source: log.SensorEventData.SensorSource):
     # some segments have two IMUs, ignore the second one
@@ -186,8 +185,8 @@ class LocationEstimator:
       rot_device_noise = rot_device_std ** 2
       trans_device_noise = trans_device_std ** 2
 
-      cam_odo_rot_res = self.kf.predict_and_observe(t, ObservationKind.CAMERA_ODO_ROTATION, rot_device, rot_device_noise)
+      cam_odo_rot_res = self.kf.predict_and_observe(t, ObservationKind.CAMERA_ODO_ROTATION, rot_device, np.array([np.diag(rot_device_noise)]))
-      cam_odo_trans_res = self.kf.predict_and_observe(t, ObservationKind.CAMERA_ODO_TRANSLATION, trans_device, trans_device_noise)
+      cam_odo_trans_res = self.kf.predict_and_observe(t, ObservationKind.CAMERA_ODO_TRANSLATION, trans_device, np.array([np.diag(trans_device_noise)]))
       self.camodo_yawrate_distribution =  np.array([rot_device[2], rot_device_std[2]])
       if cam_odo_rot_res is not None:
         _, new_x, _, new_P, _, _, (cam_odo_rot_err,), _, _ = cam_odo_rot_res
@@ -278,12 +277,13 @@ def main():
   input_invalid_threshold = {s: input_invalid_limit[s] - 0.5 for s in critcal_services}
   input_invalid_decay = {s: calculate_invalid_input_decay(input_invalid_limit[s], INPUT_INVALID_RECOVERY, SERVICE_LIST[s].frequency) for s in critcal_services}
 
-  initial_pose = params.get("LocationFilterInitialState")
+  initial_pose_data = params.get("LocationFilterInitialState")
-  if initial_pose is not None:
+  if initial_pose_data is not None:
-    initial_pose = json.loads(initial_pose)
+    with log.Event.from_bytes(initial_pose_data) as lp_msg:
-    x_initial = np.array(initial_pose["x"], dtype=np.float64)
+      filter_state = lp_msg.livePose.debugFilterState
-    P_initial = np.diag(np.array(initial_pose["P"], dtype=np.float64))
+      x_initial = np.array(filter_state.value, dtype=np.float64) if len(filter_state.value) != 0 else PoseKalman.initial_x
-    estimator.reset(None, x_initial, P_initial)
+      P_initial = np.diag(np.array(filter_state.std, dtype=np.float64)) if len(filter_state.std) != 0 else PoseKalman.initial_P
+      estimator.reset(None, x_initial, P_initial)
 
   while True:
     sm.update()

selfdrive/locationd/models/pose_kf.py

@@ -5,6 +5,8 @@ import numpy as np
 
 from openpilot.selfdrive.locationd.models.constants import ObservationKind
 
+from rednose.helpers.kalmanfilter import KalmanFilter
+
 if __name__=="__main__":
   import sympy as sp
   from rednose.helpers.ekf_sym import gen_code
@@ -24,7 +26,7 @@ class States:
   ACCEL_BIAS = slice(15, 18)  # Acceletometer bias in m/s**2
 
 
-class PoseKalman:
+class PoseKalman(KalmanFilter):
   name = "pose"
 
   # state
@@ -50,10 +52,10 @@ class PoseKalman:
                3**2, 3**2, 3**2,
                0.005**2, 0.005**2, 0.005**2])
 
-  obs_noise = {ObservationKind.PHONE_GYRO: np.array([0.025**2, 0.025**2, 0.025**2]),
+  obs_noise = {ObservationKind.PHONE_GYRO: np.diag([0.025**2, 0.025**2, 0.025**2]),
-               ObservationKind.PHONE_ACCEL: np.array([.5**2, .5**2, .5**2]),
+               ObservationKind.PHONE_ACCEL: np.diag([.5**2, .5**2, .5**2]),
-               ObservationKind.CAMERA_ODO_TRANSLATION: np.array([0.5**2, 0.5**2, 0.5**2]),
+               ObservationKind.CAMERA_ODO_TRANSLATION: np.diag([0.5**2, 0.5**2, 0.5**2]),
-               ObservationKind.CAMERA_ODO_ROTATION: np.array([0.05**2, 0.05**2, 0.05**2])}
+               ObservationKind.CAMERA_ODO_ROTATION: np.diag([0.05**2, 0.05**2, 0.05**2])}
 
   @staticmethod
   def generate_code(generated_dir):
@@ -103,35 +105,6 @@ class PoseKalman:
     self.filter = EKF_sym_pyx(generated_dir, self.name, PoseKalman.Q, PoseKalman.initial_x, PoseKalman.initial_P,
                               dim_state, dim_state_err, max_rewind_age=max_rewind_age)
 
-  @property
-  def x(self):
-    return self.filter.state()
-
-  @property
-  def P(self):
-    return self.filter.covs()
-
-  @property
-  def t(self):
-    return self.filter.get_filter_time()
-
-  def predict_and_observe(self, t, kind, data, obs_noise=None):
-    data = np.atleast_2d(data)
-    if obs_noise is None:
-      obs_noise = self.obs_noise[kind]
-    R = self._get_R(len(data), obs_noise)
-    return self.filter.predict_and_update_batch(t, kind, data, R)
-
-  def reset(self, t, x_init, P_init):
-    self.filter.init_state(x_init, P_init, t)
-
-  def _get_R(self, n, obs_noise):
-    dim = obs_noise.shape[0]
-    R = np.zeros((n, dim, dim))
-    for i in range(n):
-      R[i, :, :] = np.diag(obs_noise)
-    return R
-
 
 if __name__ == "__main__":
   generated_dir = sys.argv[2]

selfdrive/monitoring/dmonitoringd.py

@@ -10,7 +10,8 @@ def dmonitoringd_thread():
 
   params = Params()
   pm = messaging.PubMaster(['driverMonitoringState'])
-  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2'], poll='driverStateV2')
+  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2',
+                            'selfdriveStateSP'], poll='driverStateV2')
 
   DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
 

selfdrive/monitoring/helpers.py

@@ -403,13 +403,13 @@ class DriverMonitoring:
       driver_state=sm['driverStateV2'],
       cal_rpy=sm['liveCalibration'].rpyCalib,
       car_speed=sm['carState'].vEgo,
-      op_engaged=sm['selfdriveState'].enabled
+      op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.enabled
     )
 
     # Update distraction events
     self._update_events(
       driver_engaged=sm['carState'].steeringPressed or sm['carState'].gasPressed,
-      op_engaged=sm['selfdriveState'].enabled,
+      op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.enabled,
       standstill=sm['carState'].standstill,
       wrong_gear=sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park],
       car_speed=sm['carState'].vEgo

selfdrive/selfdrived/events.py

@@ -11,7 +11,7 @@ from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
 
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
   NoEntryAlert, SoftDisableAlert, UserSoftDisableAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, \
-  StartupAlert, AlertCallbackType
+  StartupAlert, AlertCallbackType, AlertCallbackTypeSP, wrong_car_mode_alert
 
 
 AlertSize = log.SelfdriveState.AlertSize
@@ -30,7 +30,7 @@ class Events(EventsBase):
     super().__init__()
     self.event_counters = dict.fromkeys(EVENTS.keys(), 0)
 
-  def get_events_mapping(self) -> dict[int, dict[str, Alert | AlertCallbackType]]:
+  def get_events_mapping(self) -> dict[int, dict[str, Alert | AlertCallbackType | AlertCallbackTypeSP]]:
     return EVENTS
 
   def get_event_name(self, event: int):
@@ -170,13 +170,6 @@ def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
   return NormalPermanentAlert("Driving Model Lagging", f"{sm['modelV2'].frameDropPerc:.1f}% frames dropped")
 
 
-def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  text = "Enable Adaptive Cruise to Engage"
-  if CP.brand == "honda":
-    text = "Enable Main Switch to Engage"
-  return NoEntryAlert(text)
-
-
 def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   gb = sm['carControl'].actuators.accel / 4.
   steer = sm['carControl'].actuators.torque
@@ -200,7 +193,7 @@ def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging
 
 
 
-EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
+EVENTS: dict[int, dict[str, Alert | AlertCallbackType | AlertCallbackTypeSP]] = {
   # ********** events with no alerts **********
 
   EventName.stockFcw: {},
@@ -835,7 +828,7 @@ if __name__ == '__main__':
   for i, alerts in EVENTS.items():
     for et, alert in alerts.items():
       if callable(alert):
-        alert = alert(CP, CS, sm, False, 1, log.LongitudinalPersonality.standard)
+        alert = alert(CP, CS, sm, False, 1, log.LongitudinalPersonality.standard)  # type: ignore[call-arg]
       alerts_by_type[et][alert.priority].append(event_names[i])
 
   all_alerts: dict[str, list[tuple[Priority, list[str]]]] = {}

selfdrive/selfdrived/selfdrived.py

@@ -20,6 +20,7 @@ from openpilot.selfdrive.selfdrived.events import Events, ET
 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
@@ -30,7 +31,6 @@ from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
-IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
 LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}
 
 ThermalStatus = log.DeviceState.ThermalStatus
@@ -127,6 +127,12 @@ class SelfdriveD(CruiseHelper):
     self.state_machine = StateMachine()
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
+    # 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()
+    if HARDWARE.get_device_type() == 'tici' and os.path.exists('/dev/nvme0'):
+      self.ignored_processes = {'loggerd', }
+
     # Determine startup event
     self.startup_event = EventName.startup if build_metadata.openpilot.comma_remote and build_metadata.tested_channel else EventName.startupMaster
     if not car_recognized:
@@ -149,7 +155,7 @@ class SelfdriveD(CruiseHelper):
 
     self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)
 
-    CruiseHelper.__init__(self, self.CP)
+    CruiseHelper.__init__(self, self.CP, self)
 
   def update_events(self, CS):
     """Compute onroadEvents from carState"""
@@ -283,7 +289,7 @@ class SelfdriveD(CruiseHelper):
       if not_running != self.not_running_prev:
         cloudlog.event("process_not_running", not_running=not_running, error=True)
       self.not_running_prev = not_running
-    if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
+    if self.sm.recv_frame['managerState'] and (not_running - self.ignored_processes):
       self.events.add(EventName.processNotRunning)
     else:
       if not SIMULATION and not self.rk.lagging:
@@ -388,7 +394,7 @@ class SelfdriveD(CruiseHelper):
     if CS.gearShifter == car.CarState.GearShifter.park and self.mads.enabled:
       self.events.remove(EventName.canBusMissing)
 
-    CruiseHelper.update(self, CS, self.events_sp, self.experimental_mode)
+    CruiseHelper.update(self, CS)
 
     # decrement personality on distance button press
     if self.CP.openpilotLongitudinalControl:
@@ -456,9 +462,11 @@ class SelfdriveD(CruiseHelper):
     pers = LONGITUDINAL_PERSONALITY_MAP[self.personality]
     callback_args = [self.CP, CS, self.sm, self.is_metric,
                      self.state_machine.soft_disable_timer, pers]
+    callback_args_sp = [self.CP, CS, self.sm, self.is_metric,
+                        self.state_machine.soft_disable_timer, pers, self.experimental_mode, self.dynamic_experimental_control]
 
     alerts = self.events.create_alerts(self.state_machine.current_alert_types, callback_args)
-    alerts_sp = self.events_sp.create_alerts(self.state_machine.current_alert_types, callback_args)
+    alerts_sp = self.events_sp.create_alerts(self.state_machine.current_alert_types, callback_args_sp)
 
     self.AM.add_many(self.sm.frame, alerts + alerts_sp)
     self.AM.process_alerts(self.sm.frame, clear_event_types)
@@ -540,6 +548,7 @@ class SelfdriveD(CruiseHelper):
 
       self.mads.read_params()
       self.car_events_sp.read_params()
+      CruiseHelper.read_params(self)
       time.sleep(0.1)
 
   def run(self):

selfdrive/test/process_replay/process_replay.py

@@ -519,9 +519,10 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="calibrationd",
-    pubs=["carState", "cameraOdometry", "carParams"],
+    pubs=["carState", "cameraOdometry"],
     subs=["liveCalibration"],
     ignore=["logMonoTime"],
+    init_callback=get_car_params_callback,
     should_recv_callback=calibration_rcv_callback,
   ),
   ProcessConfig(

selfdrive/test/test_onroad.py

@@ -95,6 +95,7 @@ TIMINGS = {
   "modelV2": [2.5, 0.35],
   "driverStateV2": [2.5, 0.40],
   "livePose": [2.5, 0.35],
+  "liveParameters": [2.5, 0.35],
   "wideRoadCameraState": [1.5, 0.35],
 }
 

selfdrive/ui/qt/onroad/buttons.cc

@@ -21,7 +21,9 @@ ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(fals
 
   engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
   experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size, img_size});
+#ifndef SUNNYPILOT
   QObject::connect(this, &QPushButton::clicked, this, &ExperimentalButton::changeMode);
+#endif
 }
 
 void ExperimentalButton::changeMode() {

selfdrive/ui/qt/onroad/buttons.h

@@ -20,13 +20,12 @@ public:
 
 private:
   void paintEvent(QPaintEvent *event) override;
-  void changeMode();
-
-  Params params;
 
 protected:
   virtual void drawButton(QPainter &p);
+  virtual void changeMode();
 
+  Params params;
   QPixmap engage_img;
   QPixmap experimental_img;
   bool experimental_mode;

selfdrive/ui/sunnypilot/SConscript

@@ -21,6 +21,7 @@ qt_src = [
   "sunnypilot/qt/offroad/offroad_home.cc",
   "sunnypilot/qt/offroad/settings/device_panel.cc",
   "sunnypilot/qt/offroad/settings/lateral_panel.cc",
+  "sunnypilot/qt/offroad/settings/max_time_offroad.cc",
   "sunnypilot/qt/offroad/settings/settings.cc",
   "sunnypilot/qt/offroad/settings/software_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",

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

@@ -31,15 +31,16 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
       continue;
     }
 
-    auto *btn = new PushButtonSP(text, 720, this, param);
+    auto *btn = new PushButtonSP(text, 750, this, param);
     btn->setObjectName(id);
-
-    device_grid_layout->addWidget(btn, row, col);
     buttons[id] = btn;
 
-    col++;
+    if (col==0) {
-    if (col > 1) {
+      device_grid_layout->addWidget(btn, row, col, Qt::AlignLeft);
-      col = 0;
+      col++;
+    } else {
+      device_grid_layout->addWidget(btn, row, col, Qt::AlignRight);
+      col=0;
       row++;
     }
   }
@@ -74,19 +75,24 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
 
   connect(buttons["resetParams"], &PushButtonSP::clicked, this, &DevicePanelSP::resetSettings);
 
+  // Max Time Offroad
+  maxTimeOffroad = new MaxTimeOffroad();
+  connect(maxTimeOffroad, &OptionControlSP::updateLabels, maxTimeOffroad, &MaxTimeOffroad::refresh);
+  addItem(maxTimeOffroad);
+
   addItem(device_grid_layout);
 
   // offroad mode and power buttons
 
   QHBoxLayout *power_layout = new QHBoxLayout();
-  power_layout->setSpacing(5);
+  power_layout->setSpacing(25);
 
-  PushButtonSP *rebootBtn = new PushButtonSP(tr("Reboot"), 720, this);
+  PushButtonSP *rebootBtn = new PushButtonSP(tr("Reboot"), 750, this);
   rebootBtn->setStyleSheet(rebootButtonStyle);
   power_layout->addWidget(rebootBtn);
   QObject::connect(rebootBtn, &PushButtonSP::clicked, this, &DevicePanelSP::reboot);
 
-  PushButtonSP *poweroffBtn = new PushButtonSP(tr("Power Off"), 720, this);
+  PushButtonSP *poweroffBtn = new PushButtonSP(tr("Power Off"), 750, this);
   poweroffBtn->setStyleSheet(powerOffButtonStyle);
   power_layout->addWidget(poweroffBtn);
   QObject::connect(poweroffBtn, &PushButtonSP::clicked, this, &DevicePanelSP::poweroff);
@@ -100,7 +106,7 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
   QObject::connect(offroadBtn, &PushButtonSP::clicked, this, &DevicePanelSP::setOffroadMode);
 
   QVBoxLayout *power_group_layout = new QVBoxLayout();
-  power_group_layout->setSpacing(30);
+  power_group_layout->setSpacing(25);
   power_group_layout->addWidget(offroadBtn, 0, Qt::AlignHCenter);
   power_group_layout->addLayout(power_layout);
 

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

@@ -7,6 +7,7 @@
 
 #pragma once
 
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
@@ -23,6 +24,7 @@ public:
 private:
   std::map<QString, PushButtonSP*> buttons;
   PushButtonSP *offroadBtn;
+  MaxTimeOffroad *maxTimeOffroad;
 
   const QString alwaysOffroadStyle = R"(
     PushButtonSP {

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

@@ -0,0 +1,53 @@
+/**
+ * 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/max_time_offroad.h"
+
+// Map of Max Offroad Time Options (Minutes)
+const QMap<QString, QString> MaxTimeOffroad::offroad_time_options = {
+  {"0", "0"}, // Always On
+  {"1", "5"},
+  {"2", "10"},
+  {"3", "15"},
+  {"4", "30"},
+  {"5", "60"},
+  {"6", "120"},
+  {"7", "180"},
+  {"8", "300"},
+  {"9", "600"},
+  {"10", "1440"},
+  {"11", "1800"}
+};
+
+MaxTimeOffroad::MaxTimeOffroad() : OptionControlSP(
+  "MaxTimeOffroad",
+  tr("Max Time Offroad"),
+  tr("Device will automatically shutdown after set time once the engine is turned off.<br/>(30h is the default)"),
+  "../assets/offroad/icon_blank.png",
+  {0, 11}, 1, true, &offroad_time_options) {
+
+  refresh();
+}
+
+void MaxTimeOffroad::refresh() {
+  const int maxOffroadInMinutes = QString::fromStdString(params.get("MaxTimeOffroad")).toInt();
+  const bool useHours = maxOffroadInMinutes >= 60;
+  
+  QString label;
+  if (maxOffroadInMinutes == 0) {
+    label = tr("Always On");
+  } else {
+    const int value = useHours ? maxOffroadInMinutes / 60 : maxOffroadInMinutes;
+    label = QString("%1%2").arg(value).arg(useHours ? tr("h") : tr("m"));
+  }
+  
+  if (maxOffroadInMinutes == 1800) {
+    label += tr(" (default)");
+  }
+  
+  setLabel(label);
+}

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

@@ -0,0 +1,25 @@
+/**
+ * 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"
+
+class MaxTimeOffroad : public OptionControlSP {
+  Q_OBJECT
+
+public:
+  static const QMap<QString, QString> offroad_time_options;
+
+  MaxTimeOffroad();
+  void refresh();
+
+private:
+  Params params;
+};

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

@@ -85,7 +85,7 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   });
 
   // Backup Settings
-  backupSettings = new PushButtonSP(tr("Backup Settings"), 730, this);
+  backupSettings = new PushButtonSP(tr("Backup Settings"), 750, this);
   backupSettings->setObjectName("backup_btn");
   connect(backupSettings, &QPushButton::clicked, [=]() {
     backupSettings->setEnabled(false);
@@ -96,7 +96,7 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   });
 
   // Restore Settings
-  restoreSettings = new PushButtonSP(tr("Restore Settings"), 730, this);
+  restoreSettings = new PushButtonSP(tr("Restore Settings"), 750, this);
   restoreSettings->setObjectName("restore_btn");
   connect(restoreSettings, &QPushButton::clicked, [=]() {
     restoreSettings->setEnabled(false);
@@ -108,10 +108,9 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   // Settings Restore and Settings Backup in the same horizontal space
   auto settings_layout = new QHBoxLayout;
   settings_layout->setContentsMargins(0, 0, 0, 30);
-  settings_layout->addWidget(backupSettings);
+  settings_layout->addWidget(backupSettings, 0, Qt::AlignLeft);
   settings_layout->addSpacing(10);
-  settings_layout->addWidget(restoreSettings);
+  settings_layout->addWidget(restoreSettings, 0, Qt::AlignRight);
-  settings_layout->setAlignment(Qt::AlignLeft);
   list->addItem(settings_layout);
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &SunnylinkPanel::updatePanel);

selfdrive/ui/sunnypilot/qt/onroad/buttons.cc

@@ -9,9 +9,36 @@
 
 #include <QPainter>
 
+#include "selfdrive/ui/qt/util.h"
+
 ExperimentalButtonSP::ExperimentalButtonSP(QWidget *parent) : ExperimentalButton(parent) {
   QObject::disconnect(uiState(), &UIState::uiUpdate, this, &ExperimentalButton::updateState);
   QObject::connect(uiState(), &UIState::uiUpdate, this, &ExperimentalButtonSP::updateState);
+
+  QObject::connect(this, &QPushButton::clicked, this, &ExperimentalButtonSP::changeMode);
+}
+
+void ExperimentalButtonSP::changeMode() {
+  const auto cp = (*uiState()->sm)["carParams"].getCarParams();
+  bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed");
+  if (can_change) {
+    bool experimental_mode_new;
+    bool dynamic_experimental_control_new;
+
+    if (!experimental_mode && !dynamic_experimental_control) {
+      experimental_mode_new = true;
+      dynamic_experimental_control_new = false;
+    } else if (experimental_mode && !dynamic_experimental_control) {
+      experimental_mode_new = true;
+      dynamic_experimental_control_new = true;
+    } else {
+      experimental_mode_new = false;
+      dynamic_experimental_control_new = false;
+    }
+
+    params.putBool("ExperimentalMode", experimental_mode_new);
+    params.putBool("DynamicExperimentalControl", dynamic_experimental_control_new);
+  }
 }
 
 void ExperimentalButtonSP::updateState(const UIState &s) {

selfdrive/ui/sunnypilot/qt/onroad/buttons.h

@@ -18,6 +18,7 @@ public:
 
 private:
   void drawButton(QPainter &p) override;
+  void changeMode() override;
 
   bool dynamic_experimental_control;
   int dec_mpc_mode;

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

@@ -132,10 +132,7 @@ AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, con
 
         if (isVisible && spacingItem) {
           main_layout->removeItem(spacingItem);
-          delete spacingItem;
+        } else if (!isVisible && spacingItem != nullptr && main_layout->indexOf(spacingItem) == -1) {
-          spacingItem = nullptr;
-        } else if (!isVisible && spacingItem == nullptr) {
-          spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
           main_layout->insertItem(main_layout->indexOf(description), spacingItem);
         }
       }
@@ -145,8 +142,7 @@ AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, con
   }
 
   main_layout->addLayout(hlayout);
-  if (!desc.isEmpty() && spacingItem == nullptr) {
+  if (!desc.isEmpty() && spacingItem != nullptr && main_layout->indexOf(spacingItem) == -1) {
-    spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
     main_layout->insertItem(main_layout->count(), spacingItem);
   }
 
@@ -166,8 +162,7 @@ void AbstractControlSP_SELECTOR::hideEvent(QHideEvent *e) {
     description->hide();
   }
 
-  if (spacingItem == nullptr) {
+  if (spacingItem != nullptr && main_layout->indexOf(spacingItem) == -1) {
-    spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
     main_layout->insertItem(main_layout->indexOf(description), spacingItem);
   }
 }

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

@@ -96,11 +96,10 @@ class AbstractControlSP_SELECTOR : public AbstractControlSP {
   Q_OBJECT
 
 protected:
+  QSpacerItem *spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
   AbstractControlSP_SELECTOR(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);
   void hideEvent(QHideEvent *e) override;
 
-private:
-  QSpacerItem *spacingItem = nullptr;
 };
 
 // widget to display a value
@@ -417,14 +416,29 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
   Q_OBJECT
 
 private:
+  bool isInlineLayout;
+  QHBoxLayout *optionSelectorLayout = isInlineLayout ? new QHBoxLayout() : hlayout;
+  
   struct MinMaxValue {
     int min_value;
     int max_value;
   };
   
+  int getParamValue() {
+    const auto param_value = QString::fromStdString(params.get(key));
+    const auto result = valueMap != nullptr ? valueMap->key(param_value) : param_value;
+    return result.toInt();
+  }
+
+  // Although the method is not static, and thus has access to the value property, I prefer to be explicit about the value.
+  void setParamValue(const int new_value) {
+    const auto value_str = valueMap != nullptr ? valueMap->value(QString::number(new_value)) : QString::number(new_value);
+    params.put(key, value_str.toStdString());
+  }
+
 public:
   OptionControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                  const MinMaxValue &range, const int per_value_change = 1) : _title(title), AbstractControlSP_SELECTOR(title, desc, icon) {
+                  const MinMaxValue &range, const int per_value_change = 1, const bool inline_layout = false, const QMap<QString, QString> *valMap = nullptr) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr), _title(title), valueMap(valMap), isInlineLayout(inline_layout) {
     const QString style = R"(
       QPushButton {
         border-radius: 20px;
@@ -444,14 +458,27 @@ public:
       }
     )";
 
+    if (inline_layout) {
+      optionSelectorLayout->setMargin(0);
+      optionSelectorLayout->setSpacing(0);
+      if (!title.isEmpty()) {
+        main_layout->removeWidget(title_label);
+        hlayout->addWidget(title_label, 1);
+      }
+      if (spacingItem != nullptr && main_layout->indexOf(spacingItem) != -1) {
+        main_layout->removeItem(spacingItem);
+        spacingItem = nullptr;
+      }
+    }
+
     label.setStyleSheet(label_enabled_style);
-    label.setFixedWidth(300);
+    label.setFixedWidth(inline_layout ? 350 : 300);
     label.setAlignment(Qt::AlignCenter);
 
     const std::vector<QString> button_texts{"－", "＋"};
 
     key = param.toStdString();
-    value = atoi(params.get(key).c_str());
+    value = getParamValue();
 
     button_group = new QButtonGroup(this);
     button_group->setExclusive(true);
@@ -459,19 +486,18 @@ public:
       QPushButton *button = new QPushButton(button_texts[i], this);
       button->setStyleSheet(style + ((i == 0) ? "QPushButton { text-align: left; }" :
                                                 "QPushButton { text-align: right; }"));
-      hlayout->addWidget(button, 0, ((i == 0) ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignVCenter);
+      optionSelectorLayout->addWidget(button, 0, ((i == 0) ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignVCenter);
       if (i == 0) {
-        hlayout->addWidget(&label, 0, Qt::AlignCenter);
+        optionSelectorLayout->addWidget(&label, 0, Qt::AlignCenter);
       }
       button_group->addButton(button, i);
 
       QObject::connect(button, &QPushButton::clicked, [=]() {
         int change_value = (i == 0) ? -per_value_change : per_value_change;
-        key = param.toStdString();
+        value = getParamValue(); // in case it changed externally, we need to get the latest value.
-        value = atoi(params.get(key).c_str());
         value += change_value;
         value = std::clamp(value, range.min_value, range.max_value);
-        params.put(key, QString::number(value).toStdString());
+        setParamValue(value);
 
         button_group->button(0)->setEnabled(!(value <= range.min_value));
         button_group->button(1)->setEnabled(!(value >= range.max_value));
@@ -484,7 +510,13 @@ public:
       });
     }
 
-    hlayout->setAlignment(Qt::AlignLeft);
+    optionSelectorLayout->setAlignment(Qt::AlignLeft);
+    if (isInlineLayout) {
+      QFrame *container = new QFrame;
+      container->setLayout(optionSelectorLayout);
+      container->setStyleSheet("background-color: #393939; border-radius: 20px;");
+      hlayout->addWidget(container);
+    }
   }
 
   void setUpdateOtherToggles(bool _update) {
@@ -506,6 +538,10 @@ public:
 
 protected:
   void paintEvent(QPaintEvent *event) override {
+    if (isInlineLayout) {
+      return;
+    }
+
     QPainter p(this);
     p.setRenderHint(QPainter::Antialiasing);
 
@@ -513,8 +549,8 @@ protected:
     int w = 0;
     int h = 150;
 
-    for (int i = 0; i < hlayout->count(); ++i) {
+    for (int i = 0; i < optionSelectorLayout->count(); ++i) {
-      QWidget *widget = qobject_cast<QWidget *>(hlayout->itemAt(i)->widget());
+      QWidget *widget = qobject_cast<QWidget *>(optionSelectorLayout->itemAt(i)->widget());
       if (widget) {
         w += widget->width();
       }
@@ -544,6 +580,7 @@ private:
   std::map<QString, QString> option_label = {};
   bool request_update = false;
   QString _title = "";
+  const QMap<QString, QString> *valueMap;
 
   const QString label_enabled_style = "font-size: 50px; font-weight: 450; color: #FFFFFF;";
   const QString label_disabled_style = "font-size: 50px; font-weight: 450; color: #5C5C5C;";

selfdrive/ui/translations/main_ja.ts

@@ -507,7 +507,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;動作停止&lt;/span&gt;: 大容量のネットワークに接続してください</translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_pt-BR.ts

@@ -508,7 +508,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INATIVO&lt;/span&gt;: conecte-se a uma rede sem limite &lt;br&gt; de dados</translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -149,7 +149,7 @@ Please use caution when using this feature. Only use the blinker when traffic an
     </message>
     <message>
         <source>Longitudinal Maneuver Mode</source>
-        <translation>纵向机动模式</translation>
+        <translation>纵向操控测试模式</translation>
     </message>
     <message>
         <source>sunnypilot Longitudinal Control (Alpha)</source>
@@ -507,7 +507,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;闲置&lt;/span&gt;：请连接到不限流量的网络</translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -149,7 +149,7 @@ Please use caution when using this feature. Only use the blinker when traffic an
     </message>
     <message>
         <source>Longitudinal Maneuver Mode</source>
-        <translation>縱向機動模式</translation>
+        <translation>縱向操控測試模式</translation>
     </message>
     <message>
         <source>sunnypilot Longitudinal Control (Alpha)</source>
@@ -507,7 +507,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-        <translation type="unfinished"></translation>
+        <translation type="unfinished">&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;閒置中&lt;/span&gt;：請連接到不按流量計費的網絡</translation>
     </message>
 </context>
 <context>

sunnypilot/mads/mads.py

@@ -5,16 +5,18 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import car, log, custom
+from cereal import log, custom
 
+from opendbc.car import structs
 from opendbc.car.hyundai.values import HyundaiFlags
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
-ButtonType = car.CarState.ButtonEvent.Type
+ButtonType = structs.CarState.ButtonEvent.Type
 EventName = log.OnroadEvent.EventName
 EventNameSP = custom.OnroadEventSP.EventName
-SafetyModel = car.CarParams.SafetyModel
+GearShifter = structs.CarState.GearShifter
+SafetyModel = structs.CarParams.SafetyModel
 
 SET_SPEED_BUTTONS = (ButtonType.accelCruise, ButtonType.resumeCruise, ButtonType.decelCruise, ButtonType.setCruise)
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
@@ -48,7 +50,7 @@ class ModularAssistiveDrivingSystem:
     self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
     self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
-  def update_events(self, CS: car.CarState):
+  def update_events(self, CS: structs.CarState):
     def update_unified_engagement_mode():
       uem_blocked = self.enabled or (self.selfdrive.enabled and self.selfdrive.enabled_prev)
       if (self.unified_engagement_mode and uem_blocked) or not self.unified_engagement_mode:
@@ -70,7 +72,7 @@ class ModularAssistiveDrivingSystem:
       if self.events.has(EventName.seatbeltNotLatched):
         replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched)
         transition_paused_state()
-      if self.events.has(EventName.wrongGear):
+      if self.events.has(EventName.wrongGear) and (CS.standstill or CS.gearShifter == GearShifter.reverse):
         replace_event(EventName.wrongGear, EventNameSP.silentWrongGear)
         transition_paused_state()
       if self.events.has(EventName.reverseGear):
@@ -127,10 +129,13 @@ class ModularAssistiveDrivingSystem:
     self.events.remove(EventName.buttonCancel)
     self.events.remove(EventName.pedalPressed)
     self.events.remove(EventName.wrongCruiseMode)
-    if not any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents):
+    if any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents):
+      if self.events.has(EventName.wrongCarMode):
+        replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly)
+    else:
       self.events.remove(EventName.wrongCarMode)
 
-  def update(self, CS: car.CarState):
+  def update(self, CS: structs.CarState):
     if not self.enabled_toggle:
       return
 

sunnypilot/models/fetcher.py

@@ -122,7 +122,7 @@ class ModelCache:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://docs.sunnypilot.ai/driving_models.json"
+  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v2.json"
 
   def __init__(self, params: Params):
     self.params = params

sunnypilot/selfdrive/car/cruise_helpers.py

@@ -7,7 +7,6 @@ See the LICENSE.md file in the root directory for more details.
 
 from cereal import car, custom
 from opendbc.car import structs
-from openpilot.common.params import Params
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventNameSP = custom.OnroadEventSP.EventName
@@ -16,21 +15,27 @@ DISTANCE_LONG_PRESS = 50
 
 
 class CruiseHelper:
-  def __init__(self, CP: structs.CarParams):
+  def __init__(self, CP: structs.CarParams, selfdrived):
     self.CP = CP
-    self.params = Params()
+    self.selfdrived = selfdrived
+    self.params = self.selfdrived.params
+    self.events_sp = self.selfdrived.events_sp
 
     self.button_frame_counts = {ButtonType.gapAdjustCruise: 0}
-    self._experimental_mode = False
     self.experimental_mode_switched = False
+    self.experimental_mode = self.selfdrived.experimental_mode
+    self.dynamic_experimental_control = False
 
-  def update(self, CS, events, experimental_mode) -> None:
+  def read_params(self):
+    self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
+
+  def update(self, CS) -> None:
     if self.CP.openpilotLongitudinalControl:
       if CS.cruiseState.available:
         self.update_button_frame_counts(CS)
 
         # toggle experimental mode once on distance button hold
-        self.update_experimental_mode(events, experimental_mode)
+        self.update_experimental_mode()
 
   def update_button_frame_counts(self, CS) -> None:
     for button in self.button_frame_counts:
@@ -42,9 +47,23 @@ class CruiseHelper:
       if button in self.button_frame_counts:
         self.button_frame_counts[button] = int(button_event.pressed)
 
-  def update_experimental_mode(self, events, experimental_mode) -> None:
+  def update_experimental_mode(self) -> None:
     if self.button_frame_counts[ButtonType.gapAdjustCruise] >= DISTANCE_LONG_PRESS and not self.experimental_mode_switched:
-      self._experimental_mode = not experimental_mode
+      if not self.experimental_mode and not self.dynamic_experimental_control:
-      self.params.put_bool_nonblocking("ExperimentalMode", self._experimental_mode)
+        # State 1 -> 2: Turn on experimental mode only
-      events.add(EventNameSP.experimentalModeSwitched)
+        experimental_mode = True
+        dynamic_experimental_control = False
+      elif self.experimental_mode and not self.dynamic_experimental_control:
+        # State 2 -> 3: Keep experimental mode on, turn on DEC
+        experimental_mode = True
+        dynamic_experimental_control = True
+      else:
+        # State 3 -> 1: Turn everything off, so back to chill mode
+        experimental_mode = False
+        dynamic_experimental_control = False
+
+      self.params.put_bool_nonblocking("ExperimentalMode", experimental_mode)
+      self.params.put_bool_nonblocking("DynamicExperimentalControl", dynamic_experimental_control)
+
+      self.events_sp.add(EventNameSP.experimentalModeSwitched)
       self.experimental_mode_switched = True

sunnypilot/selfdrive/selfdrived/events.py

@@ -1,6 +1,7 @@
 from cereal import log, car, custom
+import cereal.messaging as messaging
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
-  NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType
+  NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, AlertCallbackTypeSP, wrong_car_mode_alert
 
 
 AlertSize = log.SelfdriveState.AlertSize
@@ -19,7 +20,7 @@ class EventsSP(EventsBase):
     super().__init__()
     self.event_counters = dict.fromkeys(EVENTS_SP.keys(), 0)
 
-  def get_events_mapping(self) -> dict[int, dict[str, Alert | AlertCallbackType]]:
+  def get_events_mapping(self) -> dict[int, dict[str, Alert | AlertCallbackType | AlertCallbackTypeSP]]:
     return EVENTS_SP
 
   def get_event_name(self, event: int):
@@ -29,7 +30,14 @@ class EventsSP(EventsBase):
     return custom.OnroadEventSP.Event
 
 
-EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
+def experimental_mode_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool,
+                                    soft_disable_time: int, personality, experimental_mode, dynamic_experimental_control) -> Alert:
+  exp_mode_str = "ON" if experimental_mode else "OFF"
+  dec_str = "ON" if dynamic_experimental_control else "OFF"
+  return NormalPermanentAlert(f"Experimental Mode: {exp_mode_str}\nDynamic Experimental Control: {dec_str}", duration=1.5)
+
+
+EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType | AlertCallbackTypeSP]] = {
   # sunnypilot
   EventNameSP.lkasEnable: {
     ET.ENABLE: EngagementAlert(AudibleAlert.engage),
@@ -127,7 +135,11 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventNameSP.experimentalModeSwitched: {
-    ET.WARNING: NormalPermanentAlert("Experimental Mode Switched", duration=1.5)
+    ET.WARNING: experimental_mode_changed_alert,
-  }
+  },
+
+  EventNameSP.wrongCarModeAlertOnly: {
+    ET.WARNING: wrong_car_mode_alert,
+  },
 
 }

sunnypilot/selfdrive/selfdrived/events_base.py

@@ -81,6 +81,18 @@ class AlertBase(Alert):
 
 
 AlertCallbackType = Callable[[car.CarParams, car.CarState, messaging.SubMaster, bool, int, log.ControlsState], Alert]
+AlertCallbackTypeSP = Callable[[car.CarParams, car.CarState, messaging.SubMaster, bool, int, log.ControlsState,
+                                bool, bool], Alert]
+
+
+# ********** alert callback functions **********
+
+
+def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  text = "Enable Adaptive Cruise to Engage"
+  if CP.brand == "honda":
+    text = "Enable Main Switch to Engage"
+  return NoEntryAlert(text)
 
 
 class EventsBase:
@@ -156,7 +168,7 @@ class EventsBase:
       self.events.remove(event_name)
 
   @abstractmethod
-  def get_events_mapping(self) -> dict[int, dict[str, Alert | AlertCallbackType]]:
+  def get_events_mapping(self) -> dict[int, dict[str, Alert | AlertCallbackType | AlertCallbackTypeSP]]:
     raise NotImplementedError
 
   @abstractmethod

sunnypilot/sunnylink/backups/manager.py

@@ -210,12 +210,25 @@ class BackupManagerSP:
   def _get_current_version(self) -> custom.BackupManagerSP.Version:
     """Gets current sunnypilot version information."""
     version_obj = custom.BackupManagerSP.Version()
-    version_parts = get_version().split('.')
+    version_str = get_version()
-    version_obj.major = int(version_parts[0]) if len(version_parts) > 0 else 0
+
-    version_obj.minor = int(version_parts[1]) if len(version_parts) > 1 else 0
+    version_parts = version_str.split('-')  # For when version is like "1.2.3-456"
-    version_obj.patch = int(version_parts[2]) if len(version_parts) > 2 else 0
+    version_nums = version_parts[0].split('.')
-    version_obj.build = int(version_parts[3]) if len(version_parts) > 3 else 0
+
+    # Extract build number from hyphen format or as 4th version component
+    build = 0
+    if len(version_parts) > 1 and version_parts[1].isdigit():
+      build = int(version_parts[1])
+    elif len(version_nums) > 3 and version_nums[3].isdigit():
+      build = int(version_nums[3])
+
+    # Set version components with safer defaults
+    version_obj.major = int(version_nums[0]) if len(version_nums) > 0 and version_nums[0].isdigit() else 0
+    version_obj.minor = int(version_nums[1]) if len(version_nums) > 1 and version_nums[1].isdigit() else 0
+    version_obj.patch = int(version_nums[2]) if len(version_nums) > 2 and version_nums[2].isdigit() else 0
+    version_obj.build = build
     version_obj.branch = get_branch()
+
     return version_obj
 
   async def main_thread(self) -> None:

system/hardware/power_monitoring.py

@@ -106,7 +106,23 @@ class PowerMonitoring:
   def get_car_battery_capacity(self) -> int:
     return int(self.car_battery_capacity_uWh)
 
-  # See if we need to shutdown
+  # Max Time Offroad
+  def max_time_offroad_exceeded(self, offroad_time):
+    """
+    Check if the max time offroad has been exceeded. If the value is 0, it means no limit.
+    :param offroad_time: Time spent offroad in seconds
+    :return: True if the max time offroad has been exceeded, False otherwise
+    """
+    try:
+      param = self.params.get("MaxTimeOffroad", encoding="utf8")
+      sp_max_time_val_s = int(param) * 60 if param is not None and int(param) >= 0 else MAX_TIME_OFFROAD_S
+    except Exception:
+      sp_max_time_val_s = MAX_TIME_OFFROAD_S
+
+    return sp_max_time_val_s > 0 and offroad_time >= sp_max_time_val_s
+
+
+# See if we need to shutdown
   def should_shutdown(self, ignition: bool, in_car: bool, offroad_timestamp: float | None, started_seen: bool):
     if offroad_timestamp is None:
       return False
@@ -116,7 +132,7 @@ class PowerMonitoring:
     offroad_time = (now - offroad_timestamp)
     low_voltage_shutdown = (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3) and
                             offroad_time > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S)
-    should_shutdown |= offroad_time > MAX_TIME_OFFROAD_S
+    should_shutdown |= self.max_time_offroad_exceeded(offroad_time)
     should_shutdown |= low_voltage_shutdown
     should_shutdown |= (self.car_battery_capacity_uWh <= 0)
     should_shutdown &= not ignition

system/hardware/tests/test_power_monitoring.py

@@ -2,7 +2,7 @@ import pytest
 
 from openpilot.common.params import Params
 from openpilot.system.hardware.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \
-                                                CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S
+  CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S, MAX_TIME_OFFROAD_S
 
 # Create fake time
 ssb = 0.
@@ -197,3 +197,38 @@ class TestPowerMonitoring:
                                        offroad_timestamp,
                                        started_seen), \
                     f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time"
+
+  @pytest.mark.parametrize(
+    "max_time_offroad, offroad_time_min, expected_result",
+    [
+      # No max time set – fallback to default (30 hours)
+      (None, 0, False),
+      (None, MAX_TIME_OFFROAD_S + 1, True),  # exceeds 30h (1800+ mins)
+
+      # Valid max time values (in minutes)
+      ("60", 59, False),  # under limit
+      ("60", 120, True),  # over limit
+      ("10", 8, False),  # under limit
+      ("10", 11, True),  # over limit
+
+      # Edge case: max time is zero → no limit enforced
+      ("0", 0, False),
+      ("0", 400, False),
+
+      # Invalid max time formats or negative values → fallback to 30 hours
+      ("invalid", 100, False),  # should fallback to 30h
+      ("-1", MAX_TIME_OFFROAD_S + 1, True),  # should fallback to 30h, and exceed it
+    ]
+  )
+  def test_max_time_offroad_exceeded(self, max_time_offroad, offroad_time_min, expected_result):
+    # Set the parameter if provided
+    if max_time_offroad is not None:
+      self.params.put("MaxTimeOffroad", max_time_offroad)
+
+    # Convert offroad time from minutes to seconds
+    offroad_time_s = offroad_time_min * 60
+
+    pm = PowerMonitoring()
+    result = pm.max_time_offroad_exceeded(offroad_time_s)
+
+    assert result == expected_result

system/hardware/tici/agnos.json

@@ -56,28 +56,28 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-0d0d4d5a32e00b46fa36180b4a96337f2a53302d8bd0faee95f8fe1063d1e24a.img.xz",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892.img.xz",
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system/hardware/tici/all-partitions.json

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system/manager/manager.py

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     ("MadsMainCruiseAllowed", "1"),
     ("MadsPauseLateralOnBrake", "0"),
     ("MadsUnifiedEngagementMode", "1"),
+    ("MaxTimeOffroad", "1800"),
     ("ModelManager_LastSyncTime", "0"),
     ("ModelManager_ModelsCache", ""),
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uv.lock

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 [[package]]
 name = "aiohttp"
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 source = { registry = "https://pypi.org/simple" }
 dependencies = [
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