dunno dunno...

tweakx4
tweakx3
2026-06-09 14:15:53 +08:00 · 2025-07-25 19:34:27 +02:00 · 2025-07-25 18:35:03 +02:00 · 2025-07-25 18:29:27 +02:00 · 2025-07-25 18:26:14 +02:00 · 2025-07-25 18:22:54 +02:00
30 changed files with 202 additions and 3494 deletions
--- a/.codespellignore
+++ b/.codespellignore
@@ -2,5 +2,4 @@ Wen
 REGIST
 PullRequest
 cancelled
-indeces
 FOF
--- a/.github/workflows/build-all-tinygrad-models.yaml
+++ b/.github/workflows/build-all-tinygrad-models.yaml
@@ -14,36 +14,7 @@ jobs:
    runs-on: ubuntu-latest
    outputs:
      json_file: ${{ steps.get-json.outputs.json_file }}
-    steps:
-      - name: Checkout docs repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot-docs
-          ref: gh-pages
-          path: docs
-          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
-
-      - name: Get next JSON version to use
-        id: get-json
-        run: |
-          cd docs/docs
-          latest=$(ls driving_models_v*.json | sed -E 's/.*_v([0-9]+)\.json/\1/' | sort -n | tail -1)
-          next=$((latest+1))
-          json_file="driving_models_v${next}.json"
-          cp "driving_models_v${latest}.json" "$json_file"
-          echo "json_file=$json_file" >> $GITHUB_OUTPUT
-
-      - name: Upload context for next jobs
-        uses: actions/upload-artifact@v4
-        with:
-          name: context
-          path: docs
-
-  build-all:
-    runs-on: ubuntu-latest
-    needs: setup
-    env:
-      JSON_FILE: docs/docs/${{ needs.setup.outputs.json_file }}
+      model_matrix: ${{ steps.set-matrix.outputs.model_matrix }}
    steps:
      - name: Set up SSH
        uses: webfactory/ssh-agent@v0.9.0
@@ -55,6 +26,14 @@ jobs:
          mkdir -p ~/.ssh
          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts

+      - name: Checkout docs repo (sunnypilot-docs, gh-pages)
+        uses: actions/checkout@v4
+        with:
+          repository: sunnypilot/sunnypilot-docs
+          ref: gh-pages
+          path: docs
+          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
+
      - name: Clone GitLab docs repo
        env:
          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
@@ -68,7 +47,11 @@ jobs:
      - name: Set next recompiled dir
        id: set-recompiled
        run: |
-          cd gitlab_docs/models
+          cd gitlab_docs
+          echo "checkout models/"
+          git sparse-checkout set --no-cone models/
+          git checkout main
+          cd models
          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
          if [[ -z "$latest_dir" ]]; then
            next_dir=1
@@ -76,124 +59,57 @@ jobs:
            next_dir=$((latest_dir+1))
          fi
          recompiled_dir="recompiled${next_dir}"
-          mkdir -p "$recompiled_dir"
-          echo "RECOMPILED_DIR=$recompiled_dir" >> $GITHUB_ENV
-
-      - name: Download context
-        uses: actions/download-artifact@v4
-        with:
-          name: context
-          path: .
-
-      - name: Install dependencies
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y jq gh
-
-      - name: Build all tinygrad models
-        id: trigger-builds
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: |
-          set -e
-          > triggered_run_ids.txt
-          BRANCH="${{ github.event.inputs.branch }}"
-          jq -c '.bundles[] | select(.runner=="tinygrad")' "$JSON_FILE" | while read -r bundle; do
-            ref=$(echo "$bundle" | jq -r '.ref')
-            display_name=$(echo "$bundle" | jq -r '.display_name' | sed 's/ ([^)]*)//g')
-            is_20hz=$(echo "$bundle" | jq -r '.is_20hz')
-            echo "Triggering build for: $display_name ($ref) [20Hz: $is_20hz]"
-            START_TIME=$(date -u +"%Y-%m-%dT%H:%M:%SZ")
-            gh workflow run sunnypilot-build-model.yaml \
-              --repo sunnypilot/sunnypilot \
-              --ref "$BRANCH" \
-              -f upstream_branch="$ref" \
-              -f custom_name="$display_name" \
-              -f is_20hz="$is_20hz"
-            for i in {1..24}; do
-              RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="$BRANCH" --created ">$START_TIME" --limit=1 --json databaseId --jq '.[0].databaseId')
-              if [ -n "$RUN_ID" ]; then
-                break
-              fi
-              sleep 5
-            done
-            if [ -z "$RUN_ID" ]; then
-              echo "ould not find the triggered workflow run for $display_name ($ref)"
-              exit 1
-            fi
-            echo "$RUN_ID" >> triggered_run_ids.txt
-          done
-
-      - name: Wait for all model builds to finish
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: |
-          set -e
-          SUCCESS_RUNS=()
-          FAILED_RUNS=()
-          declare -A RUN_ID_TO_NAME
-
-          while read -r RUN_ID; do
-            ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name' || echo "unknown")
-            RUN_ID_TO_NAME["$RUN_ID"]="$ARTIFACT_NAME"
-          done < triggered_run_ids.txt
-
-          while read -r RUN_ID; do
-            echo "Watching run ID: $RUN_ID"
-            gh run watch "$RUN_ID" --repo sunnypilot/sunnypilot
-            CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
-            ARTIFACT_NAME="${RUN_ID_TO_NAME[$RUN_ID]}"
-            echo "Run $RUN_ID ($ARTIFACT_NAME) concluded with: $CONCLUSION"
-            if [[ "$CONCLUSION" == "success" ]]; then
-              SUCCESS_RUNS+=("$RUN_ID")
-            else
-              FAILED_RUNS+=("$RUN_ID")
-            fi
-          done < triggered_run_ids.txt
-
-          if [[ ${#SUCCESS_RUNS[@]} -eq 0 ]]; then
-            echo "All model builds failed. Aborting."
+          if [ -d "$recompiled_dir" ]; then
+            echo "ERROR: $recompiled_dir already exists in GitLab repo"
            exit 1
          fi
+          mkdir -p "$recompiled_dir"
+          touch "$recompiled_dir/.gitkeep"
+          echo "RECOMPILED_DIR=$recompiled_dir" >> $GITHUB_ENV
+          echo "Created new recompiled dir: $recompiled_dir"
+          cd ../..

-          if [[ ${#FAILED_RUNS[@]} -gt 0 ]]; then
-            echo "WARNING: The following model builds failed:"
-            for RUN_ID in "${FAILED_RUNS[@]}"; do
-              echo "- $RUN_ID (${RUN_ID_TO_NAME[$RUN_ID]})"
-            done
-            echo "You may want to rerun these models manually."
-          fi
+      - name: Get next JSON version to use (from GitHub docs repo)
+        id: get-json
+        run: |
+          cd docs/docs
+          latest=$(ls driving_models_v*.json | sed -E 's/.*_v([0-9]+)\.json/\1/' | sort -n | tail -1)
+          next=$((latest+1))
+          json_file="driving_models_v${next}.json"
+          cp "driving_models_v${latest}.json" "$json_file"
+          echo "json_file=docs/docs/$json_file" >> $GITHUB_OUTPUT
+          echo "SRC_JSON_FILE=docs/docs/driving_models_v${latest}.json" >> $GITHUB_ENV
+      - name: Extract tinygrad models
+        id: set-matrix
+        working-directory: docs/docs
+        run: |
+          jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name, is_20hz}]' "$(basename "${SRC_JSON_FILE}")" > matrix.json
+          echo "model_matrix=$(cat matrix.json)" >> $GITHUB_OUTPUT

-      - name: Download and extract all model artifacts
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+  get_and_build:
+    needs: [setup]
+    uses: ./.github/workflows/sunnypilot-build-model.yaml
+    strategy:
+      matrix:
+        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
+    name: Model [${{ matrix.model.display_name }}] from ref [${{ matrix.model.ref }}]
+    with:
+      upstream_branch: ${{ matrix.model.ref }}
+      custom_name: ${{ matrix.model.display_name }}
+      is_20hz: ${{ matrix.model.is_20hz || true }}
+    secrets: inherit
+
+  push_results:
+    needs: [setup, get_and_build ]
+    runs-on: ubuntu-latest
+    steps:
+      - name: Download all model artifacts
        run: |
          ARTIFACT_DIR="gitlab_docs/models/$RECOMPILED_DIR"
-          SUCCESS_RUNS=()
-          while read -r RUN_ID; do
-            CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
-            if [[ "$CONCLUSION" == "success" ]]; then
-              SUCCESS_RUNS+=("$RUN_ID")
-            fi
-          done < triggered_run_ids.txt
-
-          for RUN_ID in "${SUCCESS_RUNS[@]}"; do
-            ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name')
-            echo "Downloading artifact: $ARTIFACT_NAME from run: $RUN_ID"
-            mkdir -p "$ARTIFACT_DIR/$ARTIFACT_NAME"
-            echo "Created directory: $ARTIFACT_DIR/$ARTIFACT_NAME"
-            gh run download "$RUN_ID" --repo sunnypilot/sunnypilot -n "$ARTIFACT_NAME" --dir "$ARTIFACT_DIR/$ARTIFACT_NAME"
-            echo "Downloaded artifact zip(s) to: $ARTIFACT_DIR/$ARTIFACT_NAME"
-            ZIP_PATH=$(find "$ARTIFACT_DIR/$ARTIFACT_NAME" -type f -name '*.zip' | head -n1)
-            if [ -n "$ZIP_PATH" ]; then
-              echo "Unzipping $ZIP_PATH to $ARTIFACT_DIR/$ARTIFACT_NAME"
-              unzip -o "$ZIP_PATH" -d "$ARTIFACT_DIR/$ARTIFACT_NAME"
-              rm -f "$ZIP_PATH"
-              echo "Unzipped and removed $ZIP_PATH"
-            else
-              echo "No zip file found in $ARTIFACT_DIR/$ARTIFACT_NAME (This is NOT an error)."
-            fi
-            echo "Done processing $ARTIFACT_NAME"
+          mkdir -p "$ARTIFACT_DIR"
+          for name in $(ls ${{ github.workspace }}/output); do
+            mkdir -p "$ARTIFACT_DIR/$name"
+            cp -r ${{ github.workspace }}/output/$name/* "$ARTIFACT_DIR/$name/"
          done

      - name: Push recompiled dir to GitLab
@@ -212,7 +128,7 @@ jobs:
      - name: Run json_parser.py to update JSON
        run: |
          python3 docs/json_parser.py \
-            --json-path "$JSON_FILE" \
+            --json-path "${{ needs.setup.outputs.json_file }}" \
            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR"

      - name: Push updated JSON to GitHub docs repo
@@ -221,6 +137,6 @@ jobs:
          git config --global user.name "GitHub Action"
          git config --global user.email "action@github.com"
          git checkout gh-pages
-          git add docs/"$(basename $JSON_FILE)"
-          git commit -m "Update $(basename $JSON_FILE) after recompiling models" || echo "No changes to commit"
+          git add docs/"$(basename ${{ needs.setup.outputs.json_file }})"
+          git commit -m "Create $(basename ${{ needs.setup.outputs.json_file }}) after recompiling models" || echo "No changes to commit"
          git push origin gh-pages
--- a/.github/workflows/build-single-tinygrad-model.yaml
+++ b/.github/workflows/build-single-tinygrad-model.yaml
@@ -3,6 +3,14 @@ name: Build Single Tinygrad Model and Push
 on:
  workflow_dispatch:
    inputs:
+      runner_type:
+        description: 'Runner type'
+        required: false
+        default: '[self-hosted, james-mac]'
+        type: choice
+        options:
+          - ubuntu-latest
+          - '[self-hosted, james-mac]'
      build_model_ref:
        description: 'Branch to use for build-model workflow'
        required: false
@@ -50,7 +58,7 @@ on:

 jobs:
  build-single:
-    runs-on: ubuntu-latest
+    runs-on: ${{ github.event.inputs.runner_type }}
    env:
      RECOMPILED_DIR: recompiled${{ github.event.inputs.recompiled_dir }}
      JSON_FILE: docs/docs/driving_models_v${{ github.event.inputs.json_version }}.json
--- a/.github/workflows/sunnypilot-build-model.yaml
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -9,6 +9,22 @@ env:
  MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models

 on:
+  workflow_call:
+    inputs:
+      upstream_branch:
+        description: 'Upstream branch to build from'
+        required: true
+        default: 'master'
+        type: string
+      custom_name:
+        description: 'Custom name for the model (no date, only name)'
+        required: false
+        type: string
+      is_20hz:
+        description: 'Is this a 20Hz model'
+        required: false
+        type: boolean
+        default: true
  workflow_dispatch:
    inputs:
      upstream_branch:
@@ -32,34 +48,53 @@ run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from
 jobs:
  get_model:
    runs-on: ubuntu-latest
+    env:
+      REF: ${{ inputs.upstream_branch }}
    outputs:
      model_date: ${{ steps.commit-date.outputs.model_date }}
    steps:
-      - uses: actions/checkout@v4
+      # Note: To allow dynamic models from both openpilot and sunnypilot (merges/mashups), we try commaai as default,
+      # and fallback to sunnypilot if the ref checkout fails.
+      - name: Checkout commaai/openpilot
+        id: checkout_upstream
+        continue-on-error: true
+        uses: actions/checkout@v4
        with:
-          repository: ${{ env.UPSTREAM_REPO }}
-          ref: ${{ github.event.inputs.upstream_branch }}
+          repository: commaai/openpilot
+          ref: ${{ inputs.upstream_branch }}
          submodules: recursive
+          path: openpilot
+
+      - name: Fallback to sunnypilot/sunnypilot
+        if: steps.checkout_upstream.outcome == 'failure'
+        uses: actions/checkout@v4
+        with:
+          repository: sunnypilot/sunnypilot
+          ref: ${{ inputs.upstream_branch }}
+          submodules: recursive
+          path: openpilot
      - name: Get commit date
        id: commit-date
        run: |
-          # Get the commit date in YYYY-MM-DD format
+          cd ${{ github.workspace }}/openpilot
          commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
          echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
          cat $GITHUB_OUTPUT
-      - run: git lfs pull
+      - run: |
+          cd ${{ github.workspace }}/openpilot
+          git lfs pull
      - name: 'Upload Artifact'
        uses: actions/upload-artifact@v4
        with:
-          name: models
-          path: ${{ github.workspace }}/selfdrive/modeld/models/*.onnx
+          name: models-${{ env.REF }}
+          path: ${{ github.workspace }}/openpilot/selfdrive/modeld/models/*.onnx

  build_model:
    runs-on: self-hosted
    needs: get_model
    env:
      MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
-
+      REF: ${{ inputs.upstream_branch }}
    steps:
      - uses: actions/checkout@v4
        with:
@@ -71,7 +106,7 @@ jobs:
        with:
          path: ${{env.SCONS_CACHE_DIR}}
          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
+          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
          restore-keys: |
            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
@@ -114,7 +149,7 @@ jobs:
      - name: Download model artifacts
        uses: actions/download-artifact@v4
        with:
-          name: models
+          name: models-${{ env.REF }}
          path: ${{ github.workspace }}/selfdrive/modeld/models

      - name: Build Model
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -207,13 +207,4 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
    {"OsmStateTitle", PERSISTENT},
    {"OsmWayTest", PERSISTENT},
    {"RoadName", CLEAR_ON_ONROAD_TRANSITION},
-
-    // Tuning keys
-    {"EnableHkgTuningAngleSmoothingFactor", PERSISTENT | BACKUP},
-    {"HkgTuningAngleMinTorqueReductionGain", PERSISTENT | BACKUP},
-    {"HkgTuningAngleMaxTorqueReductionGain", PERSISTENT | BACKUP},
-    {"HkgTuningAngleActiveTorqueReductionGain", PERSISTENT | BACKUP},
-    {"HkgTuningOverridingCycles", PERSISTENT | BACKUP},
-    {"HkgAngleLiveTuning", CLEAR_ON_MANAGER_START}
-    
 };
--- a/2
+++ b/2
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -59,7 +59,7 @@ dependencies = [
  "future-fstrings",

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

  # these should be removed
  "psutil",
@@ -108,6 +108,7 @@ dev = [
  "opencv-python-headless",
  "parameterized >=0.8, <0.9",
  "pyautogui",
+  "pygame",
  "pyopencl; platform_machine != 'aarch64'", # broken on arm64
  "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
  "pywinctl",
--- a/release/ci/model_generator.py
+++ b/release/ci/model_generator.py
@@ -13,17 +13,32 @@ def create_short_name(full_name):
  words = [re.sub(r'[^a-zA-Z0-9]', '', word) for word in clean_name.split() if re.sub(r'[^a-zA-Z0-9]', '', word)]

  if len(words) == 1:
-    # If there's only one word, return it as is, lowercased, truncated to 8 characters
-    truncated = words[0][:8]
-    return truncated.lower() if truncated.isupper() else truncated
+    return words[0][:8].upper()

  # Handle special case: Name + Version (e.g., "Word A1" -> "WordA1")
  if len(words) == 2 and re.match(r'^[A-Za-z]\d+$', words[1]):
-    first_word = words[0].lower() if words[0].isupper() else words[0]
-    return (first_word + words[1])[:8]
+    return (words[0] + words[1])[:8].upper()

-  # Normal case: first letter and trailing numbers from each word
-  result = ''.join(word if word.isdigit() else word[0] + (re.search(r'\d+$', word) or [''])[0] for word in words)
+  result = ""
+  for word in words:
+    # Version or number patterns
+    if (re.match(r'^\d+[a-zA-Z]+$', word) or
+        re.match(r'^\d+[vVbB]\d+$', word) or
+        re.match(r'^[vVbB]\d+$', word) or
+        re.match(r'^\d{4}$', word)):
+      result += word.upper()
+    # All uppercase abbreviations (2-3 letters)
+    elif re.match(r'^[A-Z]{2,3}$', word):
+      result += word
+    # Letters+digits (for example tr15 rev2)
+    elif re.match(r'^[a-zA-Z]+[0-9]+$', word):
+      result += word[0].upper() + ''.join(re.findall(r'\d+', word))
+    elif word.isalpha():
+      result += word[0].upper()
+    elif word.isdigit():
+      result += word
+    else:
+      result += word[0].upper()
  return result[:8]


@@ -58,14 +73,14 @@ def generate_metadata(model_path: Path, output_dir: Path, short_name: str):
    "artifact": {
      "file_name": tinygrad_file.name,
      "download_uri": {
-        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/<FILLME>",
+        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/",
        "sha256": tinygrad_hash
      }
    },
    "metadata": {
      "file_name": metadata_file.name,
      "download_uri": {
-        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/<FILLME>",
+        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/",
        "sha256": metadata_hash
      }
    }
@@ -83,12 +98,12 @@ def create_metadata_json(models: list, output_dir: Path, custom_name=None, short
    "ref": upstream_branch,
    "environment": "development",
    "runner": "tinygrad",
-    "build_time": datetime.now(UTC).strftime("%Y-%m-%dT%H:%M:%SZ"),
-    "models": models,
-    "overrides": {},
    "index": -1,
    "minimum_selector_version": "-1",
    "generation": "-1",
+    "build_time": datetime.now(UTC).strftime("%Y-%m-%dT%H:%M:%SZ"),
+    "overrides": {},
+    "models": models,
  }

  # Write metadata to output_dir
--- a/scripts/lint/lint.sh
+++ b/scripts/lint/lint.sh
@@ -13,7 +13,7 @@ cd $ROOT

 FAILED=0

-IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md|layouts\/.*\.xml"
+IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md"
 IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"

 function run() {
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -17,7 +17,6 @@ from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
-from openpilot.selfdrive.controls.lib.latcontrol_angle_torque import LatControlAngleTorque
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
@@ -59,9 +58,7 @@ class Controls(ControlsExt):
    self.LoC = LongControl(self.CP)
    self.VM = VehicleModel(self.CP)
    self.LaC: LatControl
-    if self.CP.steerControlType == car.CarParams.SteerControlType.angle and self.CP.lateralTuning.which() == 'torque':
-      self.LaC = LatControlAngleTorque(self.CP, self.CP_SP, self.CI)
-    elif self.CP.steerControlType == car.CarParams.SteerControlType.angle:
+    if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
      self.LaC = LatControlAngle(self.CP, self.CP_SP, self.CI)
    elif self.CP.lateralTuning.which() == 'pid':
      self.LaC = LatControlPID(self.CP, self.CP_SP, self.CI)
--- a/selfdrive/controls/lib/latcontrol_angle_torque.py
+++ b/selfdrive/controls/lib/latcontrol_angle_torque.py
@@ -1,13 +0,0 @@
-from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
-from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
-
-
-class LatControlAngleTorque(LatControlTorque, LatControlAngle):
-  def __init__(self, CP, CP_SP, CI):
-    LatControlTorque.__init__(self, CP, CP_SP, CI)
-    LatControlAngle.__init__(self, CP, CP_SP, CI)
-
-  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
-    torque, _, _ = LatControlTorque.update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited)
-    _, angle, angle_log = LatControlAngle.update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited)
-    return torque, angle, angle_log
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -47,7 +47,6 @@ lateral_panel_qt_src = [
  "sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc",
  "sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc",
  "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
-  "sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.cc",
  "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
 ]

--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -212,7 +212,7 @@ void DevicePanelSP::updateState() {

  QString timeoutValue = QString::fromStdString(params.get("InteractivityTimeout"));
  if (timeoutValue == "0") {
-    interactivityTimeout->setLabel("DEFAULT");
+    interactivityTimeout->setLabel("Default");
  } else {
    interactivityTimeout->setLabel(timeoutValue + "s");
  }
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.cc
@@ -1,87 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h"
-
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
-AngleTunningSettings::AngleTunningSettings(QWidget *parent) : QWidget(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(50, 20, 50, 20);
-  main_layout->setSpacing(20);
-
-  // Back button
-  PanelBackButton *back = new PanelBackButton();
-  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
-  main_layout->addWidget(back, 0, Qt::AlignLeft);
-
-  auto *list = new ListWidgetSP(this, false);
-
-  main_layout->addWidget(new QWidget());
-
-  enableHkgAngleSmoothingFactor = new ExpandableToggleRow("EnableHkgTuningAngleSmoothingFactor", tr("HKG Angle Smoothing Factor"), tr("Applies EMA (Exponential Moving Average) to the desired angle steering and avoid overcorrections."), "../assets/offroad/icon_blank.png");
-  list->addItem(enableHkgAngleSmoothingFactor);
-
-  auto first_row = new QHBoxLayout();
-  hkgTuningOverridingCycles = new OptionControlSP("HkgTuningOverridingCycles", tr("Override Ramp-Down Cycles"), tr("Number of cycles to ramp down the current amount of torque on the steering wheel.<br/>A smaller value means a faster override by the user (less effort)"), "../assets/offroad/icon_blank.png", {10, 30}, 1);
-  connect(hkgTuningOverridingCycles, &OptionControlSP::updateLabels, hkgTuningOverridingCycles, [=]() {
-    this->updateToggles(offroad);
-  });
-  first_row->addWidget(hkgTuningOverridingCycles);
-
-  hkgAngleMinTorque = new OptionControlSP("HkgTuningAngleMinTorqueReductionGain", tr("Override Steering Effort"), tr("Sets the steering effort percentage used when the driver is overriding lateral control.<br/>Higher values increase resistance and make the wheel feel stiffer."), "../assets/offroad/icon_blank.png", {5, 60}, 1);
-  connect(hkgAngleMinTorque, &OptionControlSP::updateLabels, hkgAngleMinTorque, [=]() {
-    this->updateToggles(offroad);
-  });
-  first_row->addWidget(hkgAngleMinTorque);
-  list->addItem(first_row);
-
-  auto second_row = new QHBoxLayout();
-  hkgAngleActiveTorque = new OptionControlSP("HkgTuningAngleActiveTorqueReductionGain", tr("Min Active Torque"), tr("Torque applied when lateral control is active but the vehicle is not turning.<br/>Used to maintain lane centering on straight paths when no user input is detected."), "../assets/offroad/icon_blank.png", {10, 100}, 1);
-  connect(hkgAngleActiveTorque, &OptionControlSP::updateLabels, hkgAngleActiveTorque, [=]() {
-    this->updateToggles(offroad);
-  });
-  second_row->addWidget(hkgAngleActiveTorque);
-
-  hkgAngleMaxTorque = new OptionControlSP("HkgTuningAngleMaxTorqueReductionGain", tr("Max Torque Allowance"), tr("Sets the maximum torque reduction percentage the controller can apply during normal lateral control.<br/>"), "../assets/offroad/icon_blank.png", {10, 100}, 1);
-  connect(hkgAngleMaxTorque, &OptionControlSP::updateLabels, hkgAngleMaxTorque, [=]() {
-    this->updateToggles(offroad);
-  });
-  second_row->addWidget(hkgAngleMaxTorque);
-  list->addItem(second_row);
-  
-  QObject::connect(uiState(), &UIState::offroadTransition, this, &AngleTunningSettings::updateToggles);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-
-  auto *warning = new QLabel(tr("Reboot required for settings to apply; Tap on each setting to see more details."));
-  warning->setStyleSheet("font-size: 30px; font-weight: 500; font-family: 'Noto Color Emoji'; color: orange;");
-  main_layout->addWidget(warning, 0, Qt::AlignCenter);
-}
-
-void AngleTunningSettings::showEvent(QShowEvent *event) {
-  updateToggles(offroad);
-}
-
-void AngleTunningSettings::updateToggles(bool _offroad) {
-  auto HkgAngleSmoothingFactorValue = params.getBool("EnableHkgTuningAngleSmoothingFactor");
-  enableHkgAngleSmoothingFactor->toggleFlipped(HkgAngleSmoothingFactorValue);
-
-  auto HkgAngleMinTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMinTorqueReductionGain")).toInt();
-  hkgAngleMinTorque->setLabel(QString::number(HkgAngleMinTorqueValue)+"%");
-
-  auto HkgAngleActiveTorqueValue = QString::fromStdString(params.get("HkgTuningAngleActiveTorqueReductionGain")).toInt();
-  hkgAngleActiveTorque->setLabel(QString::number(HkgAngleActiveTorqueValue)+"%");
-
-  auto HkgAngleMaxTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMaxTorqueReductionGain")).toInt();
-  hkgAngleMaxTorque->setLabel(QString::number(HkgAngleMaxTorqueValue)+"%");
-
-  auto HkgTuningOverridingCyclesValue = QString::fromStdString(params.get("HkgTuningOverridingCycles")).toInt();
-  hkgTuningOverridingCycles->setLabel(QString::number(HkgTuningOverridingCyclesValue));
-
-  offroad = _offroad;
-}
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h
@@ -1,40 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
-
-class AngleTunningSettings : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit AngleTunningSettings(QWidget *parent = nullptr);
-
-  void showEvent(QShowEvent *event) override;
-
-signals:
-  void backPress();
-
-public slots:
-  void updateToggles(bool _offroad);
-
-private:
-  Params params;
-  bool offroad;
-
-  ExpandableToggleRow* enableHkgAngleSmoothingFactor;
-  OptionControlSP* hkgAngleMinTorque;
-  OptionControlSP* hkgAngleActiveTorque;
-  OptionControlSP* hkgAngleMaxTorque;
-  OptionControlSP* hkgTuningOverridingCycles;
-  ParamControlSP* hkgAngleLiveTuning;
-};
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
@@ -89,36 +89,6 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
    nnlcToggle->updateToggle();
  });

-#pragma region hkg angle tuning
-  list->addItem(vertical_space());
-  list->addItem(horizontal_line());
-  list->addItem(vertical_space());
-
-  // HKG Angle Tuning
-  // angleTuningToggle = new ParamControl(
-  //   "AngleTuning",
-  //   tr("Modular Assistive Driving System (MADS)"),
-  //   tr("Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement."),
-  //   "");
-  // angleTuningToggle->setConfirmation(true, false);
-  // list->addItem(angleTuningToggle);
-
-  angleTuningSettingsButton = new PushButtonSP(tr("Customize ANGLE Tuning"));
-  angleTuningSettingsButton->setObjectName("angle_btn");
-  connect(angleTuningSettingsButton, &QPushButton::clicked, [=]() {
-    sunnypilotScroller->setLastScrollPosition();
-    main_layout->setCurrentWidget(angleTuningWidget);
-  });
-  // QObject::connect(angleTuningToggle, &ToggleControl::toggleFlipped, angleTuningSettingsButton, &PushButtonSP::setEnabled);
-
-  angleTuningWidget = new AngleTunningSettings(this);
-  connect(angleTuningWidget, &AngleTunningSettings::backPress, [=]() {
-    sunnypilotScroller->restoreScrollPosition();
-    main_layout->setCurrentWidget(sunnypilotScreen);
-  });
-  list->addItem(angleTuningSettingsButton);
-#pragma endregion
-
  toggleOffroadOnly = {
    madsToggle, nnlcToggle,
  };
@@ -129,7 +99,6 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {

  main_layout->addWidget(sunnypilotScreen);
  main_layout->addWidget(madsWidget);
-  main_layout->addWidget(angleTuningWidget);
  main_layout->addWidget(laneChangeWidget);

  setStyleSheet(R"(
@@ -180,7 +149,6 @@ void LateralPanel::updateToggles(bool _offroad) {
  }

  madsSettingsButton->setEnabled(madsToggle->isToggled());
-  // angleTuningSettingsButton->setEnabled(angleTuningToggle->isToggled());

  blinkerPauseLateralSettings->refresh();

--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
@@ -13,7 +13,6 @@
 #include "selfdrive/ui/sunnypilot/ui.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
 #include "selfdrive/ui/qt/util.h"
@@ -40,11 +39,8 @@ private:
  bool offroad;

  ParamControl *madsToggle;
-  // ParamControl *angleTuningToggle;
  PushButtonSP *madsSettingsButton;
-  PushButtonSP *angleTuningSettingsButton;
  MadsSettings *madsWidget = nullptr;
-  AngleTunningSettings *angleTuningWidget = nullptr;
  PushButtonSP *laneChangeSettingsButton;
  LaneChangeSettings *laneChangeWidget = nullptr;
  NeuralNetworkLateralControl *nnlcToggle = nullptr;
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -115,7 +115,7 @@ class ModelCache:

 class ModelFetcher:
  """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v4.json"
+  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v5.json"

  def __init__(self, params: Params):
    self.params = params
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -19,8 +19,8 @@ from openpilot.system.hardware import PC
 from openpilot.system.hardware.hw import Paths
 from pathlib import Path

-CURRENT_SELECTOR_VERSION = 7
-REQUIRED_MIN_SELECTOR_VERSION = 5
+CURRENT_SELECTOR_VERSION = 1
+REQUIRED_MIN_SELECTOR_VERSION = 1

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

--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -74,12 +74,6 @@ def manager_init() -> None:
    ("QuickBootToggle", "0"),
    ("QuietMode", "0"),
    ("ShowAdvancedControls", "0" if build_metadata.tested_channel else "1"),
-    ("EnableHkgTuningAngleSmoothingFactor", "1"),
-    ("HkgTuningAngleMinTorqueReductionGain", "10"),
-    ("HkgTuningAngleActiveTorqueReductionGain", "60"),
-    ("HkgTuningAngleMaxTorqueReductionGain", "100"),
-    ("HkgTuningOverridingCycles", "17"),
-    ("HkgAngleLiveTuning", "0"),
  ]

  # device boot mode
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -114,7 +114,7 @@ procs = [

  PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
  NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
-  PythonProcess("soundd", "selfdrive.ui.soundd", and_(only_onroad, not_joystick)),
+  PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
  PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
  NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
  PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
--- a/2
+++ b/2
--- a/tools/car_porting/examples/hkg_canfd_angle_steering.ipynb
+++ b/tools/car_porting/examples/hkg_canfd_angle_steering.ipynb
--- a/tools/joystick/README.md
+++ b/tools/joystick/README.md
@@ -5,10 +5,6 @@
 With joystick_control, you can connect your laptop to your comma device over the network and debug controls using a joystick or keyboard.
 joystick_control uses [inputs](https://pypi.org/project/inputs) which supports many common gamepads and joysticks.

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

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

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

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


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


-class PyGameJoystick:
+class Joystick:
  def __init__(self):
-    # Initialize pygame and joystick subsystem
-    pg.init()
-    if not pg.joystick.get_init():
-      pg.joystick.init()
-
-    # Find connected joysticks
-    joystick_count = pg.joystick.get_count()
-    if joystick_count == 0:
-      print("No joysticks found. Please connect a controller.")
-      exit(1)
-
-    # Initialize the first joystick
-    self.joystick = pg.joystick.Joystick(0)
-    self.joystick.init()
-
-    print(f"Using joystick: {self.joystick.get_name()}")
-    print(f"Number of axes: {self.joystick.get_numaxes()}")
-    print(f"Number of buttons: {self.joystick.get_numbuttons()}")
-    print(f"Number of hats: {self.joystick.get_numhats()}")
-
-    # This supports PlayStation and Xbox controllers on different platforms
+    # This class supports a PlayStation 5 DualSense controller on the comma 3X
+    # TODO: find a way to get this from API or detect gamepad/PC, perhaps "inputs" doesn't support it
+    self.cancel_button = 'BTN_NORTH'  # BTN_NORTH=X/triangle
    if HARDWARE.get_device_type() == 'pc':
-      # Xbox mapping on PC
-      self.accel_axis = 5  # Right trigger
-      self.brake_axis = 4  # Left trigger
-      self.steer_axis = 0  # Left stick horizontal
-      self.cancel_button = 3  # Y/Triangle button
+      accel_axis = 'ABS_Z'
+      steer_axis = 'ABS_RX'
+      # TODO: once the longcontrol API is finalized, we can replace this with outputting gas/brake and steering
+      self.flip_map = {'ABS_RZ': accel_axis}
    else:
-      # PlayStation mapping on comma device
-      self.accel_axis = 5  # R2
-      self.brake_axis = 4  # L2
-      self.steer_axis = 0  # Left stick horizontal
-      self.cancel_button = 3  # Triangle button
+      accel_axis = 'ABS_RX'
+      steer_axis = 'ABS_Z'
+      self.flip_map = {'ABS_RY': accel_axis}

-    # Configure for adaptive mappings based on detected controller
-    controller_name = self.joystick.get_name().lower()
-    if "xbox" in controller_name:
-      print("Xbox controller detected, using Xbox mappings")
-      self.accel_axis = 5  # Right trigger (RT)
-      self.brake_axis = 4  # Left trigger (LT)
-      self.cancel_button = 3  # Y button
-    elif "playstation" in controller_name or "dual" in controller_name:
-      print("PlayStation controller detected, using PlayStation mappings")
-      self.accel_axis = 5  # R2
-      self.brake_axis = 4  # L2
-      self.cancel_button = 3  # Triangle
-
-    # Initialize values
-    self.axes_values = {'gb': 0., 'steer': 0.}  # Maintain same keys as Keyboard class
-    self.axes_order = ['gb', 'steer']  # Match expected format
+    self.min_axis_value = {accel_axis: 0., steer_axis: 0.}
+    self.max_axis_value = {accel_axis: 255., steer_axis: 255.}
+    self.axes_values = {accel_axis: 0., steer_axis: 0.}
+    self.axes_order = [accel_axis, steer_axis]
    self.cancel = False
-    self.deadzone = 0.03  # 3% deadzone for noisy joysticks
-
-    # Process events once to clear the event queue
-    pg.event.pump()

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

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

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

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

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


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

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

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


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


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

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

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

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

    cc_msg = messaging.new_message('carControl')
    cc_msg.valid = True
    CC = cc_msg.carControl
    CC.enabled = sm['selfdriveState'].enabled
-    CC.latActive = _lat_active and not sm['carState'].steerFaultTemporary and not sm['carState'].steerFaultPermanent
+    CC.latActive = sm['selfdriveState'].active and not sm['carState'].steerFaultTemporary and not sm['carState'].steerFaultPermanent
    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in sm['onroadEvents']) and CP.openpilotLongitudinalControl
    CC.cruiseControl.cancel = sm['carState'].cruiseState.enabled and (not CC.enabled or not CP.pcmCruise)
    CC.hudControl.leadDistanceBars = 2
--- a/tools/plotjuggler/layouts/analyzing-panda-block-angle-hkg.xml
+++ b/tools/plotjuggler/layouts/analyzing-panda-block-angle-hkg.xml
@@ -1,131 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<root>
- <tabbed_widget parent="main_window" name="Main Window">
-  <Tab tab_name="actuator data" containers="1">
-   <Container>
-    <DockSplitter sizes="0.25;0.25;0.25;0.25" count="4" orientation="-">
-     <DockArea name="...">
-      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
-       <range bottom="-1.050000" top="1.050000" right="590.696728" left="429.901019"/>
-       <limitY/>
-       <curve color="#17becf" name="/carControl/actuators/torque"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
-       <range bottom="-385.132391" top="536.899115" right="590.696728" left="429.901019"/>
-       <limitY/>
-       <curve color="#1f77b4" name="/carControl/actuators/steeringAngleDeg"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
-       <range bottom="-0.364800" top="14.956815" right="590.696728" left="429.901019"/>
-       <limitY/>
-       <curve color="#ff7f0e" name="/carState/vEgoRaw"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
-       <range bottom="-0.208517" top="0.149191" right="590.696728" left="429.901019"/>
-       <limitY/>
-       <curve color="#f14cc1" name="/carControl/actuators/curvature"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <Tab tab_name="steering messages (CAN)" containers="1">
-   <Container>
-    <DockSplitter sizes="0.200218;0.200218;0.199129;0.200218;0.200218" count="5" orientation="-">
-     <DockArea name="...">
-      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
-       <range bottom="-189.000000" top="189.000000" right="590.696728" left="429.901019"/>
-       <limitY/>
-       <curve color="#1ac938" name="/can/2/LKAS_ALT/LKAS_ANGLE_CMD"/>
-       <curve color="#9467bd" name="/can/128/LKAS_ALT/LKAS_ANGLE_CMD"/>
-       <curve color="#ff0e1c" name="/can/192/LKAS_ALT/LKAS_ANGLE_CMD"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
-       <range bottom="-6.200000" top="254.200000" right="590.696728" left="429.901019"/>
-       <limitY/>
-       <curve color="#f14cc1" name="/can/128/LKAS_ALT/LKAS_ANGLE_MAX_TORQUE"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
-       <range bottom="-0.025000" top="1.025000" right="590.696728" left="429.901019"/>
-       <limitY/>
-       <curve color="#d62728" name="/carState/steeringPressed"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
-       <range bottom="460.325000" top="1874.675000" right="590.696728" left="429.901019"/>
-       <limitY/>
-       <curve color="#1f77b4" name="/pandaStates/0/safetyTxBlocked"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
-       <range bottom="-0.025000" top="1.025000" right="590.696728" left="429.901019"/>
-       <limitY/>
-       <curve color="#f14cc1" name="/can/1/CCNC_0x161/DAW_ICON"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <Tab tab_name="Understanding Torque" containers="1">
-   <Container>
-    <DockSplitter sizes="0.5;0.5" count="2" orientation="-">
-     <DockArea name="...">
-      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
-       <range bottom="-6.175000" top="253.175000" right="590.696728" left="429.901019"/>
-       <limitY/>
-       <curve color="#1f77b4" name="/can/1/LFA_ALT/LKAS_ANGLE_MAX_TORQUE"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
-       <range bottom="-41.182501" top="42.082498" right="590.696728" left="429.901019"/>
-       <limitY/>
-       <curve color="#1ac938" name="/carState/steeringTorqueEps"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <currentTabIndex index="1"/>
- </tabbed_widget>
- <use_relative_time_offset enabled="1"/>
- <!-- - - - - - - - - - - - - - - -->
- <!-- - - - - - - - - - - - - - - -->
- <Plugins>
-  <plugin ID="DataLoad CSV">
-   <default time_axis="" delimiter="0"/>
-  </plugin>
-  <plugin ID="DataLoad MCAP"/>
-  <plugin ID="DataLoad Rlog"/>
-  <plugin ID="DataLoad ULog"/>
-  <plugin ID="Cereal Subscriber"/>
-  <plugin ID="UDP Server"/>
-  <plugin ID="WebSocket Server"/>
-  <plugin ID="ZMQ Subscriber"/>
-  <plugin ID="Fast Fourier Transform"/>
-  <plugin ID="Quaternion to RPY"/>
-  <plugin ID="Reactive Script Editor">
-   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
-   <scripts/>
-  </plugin>
-  <plugin ID="CSV Exporter"/>
- </Plugins>
- <!-- - - - - - - - - - - - - - - -->
- <!-- - - - - - - - - - - - - - - -->
- <customMathEquations/>
- <snippets/>
- <!-- - - - - - - - - - - - - - - -->
-</root>
-
--- a/tools/plotjuggler/layouts/analyzing-torque-angle-hkg.xml
+++ b/tools/plotjuggler/layouts/analyzing-torque-angle-hkg.xml
@@ -1,209 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<root>
- <tabbed_widget parent="main_window" name="Main Window">
-  <Tab tab_name="actuator data" containers="1">
-   <Container>
-    <DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range bottom="-1.050000" top="1.050000" right="722.420439" left="0.000000"/>
-       <limitY/>
-       <curve color="#17becf" name="/carControl/actuators/torque"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range bottom="-453.043646" top="538.555487" right="722.420439" left="0.000000"/>
-       <limitY/>
-       <curve color="#1f77b4" name="/carControl/actuators/steeringAngleDeg"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range bottom="-0.647461" top="26.545898" right="722.420439" left="0.000000"/>
-       <limitY/>
-       <curve color="#ff7f0e" name="/carState/vEgoRaw"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range bottom="-0.209157" top="0.175448" right="722.420439" left="0.000000"/>
-       <limitY/>
-       <curve color="#f14cc1" name="/carControl/actuators/curvature"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <Tab tab_name="steering messages (CAN)" containers="1">
-   <Container>
-    <DockSplitter orientation="-" sizes="0.200218;0.200218;0.199129;0.200218;0.200218" count="5">
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range bottom="-189.000000" top="189.000000" right="723.115449" left="6.371879"/>
-       <limitY/>
-       <curve color="#b6ff00" name="/can/128/LKAS_ALT/LKAS_ANGLE_CMD"/>
-       <curve color="#00fab2" name="/can/0/LKAS_ALT/LKAS_ANGLE_CMD"/>
-       <curve color="#d62728" name="/can/192/LKAS_ALT/LKAS_ANGLE_CMD"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range bottom="-6.250000" top="256.250000" right="722.420439" left="6.497277"/>
-       <limitY/>
-       <curve color="#00ffe8" name="/can/128/LKAS_ALT/LKAS_ANGLE_MAX_TORQUE"/>
-       <curve color="#e5fd00" name="/can/0/LKAS_ALT/LKAS_ANGLE_MAX_TORQUE"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range bottom="-4.399729" top="4.056632" right="722.420439" left="0.000000"/>
-       <limitY/>
-       <curve color="#ff7f0e" name="IMU_LatAccelVal_ms^2_roll_compensated"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range bottom="-0.025000" top="1.025000" right="722.420439" left="0.000000"/>
-       <limitY/>
-       <curve color="#d62728" name="/carState/steeringPressed"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range bottom="-0.025000" top="1.025000" right="722.420439" left="0.000000"/>
-       <limitY/>
-       <curve color="#f14cc1" name="/can/1/CCNC_0x161/DAW_ICON"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <Tab tab_name="Understanding Torque" containers="1">
-   <Container>
-    <DockSplitter orientation="-" sizes="0.5;0.5" count="2">
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range bottom="-6.250000" top="256.250000" right="722.420439" left="0.000000"/>
-       <limitY/>
-       <curve color="#1f77b4" name="/can/1/LFA_ALT/LKAS_ANGLE_MAX_TORQUE"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range bottom="-42.062501" top="78.162503" right="722.420439" left="0.000000"/>
-       <limitY/>
-       <curve color="#1ac938" name="/carState/steeringTorqueEps"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <currentTabIndex index="1"/>
- </tabbed_widget>
- <use_relative_time_offset enabled="1"/>
- <!-- - - - - - - - - - - - - - - -->
- <!-- - - - - - - - - - - - - - - -->
- <Plugins>
-  <plugin ID="DataLoad CSV">
-   <default delimiter="0" time_axis=""/>
-  </plugin>
-  <plugin ID="DataLoad MCAP"/>
-  <plugin ID="DataLoad Rlog"/>
-  <plugin ID="DataLoad ULog"/>
-  <plugin ID="Cereal Subscriber"/>
-  <plugin ID="UDP Server"/>
-  <plugin ID="WebSocket Server"/>
-  <plugin ID="ZMQ Subscriber"/>
-  <plugin ID="Fast Fourier Transform"/>
-  <plugin ID="Quaternion to RPY"/>
-  <plugin ID="Reactive Script Editor">
-   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
-   <scripts/>
-  </plugin>
-  <plugin ID="CSV Exporter"/>
- </Plugins>
- <!-- - - - - - - - - - - - - - - -->
- <!-- - - - - - - - - - - - - - - -->
- <customMathEquations>
-  <snippet name="Desired lateral accel (roll compensated)">
-   <global></global>
-   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/desiredCurvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="Actual lateral accel (roll compensated)">
-   <global></global>
-   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/curvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_ms^2_roll_compensated">
-   <global></global>
-   <function>if (v1 == 0 and v2 == 1) then
-  return  (value * -9.8) - (v3 * 9.81)
-end
--return 0
-  return  (value * -9.8) - (v3 * 9.81)</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-    <v3>/liveParameters/roll</v3>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_Ms^3">
-   <global></global>
-   <function>return  value * -9.8</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_Ms^2">
-   <global></global>
-   <function>if (v1 == 0 and v2 == 1) then
-  return  value * -9.8
-end
-return 0</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="roll compensated lateral acceleration">
-   <global></global>
-   <function>if (v3 == 0 and v4 == 1) then
-  return  (value * v1 ^ 2) - (v2 * 9.81)
-end
-return 0</function>
-   <linked_source>/controlsState/curvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-    <v3>/carState/steeringPressed</v3>
-    <v4>/carControl/latActive</v4>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_ms^2">
-   <global></global>
-   <function>return  value * -9.8</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
- </customMathEquations>
- <snippets/>
- <!-- - - - - - - - - - - - - - - -->
-</root>
-
--- a/tools/plotjuggler/layouts/hkg_angle_control.xml
+++ b/tools/plotjuggler/layouts/hkg_angle_control.xml
@@ -1,281 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<root>
- <tabbed_widget name="Main Window" parent="main_window">
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-   <selected_datasources value=""/>
-  </fileInfo>
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- <!-- - - - - - - - - - - - - - - -->
- <customMathEquations>
-  <snippet name="zero">
-   <global>min=0
-max=250
-max_from_speed=96
-
-rate_lim = 500
-
-la_deadzone = 0.38
-
-k1=200
-k2=20
-k3=1.0
-k4=1
-k5=10
-
-old = 0
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end
-
-function apply_rate_limit(old, new, limit)
-    return math.min(math.max(new, old - limit), old + limit)
-end
-
-function apply_deadzone(val, deadzone)
-    if math.abs(val) &lt;= deadzone then
-        return 0.0
-    elseif val &lt; 0.0 then
-        return val + deadzone
-    else
-        return val - deadzone
-    end
-end</global>
-   <function>return 0</function>
-   <linked_source>/carState/aEgo</linked_source>
-  </snippet>
-  <snippet name="max torque lj adj">
-   <global>min=0
-max=250
-max_from_speed=96
-
-k1=200
-k2=30
-k3=1    
-k4=1
-k5=10
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end</global>
-   <function>return 250 - value * 20</function>
-   <linked_source>desired lateral jark</linked_source>
-  </snippet>
-  <snippet name="ang_cmd rate">
-   <global>firstX = 0
-firstY = 0
-is_first = true
-secondX = 0
-secondY = 0
-is_second = false</global>
-   <function>-- Wait for initial values
-if (is_first) then
-  is_first = false
-  is_second = true
-  firstX = time
-  firstY = value
-end
-
-if (is_second) then
-  is_second = false
-  secondX = time
-  secondY = value
-end
-
-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
-dx = time - firstX
-dy = value - firstY
-- Increment
-firstX = secondX
-firstY = secondY
-secondX = time
-secondY = value
-
-return dy/dx</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-  </snippet>
-  <snippet name="max torque(calc)">
-   <global>min=0
-max=250
-max_from_speed=96
-
-rate_lim = 500
-
-la_deadzone = 0.38
-
-k1=200
-k2=20
-k3=1.0
-k4=1
-k5=10
-
-old = 0
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end
-
-function apply_rate_limit(old, new, limit)
-    return math.min(math.max(new, old - limit), old + limit)
-end
-
-function apply_deadzone(val, deadzone)
-    if math.abs(val) &lt;= deadzone then
-        return 0.0
-    elseif val &lt; 0.0 then
-        return val + deadzone
-    else
-        return val - deadzone
-    end
-end</global>
-   <function>la = apply_deadzone(v2, la_deadzone)
-lj = v3
-
-if la == 0.0 then
-    lj = 0.0
-end
-
-fla = math.min(math.abs(k1 * la)^k3, max)
-flj = math.min(math.abs(k2 * lj)^k4, max)
-
-out = fla
-
-flv = math.min(max_from_speed, k5 * v4)
-
-out = out + flv
-
-out = math.max(math.min(out, max), min)
-
-if sign(la) == sign(lj) then
-    out = out - flj
-else
-    out = out + flj
-end
-
-
-if v5 == 1.0 then
-    out = 0.0
-end
-
-out = math.max(math.min(out, max), min)
-out = apply_rate_limit(old, out, rate_lim)
-old = out
-
-return out</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-   <additional_sources>
-    <v1>ang_cmd rate</v1>
-    <v2>desired lat accel</v2>
-    <v3>desired lateral jark</v3>
-    <v4>/carState/vEgo</v4>
-    <v5>/can/1/LFA_ALT/LKAS_ANGLE_ACTIVE</v5>
-   </additional_sources>
-  </snippet>
-  <snippet name="desired lateral jark">
-   <global>firstX = 0
-firstY = 0
-is_first = true
-secondX = 0
-secondY = 0
-is_second = false</global>
-   <function>-- Wait for initial values
-if (is_first) then
-  is_first = false
-  is_second = true
-  firstX = time
-  firstY = value
-end
-
-if (is_second) then
-  is_second = false
-  secondX = time
-  secondY = value
-end
-
-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
-dx = time - firstX
-dy = value - firstY
-- Increment
-firstX = secondX
-firstY = secondY
-secondX = time
-secondY = value
-
-return dy/dx</function>
-   <linked_source>desired lat accel</linked_source>
-  </snippet>
-  <snippet name="abs(des la accel)">
-   <global></global>
-   <function>return math.abs(value)</function>
-   <linked_source>desired lat accel</linked_source>
-  </snippet>
-  <snippet name="desired lat accel">
-   <global></global>
-   <function>return value * v1^2</function>
-   <linked_source>/controlsState/desiredCurvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-   </additional_sources>
-  </snippet>
-  <snippet name="abs(ang_cmd)">
-   <global></global>
-   <function>return math.abs(value)</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-  </snippet>
- </customMathEquations>
- <snippets/>
- <!-- - - - - - - - - - - - - - - -->
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--- a/tools/plotjuggler/layouts/safety-limits-angle-kkg.xml
+++ b/tools/plotjuggler/layouts/safety-limits-angle-kkg.xml
@@ -1,175 +0,0 @@
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-       <curve name="IMU_LatAccelVal_ms^2_roll_compensated" color="#9467bd"/>
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-       <limitY/>
-       <curve name="/carState/steeringPressed" color="#0097ff"/>
-       <curve name="/carOutput/actuatorsOutput/torque" color="#d62728"/>
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-       <curve name="/carState/vEgo" color="#f14cc1">
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-        </transform>
-       </curve>
-      </plot>
-     </DockArea>
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-   </Container>
-  </Tab>
-  <Tab tab_name="tab2" containers="1">
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-       <limitY/>
-       <curve name="/liveParameters/roll" color="#bcbd22"/>
-      </plot>
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-   <scripts/>
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-  <plugin ID="CSV Exporter"/>
- </Plugins>
- <!-- - - - - - - - - - - - - - - -->
- <!-- - - - - - - - - - - - - - - -->
- <customMathEquations>
-  <snippet name="IMU_LatAccelVal_ms^2">
-   <global></global>
-   <function>return  value * -9.8</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="roll compensated lateral acceleration">
-   <global></global>
-   <function>if (v3 == 0 and v4 == 1) then
-  return  (value * v1 ^ 2) - (v2 * 9.81)
-end
-return 0</function>
-   <linked_source>/controlsState/curvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-    <v3>/carState/steeringPressed</v3>
-    <v4>/carControl/latActive</v4>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_Ms^2">
-   <global></global>
-   <function>if (v1 == 0 and v2 == 1) then
-  return  value * -9.8
-end
-return 0</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_Ms^3">
-   <global></global>
-   <function>return  value * -9.8</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_ms^2_roll_compensated">
-   <global></global>
-   <function>
-
-if (v1 == 0 and v2 == 1) then
-  return  (value * -9.8) - (v3 * 9.81)
-end
-return 0</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-    <v3>/liveParameters/roll</v3>
-   </additional_sources>
-  </snippet>
-  <snippet name="Actual lateral accel (roll compensated)">
-   <global></global>
-   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/curvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="Desired lateral accel (roll compensated)">
-   <global></global>
-   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/desiredCurvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-   </additional_sources>
-  </snippet>
- </customMathEquations>
- <snippets/>
- <!-- - - - - - - - - - - - - - - -->
-</root>
-
Author	SHA1	Message	Date
DevTekVE	74265e76ab	dunno dunno...	2025-07-25 19:34:27 +02:00
DevTekVE	97f810e303	tweakx4	2025-07-25 18:35:03 +02:00
DevTekVE	427e42cd82	tweakx3	2025-07-25 18:29:27 +02:00
DevTekVE	42c433a39b	tweakx2	2025-07-25 18:26:14 +02:00
DevTekVE	cf7d6eda4b	tweak	2025-07-25 18:22:54 +02:00
DevTekVE	2e28cab9b8	refactor: consolidate model building steps into a single workflow	2025-07-25 18:09:26 +02:00
discountchubbs	75019229e9	maybe we could use a script instead that both build all That both build all and sunnypilot-build-model reference	2025-07-25 07:29:47 -07:00
discountchubbs	5c4c91fd43	Revert "bc devtekve said. also, this is repetitive af" This reverts commit `3a0c1562de`.	2025-07-24 19:45:50 -07:00
discountchubbs	3a0c1562de	bc devtekve said. also, this is repetitive af	2025-07-24 19:37:07 -07:00
discountchubbs	c38e644375	Update build-single-tinygrad-model.yaml	2025-07-24 18:35:24 -07:00
discountchubbs	a4c288d1c7	cleanup	2025-07-23 20:32:49 -07:00
discountchubbs	cb2c3f1909	try dynamic	2025-07-23 19:59:37 -07:00
discountchubbs	602597d291	No need to sleep 3 seconds, just send it	2025-07-23 19:07:15 -07:00
discountchubbs	3ec234d04b	Update build-all-tinygrad-models.yaml	2025-07-23 13:24:02 -07:00
discountchubbs	a8e6f45270	Update build-all-tinygrad-models.yaml	2025-07-23 07:28:52 -07:00
discountchubbs	12fe42a22d	Allow more dynamic short names This should hopefully be future-proof for now.. It's robust enough to return the correct word-digit format (see example on how it generates from given display name below): 'Last Horizon V2 (November 22, 2024)' -> LHV2 'Alabama (November 25, 2024)' -> ALABAMA 'PlayStation (December 03, 2024)' -> PLAYSTAT 'Postal Service (December 09, 2024)' -> PS 'Null Pointer (December 13, 2024)' -> NP 'North America (December 16, 2024)' -> NA 'National Public Radio (December 18, 2024)' -> NPR 'Filet o Fish (March 7, 2025)' -> FOF 'Tomb Raider 2 (April 18, 2025)' -> TR2 'Tomb Raider 3 (April 22, 2025)' -> TR3 'Tomb Raider 4 (April 25, 2025)' -> TR4 'Tomb Raider 5 (April 25, 2025)' -> TR5 'Tomb Raider 6 (April 30, 2025)' -> TR6 'Tomb Raider 7 (May 07, 2025)' -> TR7 'Down to Ride (Revision: May 10, 2025)' -> DTR 'SP Vikander Model (May 16, 2025)' -> SPVM 'VFF Driving (May 15, 2025)' -> VFFD 'Secret Good Openpilot (May 16, 2025)' -> SGO 'Vegetarian Filet o Fish (May 29, 2025)' -> VFOF 'Down To Ride (Revision: May 30, 2025)' -> DTR 'Vegetarian Filet o Fish v2 (June 05, 2025)' -> VFOFV2 'Kerrygold Driving (June 08, 2025)' -> KD 'Tomb Raider 10 (June 16, 2025)' -> TR10 'Organic Kerrygold (June 17, 2025)' -> OK 'Liquid Crystal Driving (June 21, 2025)' -> LCD 'Vegetarian Filet o Fish v3 (June 21, 2025)' -> VFOFV3 'Vibe Model [Custom Model]' -> VMCM 'Tomb Raider 13 (June 27, 2025)' -> TR13 'Aggressive TR (June 28, 2025)' -> ATR 'Tomb Raider 14 (June 30, 2025)' -> TR14 'Cookiemonster Tomb Raider (July 02, 2025)' -> CTR 'Down to Ride (Revision: July 07, 2025)' -> DTR 'Simple Plan Driving (July 07, 2025)' -> SPD 'Down to Ride (Revision: July 08, 2025)' -> DTR 'Tomb Raider 15 (July 09, 2025)' -> TR15 'Tomb Raider 15 rev-2 (July 11, 2025)' -> TR15R2 'Le Tomb Raider 14 (July 14, 2025)' -> LTR14 'Le Tomb Raider 14h (July 17, 2025)' -> LTR14H 'Tomb Raider 16 (July 18, 2025)' -> TR16 'Tomb Raider 16v2 (July 21, 2025)' -> TR16V2	2025-07-23 07:28:24 -07:00
discountchubbs	139281e0fb	Update build-all-tinygrad-models.yaml	2025-07-23 07:15:09 -07:00
discountchubbs	fcf7a9343c	Update build-all-tinygrad-models.yaml	2025-07-23 07:14:41 -07:00
discountchubbs	05695bf8db	Update build-all-tinygrad-models.yaml	2025-07-23 07:07:28 -07:00
discountchubbs	4a9185cb15	Update build-all-tinygrad-models.yaml	2025-07-23 07:01:42 -07:00
discountchubbs	838e16bf52	Update build-all-tinygrad-models.yaml	2025-07-23 06:57:37 -07:00
discountchubbs	2e0d1dc5a1	Update build-all-tinygrad-models.yaml	2025-07-23 06:46:19 -07:00
discountchubbs	6d24fe869b	Update build-all-tinygrad-models.yaml	2025-07-23 06:43:11 -07:00
discountchubbs	23ab96246c	Merge remote-tracking branch 'origin/sync-20250627-tinygrad' into sync-20250627-tinygrad	2025-07-22 21:09:08 -07:00
discountchubbs	d26838de09	Merge remote-tracking branch 'origin/master-new' into sync-20250627-tinygrad	2025-07-22 21:08:35 -07:00
James Vecellio-Grant	1fbbee65b2	Merge branch 'master-new' into sync-20250627-tinygrad	2025-07-22 21:07:43 -07:00
discountchubbs	de014108fe	bump to 22Jul2025	2025-07-22 21:05:48 -07:00
Nayan	358c0a8747	ui: proper capitalization for default interactivity timeout (#1065 ) No More Neuron Triggering Scream	2025-07-22 01:02:28 -04:00
discountchubbs	3be432d633	The "FillMe" placeholder caused an extra 10 seconds of work	2025-07-11 11:38:51 -07:00
discountchubbs	e251449d00	Model recompiled successfully, initiate "revert me after SP model compiled" This reverts commit `95706eb688`.	2025-07-10 20:31:16 -07:00
discountchubbs	95706eb688	revert me after SP model compiled	2025-07-10 20:13:17 -07:00
discountchubbs	096662799b	Revert "bump tinygrad" This reverts commit `f479dfd502`.	2025-07-10 20:11:02 -07:00
discountchubbs	f479dfd502	bump tinygrad	2025-07-10 20:08:46 -07:00
discountchubbs	22eefbd0f7	Reformat metadata generator to match driving_models.json	2025-07-10 12:57:07 -07:00
discountchubbs	a044347f4e	bump tinygrad_repo	2025-07-10 07:23:58 -07:00
James Vecellio-Grant	eca1d0888f	Merge branch 'master-new' into sync-20250627-tinygrad	2025-07-10 07:20:12 -07:00
DevTekVE	264c0fe446	Tinygrad bump from sync-20250627	2025-06-27 17:21:48 +02:00