no

This reverts commit b6170ac5e9.

.github/workflows/build-default-models.yaml

@@ -115,7 +115,7 @@ jobs:
           env ${TG_FLAGS} python3 ${{ github.workspace }}/${{ env.COMPILER }}/compile_onnx.py \
             ${{ github.workspace }}/${{ env.SMALL_ONNX }} \
             ${{ github.workspace }}/${{ env.SMALL_PKL }} \
-            --device-input "*" --out-of-band --benchmark-runs 1
+            --out-of-band --benchmark-runs 1
 
       - name: Prepare output
         env:
@@ -440,9 +440,10 @@ jobs:
           TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
 
           taskset -c 7 env ${TG_FLAGS} python3 \
-            ${{ github.workspace }}/tinygrad_repo/examples/openpilot/compile3.py \
+            ${{ github.workspace }}/tinygrad_repo/examples/openpilot/compile_onnx.py \
             ${{ github.workspace }}/${{ env.DM_ONNX }} \
-            ${{ github.workspace }}/${{ env.DM_PKL }}
+            ${{ github.workspace }}/${{ env.DM_PKL }} \
+            --out-of-band --benchmark-runs 1
 
       - name: Compile DM warp
         run: |

.github/workflows/compile-warp-kernels.yaml

@@ -58,6 +58,11 @@ jobs:
 
       - name: Create Pull Request
         uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
+        env:
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}
+          GIT_CONFIG_COUNT: 1
+          GIT_CONFIG_KEY_0: credential.https://huggingface.co.helper
+          GIT_CONFIG_VALUE_0: '!f() { test "$1" = get && echo username=user && echo "password=$HF_TOKEN"; }; f'
         with:
           author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
           token: ${{ secrets.GITHUB_TOKEN }}
@@ -69,3 +74,7 @@ jobs:
           labels: bot
           add-paths: |
             openpilot/sunnypilot/modeld_v2/models/*.pkl
+
+      - name: Reset lfs access
+        if: always()
+        run: git config --local --unset-all "lfs.$(git config -f .lfsconfig lfs.url).access" || true

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

@@ -594,8 +594,14 @@ jobs:
       - name: Publish chestnut branch
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}
         run: |
           CHESTNUT_BRANCH="${{ needs.prepare_strategy.outputs.new_branch }}-chestnut"
+          cp .lfsconfig "${{ env.OUTPUT_DIR }}/"
+          echo 'openpilot/selfdrive/modeld/models/big_*_tinygrad.pkl filter=lfs diff=lfs merge=lfs -text' > "${{ env.OUTPUT_DIR }}/.gitattributes"
+          git lfs install
+          git config --global credential.helper store
+          echo "https://user:${HF_TOKEN}@huggingface.co" > ~/.git-credentials
 
           ${{ env.CI_DIR }}/publish.sh \
             "${{ github.workspace }}" \

openpilot/common/params_keys.h

@@ -256,7 +256,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
     {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
-    {"LanefulStrength", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
     {"PlanplusControl", {PERSISTENT | BACKUP, FLOAT, "1.0"}},
 
     // mapd

openpilot/selfdrive/modeld/SConscript

@@ -48,8 +48,9 @@ def compile_model(onnx_path, pkl_path):
     Action(cmd, "  [ONNX] $TARGET"),
   )
 
-compile_model('models/dmonitoring_model.onnx', 'models/dmonitoring_model_tinygrad.pkl')
-compile_model('models/driving_supercombo.onnx', 'models/driving_tinygrad.pkl')
+if not os.getenv('SKIP_TINYGRAD_COMPILE'):
+  compile_model('models/dmonitoring_model.onnx', 'models/dmonitoring_model_tinygrad.pkl')
+  compile_model('models/driving_supercombo.onnx', 'models/driving_tinygrad.pkl')
 
 model_w, model_h = MEDMODEL_INPUT_SIZE
 for cam_w, cam_h in camera_configs:
@@ -62,7 +63,7 @@ for cam_w, cam_h in camera_configs:
   lenv.Command(warp_pkl_path, tinygrad_files + warp_deps + [Value(cmd)], cmd)
 
 dm_w, dm_h = DM_INPUT_SIZE
-for cam_w, cam_h in camera_configs:
+for cam_w, cam_h in [] if os.getenv('SKIP_TINYGRAD_COMPILE') else camera_configs:
   dm_pkl_path = File(f"models/dm_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
   stride, y_height, uv_height, frame_size = get_nv12_info(cam_w, cam_h)
   cmd = (f'{tg_flags} {mac_brew_string} python3 "{compiler}/compile_warp.py" '

openpilot/selfdrive/modeld/modeld.py

@@ -7,6 +7,7 @@ from functools import cached_property
 import os
 os.environ['GMMU'] = '0' # for chestnut fast loading, noop for qcom
 os.environ.setdefault('AM_POWER_LIMIT', '100')
+os.environ.setdefault('AM_PERF_LEVEL', 'high')
 from tinygrad.device import Buffer, Device
 from tinygrad.dtype import DType, dtypes
 from tinygrad.engine.realize import lower_and_compile

openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -206,8 +206,6 @@ class AugmentedRoadView(CameraView):
   def _handle_mouse_release(self, mouse_pos: MousePos):
     # Don't trigger click callback if bookmark was triggered
     if not self._bookmark_icon.interacting():
-      if self._model_renderer.laneful.handle_tap(mouse_pos):
-        return
       super()._handle_mouse_release(mouse_pos)
 
   def _render(self, _):

openpilot/selfdrive/ui/mici/onroad/model_renderer.py

@@ -141,7 +141,6 @@ class ModelRenderer(Widget, ModelRendererSP):
     if ui_state.status != UIStatus.DISENGAGED:
       self._draw_lane_lines()
       self._draw_path()
-      self.laneful.draw(self._rect)
 
     if render_lead_indicator:
       self._update_leads(sm)
@@ -220,7 +219,6 @@ class ModelRenderer(Widget, ModelRendererSP):
     # Update road edges using raw points
     for road_edge in self._road_edges:
       road_edge.projected_points = self._map_line_to_polygon(road_edge.raw_points, line_width_factor, 0.0, max_idx)
-    self.laneful.update(self, max_idx)
 
     # Update path using raw points
     if lead and lead.present:

openpilot/selfdrive/ui/sunnypilot/layouts/settings/cruise.py

@@ -8,7 +8,6 @@ from enum import IntEnum
 
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise_sub_layouts.speed_limit_settings import SpeedLimitSettingsLayout
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
 from openpilot.system.ui.lib.multilang import tr, tr_noop
 from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp, simple_button_item_sp
 from openpilot.system.ui.widgets import Widget
@@ -30,7 +29,6 @@ ACC_ENABLED_DESCRIPTION = tr_noop("Enable custom Short & Long press increments f
 ACC_NOLONG_DESCRIPTION = tr_noop("This feature can only be used with sunnypilot longitudinal control enabled.")
 ACC_PCMCRUISE_DISABLED_DESCRIPTION = tr_noop("This feature is not supported on this platform due to vehicle limitations.")
 ONROAD_ONLY_DESCRIPTION = tr_noop("Start the vehicle to check vehicle compatibility.")
-MAP_UNAVAILABLE_DESCRIPTION = tr_noop("Map data is temporarily unavailable.")
 
 
 class CruiseLayout(Widget):
@@ -56,8 +54,7 @@ class CruiseLayout(Widget):
 
     self.scc_m_toggle = toggle_item_sp(
       title=tr("Smart Cruise Control - Map"),
-      description=(f"<b>{tr(MAP_UNAVAILABLE_DESCRIPTION)}</b>\n\n" if not MAPD_AVAILABLE else "") +
-                  tr("Use map data to estimate the appropriate speed to drive through turns ahead."),
+      description=tr("Use map data to estimate the appropriate speed to drive through turns ahead."),
       param="SmartCruiseControlMap")
 
     self.custom_acc_toggle = toggle_item_sp(
@@ -142,7 +139,7 @@ class CruiseLayout(Widget):
       if has_long or has_icbm:
         self.custom_acc_toggle.action_item.set_enabled(((has_long and not ui_state.CP.pcmCruise) or has_icbm) and ui_state.is_offroad())
         self.scc_v_toggle.action_item.set_enabled(True)
-        self.scc_m_toggle.action_item.set_enabled(MAPD_AVAILABLE)
+        self.scc_m_toggle.action_item.set_enabled(True)
       else:
         ui_state.params.remove("CustomAccIncrementsEnabled")
         ui_state.params.remove("SmartCruiseControlVision")

openpilot/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_policy.py

@@ -8,8 +8,6 @@ from collections.abc import Callable
 
 import pyray as rl
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp
 from openpilot.system.ui.widgets.network import NavButton
@@ -45,8 +43,6 @@ class SpeedLimitPolicyLayout(Widget):
       param="SpeedLimitPolicy",
       button_width=250,
     )
-    if not MAPD_AVAILABLE:
-      self._speed_limit_policy.action_item.set_enabled_buttons({Policy.car_state_only})
 
     items = [
       self._speed_limit_policy
@@ -55,8 +51,6 @@ class SpeedLimitPolicyLayout(Widget):
 
   @staticmethod
   def _get_policy_description():
-    if not MAPD_AVAILABLE:
-      return f"<b>{tr('Map data is temporarily unavailable. Using Speed Limit data only from Car.')}</b>"
     return get_highlighted_description(ui_state.params, "SpeedLimitPolicy", SPEED_LIMIT_POLICY_DESCRIPTIONS)
 
   def _render(self, rect):

openpilot/selfdrive/ui/sunnypilot/mici/layouts/laneful.py

@@ -1,39 +0,0 @@
-"""
-Copyright (c) 2021-, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from openpilot.selfdrive.ui.mici.widgets.button import BigMultiToggle
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.widgets.scroller import NavScroller
-
-# above 1.0 the pull overshoots lane center and ping-pongs
-STRENGTHS = {"off": 0.0, "gentle": 0.5, "firm": 1.0}
-
-
-class LanefulStrengthToggle(BigMultiToggle):
-  """Tap to cycle LanefulStrength, like the driving personality toggle."""
-  def __init__(self):
-    super().__init__("laneful strength", list(STRENGTHS), select_callback=self._on_select,
-                     description="Nudges the car toward lane center.\n" +
-                                 "Firm centers faster than gentle.")
-    self.refresh()
-
-  def refresh(self):
-    strength = ui_state.params.get("LanefulStrength", return_default=True)
-    self.set_value(min(STRENGTHS, key=lambda k: abs(STRENGTHS[k] - strength)))
-
-  def _on_select(self, value: str):
-    ui_state.params.put("LanefulStrength", STRENGTHS[value])
-
-
-class LanefulLayoutMici(NavScroller):
-  def __init__(self):
-    super().__init__()
-    self._strength = LanefulStrengthToggle()
-    self._scroller.add_widget(self._strength)
-
-  def show_event(self):
-    super().show_event()
-    self._strength.refresh()

openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py

@@ -11,7 +11,6 @@ from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.models import ModelsLayoutMici
-from openpilot.selfdrive.ui.sunnypilot.mici.layouts.laneful import LanefulLayoutMici
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
@@ -51,10 +50,6 @@ class SettingsLayoutSP(OP.SettingsLayout):
     models_btn = SettingsBigButton(tr("models"), "", gui_app.texture("../../sunnypilot/selfdrive/assets/offroad/icon_models.png", ICON_SIZE, ICON_SIZE))
     models_btn.set_click_callback(lambda: gui_app.push_widget(models_panel))
 
-    laneful_panel = LanefulLayoutMici()
-    laneful_btn = SettingsBigButton(tr("laneful"), "", gui_app.texture("icons_mici/settings/device/lkas.png", ICON_SIZE, ICON_SIZE))
-    laneful_btn.set_click_callback(lambda: gui_app.push_widget(laneful_panel))
-
     # onroad: enable button sits at the front (left of toggles)
     self._enable_offroad_btn_onroad = BigCircleButton(self.icon_offroad_enable, red=True)
     self._enable_offroad_btn_onroad.set_click_callback(lambda: self._handle_always_offroad(True))
@@ -72,8 +67,7 @@ class SettingsLayoutSP(OP.SettingsLayout):
     items = self._scroller._items.copy()
 
     items.insert(1, models_btn)
-    items.insert(2, laneful_btn)
-    items.insert(6, sunnylink_btn)
+    items.insert(5, sunnylink_btn)
 
     # front slots (only one ever visible at a time): exit-always-offroad, then enable-onroad
     items.insert(0, self._enable_offroad_btn_onroad)

openpilot/selfdrive/ui/sunnypilot/mici/onroad/laneful.py

@@ -1,122 +0,0 @@
-"""
-Copyright (c) 2021-, 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.
-
-Laneful visuals: cyan lane-center target, thin white "after" path (model path bent by laneful's nudge),
-and a top-center readout of the pull. Mirrors the math in sunnypilot/modeld_v2/laneful.py.
-"""
-import numpy as np
-import pyray as rl
-from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.realtime import DT_MDL
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.shader_polygon import draw_polygon
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-
-CENTER_COLOR = (0, 200, 255)
-AFTER_COLOR = (255, 255, 255)
-# keep in sync with sunnypilot/modeld_v2/laneful.py
-LOOKAHEAD_TIME = 1.5
-MIN_LOOKAHEAD = 10.0
-MAX_ERROR = 0.5
-
-
-class LanefulRenderer:
-  def __init__(self):
-    self._center_points = np.empty((0, 2), dtype=np.float32)
-    self._after_points = np.empty((0, 2), dtype=np.float32)
-    self._trust = 0.0
-    self._strength = 0.0
-    self._frame = 0
-    self._font = gui_app.font(FontWeight.BOLD)
-    # smoothed copies for the readout so the numbers don't flicker
-    self._pull_display = FirstOrderFilter(0.0, 0.5, DT_MDL)
-    self._trust_display = FirstOrderFilter(0.0, 0.5, DT_MDL)
-    self._readout_rect: rl.Rectangle | None = None
-    self._settings_page = None
-
-  def update(self, renderer, max_idx: int) -> None:
-    """Called from the model renderer's update with its lane lines and path already in raw points."""
-    if self._frame % 60 == 0:
-      self._strength = ui_state.params.get("LanefulStrength", return_default=True)
-    self._frame += 1
-
-    left, right = renderer._lane_lines[1].raw_points, renderer._lane_lines[2].raw_points
-    stds = list(ui_state.sm['modelV2'].laneLineStds)
-    if self._strength <= 0.0 or len(left) == 0 or len(right) != len(left) or len(stds) < 3:
-      self._center_points = np.empty((0, 2), dtype=np.float32)
-      self._after_points = np.empty((0, 2), dtype=np.float32)
-      return
-
-    probs = renderer._lane_line_probs
-    l_prob = float(probs[1] * np.interp(stds[1], [0.15, 0.3], [1.0, 0.0]))
-    r_prob = float(probs[2] * np.interp(stds[2], [0.15, 0.3], [1.0, 0.0]))
-    width = np.clip(right[:, 1] - left[:, 1], 2.8, 4.5) if l_prob * r_prob > 0.5 else 3.7
-    center = left.copy()
-    center[:, 1] = (l_prob * (left[:, 1] + width / 2) + r_prob * (right[:, 1] - width / 2)) / (l_prob + r_prob + 1e-4)
-    self._trust = l_prob + r_prob - l_prob * r_prob
-    self._center_points = renderer._map_line_to_polygon(center, 0.1, 0.0, max_idx)
-
-    # "after" path: model path bent toward center the way laneful's pure-pursuit term steers, ending at the lookahead
-    path = renderer._path.raw_points
-    lookahead = max(ui_state.sm['carState'].vEgo * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
-    error = float(np.clip(np.interp(lookahead, center[:, 0], center[:, 1]) - np.interp(lookahead, path[:, 0], path[:, 1]),
-                          -MAX_ERROR, MAX_ERROR))
-    self._pull_display.update(self._trust * error)  # what laneful actually pulls, 0 when lines are untrusted
-    self._trust_display.update(self._trust)
-    after = path.copy()
-    after[:, 1] += self._strength * self._trust * error * (path[:, 0] / lookahead) ** 2
-    self._after_points = renderer._map_line_to_polygon(after, 0.15, renderer._path_offset_z,
-                                                       renderer._get_path_length_idx(path[:, 0], lookahead))
-
-  def draw(self, rect: rl.Rectangle) -> None:
-    if self._center_points.size and self._trust > 0.05:
-      draw_polygon(rect, self._center_points, rl.Color(*CENTER_COLOR, int(np.clip(self._trust, 0.2, 1.0) * 255)))
-    if self._after_points.size:
-      draw_polygon(rect, self._after_points, rl.Color(*AFTER_COLOR, 200))
-    self._readout_rect = None
-    if self._strength > 0.0:
-      self._draw_readout(rect)
-
-  def handle_tap(self, pos) -> bool:
-    """Tapping the readout opens the laneful settings page. Returns True if the tap was consumed."""
-    r = self._readout_rect
-    if r is None or not (r.x - 20 <= pos.x <= r.x + r.width + 20 and r.y - 20 <= pos.y <= r.y + r.height + 20):
-      return False
-    if self._settings_page is None:
-      from openpilot.selfdrive.ui.sunnypilot.mici.layouts.laneful import LanefulLayoutMici
-      self._settings_page = LanefulLayoutMici()
-    gui_app.push_widget(self._settings_page)
-    return True
-
-  def _draw_readout(self, rect: rl.Rectangle) -> None:
-    """Top-center pill: pull toward lane center in cm (capped at 50), arrow = side,
-    bar grows from center toward the pull (full at the cap), brighter with more lane line trust."""
-    pull, trust = self._pull_display.x, self._trust_display.x
-    w, h = 190, 76
-    x, y = rect.x + (rect.width - w) / 2, rect.y + 10
-    cx, cy = x + w / 2, y + 30
-    self._readout_rect = rl.Rectangle(x, y, w, h)
-    rl.draw_rectangle_rounded(self._readout_rect, 0.5, 12, rl.Color(0, 0, 0, 170))
-
-    text = f"{abs(pull) * 100:.0f}"
-    text_w = measure_text_cached(self._font, text, 44, 0).x
-    rl.draw_text_ex(self._font, text, rl.Vector2(cx - text_w / 2, cy - 24), 44, 0, rl.WHITE)
-
-    active = rl.Color(*CENTER_COLOR, int(np.clip(abs(pull) / 0.1, 0.0, 1.0) * 255))
-    idle = rl.Color(255, 255, 255, 40)
-    lx, rx = x + 18, x + w - 18
-    rl.draw_triangle(rl.Vector2(lx, cy), rl.Vector2(lx + 16, cy + 12), rl.Vector2(lx + 16, cy - 12), active if pull < 0 else idle)
-    rl.draw_triangle(rl.Vector2(rx - 16, cy - 12), rl.Vector2(rx - 16, cy + 12), rl.Vector2(rx, cy), active if pull > 0 else idle)
-
-    bar = rl.Rectangle(x + 24, y + h - 16, w - 48, 6)
-    rl.draw_rectangle_rounded(bar, 1.0, 6, rl.Color(255, 255, 255, 40))
-    rl.draw_rectangle(int(cx - 1), int(bar.y - 2), 2, int(bar.height + 4), rl.Color(255, 255, 255, 120))
-    fill = bar.width / 2 * float(np.clip(abs(pull) / MAX_ERROR, 0.0, 1.0))
-    if fill > 1:
-      fill_x = cx if pull > 0 else cx - fill
-      rl.draw_rectangle_rounded(rl.Rectangle(fill_x, bar.y, fill, bar.height), 1.0, 6,
-                                rl.Color(*CENTER_COLOR, int(np.clip(0.3 + 0.7 * trust, 0.0, 1.0) * 255)))

openpilot/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py

@@ -6,7 +6,6 @@ See the LICENSE.md file in the root directory for more details.
 """
 import pyray as rl
 from openpilot.selfdrive.ui.ui_state import UIStatus
-from openpilot.selfdrive.ui.sunnypilot.mici.onroad.laneful import LanefulRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
 
 LANE_LINE_COLORS_SP = {
@@ -18,4 +17,3 @@ LANE_LINE_COLORS_SP = {
 class ModelRendererSP:
   def __init__(self):
     self.rainbow_path = RainbowPath()
-    self.laneful = LanefulRenderer()

openpilot/sunnypilot/mapd/__init__.py

@@ -3,7 +3,3 @@ from openpilot.common.basedir import BASEDIR
 
 MAPD_BIN_DIR = os.path.join(BASEDIR, 'openpilot', 'third_party/mapd_pfeiferj')
 MAPD_PATH = os.path.join(MAPD_BIN_DIR, 'mapd')
-
-# mapd still runs (OSM downloads) but has no position source since ubloxd owns LastGPSPosition;
-# map-based features stay off until mapd is rebuilt
-MAPD_AVAILABLE = False

openpilot/sunnypilot/mapd/live_map_data/osm_map_data.py

@@ -4,6 +4,7 @@ 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.
 """
+import json
 import math
 import platform
 
@@ -26,6 +27,21 @@ class OsmMapData(BaseMapData):
       self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2])
       self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
 
+    if self.last_position is None:
+      return
+
+    params = {
+      "latitude": self.last_position.latitude,
+      "longitude": self.last_position.longitude,
+    }
+
+    if self.last_bearing is not None:
+      params['bearing'] = self.last_bearing
+
+    # mapd reads its position from the memory params as JSON, so write it for the mapd binary.
+    # LastGPSPosition is registered as BYTES (ubloxd owns the persistent copy for pigeond),
+    # so the JSON payload has to be encoded here.
+    self.mem_params.put("LastGPSPosition", json.dumps(params).encode(), block=True)
 
   def get_current_speed_limit(self) -> float:
     return float(self.mem_params.get("MapSpeedLimit") or 0.0)

openpilot/sunnypilot/mapd/mapd_manager.py

@@ -121,6 +121,10 @@ def update_osm_db() -> None:
   if not mem_params.get("OSMDownloadBounds"):
     mem_params.put("OSMDownloadBounds", "", block=True)
 
+  # mapd reads LastGPSPosition from the memory params as JSON, and it is registered as BYTES upstream
+  if not mem_params.get("LastGPSPosition"):
+    mem_params.put("LastGPSPosition", b"{}", block=True)
+
 
 def main_thread():
   update_installed_version(VERSION, params)

openpilot/sunnypilot/mapd/tests/test_osm_map_data.py

@@ -0,0 +1,70 @@
+"""
+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.
+"""
+import json
+import math
+import platform
+
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
+from openpilot.common.params import Params
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.sunnypilot.mapd.live_map_data.osm_map_data import OsmMapData
+
+
+class TestOsmMapData(OpenpilotTestCase):
+  """The mapd binary reads its position from the memory params as JSON, so mapd_manager has to feed it."""
+
+  LATITUDE = 32.875134
+  LONGITUDE = -117.209777
+  ALTITUDE = 42.0
+  BEARING = 90.0
+
+  def setup_method(self):
+    self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else Params()
+    self.mem_params.remove("LastGPSPosition")
+    self.map_data = OsmMapData()
+    self.pm = messaging.PubMaster(['liveLocationKalman'])
+
+  def location_message(self, status: log.LiveLocationKalman.Status, position_valid: bool):
+    msg = messaging.new_message('liveLocationKalman', valid=True)
+    location = msg.liveLocationKalman
+    location.status = status
+    location.positionGeodetic = {'value': [self.LATITUDE, self.LONGITUDE, self.ALTITUDE], 'valid': position_valid}
+    location.calibratedOrientationNED = {'value': [0.0, 0.0, math.radians(self.BEARING)], 'valid': True}
+    return msg
+
+  def send_location(self, status: log.LiveLocationKalman.Status, position_valid: bool) -> None:
+    # the first exchange synchronizes the PUB/SUB connection, the second one is actually received
+    self.pm.send('liveLocationKalman', self.location_message(status, position_valid))
+    self.map_data.sm.update(1000)
+    self.pm.send('liveLocationKalman', self.location_message(status, position_valid))
+    self.map_data.sm.update(1000)
+
+  def read_position(self) -> dict:
+    value = self.mem_params.get("LastGPSPosition")
+    self.assertIsNotNone(value, "LastGPSPosition was not written for mapd")
+    return json.loads(value)
+
+  def test_writes_position_for_mapd(self):
+    self.send_location(log.LiveLocationKalman.Status.valid, True)
+    self.map_data.tick()
+
+    position = self.read_position()
+    self.assertAlmostEqual(position['latitude'], self.LATITUDE, delta=1e-6)
+    self.assertAlmostEqual(position['longitude'], self.LONGITUDE, delta=1e-6)
+    self.assertAlmostEqual(position['bearing'], self.BEARING, delta=1e-6)
+
+  def test_invalid_localizer_keeps_last_known_position(self):
+    self.send_location(log.LiveLocationKalman.Status.valid, True)
+    self.map_data.tick()
+
+    self.send_location(log.LiveLocationKalman.Status.uninitialized, False)
+    self.map_data.tick()
+
+    position = self.read_position()
+    self.assertAlmostEqual(position['latitude'], self.LATITUDE, delta=1e-6)
+    self.assertAlmostEqual(position['longitude'], self.LONGITUDE, delta=1e-6)

openpilot/sunnypilot/modeld_v2/helpers.py

@@ -10,6 +10,7 @@ import builtins
 import contextlib
 import dataclasses
 import functools
+import gc
 import hashlib
 import io
 import itertools
@@ -111,17 +112,21 @@ def read_parts(path: str) -> tuple[dict, dict]:
   return parts, _MetadataUnpickler(io.BytesIO(bytes(blob[slice(*header["extras"])]))).load()
 
 
-def _extended(path: str, extend) -> tuple[dict, dict, str]:
+def _extended(path: str, extend) -> tuple[dict, dict, str, dict]:
   parts, extras = read_parts(path)
   added = extend(parts, extras) if extend else {}
-  return parts | added, extras, _parts_digest(added) if added else ""
+  return parts | added, extras, _parts_digest(added) if added else "", {key: parts[key] for key in added if key in parts}
 
 
 def load_model(path: str, device_map: dict | None = None, verify: bool = True, cache: bool = True, extend=None) -> dict:
-  parts, extras, extra = _extended(path, extend)
+  parts, extras, extra, replaced = _extended(path, extend)
   if cache and (cached := _read_cache(path, parts, device_map, extra)) is not None:
     return extras | cached
   shared: dict = {}
+  if verify and replaced:
+    for header, blob in replaced.values():
+      PlainJit(header, blob, device_map, verify, shared)
+    gc.collect()
   jits = {key: PlainJit(header, blob, device_map, verify, shared) for key, (header, blob) in parts.items()}
   if cache:
     _write_cache(path, jits, device_map, extra)

openpilot/sunnypilot/modeld_v2/laneful.py

@@ -1,79 +0,0 @@
-"""
-Copyright (c) 2021-, 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.
-
-Laneful: nudge the model's curvature toward the lane center seen by the lane lines.
-The model stays in charge; this only adds a pure-pursuit correction weighted by lane line confidence,
-and fades to zero (plain laneless) when the lines are weak.
-"""
-import numpy as np
-
-from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot.modeld_v2.constants import ModelConstants, Plan
-
-LANE_WIDTH_DEFAULT = 3.7  # m
-LANE_WIDTH_CLIP = (2.8, 4.5)  # m
-LOOKAHEAD_TIME = 1.5  # s
-MIN_LOOKAHEAD = 10.0  # m
-MAX_ERROR = 0.5  # m, cap on how far laneful can pull
-MIN_SPEED = 9.0  # m/s
-
-
-class Laneful:
-  def __init__(self):
-    self.lane_width = FirstOrderFilter(LANE_WIDTH_DEFAULT, 10.0, DT_MDL)
-
-  def update(self, model_output: dict[str, np.ndarray], v_ego: float, strength: float, desire_active: bool) -> float:
-    """Returns a curvature offset to add to the model's raw desired curvature."""
-    if strength <= 0.0 or desire_active or v_ego < MIN_SPEED or 'lane_lines' not in model_output:
-      return 0.0
-
-    lookahead = max(v_ego * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
-    lines = model_output['lane_lines'][0, :, :, 0]
-    left_y = np.interp(lookahead, ModelConstants.X_IDXS, lines[1])
-    right_y = np.interp(lookahead, ModelConstants.X_IDXS, lines[2])
-
-    # line confidence, discounted when the model is unsure where the line is
-    probs = model_output['lane_lines_prob'][0, 1::2]
-    stds = model_output['lane_lines_stds'][0, :, 0, 0]
-    l_prob = float(probs[1] * np.interp(stds[1], [0.15, 0.3], [1.0, 0.0]))
-    r_prob = float(probs[2] * np.interp(stds[2], [0.15, 0.3], [1.0, 0.0]))
-
-    if l_prob * r_prob > 0.5:
-      self.lane_width.update(float(np.clip(right_y - left_y, *LANE_WIDTH_CLIP)))
-    half_width = self.lane_width.x / 2
-
-    # one weak line -> hug the strong one at half a lane width
-    center_y = (l_prob * (left_y + half_width) + r_prob * (right_y - half_width)) / (l_prob + r_prob + 1e-4)
-    lane_trust = l_prob + r_prob - l_prob * r_prob
-
-    plan = model_output['plan'][0, :, Plan.POSITION]
-    plan_y = np.interp(lookahead, plan[:, 0], plan[:, 1])
-
-    error = np.clip(center_y - plan_y, -MAX_ERROR, MAX_ERROR)
-    return float(strength * lane_trust * 2.0 * error / lookahead ** 2)
-
-
-if __name__ == "__main__":
-  def fake_output(left_y, right_y, prob=0.9, std=0.1, plan_y=0.0):
-    x = np.array(ModelConstants.X_IDXS)
-    lines = np.zeros((1, 4, len(x), 2), dtype=np.float32)
-    lines[0, 1, :, 0], lines[0, 2, :, 0] = left_y, right_y
-    plan = np.zeros((1, len(x), 15), dtype=np.float32)
-    plan[0, :, 0], plan[0, :, 1] = x, plan_y
-    return {'lane_lines': lines, 'plan': plan,
-            'lane_lines_prob': np.full((1, 8), prob, dtype=np.float32),
-            'lane_lines_stds': np.full((1, 4, len(x), 2), std, dtype=np.float32)}
-
-  lf = Laneful()
-  assert abs(lf.update(fake_output(-1.85, 1.85), 25.0, 1.0, False)) < 1e-6, "centered -> no nudge"
-  assert lf.update(fake_output(-1.0, 2.7), 25.0, 1.0, False) > 0, "lane center to the +y side -> nudge toward +y"
-  assert lf.update(fake_output(-2.7, 1.0), 25.0, 1.0, False) < 0, "lane center to the -y side -> nudge toward -y"
-  assert lf.update(fake_output(-1.0, 2.7), 25.0, 1.0, True) == 0.0, "off during lane change/turn"
-  assert lf.update(fake_output(-1.0, 2.7, std=0.5), 25.0, 1.0, False) == 0.0, "blurry lines -> laneless"
-  assert lf.update(fake_output(-1.0, 2.7), 25.0, 0.0, False) == 0.0, "strength 0 -> off"
-  assert lf.update(fake_output(-1.0, 2.7), 25.0, 0.5, False) < lf.update(fake_output(-1.0, 2.7), 25.0, 1.0, False)
-  print("laneful self-check ok")

openpilot/sunnypilot/modeld_v2/modeld.py

@@ -39,7 +39,6 @@ from openpilot.selfdrive.modeld.modeld import ChestnutGpuState
 
 from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState, get_curvature_from_output
 from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser
-from openpilot.sunnypilot.modeld_v2.laneful import Laneful
 from openpilot.sunnypilot.modeld_v2.constants import ModelConstants, Plan
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
@@ -229,8 +228,7 @@ class ModelState(ModelStateBase):
     return outputs
 
   def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
-                            lat_action_t: float, long_action_t: float, v_ego: float,
-                            laneful_curvature: float = 0.0) -> log.ModelDataV2.Action:
+                            lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
     if 'action' not in model_output:
       plan = model_output['plan'][0]
       desired_accel = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
@@ -242,7 +240,6 @@ class ModelState(ModelStateBase):
     else:
       desired_accel = model_output['action'][0, 1]
       desired_curvature = model_output['action'][0, 0] / (max(1.0, v_ego))**2
-    desired_curvature += laneful_curvature
 
     stop = v_ego < 0.3 and desired_accel < 0.1
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
@@ -369,8 +366,6 @@ def main(demo=False):
   DH = DesireHelper()
   meta_constants = load_meta_constants()
   RELC = RoadEdgeLaneChangeController()
-  laneful = Laneful()
-  laneful_strength = 0.0
 
   while True:
     # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -414,7 +409,6 @@ def main(demo=False):
       model.lat_delay = get_lat_delay(params, sm["lateralDelay"].lateralDelay)
       model.PLANPLUS_CONTROL = params.get("PlanplusControl", return_default=True)
       camera_offset_helper.set_offset(params.get("CameraOffset", return_default=True))
-      laneful_strength = params.get("LanefulStrength", return_default=True)
     lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
     if sm.updated["extrinsicsCalibration"] and sm.seen['narrowRoadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["extrinsicsCalibration"].rpyCalib, dtype=np.float32)
@@ -488,9 +482,7 @@ def main(demo=False):
 
       if not sm['carControl'].latActive:
         prev_action.desiredCurvature = sm['controlsState'].curvature
-      laneful_curvature = laneful.update(model_output, v_ego, laneful_strength,
-                                         desire != log.Desire.none or DH.lane_change_state != log.LaneChangeState.off)
-      action = model.get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego, laneful_curvature)
+      action = model.get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego)
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,

openpilot/sunnypilot/models/default_model.py

@@ -22,7 +22,7 @@ DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "mode
 MODEL_HASH_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "models", "tests", "model_hash")
 BIG_MODEL_HASH_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "models", "tests", "big_model_hash")
 SUPERCOMBO_ONNX_PATH = os.path.join(BASEDIR, "openpilot", "selfdrive", "modeld", "models", "driving_supercombo.onnx")
-BIG_SUPERCOMBO_ONNX_PATH = os.path.join(BASEDIR, "openpilot", "selfdrive", "modeld", "models", "big_driving_supercombo.onnx")
+BIG_DRIVING_PKL_PATH = os.path.join(BASEDIR, "openpilot", "selfdrive", "modeld", "models", "big_driving_tinygrad.pkl")
 
 
 def _read_model_name_fields():
@@ -47,18 +47,17 @@ def update_model_hash():
 
   print(f"Generated and updated new combined model hash to {MODEL_HASH_PATH}")
 
-  if os.path.exists(BIG_SUPERCOMBO_ONNX_PATH):
-    import subprocess
-    rel = os.path.relpath(BIG_SUPERCOMBO_ONNX_PATH, os.getcwd())
-    pointer = subprocess.check_output(["git", "show", f"HEAD:{rel}"], text=True)
-    oid = next(l.split(":", 1)[1] for l in pointer.splitlines() if l.startswith("oid sha256:"))
-    big_fingerprint = f"{oid}:{fields.get('DEFAULT_BIG_MODEL', '')}:{fields.get('DEFAULT_BIG_MODEL_REF', '')}"
-    big_combined_hash = hashlib.sha256(big_fingerprint.encode()).hexdigest()
+  import subprocess
+  rel = os.path.relpath(BIG_DRIVING_PKL_PATH, os.getcwd())
+  pointer = subprocess.check_output(["git", "show", f"HEAD:{rel}"], text=True)
+  oid = next(l.split(":", 1)[1] for l in pointer.splitlines() if l.startswith("oid sha256:"))
+  big_fingerprint = f"{oid}:{fields.get('DEFAULT_BIG_MODEL', '')}:{fields.get('DEFAULT_BIG_MODEL_REF', '')}"
+  big_combined_hash = hashlib.sha256(big_fingerprint.encode()).hexdigest()
 
-    with open(BIG_MODEL_HASH_PATH, "w") as f:
-      f.write(big_combined_hash)
+  with open(BIG_MODEL_HASH_PATH, "w") as f:
+    f.write(big_combined_hash)
 
-    print(f"Generated and updated new big model hash to {BIG_MODEL_HASH_PATH}")
+  print(f"Generated and updated new big model hash to {BIG_MODEL_HASH_PATH}")
 
 
 def get_ref_for_name(url: str, name: str) -> str:

openpilot/sunnypilot/models/model_name.py

@@ -1,4 +1,4 @@
 DEFAULT_MODEL = "CD210"
 DEFAULT_MODEL_REF = "5b6436a90cf6902b8aaa71c2b6f3d7164d8ae391"
-DEFAULT_BIG_MODEL = "Cinque Terre Model v2"
-DEFAULT_BIG_MODEL_REF = "37bfa1413edcdc2e8844984b83727c33f81d8f46"
+DEFAULT_BIG_MODEL = "Mountain Dew Model v3"
+DEFAULT_BIG_MODEL_REF = "1e219d7785cfb7b7343c7f2366347fc86e7ce5f2"

openpilot/sunnypilot/models/tests/big_model_hash

@@ -1 +1 @@
-2c814f08a2c51323b87839fbf8d2c2a9853a2b5536271b3d67f7b7a2de7f9374
+330fdf61b5519642ebccd93aa50f2d7c4ba6c08c5a10c36a2cf155e498700cef

openpilot/sunnypilot/models/tests/test_default_model.py

@@ -10,7 +10,7 @@ import subprocess
 
 from openpilot.sunnypilot import get_file_hash
 from openpilot.sunnypilot.models.default_model import MODEL_HASH_PATH, SUPERCOMBO_ONNX_PATH, BIG_MODEL_HASH_PATH, \
-                                                      BIG_SUPERCOMBO_ONNX_PATH, _read_model_name_fields
+                                                      BIG_DRIVING_PKL_PATH, _read_model_name_fields
 import hashlib
 from openpilot.common.test import OpenpilotTestCase
 
@@ -36,12 +36,9 @@ class TestDefaultModel(OpenpilotTestCase):
 
     assert combined_hash == current_hash, "Run openpilot/sunnypilot/models/default_model.py to update the default model name and hash"
 
-  def test_compare_big_onnx_hashes(self):
-    if not os.path.exists(BIG_SUPERCOMBO_ONNX_PATH):
-      self.skipTest("big_driving_supercombo.onnx not present")
-
+  def test_compare_big_pkl_hashes(self):
     fields = _read_model_name_fields()
-    oid = _get_lfs_oid(os.path.relpath(BIG_SUPERCOMBO_ONNX_PATH, os.getcwd()))
+    oid = _get_lfs_oid(os.path.relpath(BIG_DRIVING_PKL_PATH, os.getcwd()))
     big_fingerprint = f"{oid}:{fields.get('DEFAULT_BIG_MODEL', '')}:{fields.get('DEFAULT_BIG_MODEL_REF', '')}"
     combined_hash = hashlib.sha256(big_fingerprint.encode()).hexdigest()
 

openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py

@@ -9,7 +9,6 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
 from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
-from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
 from openpilot.sunnypilot.navd.helpers import Coordinate
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control import MIN_V
 
@@ -76,7 +75,7 @@ class SmartCruiseControlMap:
   def __init__(self):
     self.params = Params()
     self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params
-    self.enabled = MAPD_AVAILABLE and self.params.get_bool("SmartCruiseControlMap")
+    self.enabled = self.params.get_bool("SmartCruiseControlMap")
     self.long_enabled = False
     self.long_override = False
     self.is_enabled = False
@@ -102,7 +101,7 @@ class SmartCruiseControlMap:
 
   def update_params(self):
     if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
-      self.enabled = MAPD_AVAILABLE and self.params.get_bool("SmartCruiseControlMap")
+      self.enabled = self.params.get_bool("SmartCruiseControlMap")
 
   def update_calculations(self, sm: messaging.SubMaster) -> None:
     gps = sm[self.gps_location_service]

openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py

@@ -8,7 +8,7 @@ import json
 import math
 import platform
 from types import SimpleNamespace
-from unittest.mock import MagicMock, patch
+from unittest.mock import MagicMock
 
 from openpilot.cereal import custom
 from openpilot.common.params import Params
@@ -23,8 +23,6 @@ MapState = VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.MapState
 class TestSmartCruiseControlMap(OpenpilotTestCase):
 
   def setup_method(self):
-    self.mapd_patch = patch("openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.map_controller.MAPD_AVAILABLE", True)
-    self.mapd_patch.start()
     self.params = Params()
     self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params
     self.reset_params()
@@ -32,9 +30,6 @@ class TestSmartCruiseControlMap(OpenpilotTestCase):
     self.sm = MagicMock()
     self.sm.__getitem__.return_value = SimpleNamespace(latitude=0.0, longitude=0.0)
 
-  def teardown_method(self):
-    self.mapd_patch.stop()
-
   def reset_params(self):
     self.params.put_bool("SmartCruiseControlMap", True, block=True)
 
@@ -55,14 +50,6 @@ class TestSmartCruiseControlMap(OpenpilotTestCase):
     assert self.scc_m.state == VisionState.disabled
     assert not self.scc_m.is_active
 
-  def test_mapd_unavailable(self):
-    self.mapd_patch.stop()
-    self.scc_m = SmartCruiseControlMap()
-    for _ in range(int(10. / DT_MDL)):
-      self.scc_m.update(self.sm, True, False, 0., 0., 0.)
-    assert self.scc_m.state == VisionState.disabled
-    self.mapd_patch.start()
-
   def test_disabled(self):
     for _ in range(int(10. / DT_MDL)):
       self.scc_m.update(self.sm, False, False, 0., 0., 0.)

openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py

@@ -13,7 +13,6 @@ from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD, get_sanitize_int_param
-from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import LIMIT_MAX_MAP_DATA_AGE, LIMIT_ADAPT_ACC
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy, OffsetType
 
@@ -49,8 +48,6 @@ class SpeedLimitResolver:
       Policy.max().value,
       self.params
     )
-    if not MAPD_AVAILABLE:
-      self.policy = Policy.car_state_only
     self._policy_to_sources_map = {
       Policy.car_state_only: [SpeedLimitSource.car],
       Policy.map_data_only: [SpeedLimitSource.map],
@@ -94,7 +91,7 @@ class SpeedLimitResolver:
 
   def update_params(self):
     if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
-      self.policy = self.params.get("SpeedLimitPolicy", return_default=True) if MAPD_AVAILABLE else Policy.car_state_only
+      self.policy = self.params.get("SpeedLimitPolicy", return_default=True)
       self.is_metric = self.params.get_bool("IsMetric")
       self.offset_type = self.params.get("SpeedLimitOffsetType", return_default=True)
       self.offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)

openpilot/sunnypilot/sunnylink/capabilities.py

@@ -15,7 +15,6 @@ from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.hardware import HARDWARE
-from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
 
 
 # Wire-protocol version for the capabilities payload. Bump on breaking changes
@@ -44,7 +43,6 @@ CAPABILITY_FIELDS = (
   "device_type",
   "subaru_has_sng",
   "hyundai_alpha_long_available",
-  "mapd_available",
 )
 
 CAPABILITY_LABELS: dict[str, str] = {
@@ -67,7 +65,6 @@ CAPABILITY_LABELS: dict[str, str] = {
   "device_type": "Device type",
   "subaru_has_sng": "Subaru Stop-and-Go available",
   "hyundai_alpha_long_available": "Hyundai Alpha Longitudinal available",
-  "mapd_available": "Map data available",
 }
 
 # Explicit defaults for non-boolean capability fields
@@ -135,7 +132,6 @@ def generate_capabilities(params: Params | None = None) -> dict:
   caps["is_sp_release"] = params.get_bool("IsReleaseSpBranch")
   caps["is_development"] = params.get_bool("IsDevelopmentBranch")
   caps["stock_longitudinal"] = params.get_bool("ToyotaEnforceStockLongitudinal")
-  caps["mapd_available"] = MAPD_AVAILABLE
 
   bundle = params.get("CarPlatformBundle")
   bundle_brand = _bundle_field(bundle, "brand")

openpilot/sunnypilot/sunnylink/docs/README.md

@@ -156,7 +156,7 @@ The tables below describe the **compiled** `settings_ui.json` schema — what th
 
 **Enablement rules**: Grayed out (disabled) when rules fail. Frontend shows a contextual badge explaining why.
 
-**Capability fields** (referenced in rules): `has_longitudinal_control`, `has_icbm`, `icbm_available`, `torque_allowed`, `brand`, `pcm_cruise`, `alpha_long_available`, `steer_control_type`, `has_bsm`, `is_release`, `is_sp_release`, `is_development`, `tesla_has_vehicle_bus`, `has_stop_and_go`, `stock_longitudinal`, `mapd_available`
+**Capability fields** (referenced in rules): `has_longitudinal_control`, `has_icbm`, `icbm_available`, `torque_allowed`, `brand`, `pcm_cruise`, `alpha_long_available`, `steer_control_type`, `has_bsm`, `is_release`, `is_sp_release`, `is_development`, `tesla_has_vehicle_bus`, `has_stop_and_go`, `stock_longitudinal`
 
 ---
 

openpilot/sunnypilot/sunnylink/settings_ui.json

@@ -857,47 +857,19 @@
                     },
                     {
                       "value": 1,
-                      "label": "Map Data Only",
-                      "enablement": [
-                        {
-                          "type": "capability",
-                          "field": "mapd_available",
-                          "equals": true
-                        }
-                      ]
+                      "label": "Map Data Only"
                     },
                     {
                       "value": 2,
-                      "label": "Car State Priority",
-                      "enablement": [
-                        {
-                          "type": "capability",
-                          "field": "mapd_available",
-                          "equals": true
-                        }
-                      ]
+                      "label": "Car State Priority"
                     },
                     {
                       "value": 3,
-                      "label": "Map Data Priority",
-                      "enablement": [
-                        {
-                          "type": "capability",
-                          "field": "mapd_available",
-                          "equals": true
-                        }
-                      ]
+                      "label": "Map Data Priority"
                     },
                     {
                       "value": 4,
-                      "label": "Combined",
-                      "enablement": [
-                        {
-                          "type": "capability",
-                          "field": "mapd_available",
-                          "equals": true
-                        }
-                      ]
+                      "label": "Combined"
                     }
                   ]
                 },
@@ -1029,11 +1001,6 @@
                 }
               ],
               "enablement": [
-                {
-                  "type": "capability",
-                  "field": "mapd_available",
-                  "equals": true
-                },
                 {
                   "type": "any",
                   "conditions": [

openpilot/sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml

@@ -167,28 +167,12 @@ sections:
         label: Car State Only
       - value: 1
         label: Map Data Only
-        enablement:
-        - type: capability
-          field: mapd_available
-          equals: true
       - value: 2
         label: Car State Priority
-        enablement:
-        - type: capability
-          field: mapd_available
-          equals: true
       - value: 3
         label: Map Data Priority
-        enablement:
-        - type: capability
-          field: mapd_available
-          equals: true
       - value: 4
         label: Combined
-        enablement:
-        - type: capability
-          field: mapd_available
-          equals: true
     - key: SpeedLimitOffsetType
       widget: multiple_button
       title: Speed Limit Offset Type
@@ -262,9 +246,6 @@ sections:
         field: has_icbm
         equals: true
     enablement:
-    - type: capability
-      field: mapd_available
-      equals: true
     - type: any
       conditions:
       - type: capability