fix

Update Python packages

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>

.codespellignore

@@ -3,3 +3,4 @@ REGIST
 PullRequest
 cancelled
 FOF
+NoO

.github/workflows/post-to-discourse/action.yml

@@ -0,0 +1,105 @@
+name: 'Post to Discourse'
+description: 'Posts a message to a Discourse topic (existing or new)'
+
+inputs:
+  discourse-url:
+    description: 'Discourse instance URL (e.g., https://discourse.example.com)'
+    required: true
+  api-key:
+    description: 'Discourse API key'
+    required: true
+  api-username:
+    description: 'Discourse API username'
+    required: true
+  topic-id:
+    description: 'Discourse topic ID to post to (use this OR category-id + title)'
+    required: false
+  category-id:
+    description: 'Category ID for new topic (required if topic-id not provided)'
+    required: false
+  title:
+    description: 'Title for new topic (required if topic-id not provided)'
+    required: false
+  message:
+    description: 'Message content (markdown supported)'
+    required: true
+
+outputs:
+  post-number:
+    description: 'The post number in the topic'
+    value: ${{ steps.post.outputs.post_number }}
+  post-url:
+    description: 'Direct URL to the post'
+    value: ${{ steps.post.outputs.post_url }}
+  topic-id:
+    description: 'The topic ID (useful when creating a new topic)'
+    value: ${{ steps.post.outputs.topic_id }}
+
+runs:
+  using: "composite"
+  steps:
+    - name: Post to Discourse
+      id: post
+      shell: bash
+      run: |
+        # Validate inputs
+        if [ -z "${{ inputs.topic-id }}" ] && ([ -z "${{ inputs.category-id }}" ] || [ -z "${{ inputs.title }}" ]); then
+          echo "❌ Error: Must provide either topic-id OR both category-id and title"
+          exit 1
+        fi
+        
+        if [ -n "${{ inputs.topic-id }}" ] && ([ -n "${{ inputs.category-id }}" ] || [ -n "${{ inputs.title }}" ]); then
+          echo "⚠️  Warning: Both topic-id and category-id/title provided. Will post to existing topic."
+        fi
+        
+        # Determine if creating new topic or posting to existing
+        if [ -n "${{ inputs.topic-id }}" ]; then
+          echo "📝 Posting to existing topic ID: ${{ inputs.topic-id }}"
+        
+          # Create JSON payload for posting to existing topic
+          PAYLOAD=$(jq -n \
+            --arg content '${{ inputs.message }}' \
+            --arg topic_id "${{ inputs.topic-id }}" \
+            '{topic_id: $topic_id, raw: $content}')
+        else
+          echo "✨ Creating new topic: ${{ inputs.title }}"
+        
+          # Create JSON payload for new topic
+          PAYLOAD=$(jq -n \
+            --arg content '${{ inputs.message }}' \
+            --arg title "${{ inputs.title }}" \
+            --arg category "${{ inputs.category-id }}" \
+            '{title: $title, category: ($category | tonumber), raw: $content}')
+        fi
+        
+        # Post to Discourse
+        RESPONSE=$(curl -s -w "\n%{http_code}" \
+          -X POST "${{ inputs.discourse-url }}/posts.json" \
+          -H "Content-Type: application/json" \
+          -H "Api-Key: ${{ inputs.api-key }}" \
+          -H "Api-Username: ${{ inputs.api-username }}" \
+          -d "$PAYLOAD")
+        
+        HTTP_CODE=$(echo "$RESPONSE" | tail -n1)
+        BODY=$(echo "$RESPONSE" | sed '$d')
+        
+        if [ "$HTTP_CODE" -ge 200 ] && [ "$HTTP_CODE" -lt 300 ]; then
+          echo "✅ Successfully posted to Discourse!"
+        
+          POST_NUMBER=$(echo "$BODY" | jq -r '.post_number // "unknown"')
+          TOPIC_ID=$(echo "$BODY" | jq -r '.topic_id // "${{ inputs.topic-id }}"')
+          POST_URL="${{ inputs.discourse-url }}/t/${TOPIC_ID}/${POST_NUMBER}"
+        
+          echo "post_number=${POST_NUMBER}" >> $GITHUB_OUTPUT
+          echo "post_url=${POST_URL}" >> $GITHUB_OUTPUT
+          echo "topic_id=${TOPIC_ID}" >> $GITHUB_OUTPUT
+        
+          echo "Topic ID: ${TOPIC_ID}"
+          echo "Post number: ${POST_NUMBER}"
+          echo "URL: ${POST_URL}"
+        else
+          echo "❌ Failed to post to Discourse"
+          echo "HTTP Code: ${HTTP_CODE}"
+          echo "Response: ${BODY}"
+          exit 1
+        fi

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

@@ -79,7 +79,7 @@ jobs:
             is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
             echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
 
-            stable_version=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g');
+            stable_version=$(cat sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
             echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
             echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
           fi
@@ -302,36 +302,51 @@ jobs:
             git push -f origin ${TAG}
 
   notify:
-    needs: [ build, publish ]
+    needs: 
+    - prepare_strategy
+    - build
+    - publish
     runs-on: ubuntu-24.04
-    if: ${{ (always() && !cancelled() && !failure()) && needs.publish.result == 'success' && !failure() && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+    if: ${{ (always() && !cancelled() && !failure())
+      && needs.publish.result == 'success'
+      && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+      && (fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name] != null) }}
     steps:
       - uses: actions/checkout@v4
-      - name: Setup Alpine Linux environment
-        uses: jirutka/setup-alpine@v1.2.0
-        with:
-          packages: 'jq gettext curl'
 
-      - name: Send Discord Notification
-        env:
-          DISCORD_WEBHOOK: ${{ contains(fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES), env.SOURCE_BRANCH) && secrets.DISCORD_DEV_FEEDBACK_CHANNEL_WEBHOOK || secrets.DISCORD_DEV_PRIVATE_CHANNEL_WEBHOOK }}
+      - name: Prepare notification message
+        id: message
         run: |
-          TEMPLATE='${{ vars.DISCORD_GENERAL_UPDATE_NOTICE }}'
-          export EXTRA_VERSION_IDENTIFIER="${{ needs.build.outputs.extra_version_identifier }}"
-          export VERSION="${{ needs.build.outputs.version }}"
-          export branch_name=${{ env.SOURCE_BRANCH }}
-          export new_branch=${{ needs.build.outputs.new_branch }}
-          export extra_version_identifier=${{ needs.build.outputs.extra_version_identifier || github.run_number}}
-          echo ${TEMPLATE} | envsubst | jq -c '.' | tee payload.json
-          curl -X POST -H "Content-Type: application/json" -d @payload.json $DISCORD_WEBHOOK
+          TEMPLATE='${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}'
+          export VERSION="${{ needs.prepare_strategy.outputs.version }}"
+          export branch_name="${{ env.SOURCE_BRANCH }}"
+          export new_branch="${{ needs.prepare_strategy.outputs.new_branch }}"
+          export commit_sha="${{ github.sha }}"
+          export commit_short_sha="${{ github.sha }}"
+          export commit_short_sha="${commit_short_sha:0:7}"
+          export extra_version_identifier="${{ needs.prepare_strategy.outputs.extra_version_identifier || github.run_number }}"
+          export PUBLIC_REPO_URL="${{ env.PUBLIC_REPO_URL }}"
 
-          echo ""
-          echo "----   ℹ️ To update the list of branches that notify to dev-feedback  -----"
-          echo ""
-          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/DEV_FEEDBACK_NOTIFICATION_BRANCHES"
-          echo "2. Current value: ${{ vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES }}"
-          echo "3. Update as needed (JSON array with no spaces)"
-        shell: alpine.sh {0}
+          MESSAGE=$(cat << 'EOF' | envsubst
+          ${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}
+          EOF
+          )
+          
+          {
+            echo 'content<<EOFMARKER'
+            echo "$MESSAGE"
+            echo 'EOFMARKER'
+          } >> $GITHUB_OUTPUT
+        shell: bash
+
+      - name: Post to Discourse
+        uses: ./.github/workflows/post-to-discourse
+        with:
+          discourse-url: ${{ vars.DISCOURSE_URL }}
+          api-key: ${{ secrets.DISCOURSE_API_KEY }}
+          api-username: "system"
+          topic-id: ${{ fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name].topic_id }}
+          message: ${{ steps.message.outputs.content }}
 
   manage-pr-labels:
     name: Remove prebuilt label

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

@@ -3,7 +3,6 @@ name: Build dev
 env:
   DEFAULT_SOURCE_BRANCH: "master"
   DEFAULT_TARGET_BRANCH: "master-dev"
-  PR_LABEL: "dev"
   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'
 
@@ -43,7 +42,7 @@ 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 == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
       )
     steps:
       - uses: actions/checkout@v4
@@ -55,7 +54,7 @@ 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 == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
           )
         with:
           workflow: selfdrive_tests.yaml # The workflow file to monitor
@@ -119,7 +118,7 @@ jobs:
           # Use GitHub API to get PRs with specific label, ordered by creation date
           PR_LIST=$(gh api graphql -f query='
             query($search_query:String!) {
-              search(query: $search_query, type:ISSUE, first:100) {
+              search(query: $search_query, type:ISSUE, first:40) {
                 nodes {
                   ... on PullRequest {
                     number
@@ -149,7 +148,7 @@ jobs:
                   }
                 }
               }
-            }' -F search_query="repo:${{ github.repository }} is:pr is:open label:${PR_LABEL},${PR_LABEL}-c3 draft:false sort:created-asc")
+            }' -F search_query="repo:${{ github.repository }} is:pr is:open label:${{ vars.PREBUILT_PR_LABEL }},${{ vars.PREBUILT_PR_LABEL }}-c3 draft:false sort:created-asc")
 
           PR_LIST=${PR_LIST//\'/}
           echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT

.github/workflows/test-discourse.yaml.yml

@@ -0,0 +1,78 @@
+name: Debug Discourse Posting
+
+on:
+  push:
+
+jobs:
+  test-discourse-post:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Post test message to Discourse
+        uses: ./.github/workflows/post-to-discourse
+        with:
+          discourse-url: ${{ vars.DISCOURSE_URL }}
+          api-key: ${{ secrets.DISCOURSE_API_KEY }}
+          api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
+          topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
+          message: |
+            ## 🧪 Test Post from GitHub Actions
+            
+            **This is a test post to verify Discourse integration**
+            
+            - **Workflow**: ${{ github.workflow }}
+            - **Run Number**: #${{ github.run_number }}
+            - **Branch**: `${{ github.ref_name }}`
+            - **Commit**: ${{ github.sha }}
+            - **Actor**: @${{ github.actor }}
+            - **Timestamp**: ${{ github.event.head_commit.timestamp }}
+            
+            ---
+            
+            ### Fake Build Info (for testing)
+            - **Version**: 0.9.8-test
+            - **Build**: #42
+            - **Branch**: release-test
+            
+            [View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
+            
+            *This is an automated test message. Drive safe! 🚗💨*
+      
+      
+      - name: Create topic on Discourse
+        uses: ./.github/workflows/post-to-discourse
+        with:
+          discourse-url: ${{ vars.DISCOURSE_URL }}
+          api-key: ${{ secrets.DISCOURSE_API_KEY }}
+          api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
+          #topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
+          category-id: 4
+          title: "This is a test of a new topic instead of a reply"
+          message: |
+            ## 🧪 Test Post from GitHub Actions
+            
+            **This is a test post to verify Discourse integration**
+            
+            - **Workflow**: ${{ github.workflow }}
+            - **Run Number**: #${{ github.run_number }}
+            - **Branch**: `${{ github.ref_name }}`
+            - **Commit**: ${{ github.sha }}
+            - **Actor**: @${{ github.actor }}
+            - **Timestamp**: ${{ github.event.head_commit.timestamp }}
+            
+            ---
+            
+            ### Fake Build Info (for testing)
+            - **Version**: 0.9.8-test
+            - **Build**: #42
+            - **Branch**: release-test
+            
+            [View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
+            
+            *This is an automated test message. Drive safe! 🚗💨*
+      - name: Display results
+        if: always()
+        run: |
+          echo "::notice::Discourse post test completed"
+          echo "Check your Discourse topic to verify the post appeared correctly"

README.md

@@ -3,11 +3,9 @@
 ## 🌞 What is sunnypilot?
 [sunnypilot](https://github.com/sunnyhaibin/sunnypilot) is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 300+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
 
-## 💭 Join our Discord
-Join the official sunnypilot Discord server to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
-* https://discord.gg/sunnypilot
-
-  ![](https://dcbadge.vercel.app/api/server/wRW3meAgtx?style=flat) ![Discord Shield](https://discordapp.com/api/guilds/880416502577266699/widget.png?style=shield)
+## 💭 Join our Community Forum
+Join the official sunnypilot community forum to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
+* https://community.sunnypilot.ai/
 
 ## Documentation
 https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
@@ -16,13 +14,13 @@ https://docs.sunnypilot.ai/ is your one stop shop for everything from features t
 * A supported device to run this software
     * a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x)
 * This software
-* One of [the 300+ supported cars](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
+* One of [the 325+ supported cars](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
 * A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
 
 Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
 
 ## Installation
-Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging-c3-new` branch.
+Please refer to [Recommended Branches](#recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging` branch.
 
 ### If you want to use our newest branches (our rewrite)
 > [!TIP]
@@ -31,28 +29,28 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
 * sunnypilot not installed or you installed a version before 0.8.17?
   1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
   2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://staging-c3-new.sunnypilot.ai```.
+  3. Input the installation URL per [Recommended Branches](#recommended-branches). Example: ```https://staging.sunnypilot.ai```.
   4. Complete the rest of the installation following the onscreen instructions.
 
 * sunnypilot already installed and you installed a version after 0.8.17?
-  1. On the comma three, go to `Settings` ▶️ `Software`.
+  1. On the comma three/3X, go to `Settings` ▶️ `Software`.
   2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
   3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
-  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging-c3-new`
+  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging`
 
-
-|      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**.             |
+### Recommended Branches
+|      Branch     |                 Installation URL              |
+|:---------------:|:---------------------------------------------:|
+| `release`       | `https://release.sunnypilot.ai`               |
+| `staging`       | `https://staging.sunnypilot.ai`               |
+|   `dev`         | `https://dev.sunnypilot.ai`                   |
+| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |
 
 > [!TIP]
-> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging-c3-new'.
+> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging'.
 
 > [!NOTE]
-> 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.
+> Do you require further assistance with software installation? Join the [sunnypilot community forum](https://community.sunnypilot.ai/new-topic?category=general/qa) and create a topic in the General/Q&A Category channel.
 
 
 <details>

common/params_keys.h

@@ -154,6 +154,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
     {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
     {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"IsReleaseSpBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"LastGPSPositionLLK", {PERSISTENT, STRING}},
     {"LeadDepartAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
@@ -171,6 +172,14 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualRadarTracks", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualRadarTracksDelay", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
+    {"VisualWideCam", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualStyle", {PERSISTENT | BACKUP, INT, "0"}},
+    {"VisualStyleZoom", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualStyleOverhead", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualStyleOverheadZoom", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualStyleOverheadThreshold", {PERSISTENT | BACKUP, INT, "20"}},
 
     // MADS params
     {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -207,6 +216,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"HyundaiLongitudinalTuning", {PERSISTENT | BACKUP, INT, "0"}},
     {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},

common/swaglog.cc

@@ -15,6 +15,8 @@
 #include "common/version.h"
 #include "system/hardware/hw.h"
 
+#include "sunnypilot/common/version.h"
+
 class SwaglogState {
 public:
   SwaglogState() {
@@ -56,7 +58,7 @@ public:
     if (char* daemon_name = getenv("MANAGER_DAEMON")) {
       ctx_j["daemon"] = daemon_name;
     }
-    ctx_j["version"] = COMMA_VERSION;
+    ctx_j["version"] = SUNNYPILOT_VERSION;
     ctx_j["dirty"] = !getenv("CLEAN");
     ctx_j["device"] = Hardware::get_name();
   }

common/tests/test_markdown.py

@@ -6,7 +6,7 @@ from openpilot.common.markdown import parse_markdown
 
 class TestMarkdown:
   def test_all_release_notes(self):
-    with open(os.path.join(BASEDIR, "RELEASES.md")) as f:
+    with open(os.path.join(BASEDIR, "CHANGELOG.md")) as f:
       release_notes = f.read().split("\n\n")
       assert len(release_notes) > 10
 

common/tests/test_swaglog.cc

@@ -9,6 +9,8 @@
 #include "system/hardware/hw.h"
 #include "third_party/json11/json11.hpp"
 
+#include "sunnypilot/common/version.h"
+
 std::string daemon_name = "testy";
 std::string dongle_id = "test_dongle_id";
 int LINE_NO = 0;
@@ -53,7 +55,7 @@ void recv_log(int thread_cnt, int thread_msg_cnt) {
     REQUIRE(ctx["dongle_id"].string_value() == dongle_id);
     REQUIRE(ctx["dirty"].bool_value() == true);
 
-    REQUIRE(ctx["version"].string_value() == COMMA_VERSION);
+    REQUIRE(ctx["version"].string_value() == SUNNYPILOT_VERSION);
 
     std::string device = Hardware::get_name();
     REQUIRE(ctx["device"].string_value() == device);

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 337 Supported Cars
+# 339 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -21,7 +21,10 @@ A supported vehicle is one that just works when you install a comma device. All
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
+|Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2017">Buy Here</a></sub></details>|||
+|Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2018-21">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
+|Chevrolet|Malibu Non-ACC 2016-23|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu Non-ACC 2016-23">Buy Here</a></sub></details>|||
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
 |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer 2021-22">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
@@ -236,20 +239,20 @@ A supported vehicle is one that just works when you install a comma device. All
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
 |SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Legacy 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Outback 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
 |Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
 |Škoda|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
@@ -308,7 +311,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Wildlander PHEV 2021|All|openpilot|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Wildlander PHEV 2021">Buy Here</a></sub></details>|||
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||

release/build_release.sh

@@ -39,7 +39,7 @@ cd $BUILD_DIR
 rm -f panda/board/obj/panda.bin.signed
 rm -f panda/board/obj/panda_h7.bin.signed
 
-VERSION=$(cat common/version.h | awk -F[\"-]  '{print $2}')
+VERSION=$(cat sunnypilot/common/version.h | awk -F[\"-]  '{print $2}')
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 git commit -a -m "openpilot v$VERSION release"

release/build_stripped.sh

@@ -49,7 +49,7 @@ rm -f panda/board/obj/panda.bin.signed
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 GIT_COMMIT_DATE=$(git --git-dir=$SOURCE_DIR/.git show --no-patch --format='%ct %ci' HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
+VERSION=$(cat $SOURCE_DIR/sunnypilot/common/version.h | awk -F\" '{print $2}')
 
 echo -n "$GIT_HASH" > git_src_commit
 echo -n "$GIT_COMMIT_DATE" > git_src_commit_date

release/ci/publish.sh

@@ -30,7 +30,7 @@ if [ -z "$GIT_ORIGIN" ]; then
 fi
 
 # "Tagging"
-echo "#define COMMA_VERSION \"$VERSION\"" > ${OUTPUT_DIR}/common/version.h
+echo "#define SUNNYPILOT_VERSION \"$VERSION\"" > ${OUTPUT_DIR}/sunnypilot/common/version.h
 
 ## set git identity
 #source $DIR/identity.sh
@@ -55,7 +55,7 @@ git add -f .
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/common/version.h)
+SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/sunnypilot/common/version.h)
 
 # Commit with detailed message
 git commit -a -m "sunnypilot v$VERSION

selfdrive/car/card.py

@@ -88,6 +88,7 @@ class Car:
     self.can_callbacks = can_comm_callbacks(self.can_sock, self.pm.sock['sendcan'])
 
     is_release = self.params.get_bool("IsReleaseBranch")
+    is_release_sp = self.params.get_bool("IsReleaseSpBranch")
 
     if CI is None:
       # wait for one pandaState and one CAN packet
@@ -110,7 +111,7 @@ class Car:
       init_params_list_sp = sunnypilot_interfaces.initialize_params(self.params)
 
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params,
-                        fixed_fingerprint, init_params_list_sp)
+                        fixed_fingerprint, init_params_list_sp, is_release_sp)
       sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
       self.CP = self.CI.CP

selfdrive/car/tests/test_models.py

@@ -151,7 +151,7 @@ class TestCarModelBase(unittest.TestCase):
 
     cls.CarInterface = interfaces[cls.platform]
     cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, alpha_long, False, docs=False)
-    cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, alpha_long, docs=False)
+    cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, alpha_long, False, docs=False)
     assert cls.CP
     assert cls.CP_SP
     assert cls.CP.carFingerprint == cls.platform

selfdrive/controls/controlsd.py

@@ -99,7 +99,6 @@ class Controls(ControlsExt, ModelStateBase):
 
       self.LaC.extension.update_model_v2(self.sm['modelV2'])
 
-      self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
       self.LaC.extension.update_lateral_lag(self.lat_delay)
 
     long_plan = self.sm['longitudinalPlan']
@@ -133,7 +132,7 @@ class Controls(ControlsExt, ModelStateBase):
       self.LoC.reset()
 
     # accel PID loop
-    pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
+    pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, self.CP_SP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
     actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits))
 
     # Steering PID loop and lateral MPC
@@ -234,6 +233,9 @@ class Controls(ControlsExt, ModelStateBase):
     while not evt.is_set():
       self.get_params_sp()
 
+      if self.CP.lateralTuning.which() == 'torque':
+        self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
+
       time.sleep(0.1)
 
   def run(self):

selfdrive/controls/lib/longitudinal_planner.py

@@ -51,12 +51,12 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
 
 
 class LongitudinalPlanner(LongitudinalPlannerSP):
-  def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
+  def __init__(self, CP, CP_SP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
     self.mpc = LongitudinalMpc(dt=dt)
     # TODO remove mpc modes when TR released
     self.mpc.mode = 'acc'
-    LongitudinalPlannerSP.__init__(self, self.CP, self.mpc)
+    LongitudinalPlannerSP.__init__(self, self.CP, CP_SP, self.mpc)
     self.fcw = False
     self.dt = dt
     self.allow_throttle = True

selfdrive/controls/plannerd.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from cereal import car
+from cereal import car, custom
 from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import Priority, config_realtime_process
@@ -17,10 +17,14 @@ def main():
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("plannerd got CarParams: %s", CP.brand)
 
+  cloudlog.info("plannerd is waiting for CarParamsSP")
+  CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
+  cloudlog.info("plannerd got CarParamsSP")
+
   gps_location_service = get_gps_location_service(params)
 
   ldw = LaneDepartureWarning()
-  longitudinal_planner = LongitudinalPlanner(CP)
+  longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
                             'liveMapDataSP', 'carStateSP', gps_location_service],

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -51,7 +51,9 @@ class Plant:
     from opendbc.car.honda.values import CAR
     from opendbc.car.honda.interface import CarInterface
 
-    self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.HONDA_CIVIC), init_v=self.speed)
+    CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+    CP_SP = CarInterface.get_non_essential_params_sp(CP, CAR.HONDA_CIVIC)
+    self.planner = LongitudinalPlanner(CP, CP_SP, init_v=self.speed)
 
   @property
   def current_time(self):

selfdrive/ui/qt/offroad/developer_panel.cc

@@ -32,11 +32,11 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
 
   experimentalLongitudinalToggle = new ParamControl(
     "AlphaLongitudinalEnabled",
-    tr("openpilot Longitudinal Control (Alpha)"),
+    tr("sunnypilot Longitudinal Control (Alpha)"),
     QString("<b>%1</b><br><br>%2")
-      .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
-      .arg(tr("On this car, sunnypilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. "
-              "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
+      .arg(tr("WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
+      .arg(tr("On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. "
+              "Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.")),
     ""
   );
   experimentalLongitudinalToggle->setConfirmation(true, false);

selfdrive/ui/qt/offroad/developer_panel.h

@@ -12,7 +12,7 @@ public:
   explicit DeveloperPanel(SettingsWindow *parent);
   void showEvent(QShowEvent *event) override;
 
-private:
+protected:
   Params params;
   ParamControl* adbToggle;
   ParamControl* joystickToggle;

selfdrive/ui/qt/offroad/settings.cc

@@ -188,7 +188,7 @@ void TogglesPanel::updateToggles() {
       const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");
 
       QString long_desc = unavailable + " " + \
-                          tr("openpilot longitudinal control may come in a future update.");
+                          tr("sunnypilot longitudinal control may come in a future update.");
       if (CP.getAlphaLongitudinalAvailable()) {
         if (is_release) {
           long_desc = unavailable + " " + tr("An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.");

selfdrive/ui/qt/onroad/annotated_camera.cc

@@ -25,6 +25,11 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   // update engageability/experimental mode button
   experimental_btn->updateState(s);
   dmon.updateState(s);
+  if (s.scene.visual_style == 0) {
+    setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
+  } else {
+    setBackgroundColor(QColor(0, 0, 0));
+  }
 }
 
 void AnnotatedCameraWidget::initializeGL() {
@@ -35,7 +40,12 @@ void AnnotatedCameraWidget::initializeGL() {
   qInfo() << "OpenGL language version:" << QString((const char*)glGetString(GL_SHADING_LANGUAGE_VERSION));
 
   prev_draw_t = millis_since_boot();
-  setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
+  auto *s = uiState();
+  if (s->scene.visual_style == 0) {
+    setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
+  } else {
+    setBackgroundColor(QColor(0, 0, 0));
+  }
 }
 
 mat4 AnnotatedCameraWidget::calcFrameMatrix() {
@@ -118,7 +128,13 @@ void AnnotatedCameraWidget::paintGL() {
       } else if (v_ego > 15) {
         wide_cam_requested = false;
       }
-      wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
+      if (s->scene.visual_wide_cam == 1) {
+        wide_cam_requested = true;
+      } else if (s->scene.visual_wide_cam == 2) {
+        wide_cam_requested = false;
+      } else {
+        wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
+      }
     }
     CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
     CameraWidget::setFrameId(sm["modelV2"].getModelV2().getFrameId());

selfdrive/ui/qt/onroad/model.cc

@@ -1,4 +1,5 @@
 #include "selfdrive/ui/qt/onroad/model.h"
+#include <algorithm>
 
 void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
   auto *s = uiState();
@@ -49,8 +50,14 @@ void ModelRenderer::update_leads(const cereal::RadarState::Reader &radar_state,
 }
 
 void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) {
+  auto *s = uiState();
   const auto &model_position = model.getPosition();
-  float max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
+  float max_distance;
+  if (s->scene.visual_style == 0) {
+    max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
+  } else {
+    max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
+  }
 
   // update lane lines
   const auto &lane_lines = model.getLaneLines();
@@ -58,7 +65,11 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
   int max_idx = get_path_length_idx(lane_lines[0], max_distance);
   for (int i = 0; i < std::size(lane_line_vertices); i++) {
     lane_line_probs[i] = line_probs[i];
-    mapLineToPolygon(lane_lines[i], 0.025 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
+    if (s->scene.visual_style == 2) {
+      mapLineToPolygon(lane_lines[i], 0.075 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
+    } else {
+      mapLineToPolygon(lane_lines[i], 0.025 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
+    }
   }
 
   // update road edges
@@ -66,7 +77,11 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
   const auto &edge_stds = model.getRoadEdgeStds();
   for (int i = 0; i < std::size(road_edge_vertices); i++) {
     road_edge_stds[i] = edge_stds[i];
-    mapLineToPolygon(road_edges[i], 0.025, 0, &road_edge_vertices[i], max_idx);
+    if (s->scene.visual_style == 2) {
+      mapLineToPolygon(road_edges[i], 0.1, 0, &road_edge_vertices[i], max_idx);
+    } else {
+      mapLineToPolygon(road_edges[i], 0.025, 0, &road_edge_vertices[i], max_idx);
+    }
   }
 
   // update path
@@ -79,16 +94,112 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
 }
 
 void ModelRenderer::drawLaneLines(QPainter &painter) {
-  // lanelines
-  for (int i = 0; i < std::size(lane_line_vertices); ++i) {
-    painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
-    painter.drawPolygon(lane_line_vertices[i]);
-  }
+  auto *s = uiState();
+  if (s->scene.visual_style == 2) {
+    QRectF r = clip_region;
 
-  // road edges
-  for (int i = 0; i < std::size(road_edge_vertices); ++i) {
-    painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - road_edge_stds[i], 0.0, 1.0)));
-    painter.drawPolygon(road_edge_vertices[i]);
+    qreal horizonY = r.bottom();
+    if (!road_edge_vertices[0].isEmpty() || !road_edge_vertices[1].isEmpty()) {
+      qreal leftH  = r.top();
+      qreal rightH = r.top();
+
+      if (!road_edge_vertices[0].isEmpty()) {
+        leftH = std::numeric_limits<qreal>::max();
+        for (const QPointF &pt : road_edge_vertices[0]) {
+          if (pt.y() < leftH) leftH = pt.y();
+        }
+      }
+
+      if (!road_edge_vertices[1].isEmpty()) {
+        rightH = std::numeric_limits<qreal>::max();
+        for (const QPointF &pt : road_edge_vertices[1]) {
+          if (pt.y() < rightH) rightH = pt.y();
+        }
+      }
+
+      horizonY = std::max(leftH, rightH);
+    }
+
+    painter.fillRect(QRectF(r.left(), horizonY + 0, r.width(), r.bottom() - (horizonY + 0)), QColor("#111111"));
+
+    auto buildFill = [&](const QPolygonF &edgeRibbon, bool isLeftSide) -> QPolygonF {
+      if (edgeRibbon.isEmpty()) return {};
+
+      QMap<int, QPointF> byY;
+      for (const QPointF &pt : edgeRibbon) {
+        int yi = int(std::round(pt.y()));
+        if (!byY.contains(yi)) {
+          byY[yi] = pt;
+        } else {
+          if (isLeftSide) {
+            if (pt.x() > byY[yi].x()) byY[yi] = pt;
+          } else {
+            if (pt.x() < byY[yi].x()) byY[yi] = pt;
+          }
+        }
+      }
+      if (byY.isEmpty()) return {};
+
+      QPolygonF curve;
+      for (auto it = byY.cbegin(); it != byY.cend(); ++it) {
+        curve << it.value();
+      }
+      if (curve.size() < 2) return {};
+
+      const qreal topY = curve.first().y();
+      QPolygonF fill;
+      if (isLeftSide) {
+        fill << QPointF(r.left(), topY);
+        for (const QPointF &pt : curve) fill << pt;
+        fill << QPointF(r.left(), r.bottom());
+      } else {
+        fill << QPointF(r.right(), topY);
+        for (const QPointF &pt : curve) fill << pt;
+        fill << QPointF(r.right(), r.bottom());
+      }
+      return fill;
+    };
+
+    QPolygonF leftFill  = buildFill(road_edge_vertices[0], true);
+    QPolygonF rightFill = buildFill(road_edge_vertices[1], false);
+
+    if (!leftFill.isEmpty()) {
+      painter.setBrush(QColor("#222222"));
+      painter.drawPolygon(leftFill);
+    }
+    if (!rightFill.isEmpty()) {
+      painter.setBrush(QColor("#222222"));
+      painter.drawPolygon(rightFill);
+    }
+
+    for (int i = 0; i < std::size(lane_line_vertices); ++i) {
+      painter.setBrush(QColor::fromRgbF(0.902, 0.902, 0.902, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
+      painter.drawPolygon(lane_line_vertices[i]);
+    }
+
+    for (int i = 0; i < std::size(road_edge_vertices); ++i) {
+      painter.setBrush(QColor(0x55, 0x55, 0x55, 255));
+      painter.drawPolygon(road_edge_vertices[i]);
+    }
+
+    QLinearGradient bgGrad(r.left(), horizonY - 100, r.left(), horizonY + 100);
+    bgGrad.setColorAt(0.0, QColor("#000000"));
+    bgGrad.setColorAt(0.5, QColor("#111111"));
+    bgGrad.setColorAt(1.0, QColor("#111111"));
+    painter.fillRect(QRectF(r.left(), horizonY - 200, r.width(), 200), bgGrad);
+
+  } else {
+    // lanelines
+    for (int i = 0; i < std::size(lane_line_vertices); ++i) {
+      painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
+      painter.drawPolygon(lane_line_vertices[i]);
+    }
+
+    // road edges
+    for (int i = 0; i < std::size(road_edge_vertices); ++i) {
+      painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - road_edge_stds[i], 0.0, 1.0)));
+      painter.drawPolygon(road_edge_vertices[i]);
+    }
   }
 }
 
@@ -175,6 +286,7 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float
 
 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
                              const QPointF &vd, const QRect &surface_rect) {
+  auto *s = uiState();
   const float speedBuff = 10.;
   const float leadBuff = 40.;
   const float d_rel = lead_data.getDRel();
@@ -197,20 +309,133 @@ void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadDa
   float g_yo = sz / 10;
 
   QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}};
-  painter.setBrush(QColor(218, 202, 37, 255));
+  if (s->scene.visual_style == 2) {
+    painter.setBrush(QColor(0xE6, 0xE6, 0xE6, 255));
+  } else {
+    painter.setBrush(QColor(218, 202, 37, 255));
+  }
   painter.drawPolygon(glow, std::size(glow));
 
   // chevron
   QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}};
-  painter.setBrush(QColor(201, 34, 49, fillAlpha));
+  if (s->scene.visual_style == 2) {
+    painter.setBrush(QColor(0, 0, 0, fillAlpha));
+  } else {
+    painter.setBrush(QColor(201, 34, 49, fillAlpha));
+  }
   painter.drawPolygon(chevron, std::size(chevron));
 }
 
-// Projects a point in car to space to the corresponding point in full frame image space.
+float mapRange(float x, float in_min, float in_max, float out_min, float out_max) {
+  if (in_min < in_max) {
+    x = std::clamp(x, in_min, in_max);
+  } else {
+    x = std::clamp(x, in_max, in_min);
+  }
+  return out_min + (x - in_min) * (out_max - out_min) / (in_max - in_min);
+}
+
+// Projects a point in car space to the corresponding point in full frame image space.
 bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out) {
+  auto *s = uiState();
+  auto &sm = *(s->sm);
+  float blend_speed_mph = fabsf(sm["carState"].getCarState().getVEgo() * 2.23694f);
+
   Eigen::Vector3f input(in_x, in_y, in_z);
+
+  if ((s->scene.visual_style_zoom == 1 || s->scene.visual_style_zoom == 2) && s->scene.visual_style != 0) {
+    float zoom_start = 20.0f;
+    float zoom_end   = 50.0f;
+
+    if (s->scene.visual_style_zoom == 2) {
+      std::swap(zoom_start, zoom_end);
+    }
+
+    float IN_X_OFFSET = mapRange(blend_speed_mph, zoom_start, zoom_end, 0.0f, 24.0f);
+    float IN_Y_OFFSET = mapRange(blend_speed_mph, zoom_start, zoom_end, 1.0f, 2.0f);
+    float IN_Z_OFFSET = mapRange(blend_speed_mph, zoom_start, zoom_end, 0.0f, 5.0f);
+    float PITCH_DEG   = mapRange(blend_speed_mph, zoom_start, zoom_end, 0.0f, 5.0f);
+
+    input = Eigen::Vector3f(in_x + IN_X_OFFSET, in_y / IN_Y_OFFSET, in_z + IN_Z_OFFSET);
+    Eigen::AngleAxisf pitch_rot(PITCH_DEG * M_PI / 180.0f, Eigen::Vector3f::UnitY());
+    input = pitch_rot * input;
+  }
+
   auto pt = car_space_transform * input;
-  *out = QPointF(pt.x() / pt.z(), pt.y() / pt.z());
+  bool normal_valid = (pt.z() > 1e-3f &&
+                       std::isfinite(pt.x()) && std::isfinite(pt.y()));
+  QPointF normal_view;
+  if (normal_valid) {
+    normal_view = QPointF(pt.x() / pt.z(), pt.y() / pt.z());
+  }
+
+  const float base_scale_x = 20.0f;
+  const float base_scale_y = 15.0f;
+  const float y_offset = 450.0f;
+
+  float factor_scale_x = 0.0f;
+  if (blend_speed_mph > 0.0f) {
+    if (s->scene.visual_style_overhead_zoom == 1) {
+      factor_scale_x = mapRange(blend_speed_mph, 0.0f, 50.0f, 30.0f, 0.0f);
+    } else if (s->scene.visual_style_overhead_zoom == 2) {
+      factor_scale_x = mapRange(blend_speed_mph, 50.0f, 0.0f, 30.0f, 0.0f);
+    }
+  }
+
+  float scale_x = base_scale_x + factor_scale_x;
+  float scale_y = base_scale_y;
+
+  QPointF topdown_view(
+    clip_region.center().x() + in_y * scale_x,
+    (clip_region.bottom() - y_offset) - in_x * scale_y
+  );
+
+  if ((s->scene.visual_style_overhead == 1 || s->scene.visual_style_overhead == 2) && s->scene.visual_style != 0) {
+    static float blend = 0.0f;
+    static float target_blend = 0.0f;
+    static double last_t = millis_since_boot();
+
+    const bool inverted = (s->scene.visual_style_overhead == 2);
+    const float threshold = s->scene.visual_style_overhead_threshold;
+    const float hysteresis = 5.0f;
+
+    if (!inverted) {
+      if (target_blend < 0.5f && blend_speed_mph > threshold) {
+        target_blend = 1.0f;
+      } else if (target_blend > 0.5f && blend_speed_mph < threshold - hysteresis) {
+        target_blend = 0.0f;
+      }
+    } else {
+      if (target_blend < 0.5f && blend_speed_mph < threshold) {
+        target_blend = 1.0f;
+      } else if (target_blend > 0.5f && blend_speed_mph > threshold + hysteresis) {
+        target_blend = 0.0f;
+      }
+    }
+
+    double now = millis_since_boot();
+    double dt = (now - last_t) / 1000.0;
+    last_t = now;
+
+    const float transition_time = 1.50f;
+    float step = dt / transition_time;
+
+    if (blend < target_blend) {
+      blend = std::min(blend + step, target_blend);
+    } else if (blend > target_blend) {
+      blend = std::max(blend - step, target_blend);
+    }
+
+    if (!normal_valid) return false;
+    *out = QPointF(
+      (1 - blend) * normal_view.x() + blend * topdown_view.x(),
+      (1 - blend) * normal_view.y() + blend * topdown_view.y()
+    );
+  } else {
+    if (!normal_valid) return false;
+    *out = normal_view;
+  }
+
   return clip_region.contains(*out);
 }
 

selfdrive/ui/qt/widgets/cameraview.cc

@@ -196,6 +196,7 @@ mat4 CameraWidget::calcFrameMatrix() {
 }
 
 void CameraWidget::paintGL() {
+  auto *s = uiState();
   glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
   glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
 
@@ -248,7 +249,9 @@ void CameraWidget::paintGL() {
 
   glUniformMatrix4fv(program->uniformLocation("uTransform"), 1, GL_TRUE, frame_mat.v);
   glEnableVertexAttribArray(0);
-  glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, (const void *)0);
+  if (s->scene.visual_style == 0) {
+    glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, (const void *)0);
+  }
   glDisableVertexAttribArray(0);
   glBindVertexArray(0);
   glBindTexture(GL_TEXTURE_2D, 0);

selfdrive/ui/qt/widgets/wifi.cc

@@ -11,17 +11,18 @@ WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) {
   main_layout->setContentsMargins(56, 40, 56, 40);
   main_layout->setSpacing(42);  
   
-  QLabel *title = new QLabel(tr("<span style='font-family: \"Noto Color Emoji\";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span>"));
-  title->setStyleSheet("font-size: 64px; font-weight: 500;");
+  community_popup = new SunnylinkCommunityPopup(this);
+  QLabel *title = new QLabel(tr("sunnypilot Community"));
+  title->setStyleSheet("font-size: 56px; font-weight: 500;");
   main_layout->addWidget(title);
 
-  QLabel *desc = new QLabel(tr("Maximize your training data uploads to improve openpilot's driving models."));
+  QLabel *desc = new QLabel(tr("Need help or have ideas?<br><b>Join</b> our community now!"));
   desc->setStyleSheet("font-size: 40px; font-weight: 400;");
   desc->setWordWrap(true);
   main_layout->addWidget(desc);
 
-  QPushButton *settings_btn = new QPushButton(tr("Open"));
-  connect(settings_btn, &QPushButton::clicked, [=]() { emit openSettings(1, "FirehosePanel"); });
+  QPushButton *settings_btn = new QPushButton(tr("Learn More"));
+  connect(settings_btn, &QPushButton::clicked, [=]() { community_popup->exec(); });
   settings_btn->setStyleSheet(R"(
     QPushButton {
       font-size: 48px;

selfdrive/ui/qt/widgets/wifi.h

@@ -3,12 +3,17 @@
 #include <QFrame>
 #include <QWidget>
 
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/community_widget.h"
+
 class WiFiPromptWidget : public QFrame {
   Q_OBJECT
 
 public:
   explicit WiFiPromptWidget(QWidget* parent = 0);
 
+private:
+  SunnylinkCommunityPopup *community_popup;
+
 signals:
   void openSettings(int index = 0, const QString &param = "");
 };

selfdrive/ui/sunnypilot/SConscript

@@ -35,6 +35,7 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/software_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc",
+  "sunnypilot/qt/offroad/settings/sunnylink/community_widget.cc",
   "sunnypilot/qt/offroad/settings/trips_panel.cc",
   "sunnypilot/qt/offroad/settings/vehicle_panel.cc",
   "sunnypilot/qt/offroad/settings/visuals_panel.cc",

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

@@ -60,7 +60,7 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare
 
 void DeveloperPanelSP::updateToggles(bool offroad) {
   bool disable_updates = params.getBool("DisableUpdates");
-  bool is_release = params.getBool("IsReleaseBranch");
+  bool is_release = params.getBool("IsReleaseBranch") || params.getBool("IsReleaseSpBranch");
   bool is_tested = params.getBool("IsTestedBranch");
   bool is_development = params.getBool("IsDevelopmentBranch");
 
@@ -79,6 +79,9 @@ void DeveloperPanelSP::updateToggles(bool offroad) {
   enableGithubRunner->setVisible(!is_release);
   errorLogBtn->setVisible(!is_release);
   showAdvancedControls->setEnabled(true);
+
+  joystickToggle->setVisible(!is_release);
+  longManeuverToggle->setVisible(!is_release);
 }
 
 void DeveloperPanelSP::showEvent(QShowEvent *event) {

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

@@ -7,6 +7,8 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h"
 
+#include "selfdrive/ui/sunnypilot/qt/util.h"
+
 SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent) {
   subPanelFrame = new QFrame();
   QVBoxLayout *subPanelLayout = new QVBoxLayout(subPanelFrame);
@@ -103,13 +105,13 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
 }
 
 void SpeedLimitSettings::refresh() {
+  bool is_release = params.getBool("IsReleaseSpBranch");
   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;
+  bool sla_available;
   auto cp_bytes = params.get("CarParamsPersistent");
   auto cp_sp_bytes = params.get("CarParamsSPPersistent");
   if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
@@ -120,17 +122,24 @@ void SpeedLimitSettings::refresh() {
     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();
+    bool has_longitudinal_control = hasLongitudinalControl(CP);
+    bool has_icbm = hasIntelligentCruiseButtonManagement(CP_SP);
 
-    if (!has_longitudinal_control && CP_SP.getPcmCruiseSpeed()) {
-      if (speed_limit_mode_param == SpeedLimitMode::ASSIST) {
-        params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
-      }
+    /*
+     * Speed Limit Assist is available when:
+     * - has_longitudinal_control or has_icbm, and
+     * - is not a release branch or not a disallowed brand, and
+     * - is not always disallowed
+     */
+    bool sla_disallow_in_release = CP.getBrand() == "tesla" && is_release;
+    bool sla_always_disallow = CP.getBrand() == "rivian";
+    sla_available = (has_longitudinal_control || has_icbm) && !sla_disallow_in_release && !sla_always_disallow;
+
+    if (!sla_available && speed_limit_mode_param == SpeedLimitMode::ASSIST) {
+      params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
     }
   } else {
-    has_longitudinal_control = false;
-    intelligent_cruise_button_management_available = false;
+    sla_available = false;
   }
 
   speed_limit_mode_settings->setDescription(modeDescription(speed_limit_mode_param));
@@ -150,13 +159,14 @@ void SpeedLimitSettings::refresh() {
     speed_limit_offset->showDescription();
   }
 
-  if (has_longitudinal_control || intelligent_cruise_button_management_available) {
+  if (sla_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->refresh();
   speed_limit_mode_settings->showDescription();
   speed_limit_offset->showDescription();
 }

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

@@ -35,6 +35,7 @@ private:
   SpeedLimitPolicy *speedLimitPolicyScreen;
   ButtonParamControlSP *speed_limit_offset_settings;
   OptionControlSP *speed_limit_offset;
+  bool icbm_available = false;
 
   static QString offsetDescription(SpeedLimitOffsetType type = SpeedLimitOffsetType::NONE) {
     QString none_str = tr("⦿ None: No Offset");

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

@@ -7,6 +7,8 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"
 
+#include "selfdrive/ui/sunnypilot/qt/util.h"
+
 LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
   setStyleSheet(R"(
     #back_btn {
@@ -36,11 +38,13 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
   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);
+  QObject::connect(intelligentCruiseButtonManagement, &ParamControlSP::toggleFlipped, this, [=](bool) {
+    refresh(offroad);
+  });
   list->addItem(intelligentCruiseButtonManagement);
 
   dynamicExperimentalControl = new ParamControlSP(
@@ -100,6 +104,8 @@ void LongitudinalPanel::hideEvent(QHideEvent *event) {
 }
 
 void LongitudinalPanel::refresh(bool _offroad) {
+  const QString icbm_description = tr("When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.");
+
   auto cp_bytes = params.get("CarParamsPersistent");
   auto cp_sp_bytes = params.get("CarParamsSPPersistent");
   if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
@@ -112,26 +118,61 @@ void LongitudinalPanel::refresh(bool _offroad) {
 
     has_longitudinal_control = hasLongitudinalControl(CP);
     is_pcm_cruise = CP.getPcmCruise();
-    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
+    has_icbm = hasIntelligentCruiseButtonManagement(CP_SP);
 
-    if (!intelligent_cruise_button_management_available || has_longitudinal_control) {
+    if (CP_SP.getIntelligentCruiseButtonManagementAvailable() && !has_longitudinal_control) {
+      intelligentCruiseButtonManagement->setEnabled(offroad);
+      intelligentCruiseButtonManagement->setDescription(icbm_description);
+    } else {
       params.remove("IntelligentCruiseButtonManagement");
+      intelligentCruiseButtonManagement->setEnabled(false);
+
+      const QString icbm_unavaialble = tr("Intelligent Cruise Button Management is currently unavailable on this platform.");
+
+      QString long_desc = icbm_unavaialble;
+      if (has_longitudinal_control) {
+        if (CP.getAlphaLongitudinalAvailable()) {
+          long_desc = icbm_unavaialble + " " + tr("Disable the sunnypilot Longitudinal Control (alpha) toggle to allow Intelligent Cruise Button Management.");
+        } else {
+          long_desc = icbm_unavaialble + " " + tr("sunnypilot Longitudinal Control is the default longitudinal control for this platform.");
+        }
+      }
+
+      intelligentCruiseButtonManagement->setDescription("<b>" + long_desc + "</b><br><br>" + icbm_description);
+      intelligentCruiseButtonManagement->showDescription();
     }
 
-    if (!has_longitudinal_control && CP_SP.getPcmCruiseSpeed()) {
+    if (has_longitudinal_control || has_icbm) {
+      // enable Custom ACC Increments when long is available and is not PCM cruise
+      customAccIncrement->setEnabled(((has_longitudinal_control && !is_pcm_cruise) || has_icbm) && offroad);
+      dynamicExperimentalControl->setEnabled(has_longitudinal_control);
+      SmartCruiseControlVision->setEnabled(true);
+      SmartCruiseControlMap->setEnabled(true);
+    } else {
       params.remove("CustomAccIncrementsEnabled");
       params.remove("DynamicExperimentalControl");
       params.remove("SmartCruiseControlVision");
       params.remove("SmartCruiseControlMap");
+      customAccIncrement->setEnabled(false);
+      dynamicExperimentalControl->setEnabled(false);
+      SmartCruiseControlVision->setEnabled(false);
+      SmartCruiseControlMap->setEnabled(false);
     }
+
+    intelligentCruiseButtonManagement->refresh();
+    customAccIncrement->refresh();
+    dynamicExperimentalControl->refresh();
+    SmartCruiseControlVision->refresh();
+    SmartCruiseControlMap->refresh();
   } else {
     has_longitudinal_control = false;
     is_pcm_cruise = false;
-    intelligent_cruise_button_management_available = false;
+    has_icbm = false;
+    intelligentCruiseButtonManagement->setDescription("<b>" + tr("Start the vehicle to check vehicle compatibility.") + "</br><b><b>" + icbm_description);
   }
 
   QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");
-  QString accNoLongDescription = tr("This feature can only be used with openpilot longitudinal control enabled.");
+  QString accNoLongDescription = tr("This feature can only be used with sunnypilot longitudinal control enabled.");
   QString accPcmCruiseDisabledDescription = tr("This feature is not supported on this platform due to vehicle limitations.");
   QString onroadOnlyDescription = tr("Start the vehicle to check vehicle compatibility.");
 
@@ -139,8 +180,8 @@ void LongitudinalPanel::refresh(bool _offroad) {
     customAccIncrement->setDescription(onroadOnlyDescription);
     customAccIncrement->showDescription();
   } else {
-    if (has_longitudinal_control || intelligent_cruise_button_management_available) {
-      if (is_pcm_cruise) {
+    if (has_longitudinal_control || has_icbm) {
+      if (has_longitudinal_control && is_pcm_cruise) {
         customAccIncrement->setDescription(accPcmCruiseDisabledDescription);
         customAccIncrement->showDescription();
       } else {
@@ -150,21 +191,8 @@ void LongitudinalPanel::refresh(bool _offroad) {
       customAccIncrement->toggleFlipped(false);
       customAccIncrement->setDescription(accNoLongDescription);
       customAccIncrement->showDescription();
-      intelligentCruiseButtonManagement->toggleFlipped(false);
     }
   }
 
-  bool icbm_allowed = intelligent_cruise_button_management_available && !has_longitudinal_control;
-  intelligentCruiseButtonManagement->setEnabled(icbm_allowed && offroad);
-
-  // enable toggle when long is available and is not PCM cruise
-  bool cai_allowed = (has_longitudinal_control && !is_pcm_cruise) || icbm_allowed;
-  customAccIncrement->setEnabled(cai_allowed && !offroad);
-  customAccIncrement->refresh();
-
-  dynamicExperimentalControl->setEnabled(has_longitudinal_control);
-  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

@@ -25,7 +25,7 @@ private:
   Params params;
   bool has_longitudinal_control = false;
   bool is_pcm_cruise = false;
-  bool intelligent_cruise_button_management_available = false;;
+  bool has_icbm = false;
   bool offroad = false;
 
   QStackedLayout *main_layout = nullptr;

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

@@ -310,9 +310,8 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
   QList<TreeNode> sortedModels;
   QSet<QString> modelFolders;
   QRegularExpression re("\\(([^)]*)\\)[^(]*$");
-  const auto bundles = model_manager.getAvailableBundles();
 
-  for (const auto &bundle : bundles) {
+  for (const auto &bundle : model_manager.getAvailableBundles()) {
     auto overrides = bundle.getOverrides();
     QString folder;
     for (const auto &override : overrides) {
@@ -392,7 +391,7 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
     showResetParamsDialog();
   } else {
     // Find selected bundle and initiate download
-    for (const auto &bundle: bundles) {
+    for (const auto &bundle: model_manager.getAvailableBundles()) {
       if (QString::fromStdString(bundle.getRef()) == selectedBundleRef) {
         params.put("ModelManager_DownloadIndex", std::to_string(bundle.getIndex()));
         if (bundle.getGeneration() != model_manager.getActiveBundle().getGeneration()) {

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

@@ -0,0 +1,139 @@
+/**
+ * Copyright (c) 2025-, sunnypilot 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/sunnylink/community_widget.h"
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/util.h"
+
+using qrcodegen::QrCode;
+
+// --- SunnylinkCommunityQRWidget ---
+
+SunnylinkCommunityQRWidget::SunnylinkCommunityQRWidget(QWidget* parent)
+    : QWidget(parent) {}
+
+void SunnylinkCommunityQRWidget::showEvent(QShowEvent *event) {
+  updateQrCode(SUNNYLINK_COMMUNITY_URL);
+  update();
+}
+
+void SunnylinkCommunityQRWidget::updateQrCode(const QString &text) {
+  QrCode qr = QrCode::encodeText(text.toUtf8().data(), QrCode::Ecc::LOW);
+  qint32 sz = qr.getSize();
+  QImage im(sz, sz, QImage::Format_RGB32);
+
+  QRgb black = qRgb(0, 0, 0);
+  QRgb white = qRgb(255, 255, 255);
+  for (int y = 0; y < sz; y++) {
+    for (int x = 0; x < sz; x++) {
+      im.setPixel(x, y, qr.getModule(x, y) ? black : white);
+    }
+  }
+
+  int final_sz = ((width() / sz) - 1) * sz;
+  img = QPixmap::fromImage(im.scaled(final_sz, final_sz, Qt::KeepAspectRatio), Qt::MonoOnly);
+}
+
+void SunnylinkCommunityQRWidget::paintEvent(QPaintEvent *e) {
+  QPainter p(this);
+  p.fillRect(rect(), Qt::white);
+
+  if (!img.isNull()) {
+    QSize s = (size() - img.size()) / 2;
+    p.drawPixmap(s.width(), s.height(), img);
+  }
+}
+
+// --- SunnylinkCommunityPopup ---
+
+QStringList SunnylinkCommunityPopup::getInstructions() {
+  QStringList instructions;
+  instructions << tr("Scan the QR code and join us!");
+  return instructions;
+}
+
+SunnylinkCommunityPopup::SunnylinkCommunityPopup(QWidget* parent)
+    : DialogBase(parent) {
+  auto *mainLayout = new QVBoxLayout(this);
+  mainLayout->setContentsMargins(0, 0, 0, 0);
+  mainLayout->setSpacing(0);
+
+  // Solarized Light base3 background
+  setStyleSheet("SunnylinkCommunityPopup { background-color: #FDF6E3; }");
+
+  // Header spanning full width
+  auto headerWidget = new QWidget(this);
+  auto headerLayout = new QHBoxLayout(headerWidget);
+  headerLayout->setContentsMargins(85, 50, 85, 30);
+  headerLayout->setSpacing(30);
+
+  auto close = new QPushButton(QIcon(":/icons/close.svg"), "", this);
+  close->setIconSize(QSize(80, 80));
+  close->setStyleSheet("border: none;");
+  connect(close, &QPushButton::clicked, this, &QDialog::reject);
+  headerLayout->addWidget(close, 0, Qt::AlignLeft | Qt::AlignVCenter);
+
+  const auto title = new QLabel(tr("Join the sunnypilot Community Forum"), this);
+  // Solarized base02 for text
+  title->setStyleSheet("font-size: 65px; color: #073642;");
+  title->setWordWrap(false);
+  title->setAlignment(Qt::AlignCenter);
+  headerLayout->addWidget(title, 1);
+
+  // Spacer to balance the close button on the right
+  auto spacer = new QWidget(this);
+  spacer->setFixedSize(80, 80);
+  headerLayout->addWidget(spacer, 0);
+
+  mainLayout->addWidget(headerWidget);
+
+  // Two-column content layout
+  auto contentLayout = new QHBoxLayout();
+  contentLayout->setContentsMargins(0, 0, 0, 0);
+  contentLayout->setSpacing(0);
+  mainLayout->addLayout(contentLayout, 66);
+
+  // Left side: description
+  auto leftLayout = new QVBoxLayout();
+  leftLayout->setContentsMargins(85, 40, 50, 70);
+  leftLayout->setSpacing(35);
+  contentLayout->addLayout(leftLayout, 40);
+
+  // Hype / intro paragraph
+  const auto desc = new QLabel(tr(
+    "We're excited to announce our <b>sunnypilot Community Forum</b><br><br>"
+    "Over the years, Discord just hasn't scaled well for our growing community.<br>"
+    "It's noisy, unsearchable, and great discussions disappear too easily.<br>"
+    "Our new community forum aims to fix that by making it easier to <b>find answers, share ideas, track feedback, report bugs, help newcomers</b> and more!<br><br>"
+    "<b>Here's what's waiting for you:</b><br>"
+    "• Fully <b>indexable</b> and discoverable through search engines 🔎<br>"
+    "• <b>AI-powered</b>🤖 topic and chat summaries, spam detection, and more<br>"
+    "• A <b>trust-level system</b>✅ that rewards meaningful contributions<br>"
+    "• Designed to work <b>on your own time</b>.🧘<br><br>"
+    "Scan the QR code on the right and join the discussion!"
+  ), this);
+  // Solarized base01 for body text
+  desc->setStyleSheet("font-size: 40px; color: #586E75;");
+  desc->setWordWrap(true);
+  leftLayout->addWidget(desc);
+
+  leftLayout->addStretch();
+
+  // Right side: QR code and instructions
+  auto rightLayout = new QVBoxLayout();
+  rightLayout->setContentsMargins(50, 40, 85, 70);
+  rightLayout->setSpacing(40);
+  contentLayout->addLayout(rightLayout, 1);
+
+  // QR code (smaller, fixed size)
+  auto *qr = new SunnylinkCommunityQRWidget(this);
+  qr->setFixedSize(500, 500);
+  rightLayout->addStretch();
+  rightLayout->addWidget(qr, 0, Qt::AlignCenter);
+  rightLayout->addStretch();
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/community_widget.h

@@ -0,0 +1,40 @@
+/**
+* Copyright (c) 2025-, sunnypilot 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 <QrCode.hpp>
+#include <QtCore/qjsonobject.h>
+
+#include "common/util.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+const QString SUNNYLINK_COMMUNITY_URL = "https://community.sunnypilot.ai/sp-qr";
+
+class SunnylinkCommunityQRWidget : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit SunnylinkCommunityQRWidget(QWidget* parent = nullptr);
+  void paintEvent(QPaintEvent*) override;
+
+private:
+  QPixmap img;
+  void updateQrCode(const QString &text);
+  void showEvent(QShowEvent *event) override;
+};
+
+// Popup widget
+class SunnylinkCommunityPopup : public DialogBase {
+  Q_OBJECT
+
+public:
+  explicit SunnylinkCommunityPopup(QWidget* parent = nullptr);
+
+private:
+  static QStringList getInstructions();
+};

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

@@ -79,11 +79,11 @@ QStringList SunnylinkSponsorPopup::getInstructions(bool sponsor_pair) {
     instructions << tr("Scan the QR code to login to your GitHub account")
                  << tr("Follow the prompts to complete the pairing process")
                  << tr("Re-enter the \"sunnylink\" panel to verify sponsorship status")
-                 << tr("If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot");
+                 << tr("If sponsorship status was not updated, please contact a moderator on our forum at https://community.sunnypilot.ai");
   } else {
     instructions << tr("Scan the QR code to visit sunnyhaibin's GitHub Sponsors page")
                  << tr("Choose your sponsorship tier and confirm your support")
-                 << tr("Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status");
+                 << tr("Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues");
   }
   return instructions;
 }

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

@@ -90,7 +90,7 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   QString sunnylinkUploaderDesc = tr("Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)");
   sunnylinkUploaderEnabledBtn = new ParamControlSP(
     "EnableSunnylinkUploader",
-    tr("[Don't use] Enable sunnylink uploader"),
+    tr("Enable sunnylink uploader (infrastructure test)"),
     sunnylinkUploaderDesc,
     "", nullptr, true);
   list->addItem(sunnylinkUploaderEnabledBtn);
@@ -290,7 +290,10 @@ void SunnylinkPanel::updatePanel() {
   pairSponsorBtn->setEnabled(!is_onroad && is_sunnylink_enabled);
   pairSponsorBtn->setValue(is_paired ? tr("Paired") : tr("Not Paired"));
 
-  sunnylinkUploaderEnabledBtn->setEnabled(max_current_sponsor_rule.roleTier == SponsorTier::Guardian && is_sunnylink_enabled);
+  bool can_do_uploads = max_current_sponsor_rule.roleTier >= SponsorTier::Novice && is_sunnylink_enabled;
+  sunnylinkUploaderEnabledBtn->setVisible(can_do_uploads);
+  sunnylinkUploaderEnabledBtn->setEnabled(can_do_uploads);
+  
 
   if (!is_sunnylink_enabled) {
     sunnylinkEnabledBtn->setValue("");

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h

@@ -33,7 +33,7 @@ private:
 
   static QString toggleDisableMsg(bool _offroad, bool _has_longitudinal_control) {
     if (!_has_longitudinal_control) {
-      return tr("This feature can only be used with openpilot longitudinal control enabled.");
+      return tr("This feature can only be used with sunnypilot longitudinal control enabled.");
     }
 
     if (!_offroad) {
@@ -57,7 +57,7 @@ private:
     }
 
     return QString("%1<br><br>%2<br>%3<br>%4<br>")
-             .arg(tr("Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control."))
+             .arg(tr("Fine-tune your driving experience by adjusting acceleration smoothness with sunnypilot longitudinal control."))
              .arg(off_str)
              .arg(dynamic_str)
              .arg(predictive_str);

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

@@ -8,7 +8,41 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h"
 
 TeslaSettings::TeslaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  constexpr int coopSteeringMinKmh = 23; // minimum speed for cooperative steering (enforced by Tesla firmware)
+  constexpr int oemSteeringMinKmh = 48; // minimum speed for OEM lane departure avoidance (enforced by Tesla firmware)
+  bool is_metric = params.getBool("IsMetric");
+  QString unit = is_metric ? "km/h" : "mph";
+  int display_value_coop;
+  int display_value_oem;
+  if (is_metric) {
+    display_value_coop = coopSteeringMinKmh;
+    display_value_oem = oemSteeringMinKmh;
+  } else {
+    display_value_coop = static_cast<int>(std::round(coopSteeringMinKmh * KM_TO_MILE));
+    display_value_oem = static_cast<int>(std::round(oemSteeringMinKmh * KM_TO_MILE));
+  }
+  const QString coop_desc = QString("<b>%1</b><br><br>"
+                                    "%2<br>"
+                                    "%3<br>")
+                            .arg(tr("Warning: May experience steering oscillations below %5 %6 during turns, recommend disabling this feature if you experience these."))
+                            .arg(tr("Allows the driver to provide limited steering input while openpilot is engaged."))
+                            .arg(tr("Only works above %4 %6."))
+                            .arg(display_value_coop)
+                            .arg(display_value_oem)
+                            .arg(unit);
+
+  coopSteeringToggle = new ParamControlSP(
+    "TeslaCoopSteering",
+    tr("Cooperative Steering (Beta)"),
+    coop_desc,
+    "",
+    this
+  );
+  list->addItem(coopSteeringToggle);
+  coopSteeringToggle->showDescription();
+  coopSteeringToggle->setConfirmation(true, false);
 }
 
 void TeslaSettings::updateSettings() {
+  coopSteeringToggle->setEnabled(offroad);
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h

@@ -22,5 +22,5 @@ public:
   void updateSettings() override;
 
 private:
-  bool offroad = false;
+  ParamControlSP *coopSteeringToggle = nullptr;
 };

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

@@ -11,6 +11,18 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
   param_watcher = new ParamWatcher(this);
   connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
     paramsRefresh();
+    if (param_name == "VisualStyle") {
+      visual_style_value = param_value.toInt();
+    } else if (param_name == "VisualStyleOverhead") {
+      visual_style_overhead_value = param_value.toInt();
+    } else if (param_name == "VisualRadarTracks") {
+      bool radar_tracks_enabled = param_value.toInt() != 0;
+      visual_radar_tracks_delay_settings->setVisible(radar_tracks_enabled);
+    }
+    visual_style_zoom_settings->setVisible(visual_style_value != 0);
+    visual_style_overhead_settings->setVisible(visual_style_value != 0);
+    visual_style_overhead_zoom_settings->setVisible(visual_style_value != 0 && visual_style_overhead_value != 0);
+    visual_style_overhead_threshold_settings->setVisible(visual_style_value != 0 && visual_style_overhead_value != 0);
   });
 
   main_layout = new QStackedLayout(this);
@@ -90,6 +102,13 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
       "",
       false,
     },
+    {
+      "VisualRadarTracks",
+      tr("Show Radar Tracks"),
+      tr("Shows what the cars radar sees."),
+      "",
+      false,
+    },
   };
 
   // Add regular toggles first
@@ -116,10 +135,115 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
     param_watcher->addParam(param);
   }
 
+  // Visuals: Radar Tracks Delay
+  visual_radar_tracks_delay_settings = new OptionControlSP("VisualRadarTracksDelay", tr("Adjust Visual Radar Tracks Delay"),
+                                      tr("Delays radar tracks to better match what you see through the camera."),
+                                      "", {0, 100}, 10, false, nullptr, true);
+
+  connect(visual_radar_tracks_delay_settings, &OptionControlSP::updateLabels, [=]() {
+    float radar_tracks_delay_value = QString::fromStdString(params.get("VisualRadarTracksDelay")).toFloat();
+    visual_radar_tracks_delay_settings->setLabel(QString::number(radar_tracks_delay_value, 'f', 1) + " s");
+  });
+
+  float radar_tracks_delay_value = QString::fromStdString(params.get("VisualRadarTracksDelay")).toFloat();
+  visual_radar_tracks_delay_settings->setLabel(QString::number(radar_tracks_delay_value, 'f', 1) + " s");
+
+  list->addItem(visual_radar_tracks_delay_settings);
+
+  // Wide Cam
+  std::vector<QString> visual_wide_cam_settings_texts{tr("Auto"), tr("On"), tr("Off")};
+  visual_wide_cam_settings = new ButtonParamControlSP(
+    "VisualWideCam", tr("Wide Cam"), tr("Override the wide cam view regardless of experimental mode status."),
+    "",
+    visual_wide_cam_settings_texts,
+    250);
+  list->addItem(visual_wide_cam_settings);
+
+  // Visual Style
+  std::vector<QString> visual_style_settings_texts{tr("Default"), tr("Minimal"), tr("Vision")};
+  visual_style_settings = new ButtonParamControlSP(
+    "VisualStyle", tr("Visual Style"),
+    tr(
+      "Switch between different on-road visualization layouts."
+      "<ul style='margin-left: 10px; margin-top: 4px;'>"
+      "<li><b>Default:</b> Standard OpenPilot layout with camera and path view.</li>"
+      "<li><b>Minimal:</b> Clean interface without camera feed or extra elements.</li>"
+      "<li><b>Vision:</b> Experimental layout that focuses on model perception and environment.</li>"
+      "</ul>"
+    ),
+    "",
+    visual_style_settings_texts,
+    380);
+  list->addItem(visual_style_settings);
+
+  // Visual Style Zoom
+  std::vector<QString> visual_style_zoom_settings_texts{tr("Disabled"), tr("Enabled"), tr("Inverted")};
+  visual_style_zoom_settings = new ButtonParamControlSP(
+    "VisualStyleZoom", tr("Visual Style Zoom"),
+    tr(
+      "Enables dynamic zooming based on driving speed in the selected visual style."
+      "<ul style='margin-left: 10px; margin-top: 4px;'>"
+      "<li><b>Disabled:</b> Keeps the zoom fixed.</li>"
+      "<li><b>Enabled:</b> Zooms in at low speed and out at high speed.</li>"
+      "<li><b>Inverted:</b> Reverses the zoom behavior.</li>"
+      "</ul>"
+    ),
+    "",
+    visual_style_zoom_settings_texts,
+    380);
+  list->addItem(visual_style_zoom_settings);
+
+  // Visual Style Overhead
+  std::vector<QString> visual_style_overhead_settings_texts{tr("Disabled"), tr("Enabled"), tr("Inverted")};
+  visual_style_overhead_settings = new ButtonParamControlSP(
+    "VisualStyleOverhead", tr("Visual Style Overhead"),
+    tr(
+      "Toggles an overhead (top-down) camera view for a 2D-style perspective."
+      "<ul style='margin-left: 10px; margin-top: 4px;'>"
+      "<li><b>Disabled:</b> Keeps the standard forward 3D view.</li>"
+      "<li><b>Enabled:</b> Switches to overhead view when active.</li>"
+      "<li><b>Inverted:</b> Reverses when the transition happens.</li>"
+      "</ul>"
+    ),
+    "",
+    visual_style_overhead_settings_texts,
+    380);
+  list->addItem(visual_style_overhead_settings);
+
+  // Visual Style Overhead Zoom
+  std::vector<QString> visual_style_overhead_zoom_settings_texts{tr("Disabled"), tr("Enabled"), tr("Inverted")};
+  visual_style_overhead_zoom_settings = new ButtonParamControlSP(
+    "VisualStyleOverheadZoom", tr("Visual Style Overhead Zoom"),
+    tr(
+      "Controls zooming behavior while in overhead mode."
+      "<ul style='margin-left: 10px; margin-top: 4px;'>"
+      "<li><b>Disabled:</b> Keeps a fixed zoom level in overhead mode.</li>"
+      "<li><b>Enabled:</b> Zooms dynamically based on speed while overhead.</li>"
+      "<li><b>Inverted:</b> Opposite zoom direction.</li>"
+      "</ul>"
+    ),
+    "",
+    visual_style_overhead_zoom_settings_texts,
+    380);
+  list->addItem(visual_style_overhead_zoom_settings);
+
+  // Visual Style Overhead Threshold
+  visual_style_overhead_threshold_settings = new OptionControlSP(
+    "VisualStyleOverheadThreshold", tr("Visual Style Overhead Threshold"),
+    tr("Sets the speed (in mph) where the display transitions between normal and overhead view."),
+    "", {10, 80}, 5, false, nullptr, false);
+  auto updateThresholdLabel = [=]() {
+    int mph = QString::fromStdString(params.get("VisualStyleOverheadThreshold")).toInt();
+    visual_style_overhead_threshold_settings->setLabel(QString("%1 mph").arg(mph));
+  };
+  connect(visual_style_overhead_threshold_settings, &OptionControlSP::updateLabels, updateThresholdLabel);
+  updateThresholdLabel();
+  list->addItem(visual_style_overhead_threshold_settings);
+
   // Visuals: Display Metrics below Chevron
   std::vector<QString> chevron_info_settings_texts{tr("Off"), tr("Distance"), tr("Speed"), tr("Time"), tr("All")};
   chevron_info_settings = new ButtonParamControlSP(
-    "ChevronInfo", tr("Display Metrics Below Chevron"), tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control)."),
+    "ChevronInfo", tr("Display Metrics Below Chevron"), tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with sunnypilot longitudinal control)."),
     "",
     chevron_info_settings_texts,
     200);
@@ -136,6 +260,19 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
     380);
   list->addItem(dev_ui_settings);
 
+  bool radar_tracks_enabled = QString::fromStdString(params.get("VisualRadarTracks")).toInt() != 0;
+  visual_radar_tracks_delay_settings->setVisible(radar_tracks_enabled);
+  param_watcher->addParam("VisualRadarTracks");
+
+  visual_style_value = QString::fromStdString(params.get("VisualStyle")).toInt();
+  visual_style_overhead_value = QString::fromStdString(params.get("VisualStyleOverhead")).toInt();
+  visual_style_zoom_settings->setVisible(visual_style_value != 0);
+  visual_style_overhead_settings->setVisible(visual_style_value != 0);
+  visual_style_overhead_zoom_settings->setVisible(visual_style_value != 0 && visual_style_overhead_value != 0);
+  visual_style_overhead_threshold_settings->setVisible(visual_style_value != 0 && visual_style_overhead_value != 0);
+  param_watcher->addParam("VisualStyle");
+  param_watcher->addParam("VisualStyleOverhead");
+
   sunnypilotScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(sunnypilotScroller);
 
@@ -159,8 +296,8 @@ void VisualsPanel::refreshLongitudinalStatus() {
   }
 
   if (chevron_info_settings) {
-    QString chevronEnabledDescription = tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).");
-    QString chevronNoLongDescription = tr("This feature requires openpilot longitudinal control to be available.");
+    QString chevronEnabledDescription = tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with sunnypilot longitudinal control).");
+    QString chevronNoLongDescription = tr("This feature requires sunnypilot longitudinal control to be available.");
 
     if (has_longitudinal_control) {
       chevron_info_settings->setDescription(chevronEnabledDescription);
@@ -191,4 +328,19 @@ void VisualsPanel::paramsRefresh() {
   if (dev_ui_settings) {
     dev_ui_settings->refresh();
   }
+  if (visual_wide_cam_settings) {
+    visual_wide_cam_settings->refresh();
+  }
+  if (visual_style_settings) {
+    visual_style_settings->refresh();
+  }
+  if (visual_style_zoom_settings) {
+    visual_style_zoom_settings->refresh();
+  }
+  if (visual_style_overhead_settings) {
+    visual_style_overhead_settings->refresh();
+  }
+  if (visual_style_overhead_zoom_settings) {
+    visual_style_overhead_zoom_settings->refresh();
+  }
 }

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

@@ -32,4 +32,14 @@ protected:
  ButtonParamControlSP *dev_ui_settings;
 
  bool has_longitudinal_control = false;
+
+ OptionControlSP *visual_radar_tracks_delay_settings;
+ ButtonParamControlSP *visual_wide_cam_settings;
+ int visual_style_value = 0;
+ int visual_style_overhead_value = 0;
+ ButtonParamControlSP *visual_style_settings;
+ ButtonParamControlSP *visual_style_zoom_settings;
+ ButtonParamControlSP *visual_style_overhead_settings;
+ ButtonParamControlSP *visual_style_overhead_zoom_settings;
+ OptionControlSP *visual_style_overhead_threshold_settings;
 };

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

@@ -8,6 +8,12 @@
 #include "selfdrive/ui/sunnypilot/qt/onroad/model.h"
 
 
+void ModelRendererSP::drawRadarPoint(QPainter &painter, const QPointF &pos, float v_rel, float radius) {
+  painter.setBrush(QColor(255, 255, 255, 200));
+  painter.setPen(Qt::NoPen);
+  painter.drawEllipse(pos, radius, radius);
+}
+
 void ModelRendererSP::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) {
   ModelRenderer::update_model(model, lead);
   const auto &model_position = model.getPosition();
@@ -67,6 +73,26 @@ void ModelRendererSP::draw(QPainter &painter, const QRect &surface_rect) {
     const bool right_blindspot = car_state.getRightBlindspot();
     drawBlindspot(painter, surface_rect, left_blindspot, right_blindspot);
   }
+
+  if (s->scene.visual_radar_tracks) {
+    if (sm.alive("liveTracks") && sm.rcv_frame("liveTracks") >= s->scene.started_frame) {
+      const auto &tracks = sm["liveTracks"].getLiveTracks().getPoints();
+      for (const auto &track : tracks) {
+        if (!std::isfinite(track.getDRel()) || !std::isfinite(track.getYRel())) continue;
+        float t_lag = s->scene.visual_radar_tracks_delay;
+        float d_pred = track.getDRel();
+        float y_pred = track.getYRel();
+        if (t_lag > 0.0f) {
+          d_pred += track.getVRel() * t_lag + 0.5f * track.getARel() * t_lag * t_lag;
+        }
+        QPointF screen_pt;
+        if (mapToScreen(d_pred, -y_pred, path_offset_z, &screen_pt)) {
+          drawRadarPoint(painter, screen_pt, track.getVRel(), 10.0f);
+        }
+      }
+    }
+  }
+
   drawLeadStatus(painter, surface_rect.height(), surface_rect.width());
 
   painter.restore();

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

@@ -28,4 +28,6 @@ private:
 
   // Lead status animation
   float lead_status_alpha = 0.0f;
+
+  void drawRadarPoint(QPainter &painter, const QPointF &pos, float v_rel, float radius = 10.0f);
 };

selfdrive/ui/sunnypilot/qt/util.cc

@@ -122,3 +122,7 @@ std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::
     return std::nullopt;
   }
 }
+
+bool hasIntelligentCruiseButtonManagement(const cereal::CarParamsSP::Reader &car_params_sp) {
+  return car_params_sp.getIntelligentCruiseButtonManagementAvailable() && Params().getBool("IntelligentCruiseButtonManagement");
+}

selfdrive/ui/sunnypilot/qt/util.h

@@ -23,3 +23,4 @@ std::optional<QString> getParamIgnoringDefault(const std::string &param_name, co
 QMap<QString, QVariantMap> loadPlatformList();
 QStringList searchFromList(const QString &query, const QStringList &list);
 std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::string& _param);
+bool hasIntelligentCruiseButtonManagement(const cereal::CarParamsSP::Reader &car_params_sp);

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

@@ -390,7 +390,7 @@ class ButtonParamControlSP : public MultiButtonControlSP {
   Q_OBJECT
 public:
   ButtonParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                     const std::vector<QString> &button_texts, const int minimum_button_width = 225, const bool inline_layout = false, bool advancedControl = false) : MultiButtonControlSP(title, desc, icon,
+                     const std::vector<QString> &button_texts, const int minimum_button_width = 380, const bool inline_layout = false, bool advancedControl = false) : MultiButtonControlSP(title, desc, icon,
                                                                                                                           button_texts, minimum_button_width, inline_layout, advancedControl) {
     key = param.toStdString();
     int value = atoi(params.get(key).c_str());

selfdrive/ui/sunnypilot/ui.cc

@@ -29,7 +29,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
     "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
     "carControl", "gpsLocationExternal", "gpsLocation", "liveTorqueParameters",
-    "carStateSP", "liveParameters", "liveMapDataSP", "carParamsSP"
+    "carStateSP", "liveParameters", "liveMapDataSP", "carParamsSP", "liveTracks"
   });
 
   // update timer
@@ -44,6 +44,14 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
   });
   param_watcher->addParam("DevUIInfo");
   param_watcher->addParam("StandstillTimer");
+  param_watcher->addParam("VisualRadarTracks");
+  param_watcher->addParam("VisualRadarTracksDelay");
+  param_watcher->addParam("VisualWideCam");
+  param_watcher->addParam("VisualStyle");
+  param_watcher->addParam("VisualStyleZoom");
+  param_watcher->addParam("VisualStyleOverhead");
+  param_watcher->addParam("VisualStyleOverheadZoom");
+  param_watcher->addParam("VisualStyleOverheadThreshold");
 }
 
 // This method overrides completely the update method from the parent class intentionally.
@@ -76,6 +84,17 @@ void ui_update_params_sp(UIStateSP *s) {
   s->scene.chevron_info = std::atoi(params.get("ChevronInfo").c_str());
   s->scene.blindspot_ui = params.getBool("BlindSpot");
   s->scene.rainbow_mode = params.getBool("RainbowMode");
+
+  s->scene.visual_radar_tracks = QString::fromStdString(params.get("VisualRadarTracks")).toInt();
+  s->scene.visual_radar_tracks_delay = QString::fromStdString(params.get("VisualRadarTracksDelay")).toFloat();
+
+  s->scene.visual_wide_cam = QString::fromStdString(params.get("VisualWideCam")).toInt();
+
+  s->scene.visual_style = QString::fromStdString(params.get("VisualStyle")).toInt();
+  s->scene.visual_style_zoom = QString::fromStdString(params.get("VisualStyleZoom")).toInt();
+  s->scene.visual_style_overhead = QString::fromStdString(params.get("VisualStyleOverhead")).toInt();
+  s->scene.visual_style_overhead_zoom = QString::fromStdString(params.get("VisualStyleOverheadZoom")).toInt();
+  s->scene.visual_style_overhead_threshold = QString::fromStdString(params.get("VisualStyleOverheadThreshold")).toInt();
 }
 
 void UIStateSP::reset_onroad_sleep_timer(OnroadTimerStatusToggle toggleTimerStatus) {

selfdrive/ui/sunnypilot/ui_scene.h

@@ -21,4 +21,12 @@ typedef struct UISceneSP : UIScene {
   int chevron_info;
   bool blindspot_ui;
   bool rainbow_mode;
+  int visual_radar_tracks = 0;
+  float visual_radar_tracks_delay = 0;
+  int visual_wide_cam = 0;
+  int visual_style = 0;
+  int visual_style_zoom = 0;
+  int visual_style_overhead = 0;
+  int visual_style_overhead_zoom = 0;
+  int visual_style_overhead_threshold = 20.0;
 } UISceneSP;

selfdrive/ui/tests/cycle_offroad_alerts.py

@@ -18,7 +18,7 @@ if __name__ == "__main__":
   while True:
     print("setting alert update")
     params.put_bool("UpdateAvailable", True)
-    r = open(os.path.join(BASEDIR, "RELEASES.md")).read()
+    r = open(os.path.join(BASEDIR, "CHANGELOG.md")).read()
     r = r[:r.find('\n\n')]  # Slice latest release notes
     params.put("UpdaterNewReleaseNotes", r + "\n")
 

selfdrive/ui/tests/test_ui/run.py

@@ -188,7 +188,7 @@ def setup_offroad_alert(click, pm: PubMaster, scroll=None):
 
 def setup_update_available(click, pm: PubMaster, scroll=None):
   Params().put_bool("UpdateAvailable", True)
-  release_notes_path = os.path.join(BASEDIR, "RELEASES.md")
+  release_notes_path = os.path.join(BASEDIR, "CHANGELOG.md")
   with open(release_notes_path) as file:
     release_notes = file.read().split('\n\n', 1)[0]
   Params().put("UpdaterNewReleaseNotes", release_notes + "\n")

sunnypilot/common/version.h

@@ -0,0 +1 @@
+#define SUNNYPILOT_VERSION "2025.003.000"

sunnypilot/models/fetcher.py

@@ -116,7 +116,7 @@ class ModelCache:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v7.json"
+  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v8.json"
 
   def __init__(self, params: Params):
     self.params = params

sunnypilot/selfdrive/car/car_specific.py

@@ -37,7 +37,7 @@ class CarSpecificEventsSP:
         # TODO-SP: add 1 m/s hysteresis
         if CS.vEgo >= self.CP.minEnableSpeed:
           self.low_speed_alert = False
-        if CS.gearShifter != GearShifter.drive:
+        if self.CP.minEnableSpeed >= 14.5 and CS.gearShifter != GearShifter.drive:
           self.low_speed_alert = True
       if self.low_speed_alert:
         events.add(EventName.belowSteerSpeed)

sunnypilot/selfdrive/car/interfaces.py

@@ -11,10 +11,12 @@ from opendbc.car.interfaces import CarInterfaceBase
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import get_nn_model_path
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import set_speed_limit_assist_availability
 
 import openpilot.system.sentry as sentry
 
+from sunnypilot.sunnylink.statsd import STATSLOGSP
+
 
 def log_fingerprint(CP: structs.CarParams) -> None:
   if CP.carFingerprint == "MOCK":
@@ -87,8 +89,7 @@ def _cleanup_unsupported_params(CP: structs.CarParams, CP_SP: structs.CarParamsS
     params.remove("SmartCruiseControlVision")
     params.remove("SmartCruiseControlMap")
 
-    if params.get("SpeedLimitMode", return_default=True) == SpeedLimitMode.assist:
-      params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
+  set_speed_limit_assist_availability(CP, CP_SP, params)
 
 
 def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
@@ -101,6 +102,9 @@ def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
   _initialize_torque_lateral_control(CI, CP, enforce_torque, nnlc_enabled)
   _cleanup_unsupported_params(CP, CP_SP)
 
+  STATSLOGSP.raw('sunnypilot.car_params', CP.to_dict())
+  # STATSLOGSP.raw('sunnypilot_params.car_params_sp', CP_SP.to_dict()) # https://github.com/sunnypilot/opendbc/pull/361
+
 
 def initialize_params(params) -> list[dict[str, Any]]:
   keys: list = []
@@ -116,4 +120,9 @@ def initialize_params(params) -> list[dict[str, Any]]:
     "SubaruStopAndGoManualParkingBrake",
   ])
 
+  # tesla
+  keys.extend([
+    "TeslaCoopSteering",
+  ])
+
   return [{k: params.get(k, return_default=True)} for k in keys]

sunnypilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -22,13 +22,13 @@ LongitudinalPlanSource = custom.LongitudinalPlanSP.LongitudinalPlanSource
 
 
 class LongitudinalPlannerSP:
-  def __init__(self, CP: structs.CarParams, mpc):
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP, mpc):
     self.events_sp = EventsSP()
     self.resolver = SpeedLimitResolver()
     self.dec = DynamicExperimentalController(CP, mpc)
     self.scc = SmartCruiseControl()
     self.resolver = SpeedLimitResolver()
-    self.sla = SpeedLimitAssist(CP)
+    self.sla = SpeedLimitAssist(CP, CP_SP)
     self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
     self.source = LongitudinalPlanSource.cruise
     self.e2e_alerts_helper = E2EAlertsHelper()

sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py

@@ -5,7 +5,10 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
+from cereal import custom, car
 from openpilot.common.constants import CV
+from openpilot.common.params import Params
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
 
 
 def compare_cluster_target(v_cruise_cluster: float, target_set_speed: float, is_metric: bool) -> tuple[bool, bool]:
@@ -17,3 +20,25 @@ def compare_cluster_target(v_cruise_cluster: float, target_set_speed: float, is_
   req_minus = v_cruise_cluster_conv > target_set_speed_conv
 
   return req_plus, req_minus
+
+
+def set_speed_limit_assist_availability(CP: car.CarParams, CP_SP: custom.CarParamsSP, params: Params = None) -> bool:
+  if params is None:
+    params = Params()
+
+  is_release = params.get_bool("IsReleaseSpBranch")
+  disallow_in_release = CP.brand == "tesla" and is_release
+  always_disallow = CP.brand == "rivian"
+  allowed = True
+
+  if disallow_in_release or always_disallow:
+    allowed = False
+
+  if not CP.openpilotLongitudinalControl and CP_SP.pcmCruiseSpeed:
+    allowed = False
+
+  if not allowed:
+    if params.get("SpeedLimitMode", return_default=True) == SpeedLimitMode.assist:
+      params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
+
+  return allowed

sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py

@@ -10,13 +10,13 @@ from cereal import custom, car
 from openpilot.common.params import Params
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
+from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target
-from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target, set_speed_limit_assist_availability
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventNameSP = custom.OnroadEventSP.EventName
@@ -27,14 +27,18 @@ ACTIVE_STATES = (SpeedLimitAssistState.active, SpeedLimitAssistState.adapting)
 ENABLED_STATES = (SpeedLimitAssistState.preActive, SpeedLimitAssistState.pending, *ACTIVE_STATES)
 
 DISABLED_GUARD_PERIOD = 0.5  # secs.
-PRE_ACTIVE_GUARD_PERIOD = 15  # secs. Time to wait after activation before considering temp deactivation signal.
+# secs. Time to wait after activation before considering temp deactivation signal.
+PRE_ACTIVE_GUARD_PERIOD = {
+  True: 15,
+  False: 5,
+}
 SPEED_LIMIT_CHANGED_HOLD_PERIOD = 1  # secs. Time to wait after speed limit change before switching to preActive.
 
 LIMIT_MIN_ACC = -1.5  # m/s^2 Maximum deceleration allowed for limit controllers to provide.
 LIMIT_MAX_ACC = 1.0   # m/s^2 Maximum acceleration allowed for limit controllers to provide while active.
 LIMIT_MIN_SPEED = 8.33  # m/s, Minimum speed limit to provide as solution on limit controllers.
 LIMIT_SPEED_OFFSET_TH = -1.  # m/s Maximum offset between speed limit and current speed for adapting state.
-V_CRUISE_UNSET = 255
+V_CRUISE_UNSET = 255.
 
 CRUISE_BUTTONS_PLUS = (ButtonType.accelCruise, ButtonType.resumeCruise)
 CRUISE_BUTTONS_MINUS = (ButtonType.decelCruise, ButtonType.setCruise)
@@ -48,13 +52,15 @@ class SpeedLimitAssist:
   a_ego: float
   v_offset: float
 
-  def __init__(self, CP):
+  def __init__(self, CP: car.CarParams, CP_SP: custom.CarParamsSP):
     self.params = Params()
     self.CP = CP
+    self.CP_SP = CP_SP
     self.frame = -1
     self.long_engaged_timer = 0
     self.pre_active_timer = 0
     self.is_metric = self.params.get_bool("IsMetric")
+    set_speed_limit_assist_availability(self.CP, self.CP_SP, self.params)
     self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist
     self.long_enabled = False
     self.long_enabled_prev = False
@@ -109,6 +115,16 @@ class SpeedLimitAssist:
   def target_set_speed_confirmed(self) -> bool:
     return bool(self.v_cruise_cluster_conv == self.target_set_speed_conv)
 
+  @property
+  def v_cruise_cluster_below_confirm_speed_threshold(self) -> bool:
+    return bool(self.v_cruise_cluster_conv < CONFIRM_SPEED_THRESHOLD[self.is_metric])
+
+  def update_active_event(self, events_sp: EventsSP) -> None:
+    if self.v_cruise_cluster_below_confirm_speed_threshold:
+      events_sp.add(EventNameSP.speedLimitChanged)
+    else:
+      events_sp.add(EventNameSP.speedLimitActive)
+
   def get_v_target_from_control(self) -> float:
     if self._has_speed_limit:
       if self.pcm_op_long and self.is_enabled:
@@ -126,6 +142,7 @@ class SpeedLimitAssist:
   def update_params(self) -> None:
     if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
       self.is_metric = self.params.get_bool("IsMetric")
+      set_speed_limit_assist_availability(self.CP, self.CP_SP, self.params)
       self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist
 
   def update_car_state(self, CS: car.CarState) -> None:
@@ -175,7 +192,7 @@ class SpeedLimitAssist:
   @property
   def apply_confirm_speed_threshold(self) -> bool:
     # below CST: always require user confirmation
-    if self.v_cruise_cluster_conv < CONFIRM_SPEED_THRESHOLD[self.is_metric]:
+    if self.v_cruise_cluster_below_confirm_speed_threshold:
       return True
 
     # at/above CST:
@@ -231,7 +248,7 @@ class SpeedLimitAssist:
             self.state = SpeedLimitAssistState.inactive
           elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
             self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
           elif self._has_speed_limit and self.v_offset < LIMIT_SPEED_OFFSET_TH:
             self.state = SpeedLimitAssistState.adapting
 
@@ -241,7 +258,7 @@ class SpeedLimitAssist:
             self.state = SpeedLimitAssistState.inactive
           elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
             self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
           elif self.v_offset >= LIMIT_SPEED_OFFSET_TH:
             self.state = SpeedLimitAssistState.active
 
@@ -251,7 +268,7 @@ class SpeedLimitAssist:
             self._update_confirmed_state()
           elif self.speed_limit_changed:
             self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
 
         # PRE_ACTIVE
         elif self.state == SpeedLimitAssistState.preActive:
@@ -277,7 +294,7 @@ class SpeedLimitAssist:
             self._update_confirmed_state()
           elif self._has_speed_limit:
             self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
           else:
             self.state = SpeedLimitAssistState.pending
 
@@ -303,7 +320,7 @@ class SpeedLimitAssist:
 
           elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
             self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
 
         # PRE_ACTIVE
         elif self.state == SpeedLimitAssistState.preActive:
@@ -317,7 +334,7 @@ class SpeedLimitAssist:
         elif self.state == SpeedLimitAssistState.inactive:
           if self.speed_limit_changed:
             self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
           elif self._update_non_pcm_long_confirmed_state():
             self.state = SpeedLimitAssistState.active
 
@@ -333,7 +350,7 @@ class SpeedLimitAssist:
             self.state = SpeedLimitAssistState.active
           elif self._has_speed_limit:
             self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
           else:
             self.state = SpeedLimitAssistState.inactive
 
@@ -351,15 +368,15 @@ class SpeedLimitAssist:
 
     if self.is_active:
       if self._state_prev not in ACTIVE_STATES:
-        events_sp.add(EventNameSP.speedLimitActive)
+        self.update_active_event(events_sp)
 
       # only notify if we acquire a valid speed limit
       # do not check has_speed_limit here
       elif self._speed_limit != self.speed_limit_prev:
         if self.speed_limit_prev <= 0:
-          events_sp.add(EventNameSP.speedLimitActive)
+          self.update_active_event(events_sp)
         elif self.speed_limit_prev > 0 and self._speed_limit > 0:
-          events_sp.add(EventNameSP.speedLimitChanged)
+          self.update_active_event(events_sp)
 
   def update(self, long_enabled: bool, long_override: bool, v_ego: float, a_ego: float, v_cruise_cluster: float, speed_limit: float,
              speed_limit_final_last: float, has_speed_limit: bool, distance: float, events_sp: EventsSP) -> None:

sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py

@@ -4,17 +4,22 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from cereal import custom
 
+import pytest
+
+from cereal import custom
 from opendbc.car.car_helpers import interfaces
+from opendbc.car.rivian.values import CAR as RIVIAN
+from opendbc.car.tesla.values import CAR as TESLA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist, \
   PRE_ACTIVE_GUARD_PERIOD, ACTIVE_STATES
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
@@ -30,16 +35,30 @@ SPEED_LIMITS = {
   'freeway': 80 * CV.MPH_TO_MS,      # 80 mph
 }
 
+DEFAULT_CAR = TOYOTA.TOYOTA_RAV4_TSS2
+
+
+@pytest.fixture
+def car_name(request):
+  return getattr(request, "param", DEFAULT_CAR)
+
+
+@pytest.fixture(autouse=True)
+def set_car_name_on_instance(request, car_name):
+  instance = getattr(request, "instance", None)
+  if instance:
+    instance.car_name = car_name
+
 
 class TestSpeedLimitAssist:
 
-  def setup_method(self):
+  def setup_method(self, method):
     self.params = Params()
     self.reset_custom_params()
     self.events_sp = EventsSP()
-    CI = self._setup_platform(TOYOTA.TOYOTA_RAV4_TSS2)
-    self.sla = SpeedLimitAssist(CI.CP)
-    self.sla.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
+    CI = self._setup_platform(self.car_name)
+    self.sla = SpeedLimitAssist(CI.CP, CI.CP_SP)
+    self.sla.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.sla.pcm_op_long] / DT_MDL)
     self.pcm_long_max_set_speed = PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric][1]  # use 80 MPH for now
     self.speed_conv = CV.MS_TO_KPH if self.sla.is_metric else CV.MS_TO_MPH
 
@@ -51,10 +70,12 @@ class TestSpeedLimitAssist:
     CP = CarInterface.get_non_essential_params(car_name)
     CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
     CI = CarInterface(CP, CP_SP)
+    CI.CP.openpilotLongitudinalControl = True  # always assume it's openpilot longitudinal
     sunnypilot_interfaces.setup_interfaces(CI, self.params)
     return CI
 
   def reset_custom_params(self):
+    self.params.put("IsReleaseSpBranch", True)
     self.params.put("SpeedLimitMode", int(Mode.assist))
     self.params.put_bool("IsMetric", False)
     self.params.put("SpeedLimitOffsetType", 0)
@@ -84,6 +105,22 @@ class TestSpeedLimitAssist:
     assert not self.sla.is_active
     assert V_CRUISE_UNSET == self.sla.get_v_target_from_control()
 
+  @pytest.mark.parametrize("car_name", [RIVIAN.RIVIAN_R1_GEN1, TESLA.TESLA_MODEL_Y], indirect=True)
+  def test_disallowed_brands(self, car_name):
+    """
+      Speed Limit Assist is disabled for the following brands and conditions:
+      - All Tesla and is a release branch;
+      - All Rivian
+    """
+    assert not self.sla.enabled
+
+    # stay disallowed even when the param may have changed from somewhere else
+    self.params.put("SpeedLimitMode", int(Mode.assist))
+    for _ in range(int(PARAMS_UPDATE_PERIOD / DT_MDL)):
+      self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'],
+                      SPEED_LIMITS['city'], True, 0, self.events_sp)
+    assert not self.sla.enabled
+
   def test_disabled(self):
     self.params.put("SpeedLimitMode", int(Mode.off))
     for _ in range(int(10. / DT_MDL)):
@@ -114,7 +151,7 @@ class TestSpeedLimitAssist:
     self.sla.state = SpeedLimitAssistState.preActive
     self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
 
-    for _ in range(int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)):
+    for _ in range(int(PRE_ACTIVE_GUARD_PERIOD[self.sla.pcm_op_long] / DT_MDL)):
       self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
     assert self.sla.state == SpeedLimitAssistState.inactive
 

sunnypilot/selfdrive/locationd/tests/test_locationd.py

@@ -1,4 +1,5 @@
 import pytest
+import platform
 import json
 import random
 import time
@@ -12,6 +13,10 @@ from openpilot.common.transformations.coordinates import ecef2geodetic
 from openpilot.system.manager.process_config import managed_processes
 
 
+if platform.system() == 'Darwin':
+  pytest.skip("Skipping locationd test on macOS due to unsupported msgq.", allow_module_level=True)
+
+
 class TestLocationdProc:
   LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration',
               'accelerometer', 'gyroscope', 'magnetometer']

sunnypilot/selfdrive/selfdrived/events.py

@@ -4,7 +4,6 @@ from openpilot.common.constants import CV
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
   NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, wrong_car_mode_alert
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target
 
 
 AlertSize = log.SelfdriveState.AlertSize
@@ -34,6 +33,9 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
   speed_conv = CV.MS_TO_KPH if metric else CV.MS_TO_MPH
   speed_limit_final_last = sm['longitudinalPlanSP'].speedLimit.resolver.speedLimitFinalLast
   speed_limit_final_last_conv = round(speed_limit_final_last * speed_conv)
+  alert_1_str = ""
+  alert_2_str = ""
+  alert_size = AlertSize.none
 
   if CP.openpilotLongitudinalControl and CP.pcmCruise:
     # PCM long
@@ -41,24 +43,15 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
     pcm_long_required_max = cst_low if speed_limit_final_last_conv < CONFIRM_SPEED_THRESHOLD[metric] else cst_high
     pcm_long_required_max_set_speed_conv = round(pcm_long_required_max * speed_conv)
     speed_unit = "km/h" if metric else "mph"
+
+    alert_1_str = "Speed Limit Assist: Activation Required"
     alert_2_str = f"Manually change set speed to {pcm_long_required_max_set_speed_conv} {speed_unit} to activate"
-  else:
-    # Non PCM long
-    v_cruise_cluster = CS.vCruiseCluster * CV.KPH_TO_MS
-
-    req_plus, req_minus = compare_cluster_target(v_cruise_cluster, speed_limit_final_last, metric)
-    arrow_str = ""
-    if req_plus:
-      arrow_str = "RES/+"
-    elif req_minus:
-      arrow_str = "SET/-"
-
-    alert_2_str = f"Operate the {arrow_str} cruise control button to activate"
+    alert_size = AlertSize.mid
 
   return Alert(
-    "Speed Limit Assist: Activation Required",
+    alert_1_str,
     alert_2_str,
-    AlertStatus.normal, AlertSize.mid,
+    AlertStatus.normal, alert_size,
     Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleLow, .1)
 
 

sunnypilot/sunnylink/athena/sunnylinkd.py

@@ -16,8 +16,9 @@ from functools import partial
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.common.swaglog import cloudlog
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.athena.athenad import ws_send, jsonrpc_handler, \
-  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim, upload_handler
+  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim, upload_handler, stat_handler
 from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
                        create_connection, WebSocketConnectionClosedException)
 
@@ -33,9 +34,6 @@ SUNNYLINK_RECONNECT_TIMEOUT_S = 70  # FYI changing this will also would require
 DISALLOW_LOG_UPLOAD = threading.Event()
 
 params = Params()
-sunnylink_dongle_id = params.get("SunnylinkDongleId")
-sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
-
 
 def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
   cloudlog.info("sunnylinkd.handle_long_poll started")
@@ -51,7 +49,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
               threading.Thread(target=ws_queue, args=(end_event,), name='ws_queue'),
               threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
               # threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
-              # threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'),
+              threading.Thread(target=stat_handler, args=(end_event, Paths.stats_sp_root(), True), name='stat_handler'),
             ] + [
               threading.Thread(target=jsonrpc_handler, args=(end_event, partial(startLocalProxy, end_event),), name=f'worker_{x}')
               for x in range(HANDLER_THREADS)
@@ -132,6 +130,8 @@ def ws_ping(ws: WebSocket, end_event: threading.Event) -> None:
 
 
 def ws_queue(end_event: threading.Event) -> None:
+  sunnylink_dongle_id = params.get("SunnylinkDongleId")
+  sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
   resume_requested = False
   tries = 0
 
@@ -233,6 +233,9 @@ def saveParams(params_to_update: dict[str, str], compression: bool = False) -> N
 
 
 def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]:
+  sunnylink_dongle_id = params.get("SunnylinkDongleId")
+  sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
+
   cloudlog.debug("athena.startLocalProxy.starting")
   ws = create_connection(
     remote_ws_uri,
@@ -254,6 +257,8 @@ def main(exit_event: threading.Event = None):
     cloudlog.info("Waiting for sunnylink registration to complete")
     time.sleep(10)
 
+  sunnylink_dongle_id = params.get("SunnylinkDongleId")
+  sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
   UploadQueueCache.initialize(upload_queue)
 
   ws_uri = f"{SUNNYLINK_ATHENA_HOST}"

sunnypilot/sunnylink/statsd.py

@@ -0,0 +1,278 @@
+#!/usr/bin/env python3
+import base64
+import json
+import os
+import threading
+import traceback
+
+import zmq
+import time
+import uuid
+from pathlib import Path
+from collections import defaultdict
+from datetime import datetime, UTC
+
+from openpilot.common.params import Params
+from cereal.messaging import SubMaster
+from openpilot.system.hardware.hw import Paths
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.hardware import HARDWARE
+from openpilot.common.file_helpers import atomic_write_in_dir
+from openpilot.system.version import get_build_metadata
+from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
+from openpilot.system.statsd import METRIC_TYPE, StatLogSP
+from openpilot.common.realtime import Ratekeeper
+
+STATSLOGSP = StatLogSP(intercept=False)
+
+def sp_stats(end_event):
+  """Collect sunnypilot-specific statistics and send as raw metrics."""
+  rk = Ratekeeper(.1, print_delay_threshold=None)
+  statlogsp = STATSLOGSP
+  params = Params()
+
+  def flatten_dict(d, parent_key='', sep='.'):
+    items = {}
+    if isinstance(d, dict):
+      for k, v in d.items():
+        new_key = f"{parent_key}{sep}{k}" if parent_key else k
+        items.update(flatten_dict(v, new_key, sep=sep))
+    elif isinstance(d, (list, tuple)):
+      for i, v in enumerate(d):
+        new_key = f"{parent_key}[{i}]"
+        items.update(flatten_dict(v, new_key, sep=sep))
+    else:
+      items[parent_key] = d
+    return items
+
+  # Collect sunnypilot parameters
+  stats_dict = {}
+
+  param_keys = [
+    'SunnylinkEnabled',
+    'AutoLaneChangeBsmDelay',
+    'AutoLaneChangeTimer',
+    'CarPlatformBundle',
+    'CurrentRoute',
+    'DevUIInfo',
+    'EnableCopyparty',
+    'IntelligentCruiseButtonManagement',
+    'QuietMode',
+    'RainbowMode',
+    'ShowAdvancedControls',
+    'Mads',
+    'MadsMainCruiseAllowed',
+    'MadsSteeringMode',
+    'MadsUnifiedEngagementMode',
+    'ModelManager_ActiveBundle',
+    'ModelManager_Favs',
+    'EnableSunnylinkUploader',
+    'SunnylinkEnabled',
+    'InstallDate',
+    'UptimeOffroad',
+    'UptimeOnroad',
+  ]
+
+  while not end_event.is_set():
+    try:
+      for key in param_keys:
+
+        try:
+          value = params.get(key)
+        except Exception as e:
+          stats_dict[key] = e
+          continue
+
+        if value is None:
+          continue
+
+        if isinstance(value, (dict, list, tuple)):
+          stats_dict.update(flatten_dict(value, key))
+        else:
+          stats_dict[key] = value
+
+      if stats_dict:
+        statlogsp.raw('sunnypilot.device_params', stats_dict)
+    except Exception as e:
+      cloudlog.error(f"Exception {e}")
+    finally:
+      rk.keep_time()
+
+
+def stats_main(end_event):
+  comma_dongle_id = Params().get("DongleId")
+  sunnylink_dongle_id = Params().get("SunnylinkDongleId")
+
+  def get_influxdb_line(measurement: str, value: float | dict[str, float], timestamp: datetime, tags: dict) -> str:
+    res = f"{measurement}"
+    for k, v in tags.items():
+      res += f",{k}={str(v)}"
+    res += " "
+
+    if isinstance(value, float):
+      value = {'value': value}
+
+    for k, v in value.items():
+      res += f"{k}={str(v)},"
+
+    res += f"sunnylink_dongle_id=\"{sunnylink_dongle_id}\",comma_dongle_id=\"{comma_dongle_id}\" {int(timestamp.timestamp() * 1e9)}\n"
+    return res
+
+  def get_influxdb_line_raw(measurement: str, value: dict, timestamp: datetime, tags: dict) -> str:
+    res = f"{measurement}"
+    try:
+      custom_tags = ""
+      for k, v in tags.items():
+        custom_tags += f",{k}={str(v)}"
+      res += custom_tags
+
+      fields = ""
+      for k, v in value.items():
+        # Skip complex types - only keep simple scalar values
+        if isinstance(v, (dict, list, bytes, bytearray)):
+          continue
+
+        fields += f"{k}={json.dumps(v)},"
+
+      res += f" {fields}"
+    except Exception as e:
+      cloudlog.error(f"Unable to get influxdb line for: {value}")
+      res += f",invalid=1 reason={e},"
+
+    res += f"sunnylink_dongle_id=\"{sunnylink_dongle_id}\",comma_dongle_id=\"{comma_dongle_id}\" {int(timestamp.timestamp() * 1e9)}\n"
+    return res
+
+  # open statistics socket
+  ctx = zmq.Context.instance()
+  sock = ctx.socket(zmq.PULL)
+  sock.bind(f"{STATS_SOCKET}_sp")
+
+  STATS_DIR = Paths.stats_sp_root()
+
+  # initialize stats directory
+  Path(STATS_DIR).mkdir(parents=True, exist_ok=True)
+
+  build_metadata = get_build_metadata()
+
+  # initialize tags
+  tags = {
+    'started': False,
+    'version': build_metadata.openpilot.version,
+    'branch': build_metadata.channel,
+    'dirty': build_metadata.openpilot.is_dirty,
+    'origin': build_metadata.openpilot.git_normalized_origin,
+    'deviceType': HARDWARE.get_device_type(),
+  }
+
+  # subscribe to deviceState for started state
+  sm = SubMaster(['deviceState'])
+
+  idx = 0
+  boot_uid = str(uuid.uuid4())[:8]
+  last_flush_time = time.monotonic()
+  gauges = {}
+  samples: dict[str, list[float]] = defaultdict(list)
+  raws: dict = defaultdict()
+  try:
+    while not end_event.is_set():
+      started_prev = sm['deviceState'].started
+      sm.update()
+
+      # Update metrics
+      while True:
+        try:
+          metric = sock.recv_string(zmq.NOBLOCK)
+          try:
+            metric_type = metric.split('|')[1]
+            metric_name = metric.split(':')[0]
+            metric_value_raw = metric.split('|')[0].split(':')[1]
+
+            if metric_type == METRIC_TYPE.GAUGE:
+              metric_value = float(metric_value_raw)
+              gauges[metric_name] = metric_value
+            elif metric_type == METRIC_TYPE.SAMPLE:
+              metric_value = float(metric_value_raw)
+              samples[metric_name].append(metric_value)
+            elif metric_type == METRIC_TYPE.RAW:
+              raws[metric_name] = metric_value_raw
+            else:
+              cloudlog.event("unknown metric type", metric_type=metric_type)
+          except Exception:
+            print(traceback.format_exc())
+            cloudlog.event("malformed metric", metric=metric)
+        except zmq.error.Again:
+          break
+
+      # flush when started state changes or after FLUSH_TIME_S
+      if (time.monotonic() > last_flush_time + STATS_FLUSH_TIME_S) or (sm['deviceState'].started != started_prev):
+        result = ""
+        current_time = datetime.now(UTC)
+        tags['started'] = sm['deviceState'].started
+
+        for key, value in raws.items():
+          decoded_value = json.loads(base64.b64decode(value).decode('utf-8'))
+          result += get_influxdb_line_raw(key, decoded_value, current_time, tags)
+
+        for key, value in gauges.items():
+          result += get_influxdb_line(f"gauge.{key}", value, current_time, tags)
+
+        for key, values in samples.items():
+          values.sort()
+          sample_count = len(values)
+          sample_sum = sum(values)
+
+          stats = {
+            'count': sample_count,
+            'min': values[0],
+            'max': values[-1],
+            'mean': sample_sum / sample_count,
+          }
+          for percentile in [0.05, 0.5, 0.95]:
+            value = values[int(round(percentile * (sample_count - 1)))]
+            stats[f"p{int(percentile * 100)}"] = value
+
+          result += get_influxdb_line(f"sample.{key}", stats, current_time, tags)
+
+        # clear intermediate data
+        gauges.clear()
+        samples.clear()
+        last_flush_time = time.monotonic()
+
+        # check that we aren't filling up the drive
+        if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT:
+          if len(result) > 0:
+            stats_path = os.path.join(STATS_DIR, f"{boot_uid}_{idx}")
+            with atomic_write_in_dir(stats_path) as f:
+              f.write(result)
+            idx += 1
+        else:
+          cloudlog.error("stats dir full")
+  finally:
+    sock.close()
+    ctx.term()
+
+
+def main():
+  rk = Ratekeeper(1, print_delay_threshold=None)
+  end_event = threading.Event()
+
+  threads = [
+    threading.Thread(target=stats_main, args=(end_event,)),
+    threading.Thread(target=sp_stats, args=(end_event,)),
+  ]
+
+  for t in threads:
+    t.start()
+
+  try:
+    while all(t.is_alive() for t in threads):
+      rk.keep_time()
+  finally:
+    end_event.set()
+
+  for t in threads:
+    t.join()
+
+
+if __name__ == "__main__":
+  main()

system/athena/athenad.py

@@ -744,26 +744,40 @@ def log_handler(end_event: threading.Event, log_attr_name=LOG_ATTR_NAME) -> None
       cloudlog.exception("athena.log_handler.exception")
 
 
-def stat_handler(end_event: threading.Event) -> None:
-  STATS_DIR = Paths.stats_root()
+def stat_handler(end_event: threading.Event, stats_dir=None, is_sunnylink=False) -> None:
+  stats_dir = stats_dir or Paths.stats_root()
   last_scan = 0.0
 
   while not end_event.is_set():
     curr_scan = time.monotonic()
     try:
       if curr_scan - last_scan > 10:
-        stat_filenames = list(filter(lambda name: not name.startswith(tempfile.gettempprefix()), os.listdir(STATS_DIR)))
+        stat_filenames = list(filter(lambda name: not name.startswith(tempfile.gettempprefix()), os.listdir(stats_dir)))
         if len(stat_filenames) > 0:
-          stat_path = os.path.join(STATS_DIR, stat_filenames[0])
+          stat_path = os.path.join(stats_dir, stat_filenames[0])
           with open(stat_path) as f:
+            payload = f.read()
+            is_compressed = False
+
+            # Log the current size of the file
+            if is_sunnylink:
+              # Compress and encode the data if it exceeds the maximum size
+              compressed_data = gzip.compress(payload.encode())
+              payload = base64.b64encode(compressed_data).decode()
+              is_compressed = True
+
             jsonrpc = {
               "method": "storeStats",
               "params": {
-                "stats": f.read()
+                "stats": payload
               },
               "jsonrpc": "2.0",
               "id": stat_filenames[0]
             }
+
+            if is_sunnylink and is_compressed:
+              jsonrpc["params"]["compressed"] = is_compressed
+
             low_priority_send_queue.put_nowait(json.dumps(jsonrpc))
           os.remove(stat_path)
         last_scan = curr_scan

system/hardware/hw.py

@@ -55,6 +55,13 @@ class Paths:
     else:
       return "/data/stats/"
 
+  @staticmethod
+  def stats_sp_root() -> str:
+    if PC:
+      return str(Path(Paths.comma_home()) / "stats")
+    else:
+      return "/data/stats_sp/"
+
   @staticmethod
   def config_root() -> str:
     if PC:

system/loggerd/logger.cc

@@ -11,6 +11,8 @@
 #include "common/swaglog.h"
 #include "common/version.h"
 
+#include "sunnypilot/common/version.h"
+
 // ***** log metadata *****
 kj::Array<capnp::word> logger_build_init_data() {
   uint64_t wall_time = nanos_since_epoch();
@@ -19,7 +21,7 @@ kj::Array<capnp::word> logger_build_init_data() {
   auto init = msg.initEvent().initInitData();
 
   init.setWallTimeNanos(wall_time);
-  init.setVersion(COMMA_VERSION);
+  init.setVersion(SUNNYPILOT_VERSION);
   init.setDirty(!getenv("CLEAN"));
   init.setDeviceType(Hardware::get_device_type());
 

system/manager/manager.py

@@ -67,6 +67,7 @@ def manager_init() -> None:
   params.put_bool("IsDevelopmentBranch", build_metadata.development_channel)
   params.put_bool("IsTestedBranch", build_metadata.tested_channel)
   params.put_bool("IsReleaseBranch", build_metadata.release_channel)
+  params.put_bool("IsReleaseSpBranch", build_metadata.release_sp_channel)
   params.put("HardwareSerial", serial)
 
   # set dongle id

system/manager/process_config.py

@@ -164,6 +164,7 @@ procs = [
   # sunnylink <3
   DaemonProcess("manage_sunnylinkd", "sunnypilot.sunnylink.athena.manage_sunnylinkd", "SunnylinkdPid"),
   PythonProcess("sunnylink_registration_manager", "sunnypilot.sunnylink.registration_manager", sunnylink_need_register_shim),
+  PythonProcess("statsd_sp", "sunnypilot.sunnylink.statsd", and_(always_run, sunnylink_ready_shim)),
 ]
 
 # sunnypilot

system/statsd.py

@@ -1,11 +1,15 @@
 #!/usr/bin/env python3
+import base64
+import json
 import os
+from decimal import Decimal
+
 import zmq
 import time
 import uuid
 from pathlib import Path
 from collections import defaultdict
-from datetime import datetime, UTC
+from datetime import datetime, UTC, date
 from typing import NoReturn
 
 from openpilot.common.params import Params
@@ -21,18 +25,21 @@ from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET,
 class METRIC_TYPE:
   GAUGE = 'g'
   SAMPLE = 'sa'
+  RAW = 'r'
+
 
 class StatLog:
   def __init__(self):
     self.pid = None
     self.zctx = None
     self.sock = None
+    self.stats_socket = STATS_SOCKET
 
   def connect(self) -> None:
-    self.zctx = zmq.Context()
+    self.zctx = zmq.Context.instance() or zmq.Context()
     self.sock = self.zctx.socket(zmq.PUSH)
     self.sock.setsockopt(zmq.LINGER, 10)
-    self.sock.connect(STATS_SOCKET)
+    self.sock.connect(self.stats_socket)
     self.pid = os.getpid()
 
   def __del__(self):
@@ -60,6 +67,50 @@ class StatLog:
     self._send(f"{name}:{value}|{METRIC_TYPE.SAMPLE}")
 
 
+class StatLogSP(StatLog):
+  def __init__(self, intercept=True):
+    """
+    Initializes the class instance with an optional parameter to determine
+    if statistical logging should be configured or not.
+
+    :param intercept: A boolean flag that indicates whether to initialize
+        the `comma_statlog`. If True, the `comma_statlog` attribute is
+        instantiated as a `StatLog` object. Defaults to True.
+    """
+    super().__init__()
+    self.comma_statlog = StatLog() if intercept else None
+    self.stats_socket = f"{STATS_SOCKET}_sp"
+
+  def connect(self) -> None:
+    super().connect()
+    if self.comma_statlog:
+      self.comma_statlog.connect()
+
+  def __del__(self):
+    super().__del__()
+    if self.comma_statlog:
+      self.comma_statlog.__del__()
+
+  def _send(self, metric: str) -> None:
+    super()._send(metric)
+    if self.comma_statlog:
+      self.comma_statlog._send(metric)
+
+  @staticmethod
+  def default_converter(obj):
+    if isinstance(obj, (datetime, date)):
+      return obj.isoformat()
+    if isinstance(obj, set):
+      return list(obj)
+    if isinstance(obj, Decimal):
+      return float(obj)
+    return str(obj)  # fallback for unknown types
+
+  def raw(self, name: str, value: dict) -> None:
+    encoded_dict = base64.b64encode(json.dumps(value, default=self.default_converter).encode("utf-8")).decode("utf-8")
+    self._send(f"{name}:{encoded_dict}|{METRIC_TYPE.RAW}")
+
+
 def main() -> NoReturn:
   dongle_id = Params().get("DongleId")
   def get_influxdb_line(measurement: str, value: float | dict[str, float],  timestamp: datetime, tags: dict) -> str:
@@ -180,4 +231,4 @@ def main() -> NoReturn:
 if __name__ == "__main__":
   main()
 else:
-  statlog = StatLog()
+  statlog = StatLogSP(intercept=True)

system/updated/updated.py

@@ -82,7 +82,7 @@ def set_consistent_flag(consistent: bool) -> None:
 
 def parse_release_notes(basedir: str) -> bytes:
   try:
-    with open(os.path.join(basedir, "RELEASES.md"), "rb") as f:
+    with open(os.path.join(basedir, "CHANGELOG.md"), "rb") as f:
       r = f.read().split(b'\n\n', 1)[0]  # Slice latest release notes
     try:
       return bytes(parse_markdown(r.decode("utf-8")), encoding="utf-8")
@@ -294,7 +294,7 @@ class Updater:
       try:
         branch = self.get_branch(basedir)
         commit = self.get_commit_hash(basedir)[:7]
-        with open(os.path.join(basedir, "common", "version.h")) as f:
+        with open(os.path.join(basedir, "sunnypilot", "common", "version.h")) as f:
           version = f.read().split('"')[1]
 
         commit_unix_ts = run(["git", "show", "-s", "--format=%ct", "HEAD"], basedir).rstrip()

system/version.py

@@ -10,11 +10,11 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.git import get_commit, get_origin, get_branch, get_short_branch, get_commit_date
 
-RELEASE_SP_BRANCHES = ['release-c3', 'release']
+RELEASE_SP_BRANCHES = ['release-c3', 'release', 'release-tizi', 'release-tici', 'release-tizi-staging', 'release-tici-staging']
 TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new', 'staging']
 MASTER_SP_BRANCHES = ['master']
-RELEASE_BRANCHES = ['release3-staging', 'release3', 'release-tici', 'nightly'] + RELEASE_SP_BRANCHES
-TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] + TESTED_SP_BRANCHES
+RELEASE_BRANCHES = ['release3-staging', 'release3', 'release-tici', 'nightly']
+TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] + RELEASE_SP_BRANCHES + TESTED_SP_BRANCHES
 
 SP_BRANCH_MIGRATIONS = {
   ("tici", "staging-c3-new"): "staging-tici",
@@ -33,13 +33,13 @@ terms_version: str = "2"
 
 
 def get_version(path: str = BASEDIR) -> str:
-  with open(os.path.join(path, "common", "version.h")) as _versionf:
+  with open(os.path.join(path, "sunnypilot", "common", "version.h")) as _versionf:
     version = _versionf.read().split('"')[1]
   return version
 
 
 def get_release_notes(path: str = BASEDIR) -> str:
-  with open(os.path.join(path, "RELEASES.md")) as f:
+  with open(os.path.join(path, "CHANGELOG.md")) as f:
     return f.read().split('\n\n', 1)[0]
 
 
@@ -96,7 +96,9 @@ class OpenpilotMetadata:
   @property
   def sunnypilot_remote(self) -> bool:
     return self.git_normalized_origin in ("github.com/sunnypilot/sunnypilot",
-                                          "github.com/sunnypilot/openpilot")
+                                          "github.com/sunnypilot/openpilot",
+                                          "github.com/sunnyhaibin/sunnypilot",
+                                          "github.com/sunnyhaibin/openpilot")
 
   @property
   def git_normalized_origin(self) -> str:
@@ -120,6 +122,10 @@ class BuildMetadata:
   def release_channel(self) -> bool:
     return self.channel in RELEASE_BRANCHES
 
+  @property
+  def release_sp_channel(self) -> bool:
+    return self.channel in RELEASE_SP_BRANCHES
+
   @property
   def canonical(self) -> str:
     return f"{self.openpilot.version}-{self.openpilot.git_commit}-{self.openpilot.build_style}"
@@ -146,7 +152,7 @@ class BuildMetadata:
       return "staging"
     elif self.master_channel:
       return "master"
-    elif self.release_channel:
+    elif self.release_channel or self.release_sp_channel:
       return "release"
     else:
       return "feature"

tools/replay/api.cc

@@ -14,6 +14,8 @@
 #include "common/version.h"
 #include "system/hardware/hw.h"
 
+#include "sunnypilot/common/version.h"
+
 namespace CommaApi2 {
 
 // Base64 URL-safe character set (uses '-' and '_' instead of '+' and '/')
@@ -141,7 +143,7 @@ std::string httpGet(const std::string &url, long *response_code) {
 
   // Handle headers
   struct curl_slist *headers = nullptr;
-  headers = curl_slist_append(headers, "User-Agent: openpilot-" COMMA_VERSION);
+  headers = curl_slist_append(headers, "User-Agent: openpilot-" SUNNYPILOT_VERSION);
   if (!token.empty()) {
     headers = curl_slist_append(headers, ("Authorization: JWT " + token).c_str());
   }

tools/replay/consoleui.cc

@@ -10,6 +10,8 @@
 #include "common/util.h"
 #include "common/version.h"
 
+#include "sunnypilot/common/version.h"
+
 namespace {
 
 const int BORDER_SIZE = 3;
@@ -119,7 +121,7 @@ void ConsoleUI::initWindows() {
 
   // set the title bar
   wbkgd(w[Win::Title], A_REVERSE);
-  mvwprintw(w[Win::Title], 0, 3, "sunnypilot replay %s", COMMA_VERSION);
+  mvwprintw(w[Win::Title], 0, 3, "sunnypilot replay %s", SUNNYPILOT_VERSION);
 
   // show windows on the real screen
   refresh();