sunnypilot modeld: Sync Tinygrad (PR-1081)

ui: refresh model list (PR-1074)
Long Control: Vibe Controller (PR-1068)
2026-09-15 10:53:42 +08:00 · 2025-07-30 16:23:02 +00:00 · 2025-07-30 16:23:01 +00:00 · 2025-07-30 16:23:00 +00:00 · 2025-07-30 16:22:57 +00:00
57 changed files with 973 additions and 3829 deletions
@@ -2,5 +2,4 @@ Wen
 REGIST
 PullRequest
 cancelled
-indeces
 FOF
@@ -1,4 +1,4 @@
-name: Build and push all tinygrad models
+name: Build and push all tinygrad models 

 on:
  workflow_dispatch:
@@ -57,7 +57,7 @@ jobs:
        env:
          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
        run: |
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai3.git gitlab_docs
          cd gitlab_docs
          git checkout main
          git sparse-checkout set --no-cone models/
@@ -174,7 +174,7 @@ jobs:
          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
        run: |
          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai3.git gitlab_docs
          cd gitlab_docs
          echo "checkout models/${RECOMPILED_DIR}"
          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
@@ -109,7 +109,7 @@ jobs:
          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
        run: |
          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai3.git gitlab_docs
          cd gitlab_docs
          echo "checkout models/${RECOMPILED_DIR}"
          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
@@ -153,7 +153,6 @@ jobs:
              }
            }' -F label="is:pr is:open label:${PR_LABEL} draft:false sort:created-asc")

-          PR_LIST=${PR_LIST//\'/}
          echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
        env:
          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -21,12 +21,5 @@
        </clean>
      </configuration>
    </target>
-    <target id="f2590b2b-9b93-49f9-8510-da3f3724a2ae" name="replay" defaultType="TOOL">
-      <configuration id="d475264f-6f4c-4092-9b4e-6773309f38b7" name="replay" toolchainName="Default">
-        <build type="TOOL">
-          <tool actionId="Tool_External Tools_uv build tools replay" />
-        </build>
-      </configuration>
-    </target>
  </component>
 </project>
@@ -20,11 +20,4 @@
      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
    </exec>
  </tool>
-  <tool name="uv build tools replay" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) tools/replay/&quot;" />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
 </toolSet>
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
+  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
    <envs>
      <env name="QT_DBL_CLICK_DIST" value="150" />
    </envs>
@@ -1,27 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Debug Route Controls" type="PythonConfigurationType" factoryName="Python">
-    <module name="openpilot-special" />
-    <option name="ENV_FILES" value="" />
-    <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="PARENT_ENVS" value="true" />
-    <envs>
-      <env name="PYTHONUNBUFFERED" value="1" />
-      <env name="FINGERPRINT" value="KIA_EV9" />
-      <env name="SKIP_FW_QUERY" value="1" />
-    </envs>
-    <option name="SDK_HOME" value="" />
-    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/selfdrive/car" />
-    <option name="IS_MODULE_SDK" value="true" />
-    <option name="ADD_CONTENT_ROOTS" value="true" />
-    <option name="ADD_SOURCE_ROOTS" value="true" />
-    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
-    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/selfdrive/car/card.py" />
-    <option name="PARAMETERS" value="" />
-    <option name="SHOW_COMMAND_LINE" value="false" />
-    <option name="EMULATE_TERMINAL" value="true" />
-    <option name="MODULE_MODE" value="false" />
-    <option name="REDIRECT_INPUT" value="false" />
-    <option name="INPUT_FILE" value="" />
-    <method v="2" />
-  </configuration>
-</component>
@@ -1,7 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Replay for controls + ui" type="Multirun" separateTabs="false" reuseTabsWithFailures="false" startOneByOne="true" markFailedProcess="true" hideSuccessProcess="false" delayTime="0.0">
-    <runConfiguration name="replay for controls" type="Native Application" />
-    <runConfiguration name="Build Debug" type="Custom Build Application" />
-    <method v="2" />
-  </configuration>
-</component>
@@ -1,7 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="replay for controls" type="CLionNativeAppRunConfigurationType" focusToolWindowBeforeRun="true" PROGRAM_PARAMS="&quot;$Prompt$&quot; --block &quot;sendcan,carState,carParams,carOutput,liveTracks,carParamsSP,carStateSP&quot;" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="true" WORKING_DIR="file://$ProjectFileDir$/tools/replay" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="replay" CONFIG_NAME="replay" version="1" RUN_PATH="replay">
-    <method v="2">
-      <option name="CLION.COMPOUND.BUILD" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -101,6 +101,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {

 struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
  dec @0 :DynamicExperimentalControl;
+  accelPersonality @1 :AccelerationPersonality;

  struct DynamicExperimentalControl {
    state @0 :DynamicExperimentalControlState;
@@ -112,6 +113,12 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
      blended @1;
    }
  }
+
+  enum AccelerationPersonality {
+    sport @0;
+    normal @1;
+    eco @2;
+  }
 }

 struct OnroadEventSP @0xda96579883444c35 {
@@ -123,6 +123,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
    {"Version", PERSISTENT},

    // --- sunnypilot params --- //
+    {"AccelPersonality", PERSISTENT},
    {"ApiCache_DriveStats", PERSISTENT},
    {"AutoLaneChangeBsmDelay", PERSISTENT | BACKUP},
    {"AutoLaneChangeTimer", PERSISTENT | BACKUP},
@@ -147,6 +148,9 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
    {"QuickBootToggle", PERSISTENT | BACKUP},
    {"QuietMode", PERSISTENT | BACKUP},
    {"ShowAdvancedControls", PERSISTENT | BACKUP},
+    {"VibePersonalityEnabled", PERSISTENT},
+    {"VibeAccelPersonalityEnabled", PERSISTENT},
+    {"VibeFollowPersonalityEnabled", PERSISTENT},

    // MADS params
    {"Mads", PERSISTENT | BACKUP},
@@ -207,13 +211,4 @@ 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}
-    
 };
@@ -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",
@@ -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() {
@@ -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)
@@ -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
@@ -10,6 +10,8 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.modeld.constants import index_function
 from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU

+from openpilot.sunnypilot.selfdrive.controls.lib.vibe_personality.vibe_personality import VibePersonalityController
+
 if __name__ == '__main__':  # generating code
  from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
@@ -228,6 +230,7 @@ class LongitudinalMpc:
    self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
    self.reset()
    self.source = SOURCES[2]
+    self.vibe_controller = VibePersonalityController()

  def reset(self):
    # self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
@@ -328,10 +331,31 @@ class LongitudinalMpc:
    return lead_xv

  def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard):
-    t_follow = get_T_FOLLOW(personality)
    v_ego = self.x0[1]
+
+    # Get following distance
+    if self.vibe_controller.is_follow_enabled():
+      t_follow = self.vibe_controller.get_follow_distance_multiplier(v_ego)
+      if t_follow is None:
+        # Fallback to stock behavior when vibe controller can't provide a value
+        t_follow = get_T_FOLLOW(personality)
+    else:
+      t_follow = get_T_FOLLOW(personality)
+
    self.status = radarstate.leadOne.status or radarstate.leadTwo.status

+    # Get acceleration limits
+    if self.vibe_controller.is_accel_enabled():
+      accel_limits = self.vibe_controller.get_accel_limits(v_ego)
+      if accel_limits is not None:
+        min_accel = accel_limits[0]
+      else:
+        min_accel = CRUISE_MIN_ACCEL
+    else:
+      min_accel = CRUISE_MIN_ACCEL
+
+    a_cruise_min = min_accel
+
    lead_xv_0 = self.process_lead(radarstate.leadOne)
    lead_xv_1 = self.process_lead(radarstate.leadTwo)

@@ -350,7 +374,7 @@ class LongitudinalMpc:

      # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
      # when the leads are no factor.
-      v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05)
+      v_lower = v_ego + (T_IDXS * a_cruise_min * 1.05)
      # TODO does this make sense when max_a is negative?
      v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05)
      v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
@@ -124,9 +124,22 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    prev_accel_constraint = not (reset_state or sm['carState'].standstill)

    if self.mode == 'acc':
-      accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
-      steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
-      accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
+      if self.vibe_controller.is_accel_enabled():
+        # Only get max acceleration from vibe controller, use default ACCEL_MIN for minimum
+        accel_limits = self.vibe_controller.get_accel_limits(v_ego)
+        if accel_limits is not None:
+          max_accel = accel_limits[1]
+          accel_clip = [ACCEL_MIN, max_accel]
+        else:
+          # Fallback to stock if vibe controller returns None
+          accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
+        # Recalculate limit turn according to the new max limit
+        steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
+        accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
+      else:
+        accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
+        steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
+        accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
    else:
      accel_clip = [ACCEL_MIN, ACCEL_MAX]

@@ -92,7 +92,15 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
                                             "your steering wheel distance button."),
                                          "../assets/icons/speed_limit.png",
                                          longi_button_texts);
-
+  // accel controller
+  std::vector<QString> accel_personality_texts{tr("Sport"), tr("Normal"), tr("Eco")};
+  accel_personality_setting = new ButtonParamControlSP("AccelPersonality", tr("Acceleration Personality"),
+                                          tr("Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. "
+                                             "In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these "
+                                             "acceleration personality within Onroad Settings on the driving screen."),
+                                          "",
+                                          accel_personality_texts);
+  accel_personality_setting->showDescription();
  // set up uiState update for personality setting
  QObject::connect(uiState(), &UIState::uiUpdate, this, &TogglesPanel::updateState);

@@ -120,6 +128,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
    // insert longitudinal personality after NDOG toggle
    if (param == "DisengageOnAccelerator") {
      addItem(long_personality_setting);
+      addItem(accel_personality_setting);
    }
  }

@@ -140,6 +149,13 @@ void TogglesPanel::updateState(const UIState &s) {
    }
    uiState()->scene.personality = personality;
  }
+  if (sm.updated("longitudinalPlanSP")) {
+    auto accel_personality = sm["longitudinalPlanSP"].getLongitudinalPlanSP().getAccelPersonality();
+    if (accel_personality != s.scene.accel_personality && s.scene.started && isVisible()) {
+      accel_personality_setting->setCheckedButton(static_cast<int>(accel_personality));
+    }
+    uiState()->scene.accel_personality = accel_personality;
+  }
 }

 void TogglesPanel::expandToggleDescription(const QString &param) {
@@ -186,10 +202,12 @@ void TogglesPanel::updateToggles() {
      experimental_mode_toggle->setEnabled(true);
      experimental_mode_toggle->setDescription(e2e_description);
      long_personality_setting->setEnabled(true);
+      accel_personality_setting->setEnabled(true);
    } else {
      // no long for now
      experimental_mode_toggle->setEnabled(false);
      long_personality_setting->setEnabled(false);
+      accel_personality_setting->setEnabled(true);
      params.remove("ExperimentalMode");

      const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");
@@ -88,6 +88,7 @@ protected:
  Params params;
  std::map<std::string, ParamControl*> toggles;
  ButtonParamControl *long_personality_setting;
+  ButtonParamControl *accel_personality_setting;

  virtual void updateToggles();
 };
@@ -34,7 +34,6 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
      drawLead(painter, lead_two, lead_vertices[1], surface_rect);
    }
  }
-  drawLeadStatus(painter, surface_rect.height(), surface_rect.width());

  painter.restore();
 }
@@ -175,172 +174,6 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float
 }


-void ModelRenderer::drawLeadStatus(QPainter &painter, int height, int width) {
-    auto *s = uiState();
-    auto &sm = *(s->sm);
-
-    if (!sm.alive("radarState")) return;
-
-    const auto &radar_state = sm["radarState"].getRadarState();
-    const auto &lead_one = radar_state.getLeadOne();
-    const auto &lead_two = radar_state.getLeadTwo();
-
-    // Check if we have any active leads
-    bool has_lead_one = lead_one.getStatus();
-    bool has_lead_two = lead_two.getStatus();
-
-    if (!has_lead_one && !has_lead_two) {
-        // Fade out status display
-        lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
-        if (lead_status_alpha <= 0.0f) return;
-    } else {
-        // Fade in status display
-        lead_status_alpha = std::min(1.0f, lead_status_alpha + 0.1f);
-    }
-
-    // Draw status for each lead vehicle under its chevron
-    if (true) {
-        drawLeadStatusAtPosition(painter, lead_one, lead_vertices[0], height, width, "L1");
-    }
-
-    if (has_lead_two && std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0) {
-        drawLeadStatusAtPosition(painter, lead_two, lead_vertices[1], height, width, "L2");
-    }
-}
-
-void ModelRenderer::drawLeadStatusAtPosition(QPainter &painter,
-                                           const cereal::RadarState::LeadData::Reader &lead_data,
-                                           const QPointF &chevron_pos,
-                                           int height, int width,
-                                           const QString &label) {
-
-    float d_rel = lead_data.getDRel();
-    float v_rel = lead_data.getVRel();
-    auto *s = uiState();
-    auto &sm = *(s->sm);
-    float v_ego = sm["carState"].getCarState().getVEgo();
-
-    int chevron_data = std::atoi(Params().get("ChevronInfo").c_str());
-
-    // Calculate chevron size (same logic as drawLead)
-    float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
-
-    QFont content_font = painter.font();
-    content_font.setPixelSize(35);
-    content_font.setBold(true);
-    painter.setFont(content_font);
-
-    QFontMetrics fm(content_font);
-    bool is_metric = s->scene.is_metric;
-
-    QStringList text_lines;
-
-    const int chevron_types = 3;
-    const int chevron_all = chevron_types + 1;  // All metrics (value 4)
-    QStringList chevron_text[chevron_types];
-    int position;
-    float val;
-
-    // Distance display (chevron_data == 1 or all)
-    if (chevron_data == 1 || chevron_data == chevron_all) {
-        position = 0;
-        val = std::max(0.0f, d_rel);
-        QString distance_unit = is_metric ? "m" : "ft";
-        if (!is_metric) {
-            val *= 3.28084f; // Convert meters to feet
-        }
-        chevron_text[position].append(QString::number(val, 'f', 0) + " " + distance_unit);
-    }
-
-    // Absolute velocity display (chevron_data == 2 or all)
-    if (chevron_data == 2 || chevron_data == chevron_all) {
-        position = (chevron_data == 2) ? 0 : 1;
-        val = std::max(0.0f, (v_rel + v_ego) * (is_metric ? static_cast<float>(MS_TO_KPH) : static_cast<float>(MS_TO_MPH)));
-        chevron_text[position].append(QString::number(val, 'f', 0) + " " + (is_metric ? "km/h" : "mph"));
-    }
-
-    // Time-to-contact display (chevron_data == 3 or all)
-    if (chevron_data == 3 || chevron_data == chevron_all) {
-        position = (chevron_data == 3) ? 0 : 2;
-        val = (d_rel > 0 && v_ego > 0) ? std::max(0.0f, d_rel / v_ego) : 0.0f;
-        QString ttc_str = (val > 0 && val < 200) ? QString::number(val, 'f', 1) + "s" : "---";
-        chevron_text[position].append(ttc_str);
-    }
-
-    // Collect all non-empty text lines
-    for (int i = 0; i < chevron_types; ++i) {
-        if (!chevron_text[i].isEmpty()) {
-            text_lines.append(chevron_text[i]);
-        }
-    }
-
-    // If no text to display, return early
-    if (text_lines.isEmpty()) {
-        return;
-    }
-
-    // Text box dimensions
-    float str_w = 150;  // Width of text area
-    float str_h = 45;   // Height per line
-
-    // Position text below chevron, centered horizontally
-    float text_x = chevron_pos.x() - str_w / 2;
-    float text_y = chevron_pos.y() + sz + 15;
-
-    // Clamp to screen bounds
-    text_x = std::clamp(text_x, 10.0f, (float)width - str_w - 10);
-
-    // Shadow offset
-    QPoint shadow_offset(2, 2);
-
-    // Draw each line of text with shadow
-    for (int i = 0; i < text_lines.size(); ++i) {
-        if (!text_lines[i].isEmpty()) {
-            QRect textRect(text_x, text_y + (i * str_h), str_w, str_h);
-
-            // Draw shadow
-            painter.setPen(QColor(0x0, 0x0, 0x0, (int)(200 * lead_status_alpha)));
-            painter.drawText(textRect.translated(shadow_offset.x(), shadow_offset.y()),
-                           Qt::AlignBottom | Qt::AlignHCenter, text_lines[i]);
-
-            // Determine text color based on content and danger level
-            QColor text_color;
-
-            // Check if this is a distance line (contains 'm' or 'ft')
-            if (text_lines[i].contains("m") || text_lines[i].contains("ft")) {
-                if (d_rel < 20.0f) {
-                    text_color = QColor(255, 80, 80, (int)(255 * lead_status_alpha)); // Red - danger
-                } else if (d_rel < 40.0f) {
-                    text_color = QColor(255, 200, 80, (int)(255 * lead_status_alpha)); // Yellow - caution
-                } else {
-                    text_color = QColor(80, 255, 120, (int)(255 * lead_status_alpha)); // Green - safe
-                }
-            }
-            // Enhanced color coding for time-to-contact
-            else if (text_lines[i].contains("s") && !text_lines[i].contains("---")) {
-                float ttc_val = text_lines[i].left(text_lines[i].length() - 1).toFloat();
-                if (ttc_val < 3.0f) {
-                    text_color = QColor(255, 80, 80, (int)(255 * lead_status_alpha)); // Red - urgent
-                } else if (ttc_val < 6.0f) {
-                    text_color = QColor(255, 200, 80, (int)(255 * lead_status_alpha)); // Yellow - caution
-                } else {
-                    text_color = QColor(0xff, 0xff, 0xff, (int)(255 * lead_status_alpha)); // White - safe
-                }
-            }
-            else {
-                text_color = QColor(0xff, 0xff, 0xff, (int)(255 * lead_status_alpha)); // White for other lines
-            }
-
-            // Draw main text
-            painter.setPen(text_color);
-            painter.drawText(textRect, Qt::AlignBottom | Qt::AlignHCenter, text_lines[i]);
-        }
-    }
-
-    // Reset pen
-    painter.setPen(Qt::NoPen);
-}
-
 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
                             const QPointF &vd, const QRect &surface_rect) {
  const float speedBuff = 10.;
@@ -402,4 +235,4 @@ void ModelRenderer::mapLineToPolygon(const cereal::XYZTData::Reader &line, float
      pvd->push_front(right);
    }
  }
-}
+}
@@ -34,12 +34,6 @@ protected:
  bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out);
  void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
                        QPolygonF *pvd, int max_idx, bool allow_invert = true);
-  void drawLeadStatus(QPainter &painter, int height, int width);
-  void drawLeadStatusAtPosition(QPainter &painter,
-                             const cereal::RadarState::LeadData::Reader &lead_data,
-                             const QPointF &chevron_pos,
-                             int height, int width,
-                             const QString &label);
  void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect);
  void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
  virtual void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
@@ -65,8 +59,4 @@ protected:
  Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
  QRectF clip_region;

-  float lead_status_alpha = 0.0f;
-  QPointF lead_status_pos;
-  QString lead_status_text;
-  QColor lead_status_color;
 };
@@ -4,7 +4,6 @@ widgets_src = [
  "sunnypilot/qt/widgets/controls.cc",
  "sunnypilot/qt/widgets/drive_stats.cc",
  "sunnypilot/qt/widgets/expandable_row.cc",
-  "sunnypilot/qt/widgets/external_storage.cc",
  "sunnypilot/qt/widgets/prime.cc",
  "sunnypilot/qt/widgets/scrollview.cc",
  "sunnypilot/qt/network/networking.cc",
@@ -48,7 +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",
 ]

@@ -5,14 +5,9 @@
 * See the LICENSE.md file in the root directory for more details.
 */
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/external_storage.h"

 DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(parent) {

-  #ifndef __APPLE__
-  addItem(new ExternalStorageControl());
-  #endif
-
  // Advanced Controls Toggle
  showAdvancedControls = new ParamControlSP("ShowAdvancedControls", tr("Show Advanced Controls"), tr("Toggle visibility of advanced sunnypilot controls.\nThis only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state."), "");
  addItem(showAdvancedControls);
@@ -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;
-}
@@ -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;
-};
@@ -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();

@@ -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;
@@ -23,6 +23,35 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {

  QObject::connect(uiState(), &UIState::offroadTransition, this, &LongitudinalPanel::refresh);

+
+  // Vibe Personality Controller
+  vibePersonalityControl = new ParamControlSP("VibePersonalityEnabled",
+    tr("Vibe Personality Controller"),
+    tr("Advanced driving personality system with separate controls for acceleration behavior (Eco/Normal/Sport) and following distance/braking (Relaxed/Standard/Aggressive). "
+      "Customize your driving experience with independent acceleration and distance personalities."),
+    "../assets/offroad/icon_shell.png");
+  list->addItem(vibePersonalityControl);
+
+  connect(vibePersonalityControl, &ParamControlSP::toggleFlipped, [=]() {
+    refresh(offroad);
+  });
+
+  // Vibe Acceleration Personality
+  vibeAccelPersonalityControl = new ParamControlSP("VibeAccelPersonalityEnabled",
+    tr("Acceleration Personality"),
+    tr("Controls acceleration behavior: Eco (efficient), Normal (balanced), Sport (responsive). "
+      "Adjust how aggressively the vehicle accelerates while maintaining smooth operation."),
+    "../assets/offroad/icon_shell.png");
+  list->addItem(vibeAccelPersonalityControl);
+
+  // Vibe Following Distance Personality
+  vibeFollowPersonalityControl = new ParamControlSP("VibeFollowPersonalityEnabled",
+    tr("Following Distance Personality"),
+    tr("Controls following distance and braking behavior: Relaxed (longer distance, gentler braking), Standard (balanced), Aggressive (shorter distance, firmer braking). "
+      "Fine-tune your comfort level in traffic situations."),
+    "../assets/offroad/icon_shell.png");
+  list->addItem(vibeFollowPersonalityControl);
+
  main_layout->addWidget(cruisePanelScreen);
  main_layout->setCurrentWidget(cruisePanelScreen);
  refresh(offroad);
@@ -70,10 +99,26 @@ void LongitudinalPanel::refresh(bool _offroad) {
      customAccIncrement->showDescription();
    }
  }
+  bool vibePersonalityEnabled = params.getBool("VibePersonalityEnabled");
+  if (vibePersonalityEnabled) {
+    vibeAccelPersonalityControl->setVisible(true);
+    vibeFollowPersonalityControl->setVisible(true);
+  } else {
+    vibeAccelPersonalityControl->setVisible(false);
+    vibeFollowPersonalityControl->setVisible(false);
+  }

  // enable toggle when long is available and is not PCM cruise
  customAccIncrement->setEnabled(has_longitudinal_control && !is_pcm_cruise && !offroad);
  customAccIncrement->refresh();

+  // Vibe Personality controls - always enabled for toggling
+  vibePersonalityControl->setEnabled(true);
+  vibeAccelPersonalityControl->setEnabled(true);
+  vibeFollowPersonalityControl->setEnabled(true);
+  vibePersonalityControl->refresh();
+  vibeAccelPersonalityControl->refresh();
+  vibeFollowPersonalityControl->refresh();
+
  offroad = _offroad;
 }
@@ -29,4 +29,8 @@ private:
  ScrollViewSP *cruisePanelScroller = nullptr;
  QWidget *cruisePanelScreen = nullptr;
  CustomAccIncrement *customAccIncrement = nullptr;
+
+  ParamControlSP *vibePersonalityControl;
+  ParamControlSP *vibeAccelPersonalityControl;
+  ParamControlSP *vibeFollowPersonalityControl;
 };
@@ -68,6 +68,14 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
  connect(uiStateSP(), &UIStateSP::uiUpdate, this, &ModelsPanel::updateLabels);
  list->addItem(currentModelLblBtn);

+  refreshAvailableModelsBtn = new ButtonControlSP(tr("Refresh Model List"), tr("REFRESH"), "", this);
+  connect(refreshAvailableModelsBtn, &ButtonControlSP::clicked, this, [=]() {
+    params.put("ModelManager_LastSyncTime", "0");
+    ConfirmationDialog::alert(tr("Fetching Latest Models"), this);
+  });
+
+  list->addItem(refreshAvailableModelsBtn);
+
  clearModelCacheBtn = new ButtonControlSP(tr("Clear Model Cache"), tr("CLEAR"), "", this);
  connect(clearModelCacheBtn, &ButtonControlSP::clicked, this, &ModelsPanel::clearModelCache);

@@ -79,5 +79,6 @@ private:
  QFrame *policyFrame;
  Params params;
  ButtonControlSP *clearModelCacheBtn;
+  ButtonControlSP *refreshAvailableModelsBtn;

 };
@@ -48,5 +48,162 @@ void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Rea
      painter.drawPolygon(right_blindspot_vertices);
    }
  }
+
  ModelRenderer::drawPath(painter, model, surface_rect.height());
+
+  drawLeadStatus(painter, surface_rect.height(), surface_rect.width());
+}
+
+void ModelRendererSP::drawLeadStatus(QPainter &painter, int height, int width) {
+    auto *s = uiState();
+    auto &sm = *(s->sm);
+
+    if (!sm.alive("radarState")) return;
+
+    const auto &radar_state = sm["radarState"].getRadarState();
+    const auto &lead_one = radar_state.getLeadOne();
+    const auto &lead_two = radar_state.getLeadTwo();
+
+    // Check if we have any active leads
+    bool has_lead_one = lead_one.getStatus();
+    bool has_lead_two = lead_two.getStatus();
+
+    if (!has_lead_one && !has_lead_two) {
+        // Fade out status display
+        lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
+        if (lead_status_alpha <= 0.0f) return;
+    } else {
+        // Fade in status display
+        lead_status_alpha = std::min(1.0f, lead_status_alpha + 0.1f);
+    }
+
+    if (has_lead_one) {
+        drawLeadStatusAtPosition(painter, lead_one, lead_vertices[0], height, width, "L1");
+    }
+
+    if (has_lead_two && std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0) {
+        drawLeadStatusAtPosition(painter, lead_two, lead_vertices[1], height, width, "L2");
+    }
+}
+
+void ModelRendererSP::drawLeadStatusAtPosition(QPainter &painter,
+                                           const cereal::RadarState::LeadData::Reader &lead_data,
+                                           const QPointF &chevron_pos,
+                                           int height, int width,
+                                           const QString &label) {
+
+    float d_rel = lead_data.getDRel();
+    float v_rel = lead_data.getVRel();
+    auto *s = uiState();
+    auto &sm = *(s->sm);
+    float v_ego = sm["carState"].getCarState().getVEgo();
+
+    int chevron_data = std::atoi(Params().get("ChevronInfo").c_str());
+
+    // Calculate chevron size (same logic as drawLead)
+    float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
+
+    QFont content_font = painter.font();
+    content_font.setPixelSize(42);
+    content_font.setBold(true);
+    painter.setFont(content_font);
+
+    QFontMetrics fm(content_font);
+    bool is_metric = s->scene.is_metric;
+
+    QStringList text_lines;
+
+    const int chevron_types = 3;
+    const int chevron_all = chevron_types + 1;  // All metrics (value 4)
+    QStringList chevron_text[chevron_types];
+    int position;
+    float val;
+
+    // Distance display (chevron_data == 1 or all)
+    if (chevron_data == 1 || chevron_data == chevron_all) {
+        position = 0;
+        val = std::max(0.0f, d_rel);
+        QString distance_unit = is_metric ? "m" : "ft";
+        if (!is_metric) {
+            val *= 3.28084f; // Convert meters to feet
+        }
+        chevron_text[position].append(QString::number(val, 'f', 0) + " " + distance_unit);
+    }
+
+    // Absolute velocity display (chevron_data == 2 or all)
+    if (chevron_data == 2 || chevron_data == chevron_all) {
+        position = (chevron_data == 2) ? 0 : 1;
+        val = std::max(0.0f, (v_rel + v_ego) * (is_metric ? static_cast<float>(MS_TO_KPH) : static_cast<float>(MS_TO_MPH)));
+        chevron_text[position].append(QString::number(val, 'f', 0) + " " + (is_metric ? "km/h" : "mph"));
+    }
+
+    // Time-to-contact display (chevron_data == 3 or all)
+    if (chevron_data == 3 || chevron_data == chevron_all) {
+        position = (chevron_data == 3) ? 0 : 2;
+        val = (d_rel > 0 && v_ego > 0) ? std::max(0.0f, d_rel / v_ego) : 0.0f;
+        QString ttc_str = (val > 0 && val < 200) ? QString::number(val, 'f', 1) + "s" : "---";
+        chevron_text[position].append(ttc_str);
+    }
+
+    // Collect all non-empty text lines
+    for (int i = 0; i < chevron_types; ++i) {
+        if (!chevron_text[i].isEmpty()) {
+            text_lines.append(chevron_text[i]);
+        }
+    }
+
+    // If no text to display, return early
+    if (text_lines.isEmpty()) {
+        return;
+    }
+
+    // Text box dimensions
+    float str_w = 150;  // Width of text area
+    float str_h = 45;   // Height per line
+
+    // Position text below chevron, centered horizontally
+    float text_x = chevron_pos.x() - str_w / 2;
+    float text_y = chevron_pos.y() + sz + 15;
+
+    // Clamp to screen bounds
+    text_x = std::clamp(text_x, 10.0f, (float)width - str_w - 10);
+
+    // Shadow offset
+    QPoint shadow_offset(2, 2);
+
+    // Draw each line of text with shadow
+    for (int i = 0; i < text_lines.size(); ++i) {
+        if (!text_lines[i].isEmpty()) {
+            QRect textRect(text_x, text_y + (i * str_h), str_w, str_h);
+
+            // Draw shadow
+            painter.setPen(QColor(0x0, 0x0, 0x0, (int)(200 * lead_status_alpha)));
+            painter.drawText(textRect.translated(shadow_offset.x(), shadow_offset.y()),
+                           Qt::AlignBottom | Qt::AlignHCenter, text_lines[i]);
+
+            // Determine text color based on content and danger level
+            QColor text_color;
+
+            // Check if this is a distance line (contains 'm' or 'ft')
+            if (text_lines[i].contains("m") || text_lines[i].contains("ft")) {
+                if (d_rel < 20.0f) {
+                    text_color = QColor(255, 80, 80, (int)(255 * lead_status_alpha)); // Red - danger
+                } else if (d_rel < 40.0f) {
+                    text_color = QColor(255, 200, 80, (int)(255 * lead_status_alpha)); // Yellow - caution
+                } else {
+                    text_color = QColor(80, 255, 120, (int)(255 * lead_status_alpha)); // Green - safe
+                }
+            }
+            else {
+                text_color = QColor(0xff, 0xff, 0xff, (int)(255 * lead_status_alpha)); // White for other lines
+            }
+
+            // Draw main text
+            painter.setPen(text_color);
+            painter.drawText(textRect, Qt::AlignBottom | Qt::AlignHCenter, text_lines[i]);
+        }
+    }
+
+    // Reset pen
+    painter.setPen(Qt::NoPen);
 }
@@ -17,6 +17,17 @@ private:
  void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) override;
  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &rect) override;

+  // Lead status display methods
+  void drawLeadStatus(QPainter &painter, int height, int width);
+  void drawLeadStatusAtPosition(QPainter &painter,
+                               const cereal::RadarState::LeadData::Reader &lead_data,
+                               const QPointF &chevron_pos,
+                               int height, int width,
+                               const QString &label);
+
  QPolygonF left_blindspot_vertices;
  QPolygonF right_blindspot_vertices;
-};
+
+  // Lead status animation
+  float lead_status_alpha = 0.0f;
+};
@@ -1,167 +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/widgets/external_storage.h"
-
-#include <QProcess>
-#include <QCoreApplication>
-#include <QShowEvent>
-#include <QTimer>
-#include <QtConcurrent>
-
-#include "common/params.h"
-#include "selfdrive/ui/qt/api.h"
-#include "selfdrive/ui/qt/widgets/input.h"
-#include "selfdrive/ui/sunnypilot/ui.h"
-
-ExternalStorageControl::ExternalStorageControl() :
-  ButtonControl(tr("External Storage"), "", tr("Extend your comma device's storage by inserting a USB drive into the aux port.")) {
-
-  QObject::connect(this, &ButtonControl::clicked, [=]() {
-    if (text() == tr("CHECK") || text() == tr("MOUNT")) {
-      mountStorage();
-    } else if (text() == tr("UNMOUNT")) {
-      unmountStorage();
-    } else if (text() == tr("FORMAT")) {
-      if (ConfirmationDialog::confirm(tr("Are you sure you want to format this drive? This will erase all data."), tr("Format"), this)) {
-        formatStorage();
-      }
-    }
-  });
-
-  QObject::connect(uiState(), &UIState::offroadTransition, this, &ExternalStorageControl::updateState);
-  updateState(!uiState()->scene.started);
-
-  refresh();
-}
-
-void ExternalStorageControl::updateState(bool offroad) {
-  setEnabled(offroad);
-}
-
-void ExternalStorageControl::debouncedRefresh() {
-  if (refreshPending) return;
-  refreshPending = true;
-
-  QTimer::singleShot(250, this, [=]() {
-    refreshPending = false;
-    refresh();
-  });
-}
-
-void ExternalStorageControl::refresh() {
-  QtConcurrent::run([=]() {
-    auto run = [](const QString &cmd) {
-      QProcess p;
-      p.start("sh", QStringList() << "-c" << cmd);
-      p.waitForFinished();
-      return p.exitCode() == 0;
-    };
-
-    bool isMounted = run("findmnt -n /mnt/external_realdata");
-    bool hasDrive = run("lsblk -f /dev/sdg1");
-    bool hasFs = run("lsblk -f /dev/sdg1 | grep -q ext4");
-    bool hasLabel = run("sudo blkid /dev/sdg1 | grep -q 'LABEL=\"openpilot\"'");
-
-    QString info;
-    if (isMounted && hasLabel) {
-      QProcess df;
-      df.start("sh", QStringList() << "-c" << "df -h /mnt/external_realdata | awk 'NR==2 {print $3 \"/\" $2}'");
-      df.waitForFinished();
-      info = df.readAllStandardOutput().trimmed();
-    }
-
-    QMetaObject::invokeMethod(this, [=]() {
-      if (formatting) {
-        setValue(tr("formatting"));
-        setText(tr("FORMAT"));
-        setEnabled(false);
-      } else {
-        if (!hasDrive) {
-          setValue(tr("insert drive"));
-          setText(tr("CHECK"));
-        } else if (!hasFs || !hasLabel) {
-          setValue(tr("needs format"));
-          setText(tr("FORMAT"));
-        } else if (isMounted) {
-          setValue(info);
-          setText(tr("UNMOUNT"));
-        } else {
-          setValue("drive detected");
-          setText(tr("MOUNT"));
-        }
-        updateState(!uiState()->scene.started);
-      }
-    }, Qt::QueuedConnection);
-  });
-}
-
-void ExternalStorageControl::mountStorage() {
-  setValue(tr("mounting"));
-  setEnabled(false);
-
-  QtConcurrent::run([=]() {
-    QProcess process;
-    process.start("sh", QStringList() << "-c" <<
-      "sudo mount -o remount,rw / && "
-      "sudo mkdir -p /mnt/external_realdata && "
-      "grep -q '/dev/sdg1 /mnt/external_realdata' /etc/fstab || "
-      "echo '/dev/sdg1 /mnt/external_realdata ext4 defaults,nofail 0 2' | sudo tee -a /etc/fstab && "
-      "sudo systemctl daemon-reexec && "
-      "sudo mount /mnt/external_realdata && "
-      "sudo chown -R comma:comma /mnt/external_realdata && "
-      "sudo chmod -R 775 /mnt/external_realdata && "
-      "sudo mount -o remount,ro /");
-    process.waitForFinished();
-
-    QMetaObject::invokeMethod(this, [=]() {
-      debouncedRefresh();
-    }, Qt::QueuedConnection);
-  });
-}
-
-void ExternalStorageControl::unmountStorage() {
-  setValue(tr("unmounting"));
-  setEnabled(false);
-
-  QtConcurrent::run([=]() {
-    QProcess process;
-    process.start("sh", QStringList() << "-c" << "sudo umount /mnt/external_realdata");
-    process.waitForFinished();
-
-    QMetaObject::invokeMethod(this, [=]() {
-      debouncedRefresh();
-    }, Qt::QueuedConnection);
-  });
-}
-
-void ExternalStorageControl::formatStorage() {
-  unmountStorage();
-  formatting = true;
-  setValue(tr("formatting"));
-  setEnabled(false);
-
-  QProcess *process = new QProcess(this);
-  connect(process, static_cast<void(QProcess::*)(int, QProcess::ExitStatus)>(&QProcess::finished),
-          this, [=](int exitCode, QProcess::ExitStatus status) {
-            process->deleteLater();
-            formatting = false;
-            if (exitCode == 0 && status == QProcess::NormalExit) {
-              QProcess::execute("sh", QStringList() << "-c" << "sudo e2label /dev/sdg1 openpilot");
-              mountStorage();
-            } else {
-              setValue(tr("needs format"));
-              updateState(!uiState()->scene.started);
-            }
-          });
-  process->start("sh", QStringList() << "-c" << "sudo mkfs.ext4 -F /dev/sdg1");
-}
-
-void ExternalStorageControl::showEvent(QShowEvent *event) {
-  ButtonControl::showEvent(event);
-  QTimer::singleShot(100, this, &ExternalStorageControl::debouncedRefresh);
-}
@@ -1,34 +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 "system/hardware/hw.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#define ButtonControl ButtonControlSP
-
-class ExternalStorageControl : public ButtonControl {
-  Q_OBJECT
-
-public:
-  ExternalStorageControl();
-
-protected:
-  void showEvent(QShowEvent *event) override;
-
-private:
-  Params params;
-
-  bool refreshPending = false;
-  bool formatting = false;
-  void updateState(bool offroad);
-  void refresh();
-  void debouncedRefresh();
-  void mountStorage();
-  void unmountStorage();
-  void formatStorage();
-};
@@ -60,6 +60,7 @@ typedef struct UIScene {
  cereal::PandaState::PandaType pandaType;

  cereal::LongitudinalPersonality personality;
+  cereal::LongitudinalPlanSP::AccelerationPersonality accel_personality;

  float light_sensor = -1;
  bool started, ignition, is_metric, recording_audio;
@@ -10,12 +10,14 @@ from opendbc.car import structs
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
 from openpilot.sunnypilot.models.helpers import get_active_bundle

+from openpilot.sunnypilot.selfdrive.controls.lib.vibe_personality.vibe_personality import VibePersonalityController
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState


 class LongitudinalPlannerSP:
  def __init__(self, CP: structs.CarParams, mpc):
    self.dec = DynamicExperimentalController(CP, mpc)
+    self.vibe_controller = VibePersonalityController()
    self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None

  @property
@@ -31,6 +33,7 @@ class LongitudinalPlannerSP:

  def update(self, sm: messaging.SubMaster) -> None:
    self.dec.update(sm)
+    self.vibe_controller.update()

  def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
    plan_sp_send = messaging.new_message('longitudinalPlanSP')
@@ -0,0 +1,286 @@
+"""
+Test suite for VibePersonalityController
+
+Tests the core functionality of the vibe personality system including
+acceleration profiles, following distance, and personality management.
+"""
+
+import pytest
+import numpy as np
+from pytest_mock import MockerFixture
+from cereal import log, custom
+
+from openpilot.sunnypilot.selfdrive.controls.lib.vibe_personality.vibe_personality import VibePersonalityController
+
+AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
+LongPersonality = log.LongitudinalPersonality
+
+
+class TestVibePersonalityController:
+  """Test suite for VibePersonalityController"""
+
+  @pytest.fixture
+  def mock_params(self, mocker: MockerFixture):
+    """Mock Params with realistic behavior"""
+    mock = mocker.Mock()
+    mock.get.return_value = None
+    mock.get_bool.return_value = True
+    mock.put.return_value = None
+    mock.put_bool.return_value = None
+    return mock
+
+  @pytest.fixture
+  def controller(self, mock_params, mocker: MockerFixture):
+    """Create controller with mocked dependencies"""
+    mocker.patch('openpilot.sunnypilot.selfdrive.controls.lib.vibe_personality.vibe_personality.Params', return_value=mock_params)
+    controller = VibePersonalityController()
+    controller.params = mock_params
+    return controller
+
+  def test_initialization_sets_correct_defaults(self, controller):
+    """Controller should initialize with expected default values"""
+    assert controller.accel_personality == AccelPersonality.normal
+    assert controller.long_personality == LongPersonality.standard
+    assert controller.frame == 0
+    assert hasattr(controller, 'max_accel_slopes')
+    assert hasattr(controller, 'min_accel_slopes')
+    assert hasattr(controller, 'follow_distance_slopes')
+
+  def test_accel_personality_management(self, controller):
+    """Test acceleration personality setting and cycling"""
+    # Valid personality setting
+    result = controller.set_accel_personality(AccelPersonality.sport)
+    assert result is True
+    assert controller.accel_personality == AccelPersonality.sport
+    controller.params.put.assert_called_with('AccelPersonality', str(AccelPersonality.sport))
+
+    # Invalid personality setting
+    result = controller.set_accel_personality(999)
+    assert result is False
+    assert controller.accel_personality == AccelPersonality.sport  # unchanged
+
+    # Cycling behavior
+    controller.set_accel_personality(AccelPersonality.eco)
+    assert controller.cycle_accel_personality() == AccelPersonality.normal
+    assert controller.cycle_accel_personality() == AccelPersonality.sport
+    assert controller.cycle_accel_personality() == AccelPersonality.eco
+
+  def test_long_personality_management(self, controller):
+    """Test longitudinal personality setting and cycling"""
+    # Valid setting
+    result = controller.set_long_personality(LongPersonality.aggressive)
+    assert result is True
+    assert controller.long_personality == LongPersonality.aggressive
+
+    # Invalid setting
+    result = controller.set_long_personality(-1)
+    assert result is False
+
+    # Cycling
+    controller.set_long_personality(LongPersonality.relaxed)
+    assert controller.cycle_long_personality() == LongPersonality.standard
+    assert controller.cycle_long_personality() == LongPersonality.aggressive
+    assert controller.cycle_long_personality() == LongPersonality.relaxed
+
+  def test_enable_disable_logic(self, controller):
+    """Test feature enable/disable states"""
+    # Mock enabled state
+    controller.params.get_bool.return_value = True
+    assert controller.is_enabled() is True
+    assert controller.is_accel_enabled() is True
+    assert controller.is_follow_enabled() is True
+
+    # Mock disabled state
+    controller.params.get_bool.return_value = False
+    assert controller.is_enabled() is False
+    assert controller.is_accel_enabled() is False
+    assert controller.is_follow_enabled() is False
+
+    # Test partial disable (only main toggle off)
+    def mock_get_bool(key):
+      return key != 'VibePersonalityEnabled'
+    controller.params.get_bool.side_effect = mock_get_bool
+    assert controller.is_accel_enabled() is False
+    assert controller.is_follow_enabled() is False
+
+  def test_get_accel_limits_returns_valid_range(self, controller):
+    """Acceleration limits should return valid min/max values"""
+    controller.params.get_bool.return_value = True
+
+    # Test at multiple speeds
+    for speed in [0.0, 15.0, 30.0]:
+      limits = controller.get_accel_limits(speed)
+      assert limits is not None, f"Failed at speed {speed}"
+
+      min_a, max_a = limits
+      assert isinstance(min_a, float)
+      assert isinstance(max_a, float)
+      assert min_a < 0, "Min acceleration should be negative (braking)"
+      assert max_a > 0, "Max acceleration should be positive"
+      assert min_a < max_a, "Min should be less than max"
+
+  def test_get_accel_limits_returns_none_when_disabled(self, controller):
+    """Should return None when acceleration control is disabled"""
+    controller.params.get_bool.return_value = False
+    assert controller.get_accel_limits(20.0) is None
+
+  def test_get_follow_distance_multiplier_returns_positive_value(self, controller):
+    """Follow distance multiplier should be positive"""
+    controller.params.get_bool.return_value = True
+
+    multiplier = controller.get_follow_distance_multiplier(20.0)
+    assert multiplier is not None
+    assert isinstance(multiplier, float)
+    assert multiplier > 0
+
+  def test_get_follow_distance_multiplier_returns_none_when_disabled(self, controller):
+    """Should return None when follow distance control is disabled"""
+    controller.params.get_bool.return_value = False
+    assert controller.get_follow_distance_multiplier(20.0) is None
+
+  def test_personality_differences_produce_different_results(self, controller):
+    """Different personalities should produce measurably different outputs"""
+    controller.params.get_bool.return_value = True
+
+    # Test acceleration personality differences
+    controller.set_accel_personality(AccelPersonality.eco)
+    eco_limits = controller.get_accel_limits(15.0)
+
+    controller.set_accel_personality(AccelPersonality.sport)
+    sport_limits = controller.get_accel_limits(15.0)
+
+    assert sport_limits[1] > eco_limits[1], "Sport should allow higher acceleration than eco"
+
+    # Test following distance personality differences
+    controller.set_long_personality(LongPersonality.relaxed)
+    relaxed_dist = controller.get_follow_distance_multiplier(20.0)
+
+    controller.set_long_personality(LongPersonality.aggressive)
+    aggressive_dist = controller.get_follow_distance_multiplier(20.0)
+
+    assert relaxed_dist > aggressive_dist, "Relaxed should have longer following distance"
+
+  def test_interpolation_functions_work_correctly(self, controller):
+    """Test mathematical interpolation functions"""
+    # Test slope computation
+    x = np.array([0., 10., 20.])
+    y = np.array([1.0, 2.0, 1.5])
+    slopes = controller._compute_slopes(x, y)
+
+    assert len(slopes) == len(x)
+    assert all(np.isfinite(slope) for slope in slopes)
+
+    # Test interpolation accuracy at known points
+    result_0 = controller._interpolate(0.0, x, y, slopes)
+    result_10 = controller._interpolate(10.0, x, y, slopes)
+
+    assert abs(result_0 - 1.0) < 1e-6, "Interpolation should be exact at breakpoints"
+    assert abs(result_10 - 2.0) < 1e-6, "Interpolation should be exact at breakpoints"
+
+    # Test interpolation bounds
+    result_below = controller._interpolate(-5.0, x, y, slopes)
+    result_above = controller._interpolate(25.0, x, y, slopes)
+    assert abs(result_below - y[0]) < 1e-6, "Should clamp to first value"
+    assert abs(result_above - y[-1]) < 1e-6, "Should clamp to last value"
+
+  def test_get_personality_info_returns_complete_info(self, controller):
+    """Personality info should contain all required fields"""
+    info = controller.get_personality_info()
+
+    required_fields = [
+      'accel_personality', 'accel_personality_int',
+      'long_personality', 'long_personality_int',
+      'enabled', 'accel_enabled', 'follow_enabled'
+    ]
+
+    for field in required_fields:
+      assert field in info, f"Missing required field: {field}"
+
+    assert info['accel_personality'] in ['Eco', 'Normal', 'Sport']
+    assert info['long_personality'] in ['Relaxed', 'Standard', 'Aggressive']
+    assert isinstance(info['enabled'], bool)
+
+  def test_toggle_functions_change_state(self, controller):
+    """Toggle functions should change parameter states"""
+    # Mock current enabled state
+    controller.params.get_bool.return_value = True
+
+    # Test main toggle
+    result = controller.toggle_personality()
+    assert result is False  # should return new state
+    controller.params.put_bool.assert_called_with('VibePersonalityEnabled', False)
+
+    # Test specific toggles
+    controller.params.get_bool.return_value = True
+    controller.toggle_accel_personality()
+    controller.params.put_bool.assert_called_with('VibeAccelPersonalityEnabled', False)
+
+    controller.toggle_follow_distance_personality()
+    controller.params.put_bool.assert_called_with('VibeFollowPersonalityEnabled', False)
+
+  def test_reset_restores_defaults(self, controller):
+    """Reset should restore controller to default state"""
+    # Change from defaults
+    controller.set_accel_personality(AccelPersonality.sport)
+    controller.set_long_personality(LongPersonality.aggressive)
+    controller.frame = 1000
+
+    # Reset and verify defaults
+    controller.reset()
+    assert controller.accel_personality == AccelPersonality.normal
+    assert controller.long_personality == LongPersonality.standard
+    assert controller.frame == 0
+
+  def test_update_increments_frame_counter(self, controller):
+    """Update should increment frame counter with wraparound"""
+    initial_frame = controller.frame
+    controller.update()
+    assert controller.frame == initial_frame + 1
+
+    # Test wraparound
+    controller.frame = 999999
+    controller.update()
+    assert controller.frame == 0
+
+  def test_individual_accel_methods(self, controller):
+    """Test individual min/max accel convenience methods"""
+    controller.params.get_bool.return_value = True
+
+    min_accel = controller.get_min_accel(15.0)
+    max_accel = controller.get_max_accel(15.0)
+
+    assert min_accel is not None
+    assert max_accel is not None
+    assert min_accel < 0
+    assert max_accel > 0
+
+    # Test disabled state
+    controller.params.get_bool.return_value = False
+    assert controller.get_min_accel(15.0) is None
+    assert controller.get_max_accel(15.0) is None
+
+  @pytest.mark.parametrize("speed", [0.0, 5.0, 15.0, 25.0, 40.0, 55.0])
+  def test_accel_limits_at_various_speeds(self, controller, speed):
+    """Test acceleration limits across speed range"""
+    controller.params.get_bool.return_value = True
+
+    limits = controller.get_accel_limits(speed)
+    assert limits is not None
+
+    min_a, max_a = limits
+    assert min_a < max_a
+    assert -2.0 < min_a < 0  # Reasonable braking range
+    assert 0 < max_a < 3.0   # Reasonable acceleration range
+
+  def test_error_handling_in_interpolation(self, controller):
+    """Test interpolation handles edge cases gracefully"""
+    # Test with minimal points
+    x = [0., 1.]
+    y = [1.0, 2.0]
+    slopes = controller._compute_slopes(x, y)
+    result = controller._interpolate(0.5, x, y, slopes)
+    assert 1.0 <= result <= 2.0
+
+    # Test with insufficient points
+    with pytest.raises(ValueError):
+      controller._compute_slopes([0.], [1.0])
@@ -0,0 +1,306 @@
+"""
+Copyright (c) 2021-, rav4kumar, 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 log, custom
+import numpy as np
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.params import Params
+
+LongPersonality = log.LongitudinalPersonality
+AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
+
+# Acceleration Profiles mapped to AccelPersonality (eco/normal/sport)
+MAX_ACCEL_PROFILES = {
+  AccelPersonality.eco:       [2.00, 2.00, 1.32, 0.85, .58,  .46, .365, .317, .089],  # eco
+  AccelPersonality.normal:    [2.00, 2.00, 1.42, 1.10, .65,  .56, .43, .36, .12],   # normal
+  AccelPersonality.sport:     [2.00, 2.00, 1.52, 1.40, .80,  .70, .53, .46, .20],   # sport
+}
+MAX_ACCEL_BREAKPOINTS =       [0.,   6.,   9.,   11.,  16.,  20., 25., 30., 55.]
+
+# Braking profiles mapped to LongPersonality (relaxed/standard/aggressive)
+MIN_ACCEL_PROFILES = {
+  LongPersonality.relaxed:    [-1.20, -1.20],  # gentler braking
+  LongPersonality.standard:   [-1.30, -1.30],  # normal braking
+  LongPersonality.aggressive: [-1.40, -1.40],  # more aggressive braking
+}
+MIN_ACCEL_BREAKPOINTS =       [0., 50.]
+
+# Following Distance Profiles mapped to LongPersonality (relaxed/standard/aggressive)
+FOLLOW_DISTANCE_PROFILES = {
+  LongPersonality.relaxed: {
+    'x_vel':  [0.,   19.7, 22.2, 40.],
+    'y_dist': [1.40, 1.40, 1.65, 1.65]  # longer following distance
+  },
+  LongPersonality.standard: {
+    'x_vel':  [0.,   19.7, 22.2, 40.],
+    'y_dist': [1.35, 1.35, 1.40, 1.40]  # normal following distance
+  },
+  LongPersonality.aggressive: {
+    'x_vel':  [0.,   19.7, 22.2, 40.],
+    'y_dist': [1.20, 1.20, 1.30, 1.30]  # shorter following distance
+  }
+}
+
+class VibePersonalityController:
+  """
+  Controller for managing separated acceleration and distance controls:
+  - AccelPersonality controls acceleration behavior (eco, normal, sport)
+  - LongPersonality controls braking and following distance (relaxed, standard, aggressive)
+  """
+
+  def __init__(self):
+    self.params = Params()
+    self.frame = 0
+
+    # Separate personalities for acceleration and distance control
+    self.accel_personality = AccelPersonality.normal
+    self.long_personality = LongPersonality.standard
+
+    # Parameter keys
+    self.param_keys = {
+      'accel_personality': 'AccelPersonality',        # eco=0, normal=1, sport=2
+      'long_personality': 'LongitudinalPersonality',  # relaxed=0, standard=1, aggressive=2
+      'enabled': 'VibePersonalityEnabled',
+      'accel_enabled': 'VibeAccelPersonalityEnabled',
+      'follow_enabled': 'VibeFollowPersonalityEnabled'
+    }
+
+    # Precompute slopes for all personalities
+    self._precompute_slopes()
+
+  def _precompute_slopes(self):
+    """Precompute all interpolation slopes for efficiency"""
+    self.max_accel_slopes = {}
+    self.min_accel_slopes = {}
+    self.follow_distance_slopes = {}
+
+    # Precompute for AccelPersonality (acceleration)
+    for personality in [AccelPersonality.eco, AccelPersonality.normal, AccelPersonality.sport]:
+      if personality in MAX_ACCEL_PROFILES:
+        self.max_accel_slopes[personality] = self._compute_slopes(MAX_ACCEL_BREAKPOINTS, MAX_ACCEL_PROFILES[personality])
+
+    # Precompute for LongPersonality (braking and following)
+    for personality in [LongPersonality.relaxed, LongPersonality.standard, LongPersonality.aggressive]:
+      if personality in MIN_ACCEL_PROFILES:
+        self.min_accel_slopes[personality] = self._compute_slopes(MIN_ACCEL_BREAKPOINTS, MIN_ACCEL_PROFILES[personality])
+
+      if personality in FOLLOW_DISTANCE_PROFILES:
+        profile = FOLLOW_DISTANCE_PROFILES[personality]
+        self.follow_distance_slopes[personality] = self._compute_slopes(profile['x_vel'], profile['y_dist'])
+
+  def _update_from_params(self):
+    """Update personalities from params (rate limited)"""
+    if self.frame % int(1. / DT_MDL) != 0:
+      return
+
+    # Update AccelPersonality
+    try:
+      accel_personality_str = self.params.get(self.param_keys['accel_personality'], encoding='utf-8')
+      if accel_personality_str:
+        accel_personality_int = int(accel_personality_str)
+        if accel_personality_int in [AccelPersonality.eco, AccelPersonality.normal, AccelPersonality.sport]:
+          self.accel_personality = accel_personality_int
+    except (ValueError, TypeError):
+      pass
+
+    # Update LongPersonality
+    try:
+      long_personality_str = self.params.get(self.param_keys['long_personality'], encoding='utf-8')
+      if long_personality_str:
+        long_personality_int = int(long_personality_str)
+        if long_personality_int in [LongPersonality.relaxed, LongPersonality.standard, LongPersonality.aggressive]:
+          self.long_personality = long_personality_int
+    except (ValueError, TypeError):
+      pass
+
+  def _get_toggle_state(self, key: str, default: bool = True) -> bool:
+    """Get toggle state with default fallback"""
+    return self.params.get_bool(self.param_keys.get(key, key)) if key in self.param_keys else default
+
+  def _set_toggle_state(self, key: str, value: bool):
+    """Set toggle state in params"""
+    if key in self.param_keys:
+      self.params.put_bool(self.param_keys[key], value)
+
+  # AccelPersonality Management (for acceleration)
+  def set_accel_personality(self, personality: int) -> bool:
+    """Set AccelPersonality (eco=0, normal=1, sport=2)"""
+    if personality in [AccelPersonality.eco, AccelPersonality.normal, AccelPersonality.sport]:
+      self.accel_personality = personality
+      self.params.put(self.param_keys['accel_personality'], str(personality))
+      return True
+    return False
+
+  def cycle_accel_personality(self) -> int:
+    """Cycle through AccelPersonality: eco -> normal -> sport -> eco"""
+    personalities = [AccelPersonality.eco, AccelPersonality.normal, AccelPersonality.sport]
+    current_idx = personalities.index(self.accel_personality)
+    next_personality = personalities[(current_idx + 1) % len(personalities)]
+    self.set_accel_personality(next_personality)
+    return int(next_personality)
+
+  def get_accel_personality(self) -> int:
+    """Get current AccelPersonality"""
+    self._update_from_params()
+    return int(self.accel_personality)
+
+  # LongPersonality Management (for braking and following distance)
+  def set_long_personality(self, personality: int) -> bool:
+    """Set LongPersonality (relaxed=0, standard=1, aggressive=2)"""
+    if personality in [LongPersonality.relaxed, LongPersonality.standard, LongPersonality.aggressive]:
+      self.long_personality = personality
+      self.params.put(self.param_keys['long_personality'], str(personality))
+      return True
+    return False
+
+  def cycle_long_personality(self) -> int:
+    """Cycle through LongPersonality: relaxed -> standard -> aggressive -> relaxed"""
+    personalities = [LongPersonality.relaxed, LongPersonality.standard, LongPersonality.aggressive]
+    current_idx = personalities.index(self.long_personality)
+    next_personality = personalities[(current_idx + 1) % len(personalities)]
+    self.set_long_personality(next_personality)
+    return int(next_personality)
+
+  def get_long_personality(self) -> int:
+    """Get current LongPersonality"""
+    self._update_from_params()
+    return int(self.long_personality)
+
+  # Toggle Functions
+  def toggle_personality(self): return self._toggle_flag('enabled')
+  def toggle_accel_personality(self): return self._toggle_flag('accel_enabled')
+  def toggle_follow_distance_personality(self): return self._toggle_flag('follow_enabled')
+
+  def _toggle_flag(self, key):
+    current = self._get_toggle_state(key)
+    self._set_toggle_state(key, not current)
+    return not current
+
+  def set_personality_enabled(self, enabled: bool): self._set_toggle_state('enabled', enabled)
+
+  # Feature-specific enable checks
+  def is_accel_enabled(self) -> bool:
+    self._update_from_params()
+    return self._get_toggle_state('enabled') and self._get_toggle_state('accel_enabled')
+
+  def is_follow_enabled(self) -> bool:
+    self._update_from_params()
+    return self._get_toggle_state('enabled') and self._get_toggle_state('follow_enabled')
+
+  def is_enabled(self) -> bool:
+    self._update_from_params()
+    return (self._get_toggle_state('enabled') and
+            (self._get_toggle_state('accel_enabled') or self._get_toggle_state('follow_enabled')))
+
+  def get_accel_limits(self, v_ego: float) -> tuple[float, float] | None:
+    """
+    Get acceleration limits based on current personalities.
+    - Max acceleration from AccelPersonality (eco/normal/sport)
+    - Min acceleration (braking) from LongPersonality (relaxed/standard/aggressive)
+    Returns None if controller is disabled.
+    """
+    self._update_from_params()
+    if not self.is_accel_enabled():
+      return None
+
+    try:
+      # Max acceleration from AccelPersonality
+      max_a = self._interpolate(v_ego, MAX_ACCEL_BREAKPOINTS, MAX_ACCEL_PROFILES[self.accel_personality],
+                                self.max_accel_slopes[self.accel_personality])
+
+      # Min acceleration (braking) from LongPersonality
+      min_a = self._interpolate(v_ego, MIN_ACCEL_BREAKPOINTS, MIN_ACCEL_PROFILES[self.long_personality],
+                                self.min_accel_slopes[self.long_personality])
+
+      return float(min_a), float(max_a)
+    except (KeyError, IndexError):
+      return None
+
+  def get_follow_distance_multiplier(self, v_ego: float) -> float | None:
+    """Get following distance multiplier based on LongPersonality only"""
+    self._update_from_params()
+    if not self.is_follow_enabled():
+      return None
+
+    try:
+      profile = FOLLOW_DISTANCE_PROFILES[self.long_personality]
+      multiplier = float(self._interpolate(v_ego, profile['x_vel'], profile['y_dist'],
+                                           self.follow_distance_slopes[self.long_personality]))
+      return multiplier
+    except (KeyError, IndexError):
+      return None
+
+  def get_personality_info(self) -> dict:
+    """Get comprehensive info about current personalities and settings"""
+    self._update_from_params()
+
+    accel_names = {AccelPersonality.eco: "Eco", AccelPersonality.normal: "Normal", AccelPersonality.sport: "Sport"}
+    long_names = {LongPersonality.relaxed: "Relaxed", LongPersonality.standard: "Standard", LongPersonality.aggressive: "Aggressive"}
+
+    info = {
+      "accel_personality": accel_names.get(self.accel_personality, "Unknown"),
+      "accel_personality_int": self.accel_personality,
+      "long_personality": long_names.get(self.long_personality, "Unknown"),
+      "long_personality_int": self.long_personality,
+      "enabled": self._get_toggle_state('enabled'),
+      "accel_enabled": self._get_toggle_state('accel_enabled'),
+      "follow_enabled": self._get_toggle_state('follow_enabled'),
+      "accel_description": f"Acceleration: {accel_names.get(self.accel_personality, 'Unknown')}",
+      "long_description": f"Following/Braking: {long_names.get(self.long_personality, 'Unknown')}",
+    }
+
+    return info
+
+  def get_min_accel(self, v_ego: float) -> float | None:
+    """Get minimum acceleration (braking) from distance mode"""
+    limits = self.get_accel_limits(v_ego)
+    return limits[0] if limits else None
+
+  def get_max_accel(self, v_ego: float) -> float | None:
+    """Get maximum acceleration from drive mode"""
+    limits = self.get_accel_limits(v_ego)
+    return limits[1] if limits else None
+
+  def reset(self):
+    """Reset to default modes"""
+    self.accel_personality = AccelPersonality.normal
+    self.long_personality = LongPersonality.standard
+    self.frame = 0
+
+  def update(self):
+    """Update frame counter"""
+    self.frame = (self.frame + 1) % 1000000
+
+  def _compute_slopes(self, x, y):
+    """Compute slopes for Hermite interpolation using symmetric difference method."""
+    n = len(x)
+    if n < 2:
+      raise ValueError("At least two points required")
+
+    m = np.zeros(n)
+    for i in range(n):
+      if i == 0:
+        m[i] = (y[1] - y[0]) / (x[1] - x[0])
+      elif i == n-1:
+        m[i] = (y[i] - y[i-1]) / (x[i] - x[i-1])
+      else:
+        m[i] = ((y[i+1] - y[i]) / (x[i+1] - x[i]) + (y[i] - y[i-1]) / (x[i] - x[i-1])) / 2
+    return m
+
+  def _interpolate(self, x, xp, yp, slopes):
+    """Perform cubic Hermite interpolation."""
+    x = np.clip(x, xp[0], xp[-1])
+    idx = np.clip(np.searchsorted(xp, x) - 1, 0, len(slopes) - 2)
+
+    x0, x1 = xp[idx], xp[idx+1]
+    y0, y1 = yp[idx], yp[idx+1]
+    m0, m1 = slopes[idx], slopes[idx+1]
+
+    t = (x - x0) / (x1 - x0)
+    h = [2*t**3 - 3*t**2 + 1, t**3 - 2*t**2 + t, -2*t**3 + 3*t**2, t**3 - t**2]
+
+    return h[0]*y0 + h[1]*(x1 - x0)*m0 + h[2]*y1 + h[3]*(x1 - x0)*m1
@@ -381,20 +381,20 @@ def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: str = N
  return {"success": 1}


-def scan_dir(path: str, prefix: str, base: str) -> list[str]:
+def scan_dir(path: str, prefix: str) -> list[str]:
  files = []
  # only walk directories that match the prefix
  # (glob and friends traverse entire dir tree)
  with os.scandir(path) as i:
    for e in i:
-      rel_path = os.path.relpath(e.path, base)
+      rel_path = os.path.relpath(e.path, Paths.log_root())
      if e.is_dir(follow_symlinks=False):
        # add trailing slash
        rel_path = os.path.join(rel_path, '')
        # if prefix is a partial dir name, current dir will start with prefix
        # if prefix is a partial file name, prefix with start with dir name
        if rel_path.startswith(prefix) or prefix.startswith(rel_path):
-          files.extend(scan_dir(e.path, prefix, base))
+          files.extend(scan_dir(e.path, prefix))
      else:
        if rel_path.startswith(prefix):
          files.append(rel_path)
@@ -402,12 +402,7 @@ def scan_dir(path: str, prefix: str, base: str) -> list[str]:

@dispatcher.add_method
 def listDataDirectory(prefix='') -> list[str]:
-  internal_files = scan_dir(Paths.log_root(), prefix, Paths.log_root())
-  try:
-    external_files = scan_dir(Paths.log_root_external(), prefix, Paths.log_root_external())
-  except FileNotFoundError:
-    external_files = []
-  return sorted(set(internal_files + external_files))
+  return scan_dir(Paths.log_root(), prefix)


@dispatcher.add_method
@@ -432,13 +427,8 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo
      failed.append(file.fn)
      continue

-    path_internal = os.path.join(Paths.log_root(), file.fn)
-    path_external = os.path.join(Paths.log_root_external(), file.fn)
-    if os.path.exists(path_internal) or os.path.exists(strip_zst_extension(path_internal)):
-      path = path_internal
-    elif os.path.exists(path_external) or os.path.exists(strip_zst_extension(path_external)):
-      path = path_external
-    else:
+    path = os.path.join(Paths.log_root(), file.fn)
+    if not os.path.exists(path) and not os.path.exists(strip_zst_extension(path)):
      failed.append(file.fn)
      continue

@@ -20,10 +20,6 @@ class Paths:
    else:
      return '/data/media/0/realdata/'

-  @staticmethod
-  def log_root_external() -> str:
-    return '/mnt/external_realdata/'
-
  @staticmethod
  def swaglog_root() -> str:
    if PC:
@@ -9,26 +9,21 @@ STATS_DIR_FILE_LIMIT = 10000
 STATS_SOCKET = "ipc:///tmp/stats"
 STATS_FLUSH_TIME_S = 60

-PATH_DICT = {
-  "internal": Paths.log_root(),
-  "external": Paths.log_root_external()
-}
-
-def get_available_percent(default: float, path_type="internal") -> float:
+def get_available_percent(default: float) -> float:
  try:
-    statvfs = os.statvfs(PATH_DICT[path_type])
+    statvfs = os.statvfs(Paths.log_root())
    available_percent = 100.0 * statvfs.f_bavail / statvfs.f_blocks
-  except (OSError, KeyError):
+  except OSError:
    available_percent = default

  return available_percent


-def get_available_bytes(default: int, path_type="internal") -> int:
+def get_available_bytes(default: int) -> int:
  try:
-    statvfs = os.statvfs(PATH_DICT[path_type])
+    statvfs = os.statvfs(Paths.log_root())
    available_bytes = statvfs.f_bavail * statvfs.f_frsize
-  except (OSError, KeyError):
+  except OSError:
    available_bytes = default

  return available_bytes
@@ -2,7 +2,6 @@
 import os
 import shutil
 import threading
-from pathlib import Path
 from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.loggerd.config import get_available_bytes, get_available_percent
@@ -62,33 +61,6 @@ def deleter_thread(exit_event: threading.Event):
        if any(name.endswith(".lock") for name in os.listdir(delete_path)):
          continue

-        if Path(Paths.log_root_external()).is_mount():
-          out_of_bytes_external = get_available_bytes(default=MIN_BYTES + 1, path_type="external") < MIN_BYTES
-          out_of_percent_external = get_available_percent(default=MIN_PERCENT + 1, path_type="external") < MIN_PERCENT
-
-          if out_of_percent_external or out_of_bytes_external:
-            dirs_external = listdir_by_creation(Paths.log_root_external())
-
-            # remove the earliest external directory we can
-            for delete_dir_external in sorted(dirs_external):
-              delete_path_external = os.path.join(Paths.log_root_external(), delete_dir_external)
-              try:
-                cloudlog.info(f"deleting {delete_path_external}")
-                shutil.rmtree(delete_path_external)
-                break
-              except OSError:
-                cloudlog.exception(f"issue deleting {delete_path_external}")
-
-          # move directory from internal to external
-          path_external = os.path.join(Paths.log_root_external(), delete_dir)
-          try:
-            cloudlog.info(f"moving {delete_path} to {path_external}")
-            shutil.move(delete_path, path_external)
-            break
-          except Exception as e:
-            cloudlog.exception(f"issue moving {delete_path} to {path_external}: {str(e)}")
-          continue
-
        try:
          cloudlog.info(f"deleting {delete_path}")
          shutil.rmtree(delete_path)
@@ -45,6 +45,7 @@ def manager_init() -> None:
  ]

  sunnypilot_default_params: list[tuple[str, str | bytes]] = [
+    ("AccelPersonality", "1"),
    ("AutoLaneChangeTimer", "0"),
    ("AutoLaneChangeBsmDelay", "0"),
    ("BlindSpot", "0"),
@@ -74,12 +75,10 @@ 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"),
+    ("VibePersonalityEnabled", "0"),
+    ("VibeAccelPersonalityEnabled", "0"),
+    ("VibeFollowPersonalityEnabled", "0"),
+
  ]

  # device boot mode
@@ -117,7 +117,7 @@ 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),
@@ -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`.
@@ -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)
@@ -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
@@ -1,128 +0,0 @@
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- <tabbed_widget name="Main Window" parent="main_window">
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-   </Container>
-  </Tab>
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-   <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>
-
@@ -1,281 +0,0 @@
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-<root>
- <tabbed_widget name="Main Window" parent="main_window">
-  <Tab containers="1" tab_name="tab1">
-   <Container>
-    <DockSplitter sizes="0.500397;0.499603" count="2" orientation="-">
-     <DockArea name="...">
-      <plot flip_x="false" flip_y="false" mode="TimeSeries" style="Lines">
-       <range top="256.250000" left="0.000000" right="421.102293" bottom="-6.250000"/>
-       <limitY/>
-       <curve color="#1ac938" name="/can/1/LFA_ALT/LKAS_ANGLE_MAX_TORQUE"/>
-       <curve color="#17becf" name="max torque(calc)">
-        <transform name="Moving Average" alias="max torque(calc)[Moving Average]">
-         <options compensate_offset="true" value="10"/>
-        </transform>
-       </curve>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot flip_x="false" flip_y="false" mode="TimeSeries" style="Lines">
-       <range top="2.776497" left="0.000000" right="421.102293" bottom="-2.918548"/>
-       <limitY/>
-       <curve color="#f14cc1" name="desired lat accel"/>
-       <curve color="#888888" name="zero"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <currentTabIndex index="0"/>
- </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>
- <!-- - - - - - - - - - - - - - - -->
- <previouslyLoaded_Datafiles>
-  <fileInfo prefix="" filename="../tmpa_e8kwpj.rlog">
-   <selected_datasources value=""/>
-  </fileInfo>
- </previouslyLoaded_Datafiles>
- <!-- - - - - - - - - - - - - - - -->
- <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/>
- <!-- - - - - - - - - - - - - - - -->
-</root>
-
@@ -1,175 +0,0 @@
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-<root>
- <tabbed_widget parent="main_window" name="Main Window">
-  <Tab tab_name="tab1" containers="1">
-   <Container>
-    <DockSplitter sizes="0.25;0.25;0.25;0.25" count="4" orientation="-">
-     <DockArea name="...">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range bottom="-3.582051" right="1431.113121" top="5.314632" left="5.322399"/>
-       <limitY/>
-       <curve name="Actual lateral accel (roll compensated)" color="#1ac938"/>
-       <curve name="Desired lateral accel (roll compensated)" color="#ff7f0e"/>
-       <curve name="IMU_LatAccelVal_ms^2" color="#f14cc1"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range bottom="-3.741271" right="1431.113121" top="3.756006" left="5.322399"/>
-       <limitY/>
-       <curve name="roll compensated lateral acceleration" color="#ff7f0e"/>
-       <curve name="IMU_LatAccelVal_Ms^2" color="#1ac938"/>
-       <curve name="IMU_LatAccelVal_ms^2_roll_compensated" color="#9467bd"/>
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-     <DockArea name="...">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range bottom="-0.025000" right="1431.113121" top="1.025000" left="5.322399"/>
-       <limitY/>
-       <curve name="/carState/steeringPressed" color="#0097ff"/>
-       <curve name="/carOutput/actuatorsOutput/torque" color="#d62728"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range bottom="-1.660728" right="1431.113121" top="67.942958" left="5.322399"/>
-       <limitY/>
-       <curve name="/carState/vEgo" color="#f14cc1">
-        <transform name="Scale/Offset" alias="/carState/vEgo[Scale/Offset]">
-         <options value_scale="2.23694" time_offset="0" value_offset="0"/>
-        </transform>
-       </curve>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <Tab tab_name="tab2" containers="1">
-   <Container>
-    <DockSplitter sizes="0.5;0.5" count="2" orientation="-">
-     <DockArea name="...">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
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-       <limitY/>
-       <curve name="/can/1/IMU_01_10ms/IMU_RollRtVal" color="#17becf"/>
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-       <range bottom="-0.058795" right="1431.113121" top="0.072448" left="5.322399"/>
-       <limitY/>
-       <curve name="/liveParameters/roll" color="#bcbd22"/>
-      </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"/>
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-   <global></global>
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-   <global></global>
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-return 0</function>
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Author	SHA1	Message	Date
github-actions[bot]	36f1a62116	sunnypilot modeld: Sync Tinygrad (PR-1081)	2025-07-30 16:23:02 +00:00
github-actions[bot]	becc36d2f0	ui: refresh model list (PR-1074)	2025-07-30 16:23:01 +00:00
github-actions[bot]	48b11c0a7d	Long Control: Vibe Controller (PR-1068)	2025-07-30 16:23:00 +00:00
github-actions[bot]	e3b50553c6	Visual: Move chevron to sp/qt (PR-1066)	2025-07-30 16:22:57 +00:00