Re enable sentry and swaglog handler for device metadata & crash information

This reverts commit a9f2f54bcc.

CHANGELOGS.md

@@ -5,9 +5,16 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
 * UPDATED: Synced with commaai's openpilot
   * master commit 4ef757c (July 06, 2024)
 * NEW❗: Default Driving Model: Notre Dame (July 01, 2024)
-* NEW❗: Longitudinal: Acceleration Personality thanks to kegman, rav4kumar, and arne1282!
+* NEW❗: Longitudinal: Acceleration Personality thanks to kegman, rav4kumar, and arne1282! (CTV 2.0: GlideTech)
   * Select from three distinct acceleration personalities: Eco, Normal, and Sport
   * Acceleration personalities are integrated directly into the model's acceleration matrix and can be activated in real-time!
+* NEW❗: Toyota - Drive Mode Selector
+  *  When enabled you can control acceleration personality just with press of button!
+* UPDATED: Dynamic Experimental Control
+  * Switched to weighted moving averages to enhance responsiveness to recent data.
+  * Goal is to improve real-time detection accuracy in dynamic conditions.
+  * Capable of handling the increased complexity that comes with this approach.
+  * Particularly beneficial in environments where recent changes are critical to performance.
 * NEW❗: Longitudinal: Dynamic Personality thanks to rav4kumar!
   * Dynamically adjusts following distance and reaction based on your "Driving Personality" setting
   * Personalities adapt in real-time to your speed and the distance to the lead car
@@ -26,8 +33,8 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
     * Toyota TSS1/1.5, equipped with factory Blind Spot Monitoring (BSM)
     * Prius TSS2, equipped with factory Blind Spot Monitoring (BSM)
   * NOTE: Only enable this feature if your Toyota/Lexus vehicle has factory Blind Spot Monitor equipped, and mentioned in the supported platforms list
-* UPDATED: Toyota: TSS2 longitudinal: Custom Tuning
-  * Re-tuned and tested by the community (July 1, 2024)
+* UPDATED: Toyota: TSS2 longitudinal: Custom Tuning (CTV 2.0: GlideTech)
+  * Re-tuned and tested by the community (September 29, 2024)
 * UPDATED: Driving Model Selector v5
   * NEW❗: Driving Model additions
     * Notre Dame (July 01, 2024) - NDv3
@@ -38,9 +45,6 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
   * In response to the official deprecation of support for Smart DSU (SDSU) and Radar CAN Filter in the upstream ([commaai/openpilot#32777](https://github.com/commaai/openpilot/pull/32777)), sunnypilot will continue maintaining software support for Smart DSU (SDSU) and Radar CAN Filter
 * UPDATED: Continued support for Mapbox navigation
   * In response to the official temporary deprecation of support for Mapbox navigation in the upstream ([commaai/openpilot#32773](https://github.com/commaai/openpilot/pull/32773)), sunnypilot will continue maintaining software support for Mapbox navigation
-* NEW❗: Toyota - Automatic Brake Hold (AHB) thanks to AlexandreSato!
-  * When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold
-  * NOTE: Only for Toyota/Lexus vehicles with TSS2/LSS2
 * NEW❗: Toyota - Automatic Door Locking and Unlocking thanks to AlexandreSato, cydia2020, and dragonpilot-community!
   * Auto Lock by Speed: All doors are automatically locked when vehicle speed is approximately 6 mph (10 km/h) or higher
   * Auto Unlock by Shift to P: All doors are automatically unlocked when shifting the shift lever to P

cereal/car.capnp

@@ -138,7 +138,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     speedLimitConfirmed @140;
     torqueNNLoad @141;
     hyundaiRadarTracksAvailable @142;
-    spAutoBrakeHold @143;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;

common/params.cc

@@ -330,7 +330,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"TorqueLateralJerk", PERSISTENT | BACKUP},
     {"TorqueMaxLatAccel", PERSISTENT | BACKUP},
     {"TorquedOverride", PERSISTENT | BACKUP},
-    {"ToyotaAutoHold", PERSISTENT | BACKUP},
     {"ToyotaAutoLockBySpeed", PERSISTENT | BACKUP},
     {"ToyotaAutoUnlockByShifter", PERSISTENT | BACKUP},
     {"ToyotaDriveMode", PERSISTENT | BACKUP},

selfdrive/car/card.py

@@ -60,7 +60,6 @@ class Car:
     self.mads_disengage_lateral_on_brake = self.params.get_bool("DisengageLateralOnBrake")
     self.mads_dlob = self.enable_mads and self.mads_disengage_lateral_on_brake
     self.mads_ndlob = self.enable_mads and not self.mads_disengage_lateral_on_brake
-    self.sp_toyota_auto_brake_hold = self.params.get_bool("ToyotaAutoHold")
     self.CP.alternativeExperience = 0
     if not self.disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
@@ -68,8 +67,6 @@ class Car:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
     elif self.mads_ndlob:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_DISABLE_DISENGAGE_LATERAL_ON_BRAKE
-    if self.sp_toyota_auto_brake_hold:
-      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
 
     if self.CP.customStockLongAvailable and self.CP.pcmCruise and self.params.get_bool("CustomStockLong"):
       self.CP.pcmCruiseSpeed = False

selfdrive/car/hyundai/interface.py

@@ -126,7 +126,7 @@ class CarInterface(CarInterfaceBase):
 
       if 0x1fa in fingerprint[CAN.ECAN]:
         ret.spFlags |= HyundaiFlagsSP.SP_NAV_MSG.value
-      if Params().get("DongleId", encoding='utf8') in ("012c95f06918eca4", "68d6a96e703c00c9"):
+      if Params().get("DongleId", encoding='utf8') in ("012c95f06918eca4", "68d6a96e703c00c9", "11c1f1909ca37bca"):
         ret.spFlags |= HyundaiFlagsSP.SP_UPSTREAM_TACO.value
     else:
       ret.enableBsm = 0x58b in fingerprint[0]

selfdrive/car/toyota/carcontroller.py

@@ -1,7 +1,4 @@
 from cereal import car
-import math
-from openpilot.common.params import Params
-from openpilot.selfdrive.controls.lib.pid import PIDController
 from common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, make_can_msg, make_tester_present_msg, \
@@ -16,7 +13,6 @@ from opendbc.can.packer import CANPacker
 GearShifter = car.CarState.GearShifter
 SteerControlType = car.CarParams.SteerControlType
 VisualAlert = car.CarControl.HUDControl.VisualAlert
-#LongCtrlState = car.CarControl.Actuators.LongControlState
 
 # LKA limits
 # EPS faults if you apply torque while the steering rate is above 100 deg/s for too long
@@ -48,11 +44,8 @@ class CarController(CarControllerBase):
     self.last_standstill = False
     self.standstill_req = False
     self.steer_rate_counter = 0
-    #self.pcm_accel_comp = 0
     self.distance_button = 0
 
-    #self.pid = PIDController(k_p=1.0, k_i=0.25, k_f=0)
-
     self.packer = CANPacker(dbc_name)
     self.gas = 0
     self.accel = 0
@@ -62,13 +55,6 @@ class CarController(CarControllerBase):
     self.last_blindspot_frame = 0
 
     self._auto_lock_speed = 0.0
-
-    if CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
-      self.brake_hold_active: bool = False
-      self._brake_hold_counter: int = 0
-      self._brake_hold_reset: bool = False
-      self._prev_brake_pressed: bool = False
-
     self._auto_lock_once = False
     self._gear_prev = GearShifter.park
 
@@ -147,41 +133,6 @@ class CarController(CarControllerBase):
                                                           lta_active, self.frame // 2, torque_wind_down))
 
     # *** gas and brake ***
-    sp_tss2_long_tune = Params().get_bool("ToyotaTSS2Long")
-
-    # When sp_tss2_long_tune is True and CC.longActive
-    #if sp_tss2_long_tune:
-      # we will throw out PCM's compensations, but that may be a good thing. for example:
-      # we lose things like pitch compensation, gas to maintain speed, brake to compensate for creeping, etc.
-      # but also remove undesirable "snap to standstill" behavior when not requesting enough accel at low speeds,
-      # lag to start moving, lag to start braking, etc.
-      # PI should compensate for lack of the desirable behaviors, but might be worse than the PCM doing them
-
-      # FIXME? neutral force will only be positive under ~5 mph, which messes up stopping control considerably
-      # not sure why this isn't captured in the PCM accel net, maybe that just ignores creep force + high speed deceleration
-      # it also doesn't seem to capture slightly more braking on downhills (VSC1S07->ASLP (pitch, deg.) might have some clues)
-    #  offset = min(CS.pcm_neutral_force / self.CP.mass, 0.0)
-    #  pitch_offset = math.sin(math.radians(CS.vsc_slope_angle)) * 9.81  # downhill is negative
-      # TODO: these limits are too slow to prevent a jerk when engaging, ramp down on engage?
-      # self.pcm_accel_comp = clip(actuators.accel - CS.pcm_accel_net, self.pcm_accel_comp - 0.05, self.pcm_accel_comp + 0.05)
-    #  pcm_accel_comp = self.pid.update(actuators.accel - CS.pcm_calc_accel_net)
-    #  self.pcm_accel_comp = clip(pcm_accel_comp, self.pcm_accel_comp - 0.005, self.pcm_accel_comp + 0.005)
-    #  if CS.out.cruiseState.standstill or actuators.longControlState == LongCtrlState.stopping:
-    #    self.pcm_accel_comp = 0.0
-    #    self.pid.reset()
-    #  pcm_accel_cmd = actuators.accel + self.pcm_accel_comp # + offset
-      # pcm_accel_cmd = actuators.accel - pitch_offset
-
-    #  if not CC.longActive:
-    #   self.pid.reset()
-    #    self.pcm_accel_comp = 0.0
-    #    pcm_accel_cmd = 0.0
-
-    #  pcm_accel_cmd = clip(pcm_accel_cmd, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
-    #else:
-    #  pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
-
-
     if self.CP.enableGasInterceptorDEPRECATED and CC.longActive:
       MAX_INTERCEPTOR_GAS = 0.5
       # RAV4 has very sensitive gas pedal
@@ -198,6 +149,7 @@ class CarController(CarControllerBase):
     else:
       interceptor_gas_cmd = 0.
     pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
+
     # TODO: probably can delete this. CS.pcm_acc_status uses a different signal
     # than CS.cruiseState.enabled. confirm they're not meaningfully different
     if not (CC.enabled and CS.out.cruiseState.enabled) and CS.pcm_acc_status:
@@ -216,9 +168,6 @@ class CarController(CarControllerBase):
 
     self.last_standstill = CS.out.standstill
 
-    if self.CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
-      can_sends.extend(self.create_auto_brake_hold_messages(CS))
-
     # handle UI messages
     fcw_alert = hud_control.visualAlert == VisualAlert.fcw
     steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
@@ -337,25 +286,3 @@ class CarController(CarControllerBase):
         # print("bsm poll right")
 
     return can_sends
-
-  # auto brake hold (https://github.com/AlexandreSato/)
-  def create_auto_brake_hold_messages(self, CS: car.CarState, brake_hold_allowed_timer: int = 100):
-    can_sends = []
-    disallowed_gears = [GearShifter.park, GearShifter.reverse]
-    brake_hold_allowed = CS.out.standstill and CS.out.cruiseState.available and not CS.out.gasPressed and \
-                         not CS.out.cruiseState.enabled and (CS.out.gearShifter not in disallowed_gears)
-
-    if brake_hold_allowed:
-      self._brake_hold_counter += 1
-      self.brake_hold_active = self._brake_hold_counter > brake_hold_allowed_timer and not self._brake_hold_reset
-      self._brake_hold_reset = not self._prev_brake_pressed and CS.out.brakePressed and not self._brake_hold_reset
-    else:
-      self._brake_hold_counter = 0
-      self.brake_hold_active = False
-      self._brake_hold_reset = False
-    self._prev_brake_pressed = CS.out.brakePressed
-
-    if self.frame % 2 == 0:
-      can_sends.append(toyotacan.create_brake_hold_command(self.packer, self.frame, CS.pre_collision_2, self.brake_hold_active))
-
-    return can_sends

selfdrive/car/toyota/carstate.py

@@ -57,11 +57,6 @@ class CarState(CarStateBase):
     self.low_speed_lockout = False
     self.acc_type = 1
     self.lkas_hud = {}
-    #self.pcm_accel_net = 0.0
-    #self.pcm_true_accel_net = 0.0
-    #self.pcm_calc_accel_net = 0.0
-    #self.pcm_neutral_force = 0.0
-    #self.vsc_slope_angle = 0.0
 
     self.lkas_enabled = None
     self.prev_lkas_enabled = None
@@ -92,10 +87,6 @@ class CarState(CarStateBase):
     self.prev_accel_profile = None
     self.accel_profile_init = False
     self.toyota_drive_mode = Params().get_bool('ToyotaDriveMode')
-
-    if CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
-      self.pre_collision_2 = {}
-
     self.frame = 0
 
   def update(self, cp, cp_cam):
@@ -131,14 +122,6 @@ class CarState(CarStateBase):
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
     ret.vEgoCluster = ret.vEgo * 1.015  # minimum of all the cars
 
-    # thought to be the gas/brake as issued by the pcm (0=coasting)
-    #self.pcm_accel_net = cp.vl["PCM_CRUISE"]["ACCEL_NET"]  # this is only accurate for braking * 43
-    #self.pcm_true_accel_net = cp.vl["CLUTCH"]["TRUE_ACCEL_NET"]  # this is only accurate for acceleration * 78
-    #self.pcm_calc_accel_net = cp.vl["GEAR_PACKET_HYBRID"]["CAR_MOVEMENT"] / 78 - cp.vl["BRAKE"]["BRAKE_PEDAL"] / 43
-    #self.pcm_true_accel_net = cp.vl["CLUTCH"]["TRUE_ACCEL_NET"]
-    #self.pcm_neutral_force = cp.vl["PCM_CRUISE"]["NEUTRAL_FORCE"]
-    #self.vsc_slope_angle = cp.vl["VSC1S07"]["ASLP"]
-
     ret.standstill = abs(ret.vEgoRaw) < 1e-3
 
     if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
@@ -330,9 +313,6 @@ class CarState(CarStateBase):
     if self.CP.spFlags & ToyotaFlagsSP.SP_ENHANCED_BSM and self.frame > 199:
       ret.leftBlindspot, ret.rightBlindspot = self.sp_get_enhanced_bsm(cp)
 
-    if self.CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
-      self.pre_collision_2 = copy.copy(cp_cam.vl["PRE_COLLISION_2"])
-
     self._update_traffic_signals(cp_cam)
     ret.cruiseState.speedLimit = self._calculate_speed_limit()
     self.frame += 1
@@ -464,16 +444,12 @@ class CarState(CarStateBase):
       ("BODY_CONTROL_STATE_2", 2),
       ("ESP_CONTROL", 3),
       ("EPS_STATUS", 25),
-      #("GEAR_PACKET_HYBRID", 60),
-      #("BRAKE", 80),
       ("BRAKE_MODULE", 40),
       ("WHEEL_SPEEDS", 80),
       ("STEER_ANGLE_SENSOR", 80),
       ("PCM_CRUISE", 33),
       ("PCM_CRUISE_SM", 1),
-      #("VSC1S07", 20),
       ("STEER_TORQUE_SENSOR", 50),
-      #("CLUTCH", 16),
     ]
 
     if CP.carFingerprint != CAR.TOYOTA_MIRAI:
@@ -540,7 +516,4 @@ class CarState(CarStateBase):
         ("PCS_HUD", 1),
       ]
 
-      if CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
-        messages.append(("PRE_COLLISION_2", 33))
-
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)

selfdrive/car/toyota/interface.py

@@ -160,18 +160,18 @@ class CarInterface(CarInterfaceBase):
 
     sp_tss2_long_tune = Params().get_bool("ToyotaTSS2Long")
 
-    # hand tuned (August 12, 2024)
-    def custom_tss2_longitudinal_tuning():
+    # Last updated: September 29, 2024
+    def custom_tss2_longitudinal_tuning(): # hand tuned
       ret.vEgoStopping = 0.25
       ret.vEgoStarting = 0.01
       ret.stoppingDecelRate = 0.006
 
-    def default_tss2_longitudinal_tuning():
+    def default_tss2_longitudinal_tuning(): # stock comma
       ret.vEgoStopping = 0.25
-      ret.vEgoStarting = 0.25
-      ret.stoppingDecelRate = 0.002  # reach stopping target smoothly
+      ret.vEgoStarting = 0.10
+      ret.stoppingDecelRate = 0.007  # reach stopping target smoothly
 
-    def default_longitudinal_tuning():
+    def default_longitudinal_tuning(): # stock comma
       tune.kiBP = [0., 5., 35.]
       tune.kiV = [3.6, 2.4, 1.5]
 
@@ -195,9 +195,6 @@ class CarInterface(CarInterfaceBase):
     if candidate == CAR.TOYOTA_PRIUS_TSS2:
       ret.spFlags |= ToyotaFlagsSP.SP_NEED_DEBUG_BSM.value
 
-    if Params().get_bool("ToyotaAutoHold") and candidate in (TSS2_CAR - RADAR_ACC_CAR):
-      ret.spFlags |= ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD.value
-
     return ret
 
   @staticmethod
@@ -271,11 +268,6 @@ class CarInterface(CarInterfaceBase):
           # while in standstill, send a user alert
           events.add(EventName.manualRestart)
 
-    # auto brake hold
-    if self.CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
-      if self.CC.brake_hold_active and not ret.brakeHoldActive:
-        events.add(EventName.spAutoBrakeHold)
-
     ret.events = events.to_msg()
 
     return ret

selfdrive/car/toyota/toyotacan.py

@@ -130,37 +130,3 @@ def create_set_bsm_debug_mode(lr_blindspot, enabled):
 
 def create_bsm_polling_status(lr_blindspot):
   return make_can_msg(0x750, lr_blindspot + b"\x02\x21\x69\x00\x00\x00\x00", 0)
-
-
-# auto brake hold
-def create_brake_hold_command(packer, frame, pre_collision_2, brake_hold_active):
-  # forward PRE_COLLISION_2 when auto brake hold is not active
-  values = {s: pre_collision_2[s] for s in [
-    "DSS1GDRV",
-    "DS1STAT2",
-    "DS1STBK2",
-    "PCSWAR",
-    "PCSALM",
-    "PCSOPR",
-    "PCSABK",
-    "PBATRGR",
-    "PPTRGR",
-    "IBTRGR",
-    "CLEXTRGR",
-    "IRLT_REQ",
-    "BRKHLD",
-    "AVSTRGR",
-    "VGRSTRGR",
-    "PREFILL",
-    "PBRTRGR",
-    "PCSDIS",
-    "PBPREPMP",
-  ]}
-
-  if brake_hold_active:
-    values = {
-      "DSS1GDRV": 0x3FF,
-      "PBRTRGR": frame % 730 < 727,  # cut actuation for 3 frames
-    }
-
-  return packer.make_can_msg("PRE_COLLISION_2", 0, values)

selfdrive/car/toyota/values.py

@@ -16,7 +16,7 @@ PEDAL_TRANSITION = 10. * CV.MPH_TO_MS
 
 
 class CarControllerParams:
-  ACCEL_MAX = 2.0  # m/s2, lower than allowed 2.0 m/s2 for tuning reasons
+  ACCEL_MAX = 1.5  # m/s2, lower than allowed 2.0 m/s2 for tuning reasons
   ACCEL_MIN = -3.5  # m/s2
 
   STEER_STEP = 1
@@ -64,7 +64,6 @@ class ToyotaFlagsSP(IntFlag):
   SP_ZSS = 1
   SP_ENHANCED_BSM = 2
   SP_NEED_DEBUG_BSM = 4
-  SP_AUTO_BRAKE_HOLD = 8
 
 
 class Footnote(Enum):

selfdrive/controls/lib/events.py

@@ -744,14 +744,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
   },
 
-  EventName.spAutoBrakeHold: {
-    ET.PERMANENT: Alert(
-      "sunnypilot Brake Hold Active",
-      "",
-      AlertStatus.normal, AlertSize.small,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.prompt, 0.),
-  },
-
   EventName.parkBrake: {
     ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
     ET.NO_ENTRY: NoEntryAlert("Parking Brake Engaged"),

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -3,7 +3,7 @@ import os
 import time
 import numpy as np
 from cereal import custom
-from openpilot.common.numpy_fast import clip, interp
+from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.swaglog import cloudlog
 # WARNING: imports outside of constants will not trigger a rebuild
@@ -55,7 +55,7 @@ T_IDXS = np.array(T_IDXS_LST)
 FCW_IDXS = T_IDXS < 5.0
 T_DIFFS = np.diff(T_IDXS, prepend=[0.])
 COMFORT_BRAKE = 2.5
-STOP_DISTANCE = 5.0
+STOP_DISTANCE = 6.0
 
 def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
   if personality==custom.LongitudinalPersonalitySP.relaxed:
@@ -63,116 +63,48 @@ def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
   elif personality==custom.LongitudinalPersonalitySP.standard:
     return 1.0
   elif personality==custom.LongitudinalPersonalitySP.moderate:
-    return 0.6
+    return 0.9
   elif personality==custom.LongitudinalPersonalitySP.aggressive:
-    return 0.2
+    return 0.8
   elif personality==custom.LongitudinalPersonalitySP.overtake:
     return 0.1
   else:
     raise NotImplementedError("Longitudinal personality not supported")
 
-def get_a_change_factor(v_ego, v_lead0, v_lead1, personality=custom.LongitudinalPersonalitySP.standard):
-  # Set cost multipliers based on driving personality (relaxed, standard, moderate, aggressive).
-  # These values adjust the sensitivity of acceleration change.
-  # Higher value = more cautious (slower reaction), smaller value = quicker response (more aggressive driving)
-  if personality==custom.LongitudinalPersonalitySP.relaxed:
-    a_change_cost_multiplier_follow = 1.2  # Highest cost for changing acceleration, meaning more gradual transitions
-    a_change_cost_high_speed_factor = 2.0  # No extra penalty for high-speed changes (more cautious)
-  elif personality==custom.LongitudinalPersonalitySP.standard:
-    a_change_cost_multiplier_follow = 0.6  # Moderate cost for changing acceleration (quicker transitions compared to relaxed)
-    a_change_cost_high_speed_factor = 2.5  # Higher penalty for changes at higher speeds (more cautious)
-  elif personality==custom.LongitudinalPersonalitySP.moderate:
-    a_change_cost_multiplier_follow = 0.4  # Similar to standard (quicker transitions compared to relaxed)
-    a_change_cost_high_speed_factor = 3.0  # Similar to standard (higher penalty for high speeds)
-  elif personality==custom.LongitudinalPersonalitySP.aggressive:
-    a_change_cost_multiplier_follow = 0.2  # Very low cost for changing acceleration, meaning quicker reactions (less cautious)
-    a_change_cost_high_speed_factor = 5.0  # Much higher penalty for abrupt changes at high speeds (very cautious at high speeds)
-  elif personality==custom.LongitudinalPersonalitySP.overtake:
-    a_change_cost_multiplier_follow = 0.1  # Very low cost for changing acceleration, meaning quicker reactions (less cautious)
-    a_change_cost_high_speed_factor = 5.0  # Much higher penalty for abrupt changes at high speeds (very cautious at high speeds)
-  else:
-    raise NotImplementedError("Longitudinal personality not supported")
-
-  # Variables to modify the acceleration change based on speed and lead vehicle conditions.
-  # LEAD_AUGMENTATION_BP_MAX defines the vEgo threshold for rapid acceleration.
-  LEAD_AUGMENTATION_BP_MAX = 5.  # Maximum speed (5 m/s ~ 18 km/h) where rapid acceleration adjustments are allowed
-
-  # LEAD_AUGMENTATION_BP: breakpoints for ego vehicle speed (vEgo) in m/s
-  # LEAD_AUGMENTATION_V: multiplier values for ego vehicle speed interpolation
-  LEAD_AUGMENTATION_BP = [0., LEAD_AUGMENTATION_BP_MAX]  # vEgo breakpoints: [0 m/s, 5 m/s (~18 km/h)]
-  LEAD_AUGMENTATION_V = [.05, 1.]  # acceleration multipliers: At 0 m/s, allow very small changes (.05), at 5 m/s allow faster acceleration (1.0)
-
-  # SPEED_AUGMENTATION_BP: breakpoints for speed adjustment to reduce abrupt braking at higher speeds
-  # SPEED_AUGMENTATION_V: interpolation values for scaling acceleration cost based on speed
-  # Higher = more cautious (penalizes abrupt braking), smaller = more aggressive (less penalty)
-  SPEED_AUGMENTATION_BP = [0., LEAD_AUGMENTATION_BP_MAX, 10.]  # Speed breakpoints: [0 m/s, 5 m/s, 10 m/s (~36 km/h)]
-  SPEED_AUGMENTATION_V = [1., 1., a_change_cost_high_speed_factor]  # Multiplier: between 0-5 m/s, no change (1.0), after 5 m/s, scale by a_change_cost_high_speed_factor (e.g., 1.5 in standard mode)
-
-  # Calculate a cost for acceleration changes when lead vehicles are pulling away and ego speed is below the threshold.
-  lead_augmented_a_change_cost = 1.0  # Default cost factor
-  if (v_lead0 - v_ego > 1e-3) and (v_lead1 - v_ego > 1e-3):
-    # Interpolate for the acceleration change cost when lead vehicles are increasing speed, based on vEgo
-    lead_augmented_a_change_cost = interp(v_ego, LEAD_AUGMENTATION_BP, LEAD_AUGMENTATION_V)
-
-  # Multiply the lead-based cost with speed-based cost to get a final cost factor, scaling with vehicle speed
-  speed_augmented_a_change_cost = a_change_cost_multiplier_follow * interp(v_ego, SPEED_AUGMENTATION_BP, SPEED_AUGMENTATION_V)
-
-  # Choose the smaller factor between the lead-based cost and the speed-based cost
-  a_change_factor = lead_augmented_a_change_cost if v_ego <= LEAD_AUGMENTATION_BP_MAX else speed_augmented_a_change_cost
-
-  # Return the final acceleration change factor to be applied
-  return a_change_factor
-
-# Function to return a multiplier for a danger zone cost based on driving personality
-def get_danger_zone_factor(personality=custom.LongitudinalPersonalitySP.standard):
-  # Higher values mean more cautious driving in dangerous situations, scaling the cost accordingly
-  if personality==custom.LongitudinalPersonalitySP.relaxed:
-    return 1.8  # Higher danger zone cost for relaxed personality (more cautious)
-  elif personality==custom.LongitudinalPersonalitySP.standard:
-    return 1.5  # Medium danger zone cost for standard personality
-  elif personality==custom.LongitudinalPersonalitySP.moderate:
-    return 1.2  # Medium danger zone cost for moderate personality (similar to standard)
-  elif personality==custom.LongitudinalPersonalitySP.aggressive:
-    return 1.0  # Lowest danger zone cost for aggressive personality (less cautious)
-  elif personality==custom.LongitudinalPersonalitySP.overtake:
-    return 1.0  # Lowest danger zone cost for aggressive personality (less cautious)
-  else:
-    raise NotImplementedError("Longitudinal personality not supported")
-
-
 
 def get_T_FOLLOW(personality=custom.LongitudinalPersonalitySP.standard):
   if personality==custom.LongitudinalPersonalitySP.relaxed:
     return 1.75
   elif personality==custom.LongitudinalPersonalitySP.standard:
-    return 1.65
-  elif personality==custom.LongitudinalPersonalitySP.moderate:
     return 1.45
-  elif personality==custom.LongitudinalPersonalitySP.aggressive:
+  elif personality==custom.LongitudinalPersonalitySP.moderate:
     return 1.25
+  elif personality==custom.LongitudinalPersonalitySP.aggressive:
+    return 1.0
   elif personality==custom.LongitudinalPersonalitySP.overtake:
     return 0.25
   else:
     raise NotImplementedError("Longitudinal personality not supported")
 
-
+# Last updated: September 29, 2024
 def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP.standard):
   if personality==custom.LongitudinalPersonalitySP.relaxed:
-    x_vel =  [0.,   22.,   22.01,  36.1]
-    y_dist = [1.70, 1.70,  1.80,   1.80]
+    x_vel =  [0,    14.,   27.7]
+    y_dist = [1.75, 1.75,  2.00]
   elif personality==custom.LongitudinalPersonalitySP.standard:
-    x_vel =  [0.,   22.,   22.01,  36.1]
-    y_dist = [1.65, 1.65,  1.75,   1.75]
+    x_vel =  [0,    14.,   27.7]
+    y_dist = [1.75, 1.75,  1.70]
   elif personality==custom.LongitudinalPersonalitySP.moderate:
-    x_vel =  [0.,   22.,   22.01,  36.1]
-    y_dist = [1.45, 1.45,  1.55,   1.55]
+    x_vel =  [0,    14.,   27.7]
+    y_dist = [1.45, 1.45,  1.48]
   elif personality==custom.LongitudinalPersonalitySP.aggressive:
-    x_vel =  [0.,   19.7,  19.71,  36.1]
-    y_dist = [1.00, 1.00,  1.25,   1.25]
+    x_vel =  [0,    14.,   27.7]
+    y_dist = [1.25, 1.25,  1.28]
   else:
     raise NotImplementedError("Dynamic personality not supported")
   return np.interp(v_ego, x_vel, y_dist)
 
+
 def get_stopped_equivalence_factor(v_lead):
   return (v_lead**2) / (2 * COMFORT_BRAKE)
 
@@ -370,15 +302,12 @@ class LongitudinalMpc:
     for i in range(N):
       self.solver.cost_set(i, 'Zl', Zl)
 
-  def set_weights(self, prev_accel_constraint=True, v_lead0 = 0., v_lead1 = 0., personality=custom.LongitudinalPersonalitySP.standard):
-    v_ego = self.x0[1]
+  def set_weights(self, prev_accel_constraint=True, personality=custom.LongitudinalPersonalitySP.standard):
     jerk_factor = get_jerk_factor(personality)
-    a_change_factor = get_a_change_factor(v_ego, v_lead0, v_lead1, personality)
-    danger_zone_factor = get_danger_zone_factor(personality)
     if self.mode == 'acc':
       a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0
-      cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, a_change_factor * a_change_cost, jerk_factor * J_EGO_COST]
-      constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST * danger_zone_factor]
+      cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST]
+      constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
     elif self.mode == 'blended':
       a_change_cost = 40.0 if prev_accel_constraint else 0
       cost_weights = [0., 0.1, 0.2, 5.0, a_change_cost, 1.0]
@@ -432,7 +361,7 @@ class LongitudinalMpc:
     self.cruise_min_a = min_a
     self.max_a = max_a
 
-  def update(self, radarstate, v_cruise, prev_accel_constraint, x, v, a, j, personality=custom.LongitudinalPersonalitySP.standard,
+  def update(self, radarstate, v_cruise, x, v, a, j, personality=custom.LongitudinalPersonalitySP.standard,
              dynamic_personality=False, overtaking_acceleration_assist=False):
     v_ego = self.x0[1]
     t_follow = get_dynamic_personality(v_ego, personality) if dynamic_personality else get_T_FOLLOW(personality)
@@ -442,8 +371,6 @@ class LongitudinalMpc:
     lead_xv_0 = self.process_lead(radarstate.leadOne)
     lead_xv_1 = self.process_lead(radarstate.leadTwo)
 
-    self.set_weights(prev_accel_constraint=prev_accel_constraint, v_lead0=lead_xv_0[0, 1], v_lead1=lead_xv_1[0, 1], personality=personality)
-
     # To estimate a safe distance from a moving lead, we calculate how much stopping
     # distance that lead needs as a minimum. We can add that to the current distance
     # and then treat that as a stopped car/obstacle at this new distance.
@@ -571,4 +498,4 @@ class LongitudinalMpc:
 if __name__ == "__main__":
   ocp = gen_long_ocp()
   AcadosOcpSolver.generate(ocp, json_file=JSON_FILE)
-  # AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True)
+  # AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True)

selfdrive/controls/lib/longitudinal_planner.py

@@ -201,7 +201,7 @@ class LongitudinalPlanner:
     self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
     x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
-    self.mpc.update(sm['radarState'], v_cruise, prev_accel_constraint, x, v, a, j, personality=sm['controlsStateSP'].personality,
+    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsStateSP'].personality,
                     dynamic_personality=sm['controlsStateSP'].dynamicPersonality, overtaking_acceleration_assist=overtaking_accel_engaged)
 
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)

selfdrive/controls/lib/sunnypilot/accel_controller.py

@@ -21,7 +21,7 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
 
-# Last updated: August 12, 2024
+# Last updated: September 29, 2024
 
 from cereal import custom
 from openpilot.common.numpy_fast import interp
@@ -29,14 +29,14 @@ from openpilot.common.numpy_fast import interp
 AccelPersonality = custom.AccelerationPersonality
 
 # accel personality by @arne182 modified by cgw and kumar
-_DP_CRUISE_MIN_V =       [-1.0,  -1.0]
-_DP_CRUISE_MIN_V_ECO =   [-1.0,  -1.0]
-_DP_CRUISE_MIN_V_SPORT = [-1.0,  -1.0]
-_DP_CRUISE_MIN_BP =      [0., 20.]
+_DP_CRUISE_MIN_V =       [-1.0, -1.0,  -0.88]
+_DP_CRUISE_MIN_V_ECO =   [-1.0, -1.0,  -0.76]
+_DP_CRUISE_MIN_V_SPORT = [-1.0, -1.0,  -1.0]
+_DP_CRUISE_MIN_BP =      [0.,   11.1,  20.]
 
-_DP_CRUISE_MAX_V =       [2.0, 2.0, 2.0, 1.80, 1.03, .62,  .47,  .36,  .11]
-_DP_CRUISE_MAX_V_ECO =   [2.0, 2.0, 2.0, 1.65, 0.92, .532, .432, .32,  .095]
-_DP_CRUISE_MAX_V_SPORT = [2.0, 2.0, 2.0, 2.00, 1.25, .71,  .54,  .46,  .2]
+_DP_CRUISE_MAX_V =       [2.0, 2.0, 2.0, 1.75, 1.03, .72,  .53,  .42,  .13]
+_DP_CRUISE_MAX_V_ECO =   [2.0, 2.0, 2.0, 1.50, 0.92, .54,  .43,  .32,  .088]
+_DP_CRUISE_MAX_V_SPORT = [2.0, 2.0, 2.0, 2.00, 1.25, .96,  .78,  .60,  .4]
 _DP_CRUISE_MAX_BP =      [0.,  1.,  6.,  8.,   11.,  20.,  25.,  30.,  55.]
 
 

selfdrive/controls/lib/sunnypilot/dynamic_experimental_controller.py

@@ -21,7 +21,7 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
 #
-# Version = 2024-7-11
+# Version = 2024-9-28
 from common.numpy_fast import interp
 import numpy as np
 
@@ -376,4 +376,4 @@ class DynamicExperimentalController:
         self._set_mode_timeout = SET_MODE_TIMEOUT
 
     if self._set_mode_timeout > 0:
-      self._set_mode_timeout -= 1
+      self._set_mode_timeout -= 1

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

@@ -159,18 +159,6 @@ SPVehiclesTogglesPanel::SPVehiclesTogglesPanel(VehiclePanel *parent) : ListWidge
   toyotaTss2LongTune->setConfirmation(true, false);
   addItem(toyotaTss2LongTune);
 
-  auto toyotaAbh = new ParamControlSP(
-    "ToyotaAutoHold",
-    tr("Enable Automatic Brake Hold (AHB)"),
-    QString("<b>%1</b><br><br>%2<br><br><b>%3</b>")
-    .arg(tr("WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK."))
-    .arg(tr("When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold."))
-    .arg(tr("Changing this setting takes effect when the car is powered off.")),
-    "../assets/offroad/icon_blank.png"
-  );
-  toyotaAbh->setConfirmation(true, false);
-  addItem(toyotaAbh);
-
   toyotaEnhancedBsm = new ParamControlSP(
     "ToyotaEnhancedBsm",
     tr("Enable Enhanced Blind Spot Monitor"),
@@ -227,7 +215,6 @@ SPVehiclesTogglesPanel::SPVehiclesTogglesPanel(VehiclePanel *parent) : ListWidge
     hkgCustomLongTuning->setEnabled(offroad);
     hyundaiCruiseMainDefault->setEnabled(offroad);
     toyotaTss2LongTune->setEnabled(offroad);
-    toyotaAbh->setEnabled(offroad);
     toyotaEnhancedBsm->setEnabled(offroad);
     toyotaSngHack->setEnabled(offroad);
     volkswagenCCOnly->setEnabled(offroad);

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

@@ -216,7 +216,6 @@ void AnnotatedCameraWidgetSP::updateState(const UIStateSP &s) {
   latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
   frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
   liveValid = ltp.getLiveValid();
-  ecoMode = vEgo > 0 && car_state.getEngineRpm() == 0;
   // ############################## DEV UI END ##############################
 
   btnPerc = s.scene.sleep_btn_opacity * 0.05;
@@ -524,32 +523,10 @@ void AnnotatedCameraWidgetSP::drawHud(QPainter &p) {
 
   // current speed
   if (!hideVEgoUi) {
-    // Set up the font for the speed text
     p.setFont(InterFont(176, QFont::Bold));
-
-    // Define text coordinates
-    int centerX = rect().center().x();
-    int centerY = 210;
-
-    // Draw a red border if brakeLights is active
-    if (brakeLights) {
-      for (int offsetX = -6; offsetX <= 6; offsetX++) {
-        for (int offsetY = -6; offsetY <= 6; offsetY++) {
-          // Avoid drawing at the original text position
-          if (offsetX != 0 || offsetY != 0) {
-            drawColoredText(p, centerX + offsetX, centerY + offsetY, speedStr, QColor(255, 0, 0, 255)); // Red border
-          }
-        }
-      }
-    }
-
-    // Draw the main speed text: green if ecoMode is on, otherwise white
-    QColor speedTextColor = ecoMode ? QColor(0, 245, 0) : QColor(255, 255, 255, 255);
-    drawColoredText(p, centerX, centerY, speedStr, speedTextColor);
-
-    // Draw the speed unit below the main text
+    drawColoredText(p, rect().center().x(), 210, speedStr, brakeLights ? QColor(0xff, 0, 0, 255) : QColor(0xff, 0xff, 0xff, 255));
     p.setFont(InterFont(66));
-    drawText(p, centerX, 290, speedUnit, 200);
+    drawText(p, rect().center().x(), 290, speedUnit, 200);
   }
 
   if (!reversing) {
@@ -1188,7 +1165,7 @@ void AnnotatedCameraWidgetSP::drawLaneLines(QPainter &painter, const UIStateSP *
   }
 
   // TODO: Fix empty spaces when curiving back on itself
-  painter.setBrush(QColor::fromRgbF(1.0, 0.0, 0.0, 0.4));
+  painter.setBrush(QColor::fromRgbF(1.0, 0.0, 0.0, 0.2));
   if (left_blindspot) painter.drawPolygon(scene.lane_barrier_vertices[0]);
   if (right_blindspot) painter.drawPolygon(scene.lane_barrier_vertices[1]);
 

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

@@ -176,7 +176,6 @@ private:
   float latAccelFactorFiltered;
   float frictionCoefficientFiltered;
   bool liveValid;
-  bool ecoMode;
   // ############################## DEV UI END ##############################
 
   float btnPerc;

selfdrive/ui/translations/main_ar.ts

@@ -203,14 +203,6 @@
         <source>mph</source>
         <translation type="unfinished">ميل/س</translation>
     </message>
-    <message>
-        <source>blended</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>acc</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>MAX</source>
         <translation type="unfinished">MAX</translation>
@@ -1474,15 +1466,11 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG: Custom Tuning for New Longitudinal API</source>
+        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1529,22 +1517,6 @@ This may take up to a minute.</source>
         <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable Automatic Brake Hold (AHB)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Changing this setting takes effect when the car is powered off.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable Enhanced Blind Spot Monitor</source>
         <translation type="unfinished"></translation>
@@ -1611,6 +1583,14 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main By Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2537,14 +2517,6 @@ Reboot Required.</source>
         <source>Neural Network Lateral Control (NNLC)</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enforce Torque Lateral Control</source>
         <translation type="unfinished"></translation>
@@ -2553,14 +2525,6 @@ Reboot Required.</source>
         <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable Self-Tune</source>
         <translation type="unfinished"></translation>
@@ -2946,10 +2910,6 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Use Planner Speed</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation type="unfinished">الوضع التجريبي</translation>
@@ -3317,14 +3277,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Speed</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Display Metrics Below Chevron</source>
         <translation type="unfinished"></translation>
@@ -3353,6 +3305,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Display Temperature on Sidebar</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>

selfdrive/ui/translations/main_de.ts

@@ -203,14 +203,6 @@
         <source>mph</source>
         <translation type="unfinished">mph</translation>
     </message>
-    <message>
-        <source>blended</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>acc</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>MAX</source>
         <translation type="unfinished">MAX</translation>
@@ -1456,15 +1448,11 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG: Custom Tuning for New Longitudinal API</source>
+        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1511,22 +1499,6 @@ This may take up to a minute.</source>
         <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable Automatic Brake Hold (AHB)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Changing this setting takes effect when the car is powered off.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable Enhanced Blind Spot Monitor</source>
         <translation type="unfinished"></translation>
@@ -1593,6 +1565,14 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main By Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2521,14 +2501,6 @@ Reboot Required.</source>
         <source>Neural Network Lateral Control (NNLC)</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enforce Torque Lateral Control</source>
         <translation type="unfinished"></translation>
@@ -2537,14 +2509,6 @@ Reboot Required.</source>
         <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable Self-Tune</source>
         <translation type="unfinished"></translation>
@@ -2932,10 +2896,6 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Use Planner Speed</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation type="unfinished">Experimenteller Modus</translation>
@@ -3303,14 +3263,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Speed</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Display Metrics Below Chevron</source>
         <translation type="unfinished"></translation>
@@ -3339,6 +3291,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Display Temperature on Sidebar</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>

selfdrive/ui/translations/main_es.ts

@@ -207,14 +207,6 @@
         <source>LIMIT</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>blended</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>acc</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>AutoLaneChangeTimer</name>
@@ -1453,6 +1445,14 @@ Esto puede tardar un minuto.</translation>
         <source>Hyundai/Kia/Genesis</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Subaru</source>
         <translation type="unfinished"></translation>
@@ -1571,26 +1571,6 @@ Reboot Required.</source>
         <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>HKG: Custom Tuning for New Longitudinal API</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable Automatic Brake Hold (AHB)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Changing this setting takes effect when the car is powered off.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2697,22 +2677,6 @@ Reboot Required.</source>
         <source>Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>TermsPage</name>
@@ -3078,10 +3042,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Use Planner Speed</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>TorqueFriction</name>

selfdrive/ui/translations/main_fr.ts

@@ -203,14 +203,6 @@
         <source>mph</source>
         <translation type="unfinished">mi/h</translation>
     </message>
-    <message>
-        <source>blended</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>acc</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>MAX</source>
         <translation type="unfinished">MAX</translation>
@@ -1458,15 +1450,11 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG: Custom Tuning for New Longitudinal API</source>
+        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1513,22 +1501,6 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable Automatic Brake Hold (AHB)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Changing this setting takes effect when the car is powered off.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable Enhanced Blind Spot Monitor</source>
         <translation type="unfinished"></translation>
@@ -1595,6 +1567,14 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main By Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2521,14 +2501,6 @@ Reboot Required.</source>
         <source>Neural Network Lateral Control (NNLC)</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enforce Torque Lateral Control</source>
         <translation type="unfinished"></translation>
@@ -2537,14 +2509,6 @@ Reboot Required.</source>
         <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable Self-Tune</source>
         <translation type="unfinished"></translation>
@@ -2930,10 +2894,6 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Use Planner Speed</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation type="unfinished">Mode expérimental</translation>
@@ -3301,14 +3261,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Speed</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Display Metrics Below Chevron</source>
         <translation type="unfinished"></translation>
@@ -3337,6 +3289,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Display Temperature on Sidebar</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>

selfdrive/ui/translations/main_ja.ts

@@ -203,14 +203,6 @@
         <source>mph</source>
         <translation type="unfinished">mph</translation>
     </message>
-    <message>
-        <source>blended</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>acc</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>MAX</source>
         <translation type="unfinished">最高速度</translation>
@@ -1452,15 +1444,11 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG: Custom Tuning for New Longitudinal API</source>
+        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1507,22 +1495,6 @@ This may take up to a minute.</source>
         <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable Automatic Brake Hold (AHB)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Changing this setting takes effect when the car is powered off.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable Enhanced Blind Spot Monitor</source>
         <translation type="unfinished"></translation>
@@ -1589,6 +1561,14 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main By Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2515,14 +2495,6 @@ Reboot Required.</source>
         <source>Neural Network Lateral Control (NNLC)</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enforce Torque Lateral Control</source>
         <translation type="unfinished"></translation>
@@ -2531,14 +2503,6 @@ Reboot Required.</source>
         <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable Self-Tune</source>
         <translation type="unfinished"></translation>
@@ -2924,10 +2888,6 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Use Planner Speed</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation type="unfinished">実験モード</translation>
@@ -3295,14 +3255,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Speed</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Display Metrics Below Chevron</source>
         <translation type="unfinished"></translation>
@@ -3331,6 +3283,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Display Temperature on Sidebar</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>

selfdrive/ui/translations/main_ko.ts

@@ -203,14 +203,6 @@
         <source>mph</source>
         <translation type="unfinished">mph</translation>
     </message>
-    <message>
-        <source>blended</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>acc</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>MAX</source>
         <translation type="unfinished">MAX</translation>
@@ -1454,15 +1446,11 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG: Custom Tuning for New Longitudinal API</source>
+        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1509,22 +1497,6 @@ This may take up to a minute.</source>
         <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable Automatic Brake Hold (AHB)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Changing this setting takes effect when the car is powered off.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable Enhanced Blind Spot Monitor</source>
         <translation type="unfinished"></translation>
@@ -1591,6 +1563,14 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main By Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2517,14 +2497,6 @@ Reboot Required.</source>
         <source>Neural Network Lateral Control (NNLC)</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enforce Torque Lateral Control</source>
         <translation type="unfinished"></translation>
@@ -2533,14 +2505,6 @@ Reboot Required.</source>
         <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable Self-Tune</source>
         <translation type="unfinished"></translation>
@@ -2926,10 +2890,6 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Use Planner Speed</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation type="unfinished">실험 모드</translation>
@@ -3297,14 +3257,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Speed</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Display Metrics Below Chevron</source>
         <translation type="unfinished"></translation>
@@ -3333,6 +3285,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Display Temperature on Sidebar</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>

selfdrive/ui/translations/main_pt-BR.ts

@@ -203,14 +203,6 @@
         <source>mph</source>
         <translation type="unfinished">mph</translation>
     </message>
-    <message>
-        <source>blended</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>acc</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>MAX</source>
         <translation type="unfinished">LIMITE</translation>
@@ -1458,15 +1450,11 @@ Isso pode levar até um minuto.</translation>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG: Custom Tuning for New Longitudinal API</source>
+        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1513,22 +1501,6 @@ Isso pode levar até um minuto.</translation>
         <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable Automatic Brake Hold (AHB)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Changing this setting takes effect when the car is powered off.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable Enhanced Blind Spot Monitor</source>
         <translation type="unfinished"></translation>
@@ -1595,6 +1567,14 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main By Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2521,14 +2501,6 @@ Reboot Required.</source>
         <source>Neural Network Lateral Control (NNLC)</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enforce Torque Lateral Control</source>
         <translation type="unfinished"></translation>
@@ -2537,14 +2509,6 @@ Reboot Required.</source>
         <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable Self-Tune</source>
         <translation type="unfinished"></translation>
@@ -2930,10 +2894,6 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Use Planner Speed</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation type="unfinished">Modo Experimental</translation>
@@ -3301,14 +3261,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Speed</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Display Metrics Below Chevron</source>
         <translation type="unfinished"></translation>
@@ -3337,6 +3289,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Display Temperature on Sidebar</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>

selfdrive/ui/translations/main_th.ts

@@ -203,14 +203,6 @@
         <source>mph</source>
         <translation type="unfinished">ไมล์/ชม.</translation>
     </message>
-    <message>
-        <source>blended</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>acc</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>MAX</source>
         <translation type="unfinished">สูงสุด</translation>
@@ -1454,15 +1446,11 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG: Custom Tuning for New Longitudinal API</source>
+        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1509,22 +1497,6 @@ This may take up to a minute.</source>
         <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable Automatic Brake Hold (AHB)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Changing this setting takes effect when the car is powered off.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable Enhanced Blind Spot Monitor</source>
         <translation type="unfinished"></translation>
@@ -1591,6 +1563,14 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main By Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2517,14 +2497,6 @@ Reboot Required.</source>
         <source>Neural Network Lateral Control (NNLC)</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enforce Torque Lateral Control</source>
         <translation type="unfinished"></translation>
@@ -2533,14 +2505,6 @@ Reboot Required.</source>
         <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable Self-Tune</source>
         <translation type="unfinished"></translation>
@@ -2926,10 +2890,6 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Use Planner Speed</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation type="unfinished">โหมดทดลอง</translation>
@@ -3297,14 +3257,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Speed</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Display Metrics Below Chevron</source>
         <translation type="unfinished"></translation>
@@ -3333,6 +3285,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Display Temperature on Sidebar</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>

selfdrive/ui/translations/main_tr.ts

@@ -203,14 +203,6 @@
         <source>mph</source>
         <translation type="unfinished">mph</translation>
     </message>
-    <message>
-        <source>blended</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>acc</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>MAX</source>
         <translation type="unfinished">MAX</translation>
@@ -1452,15 +1444,11 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG: Custom Tuning for New Longitudinal API</source>
+        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1507,22 +1495,6 @@ This may take up to a minute.</source>
         <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable Automatic Brake Hold (AHB)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Changing this setting takes effect when the car is powered off.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable Enhanced Blind Spot Monitor</source>
         <translation type="unfinished"></translation>
@@ -1589,6 +1561,14 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main By Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2515,14 +2495,6 @@ Reboot Required.</source>
         <source>Neural Network Lateral Control (NNLC)</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enforce Torque Lateral Control</source>
         <translation type="unfinished"></translation>
@@ -2531,14 +2503,6 @@ Reboot Required.</source>
         <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable Self-Tune</source>
         <translation type="unfinished"></translation>
@@ -2924,10 +2888,6 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Use Planner Speed</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation type="unfinished"></translation>
@@ -3295,14 +3255,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Speed</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Display Metrics Below Chevron</source>
         <translation type="unfinished"></translation>
@@ -3331,6 +3283,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Display Temperature on Sidebar</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -203,14 +203,6 @@
         <source>mph</source>
         <translation type="unfinished">mph</translation>
     </message>
-    <message>
-        <source>blended</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>acc</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>MAX</source>
         <translation type="unfinished">最高定速</translation>
@@ -1454,15 +1446,11 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG: Custom Tuning for New Longitudinal API</source>
+        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1509,22 +1497,6 @@ This may take up to a minute.</source>
         <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable Automatic Brake Hold (AHB)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Changing this setting takes effect when the car is powered off.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable Enhanced Blind Spot Monitor</source>
         <translation type="unfinished"></translation>
@@ -1591,6 +1563,14 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main By Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2517,14 +2497,6 @@ Reboot Required.</source>
         <source>Neural Network Lateral Control (NNLC)</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enforce Torque Lateral Control</source>
         <translation type="unfinished"></translation>
@@ -2533,14 +2505,6 @@ Reboot Required.</source>
         <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable Self-Tune</source>
         <translation type="unfinished"></translation>
@@ -2926,10 +2890,6 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Use Planner Speed</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation type="unfinished">测试模式</translation>
@@ -3297,14 +3257,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Speed</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Display Metrics Below Chevron</source>
         <translation type="unfinished"></translation>
@@ -3333,6 +3285,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Display Temperature on Sidebar</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -203,14 +203,6 @@
         <source>mph</source>
         <translation type="unfinished">mph</translation>
     </message>
-    <message>
-        <source>blended</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>acc</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>MAX</source>
         <translation type="unfinished">最高</translation>
@@ -1454,15 +1446,11 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG: Custom Tuning for New Longitudinal API</source>
+        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1509,22 +1497,6 @@ This may take up to a minute.</source>
         <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable Automatic Brake Hold (AHB)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Changing this setting takes effect when the car is powered off.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable Enhanced Blind Spot Monitor</source>
         <translation type="unfinished"></translation>
@@ -1591,6 +1563,14 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG CAN: Enable Cruise Main By Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2517,14 +2497,6 @@ Reboot Required.</source>
         <source>Neural Network Lateral Control (NNLC)</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enforce Torque Lateral Control</source>
         <translation type="unfinished"></translation>
@@ -2533,14 +2505,6 @@ Reboot Required.</source>
         <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable Self-Tune</source>
         <translation type="unfinished"></translation>
@@ -2926,10 +2890,6 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Use Planner Speed</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation type="unfinished">實驗模式</translation>
@@ -3297,14 +3257,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Speed</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Display Metrics Below Chevron</source>
         <translation type="unfinished"></translation>
@@ -3333,6 +3285,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Display Temperature on Sidebar</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>

selfdrive/ui/ui.cc

@@ -326,7 +326,7 @@ void Device::resetInteractiveTimeout(int timeout) {
 
 void Device::updateBrightness(const UIState &s) {
   clipped_brightness = offroad_brightness;
-  if (s.scene.started && s.scene.light_sensor > 0) {
+  if (s.scene.started && s.scene.light_sensor >= 0) {
     clipped_brightness = s.scene.light_sensor;
 
     // CIE 1931 - https://www.photonstophotos.net/GeneralTopics/Exposure/Psychometric_Lightness_and_Gamma.htm
@@ -337,7 +337,7 @@ void Device::updateBrightness(const UIState &s) {
     }
 
     // Scale back to 10% to 100%
-    clipped_brightness = std::clamp(100.0f * clipped_brightness, 10.0f, 100.0f);
+    clipped_brightness = std::clamp(100.0f * clipped_brightness, 5.0f, 100.0f);
   }
   RETURN_IF_SUNNYPILOT
   
@@ -377,4 +377,4 @@ Device *device() {
   static Device _device;
   return &_device;
 }
-#endif
+#endif

system/athena/sunnylinkd.py

@@ -45,7 +45,7 @@ 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,), name=f'worker_{x}')

system/manager/manager.py

@@ -104,7 +104,6 @@ def manager_init() -> None:
     ("TorqueDeadzoneDeg", "0"),
     ("TorqueFriction", "10"),
     ("TorqueMaxLatAccel", "250"),
-    ("ToyotaAutoHold", "0"),
     ("ToyotaAutoLockBySpeed", "0"),
     ("ToyotaAutoUnlockByShifter", "0"),
     ("ToyotaDriveMode", "0"),

system/sentry.py

@@ -19,9 +19,9 @@ from openpilot.system.version import get_build_metadata, get_version
 
 class SentryProject(Enum):
   # python project
-  SELFDRIVE = "https://7e3be9bfcfe04c9abe58bd25fe290d1a@o1138119.ingest.sentry.io/6191481"
+  SELFDRIVE = "https://3e25e235efe389b74cde72fb0e115aef@o1138119.ingest.us.sentry.io/4509950385979397"
   # native project
-  SELFDRIVE_NATIVE = "https://7e3be9bfcfe04c9abe58bd25fe290d1a@o1138119.ingest.sentry.io/6191481"
+  SELFDRIVE_NATIVE = "https://3e25e235efe389b74cde72fb0e115aef@o1138119.ingest.us.sentry.io/4509950385979397"
 
 
 CRASHES_DIR = Paths.community_crash_root()