Allows us to stat getting the swaglogs from devices (same as commas)… (PR-1203)

mapd-sp: version bump v.1.0.1 (PR-1202)
Visual: Move chevron to sp/qt (PR-1066)
2026-09-15 02:13:43 +08:00 · 2025-09-06 23:03:56 +00:00 · 2025-09-06 23:03:55 +00:00 · 2025-09-06 23:03:50 +00:00
66 changed files with 274 additions and 4815 deletions
@@ -2,5 +2,4 @@ Wen
 REGIST
 PullRequest
 cancelled
-indeces
 FOF
@@ -29,11 +29,11 @@ jobs:
      env:
        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
      with:
-        target: /^(?!master-tici$).*/
+        target: /^(?!master$).*/
        exclude: /sunnypilot:.*/
        change-to: ${{ github.base_ref }}
        already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master-tici` branch"
+        already-exists-comment: "Your PR should be made against the `master` branch"

  update-pr-labels:
    name: Update fork's PR Labels
@@ -5,7 +5,7 @@ on:
  workflow_dispatch:

 env:
-  BASE_IMAGE: sunnypilot-tici-base
+  BASE_IMAGE: sunnypilot-base
  DOCKER_REGISTRY: ghcr.io/sunnypilot
  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c

@@ -3,7 +3,7 @@ name: cereal validation
 on:
  push:
    branches:
-      - master-tici
+      - master
  pull_request:
    paths:
      - 'cereal/**'
@@ -16,7 +16,7 @@ on:
        type: string

 concurrency:
-  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true

 env:
@@ -31,7 +31,7 @@ jobs:
    strategy:
      fail-fast: false
      matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master-tici
+    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
    with:
      run_number: ${{ matrix.run_number }}

@@ -12,6 +12,6 @@ concurrency:

 jobs:
  selfdrive_tests:
-    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master-tici
+    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
    with:
      run_number: ${{ inputs.run_number }}
@@ -15,7 +15,7 @@ runs:
                          scons -j$(nproc) --cache-populate"
    - name: Save scons cache
      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master-tici'
+      if: github.ref == 'refs/heads/master'
      with:
        path: .ci_cache/scons_cache
        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -3,7 +3,7 @@ name: docs
 on:
  push:
    branches:
-      - master-tici
+      - master
  pull_request:
  workflow_call:
    inputs:
@@ -12,7 +12,7 @@ on:
        required: true
        type: string
 concurrency:
-  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true

 jobs:
@@ -35,13 +35,13 @@ jobs:

    # Push to docs.comma.ai
    - uses: actions/checkout@v4
-      if: github.ref == 'refs/heads/master-tici' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
      with:
        path: openpilot-docs
        ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
        repository: sunnypilot/sunnypilot-docs
    - name: Push
-      if: github.ref == 'refs/heads/master-tici' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
      run: |
        set -x

@@ -24,11 +24,11 @@ jobs:
      if: ${{ github.event_name != 'workflow_dispatch' }}
      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
      with:
-        ref: master-tici
+        ref: master
        wait-interval: 30
        running-workflow-name: 'build prebuilt'
        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build __nightly).*).)*$
+        check-regexp: ^((?!.*(build master-ci).*).)*$
    - uses: actions/checkout@v4
      with:
        submodules: true
@@ -19,7 +19,6 @@ jobs:
      contents: write
      pull-requests: write
    runs-on: ubuntu-latest
-    if: False
    steps:
      - uses: release-drafter/release-drafter@v6
        with:
@@ -10,7 +10,7 @@ jobs:
    env:
      ImageOS: ubuntu24
    container:
-      image: ghcr.io/sunnypilot/sunnypilot-tici-base:latest
+      image: ghcr.io/sunnypilot/sunnypilot-base:latest
    runs-on: ubuntu-latest
    if: github.repository == 'sunnypilot/sunnypilot'
    permissions:
@@ -25,7 +25,7 @@ jobs:
      if: ${{ github.event_name == 'schedule' }}
      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
      with:
-        ref: master-tici
+        ref: master
        wait-interval: 30
        running-workflow-name: 'build __nightly'
        repo-token: ${{ secrets.GITHUB_TOKEN }}
@@ -6,7 +6,7 @@ on:
  workflow_dispatch:

 env:
-  BASE_IMAGE: sunnypilot-tici-base
+  BASE_IMAGE: sunnypilot-base
  BUILD: release/ci/docker_build_sp.sh base
  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c

@@ -28,7 +28,7 @@ jobs:
          title: "[bot] Update translations"
          body: "Automatic PR from repo-maintenance -> update_translations"
          branch: "update-translations"
-          base: "master-tici"
+          base: "master"
          delete-branch: true
          labels: bot

@@ -36,7 +36,7 @@ jobs:
    name: package_updates
    runs-on: ubuntu-latest
    container:
-      image: ghcr.io/sunnypilot/sunnypilot-tici-base:latest
+      image: ghcr.io/sunnypilot/sunnypilot-base:latest
    if: github.repository == 'sunnypilot/sunnypilot'
    steps:
    - uses: actions/checkout@v4
@@ -68,7 +68,7 @@ jobs:
        commit-message: Update Python packages
        title: '[bot] Update Python packages'
        branch: auto-package-updates
-        base: master-tici
+        base: master
        delete-branch: true
        body: 'Automatic PR from repo-maintenance -> package_updates'
        labels: bot
@@ -3,7 +3,7 @@ name: selfdrive
 on:
  push:
    branches:
-      - master-tici
+      - master
  pull_request:
  workflow_dispatch:
  workflow_call:
@@ -14,12 +14,12 @@ on:
        type: string

 concurrency:
-  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true

 env:
  PYTHONWARNINGS: error
-  BASE_IMAGE: sunnypilot-tici-base
+  BASE_IMAGE: sunnypilot-base
  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}

  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
@@ -68,10 +68,10 @@ jobs:
      if: github.repository == 'sunnypilot/sunnypilot'
      timeout-minutes: 3
      run: |
-        if [ "${{ github.ref }}" != "refs/heads/master-tici" ]; then
-          git fetch  origin master-tici:refs/remotes/origin/master-tici
+        if [ "${{ github.ref }}" != "refs/heads/master" ]; then
+          git fetch  origin master:refs/remotes/origin/master

-          SUBMODULE_PATHS=$(git diff origin/master-tici HEAD --name-only | grep -E '^[^/]+$' | while read path; do
+          SUBMODULE_PATHS=$(git diff origin/master HEAD --name-only | grep -E '^[^/]+$' | while read path; do
            if git ls-files --stage "$path" | grep -q "^160000"; then
              echo "$path"
            fi
@@ -97,7 +97,7 @@ jobs:
      with:
        submodules: true
    - name: Setup docker push
-      if: github.ref == 'refs/heads/master-tici' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
      run: |
        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
        $DOCKER_LOGIN
@@ -129,7 +129,7 @@ jobs:
        PYTHONWARNINGS: default
    - name: Save Homebrew cache
      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master-tici'
+      if: github.ref == 'refs/heads/master'
      with:
        path: ~/Library/Caches/Homebrew
        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -146,7 +146,7 @@ jobs:
      run: . .venv/bin/activate && scons -j$(nproc)
    - name: Save scons cache
      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master-tici'
+      if: github.ref == 'refs/heads/master'
      with:
        path: /tmp/scons_cache
        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -305,5 +305,5 @@ jobs:
      - name: Upload Test Report
        uses: actions/upload-artifact@v4
        with:
-          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && 'master-tici' || github.event.number }}
+          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
          path: selfdrive/ui/tests/test_ui/report_1/screenshots
@@ -14,7 +14,7 @@ on:
      upstream_branch:
        description: 'Upstream branch to build from'
        required: true
-        default: 'master-tici'
+        default: 'master'
        type: string
      custom_name:
        description: 'Custom name for the model (no date, only name)'
@@ -35,7 +35,7 @@ on:
      upstream_branch:
        description: 'Upstream branch to build from'
        required: true
-        default: 'master-tici'
+        default: 'master'
        type: string
      custom_name:
        description: 'Custom name for the model (no date, only name)'
@@ -8,14 +8,14 @@ env:
  PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
  
  # Branch configurations
-  STAGING_C3_SOURCE_BRANCH: 'master-tici' # vars.STAGING_C3_SOURCE_BRANCH could be used, set on repo settings.
+  STAGING_C3_SOURCE_BRANCH: ${{ vars.STAGING_C3_SOURCE_BRANCH || 'master' }} # vars are set on repo settings.
  
  # Runtime configuration
  SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"

 on:
  push:
-    branches: [ master-tici ]
+    branches: [ master, master-dev-c3-new ]
    tags: [ 'release/*' ]
  pull_request_target:
    types: [ labeled ]
@@ -1,7 +1,7 @@
 name: Build dev-c3-new

 env:
-  DEFAULT_SOURCE_BRANCH: "master-tici"
+  DEFAULT_SOURCE_BRANCH: "master"
  DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
  PR_LABEL: "dev-c3"
  LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
@@ -10,17 +10,17 @@ env:
 on:
  push:
    branches:
-      - master-tici
+      - master
  pull_request_target:
    types: [ labeled ]
    branches:
-      - 'master-tici'
+      - 'master'
  workflow_dispatch:
    inputs:
      source_branch:
        description: 'Source branch to reset from'
        required: true
-        default: 'master-tici'
+        default: 'master'
        type: string
      target_branch:
        description: 'Target branch to reset and squash into'
@@ -40,7 +40,11 @@ concurrency:
 jobs:
  reset-and-squash:
    runs-on: ubuntu-latest
-    if: False
+    if: (
+      (github.event_name == 'workflow_dispatch')
+      || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
+      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
+      )
    steps:
      - uses: actions/checkout@v4
        with:
@@ -2,19 +2,19 @@ name: "ui preview"
 on:
  push:
    branches:
-      - master-tici
+      - master
  pull_request_target:
    types: [assigned, opened, synchronize, reopened, edited]
    branches:
-      - 'master-tici'
+      - 'master'
    paths:
      - 'selfdrive/ui/**'
  workflow_dispatch:

 env:
  UI_JOB_NAME: "Create UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && 'master-tici' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.sha || github.event.pull_request.head.sha }}
+  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"

 jobs:
@@ -55,7 +55,7 @@ jobs:
          name: report-1-${{ env.REPORT_NAME }}
          path: ${{ github.workspace }}/pr_ui

-      - name: Getting master-tici ui
+      - name: Getting master ui
        uses: actions/checkout@v4
        with:
          repository: sunnypilot/ci-artifacts
@@ -63,8 +63,8 @@ jobs:
          path: ${{ github.workspace }}/master_ui
          ref: openpilot_master_ui

-      - name: Saving new master-tici ui
-        if: github.ref == 'refs/heads/master-tici' && github.event_name == 'push'
+      - name: Saving new master ui
+        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
        working-directory: ${{ github.workspace }}/master_ui
        run: |
          git checkout --orphan=new_master_ui
@@ -93,9 +93,9 @@ jobs:

          for ((i=0; i<${#A[*]}; i=i+1));
          do
-            # Check if the master-tici file exists
+            # Check if the master file exists
            if [ ! -f "${{ github.workspace }}/master_ui/${A[$i]}.png" ]; then
-              # This is a new file in PR UI that doesn't exist in master-tici
+              # This is a new file in PR UI that doesn't exist in master
              DIFF="${DIFF}<details open>"
              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
              DIFF="${DIFF}<table>"
@@ -118,7 +118,7 @@ jobs:
              DIFF="${DIFF}<table>"

              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master-tici <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
+              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
              DIFF="${DIFF}</tr>"

@@ -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$&quot; --block &quot;sendcan,carState,carParams,carOutput,liveTracks,carParamsSP,carStateSP,bookmarkButton&quot;" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="true" WORKING_DIR="file://$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>
@@ -1,4 +1,4 @@
-FROM ghcr.io/sunnypilot/sunnypilot-tici-base:latest
+FROM ghcr.io/sunnypilot/sunnypilot-base:latest

 ENV PYTHONUNBUFFERED=1

@@ -22,7 +22,7 @@ https://docs.sunnypilot.ai/ is your one stop shop for everything from features t
 Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).

 ## Installation
-Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging-tici` branch.
+Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging-c3-new` branch.

 ### If you want to use our newest branches (our rewrite)
 > [!TIP]
@@ -31,24 +31,25 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
 * sunnypilot not installed or you installed a version before 0.8.17?
  1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
  2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://staging-tici.sunnypilot.ai```.
+  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://staging-c3-new.sunnypilot.ai```.
  4. Complete the rest of the installation following the onscreen instructions.

 * sunnypilot already installed and you installed a version after 0.8.17?
  1. On the comma three, go to `Settings` ▶️ `Software`.
  2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
  3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
-  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging-tici`
+  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging-c3-new`


-|     Branch      |               Installation URL                |
-|:---------------:|:---------------------------------------------:|
-| `staging-tici`  |     `https://staging-tici.sunnypilot.ai`      |
-| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |
-| `release-tici`  |            **Not yet available**.             |
+|      Branch      |                 Installation URL              |
+|:----------------:|:---------------------------------------------:|
+| `staging-c3-new` | `https://staging-c3-new.sunnypilot.ai`        |
+|   `dev-c3-new`   | `https://dev-c3-new.sunnypilot.ai`            |
+| `custom-branch`  | `https://install.sunnypilot.ai/{branch_name}` |
+| `release-c3-new` |            **Not yet available**.             |

 > [!TIP]
-> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging-tici'.
+> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging-c3-new'.

 > [!NOTE]
 > Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
@@ -146,7 +146,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
    {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
    {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
-    {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
    {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
    {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
    {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
@@ -223,11 +222,4 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"OsmStateTitle", {PERSISTENT, STRING}},
    {"OsmWayTest", {PERSISTENT, STRING}},
    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
-
-    // Tuning keys
-    {"EnableHkgTuningAngleSmoothingFactor", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"HkgTuningAngleMinTorqueReductionGain", {PERSISTENT | BACKUP, INT, "10"}},
-    {"HkgTuningAngleMaxTorqueReductionGain", {PERSISTENT | BACKUP, INT, "100"}},
-    {"HkgTuningAngleActiveTorqueReductionGain", {PERSISTENT | BACKUP, INT, "100"}},
-    {"HkgTuningOverridingCycles", {PERSISTENT | BACKUP, INT, "17"}},
 };
@@ -1,8 +1,8 @@
 if [ "$1" = "base" ]; then
-  export DOCKER_IMAGE=sunnypilot-tici-base
+  export DOCKER_IMAGE=sunnypilot-base
  export DOCKER_FILE=Dockerfile.sunnypilot_base
 elif [ "$1" = "prebuilt" ]; then
-  export DOCKER_IMAGE=sunnypilot-tici-prebuilt
+  export DOCKER_IMAGE=sunnypilot-prebuilt
  export DOCKER_FILE=Dockerfile.sunnypilot
 else
  echo "Invalid docker build image: '$1'"
@@ -13,7 +13,7 @@ cd $ROOT

 FAILED=0

-IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md|layouts\/.*\.xml|.*\.ipynb"
+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() {
@@ -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
@@ -4,9 +4,6 @@
 #include <map>

 #include "selfdrive/ui/qt/util.h"
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/ui.h"
-#endif

 void OnroadAlerts::updateState(const UIState &s) {
  Alert a = getAlert(*(s.sm), s.scene.started_frame);
@@ -76,12 +73,6 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
  }
  QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);

-#ifdef SUNNYPILOT
-  const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
-  const int adjustment = dev_ui_info > 1 && alert.size != cereal::SelfdriveState::AlertSize::FULL ? 30 : 0;
-  r = QRect(0 + margin, height() - h + margin - adjustment, width() - margin*2, h - margin*2);
-#endif
-
  QPainter p(this);

  // draw background + gradient
@@ -12,7 +12,6 @@
 #include "selfdrive/ui/sunnypilot/qt/onroad/model.h"
 #define ExperimentalButton ExperimentalButtonSP
 #define ModelRenderer ModelRendererSP
-#define HudRenderer HudRendererSP
 #else
 #include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/onroad/hud.h"
@@ -73,11 +73,6 @@ void DriverMonitorRenderer::draw(QPainter &painter, const QRect &surface_rect) {
  float y = surface_rect.height() - offset;
  float opacity = is_active ? 0.65f : 0.2f;

-#ifdef SUNNYPILOT
-  const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
-  y -= dev_ui_info > 1 ? 50 : 0;
-#endif
-
  drawIcon(painter, QPoint(x, y), dm_img, QColor(0, 0, 0, 70), opacity);

  QPointF keypoints[std::size(DEFAULT_FACE_KPTS_3D)];
@@ -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.;
@@ -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;
 };
@@ -39,7 +39,6 @@ qt_src = [
  "sunnypilot/qt/offroad/settings/visuals_panel.cc",
  "sunnypilot/qt/onroad/annotated_camera.cc",
  "sunnypilot/qt/onroad/buttons.cc",
-  "sunnypilot/qt/onroad/developer_ui/developer_ui.cc",
  "sunnypilot/qt/onroad/hud.cc",
  "sunnypilot/qt/onroad/model.cc",
  "sunnypilot/qt/onroad/onroad_home.cc",
@@ -49,7 +48,6 @@ 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",
 ]

@@ -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;
-}
@@ -1,39 +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;
-};
@@ -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;
@@ -72,15 +72,6 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
  list->addItem(chevron_info_settings);
  param_watcher->addParam("ChevronInfo");

-  // Visuals: Developer UI Info (Dev UI)
-  std::vector<QString> dev_ui_settings_texts{tr("Off"), tr("Right"), tr("Right &&\nBottom")};
-  dev_ui_settings = new ButtonParamControlSP(
-    "DevUIInfo", tr("Developer UI"), tr("Display real-time parameters and metrics from various sources."),
-    "",
-    dev_ui_settings_texts,
-    380);
-  list->addItem(dev_ui_settings);
-
  sunnypilotScroller = new ScrollViewSP(list, this);
  vlayout->addWidget(sunnypilotScroller);

@@ -99,7 +90,4 @@ void VisualsPanel::paramsRefresh() {
  if (chevron_info_settings) {
    chevron_info_settings->refresh();
  }
-  if (dev_ui_settings) {
-    dev_ui_settings->refresh();
-  }
 }
@@ -28,5 +28,4 @@ protected:
 std::map<std::string, ParamControlSP*> toggles;
 ParamWatcher * param_watcher;
 ButtonParamControlSP *chevron_info_settings;
- ButtonParamControlSP *dev_ui_settings;
 };
@@ -14,8 +14,3 @@ AnnotatedCameraWidgetSP::AnnotatedCameraWidgetSP(VisionStreamType type, QWidget
 void AnnotatedCameraWidgetSP::updateState(const UIState &s) {
  AnnotatedCameraWidget::updateState(s);
 }
-
-void AnnotatedCameraWidgetSP::showEvent(QShowEvent *event) {
-  AnnotatedCameraWidget::showEvent(event);
-  ui_update_params_sp(uiState());
-}
@@ -15,7 +15,4 @@ class AnnotatedCameraWidgetSP : public AnnotatedCameraWidget {
 public:
  explicit AnnotatedCameraWidgetSP(VisionStreamType type, QWidget *parent = nullptr);
  void updateState(const UIState &s) override;
-
-protected:
-  void showEvent(QShowEvent *event) override;
 };
@@ -1,227 +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 <cmath>
-
-#include "common/util.h"
-#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h"
-
-
-// Add Relative Distance to Primary Lead Car
-// Unit: Meters
-UiElement DeveloperUi::getDRel(bool lead_status, float lead_d_rel) {
-  QString value = lead_status ? QString::number(lead_d_rel, 'f', 0) : "-";
-  QColor color = QColor(255, 255, 255, 255);
-
-  if (lead_status) {
-    // Orange if close, Red if very close
-    if (lead_d_rel < 5) {
-      color = QColor(255, 0, 0, 255);
-    } else if (lead_d_rel < 15) {
-      color = QColor(255, 188, 0, 255);
-    }
-  }
-
-  return UiElement(value, "REL DIST", "m", color);
-}
-
-// Add Relative Velocity vs Primary Lead Car
-// Unit: kph if metric, else mph
-UiElement DeveloperUi::getVRel(bool lead_status, float lead_v_rel, bool is_metric, const QString &speed_unit) {
-  QString value = lead_status ? QString::number(lead_v_rel * (is_metric ? MS_TO_KPH : MS_TO_MPH), 'f', 0) : "-";
-  QColor color = QColor(255, 255, 255, 255);
-
-  if (lead_status) {
-    // Red if approaching faster than 10mph
-    // Orange if approaching (negative)
-    if (lead_v_rel < -4.4704) {
-      color = QColor(255, 0, 0, 255);
-    } else if (lead_v_rel < 0) {
-      color = QColor(255, 188, 0, 255);
-    }
-  }
-
-  return UiElement(value, "REL SPEED", speed_unit, color);
-}
-
-// Add Real Steering Angle
-// Unit: Degrees
-UiElement DeveloperUi::getSteeringAngleDeg(float angle_steers, bool lat_active, bool steer_override) {
-  QString value = QString("%1%2%3").arg(QString::number(angle_steers, 'f', 1)).arg("°").arg("");
-  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
-
-  // Red if large steering angle
-  // Orange if moderate steering angle
-  if (std::fabs(angle_steers) > 180) {
-    color = QColor(255, 0, 0, 255);
-  } else if (std::fabs(angle_steers) > 90) {
-    color = QColor(255, 188, 0, 255);
-  }
-
-  return UiElement(value, "REAL STEER", "", color);
-}
-
-// Add Actual Lateral Acceleration (roll compensated) when using Torque
-// Unit: m/s²
-UiElement DeveloperUi::getActualLateralAccel(float curvature, float v_ego, float roll, bool lat_active, bool steer_override) {
-  double actualLateralAccel = (curvature * pow(v_ego, 2)) - (roll * 9.81);
-
-  QString value = QString::number(actualLateralAccel, 'f', 2);
-  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
-
-  return UiElement(value, "ACTUAL L.A.", "m/s²", color);
-}
-
-// Add Desired Steering Angle when using PID
-// Unit: Degrees
-UiElement DeveloperUi::getSteeringAngleDesiredDeg(bool lat_active, float steer_angle_desired, float angle_steers) {
-  QString value = lat_active ? QString("%1%2%3").arg(QString::number(steer_angle_desired, 'f', 1)).arg("°").arg("") : "-";
-  QColor color = QColor(255, 255, 255, 255);
-
-  if (lat_active) {
-    // Red if large steering angle
-    // Orange if moderate steering angle
-    if (std::fabs(angle_steers) > 180) {
-      color = QColor(255, 0, 0, 255);
-    } else if (std::fabs(angle_steers) > 90) {
-      color = QColor(255, 188, 0, 255);
-    } else {
-      color = QColor(0, 255, 0, 255);
-    }
-  }
-
-  return UiElement(value, "DESIRED STEER", "", color);
-}
-
-// Add Device Memory (RAM) Usage
-// Unit: Percent
-UiElement DeveloperUi::getMemoryUsagePercent(int memory_usage_percent) {
-  QString value = QString("%1%2").arg(QString::number(memory_usage_percent, 'd', 0)).arg("%");
-  QColor color = (memory_usage_percent > 85) ? QColor(255, 188, 0, 255) : QColor(255, 255, 255, 255);
-
-  return UiElement(value, "RAM", "", color);
-}
-
-// Add Vehicle Current Acceleration
-// Unit: m/s²
-UiElement DeveloperUi::getAEgo(float a_ego) {
-  QString value = QString::number(a_ego, 'f', 1);
-  QColor color = QColor(255, 255, 255, 255);
-
-  return UiElement(value, "ACC.", "m/s²", color);
-}
-
-// Add Relative Velocity to Primary Lead Car
-// Unit: kph if metric, else mph
-UiElement DeveloperUi::getVEgoLead(bool lead_status, float lead_v_rel, float v_ego, bool is_metric, const QString &speed_unit) {
-  QString value = lead_status ? QString::number((lead_v_rel + v_ego) * (is_metric ? MS_TO_KPH : MS_TO_MPH), 'f', 0) : "-";
-  QColor color = QColor(255, 255, 255, 255);
-
-  if (lead_status) {
-    // Red if approaching faster than 10mph
-    // Orange if approaching (negative)
-    if (lead_v_rel < -4.4704) {
-      color = QColor(255, 0, 0, 255);
-    } else if (lead_v_rel < 0) {
-      color = QColor(255, 188, 0, 255);
-    }
-  }
-
-  return UiElement(value, "L.S.", speed_unit, color);
-}
-
-// Add Friction Coefficient Raw from torqued
-// Unit: None
-UiElement DeveloperUi::getFrictionCoefficientFiltered(float friction_coefficient_filtered, bool live_valid) {
-  QString value = QString::number(friction_coefficient_filtered, 'f', 3);
-  QColor color = live_valid ? QColor(0, 255, 0, 255) : QColor(255, 255, 255, 255);
-
-  return UiElement(value, "FRIC.", "", color);
-}
-
-// Add Lateral Acceleration Factor Raw from torqued
-// Unit: m/s²
-UiElement DeveloperUi::getLatAccelFactorFiltered(float lat_accel_factor_filtered, bool live_valid) {
-  QString value = QString::number(lat_accel_factor_filtered, 'f', 3);
-  QColor color = live_valid ? QColor(0, 255, 0, 255) : QColor(255, 255, 255, 255);
-
-  return UiElement(value, "L.A.", "m/s²", color);
-}
-
-// Add Steering Torque from Car EPS
-// Unit: Newton Meters
-UiElement DeveloperUi::getSteeringTorqueEps(float steering_torque_eps) {
-  QString value = QString::number(std::fabs(steering_torque_eps), 'f', 1);
-  QColor color = QColor(255, 255, 255, 255);
-
-  return UiElement(value, "E.T.", "N·dm", color);
-}
-
-// Add Bearing Degree and Direction from Car (Compass)
-// Unit: Meters
-UiElement DeveloperUi::getBearingDeg(float bearing_accuracy_deg, float bearing_deg) {
-  QString value = (bearing_accuracy_deg != 180.00) ? QString("%1%2%3").arg(QString::number(bearing_deg, 'd', 0)).arg("°").arg("") : "-";
-  QColor color = QColor(255, 255, 255, 255);
-  QString dir_value;
-
-  if (bearing_accuracy_deg != 180.00) {
-    if (((bearing_deg >= 337.5) && (bearing_deg <= 360)) || ((bearing_deg >= 0) && (bearing_deg <= 22.5))) {
-      dir_value = "N";
-    } else if ((bearing_deg > 22.5) && (bearing_deg < 67.5)) {
-      dir_value = "NE";
-    } else if ((bearing_deg >= 67.5) && (bearing_deg <= 112.5)) {
-      dir_value = "E";
-    } else if ((bearing_deg > 112.5) && (bearing_deg < 157.5)) {
-      dir_value = "SE";
-    } else if ((bearing_deg >= 157.5) && (bearing_deg <= 202.5)) {
-      dir_value = "S";
-    } else if ((bearing_deg > 202.5) && (bearing_deg < 247.5)) {
-      dir_value = "SW";
-    } else if ((bearing_deg >= 247.5) && (bearing_deg <= 292.5)) {
-      dir_value = "W";
-    } else if ((bearing_deg > 292.5) && (bearing_deg < 337.5)) {
-      dir_value = "NW";
-    }
-  } else {
-    dir_value = "OFF";
-  }
-
-  return UiElement(QString("%1 | %2").arg(dir_value).arg(value), "B.D.", "", color);
-}
-
-// Add Altitude of Current Location
-// Unit: Meters
-UiElement DeveloperUi::getAltitude(float gps_accuracy, float altitude) {
-  QString value = (gps_accuracy != 0.00) ? QString::number(altitude, 'f', 1) : "-";
-  QColor color = QColor(255, 255, 255, 255);
-
-  return UiElement(value, "ALT.", "m", color);
-}
-
-// Add Actuators Output
-// Unit: Degree (angle) or m/s² (torque)
-UiElement DeveloperUi::getActuatorsOutputLateral(cereal::CarParams::SteerControlType steerControlType,
-                                                 cereal::CarControl::Actuators::Reader &actuators,
-                                                 float desiredCurvature, float v_ego, float roll, bool lat_active, bool steer_override) {
-  QString label;
-  QString value;
-  QString unit;
-
-  if (steerControlType == cereal::CarParams::SteerControlType::ANGLE) {
-    label = "DESIRED STEER";
-    value = QString("%1%2%3").arg(QString::number(actuators.getSteeringAngleDeg(), 'f', 1)).arg("°").arg("");
-  } else {
-    label = "DESIRED L.A.";
-    double desiredLateralAccel = (desiredCurvature * pow(v_ego, 2)) - (roll * 9.81);
-    value = QString::number(desiredLateralAccel, 'f', 2);
-    unit = "m/s²";
-  }
-
-  value = lat_active ? value : "-";
-  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
-
-  return UiElement(value, label, unit, color);
-}
@@ -1,31 +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/qt/onroad/developer_ui/ui_elements.h"
-
-class DeveloperUi {
-
-public:
-  static UiElement getDRel(bool lead_status, float lead_d_rel);
-  static UiElement getVRel(bool lead_status, float lead_v_rel, bool is_metric, const QString &speed_unit);
-  static UiElement getSteeringAngleDeg(float angle_steers, bool lat_active, bool steer_override);
-  static UiElement getActualLateralAccel(float curvature, float v_ego, float roll, bool lat_active, bool steer_override);
-  static UiElement getSteeringAngleDesiredDeg(bool lat_active, float steer_angle_desired, float angle_steers);
-  static UiElement getMemoryUsagePercent(int memory_usage_percent);
-  static UiElement getAEgo(float a_ego);
-  static UiElement getVEgoLead(bool lead_status, float lead_v_rel, float v_ego, bool is_metric, const QString &speed_unit);
-  static UiElement getFrictionCoefficientFiltered(float friction_coefficient_filtered, bool live_valid);
-  static UiElement getLatAccelFactorFiltered(float lat_accel_factor_filtered, bool live_valid);
-  static UiElement getSteeringTorqueEps(float steering_torque_eps);
-  static UiElement getBearingDeg(float bearing_accuracy_deg, float bearing_deg);
-  static UiElement getAltitude(float gps_accuracy, float altitude);
-  static UiElement getActuatorsOutputLateral(cereal::CarParams::SteerControlType steerControlType,
-                                             cereal::CarControl::Actuators::Reader &actuators,
-                                             float desiredCurvature, float v_ego, float roll, bool lat_active, bool steer_override);
-};
@@ -1,19 +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 <QColor>
-
-struct UiElement {
-  QString value{};
-  QString label{};
-  QString units{};
-  QColor color{};
-
-  explicit UiElement(const QString &value = "", const QString &label = "", const QString &units = "", const QColor &color = QColor(255, 255, 255, 255))
-    : value(value), label(label), units(units), color(color) {}
-};
@@ -7,202 +7,12 @@

 #include "selfdrive/ui/sunnypilot/qt/onroad/hud.h"

-#include "selfdrive/ui/qt/util.h"
-
-
 HudRendererSP::HudRendererSP() {}

 void HudRendererSP::updateState(const UIState &s) {
  HudRenderer::updateState(s);
-
-  const SubMaster &sm = *(s.sm);
-  const bool cs_alive = sm.alive("controlsState");
-  const auto cs = sm["controlsState"].getControlsState();
-  const auto car_state = sm["carState"].getCarState();
-  const auto car_control = sm["carControl"].getCarControl();
-  const auto radar_state = sm["radarState"].getRadarState();
-  const auto is_gps_location_external = sm.rcv_frame("gpsLocationExternal") > 1;
-  const auto gpsLocation = is_gps_location_external ? sm["gpsLocationExternal"].getGpsLocationExternal() : sm["gpsLocation"].getGpsLocation();
-  const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters();
-  const auto car_params = sm["carParams"].getCarParams();
-
-  static int reverse_delay = 0;
-  bool reverse_allowed = false;
-  if (int(car_state.getGearShifter()) != 4) {
-    reverse_delay = 0;
-    reverse_allowed = false;
-  } else {
-    reverse_delay += 50;
-    if (reverse_delay >= 1000) {
-      reverse_allowed = true;
-    }
-  }
-
-  reversing = reverse_allowed;
-  is_metric = s.scene.is_metric;
-
-  // Handle older routes where vEgoCluster is not set
-  v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
-  float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
-  speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
-  speed *= is_metric ? MS_TO_KPH : MS_TO_MPH;
-
-  latActive = car_control.getLatActive();
-  steerOverride = car_state.getSteeringPressed();
-
-  devUiInfo = s.scene.dev_ui_info;
-
-  speedUnit = is_metric ? tr("km/h") : tr("mph");
-  lead_d_rel = radar_state.getLeadOne().getDRel();
-  lead_v_rel = radar_state.getLeadOne().getVRel();
-  lead_status = radar_state.getLeadOne().getStatus();
-  steerControlType = car_params.getSteerControlType();
-  actuators = car_control.getActuators();
-  torqueLateral = steerControlType == cereal::CarParams::SteerControlType::TORQUE;
-  angleSteers = car_state.getSteeringAngleDeg();
-  desiredCurvature = cs.getDesiredCurvature();
-  curvature = cs.getCurvature();
-  roll = sm["liveParameters"].getLiveParameters().getRoll();
-  memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent();
-  gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;  // External reports accuracy, internal does not.
-  altitude = gpsLocation.getAltitude();
-  vEgo = car_state.getVEgo();
-  aEgo = car_state.getAEgo();
-  steeringTorqueEps = car_state.getSteeringTorqueEps();
-  bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
-  bearingDeg = gpsLocation.getBearingDeg();
-  torquedUseParams = ltp.getUseParams();
-  latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
-  frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
-  liveValid = ltp.getLiveValid();
 }

 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
  HudRenderer::draw(p, surface_rect);
-  if (!reversing) {
-    // Bottom Dev UI
-    if (devUiInfo == 2) {
-      QRect rect_bottom(surface_rect.left(), surface_rect.bottom() - 60, surface_rect.width(), 61);
-      p.setPen(Qt::NoPen);
-      p.setBrush(QColor(0, 0, 0, 100));
-      p.drawRect(rect_bottom);
-      drawBottomDevUI(p, rect_bottom.left(), rect_bottom.center().y());
-    }
-
-    // Right Dev UI
-    if (devUiInfo != 0) {
-      QRect rect_right(surface_rect.right() - (UI_BORDER_SIZE * 2), UI_BORDER_SIZE * 1.5, 184, 170);
-      drawRightDevUI(p, surface_rect.right() - 184 - UI_BORDER_SIZE * 2, UI_BORDER_SIZE * 2 + rect_right.height());
-    }
-  }
-}
-
-void HudRendererSP::drawText(QPainter &p, int x, int y, const QString &text, QColor color) {
-  QRect real_rect = p.fontMetrics().boundingRect(text);
-  real_rect.moveCenter({x, y - real_rect.height() / 2});
-  p.setPen(color);
-  p.drawText(real_rect.x(), real_rect.bottom(), text);
-}
-
-int HudRendererSP::drawRightDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color) {
-
-  p.setFont(InterFont(28, QFont::Bold));
-  x += 92;
-  y += 80;
-  drawText(p, x, y, label);
-
-  p.setFont(InterFont(30 * 2, QFont::Bold));
-  y += 65;
-  drawText(p, x, y, value, color);
-
-  p.setFont(InterFont(28, QFont::Bold));
-
-  if (units.length() > 0) {
-    p.save();
-    x += 120;
-    y -= 25;
-    p.translate(x, y);
-    p.rotate(-90);
-    drawText(p, 0, 0, units);
-    p.restore();
-  }
-
-  return 130;
-}
-
-void HudRendererSP::drawRightDevUI(QPainter &p, int x, int y) {
-  int rh = 5;
-  int ry = y;
-
-  UiElement dRelElement = DeveloperUi::getDRel(lead_status, lead_d_rel);
-  rh += drawRightDevUIElement(p, x, ry, dRelElement.value, dRelElement.label, dRelElement.units, dRelElement.color);
-  ry = y + rh;
-
-  UiElement vRelElement = DeveloperUi::getVRel(lead_status, lead_v_rel, is_metric, speedUnit);
-  rh += drawRightDevUIElement(p, x, ry, vRelElement.value, vRelElement.label, vRelElement.units, vRelElement.color);
-  ry = y + rh;
-
-  UiElement steeringAngleDegElement = DeveloperUi::getSteeringAngleDeg(angleSteers, latActive, steerOverride);
-  rh += drawRightDevUIElement(p, x, ry, steeringAngleDegElement.value, steeringAngleDegElement.label, steeringAngleDegElement.units, steeringAngleDegElement.color);
-  ry = y + rh;
-
-  UiElement actuatorsOutputLateralElement = DeveloperUi::getActuatorsOutputLateral(steerControlType, actuators, desiredCurvature, vEgo, roll, latActive, steerOverride);
-  rh += drawRightDevUIElement(p, x, ry, actuatorsOutputLateralElement.value, actuatorsOutputLateralElement.label, actuatorsOutputLateralElement.units, actuatorsOutputLateralElement.color);
-  ry = y + rh;
-
-  UiElement actualLateralAccelElement = DeveloperUi::getActualLateralAccel(curvature, vEgo, roll, latActive, steerOverride);
-  rh += drawRightDevUIElement(p, x, ry, actualLateralAccelElement.value, actualLateralAccelElement.label, actualLateralAccelElement.units, actualLateralAccelElement.color);
-}
-
-int HudRendererSP::drawBottomDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color) {
-  p.setFont(InterFont(38, QFont::Bold));
-  QFontMetrics fm(p.font());
-  QRect init_rect = fm.boundingRect(label + " ");
-  QRect real_rect = fm.boundingRect(init_rect, 0, label + " ");
-  real_rect.moveCenter({x, y});
-
-  QRect init_rect2 = fm.boundingRect(value);
-  QRect real_rect2 = fm.boundingRect(init_rect2, 0, value);
-  real_rect2.moveTop(real_rect.top());
-  real_rect2.moveLeft(real_rect.right() + 10);
-
-  QRect init_rect3 = fm.boundingRect(units);
-  QRect real_rect3 = fm.boundingRect(init_rect3, 0, units);
-  real_rect3.moveTop(real_rect.top());
-  real_rect3.moveLeft(real_rect2.right() + 10);
-
-  p.setPen(Qt::white);
-  p.drawText(real_rect, Qt::AlignLeft | Qt::AlignVCenter, label);
-
-  p.setPen(color);
-  p.drawText(real_rect2, Qt::AlignRight | Qt::AlignVCenter, value);
-  p.drawText(real_rect3, Qt::AlignLeft | Qt::AlignVCenter, units);
-  return 430;
-}
-
-void HudRendererSP::drawBottomDevUI(QPainter &p, int x, int y) {
-  int rw = 90;
-
-  UiElement aEgoElement = DeveloperUi::getAEgo(aEgo);
-  rw += drawBottomDevUIElement(p, rw, y, aEgoElement.value, aEgoElement.label, aEgoElement.units, aEgoElement.color);
-
-  UiElement vEgoLeadElement = DeveloperUi::getVEgoLead(lead_status, lead_v_rel, vEgo, is_metric, speedUnit);
-  rw += drawBottomDevUIElement(p, rw, y, vEgoLeadElement.value, vEgoLeadElement.label, vEgoLeadElement.units, vEgoLeadElement.color);
-
-  if (torqueLateral && torquedUseParams) {
-    UiElement frictionCoefficientFilteredElement = DeveloperUi::getFrictionCoefficientFiltered(frictionCoefficientFiltered, liveValid);
-    rw += drawBottomDevUIElement(p, rw, y, frictionCoefficientFilteredElement.value, frictionCoefficientFilteredElement.label, frictionCoefficientFilteredElement.units, frictionCoefficientFilteredElement.color);
-
-    UiElement latAccelFactorFilteredElement = DeveloperUi::getLatAccelFactorFiltered(latAccelFactorFiltered, liveValid);
-    rw += drawBottomDevUIElement(p, rw, y, latAccelFactorFilteredElement.value, latAccelFactorFilteredElement.label, latAccelFactorFilteredElement.units, latAccelFactorFilteredElement.color);
-  } else {
-    UiElement steeringTorqueEpsElement = DeveloperUi::getSteeringTorqueEps(steeringTorqueEps);
-    rw += drawBottomDevUIElement(p, rw, y, steeringTorqueEpsElement.value, steeringTorqueEpsElement.label, steeringTorqueEpsElement.units, steeringTorqueEpsElement.color);
-
-    UiElement bearingDegElement = DeveloperUi::getBearingDeg(bearingAccuracyDeg, bearingDeg);
-    rw += drawBottomDevUIElement(p, rw, y, bearingDegElement.value, bearingDegElement.label, bearingDegElement.units, bearingDegElement.color);
-  }
-
-  UiElement altitudeElement = DeveloperUi::getAltitude(gpsAccuracy, altitude);
-  rw += drawBottomDevUIElement(p, rw, y, altitudeElement.value, altitudeElement.label, altitudeElement.units, altitudeElement.color);
 }
@@ -7,8 +7,9 @@

 #pragma once

+#include <QPainter>
+
 #include "selfdrive/ui/qt/onroad/hud.h"
-#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h"

 class HudRendererSP : public HudRenderer {
  Q_OBJECT
@@ -17,40 +18,4 @@ public:
  HudRendererSP();
  void updateState(const UIState &s) override;
  void draw(QPainter &p, const QRect &surface_rect) override;
-
-private:
-  Params params;
-  void drawText(QPainter &p, int x, int y, const QString &text, QColor color = Qt::white);
-  void drawRightDevUI(QPainter &p, int x, int y);
-  int drawRightDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color);
-  int drawBottomDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color);
-  void drawBottomDevUI(QPainter &p, int x, int y);
-
-  bool lead_status;
-  float lead_d_rel;
-  float lead_v_rel;
-  bool torqueLateral;
-  float angleSteers;
-  float desiredCurvature;
-  float curvature;
-  float roll;
-  int memoryUsagePercent;
-  int devUiInfo;
-  float gpsAccuracy;
-  float altitude;
-  float vEgo;
-  float aEgo;
-  float steeringTorqueEps;
-  float bearingAccuracyDeg;
-  float bearingDeg;
-  bool torquedUseParams;
-  float latAccelFactorFiltered;
-  float frictionCoefficientFiltered;
-  bool liveValid;
-  QString speedUnit;
-  bool latActive;
-  bool steerOverride;
-  bool reversing;
-  cereal::CarParams::SteerControlType steerControlType;
-  cereal::CarControl::Actuators::Reader actuators;
 };
@@ -86,5 +86,154 @@ void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Rea
  } else {
    // Normal path rendering
    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);
+
+    bool longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
+    if (!longitudinal_control) {
+        lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
+        return;
+    }
+
+    if (!sm.alive("radarState")) {
+        lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
+        return;
+    }
+
+    const auto &radar_state = sm["radarState"].getRadarState();
+    const auto &lead_one = radar_state.getLeadOne();
+    const auto &lead_two = radar_state.getLeadTwo();
+
+    bool has_lead_one = lead_one.getStatus();
+    bool has_lead_two = lead_two.getStatus();
+
+    if (!has_lead_one && !has_lead_two) {
+        lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
+        if (lead_status_alpha <= 0.0f) return;
+    } else {
+        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());
+    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);
+
+    bool is_metric = s->scene.is_metric;
+    QStringList text_lines;
+
+    const int chevron_all = 4;
+    QStringList chevron_text[3];
+
+    // Distance display
+    if (chevron_data == 1 || chevron_data == chevron_all) {
+        int pos = 0;
+        float val = std::max(0.0f, d_rel);
+        QString unit = is_metric ? "m" : "ft";
+        if (!is_metric) val *= 3.28084f;
+        chevron_text[pos].append(QString::number(val, 'f', 0) + " " + unit);
+    }
+
+    // Speed display
+    if (chevron_data == 2 || chevron_data == chevron_all) {
+        int pos = (chevron_data == 2) ? 0 : 1;
+        float multiplier = is_metric ? static_cast<float>(MS_TO_KPH) : static_cast<float>(MS_TO_MPH);
+        float val = std::max(0.0f, (v_rel + v_ego) * multiplier);
+        QString unit = is_metric ? "km/h" : "mph";
+        chevron_text[pos].append(QString::number(val, 'f', 0) + " " + unit);
+    }
+
+    // Time to contact
+    if (chevron_data == 3 || chevron_data == chevron_all) {
+        int pos = (chevron_data == 3) ? 0 : 2;
+        float val = (d_rel > 0 && v_ego > 0) ? std::max(0.0f, d_rel / v_ego) : 0.0f;
+        QString ttc = (val > 0 && val < 200) ? QString::number(val, 'f', 1) + "s" : "---";
+        chevron_text[pos].append(ttc);
+    }
+
+    for (int i = 0; i < 3; ++i) {
+        if (!chevron_text[i].isEmpty()) {
+            text_lines.append(chevron_text[i]);
+        }
+    }
+
+    if (text_lines.isEmpty()) return;
+
+    QFontMetrics fm(content_font);
+    float text_width = 120.0f;
+    for (const QString &line : text_lines) {
+        text_width = std::max(text_width, fm.horizontalAdvance(line) + 20.0f);
+    }
+    text_width = std::min(text_width, 250.0f);
+
+    float line_height = 45.0f;
+    float total_height = text_lines.size() * line_height;
+    float margin = 20.0f;
+
+    float text_y = chevron_pos.y() + sz + 15;
+    if (text_y + total_height > height - margin) {
+        text_y = chevron_pos.y() - sz - 15 - total_height;
+        text_y = std::max(margin, text_y);
+    }
+
+    float text_x = chevron_pos.x() - text_width / 2;
+    text_x = std::clamp(text_x, margin, (float)width - text_width - margin);
+
+    QPoint shadow_offset(2, 2);
+
+    for (int i = 0; i < text_lines.size(); ++i) {
+        float y = text_y + (i * line_height);
+        if (y + line_height > height - margin) break;
+
+        QRect rect(text_x, y, text_width, line_height);
+
+        // Draw shadow
+        painter.setPen(QColor(0, 0, 0, (int)(200 * lead_status_alpha)));
+        painter.drawText(rect.translated(shadow_offset), Qt::AlignCenter, text_lines[i]);
+
+        QColor text_color = QColor(255, 255, 255, (int)(255 * lead_status_alpha));
+        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));
+            } else if (d_rel < 40.0f) {
+                text_color = QColor(255, 200, 80, (int)(255 * lead_status_alpha));
+            } else {
+                text_color = QColor(80, 255, 120, (int)(255 * lead_status_alpha));
+            }
+        }
+
+        painter.setPen(text_color);
+        painter.drawText(rect, Qt::AlignCenter, text_lines[i]);
+    }
+
+    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;
 };
@@ -18,22 +18,13 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
    "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
    "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
    "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
-    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
-    "carControl", "gpsLocationExternal", "gpsLocation", "liveTorqueParameters",
-    "carStateSP", "liveParameters"
+    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP"
  });

  // update timer
  timer = new QTimer(this);
  QObject::connect(timer, &QTimer::timeout, this, &UIStateSP::update);
  timer->start(1000 / UI_FREQ);
-
-  // Param watcher for UIScene param updates
-  param_watcher = new ParamWatcher(this);
-  connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
-    ui_update_params_sp(this);
-  });
-  param_watcher->addParam("DevUIInfo");
 }

 // This method overrides completely the update method from the parent class intentionally.
@@ -48,11 +39,6 @@ void UIStateSP::update() {
  emit uiUpdate(*this);
 }

-void ui_update_params_sp(UIStateSP *s) {
-  auto params = Params();
-  s->scene.dev_ui_info = std::atoi(params.get("DevUIInfo").c_str());
-}
-
 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {
  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &DeviceSP::update);
  QObject::connect(this, &Device::displayPowerChanged, this, &DeviceSP::handleDisplayPowerChanged);
@@ -13,7 +13,6 @@
 #include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/role_model.h"
 #include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/sponsor_role_model.h"
 #include "selfdrive/ui/ui.h"
-#include "selfdrive/ui/qt/util.h"

 class UIStateSP : public UIState {
  Q_OBJECT
@@ -74,7 +73,6 @@ private slots:
 private:
  std::vector<RoleModel> sunnylinkRoles = {};
  std::vector<UserModel> sunnylinkUsers = {};
-  ParamWatcher *param_watcher;
 };

 UIStateSP *uiStateSP();
@@ -94,5 +92,3 @@ private:

 DeviceSP *deviceSP();
 inline DeviceSP *device() { return deviceSP(); }
-
-void ui_update_params_sp(UIStateSP *s);
@@ -1,12 +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
-
-typedef struct UISceneSP : UIScene {
-  int dev_ui_info = 0;
-} UISceneSP;
@@ -66,11 +66,6 @@ typedef struct UIScene {
  uint64_t started_frame;
 } UIScene;

-#ifdef SUNNYPILOT
-#include "sunnypilot/ui_scene.h"
-#define UIScene UISceneSP
-#endif
-
 class UIState : public QObject {
  Q_OBJECT

@@ -23,7 +23,7 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce

 import cereal.messaging as messaging
 from sunnypilot.sunnylink.api import SunnylinkApi
-from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte, save_param_from_base64_encoded_string
+from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte

 SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://ws.stg.api.sunnypilot.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
@@ -50,7 +50,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
              threading.Thread(target=ws_ping, args=(ws, end_event), name='ws_ping'),
              threading.Thread(target=ws_queue, args=(end_event,), name='ws_queue'),
              threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
-              # threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
+              threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
              # threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'),
            ] + [
              threading.Thread(target=jsonrpc_handler, args=(end_event, partial(startLocalProxy, end_event),), name=f'worker_{x}')
@@ -184,18 +184,14 @@ def getParams(params_keys: list[str], compression: bool = False) -> str | dict[s

  try:
    param_keys_validated = [key for key in params_keys if key in getParamsAllKeys()]
-    params_dict: dict[str, list[dict[str, str | bool | int]]] = {"params": []}
-    for key in param_keys_validated:
-      value = get_param_as_byte(key)
-      if value is None:
-        continue
-
-      params_dict["params"].append({
+    params_dict:  dict[str, list[dict[str, str | bool | int ]]] = {"params": [
+      {
        "key": key,
-        "value": base64.b64encode(gzip.compress(value) if compression else value).decode('utf-8'),
+        "value": base64.b64encode(gzip.compress(get_param_as_byte(key)) if compression else get_param_as_byte(key)).decode('utf-8'),
        "type": int(params.get_type(key).value),
        "is_compressed": compression
-      })
+      } for key in param_keys_validated
+    ]}

    response = {str(param.get('key')): str(param.get('value')) for param in params_dict.get("params", [])}
    response |= {"params": json.dumps(params_dict.get("params", []))} # Upcoming for settings v1
@@ -208,9 +204,15 @@ def getParams(params_keys: list[str], compression: bool = False) -> str | dict[s

@dispatcher.add_method
 def saveParams(params_to_update: dict[str, str], compression: bool = False) -> None:
-  for key, value in params_to_update.items():
+  params = Params()
+  params_dict = {key: base64.b64decode(value) for key, value in params_to_update.items()}
+
+  if compression:
+    params_dict = {key: gzip.decompress(value) for key, value in params_dict.items()}
+
+  for key, value in params_dict.items():
    try:
-      save_param_from_base64_encoded_string(key, value, compression)
+      params.put(key, value)
    except Exception as e:
      cloudlog.error(f"sunnylinkd.saveParams.exception {e}")

@@ -12,7 +12,7 @@ from enum import Enum
 from typing import Any

 from openpilot.common.git import get_branch
-from openpilot.common.params import Params, ParamKeyFlag
+from openpilot.common.params import Params, ParamKeyType, ParamKeyFlag
 from openpilot.common.realtime import Ratekeeper
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_version
@@ -20,7 +20,7 @@ from openpilot.system.version import get_version
 from cereal import messaging, custom
 from sunnypilot.sunnylink.api import SunnylinkApi
 from sunnypilot.sunnylink.backups.utils import decrypt_compressed_data, encrypt_compress_data, SnakeCaseEncoder
-from sunnypilot.sunnylink.utils import get_param_as_byte, save_param_from_base64_encoded_string
+from sunnypilot.sunnylink.utils import get_param_as_byte


 class OperationType(Enum):
@@ -173,7 +173,8 @@ class BackupManagerSP:
      self._update_progress(75.0, OperationType.RESTORE)

      # Apply configuration
-      self._apply_config(config_data)
+      all_values_encoded = self._get_metadata_value(backup_metadata, "all_values_encoded", "false")
+      self._apply_config(config_data, str(all_values_encoded).lower() == "true")

      self.restore_status = custom.BackupManagerSP.Status.completed
      self._update_progress(100.0, OperationType.RESTORE)
@@ -186,7 +187,7 @@ class BackupManagerSP:
      self._report_status()
      return False

-  def _apply_config(self, config_data: dict[str, str]) -> None:
+  def _apply_config(self, config_data: dict[str, str], all_values_encoded: bool = False) -> None:
    """Applies configuration data from a backup, but only for parameters marked as backupable."""
    backupable_params = [k.decode('utf-8') for k in self.params.all_keys(ParamKeyFlag.BACKUP)]
    backupable_set_lower = {p.lower() for p in backupable_params}
@@ -198,8 +199,26 @@ class BackupManagerSP:
      if param.lower() in backupable_set_lower:
        # Find real param name (with correct casing)
        real_param = next(p for p in backupable_params if p.lower() == param.lower())
+        param_type = self.params.get_type(real_param)
        try:
-          save_param_from_base64_encoded_string(real_param, encoded_value)
+          value = base64.b64decode(encoded_value) if all_values_encoded else encoded_value
+
+          if param_type != ParamKeyType.BYTES:
+            value = value.decode('utf-8')  # type: ignore
+
+          if param_type == ParamKeyType.STRING:
+            value = value
+          elif param_type == ParamKeyType.BOOL:
+            value = value.lower() in ('true', '1', 'yes')  # type: ignore
+          elif param_type == ParamKeyType.INT:
+            value = int(value)  # type: ignore
+          elif param_type == ParamKeyType.FLOAT:
+            value = float(value)  # type: ignore
+          elif param_type == ParamKeyType.TIME:
+            value = str(value)
+          elif param_type == ParamKeyType.JSON:
+            value = json.loads(value)
+          self.params.put(real_param, value)
          restored_count += 1
        except Exception as e:
          cloudlog.error(f"Failed to restore param {param}: {str(e)}")
@@ -1,5 +1,3 @@
-import base64
-import gzip
 import json
 from sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID
 from openpilot.common.params import Params, ParamKeyType
@@ -60,45 +58,13 @@ def get_api_token():
  print(f"API Token: {token}")


-def get_param_as_byte(param_name: str) -> bytes | None:
-  """Get a parameter as bytes. Returns None if the parameter does not exist."""
+def get_param_as_byte(param_name: str) -> bytes:
  params = Params()
  param = params.get(param_name)
-  if param is None:
-    return None
-
  param_type = params.get_type(param_name)
+
  if param_type == ParamKeyType.BYTES:
    return bytes(param)
  elif param_type == ParamKeyType.JSON:
    return json.dumps(param).encode('utf-8')
  return str(param).encode('utf-8')
-
-
-def save_param_from_base64_encoded_string(param_name: str, base64_encoded_data: str, is_compressed=False) -> None:
-  """Save a parameter from bytes. Overwrites the parameter if it already exists."""
-  params = Params()
-  # Find real param name (with correct casing)
-  param_type = params.get_type(param_name)
-  value = base64.b64decode(base64_encoded_data)
-
-  if is_compressed:
-    value = gzip.decompress(value)
-
-  # We convert to string anything that isn't bytes first. We later transform further.
-  if param_type != ParamKeyType.BYTES:
-    value = value.decode('utf-8')  # type: ignore
-
-  if param_type == ParamKeyType.STRING:
-    value = value
-  elif param_type == ParamKeyType.BOOL:
-    value = value.lower() in ('true', '1', 'yes')  # type: ignore
-  elif param_type == ParamKeyType.INT:
-    value = int(value)  # type: ignore
-  elif param_type == ParamKeyType.FLOAT:
-    value = float(value)  # type: ignore
-  elif param_type == ParamKeyType.TIME:
-    value = str(value)  # type: ignore
-  elif param_type == ParamKeyType.JSON:
-    value = json.loads(value)
-  params.put(param_name, value)
@@ -11,7 +11,7 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.common.git import get_commit, get_origin, get_branch, get_short_branch, get_commit_date

 RELEASE_SP_BRANCHES = ['release-c3']
-TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new', 'staging-tici']
+TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new']
 MASTER_SP_BRANCHES = ['master']
 RELEASE_BRANCHES = ['release3-staging', 'release3', 'release-tici', 'nightly'] + RELEASE_SP_BRANCHES
 TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] + TESTED_SP_BRANCHES
@@ -21,8 +21,6 @@ SP_BRANCH_MIGRATIONS = {
  ("tici", "dev-c3-new"): "staging-tici",
  ("tici", "master"): "master-tici",
  ("tici", "master-dev-c3-new"): "master-tici",
-  ("tici", "hkg-angle-steering-2025"): "hkg-angle-steering-2025-tici",
-  ("tici", "hkg-angle-steering-2025-prebuilt"): "hkg-angle-steering-2025-tici-prebuilt"
 }

 BUILD_METADATA_FILENAME = "build.json"
@@ -1,183 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<root>
- <tabbed_widget parent="main_window" name="Main Window">
-  <Tab containers="1" tab_name="actuator data">
-   <Container>
-    <DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.100000" left="301.990881" top="0.100000" right="462.962504"/>
-       <limitY/>
-       <curve name="/carControl/actuators/torque" color="#17becf"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-130.920132" left="301.990881" top="103.993176" right="462.962504"/>
-       <limitY/>
-       <curve name="/carControl/actuators/steeringAngleDeg" color="#1f77b4"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.604818" left="301.990881" top="24.797527" right="462.962504"/>
-       <limitY/>
-       <curve name="/carState/vEgoRaw" color="#ff7f0e"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.037812" left="301.990881" top="0.047261" right="462.962504"/>
-       <limitY/>
-       <curve name="/carControl/actuators/curvature" color="#f14cc1"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <Tab containers="1" tab_name="steering messages (CAN)">
-   <Container>
-    <DockSplitter orientation="-" sizes="0.142857;0.142857;0.142857;0.142857;0.142857;0.142857;0.142857" count="7">
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
-       <limitY/>
-       <curve name="/can/128/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#1f77b4"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-128.740000" left="301.990881" top="103.940000" right="462.962504"/>
-       <limitY/>
-       <curve name="/can/128/LKAS_ALT/ADAS_StrAnglReqVal" color="#29d627"/>
-       <curve name="/can/192/LKAS_ALT/ADAS_StrAnglReqVal" color="#b41f32"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
-       <limitY/>
-       <curve name="/carState/steeringPressed" color="#d62728"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="0.975000" left="301.990881" top="2.025000" right="462.962504"/>
-       <limitY/>
-       <curve name="/sendcan/0/LKAS_ALT/LKAS_ANGLE_ACTIVE" color="#1f77b4"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
-       <limitY/>
-       <curve name="/carState/steerFaultTemporary" color="#d62728"/>
-       <curve name="/carControl/latActive" color="#1ac938"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
-       <limitY/>
-       <curve name="/can/1/CCNC_0x161/DAW_ICON" color="#f14cc1"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-14.375000" left="301.990881" top="589.375000" right="462.962504"/>
-       <limitY/>
-       <curve name="/pandaStates/0/safetyTxBlocked" color="#1f77b4"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <Tab containers="1" tab_name="Understanding Torque">
-   <Container>
-    <DockSplitter orientation="-" sizes="0.5;0.5" count="2">
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-6.175000" left="429.901019" top="253.175000" right="590.696728"/>
-       <limitY/>
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-       <range bottom="-24.190000" left="301.990881" top="21.590000" right="462.962504"/>
-       <limitY/>
-       <curve name="/carState/steeringTorqueEps" color="#1ac938"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
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-  </Tab>
-  <Tab containers="1" tab_name="tab2">
-   <Container>
-    <DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Dots">
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-       <curve name="/can/128/LKAS_ALT/LKAS_ANGLE_ACTIVE" color="#b8c91a"/>
-       <curve name="/can/192/LKAS_ALT/LKAS_ANGLE_ACTIVE" color="#ff7f0e"/>
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-       <curve name="/can/1/CCNC_0x161/DAW_ICON" color="#f14cc1"/>
-       <curve name="/carState/steerFaultTemporary" color="#1f77b4"/>
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-       <curve name="/pandaStates/0/safetyTxBlocked" color="#bcbd22"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <currentTabIndex index="3"/>
- </tabbed_widget>
- <use_relative_time_offset enabled="1"/>
- <!-- - - - - - - - - - - - - - - -->
- <!-- - - - - - - - - - - - - - - -->
- <Plugins>
-  <plugin ID="DataLoad CSV">
-   <default time_axis="" delimiter="0"/>
-  </plugin>
-  <plugin ID="DataLoad MCAP"/>
-  <plugin ID="DataLoad Rlog"/>
-  <plugin ID="DataLoad ULog"/>
-  <plugin ID="Cereal Subscriber"/>
-  <plugin ID="UDP Server"/>
-  <plugin ID="WebSocket Server"/>
-  <plugin ID="ZMQ Subscriber"/>
-  <plugin ID="Fast Fourier Transform"/>
-  <plugin ID="Quaternion to RPY"/>
-  <plugin ID="Reactive Script Editor">
-   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
-   <scripts/>
-  </plugin>
-  <plugin ID="CSV Exporter"/>
- </Plugins>
- <!-- - - - - - - - - - - - - - - -->
- <!-- - - - - - - - - - - - - - - -->
- <customMathEquations/>
- <snippets/>
- <!-- - - - - - - - - - - - - - - -->
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-
@@ -1,636 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<root>
- <tabbed_widget name="Main Window" parent="main_window">
-  <Tab tab_name="actuator data" containers="1">
-   <Container>
-    <DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range right="396.045059" bottom="-0.100000" left="6.467547" top="0.100000"/>
-       <limitY/>
-       <curve name="/carControl/actuators/torque" color="#17becf"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range right="396.045059" bottom="-356.587494" left="6.467547" top="491.287506"/>
-       <limitY/>
-       <curve name="/carControl/actuators/steeringAngleDeg" color="#1f77b4"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range right="396.045059" bottom="-0.856228" left="6.467547" top="35.834527"/>
-       <limitY/>
-       <curve name="/carState/vEgoRaw" color="#ff7f0e"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range right="396.045059" bottom="-0.186684" left="6.467547" top="0.134230"/>
-       <limitY/>
-       <curve name="/carControl/actuators/curvature" color="#f14cc1"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <Tab tab_name="steering messages (CAN)" containers="1">
-   <Container>
-    <DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
-     <DockArea name="...">
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-      </plot>
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-       <limitY/>
-       <curve name="IMU_LatAccelVal_ms^2_roll_compensated" color="#ff7f0e"/>
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-       <curve name="/carState/steeringPressed" color="#d62728"/>
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-  </Tab>
-  <Tab tab_name="Understanding Torque" containers="1">
-   <Container>
-    <DockSplitter orientation="-" sizes="0.5;0.5" count="2">
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
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-       <limitY/>
-       <curve name="/carState/steeringTorqueEps" color="#1ac938"/>
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-  </Tab>
-  <Tab tab_name="Angle Error and Saturation TQ" containers="1">
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-  <currentTabIndex index="3"/>
- </tabbed_widget>
- <use_relative_time_offset enabled="1"/>
- <!-- - - - - - - - - - - - - - - -->
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-  <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 filename="../tmpgh9xhmjb.rlog" prefix="">
-   <selected_datasources value=""/>
-  </fileInfo>
- </previouslyLoaded_Datafiles>
- <!-- - - - - - - - - - - - - - - -->
- <customMathEquations>
-  <snippet name="Angle Staturation">
-   <global></global>
-   <function>if value > .3 then 
-    return 1
-end
-
-return 0</function>
-   <linked_source>Angle Error</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 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="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="carState.vEgo mph">
-   <global></global>
-   <function>return value * 2.23694</function>
-   <linked_source>/carState/vEgo</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="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="Zero">
-   <global></global>
-   <function>return (0)</function>
-   <linked_source>/carState/canValid</linked_source>
-  </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>
-  <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="engaged_accel_actuator">
-   <global>engage_delay = 5
-last_bad_time = -engage_delay</global>
-   <function>accel = value
-brake = v1
-gas = v2
-enabled = v3
-
-if (brake ~= 0 or gas ~= 0 or enabled == 0) then
-  last_bad_time = time
-end
-
-if (time > last_bad_time + engage_delay) then
-  return value
-else
-  return 0
-end</function>
-   <linked_source>/carControl/actuators/accel</linked_source>
-   <additional_sources>
-    <v1>/carState/brakePressed</v1>
-    <v2>/carState/gasPressed</v2>
-    <v3>/carControl/enabled</v3>
-   </additional_sources>
-  </snippet>
-  <snippet name="Angle Error">
-   <global>last_angle_requested = 0</global>
-   <function>angle_error = last_angle_requested - v1
-
-
-last_angle_requested = value
-return angle_error</function>
-   <linked_source>/carControl/actuators/steeringAngleDeg</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringAngleDeg</v1>
-   </additional_sources>
-  </snippet>
-  <snippet name="carState.vEgo kmh">
-   <global></global>
-   <function>return value * 3.6</function>
-   <linked_source>/carState/vEgo</linked_source>
-  </snippet>
-  <snippet name="engaged_accel_plan">
-   <global>engage_delay = 5
-last_bad_time = -engage_delay</global>
-   <function>accel = value
-brake = v1
-gas = v2
-enabled = v3
-
-if (brake ~= 0 or gas ~= 0 or enabled == 0) then
-  last_bad_time = time
-end
-
-if (time > last_bad_time + engage_delay) then
-  return value
-else
-  return 0
-end</function>
-   <linked_source>/longitudinalPlan/accels/0</linked_source>
-   <additional_sources>
-    <v1>/carState/brakePressed</v1>
-    <v2>/carState/gasPressed</v2>
-    <v3>/carControl/enabled</v3>
-   </additional_sources>
-  </snippet>
-  <snippet name="engaged_accel_actual">
-   <global>engage_delay = 5
-last_bad_time = -engage_delay</global>
-   <function>accel = value
-brake = v1
-gas = v2
-enabled = v3
-
-if (brake ~= 0 or gas ~= 0 or enabled == 0) then
-  last_bad_time = time
-end
-
-if (time > last_bad_time + engage_delay) then
-  return value
-else
-  return 0
-end</function>
-   <linked_source>/carState/aEgo</linked_source>
-   <additional_sources>
-    <v1>/carState/brakePressed</v1>
-    <v2>/carState/gasPressed</v2>
-    <v3>/carControl/enabled</v3>
-   </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="engaged curvature plan">
-   <global>engage_delay = 5
-last_bad_time = -engage_delay</global>
-   <function>curvature = value
-pressed = v1
-enabled = v2
-
-if (pressed == 1 or enabled == 0) then
-  last_bad_time = time
-end
-
-if (time > last_bad_time + engage_delay) then
-  return value
-else
-  return 0
-end</function>
-   <linked_source>/lateralPlan/curvatures/0</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/enabled</v2>
-   </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>
-  <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="engaged curvature vehicle model">
-   <global>engage_delay = 5
-last_bad_time = -engage_delay</global>
-   <function>curvature = value
-pressed = v1
-enabled = v2
-
-if (pressed == 1 or enabled == 0) then
-  last_bad_time = time
-end
-
-if (time > last_bad_time + engage_delay) then
-  return value
-else
-  return 0
-end</function>
-   <linked_source>/controlsState/curvature</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/enabled</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^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="engaged curvature yaw">
-   <global>engage_delay = 5
-last_bad_time = -engage_delay</global>
-   <function>curvature = value / v3
-pressed = v1
-enabled = v2
-
-if (pressed == 1 or enabled == 0) then
-  last_bad_time = time
-end
-
-if (time > last_bad_time + engage_delay) then
-  return curvature
-else
-  return 0
-end</function>
-   <linked_source>/liveLocationKalman/angularVelocityCalibrated/value/2</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/enabled</v2>
-    <v3>/liveLocationKalman/velocityCalibrated/value/0</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="Desired lateral accel (roll compensated)">
-   <global></global>
-   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/desiredCurvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-   </additional_sources>
-  </snippet>
- </customMathEquations>
- <snippets/>
- <!-- - - - - - - - - - - - - - - -->
-</root>
-
@@ -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>
- <!-- - - - - - - - - - - - - - - -->
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-  <fileInfo prefix="" filename="../tmpa_e8kwpj.rlog">
-   <selected_datasources value=""/>
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- <!-- - - - - - - - - - - - - - - -->
- <customMathEquations>
-  <snippet name="zero">
-   <global>min=0
-max=250
-max_from_speed=96
-
-rate_lim = 500
-
-la_deadzone = 0.38
-
-k1=200
-k2=20
-k3=1.0
-k4=1
-k5=10
-
-old = 0
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end
-
-function apply_rate_limit(old, new, limit)
-    return math.min(math.max(new, old - limit), old + limit)
-end
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-function apply_deadzone(val, deadzone)
-    if math.abs(val) &lt;= deadzone then
-        return 0.0
-    elseif val &lt; 0.0 then
-        return val + deadzone
-    else
-        return val - deadzone
-    end
-end</global>
-   <function>return 0</function>
-   <linked_source>/carState/aEgo</linked_source>
-  </snippet>
-  <snippet name="max torque lj adj">
-   <global>min=0
-max=250
-max_from_speed=96
-
-k1=200
-k2=30
-k3=1    
-k4=1
-k5=10
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end</global>
-   <function>return 250 - value * 20</function>
-   <linked_source>desired lateral jark</linked_source>
-  </snippet>
-  <snippet name="ang_cmd rate">
-   <global>firstX = 0
-firstY = 0
-is_first = true
-secondX = 0
-secondY = 0
-is_second = false</global>
-   <function>-- Wait for initial values
-if (is_first) then
-  is_first = false
-  is_second = true
-  firstX = time
-  firstY = value
-end
-
-if (is_second) then
-  is_second = false
-  secondX = time
-  secondY = value
-end
-
-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
-dx = time - firstX
-dy = value - firstY
-- Increment
-firstX = secondX
-firstY = secondY
-secondX = time
-secondY = value
-
-return dy/dx</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-  </snippet>
-  <snippet name="max torque(calc)">
-   <global>min=0
-max=250
-max_from_speed=96
-
-rate_lim = 500
-
-la_deadzone = 0.38
-
-k1=200
-k2=20
-k3=1.0
-k4=1
-k5=10
-
-old = 0
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end
-
-function apply_rate_limit(old, new, limit)
-    return math.min(math.max(new, old - limit), old + limit)
-end
-
-function apply_deadzone(val, deadzone)
-    if math.abs(val) &lt;= deadzone then
-        return 0.0
-    elseif val &lt; 0.0 then
-        return val + deadzone
-    else
-        return val - deadzone
-    end
-end</global>
-   <function>la = apply_deadzone(v2, la_deadzone)
-lj = v3
-
-if la == 0.0 then
-    lj = 0.0
-end
-
-fla = math.min(math.abs(k1 * la)^k3, max)
-flj = math.min(math.abs(k2 * lj)^k4, max)
-
-out = fla
-
-flv = math.min(max_from_speed, k5 * v4)
-
-out = out + flv
-
-out = math.max(math.min(out, max), min)
-
-if sign(la) == sign(lj) then
-    out = out - flj
-else
-    out = out + flj
-end
-
-
-if v5 == 1.0 then
-    out = 0.0
-end
-
-out = math.max(math.min(out, max), min)
-out = apply_rate_limit(old, out, rate_lim)
-old = out
-
-return out</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-   <additional_sources>
-    <v1>ang_cmd rate</v1>
-    <v2>desired lat accel</v2>
-    <v3>desired lateral jark</v3>
-    <v4>/carState/vEgo</v4>
-    <v5>/can/1/LFA_ALT/LKAS_ANGLE_ACTIVE</v5>
-   </additional_sources>
-  </snippet>
-  <snippet name="desired lateral jark">
-   <global>firstX = 0
-firstY = 0
-is_first = true
-secondX = 0
-secondY = 0
-is_second = false</global>
-   <function>-- Wait for initial values
-if (is_first) then
-  is_first = false
-  is_second = true
-  firstX = time
-  firstY = value
-end
-
-if (is_second) then
-  is_second = false
-  secondX = time
-  secondY = value
-end
-
-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
-dx = time - firstX
-dy = value - firstY
-- Increment
-firstX = secondX
-firstY = secondY
-secondX = time
-secondY = value
-
-return dy/dx</function>
-   <linked_source>desired lat accel</linked_source>
-  </snippet>
-  <snippet name="abs(des la accel)">
-   <global></global>
-   <function>return math.abs(value)</function>
-   <linked_source>desired lat accel</linked_source>
-  </snippet>
-  <snippet name="desired lat accel">
-   <global></global>
-   <function>return value * v1^2</function>
-   <linked_source>/controlsState/desiredCurvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-   </additional_sources>
-  </snippet>
-  <snippet name="abs(ang_cmd)">
-   <global></global>
-   <function>return math.abs(value)</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-  </snippet>
- </customMathEquations>
- <snippets/>
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-       <curve name="/carOutput/actuatorsOutput/torque" color="#d62728"/>
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- <!-- - - - - - - - - - - - - - - -->
- <!-- - - - - - - - - - - - - - - -->
- <customMathEquations>
-  <snippet name="IMU_LatAccelVal_ms^2">
-   <global></global>
-   <function>return  value * -9.8</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="roll compensated lateral acceleration">
-   <global></global>
-   <function>if (v3 == 0 and v4 == 1) then
-  return  (value * v1 ^ 2) - (v2 * 9.81)
-end
-return 0</function>
-   <linked_source>/controlsState/curvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-    <v3>/carState/steeringPressed</v3>
-    <v4>/carControl/latActive</v4>
-   </additional_sources>
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-  <snippet name="IMU_LatAccelVal_Ms^2">
-   <global></global>
-   <function>if (v1 == 0 and v2 == 1) then
-  return  value * -9.8
-end
-return 0</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_Ms^3">
-   <global></global>
-   <function>return  value * -9.8</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_ms^2_roll_compensated">
-   <global></global>
-   <function>
-
-if (v1 == 0 and v2 == 1) then
-  return  (value * -9.8) - (v3 * 9.81)
-end
-return 0</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-    <v3>/liveParameters/roll</v3>
-   </additional_sources>
-  </snippet>
-  <snippet name="Actual lateral accel (roll compensated)">
-   <global></global>
-   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/curvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
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-  <snippet name="Desired lateral accel (roll compensated)">
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-   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/desiredCurvature</linked_source>
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-    <v1>/carState/vEgo</v1>
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-   </additional_sources>
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Author	SHA1	Message	Date
github-actions[bot]	7ccef2dd04	Allows us to stat getting the swaglogs from devices (same as commas)… (PR-1203)	2025-09-06 23:03:56 +00:00
github-actions[bot]	44d7a81806	mapd-sp: version bump `v.1.0.1` (PR-1202)	2025-09-06 23:03:55 +00:00
github-actions[bot]	7f69eca029	Visual: Move chevron to sp/qt (PR-1066)	2025-09-06 23:03:50 +00:00