Add hyundai-longitudinal-tuning.md to docs-sp

* CI: Cache macOS builds

* try caching now

* close

* revert

* save homebrew cache

* final

.cache/plugin/git-committers/page-authors.json

@@ -0,0 +1 @@
+{"cache_date": "2024-08-08", "page_authors": {"docs/index.md": {"last_commit_date": "2024-07-28", "authors": [{"login": "adeebshihadeh", "name": "adeebshihadeh", "url": "https://github.com/adeebshihadeh", "avatar": "https://avatars.githubusercontent.com/u/8762862?v=4"}, {"login": "tecandrew", "name": "tecandrew", "url": "https://github.com/tecandrew", "avatar": "https://avatars.githubusercontent.com/u/21319730?v=4"}, {"login": "pd0wm", "name": "pd0wm", "url": "https://github.com/pd0wm", "avatar": "https://avatars.githubusercontent.com/u/1314752?v=4"}]}, "docs/SAFETY.md": {"last_commit_date": "2023-07-25", "authors": [{"login": "haraschax", "name": "haraschax", "url": "https://github.com/haraschax", "avatar": "https://avatars.githubusercontent.com/u/6804392?v=4"}, {"login": "sshane", "name": "sshane", "url": "https://github.com/sshane", "avatar": "https://avatars.githubusercontent.com/u/25857203?v=4"}, {"login": "pd0wm", "name": "pd0wm", "url": "https://github.com/pd0wm", "avatar": "https://avatars.githubusercontent.com/u/1314752?v=4"}, {"login": "geohot", "name": "geohot", "url": "https://github.com/geohot", "avatar": "https://avatars.githubusercontent.com/u/72895?v=4"}]}, "docs/how-to/turn-the-speed-blue.md": {"last_commit_date": "2024-07-28", "authors": [{"login": "adeebshihadeh", "name": "adeebshihadeh", "url": "https://github.com/adeebshihadeh", "avatar": "https://avatars.githubusercontent.com/u/8762862?v=4"}]}}}

.codespellignore

@@ -0,0 +1,3 @@
+Wen
+REGIST
+PullRequest

.github/CODEOWNERS

@@ -0,0 +1,3 @@
+*       @sunnypilot/dev-internal
+/.github/ @devtekve @sunnyhaibin
+/release/ci/ @devtekve @sunnyhaibin

.github/labeler.yaml

@@ -24,4 +24,4 @@ multilanguage:
 
 autonomy:
   - changed-files:
-    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"
+    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit,sunnypilot/modeld*/models/**}"

.github/release-drafter.yml

@@ -0,0 +1,43 @@
+exclude-labels:
+  - 'no-changelog'
+categories:
+  - title: '🚀 Features'
+    labels:
+      - 'feature'
+      - 'enhancement'
+  - title: '🐛 Bug Fixes'
+    collapse-after: 5
+    labels:
+      - 'fix'
+      - 'bugfix'
+      - 'bug'
+  - title: '🧰 Maintenance'
+    collapse-after: 5
+    label: 'chore'
+change-template: '- $TITLE @$AUTHOR (#$NUMBER)'
+change-title-escapes: '\<*_&'
+replacers:
+  - search: '/[Ss][Uu][Nn][Nn][Yy][Pp][Ii][Ll][Oo][Tt]/g'
+    replace: 'sunnypilot'
+  - search: '/\b[Ss][Pp]\b/g'
+    replace: 'SP'
+version-resolver:
+  major:
+    labels:
+      - 'major'
+  minor:
+    labels:
+      - 'minor'
+  patch:
+    labels:
+      - 'patch'
+  default: patch
+name-template: 'v$RESOLVED_VERSION 🚀'
+tag-template: 'v$RESOLVED_VERSION'
+version-template: "0.$MAJOR.$MINOR.$PATCH" # The day OP becomes v1, we need to bump this
+tag-prefix: "v0." # The day OP becomes v1, we need to bump this
+prerelease-identifier: "staging"
+template: |
+  ## Changes
+
+  $CHANGES

.github/workflows/auto_pr_review.yaml

@@ -24,7 +24,7 @@ jobs:
     # Check PR target branch
     - name: check branch
       uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
-      if: github.repository == 'commaai/openpilot'
+      if: github.repository == 'sunnypilot/sunnypilot'
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       with:
@@ -37,16 +37,16 @@ jobs:
     # Welcome comment
     - name: "First timers PR"
       uses: actions/first-interaction@v1
-      if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
+      if: github.event.pull_request.head.repo.full_name != 'sunnypilot/sunnypilot'
       with:
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         pr-message: |
             <!-- _(run_id **${{ github.run_id }}**)_ -->
             Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
             * Convert your PR to a draft unless it's ready to review
-            * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
+            * Read the [contributing docs](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md)
             * Before marking as "ready for review", ensure:
               * the goal is clearly stated in the description
               * all the tests are passing
-              * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
+              * the change is [something we merge](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
               * include a route or your device' dongle ID if relevant

.github/workflows/badges.yaml

@@ -13,7 +13,7 @@ jobs:
   badges:
     name: create badges
     runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     permissions:
       contents: write
     steps:
@@ -29,7 +29,7 @@ jobs:
 
         git checkout --orphan badges
         git rm -rf --cached .
-        git config user.email "badge-researcher@comma.ai"
+        git config user.email "badge-researcher@sunnypilot.ai"
         git config user.name "Badge Researcher"
 
         git add translation_badge.svg

.github/workflows/cereal_validation.yaml

@@ -0,0 +1,77 @@
+name: cereal validation
+
+on:
+  push:
+    branches:
+      - master
+      - master-new
+  pull_request:
+    paths:
+      - 'cereal/**'
+  workflow_dispatch:
+  workflow_call:
+    inputs:
+      run_number:
+        default: '1'
+        required: true
+        type: string
+
+concurrency:
+  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  cancel-in-progress: true
+
+env:
+  PYTHONWARNINGS: error
+  BASE_IMAGE: openpilot-base
+  BUILD: selfdrive/test/docker_build.sh base
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+
+jobs:
+  generate_cereal_artifact:
+    name: Generate cereal validation artifacts
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+      - uses: ./.github/workflows/setup-with-retry
+      - name: Build openpilot
+        run: ${{ env.RUN }} "scons -j$(nproc) cereal"
+      - name: Generate the log file
+        run: |
+          ${{ env.RUN }} "cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin" && \
+          ls -la
+          ls -la cereal/messaging/tests
+      - name: 'Prepare artifact'
+        run: |
+          mkdir -p "cereal/messaging/tests/cereal_validations"
+          cp cereal/messaging/tests/validate_sp_cereal_upstream.py "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py"
+          cp schema_instances.bin "cereal/messaging/tests/cereal_validations/schema_instances.bin"
+      - name: 'Upload Artifact'
+        uses: actions/upload-artifact@v4
+        with:
+          name: cereal_validations
+          path: cereal/messaging/tests/cereal_validations
+
+  validate_cereal_with_upstream:
+    name: Validate cereal with Upstream
+    runs-on: ubuntu-24.04
+    needs: generate_cereal_artifact
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          repository: 'commaai/openpilot'
+          submodules: true
+          ref: "refs/heads/master"
+      - uses: ./.github/workflows/setup-with-retry
+      - name: Build openpilot
+        run: ${{ env.RUN }} "scons -j$(nproc) cereal"
+      - name: Download build artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: cereal_validations
+          path: cereal/messaging/tests/cereal_validations
+      - name: 'Run the validation'
+        run: |
+          chmod +x cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
+          ${{ env.RUN }} "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f cereal/messaging/tests/cereal_validations/schema_instances.bin"

.github/workflows/ci_weekly_report.yaml

@@ -15,7 +15,7 @@ env:
 
 jobs:
   setup:
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     runs-on: ubuntu-latest
     outputs:
       ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
@@ -31,7 +31,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: commaai/openpilot/.github/workflows/ci_weekly_run.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
     with:
       run_number: ${{ matrix.run_number }}
 

.github/workflows/ci_weekly_run.yaml

@@ -12,6 +12,6 @@ concurrency:
 
 jobs:
   selfdrive_tests:
-    uses: commaai/openpilot/.github/workflows/selfdrive_tests.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
     with:
       run_number: ${{ inputs.run_number }}

.github/workflows/compile-openpilot/action.yaml

@@ -15,7 +15,7 @@ runs:
                           scons -j$(nproc) --cache-populate"
     - name: Save scons cache
       uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
+      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
       with:
         path: .ci_cache/scons_cache
         key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}

.github/workflows/docs.yaml

@@ -35,13 +35,13 @@ jobs:
 
     # Push to docs.comma.ai
     - uses: actions/checkout@v4
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
       with:
         path: openpilot-docs
         ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
-        repository: commaai/openpilot-docs
+        repository: sunnypilot/sunnypilot-docs
     - name: Push
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
       run: |
         set -x
 

.github/workflows/lfs-maintenance.yaml

@@ -0,0 +1,72 @@
+name: Sync comma's LFS
+
+env:
+  LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
+  LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
+
+on:
+  schedule:
+    - cron: '0 0 * * *'  # Runs at 00:00 UTC every day
+  push:
+    branches:
+      - 'master-new'
+  pull_request:
+    branches:
+      - 'master-new'
+  workflow_dispatch:  # enables manual triggering
+    inputs:
+      upstream_branch:
+        default: 'master'
+        type: string
+
+jobs:
+  sync:
+    runs-on: ubuntu-latest
+    # Skip if PR is in draft mode
+    if: (github.event_name != 'pull_request' || (github.event_name == 'pull_request' && github.event.pull_request.draft == false)) && !github.event.pull_request.head.repo.fork
+    steps:
+      - name: Checkout Repository
+        uses: actions/checkout@v4
+        with:
+          repository: 'commaai/openpilot'
+          ref: ${{ inputs.upstream_branch }}
+      
+      - name: LFS Fetch
+        run: |
+          git lfs fetch
+
+      - name: Set up Git
+        run: |
+          git config --global user.name 'GitHub Action'
+          git config --global user.email 'action@github.com'
+
+      - name: Set up SSH
+        uses: webfactory/ssh-agent@v0.9.0
+        with:
+          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
+
+      - name: Add GitLab public keys
+        run: |
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+      
+      - name: Ensure branch
+        run: |
+          if git symbolic-ref -q HEAD >/dev/null; then
+              echo "Already on a branch, proceeding with push"
+            else
+              echo "Detached HEAD state detected, creating temporary branch"
+            git checkout -b temp_branch
+          fi
+
+      - name: Update LFS Config
+        run: |
+          echo '[lfs]' > .lfsconfig
+          echo '    url = ${{ env.LFS_URL }}' >> .lfsconfig
+          echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
+          echo '    locksverify = false' >> .lfsconfig
+
+      - name: Push LFS
+        id: sync-and-commit
+        run: |
+          git lfs ls-files -l
+          git lfs push --all origin

.github/workflows/prebuilt.yaml

@@ -12,7 +12,7 @@ jobs:
   build_prebuilt:
     name: build prebuilt
     runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     env:
       PUSH_IMAGE: true
     permissions:

.github/workflows/release-drafter.yml

@@ -0,0 +1,29 @@
+name: Release Drafter
+
+on:
+  push:
+    branches:
+      - master-new
+      - master
+    tags:
+      - 'v*'
+  pull_request_target:
+    types: [opened, reopened, synchronize]
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  update_release_draft:
+    permissions:
+      contents: write
+      pull-requests: write
+    runs-on: ubuntu-latest
+    steps:
+      - uses: release-drafter/release-drafter@v6
+        with:
+          config-name: release-drafter.yml
+          prerelease: ${{ !startsWith(github.ref, 'refs/tags/v') }}
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/release.yaml

@@ -13,7 +13,7 @@ jobs:
     container:
       image: ghcr.io/commaai/openpilot-base:latest
     runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     permissions:
       checks: read
       contents: write

.github/workflows/repo-maintenance.yaml

@@ -37,7 +37,7 @@ jobs:
     runs-on: ubuntu-latest
     container:
       image: ghcr.io/commaai/openpilot-base:latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     steps:
     - uses: actions/checkout@v4
       with:

.github/workflows/selfdrive_tests.yaml

@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - master
+      - master-new
   pull_request:
   workflow_dispatch:
   workflow_call:
@@ -14,10 +15,11 @@ on:
         type: string
 
 concurrency:
-  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:
+  REPORT_NAME: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
   PYTHONWARNINGS: error
   BASE_IMAGE: openpilot-base
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
@@ -31,10 +33,10 @@ env:
 
 jobs:
   build_release:
+    if: github.repository == 'commaai/openpilot' # build_release blocked for the time being to only comma as we may have a different process.
     name: build release
     runs-on:
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+      - 'ubuntu-24.04'
     env:
       STRIPPED_DIR: /tmp/releasepilot
     steps:
@@ -52,7 +54,7 @@ jobs:
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
     - uses: ./.github/workflows/setup-with-retry
     - name: Check submodules
-      if: github.repository == 'commaai/openpilot'
+      if: github.repository == 'sunnypilot/sunnypilot'
       timeout-minutes: 3
       run: release/check-submodules.sh
     - name: Build openpilot and run checks
@@ -68,8 +70,7 @@ jobs:
 
   build:
     runs-on:
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+      - 'ubuntu-24.04'
     steps:
     - uses: actions/checkout@v4
       with:
@@ -104,6 +105,12 @@ jobs:
       env:
         # package install has DeprecationWarnings
         PYTHONWARNINGS: default
+    - name: Save Homebrew cache
+      uses: actions/cache/save@v4
+      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
+      with:
+        path: ~/Library/Caches/Homebrew
+        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
     - run: git lfs pull
     - name: Getting scons cache
       uses: ./.github/workflows/auto-cache
@@ -115,12 +122,17 @@ jobs:
           scons-${{ runner.arch }}-macos
     - name: Building openpilot
       run: . .venv/bin/activate && scons -j$(nproc)
+    - name: Save scons cache
+      uses: actions/cache/save@v4
+      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
 
   static_analysis:
     name: static analysis
     runs-on:
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+      - 'ubuntu-latest'
     env:
       PYTHONWARNINGS: default
     steps:
@@ -135,8 +147,7 @@ jobs:
   unit_tests:
     name: unit tests
     runs-on:
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+      - 'ubuntu-24.04'
     steps:
     - uses: actions/checkout@v4
       with:
@@ -161,9 +172,9 @@ jobs:
 
   process_replay:
     name: process replay
+    if: github.repository == 'commaai/openpilot'  # disable process_replay for forks
     runs-on:
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+      - 'ubuntu-24.04'
     steps:
     - uses: actions/checkout@v4
       with:
@@ -215,8 +226,7 @@ jobs:
   test_cars:
     name: cars
     runs-on:
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+      - 'ubuntu-24.04'
     strategy:
       fail-fast: false
       matrix:
@@ -307,8 +317,7 @@ jobs:
   simulator_driving:
     name: simulator driving
     runs-on:
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+      - 'ubuntu-24.04'
     if: (github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
     steps:
     - uses: actions/checkout@v4
@@ -329,8 +338,7 @@ jobs:
     # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
     name: Create UI Report
     runs-on:
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+      - 'ubuntu-24.04'
     steps:
       - uses: actions/checkout@v4
         with:
@@ -345,7 +353,7 @@ jobs:
       - name: Build openpilot
         run: ${{ env.RUN }} "scons -j$(nproc)"
       - name: Create Test Report
-        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 1 || 3) }}
+        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 2 || 4) }}
         run: >
             ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
                             source selfdrive/test/setup_xvfb.sh &&
@@ -354,5 +362,5 @@ jobs:
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
-          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          name: ${{ env.REPORT_NAME }}
           path: selfdrive/ui/tests/test_ui/report_1/screenshots

.github/workflows/setup/action.yaml

@@ -19,7 +19,7 @@ runs:
     - shell: bash
       name: No retries!
       run: |
-        if [ "${{ github.run_attempt }}" -gt 1 ]; then
+        if [ "${{ github.run_attempt }}" -gt ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.author_association == 'NONE' && 2 || 1}} ]; then
           echo -e "\033[0;31m##################################################"
           echo -e "\033[0;31m    Retries not allowed! Fix the flaky test!      "
           echo -e "\033[0;31m##################################################\033[0m"

.github/workflows/stale.yaml

@@ -20,7 +20,7 @@ jobs:
           stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
           close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
           stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
+          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'sunnypilot/sunnypilot' }} # only delete branches on the main repo
           exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
           days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
           days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}

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

@@ -0,0 +1,133 @@
+name: Build Model from Upstream
+
+env:
+  BUILD_DIR: "/data/openpilot"
+  OUTPUT_DIR: ${{ github.workspace }}/output
+  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
+  UPSTREAM_REPO: "commaai/openpilot"
+
+on:
+  workflow_dispatch:
+    inputs:
+      upstream_branch:
+        description: 'Upstream branch to build from'
+        required: true
+        default: 'master'
+        type: string
+      custom_name:
+        description: 'Custom name for the model'
+        required: false
+        type: string
+      file_name:
+        description: 'File name prefix for the model files'
+        required: false
+        type: string
+      is_20hz:
+        description: 'Is this a 20Hz model'
+        required: false
+        type: boolean
+        default: false
+
+
+run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
+
+jobs:
+  build_model:
+    runs-on: self-hosted
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          repository: ${{ env.UPSTREAM_REPO }}
+          ref: ${{ github.event.inputs.upstream_branch }}
+          submodules: recursive
+
+      - run: git lfs pull
+
+      - name: Cache SCons
+        uses: actions/cache@v4
+        with:
+          path: ${{env.SCONS_CACHE_DIR}}
+          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
+          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
+          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
+          restore-keys: |
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}-model
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}-model
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}
+
+      - name: Setup build environment
+        run: |
+          mkdir -p "${BUILD_DIR}/"
+          sudo find $BUILD_DIR/ -mindepth 1 -delete
+          echo "Starting build stage..."
+          echo "Building from: ${{ env.UPSTREAM_REPO }} branch: ${{ github.event.inputs.upstream_branch }}"
+      
+      - name: Patch SConstruct to pass arbitrary cache
+        run: |
+          sed -i.bak 's#cache_dir =#default_cache_dir =#' ${{ github.workspace }}/SConstruct
+          printf '/default_cache_dir/a\\\ncache_dir = ARGUMENTS.get("cache_dir", default_cache_dir)\n' | sed -i.bak -f - ${{ github.workspace }}/SConstruct
+          cat ${{ github.workspace }}/SConstruct
+
+      - name: Build Model
+        run: |
+          source /etc/profile
+          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          scons -j$(nproc) cache_dir=${{ env.SCONS_CACHE_DIR }} ${{ github.workspace }}/selfdrive/modeld
+
+      - name: Prepare Output
+        run: |
+          sudo rm -rf ${OUTPUT_DIR}
+          mkdir -p ${OUTPUT_DIR}
+          
+          # Copy the model files
+          rsync -avm \
+            --include='*.dlc' \
+            --include='*.thneed' \
+            --include='*.pkl' \
+            --include='*.onnx' \
+            --exclude='*' \
+            --delete-excluded \
+            --chown=comma:comma \
+            ./selfdrive/modeld/models/ ${OUTPUT_DIR}/
+          
+          # Rename files if file_name is provided
+          if [ ! -z "${{ inputs.file_name }}" ]; then
+            mv ${OUTPUT_DIR}/supercombo.thneed ${OUTPUT_DIR}/supercombo-${{ inputs.file_name }}.thneed
+            mv ${OUTPUT_DIR}/supercombo_metadata.pkl ${OUTPUT_DIR}/supercombo-${{ inputs.file_name }}_metadata.pkl
+          fi
+          
+          # Calculate SHA256 hashes
+          HASH=$(sha256sum ${OUTPUT_DIR}/supercombo*.thneed | cut -d' ' -f1)
+          METADATA_HASH=$(sha256sum ${OUTPUT_DIR}/supercombo*_metadata.pkl | cut -d' ' -f1)
+          
+          # Create metadata.json
+          cat > ${OUTPUT_DIR}/metadata.json << EOF
+          {
+            "display_name": "${{ inputs.custom_name || inputs.upstream_branch }}",
+            "full_name": "${{ inputs.file_name || 'default' }}",
+            "is_20hz": ${{ inputs.is_20hz || false }},
+            "files": {
+              "drive_model": {
+                "file_name": "$(basename ${OUTPUT_DIR}/supercombo*.thneed)",
+                "sha256": "${HASH}"
+              },
+              "metadata": {
+                "file_name": "$(basename ${OUTPUT_DIR}/supercombo*_metadata.pkl)",
+                "sha256": "${METADATA_HASH}"
+              }
+            },
+            "ref": "${{ inputs.upstream_branch }}",
+            "build_time": "$(date -u +"%Y-%m-%dT%H:%M:%SZ")"
+          }     
+
+      - name: Upload Build Artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: model-${{ github.event.inputs.custom_name || github.event.inputs.upstream_branch }}-${{ github.run_number }}
+          path: ${{ env.OUTPUT_DIR }}

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

@@ -0,0 +1,275 @@
+name: sunnypilot prebuilt action
+
+env:
+  BUILD_DIR: "/data/openpilot"
+  OUTPUT_DIR: ${{ github.workspace }}/output
+  CI_DIR: ${{ github.workspace }}/release/ci
+  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
+  PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
+  
+  # Branch configurations
+  MASTER_BRANCH: "master"
+  MASTER_NEW_BRANCH: "master-new"
+  DEV_C3_SOURCE_BRANCH: "master-dev-c3-new"
+  
+  # Target branch configurations
+  STAGING_TARGET_BRANCH: "staging-c3-new"
+  DEV_TARGET_BRANCH: "dev-c3-new"
+  RELEASE_TARGET_BRANCH: "release-c3-new"
+
+on:
+  push:
+    branches: [ master, master-new, master-dev-c3-new ]
+    tags: [ '*' ]
+  workflow_dispatch:
+    inputs:
+      extra_version:
+        description: 'Extra version identifier'
+        required: false
+        default: ''
+
+jobs:
+  build:
+    concurrency:
+      group: build-${{ github.head_ref || github.ref_name }}
+      cancel-in-progress: false
+    runs-on: self-hosted
+    outputs:
+      new_branch: ${{ steps.set-env.outputs.new_branch }}
+      version: ${{ steps.set-env.outputs.version }}
+      extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
+      commit_sha: ${{ steps.set-env.outputs.commit_sha }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+      - run: git lfs pull
+
+      - name: Cache SCons
+        uses: actions/cache@v4
+        with:
+          path: ${{env.SCONS_CACHE_DIR}}
+          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-${{ github.sha }}
+          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
+          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
+          restore-keys: |
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}
+
+      - name: Set Configuration
+        run: |
+          if [[ "${{ github.ref_name }}" == "${{ env.DEV_C3_SOURCE_BRANCH }}" ]]; then
+            # Dev configuration
+            echo "BRANCH_TYPE=dev" >> $GITHUB_ENV
+            echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
+            echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
+            echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
+          
+          elif [[ "${{ github.ref_name }}" == "${{ env.MASTER_BRANCH }}" || "${{ github.ref_name }}" == "${{ env.MASTER_NEW_BRANCH }}" ]]; then
+            # Master configuration
+            echo "BRANCH_TYPE=master" >> $GITHUB_ENV
+            echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
+            echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
+            echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV
+          
+          elif [[ "${{ github.ref }}" == refs/tags/* ]]; then
+            # Tag configuration
+            echo "BRANCH_TYPE=tag" >> $GITHUB_ENV
+            echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
+            echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
+            echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV
+          
+          else
+            # Feature branch configuration
+            echo "BRANCH_TYPE=dispatch" >> $GITHUB_ENV
+            echo "NEW_BRANCH=${{ github.head_ref || github.ref_name }}-prebuilt" >> $GITHUB_ENV
+            echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
+          fi
+
+      - name: Set environment variables
+        id: set-env
+        run: |
+          # Write to GITHUB_OUTPUT from environment variables
+          echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
+          [[ ! -z "$EXTRA_VERSION_IDENTIFIER" ]] && echo "extra_version_identifier=$EXTRA_VERSION_IDENTIFIER" >> $GITHUB_OUTPUT
+          [[ ! -z "$VERSION" ]] && echo "version=$VERSION" >> $GITHUB_OUTPUT
+          echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
+          
+          # Set up common environment
+          source /etc/profile;
+          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          printenv >> $GITHUB_ENV
+          if [[ "${{ runner.debug }}" == "1" ]]; then
+            cat $GITHUB_OUTPUT
+          fi
+
+      - name: Setup build environment
+        run: |
+          mkdir -p "${BUILD_DIR}/"
+          sudo find $BUILD_DIR/ -mindepth 1 -delete
+          echo "Starting build stage..."
+          echo "BUILD_DIR: ${BUILD_DIR}"
+          echo "CI_DIR: ${CI_DIR}"
+          echo "VERSION: ${{ steps.set-env.outputs.version }}"
+          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
+          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
+          echo "-------"
+          if [[ "${{ runner.debug }}" == "1" ]]; then
+            printenv
+          fi
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
+
+      - name: Build Panda
+        run: |
+          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} ${{ github.workspace }}/panda
+
+      - name: Build Main Project
+        run: |
+          export PYTHONPATH="$BUILD_DIR"
+          ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
+          cd $BUILD_DIR
+          sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
+          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
+          touch ${BUILD_DIR}/prebuilt
+          if [[ "${{ runner.debug }}" == "1" ]]; then
+            ls -la ${BUILD_DIR}
+          fi
+
+      - name: Prepare Output
+        run: |
+          sudo rm -rf ${OUTPUT_DIR}
+          mkdir -p ${OUTPUT_DIR}
+          rsync -am${RUNNER_DEBUG:+v} \
+            --include='**/panda/board/' \
+            --include='**/panda/board/obj' \
+            --include='**/panda/board/obj/panda.bin.signed' \
+            --include='**/panda/board/obj/panda_h7.bin.signed' \
+            --include='**/panda/board/obj/bootstub.panda.bin' \
+            --include='**/panda/board/obj/bootstub.panda_h7.bin' \
+            --exclude='.sconsign.dblite' \
+            --exclude='*.a' \
+            --exclude='*.o' \
+            --exclude='*.os' \
+            --exclude='*.pyc' \
+            --exclude='moc_*' \
+            --exclude='*.cc' \
+            --exclude='Jenkinsfile' \
+            --exclude='supercombo.onnx' \
+            --exclude='**/panda/board/*' \
+            --exclude='**/panda/board/obj/**' \
+            --exclude='**/panda/certs/' \
+            --exclude='**/panda/crypto/' \
+            --exclude='**/release/' \
+            --exclude='**/.github/' \
+            --exclude='**/selfdrive/ui/replay/' \
+            --exclude='**/__pycache__/' \
+            --exclude='**/selfdrive/ui/*.h' \
+            --exclude='**/selfdrive/ui/**/*.h' \
+            --exclude='**/selfdrive/ui/qt/offroad/sunnypilot/' \
+            --exclude='${{env.SCONS_CACHE_DIR}}' \
+            --exclude='**/.git/' \
+            --exclude='**/SConstruct' \
+            --exclude='**/SConscript' \
+            --exclude='**/.venv/' \
+            --delete-excluded \
+            --chown=comma:comma \
+            ${BUILD_DIR}/ ${OUTPUT_DIR}/
+
+      - name: 'Tar.gz files'
+        run: |
+          tar czf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }} .
+          ls -la prebuilt.tar.gz
+
+      - name: 'Upload Artifact'
+        uses: actions/upload-artifact@v4
+        with:
+          name: prebuilt
+          path: prebuilt.tar.gz
+
+      - name: Re-enable powersave
+        if: always()
+        run: |
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
+
+  publish:
+    concurrency:
+      group: publish-${{ github.head_ref || github.ref_name }}
+      cancel-in-progress: true
+    if: ${{ github.event_name != 'pull_request' || github.event_name == 'pull_request' && github.event.pull_request.draft }} 
+    needs: build
+    runs-on: ubuntu-24.04
+    environment: ${{ contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) && 'auto-deploy' || 'feature-branch' }}
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Download build artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: prebuilt
+
+      - name: Untar prebuilt
+        run: |
+          mkdir -p ${{ env.OUTPUT_DIR }}
+          tar xzf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }}
+
+      - name: Configure Git
+        run: |
+          git config --global user.email "github-actions[bot]@users.noreply.github.com"
+          git config --global user.name "github-actions[bot]"
+
+      - name: Publish to Public Repository
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          echo '${{ toJSON(needs.build.outputs) }}'
+          ls -la ${{ env.OUTPUT_DIR }}
+
+          ${{ env.CI_DIR }}/publish.sh \
+            "${{ github.workspace }}" \
+            "${{ env.OUTPUT_DIR }}" \
+            "${{ needs.build.outputs.new_branch }}" \
+            "${{ needs.build.outputs.version }}" \
+            "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
+            "-${{ needs.build.outputs.extra_version_identifier }}"
+          
+          echo ""
+          echo "----   ℹ️ To update the list of branches that auto deploy prebuilts  -----"
+          echo ""
+          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
+          echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
+          echo "3. Update as needed (JSON array with no spaces)"
+
+  notify:
+    needs: [ build, publish ]
+    runs-on: ubuntu-24.04
+    if: success()
+    steps:
+      - uses: actions/checkout@v4
+      - name: Setup Alpine Linux environment
+        uses: jirutka/setup-alpine@v1.2.0
+        with:
+          packages: 'jq gettext curl'
+
+      - name: Send Discord Notification
+        env:
+          DISCORD_WEBHOOK: ${{ contains(fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES), github.head_ref || github.ref_name) && secrets.DISCORD_DEV_FEEDBACK_CHANNEL_WEBHOOK || secrets.DISCORD_DEV_PRIVATE_CHANNEL_WEBHOOK }}
+        run: |
+          TEMPLATE='${{ vars.DISCORD_GENERAL_UPDATE_NOTICE }}'
+          export EXTRA_VERSION_IDENTIFIER="${{ needs.build.outputs.extra_version_identifier }}"
+          export VERSION="${{ needs.build.outputs.version }}"
+          export branch_name=${{ github.head_ref || github.ref_name }}
+          export new_branch=${{ needs.build.outputs.new_branch }}
+          export extra_version_identifier=${{ needs.build.outputs.extra_version_identifier || github.run_number}}
+          echo ${TEMPLATE} | envsubst | jq -c '.' | tee payload.json
+          curl -X POST -H "Content-Type: application/json" -d @payload.json $DISCORD_WEBHOOK
+          
+          echo ""
+          echo "----   ℹ️ To update the list of branches that notify to dev-feedback  -----"
+          echo ""
+          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/DEV_FEEDBACK_NOTIFICATION_BRANCHES"
+          echo "2. Current value: ${{ vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES }}"
+          echo "3. Update as needed (JSON array with no spaces)"
+        shell: alpine.sh {0}

.github/workflows/sunnypilot-master-dev-c3-prep.yaml

@@ -0,0 +1,182 @@
+name: Nightly Branch Reset and PR Squash
+
+env:
+  DEFAULT_SOURCE_BRANCH: "master-new"
+  DEFAULT_TARGET_BRANCH: "nightly"
+  PR_LABEL: "dev-c3"
+  LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
+  LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
+
+on:
+  workflow_dispatch:
+    inputs:
+      source_branch:
+        description: 'Source branch to reset from'
+        required: true
+        default: 'master-new'
+        type: string
+      target_branch:
+        description: 'Target branch to reset and squash into'
+        required: true
+        default: 'master-dev-c3-new'
+        type: string
+#  schedule:
+#     - cron: '0 0 * * *'  # Run at midnight UTC for nightly
+
+jobs:
+  reset-and-squash:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0  # Fetch all history for all branches
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Configure Git
+        run: |
+          git config --global user.name 'github-actions[bot]'
+          git config --global user.email 'github-actions[bot]@users.noreply.github.com'
+
+      - name: Set up SSH
+        uses: webfactory/ssh-agent@v0.9.0
+        with:
+          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
+
+      - name: Add GitLab public keys
+        run: |
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.10'
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install PyGithub
+
+      - name: Check branches exist
+        run: |
+          # Check if source branch exists
+          if ! git ls-remote --heads origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} | grep -q "${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"; then
+            echo "Source branch ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} does not exist!"
+            exit 1
+          fi
+
+          # Make sure we have the latest source branch
+          git fetch origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
+
+          # Check if target branch exists
+          if ! git ls-remote --heads origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} | grep -q "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"; then
+            echo "Target branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} does not exist, creating it from ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
+            git checkout -b ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
+            git push origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
+          else
+            # Fetch target branch if it exists
+            git fetch origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
+          fi
+
+      - name: Reset target branch
+        run: |
+          echo "Resetting ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} to match ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
+          # Delete if exists and recreate pointing to source
+          git branch -D ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} || true
+          git branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
+
+      - name: Get PRs to squash
+        id: get-prs
+        run: |
+          # Use GitHub API to get PRs with specific label, ordered by creation date
+          PR_LIST=$(gh api graphql -f query='
+            query($label:String!) {
+              search(query: $label, type:ISSUE, first:100) {
+                nodes {
+                  ... on PullRequest {
+                    number
+                    headRefName
+                    title
+                    createdAt
+                    commits(last: 1) {
+                      nodes {
+                        commit {
+                          statusCheckRollup {
+                            state
+                          }
+                        }
+                      }
+                    }
+                  }
+                }
+              }
+            }' -F label="is:pr is:open label:${PR_LABEL} sort:created-asc")
+
+          echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Process PRs
+        run: |
+          cp ${{ github.workspace }}/release/ci/squash_and_merge.py /tmp/squash_and_merge.py && \
+          chmod +x /tmp/squash_and_merge.py && \
+          python3 ${{ github.workspace }}/release/ci/squash_and_merge_prs.py \
+            --pr-data '${{ steps.get-prs.outputs.PR_LIST }}' \
+            --target-branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} \
+            --squash-script-path '/tmp/squash_and_merge.py'
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Update LFS Config
+        run: |
+          echo '[lfs]' > .lfsconfig
+          echo '    url = ${{ env.LFS_URL }}' >> .lfsconfig
+          echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
+          echo '    locksverify = false' >> .lfsconfig
+
+      - name: Push changes if there are diffs
+        id: push-changes  # Add an id so we can reference this step
+        run: |
+          TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
+
+          # Fetch the latest from remote
+          git fetch origin $TARGET_BRANCH
+
+          # Check for diffs between local and remote
+          if git diff $TARGET_BRANCH origin/$TARGET_BRANCH --quiet; then
+            echo "No changes to push - local and remote branches are identical"
+            echo "has_changes=false" >> $GITHUB_OUTPUT
+            exit 0
+          fi
+
+          # If we get here, there are diffs, so push
+          if ! git push origin $TARGET_BRANCH --force; then
+            echo "Failed to push changes to $TARGET_BRANCH"
+            exit 1
+          fi
+
+          echo "Branch $TARGET_BRANCH has been reset and updated with squashed PRs"
+          echo "has_changes=true" >> $GITHUB_OUTPUT
+
+      - name: Trigger and wait for selfdrive tests
+        if: steps.push-changes.outputs.has_changes == 'true'
+        run: |
+          echo "Triggering selfdrive tests..."
+          gh workflow run selfdrive_tests.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
+
+          echo "Sleeping for 120s to give plenty of time for the action to start and then we wait"
+          sleep 120
+
+          echo "Getting latest run ID..."
+          RUN_ID=$(gh run list --workflow=selfdrive_tests.yaml --branch="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}" --limit=1 --json databaseId --jq '.[0].databaseId')
+
+          echo "Watching run ID: $RUN_ID"
+          gh run watch "$RUN_ID"
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Trigger prebuilt workflow
+        if: success() && steps.push-changes.outputs.has_changes == 'true'
+        run: |
+          gh workflow run sunnypilot-build-prebuilt.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/ui_preview.yaml

@@ -3,23 +3,25 @@ on:
   push:
     branches:
       - master
+      - master-new
   pull_request_target:
     types: [assigned, opened, synchronize, reopened, edited]
     branches:
       - 'master'
+      - 'master-new'
     paths:
       - 'selfdrive/ui/**'
   workflow_dispatch:
 
 env:
   UI_JOB_NAME: "Create UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
+  REPORT_NAME: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.sha || github.event.pull_request.head.sha }}
   BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"
 
 jobs:
   preview:
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     name: preview
     runs-on: ubuntu-latest
     timeout-minutes: 20
@@ -58,13 +60,13 @@ jobs:
       - name: Getting master ui
         uses: actions/checkout@v4
         with:
-          repository: commaai/ci-artifacts
+          repository: sunnypilot/ci-artifacts
           ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
           path: ${{ github.workspace }}/master_ui
           ref: openpilot_master_ui
 
       - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
+        if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.event_name == 'push'
         working-directory: ${{ github.workspace }}/master_ui
         run: |
           git checkout --orphan=new_master_ui
@@ -101,7 +103,7 @@ jobs:
               DIFF="${DIFF}<table>"
 
               DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+              DIFF="${DIFF}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
               DIFF="${DIFF}</tr>"
 
               DIFF="${DIFF}</table>"
@@ -118,13 +120,13 @@ jobs:
               DIFF="${DIFF}<table>"
 
               DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
-              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
+              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
               DIFF="${DIFF}</tr>"
 
               DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
-              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
+              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
+              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
               DIFF="${DIFF}</tr>"
 
               DIFF="${DIFF}</table>"
@@ -137,7 +139,7 @@ jobs:
             if [[ $INDEX -eq 0 ]]; then
               TABLE="${TABLE}<tr>"
             fi
-            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
             if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
               TABLE="${TABLE}</tr>"
             fi

.gitignore

@@ -15,6 +15,7 @@ a.out
 .hypothesis
 
 /docs_site/
+/docs_sp_site/
 
 *.dylib
 *.DSYM
@@ -75,6 +76,9 @@ comma*.sh
 selfdrive/modeld/thneed/compile
 selfdrive/modeld/models/*.thneed
 selfdrive/modeld/models/*.pkl
+sunnypilot/modeld*/thneed/compile
+sunnypilot/modeld*/models/*.thneed
+sunnypilot/modeld*/models/*.pkl
 
 *.bz2
 *.zst
@@ -104,3 +108,8 @@ Pipfile
 # Ignore all local history of files
 .history
 .ionide
+
+### JetBrains ###
+!.idea/customTargets.xml
+!.idea/tools/*
+!.run/*

.gitmodules

@@ -1,18 +1,21 @@
 [submodule "panda"]
   path = panda
-  url = ../../commaai/panda.git
+  url = https://github.com/sunnyhaibin/panda.git
 [submodule "opendbc"]
   path = opendbc_repo
-  url = ../../commaai/opendbc.git
+  url = https://github.com/sunnypilot/opendbc.git
 [submodule "msgq"]
   path = msgq_repo
-  url = ../../commaai/msgq.git
+  url = https://github.com/sunnypilot/msgq.git
 [submodule "rednose_repo"]
   path = rednose_repo
-  url = ../../commaai/rednose.git
+  url = https://github.com/commaai/rednose.git
 [submodule "teleoprtc_repo"]
   path = teleoprtc_repo
-  url = ../../commaai/teleoprtc
+  url = https://github.com/commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
   url = https://github.com/commaai/tinygrad.git
+[submodule "sunnypilot/neural_network_data"]
+  path = sunnypilot/neural_network_data
+  url = https://github.com/sunnypilot/neural-network-data.git

.idea/customTargets.xml

@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CLionExternalBuildManager">
+    <target id="a62f99e8-5ec4-434c-8122-49efed5af108" name="uv Scons Build Debug" defaultType="TOOL">
+      <configuration id="b93ec964-16e5-4962-a12e-3ed360ce8f02" name="uv Scons Build Debug">
+        <build type="TOOL">
+          <tool actionId="Tool_External Tools_uv Scons Build Debug" />
+        </build>
+        <clean type="TOOL">
+          <tool actionId="Tool_External Tools_uv Scons Clean" />
+        </clean>
+      </configuration>
+    </target>
+    <target id="edd8ad9d-183b-467c-a355-0d9a0ecab026" name="uv Scons Build Release" defaultType="TOOL">
+      <configuration id="09523339-5ce3-4223-ab9e-904f38ad7752" name="uv Scons Build Release">
+        <build type="TOOL">
+          <tool actionId="Tool_External Tools_uv Scons Build Release" />
+        </build>
+        <clean type="TOOL">
+          <tool actionId="Tool_External Tools_uv Scons Clean" />
+        </clean>
+      </configuration>
+    </target>
+  </component>
+</project>

.idea/tools/External Tools.xml

@@ -0,0 +1,23 @@
+<toolSet name="External Tools">
+  <tool name="uv Scons Build Debug" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
+    <exec>
+      <option name="COMMAND" value="bash" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --compile_db --ccflags=\&quot;-fno-inline\&quot;&quot;" />
+      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
+    </exec>
+  </tool>
+  <tool name="uv Scons Clean" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
+    <exec>
+      <option name="COMMAND" value="bash" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -c&quot; " />
+      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
+    </exec>
+  </tool>
+  <tool name="uv Scons Build Release" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
+    <exec>
+      <option name="COMMAND" value="bash" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --compile_db&quot; " />
+      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
+    </exec>
+  </tool>
+</toolSet>

.lfsconfig

@@ -1,4 +1,4 @@
 [lfs]
-	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
+	url = https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs
+	pushurl = ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git
 	locksverify = false

.lfsconfig-comma

@@ -0,0 +1,4 @@
+[lfs]
+	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
+	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
+	locksverify = false

.run/Build Debug.run.xml

@@ -0,0 +1,10 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
+    <envs>
+      <env name="QT_DBL_CLICK_DIST" value="150" />
+    </envs>
+    <method v="2">
+      <option name="CLION.EXTERNAL.BUILD" enabled="true" />
+    </method>
+  </configuration>
+</component>

.run/Build Release.run.xml

@@ -0,0 +1,10 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Build Release" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Release" CONFIG_NAME="uv Scons Build Release" RUN_PATH="ui">
+    <envs>
+      <env name="QT_DBL_CLICK_DIST" value="150" />
+    </envs>
+    <method v="2">
+      <option name="CLION.EXTERNAL.BUILD" enabled="true" />
+    </method>
+  </configuration>
+</component>

LICENSE.md

@@ -0,0 +1,21 @@
+# Custom MIT License
+
+Copyright (c) 2024, Haibin Wen, SUNNYPILOT LLC
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to view and modify the Software, subject to the following conditions:
+
+1. **Permission Required**: Permission Required for Commercial, For-Profit, or Closed Source Use: Use of the Software, in whole or in part, for any commercial purposes, for-profit projects, or in closed source projects requires explicit written permission from the original author(s).
+
+2. **Redistribution**: Any redistribution of the Software, modified or unmodified, must retain this license notice and the following acknowledgment:
+   "This software is licensed under a custom license requiring permission for use."
+
+3. **Visibility**: Any project that uses the Software must visibly mention the following acknowledgment:
+   "This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use."
+
+4. **No Warranty**: THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+Contact sunnypilot Support <support@sunnypilot.ai> for permission requests.
+
+---
+
+Haibin Wen, SUNNYPILOT LLC

README.md

@@ -1,107 +1,102 @@
-<div align="center" style="text-align: center;">
+![](https://user-images.githubusercontent.com/47793918/233812617-beab2e71-57b9-479e-8bff-c3931347ca40.png)
 
-<h1>openpilot</h1>
+## 🌞 What is sunnypilot?
+[sunnypilot](https://github.com/sunnyhaibin/sunnypilot) is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 300+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
 
-<p>
-  <b>openpilot is an operating system for robotics.</b>
-  <br>
-  Currently, it upgrades the driver assistance system in 275+ supported cars.
-</p>
+## 💭 Join our Discord
+Join the official sunnypilot Discord server to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
+* https://discord.gg/sunnypilot
 
-<h3>
-  <a href="https://docs.comma.ai">Docs</a>
-  <span> · </span>
-  <a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
-  <span> · </span>
-  <a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
-  <span> · </span>
-  <a href="https://discord.comma.ai">Community</a>
-  <span> · </span>
-  <a href="https://comma.ai/shop">Try it on a comma 3X</a>
-</h3>
+  ![](https://dcbadge.vercel.app/api/server/wRW3meAgtx?style=flat) ![Discord Shield](https://discordapp.com/api/guilds/880416502577266699/widget.png?style=shield)
 
-Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
+## Documentation
+https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
 
-![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)
-[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
-[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](LICENSE)
-[![X Follow](https://img.shields.io/twitter/follow/comma_ai)](https://x.com/comma_ai)
-[![Discord](https://img.shields.io/discord/469524606043160576)](https://discord.comma.ai)
+## 🚘 Running on a dedicated device in a car
+* A supported device to run this software
+    * a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x)
+* This software
+* One of [the 300+ supported cars](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
+* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
 
-</div>
+Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
 
-<table>
-  <tr>
-    <td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://github.com/commaai/openpilot/assets/8762862/2f7112ae-f748-4f39-b617-fabd689c3772"></a></td>
-    <td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://github.com/commaai/openpilot/assets/8762862/92351544-2833-40d7-9e0b-7ef7ae37ec4c"></a></td>
-    <td><a href="https://youtu.be/SUIZYzxtMQs" title="A drive to Taco Bell"><img src="https://github.com/commaai/openpilot/assets/8762862/05ceefc5-2628-439c-a9b2-89ce77dc6f63"></a></td>
-  </tr>
-</table>
+## Installation
+Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `release-c3` branch.
 
+* sunnypilot not installed or you installed a version before 0.8.17?
+  1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
+  2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
+  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```release-c3.sunnypilot.ai```.
+  4. Complete the rest of the installation following the onscreen instructions.
 
-Using openpilot in a car
-------
+* sunnypilot already installed and you installed a version after 0.8.17?
+  1. On the comma three, go to `Settings` ▶️ `Software`.
+  2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
+  3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
+  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `release-c3`
 
-To use openpilot in a car, you need four things:
-1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
-2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
-3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
-4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
+|    Branch    |         Installation URL         |
+|:------------:|:--------------------------------:|
+| `release-c3` | https://release-c3.sunnypilot.ai |
+| `staging-c3` | https://staging-c3.sunnypilot.ai |
+|   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
 
-We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
+Requires further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
 
-### Branches
-| branch           | URL                                    | description                                                                         |
-|------------------|----------------------------------------|-------------------------------------------------------------------------------------|
-| `release3`         | openpilot.comma.ai                      | This is openpilot's release branch.                                                 |
-| `release3-staging` | openpilot-test.comma.ai                | This is the staging branch for releases. Use it to get new releases slightly early. |
-| `nightly`          | openpilot-nightly.comma.ai             | This is the bleeding edge development branch. Do not expect this to be stable.      |
-| `nightly-dev`      | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars.      |
+## 🎆 Pull Requests
+We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
 
-To start developing openpilot
-------
+Pull requests should be against the most current `master-new` branch.
 
-openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot).
+## 📊 User Data
 
-* Join the [community Discord](https://discord.comma.ai)
-* Check out [the contributing docs](docs/CONTRIBUTING.md)
-* Check out the [openpilot tools](tools/)
-* Read about the [development workflow](docs/WORKFLOW.md)
-* Code documentation lives at https://docs.comma.ai
-* Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)
+By default, sunnypilot uploads the driving data to comma servers. You can also access your data through [comma connect](https://connect.comma.ai/).
 
-Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](https://comma.ai/bounties) for external contributors.
+sunnypilot is open source software. The user is free to disable data collection if they wish to do so.
 
-Safety and Testing
-----
-
-* openpilot observes [ISO26262](https://en.wikipedia.org/wiki/ISO_26262) guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
-* openpilot has software-in-the-loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
-* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
-* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
-* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
-* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
-* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
-
-Licensing
-------
-
-openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
-
-Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
-
-**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
-YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
-NO WARRANTY EXPRESSED OR IMPLIED.**
-
-User Data and comma Account
-------
-
-By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
-
-openpilot is open source software: the user is free to disable data collection if they wish to do so.
-
-openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+sunnypilot logs the road-facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
 The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
 
-By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
+By using this software, you understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
+
+## Licensing
+
+sunnypilot is released under the [MIT License](LICENSE). This repository includes original work as well as significant portions of code derived from [openpilot by comma.ai](https://github.com/commaai/openpilot), which is also released under the MIT license with additional disclaimers.
+
+The original openpilot license notice, including comma.ai’s indemnification and alpha software disclaimer, is reproduced below as required:
+
+> openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.  
+>  
+> Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.  
+>  
+> **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.  
+> YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.  
+> NO WARRANTY EXPRESSED OR IMPLIED.**
+
+For full license terms, please see the [`LICENSE`](LICENSE) file.
+
+## 💰 Support sunnypilot
+If you find any of the features useful, consider becoming a [sponsor on GitHub](https://github.com/sponsors/sunnyhaibin) to support future feature development and improvements.
+
+
+By becoming a sponsor, you will gain access to exclusive content, early access to new features, and the opportunity to directly influence the project's development.
+
+
+<h3>GitHub Sponsor</h3>
+
+<a href="https://github.com/sponsors/sunnyhaibin">
+  <img src="https://user-images.githubusercontent.com/47793918/244135584-9800acbd-69fd-4b2b-bec9-e5fa2d85c817.png" alt="Become a Sponsor" width="300" style="max-width: 100%; height: auto;">
+</a>
+<br>
+
+<h3>PayPal</h3>
+
+<a href="https://paypal.me/sunnyhaibin0850" target="_blank">
+<img src="https://www.paypalobjects.com/en_US/i/btn/btn_donateCC_LG.gif" alt="PayPal this" title="PayPal - The safer, easier way to pay online!" border="0" />
+</a>
+<br></br>
+
+Your continuous love and support are greatly appreciated! Enjoy 🥰
+
+<span>-</span> Jason, Founder of sunnypilot

SConstruct

@@ -70,6 +70,12 @@ AddOption('--minimal',
           default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
+AddOption('--stock-ui',
+          action='store_true',
+          dest='stock_ui',
+          default=False,
+          help='Build stock openpilot UI instead of sunnypilot UI')
+
 ## Architecture name breakdown (arch)
 ## - larch64: linux tici aarch64
 ## - aarch64: linux pc aarch64
@@ -107,6 +113,7 @@ if arch == "larch64":
   ]
 
   libpath += [
+    "#third_party/snpe/larch64",
     "#third_party/libyuv/larch64/lib",
     "/usr/lib/aarch64-linux-gnu"
   ]
@@ -145,6 +152,14 @@ else:
       "/usr/local/lib",
     ]
 
+    if arch == "x86_64":
+      libpath += [
+        f"#third_party/snpe/{arch}"
+      ]
+      rpath += [
+        Dir(f"#third_party/snpe/{arch}").abspath,
+      ]
+
 if GetOption('asan'):
   ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
   ldflags = ["-fsanitize=address"]
@@ -159,6 +174,10 @@ else:
 if arch != "Darwin":
   ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
 
+if not GetOption('stock_ui'):
+  cflags += ["-DSUNNYPILOT"]
+  cxxflags += ["-DSUNNYPILOT"]
+
 ccflags_option = GetOption('ccflags')
 if ccflags_option:
   ccflags += ccflags_option.split(' ')
@@ -188,6 +207,7 @@ env = Environment(
     "#third_party/libyuv/include",
     "#third_party/json11",
     "#third_party/linux/include",
+    "#third_party/snpe/include",
     "#third_party",
     "#msgq",
   ],
@@ -223,7 +243,8 @@ if GetOption('compile_db'):
   env.CompilationDatabase('compile_commands.json')
 
 # Setup cache dir
-cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
+default_cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
+cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
 CacheDir(cache_dir)
 Clean(["."], cache_dir)
 
@@ -370,6 +391,8 @@ SConscript(['third_party/SConscript'])
 
 SConscript(['selfdrive/SConscript'])
 
+SConscript(['sunnypilot/SConscript'])
+
 if Dir('#tools/cabana/').exists() and GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
   if arch != "larch64":

cereal/custom.capnp

@@ -10,25 +10,196 @@ $Cxx.namespace("cereal");
 # DO rename the structs
 # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
 
-struct CustomReserved0 @0x81c2f05a394cf4af {
+struct ModularAssistiveDrivingSystem {
+  state @0 :ModularAssistiveDrivingSystemState;
+  enabled @1 :Bool;
+  active @2 :Bool;
+  available @3 :Bool;
+
+  enum ModularAssistiveDrivingSystemState {
+    disabled @0;
+    paused @1;
+    enabled @2;
+    softDisabling @3;
+    overriding @4;
+  }
 }
 
-struct CustomReserved1 @0xaedffd8f31e7b55d {
+struct SelfdriveStateSP @0x81c2f05a394cf4af {
+  mads @0 :ModularAssistiveDrivingSystem;
 }
 
-struct CustomReserved2 @0xf35cc4560bbf6ec2 {
+struct ModelManagerSP @0xaedffd8f31e7b55d {
+  activeBundle @0 :ModelBundle;
+  selectedBundle @1 :ModelBundle;
+  availableBundles @2 :List(ModelBundle);
+
+  struct DownloadUri {
+    uri @0 :Text;
+    sha256 @1 :Text;
+  }
+
+  enum Type {
+    drive @0;
+    navigation @1;
+    metadata @2;
+  }
+
+  struct Model {
+    fullName @0 :Text;
+    fileName @1 :Text;
+    downloadUri @2 :DownloadUri;
+    downloadProgress @3 :DownloadProgress;
+    type @4 :Type;
+  }
+
+  enum DownloadStatus {
+    notDownloading @0;
+    downloading @1;
+    downloaded @2;
+    cached @3;
+    failed @4;
+  }
+
+  struct DownloadProgress {
+    status @0 :DownloadStatus;
+    progress @1 :Float32;
+    eta @2 :UInt32;
+  }
+
+  enum Runner {
+    snpe @0;
+    tinygrad @1;
+    stock @2;
+  }
+
+  struct ModelBundle {
+    index @0 :UInt32;
+    internalName @1 :Text;
+    displayName @2 :Text;
+    models @3 :List(Model);
+    status @4 :DownloadStatus;
+    generation @5 :UInt32;
+    environment @6 :Text;
+    runner @7 :Runner;
+    is20hz @8 :Bool;
+  }
 }
 
-struct CustomReserved3 @0xda96579883444c35 {
+struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
+  dec @0 :DynamicExperimentalControl;
+
+  struct DynamicExperimentalControl {
+    state @0 :DynamicExperimentalControlState;
+    enabled @1 :Bool;
+    active @2 :Bool;
+
+    enum DynamicExperimentalControlState {
+      acc @0;
+      blended @1;
+    }
+  }
 }
 
-struct CustomReserved4 @0x80ae746ee2596b11 {
+struct OnroadEventSP @0xda96579883444c35 {
+  events @0 :List(Event);
+
+  struct Event {
+    name @0 :EventName;
+
+    # event types
+    enable @1 :Bool;
+    noEntry @2 :Bool;
+    warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
+    userDisable @4 :Bool;
+    softDisable @5 :Bool;
+    immediateDisable @6 :Bool;
+    preEnable @7 :Bool;
+    permanent @8 :Bool; # alerts presented regardless of openpilot state
+    overrideLateral @10 :Bool;
+    overrideLongitudinal @9 :Bool;
+  }
+
+  enum EventName {
+    lkasEnable @0;
+    lkasDisable @1;
+    manualSteeringRequired @2;
+    manualLongitudinalRequired @3;
+    silentLkasEnable @4;
+    silentLkasDisable @5;
+    silentBrakeHold @6;
+    silentWrongGear @7;
+    silentReverseGear @8;
+    silentDoorOpen @9;
+    silentSeatbeltNotLatched @10;
+    silentParkBrake @11;
+    controlsMismatchLateral @12;
+    hyundaiRadarTracksConfirmed @13;
+    experimentalModeSwitched @14;
+  }
 }
 
-struct CustomReserved5 @0xa5cd762cd951a455 {
+struct CarParamsSP @0x80ae746ee2596b11 {
+  flags @0 :UInt32;        # flags for car specific quirks in sunnypilot
+  safetyParam @1 : Int16;  # flags for sunnypilot's custom safety flags
+
+  neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
+
+  struct NeuralNetworkLateralControl {
+    model @0 :Model;
+    fuzzyFingerprint @1 :Bool;
+
+    struct Model {
+      path @0 :Text;
+      name @1 :Text;
+    }
+  }
 }
 
-struct CustomReserved6 @0xf98d843bfd7004a3 {
+struct CarControlSP @0xa5cd762cd951a455 {
+  mads @0 :ModularAssistiveDrivingSystem;
+}
+
+struct BackupManagerSP @0xf98d843bfd7004a3 {
+  backupStatus @0 :Status;
+  restoreStatus @1 :Status;
+  backupProgress @2 :Float32;
+  restoreProgress @3 :Float32;
+  lastError @4 :Text;
+  currentBackup @5 :BackupInfo;
+  backupHistory @6 :List(BackupInfo);
+  
+  enum Status {
+    idle @0;
+    inProgress @1;
+    completed @2;
+    failed @3;
+  }
+  
+  struct Version {
+    major @0 :UInt16;
+    minor @1 :UInt16;
+    patch @2 :UInt16;
+    build @3 :UInt16;
+    branch @4 :Text;
+  }
+  
+  struct MetadataEntry {
+    key @0 :Text;
+    value @1 :Text;
+    tags @2 :List(Text);
+  }
+  
+  struct BackupInfo {
+    deviceId @0 :Text;
+    version @1 :UInt32;
+    config @2 :Text;
+    isEncrypted @3 :Bool;
+    createdAt @4 :Text;  # ISO timestamp
+    updatedAt @5 :Text;  # ISO timestamp
+    sunnypilotVersion @6 :Version;
+    backupMetadata @7 :List(MetadataEntry);
+  }
 }
 
 struct CustomReserved7 @0xb86e6369214c01c8 {

cereal/log.capnp

@@ -2596,13 +2596,13 @@ struct Event {
     # DO change the name of the field and struct
     # DON'T change the ID (e.g. @107)
     # DON'T change which struct it points to
-    customReserved0 @107 :Custom.CustomReserved0;
-    customReserved1 @108 :Custom.CustomReserved1;
-    customReserved2 @109 :Custom.CustomReserved2;
-    customReserved3 @110 :Custom.CustomReserved3;
-    customReserved4 @111 :Custom.CustomReserved4;
-    customReserved5 @112 :Custom.CustomReserved5;
-    customReserved6 @113 :Custom.CustomReserved6;
+    selfdriveStateSP @107 :Custom.SelfdriveStateSP;
+    modelManagerSP @108 :Custom.ModelManagerSP;
+    longitudinalPlanSP @109 :Custom.LongitudinalPlanSP;
+    onroadEventsSP @110 :Custom.OnroadEventSP;
+    carParamsSP @111 :Custom.CarParamsSP;
+    carControlSP @112 :Custom.CarControlSP;
+    backupManagerSP @113 :Custom.BackupManagerSP;
     customReserved7 @114 :Custom.CustomReserved7;
     customReserved8 @115 :Custom.CustomReserved8;
     customReserved9 @116 :Custom.CustomReserved9;

cereal/messaging/tests/validate_sp_cereal_upstream.py

@@ -0,0 +1,222 @@
+#!/usr/bin/env python3
+import argparse
+import sys
+from typing import Any, List, Tuple
+
+DEBUG = False
+
+
+def print_debug(string: str) -> None:
+  if DEBUG:
+    print(string)
+
+
+def create_schema_instance(struct: Any, prop: Tuple[str, Any]) -> Any:
+  """
+  Create a new instance of a schema type, handling different field types.
+
+  Args:
+      struct: The Cap'n Proto schema structure
+      prop: A tuple containing the field name and field metadata
+
+  Returns:
+      A new initialized schema instance
+  """
+  struct_instance = struct.new_message()
+  field_name, field_metadata = prop
+
+  try:
+    field_type = field_metadata.proto.slot.type.which()
+
+    # Initialize different types of fields
+    if field_type in ('list', 'text', 'data'):
+      struct_instance.init(field_name, 1)
+      print_debug(f"Initialized list/text/data field: {field_name}")
+    elif field_type in ('struct', 'object'):
+      struct_instance.init(field_name)
+      print_debug(f"Initialized struct/object field: {field_name}")
+
+    return struct_instance
+
+  except Exception as e:
+    print(f"Error creating instance for {field_name}: {e}")
+    return None
+
+
+def get_schema_fields(schema_struct: Any) -> List[Tuple[str, Any]]:
+  """
+  Retrieve all fields from a given schema structure.
+
+  Args:
+      schema_struct: The Cap'n Proto schema structure
+
+  Returns:
+      A list of field names and their metadata
+  """
+  try:
+    # Get all fields from the schema
+    schema_fields = list(schema_struct.schema.fields.items())
+
+    print_debug("Discovered schema fields:")
+    for field_name, field_metadata in schema_fields:
+      print_debug(f"- {field_name}")
+
+    return schema_fields
+
+  except Exception as e:
+    print(f"Error retrieving schema fields: {e}")
+    return []
+
+
+def generate_schema_instances(schema_struct: Any) -> List[Any]:
+  """
+  Generate instances for all fields in a given schema.
+
+  Args:
+      schema_struct: The Cap'n Proto schema structure
+
+  Returns:
+      A list of schema instances
+  """
+  schema_fields = get_schema_fields(schema_struct)
+  instances = []
+
+  for field_prop in schema_fields:
+    try:
+      instance = create_schema_instance(schema_struct, field_prop)
+      if instance is not None:
+        instances.append(instance)
+    except Exception as e:
+      print(f"Skipping field due to error: {e}")
+
+  print(f"Generated {len(instances)} schema instances")
+  return instances
+
+
+def persist_instances(instances: List[Any], filename: str) -> None:
+  """
+  Write schema instances to a binary file.
+
+  Args:
+      instances: List of schema instances
+      filename: Output file path
+  """
+  try:
+    with open(filename, 'wb') as f:
+      for instance in instances:
+        f.write(instance.to_bytes())
+
+    print(f"Successfully wrote {len(instances)} instances to {filename}")
+
+  except Exception as e:
+    print(f"Error persisting instances: {e}")
+    sys.exit(1)
+
+
+def read_instances(filename: str, schema_type: Any) -> List[Any]:
+  """
+  Read schema instances from a binary file.
+
+  Args:
+      filename: Input file path
+      schema_type: The schema type to use for reading
+
+  Returns:
+      A list of read schema instances
+  """
+  try:
+    with open(filename, 'rb') as f:
+      data = f.read()
+
+    instances = list(schema_type.read_multiple_bytes(data))
+
+    print(f"Read {len(instances)} instances from {filename}")
+    return instances
+
+  except Exception as e:
+    print(f"Error reading instances: {e}")
+    sys.exit(1)
+
+
+def compare_schemas(original_instances: List[Any], read_instances: List[Any]) -> bool:
+  """
+  Compare original and read-back instances to detect potential breaking changes.
+
+  Args:
+      original_instances: List of originally generated instances
+      read_instances: List of instances read back from file
+
+  Returns:
+      Boolean indicating whether schemas appear compatible
+  """
+  if len(original_instances) != len(read_instances):
+    print("❌ Schema Compatibility Warning: Instance count mismatch")
+    return False
+
+  compatible = True
+  for struct in read_instances:
+    try:
+      getattr(struct, struct.which())  # Attempting to access the field to validate readability
+    except Exception as e:
+      print(f"❌ Structural change detected: {struct.which()} is not readable.\nFull error: {e}")
+      compatible = False
+
+  return compatible
+
+
+def main():
+  """
+  CLI entry point for schema compatibility testing.
+  """
+  # Setup argument parser
+  parser = argparse.ArgumentParser(
+    description='Cap\'n Proto Schema Compatibility Testing Tool',
+    epilog='Test schema compatibility by generating and reading back instances.'
+  )
+
+  # Add mutually exclusive group for generation or reading mode
+  mode_group = parser.add_mutually_exclusive_group(required=True)
+  mode_group.add_argument('-g', '--generate', action='store_true',
+                          help='Generate schema instances')
+  mode_group.add_argument('-r', '--read', action='store_true',
+                          help='Read and validate schema instances')
+
+  # Common arguments
+  parser.add_argument('-f', '--file',
+                      default='schema_instances.bin',
+                      help='Output/input binary file (default: schema_instances.bin)')
+
+  # Parse arguments
+  args = parser.parse_args()
+
+  # Import the schema dynamically 
+  try:
+    from cereal import log
+    schema_type = log.Event
+  except ImportError:
+    print("Error: Unable to import schema. Ensure 'cereal' is installed.")
+    sys.exit(1)
+
+  # Execute based on mode
+  if args.generate:
+    print("🔧 Generating Schema Instances")
+    instances = generate_schema_instances(schema_type)
+    persist_instances(instances, args.file)
+    print("✅ Instance generation complete")
+
+  elif args.read:
+    print("🔍 Reading and Validating Schema Instances")
+    generated_instances = generate_schema_instances(schema_type)
+    read_back_instances = read_instances(args.file, schema_type)
+
+    # Compare schemas
+    if compare_schemas(generated_instances, read_back_instances):
+      print("✅ Schema Compatibility: No breaking changes detected")
+      sys.exit(0)
+    else:
+      print("❌ Potential Schema Breaking Changes Detected")
+      sys.exit(1)
+
+
+if __name__ == "__main__":
+  main()

cereal/services.py

@@ -74,6 +74,15 @@ _services: dict[str, tuple] = {
   "userFlag": (True, 0., 1),
   "microphone": (True, 10., 10),
 
+  # sunnypilot
+  "modelManagerSP": (False, 1., 1),
+  "backupManagerSP": (False, 1., 1),
+  "selfdriveStateSP": (True, 100., 10),
+  "longitudinalPlanSP": (True, 20., 10),
+  "onroadEventsSP": (True, 1., 1),
+  "carParamsSP": (True, 0.02, 1),
+  "carControlSP": (True, 100., 10),
+
   # debug
   "uiDebug": (True, 0., 1),
   "testJoystick": (True, 0.),

common/api.py

@@ -1,46 +0,0 @@
-import jwt
-import os
-import requests
-from datetime import datetime, timedelta, UTC
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.version import get_version
-
-API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
-
-class Api:
-  def __init__(self, dongle_id):
-    self.dongle_id = dongle_id
-    with open(Paths.persist_root()+'/comma/id_rsa') as f:
-      self.private_key = f.read()
-
-  def get(self, *args, **kwargs):
-    return self.request('GET', *args, **kwargs)
-
-  def post(self, *args, **kwargs):
-    return self.request('POST', *args, **kwargs)
-
-  def request(self, method, endpoint, timeout=None, access_token=None, **params):
-    return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
-
-  def get_token(self, expiry_hours=1):
-    now = datetime.now(UTC).replace(tzinfo=None)
-    payload = {
-      'identity': self.dongle_id,
-      'nbf': now,
-      'iat': now,
-      'exp': now + timedelta(hours=expiry_hours)
-    }
-    token = jwt.encode(payload, self.private_key, algorithm='RS256')
-    if isinstance(token, bytes):
-      token = token.decode('utf8')
-    return token
-
-
-def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
-  headers = {}
-  if access_token is not None:
-    headers['Authorization'] = "JWT " + access_token
-
-  headers['User-Agent'] = "openpilot-" + get_version()
-
-  return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)

common/api/__init__.py

@@ -0,0 +1,22 @@
+from openpilot.common.api.comma_connect import CommaConnectApi
+
+
+class Api:
+  def __init__(self, dongle_id):
+    self.service = CommaConnectApi(dongle_id)
+
+  def request(self, method, endpoint, **params):
+    return self.service.request(method, endpoint, **params)
+
+  def get(self, *args, **kwargs):
+    return self.service.get(*args, **kwargs)
+
+  def post(self, *args, **kwargs):
+    return self.service.post(*args, **kwargs)
+
+  def get_token(self, expiry_hours=1):
+    return self.service.get_token(expiry_hours)
+
+
+def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
+  return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)

common/api/base.py

@@ -0,0 +1,56 @@
+import jwt
+import requests
+import unicodedata
+from datetime import datetime, timedelta, UTC
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.version import get_version
+
+
+class BaseApi:
+  def __init__(self, dongle_id, api_host, user_agent="openpilot-"):
+    self.dongle_id = dongle_id
+    self.api_host = api_host
+    self.user_agent = user_agent
+    with open(f'{Paths.persist_root()}/comma/id_rsa') as f:
+      self.private_key = f.read()
+
+  def get(self, *args, **kwargs):
+    return self.request('GET', *args, **kwargs)
+
+  def post(self, *args, **kwargs):
+    return self.request('POST', *args, **kwargs)
+
+  def request(self, method, endpoint, timeout=None, access_token=None, **params):
+    return self.api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
+
+  def _get_token(self, expiry_hours=1, **extra_payload):
+    now = datetime.now(UTC).replace(tzinfo=None)
+    payload = {
+      'identity': self.dongle_id,
+      'nbf': now,
+      'iat': now,
+      'exp': now + timedelta(hours=expiry_hours),
+      **extra_payload
+    }
+    token = jwt.encode(payload, self.private_key, algorithm='RS256')
+    if isinstance(token, bytes):
+      token = token.decode('utf8')
+    return token
+
+  def get_token(self, expiry_hours=1):
+    return self._get_token(expiry_hours)
+
+  def remove_non_ascii_chars(self, text):
+    normalized_text = unicodedata.normalize('NFD', text)
+    ascii_encoded_text = normalized_text.encode('ascii', 'ignore')
+    return ascii_encoded_text.decode()
+
+  def api_get(self, endpoint, method='GET', timeout=None, access_token=None, json=None, **params):
+    headers = {}
+    if access_token is not None:
+      headers['Authorization'] = "JWT " + access_token
+
+    version = self.remove_non_ascii_chars(get_version())
+    headers['User-Agent'] = self.user_agent + version
+
+    return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)

common/api/comma_connect.py

@@ -0,0 +1,11 @@
+import os
+
+from openpilot.common.api.base import BaseApi
+
+API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
+
+
+class CommaConnectApi(BaseApi):
+  def __init__(self, dongle_id):
+    super().__init__(dongle_id, API_HOST)
+    self.user_agent = "openpilot-"

common/model.h

@@ -0,0 +1 @@
+#define DEFAULT_MODEL "Filet o Fish (Default)"

common/params.cc

@@ -103,10 +103,12 @@ Params::~Params() {
   assert(queue.empty());
 }
 
-std::vector<std::string> Params::allKeys() const {
+std::vector<std::string> Params::allKeys(ParamKeyType type) const {
   std::vector<std::string> ret;
   for (auto &p : keys) {
-    ret.push_back(p.first);
+    if (type == ALL || (p.second & type)) {
+      ret.push_back(p.first);
+    }
   }
   return ret;
 }

common/params.h

@@ -16,6 +16,7 @@ enum ParamKeyType {
   CLEAR_ON_OFFROAD_TRANSITION = 0x10,
   DONT_LOG = 0x20,
   DEVELOPMENT_ONLY = 0x40,
+  BACKUP = 0x80,
   ALL = 0xFFFFFFFF
 };
 
@@ -27,7 +28,7 @@ public:
   Params(const Params&) = delete;
   Params& operator=(const Params&) = delete;
 
-  std::vector<std::string> allKeys() const;
+  std::vector<std::string> allKeys(ParamKeyType type = ALL) const;
   bool checkKey(const std::string &key);
   ParamKeyType getKeyType(const std::string &key);
   inline std::string getParamPath(const std::string &key = {}) {

common/params_keys.h

@@ -27,35 +27,35 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"CurrentBootlog", PERSISTENT},
     {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"DisablePowerDown", PERSISTENT},
-    {"DisableUpdates", PERSISTENT},
-    {"DisengageOnAccelerator", PERSISTENT},
+    {"DisablePowerDown", PERSISTENT | BACKUP},
+    {"DisableUpdates", PERSISTENT | BACKUP},
+    {"DisengageOnAccelerator", PERSISTENT | BACKUP},
     {"DongleId", PERSISTENT},
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
-    {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY},
-    {"ExperimentalMode", PERSISTENT},
-    {"ExperimentalModeConfirmed", PERSISTENT},
+    {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | BACKUP},
+    {"ExperimentalMode", PERSISTENT | BACKUP},
+    {"ExperimentalModeConfirmed", PERSISTENT | BACKUP},
     {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ForcePowerDown", PERSISTENT},
     {"GitBranch", PERSISTENT},
     {"GitCommit", PERSISTENT},
     {"GitCommitDate", PERSISTENT},
     {"GitDiff", PERSISTENT},
-    {"GithubSshKeys", PERSISTENT},
-    {"GithubUsername", PERSISTENT},
+    {"GithubSshKeys", PERSISTENT | BACKUP},
+    {"GithubUsername", PERSISTENT | BACKUP},
     {"GitRemote", PERSISTENT},
-    {"GsmApn", PERSISTENT},
-    {"GsmMetered", PERSISTENT},
-    {"GsmRoaming", PERSISTENT},
+    {"GsmApn", PERSISTENT | BACKUP},
+    {"GsmMetered", PERSISTENT | BACKUP},
+    {"GsmRoaming", PERSISTENT | BACKUP},
     {"HardwareSerial", PERSISTENT},
     {"HasAcceptedTerms", PERSISTENT},
     {"InstallDate", PERSISTENT},
     {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
     {"IsEngaged", PERSISTENT},
-    {"IsLdwEnabled", PERSISTENT},
-    {"IsMetric", PERSISTENT},
+    {"IsLdwEnabled", PERSISTENT | BACKUP},
+    {"IsMetric", PERSISTENT | BACKUP},
     {"IsOffroad", CLEAR_ON_MANAGER_START},
     {"IsOnroad", PERSISTENT},
     {"IsRhdDetected", PERSISTENT},
@@ -63,7 +63,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
     {"IsTestedBranch", CLEAR_ON_MANAGER_START},
     {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"LanguageSetting", PERSISTENT},
+    {"LanguageSetting", PERSISTENT | BACKUP},
     {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
     {"LastGPSPosition", PERSISTENT},
     {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
@@ -75,7 +75,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
     {"LocationFilterInitialState", PERSISTENT},
     {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"LongitudinalPersonality", PERSISTENT},
+    {"LongitudinalPersonality", PERSISTENT | BACKUP},
     {"NetworkMetered", PERSISTENT},
     {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
@@ -91,17 +91,17 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
     {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
     {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
-    {"OpenpilotEnabledToggle", PERSISTENT},
+    {"OpenpilotEnabledToggle", PERSISTENT | BACKUP},
     {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"PandaSignatures", CLEAR_ON_MANAGER_START},
     {"PrimeType", PERSISTENT},
-    {"RecordFront", PERSISTENT},
+    {"RecordFront", PERSISTENT | BACKUP},
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
-    {"SecOCKey", PERSISTENT | DONT_LOG},
+    {"SecOCKey", PERSISTENT | DONT_LOG},  // Candidate for | BACKUP
     {"RouteCount", PERSISTENT},
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"SshEnabled", PERSISTENT},
+    {"SshEnabled", PERSISTENT | BACKUP},
     {"TermsVersion", PERSISTENT},
     {"TrainingVersion", PERSISTENT},
     {"UbloxAvailable", PERSISTENT},
@@ -117,4 +117,54 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
     {"UpdaterLastFetchTime", PERSISTENT},
     {"Version", PERSISTENT},
+
+    // --- sunnypilot params --- //
+    {"ApiCache_DriveStats", PERSISTENT},
+    {"AutoLaneChangeBsmDelay", PERSISTENT},
+    {"AutoLaneChangeTimer", PERSISTENT},
+    {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
+    {"CarParamsSPPersistent", PERSISTENT},
+    {"CarPlatformBundle", PERSISTENT},
+    {"EnableGithubRunner", PERSISTENT | BACKUP},
+    {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
+    {"OffroadMode", CLEAR_ON_MANAGER_START},
+    {"OffroadMode_Status", CLEAR_ON_MANAGER_START},
+    {"QuietMode", PERSISTENT | BACKUP},
+
+    // MADS params
+    {"Mads", PERSISTENT | BACKUP},
+    {"MadsMainCruiseAllowed", PERSISTENT | BACKUP},
+    {"MadsPauseLateralOnBrake", PERSISTENT | BACKUP},
+    {"MadsUnifiedEngagementMode", PERSISTENT | BACKUP},
+
+    // Model Manager params
+    {"ModelManager_ActiveBundle", PERSISTENT},
+    {"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"ModelManager_ModelsCache", PERSISTENT | BACKUP},
+
+    // Neural Network Lateral Control
+    {"NeuralNetworkLateralControl", PERSISTENT | BACKUP},
+
+    // sunnylink params
+    {"EnableSunnylinkUploader", PERSISTENT | BACKUP},
+    {"LastSunnylinkPingTime", CLEAR_ON_MANAGER_START},
+    {"SunnylinkCache_Roles", PERSISTENT},
+    {"SunnylinkCache_Users", PERSISTENT},
+    {"SunnylinkDongleId", PERSISTENT},
+    {"SunnylinkdPid", PERSISTENT},
+    {"SunnylinkEnabled", PERSISTENT},
+
+    // Backup Manager params
+    {"BackupManager_CreateBackup", PERSISTENT},
+    {"BackupManager_RestoreVersion", PERSISTENT},
+
+    // sunnypilot car specific params
+    {"HyundaiRadarTracks", PERSISTENT},
+    {"HyundaiRadarTracksConfirmed", PERSISTENT},
+    {"HyundaiRadarTracksPersistent", PERSISTENT},
+    {"HyundaiRadarTracksToggle", PERSISTENT},
+
+    {"DynamicExperimentalControl", PERSISTENT},
 };

common/params_pyx.pyx

@@ -11,6 +11,7 @@ cdef extern from "common/params.h":
     CLEAR_ON_ONROAD_TRANSITION
     CLEAR_ON_OFFROAD_TRANSITION
     DEVELOPMENT_ONLY
+    BACKUP
     ALL
 
   cdef cppclass c_Params "Params":
@@ -25,7 +26,7 @@ cdef extern from "common/params.h":
     bool checkKey(string) nogil
     string getParamPath(string) nogil
     void clearAll(ParamKeyType)
-    vector[string] allKeys()
+    vector[string] allKeys(ParamKeyType)
 
 
 def ensure_bytes(v):
@@ -119,5 +120,5 @@ cdef class Params:
     cdef string key_bytes = ensure_bytes(key)
     return self.p.getParamPath(key_bytes).decode("utf-8")
 
-  def all_keys(self):
-    return self.p.allKeys()
+  def all_keys(self, type=ParamKeyType.ALL):
+    return self.p.allKeys(type)

conftest.py

@@ -18,6 +18,7 @@ collect_ignore = [
 collect_ignore_glob = [
   "selfdrive/debug/*.py",
   "selfdrive/modeld/*.py",
+  "sunnypilot/modeld*/*.py",
 ]
 
 

docs_sp/CHANGELOGS.md

@@ -0,0 +1,965 @@
+sunnypilot - 0.9.8.0 (2024-xx-xx)
+========================
+* Always on driver monitoring toggle
+************************
+* 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!
+  * 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❗: 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
+  * Provides a more responsive and tailored driving experience compared to predefined settings
+* UPDATED: Driving Personality: Updated mode names
+  * Aggressive, Moderate, Standard, Relaxed
+* NEW❗: Toyota - Enhanced Blind Spot Monitor (BSM) thanks to arne182, rav4kumar, and eFiniLan!
+  * Enables Blind Spot Monitor (BSM) signals parsing in sunnypilot using the factory Blind Spot Monitor (BSM)
+  * sunnypilot will use debugging CAN messages to receive unfiltered BSM signals, allowing detection of more objects
+  * Supported platforms
+    * RAV4 TSS1, equipped with factory Blind Spot Monitoring (BSM)
+    * Lexus LSS1, equipped with factory Blind Spot Monitoring (BSM)
+    * 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: Driving Model Selector v5
+  * NEW❗: Driving Model additions
+    * Notre Dame (July 01, 2024) - NDv3
+* UPDATED: Toyota: Continued support for Smart DSU (SDSU) and Radar CAN Filter
+  * 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 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
+* FIXED: Driving Personality:
+  * Maniac mode now correctly enforced when selected
+* UI Updates
+  * Display Metrics Below Chevron
+    * NEW❗: Time to Lead Car
+      * Displays the time to reach the position previously occupied by the lead car
+    * NEW❗: Display Distance, Speed, and Time to Lead Car simultaneously
+* Kia Ceed Plug-in Hybrid Non-SCC 2022 support thanks to TerminatorNL!
+
+sunnypilot - 0.9.7.1 (2024-06-13)
+========================
+* New driving model
+  * Inputs the past curvature for smoother and more accurate lateral control
+  * Simplified neural network architecture in the model's last layers
+  * Minor fixes to desire augmentation and weight decay
+* New driver monitoring model
+  * Improved end-to-end bit for phone detection
+* Adjust driving personality with the follow distance button
+* Support for hybrid variants of supported Ford models
+* Fingerprinting without the OBD-II port on all cars
+* Improved fuzzy fingerprinting for Ford and Volkswagen
+************************
+* UPDATED: Synced with commaai's openpilot
+  * master commit f8cb04e (June 10, 2024)
+* NEW❗: sunnylink (Alpha early access)
+  * NEW❗: Config/Settings Backup
+    * Remotely back up and restore sunnypilot settings easily
+    * Device registration with sunnylink ensures a secure, integrated experience across services
+    * AES encryption derived from the device's RSA private key is used for utmost security
+    * Settings are encrypted on-device, transmitted securely via HTTPS, and stored encrypted on sunnylink
+    * Prevents loss of settings after device resets, offering peace of mind through end-to-end encryption
+    * Early alpha access to all current and previous GitHub Sponsors and Patreon supporters
+  * GitHub account pairing from device settings scanning QR code
+    * Pairing your account will allow you to access features via our API (still WIP but accessible if you dig a little on our code 😉)
+    * Allow inheritance of your sponsorship status, allowing you to get extra features and early access whenever applicable
+* NEW❗: iOS Siri Shortcuts Navigation support thanks to twilsonco and mike86437!
+  * iOS and macOS Shortcuts to quickly set navigation destinations from your iOS device
+  * comma Prime support
+  * Personal Mapbox/Amap/Google Maps token support
+  * Instructions on how to set up your iOS Siri Shortcuts: https://routinehub.co/shortcut/17677/
+* NEW❗: Forced Offroad mode
+  * Force sunnypilot in the offroad state even when the car is on
+  * When Forced Offroad mode is on, allows changing offroad-only settings even when the car is turned on
+  * To engage/disengage Force Offroad, go to Settings -> Device panel
+* UPDATED: Auto Lane Change Timer -> Auto Lane Change by Blinker
+  * NEW❗: New "Off" option to disable lane change by blinker
+* UPDATED: Pause Lateral Below Speed with Blinker
+  * NEW❗: Customizable Pause Lateral Speed
+    * Pause lateral actuation with blinker when traveling below the desired speed selected. Default is 20 MPH or 32 km/h.
+* UPDATED: Hyundai CAN Longitudinal
+  * Auto-enable radar tracks on platforms with applicable Mando radar
+* UPDATED: Hyundai CAN-FD Camera-based SCC
+  * NEW❗: Parse lead info for camera-based SCC platforms with longitudinal support
+    * Improve lead tracking when using openpilot longitudinal
+* RE-ENABLED: Map-based Turn Speed Control (M-TSC) for supported platforms
+  * openpilot Longitudinal Control available cars
+  * Custom Stock Longitudinal Control available cars
+* UPDATED: Continued support for comma Pedal
+  * In response to the official deprecation of support for comma Pedal in the upstream, sunnypilot will continue maintaining software support for comma Pedal
+* UPDATED: Driving Model Selector v4
+  * NEW❗: Driving Model additions
+    * North Dakota (April 29, 2024) - NDv2
+    * WD40 (April 09, 2024) - WD40
+    * Duck Amigo (March 18, 2024) - DA
+    * Recertified Herbalist (March 01, 2024) - CHLR
+  * Legacy Driving Models with Navigate on openpilot (NoO) support
+    * Includes Duck Amigo and all preceding models
+* UPDATED: Bumping mapd by [@pfeiferj](https://github.com/pfeiferj) to version [v1.9.0](https://github.com/pfeiferj/mapd/releases/tag/v1.9.0) thanks to pfeiferj!
+* UPDATED: Reset Mapbox Access Token -> Reset Access Tokens for Map Services
+  * Reset self-service access tokens for Mapbox, Amap, and Google Maps
+* UPDATED: Upstream native support for Gap Adjust Cruise
+* UPDATED: Neural Network Lateral Control (NNLC)
+  * Due to upstream changes with platform simplifications, most platforms will match and fallback to combined platform model
+  * This will be updated when the new mapping of platforms are restructured (thanks @twilsonco 😉)
+* UI Updates
+  * Display Metrics Below Chevron
+    * NEW❗: Metrics is now being displayed below the chevron instead of above
+    * NEW❗: Display both Distance and Speed simultaneously
+    * NEW❗: View sunnylink connectivity status on the left sidebar!
+
+sunnypilot - 0.9.6.2 (2024-05-29)
+========================
+* REMOVED: Screen Recorder
+  * Screen Recorder is removed due to unnecessary resource usage
+  * An improved version will be available in the near future. Stay tuned!
+
+sunnypilot - 0.9.6.1 (2024-02-27)
+========================
+* New driving model
+  * Vision model trained on more data
+  * Improved driving performance
+  * Directly outputs curvature for lateral control
+* New driver monitoring model
+  * Trained on larger dataset
+* AGNOS 9
+* comma body streaming and controls over WebRTC
+* Improved fuzzy fingerprinting for many makes and models
+* Alpha longitudinal support for new Toyota models
+* Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire!
+* Dodge Durango 2020-21 support
+* Hyundai Staria 2023 support thanks to sunnyhaibin!
+* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+* Lexus LC 2024 support thanks to nelsonjchen!
+* Toyota RAV4 2023-24 support
+* Toyota RAV4 Hybrid 2023-24 support
+************************
+* UPDATED: Synced with commaai's openpilot
+  * master commit db57a21 (February 22, 2024)
+  * v0.9.6 release (February 27, 2024)
+* UPDATED: Dynamic Experimental Control (DEC)
+  * Synced with dragonpilot-community/dragonpilot:beta3 commit f4ee52f
+* NEW❗: Default Driving Model: Certified Herbalist v2 (February 13, 2024)
+* UPDATED: Driving Model Selector v3
+  * NEW❗: Driving Model additions
+    * Certified Herbalist v2 (February 13, 2024) - CHv2
+    * Certified Herbalist (February 5, 2024) - CH
+    * Los Angeles v2 (January 24, 2024) - LAv2
+    * Los Angeles (January 22, 2024) - LAv1
+  * NEW❗: Model Caching thanks to DevTekVE!
+    * Model caching allows the selection of previously downloaded Driving Model
+    * Users can now access cached versions of selected models, eliminating redundant downloads for previously fetched models
+  * Legacy Driving Models support
+    * New Delhi (December 21, 2023) - ND
+    * Blue Diamond v2 (December 11, 2023) - BDv2
+    * Blue Diamond (November 18, 2023) - BDv1
+    * Farmville (November 7, 2023) - FV
+    * Night Strike (October 3, 2023) - NS
+  * Certain features are deprecated with newer Driving Models
+    * Dynamic Lane Profile (DLP)
+    * Custom Offsets
+* UPDATED: Dynamic Lane Profile (DLP)
+  * Continued support for Legacy Driving Models (e.g., ND, BDv2, BDv1, FV, NS)
+  * Deprecated support for newer Driving Models (e.g., CHv2, CH, LAv2, LAv1)
+* UPDATED: Custom Offsets
+  * Continued support for Legacy Driving Models (e.g., ND, BDv2, BDv1, FV, NS)
+  * Deprecated support for newer Driving Models (e.g., CHv2, CH, LAv2, LAv1)
+* UPDATED: Hyundai/Kia/Genesis - ESCC Radar Interceptor
+  * Message parsing improvements with the latest firmware update: https://github.com/sunnypilot/panda/tree/test-escc-smdps
+* UI Updates
+  * NEW❗: Visuals: Display Feature Status toggle
+    * Display the statuses of certain features on the driving screen
+  * NEW❗: Visuals: Enable Onroad Settings toggle
+    * Display the Onroad Settings button on the driving screen to adjust feature options on the driving screen, without navigating into the settings menu
+  * REMOVED: "Device ambient" temperature option on the sidebar
+* FIXED: New comma 3X support
+* FIXED: New comma eSIM support
+* Bug fixes and performance improvements
+
+sunnypilot - 0.9.5.3 (2023-12-24)
+========================
+* UPDATED: Dynamic Experimental Control (DEC)
+  * Synced with dragonpilot-community/dragonpilot:lp-dp-beta2 commit 578d38b
+* UPDATED: Driving Model Selector v2
+  * Driving models sort in descending order based on availability date
+  * Experimental/unmerged driving models are only available in "dev-c3" branch
+    * To select and use experimental driving models, navigate to "Software" panel, select the "dev-c3" branch, and check for update
+* UPDATED: Vision-based Turn Speed Control (V-TSC) implementation
+  * Refactored implementation thanks to pfeiferj!
+  * More accurate and consistent velocity calculation to achieve smoother longitudinal control in curves
+* NEW❗: Speed Limit Warning
+  * Display alert and/or chime to warn the driver when the cruising speed is faster than the speed limit plus the Warning Offset
+  * Customizable Warning Offset, independent of Speed Limit Control (SLC)'s Limit Offset
+* UPDATED: Speed Limit Source Policy
+  * Selectable speed limit source for Speed Limit Control and Speed Limit Warning
+  * Applicable to: Speed Limit Control, Speed Limit Warning
+* UPDATED: Speed Limit Control (SLC)
+  * Engage Mode: Removed "Warning Only" mode - this has been replaced by the new Speed Limit Warning sub-menu
+* UPDATED: OpenStreetMap (OSM) implementation
+  * Refactored implementation thanks to pfeiferj!
+    * Less resource impact
+    * Significantly smaller sizes with databases
+    * All regions are available to download
+    * Weekly map updates thanks to pfeiferj!
+    * Increased the font size of the road name
+  * C3X-specific changes
+    * Altitude (ALT.) display on Developer UI
+    * Current street name on top of driving screen when "OSM Debug UI" is enabled
+* UPDATED: Map-based Turn Speed Control (M-TSC) implementation
+  * Only available in "staging-c3" and "dev-c3" branches. If you are using "release-c3" branch, navigate to "Software" panel, select the desired target branch, and check for update
+  * Refactored implementation thanks to pfeiferj!
+  * Based on the new OpenStreetMap implementation
+  * Improved predicted curvature calculations from OpenStreetMap data
+* UI updates
+  * RE-ENABLED: Navigation: Full screen support
+    * Display the map view in full screen
+    * To switch back to driving view, tap on the border edge
+* Hyundai Bayon Non-SCC 2019 support thanks to polein78!
+
+sunnypilot - 0.9.5.2 (2023-12-07)
+========================
+* NEW❗: MADS: Allow Navigate on openpilot in Chill Mode
+  * Allow navigation to feed map view into the driving model while using Chill Mode
+  * Support all platforms, including platforms that do not support openpilot longitudinal control & Experimental Mode
+* NEW❗: Neural Network Lateral Controller
+  * Formerly known as "NNFF", this replaces the lateral "torque" controller with one using a neural network trained on each car's (actually, each separate EPS firmware) driving data for increased controls accuracy
+  * Contact @twilsonco in the sunnypilot Discord server with feedback, or to provide log data for your car if your car is currently unsupported
+* NEW❗: Driving Model Selector
+  * Easily switch between driving models without reinstalling branches. Offering immediate access to the latest models upon release
+    * An internet connection is required for downloading models. Each model switch currently involves downloading the model again. Future updates may allow for offline switching
+  * Warning is displayed for metered connections to avoid unexpected data usage if on cellular data
+  * Change driving models via **Settings -> Software -> Current Driving Model**.
+* NEW❗: Hyundai CAN longitudinal:
+  * NEW❗: Enable radar tracks for certain Santa Fe platforms
+    * Internal Combustion Engine (ICE) 2021-23
+    * Hybrid 2022-23
+    * Plug-in Hybrid 2022-23
+* NEW❗: Lane Change: When manually braking with steering engaged, turning on the turn signal will default to Nudge mode
+* Volkswagen MQB CC only platforms (radar or no radar) support thanks to jyoung8607!
+
+sunnypilot - 0.9.5.1 (2023-11-17)
+========================
+* UPDATED: Synced with commaai's master commit e94c3c5
+* NEW❗: Farmville driving model
+* NEW❗: Onroad Settings Panel
+  * Onroad buttons (i.e., DLP, GAC) moved to its dedicated panel
+    * Driving Personality
+    * Dynamic Lane Profile (DLP)
+    * Dynamic Experimental Control (DEC)
+    * Speed Limit Control (SLC)
+* NEW❗: Display main feature status on onroad view in real-time
+  * GAP - Driving Personality
+  * DLP - Dynamic Lane Profile
+  * DEC - Dynamic Experimental Control
+  * SLC - Speed Limit Control
+* NEW❗: Dynamic Experimental Control (DEC) thanks to dragonpilot-community!
+  * Automatically determines and selects between openpilot ACC and openpilot End to End longitudinal based on conditions for a more natural drive
+  * Dynamic Experimental Control is only active while in Experimental Mode
+  * When Dynamic Experimental Control is ON, initially setting cruise speed will set to the vehicle's current speed
+* NEW❗: Hyundai CAN longitudinal:
+  * NEW❗: Parse lead info for camera-based SCC platforms
+    * Improve lead tracking when using openpilot longitudinal
+  * NEW❗: Parse lead distance to display on car cluster
+    * Introduced better lead distance calculation to display on the car's cluster, replacing the binary "lead visible" indication on the SCC cluster
+    * Lead distance is now categorized into different ranges for more detailed and comprehensive information to the driver similar to how stock ACC does it
+  * NEW❗: Parse speed limit sign recognition from camera for certain supported platforms
+* NEW❗: Subaru - Stop and Go auto-resume support thanks to martinl!
+  * Global (excluding Gen 2 and Hybrid) and Pre-Global support
+* NEW❗: Toyota - Stop and Go hack
+  * Allow some Toyota/Lexus cars to auto resume during stop and go traffic
+  * Only applicable to certain models and model years
+* NEW❗: Toyota: ZSS support thanks to dragonpilot-community and ErichMoraga!
+* NEW❗: MSPA (Cereal structs refactor)
+  * Make sunnypilot Parsable Again - @sshane
+  * sunnypilot is now parsable with stock openpilot tools
+* NEW❗: Display 3D buildings on map thanks to jakethesnake420!
+* openpilot Longitudianl Control capable cars only
+  * UPDATED: Gap Adjust Cruise is now a part of Driving Personality
+    * [DISTANCE/FOLLOW DISTANCE/GAP DISTANCE] physical button on the steering wheel to select Driving Personality on by default
+    * Status now viewable in onroad view or Onroad Settings Panel
+    * REMOVED: Gap Adjust Cruise toggle
+* UPDATED: Speed Limit Control (SLC)
+  * NEW❗: Speed Limit Engage Mode
+    * Select the desired mode to set the cruising speed to the speed limit
+      * Warning Only: Warn the driver when the vehicle is driven faster than the speed limit
+      * Auto: Automatic speed adjustment on motorways based on speed limit data
+      * User Confirm: Inform the driver to change set speed of Adaptive Cruise Control to help the driver stay within the speed limit
+    * Supported platforms
+      * openpilot Longitudinal Control available cars (Excluding certain Toyota/Lexus, Ford, explained below)
+      * Custom Stock Longitudinal Control available cars
+    * Unsupported platforms
+      * Toyota/Lexus and Ford - most platforms do not allow us to control the PCM's set speed, requires testers to verify
+  * NEW❗: Speed limit source selector
+    * Select the desired precedence order of sources used to adapt cruise speed to road limits
+* UPDATED: Custom Stock Longitudinal Control
+  * RE-ENABLED: Hyundai/Kia/Genesis CAN-FD platforms
+* UPDATED: Custom Offsets reimplementation
+  * Camera Offset only works in Laneful (Laneful Only or Laneful in Auto mode when using Dynamic Lane Profile)
+  * Path Offset can be applied to both Laneless and Laneful
+* UPDATED: Refactored Torque Lateral Control custom tuning menu
+  * NEW❗: Less Restrict Settings for Self-Tune (Beta)
+  * NEW❗: Custom Tuning for setting offline and live values in real-time
+* UPDATED: Auto-detect custom Mapbox token if a personal Mapbox token is provided
+  * REMOVED: "Enable Mapbox Navigation" toggle
+* UI updates
+  * New Settings menu redesign and improved interactions
+* FIXED: Retain hotspot/tethering state was not consistently saved
+* FIXED: Map stuck in "Map Loading" if comma Prime is active
+* FIXED: OpenStreetMap implementation on C3X devices
+  * M-TSC
+  * Altitude (ALT.) display on Developer UI
+  * Current street name on top of driving screen when "OSM Debug UI" is enabled
+* Hyundai Kona Non-SCC 2019 support thanks to Quex!
+* Kia Seltos Non-SCC 2023-24 support thanks to Moodkiller and jeroid_!
+
+sunnypilot - 0.9.4.1 (2023-08-11)
+========================
+* UPDATED: Synced with commaai's 0.9.4 release
+* NEW❗: Moonrise driving model
+* NEW❗: Ford upstream models support
+* UPDATED: Dynamic Lane Profile selector in the "SP - Controls" menu
+* REMOVED: Dynamic Lane Profile driving screen UI button
+* FIXED: Disallow torque lateral control for angle control platforms (e.g. Ford, Nissan, Tesla)
+  * Torque lateral control cannot be used by angle control platforms, and would cause a "Controls Unresponsive" error if Torque lateral control is enforced in settings
+* REMOVED: Speed Limit Style override
+* Honda Accord 2016-17 support thanks to mlocoteta!
+  * Serial Steering hardware required. For more information, see https://github.com/mlocoteta/serialSteeringHardware
+* mapd: utilize advisory speed limit in curves (#142) thanks to pfeiferj!
+
+sunnypilot - 0.9.3.1 (2023-07-09)
+========================
+* UPDATED: Synced with commaai's 0.9.3 release
+* NEW❗: Display Temperature on Sidebar toggle
+  * Display Ambient temperature, memory temperature, CPU core with the highest temperature, GPU temperature, or max of Memory/CPU/GPU on the sidebar
+  * Replace "Display CPU Temperature on Sidebar" toggle
+* NEW❗: Hot Coffee driving model
+* NEW❗: HKG CAN: Smoother Stopping Performance (Beta) toggle
+  * Smoother stopping behind a stopped car or desired stopping event.
+  * This is only applicable to HKG CAN platforms using openpilot longitudinal control
+* NEW❗: Toyota: TSS2 longitudinal: Custom Tuning
+  * Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars thanks to dragonpilot-community!
+* NEW❗: Enable Screen Recorder toggle
+  * Enable this will display a button on the onroad screen to toggle on or off real-time screen recording with UI elements.
+* IMPROVED: Dynamic Lane Profile: when using Laneline planner via Laneline Mode or Auto Mode, enforce Laneless planner while traveling below 10 MPH or 16 km/h
+* REMOVED: Display CPU Temperature on Sidebar
+
+sunnypilot - 0.9.2.3 (2023-06-18)
+========================
+* NEW❗: Auto Lane Change: Delay with Blind Spot
+  * Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects an obstructing vehicle, ensuring safe maneuvering
+* NEW❗: Driving Screen Off: Wake with Non-Critical Events
+  * When Driving Screen Off Timer is not set to "Always On":
+    * Enabled: Wake the brightness of the screen to display all events
+    * Disabled: Wake the brightness of the screen to display critical events
+  * Currently, all non-nudge modes are default to continue lane change after 1 seconds of blind spot detection
+* NEW❗: Fleet Manager PIN Requirement toggle
+  * User can now enable or disable PIN requirement on the comma device before accessing Fleet Manager
+* NEW❗: Reset all sunnypilot settings toggle
+* NEW❗: Turn signals display on screen when blinker is used
+  * Green: Blinker is on
+  * Red: Blinker is on, car detected in the adjacent blind spot or road edge detected
+* IMPROVED: mapd: better exceptions handling when loading dependencies
+* UPDATED: Green Traffic Light Chime no longer displays an orange border when executed
+* FIXED: mapd: Road name flashing caused by desync with last GPS timestamp
+* FIXED: Ram HD (2500/3500): Ignore paramsd sanity check
+  * Live parameters have trouble with self-tuning on this platform with upstream openpilot 0.9.2
+* Hyundai: Longitudinal support for CAN-based Camera SCC cars thanks to Zack1010OP's Patreon sponsor!
+
+sunnypilot - 0.9.2.2 (2023-06-13)
+========================
+* NEW❗: Toyota: Allow M.A.D.S. toggling with LKAS Button (Beta)
+* IMPROVED: Ram: cruise button handling
+
+sunnypilot - 0.9.2.1 (2023-06-10)
+========================
+* UPDATED: Synced with commaai's 0.9.2 release
+* UPDATED: feature revamp with better stability
+* UPDATED:
+  * M.A.D.S.
+    * Path color becomes LIGHT ORANGE during Driver Steering Override
+  * Gap Adjust Cruise (now known as Driving Personality in upstream openpilot 0.9.3):
+    * Updated profiles and jerk changes
+    * Experimental Mode support
+    * Three settings: Stock, Aggressive, and Maniac
+    * Stock is recommended and the default
+    * In Aggressive/Maniac mode, lead follow distance is shorter and quicker gas/brake response
+  * Dynamic Lane Profile
+    * Display blue borders on both sides of the driving path when Laneline mode is being used in the planner
+    * Auto Mode optimization
+      * Permanent: Laneless during Auto Lane Change execution
+  * Mapd
+    * OpenStreetMap Database: new regions added
+  * Developer UI (Dev UI)
+    * REMOVED: 2-column design
+    * NEW❗: 1-column + 1-row design
+  * Custom Stock Longitudinal Control
+    * NEW❗: Chrysler/Jeep/Ram support
+    * NEW❗: Mazda support
+    * NEW❗: Volkswagen PQ support
+    * DISABLED: Hyundai/Kia/Genesis CAN-FD platforms
+* NEW❗: Switch between Chill (openpilot ACC) and Experimental (E2E longitudinal) with DISTANCE button on the steering wheel
+  * To switch between Chill and Experimental Mode: press and hold the DISTANCE button on the steering wheel for over 0.5 second
+  * All openpilot longitudinal capable cars support
+* NEW❗: Nicki Minaj driving model
+* NEW❗: Nissan and Mazda upstream models support
+* NEW❗: Pre-Global Subaru upstream models support
+* NEW❗: Display End-to-end Longitudinal Status (Beta)
+  * Display an icon that appears when the End-to-end model decides to start or stop
+* NEW❗: Green Traffic Light Chime (Beta)
+  * A chime will play when the traffic light you are waiting for turns green, and you have no vehicle in front of you.
+* NEW❗: Lead Vehicle Departure Alert
+  * Notify when the leading vehicle drives away
+* NEW❗: Speedometer: Display True Speed
+  * Display the true vehicle current speed from wheel speed sensors.
+* NEW❗: Speedometer: Hide from Onroad Screen
+* NEW❗: Auto-Hide UI Buttons
+  * Hide UI buttons on driving screen after a 30-second timeout. Tap on the screen at anytime to reveal the UI buttons
+  * Applicable to Dynamic Lane Profile (DLP) and Gap Adjust Cruise (GAC)
+* NEW❗: Display DM Camera in Reverse Gear
+  * Show Driver Monitoring camera while the car is in reverse gear
+* NEW❗: Block Lane Change: Road Edge Detection (Beta)
+  * Block lane change when road edge is detected on the stalk actuated side
+* NEW❗: Display CPU Temperature on Sidebar
+  * Display the CPU core with the highest temperature on the sidebar
+* NEW❗: Display current driving model in Software settings
+* NEW❗: HKG: smartMDPS automatic detection (installed with applicable firmware)
+* FIXED: Unintended siren/alarm from the comma device if the vehicle is turned off too quickly in PARK gear
+* FIXED: mapd: Exception handling for loading dependencies
+* Fleet Manager via Browser support thanks to actuallylemoncurd, AlexandreSato, ntegan1, and royjr!
+  * Access your dashcam footage, screen recordings, and error logs when the car is turned off
+  * Connect to the device via Wi-Fi, mobile hotspot, or tethering on the comma device, then navigate to http://ipAddress:5050 to access.
+* Honda Clarity 2018-22 support thanks to mcallbosco, vanillagorillaa and wirelessnet2!
+* Ram: Steer to 0/7 MPH support thanks to vincentw56!
+* Retain hotspot/tethering state across reboots thanks to rogerioaguas!
+
+sunnypilot - Version Latest (2023-02-22)
+========================
+* UPDATED: Synced with commaai's master branch - 2023.02.19-04:52:00:GMT - 0.9.2
+* Refactor sunnypilot features to be more stable
+
+sunnypilot - Version Latest (2022-12-16)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.12.16-06:31:00:GMT - 0.9.1
+* NEW❗: GM:
+    * NEW❗: Gap Adjust Cruise support - Chill, Normal, Aggressive
+    * NEW❗: Experimental Mode: Hold DISTANCE button on the steering wheel for 0.5 second to switch between Experimental Mode and Chill Mode
+* REMOVED❌: Toytoa: SnG Hack
+    * This method is not recommended and may cause some cars to not behave as expected
+    * SDSU is strongly recommended to enable SnG for Toyota vehicles without SnG from factory
+* commaai: radard: add missing accel data for vision-only leads (commaai/openpilot#26619) - pending PR
+    * VOACC performance is drastically improved when using Chill Mode
+* IMPROVED: M.A.D.S. events handling
+* IMPROVED: UI: screen recorder button change
+* IMPROVED: OpenStreetMap Offline Database optimization
+* FIXED: Toyota: vehicles' LKAS button no longer has a delay with toggling M.A.D.S.
+* FIXED: Toyota: brake pedal press at standstill causing Cruise Fault
+* FIXED: Volkswagen MQB: reduce Camera Malfunction occurrences (requires testing)
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-12-10)
+========================
+* IMPROVED: NEW❗ Developer UI design
+    * Second column metrics is now moved to the bottom of the screen
+        * ACC. = Acceleration
+        * L.S. = Lead Speed
+        * E.T. = EPS Torque
+        * B.D. = Bearing Degree
+        * FRI. = Friction
+        * L.A. = Lateral Acceleration
+        * ALT. = Altitude
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-12-07)
+========================
+* NEW❗: Screen Recorder support thanks to neokii and Kumar!
+* NEW❗: End-to-end longitudinal start/stop status icon
+    * Only appears when Experimental Mode is enabled
+* NEW❗: End-to-end longitudinal car chime when starting
+    * Hyundai/Kia/Genesis CAN platform, Honda/Acura Bosch/Nidec, Toyota/Lexus
+    * i.e. Traffic light turns green, stop sign ready to go, etc.
+    * Only appears when Experimental Mode is enabled AND longitudinal control is disengaged
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-12-05)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.12.04-22:46:00:GMT - 0.9.1
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-11-12)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.11.12-10:02:00:GMT - 0.8.17
+* FIXED: CAN Error for CAN HKG cars that do not have navigation from the factory
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-11-11)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.11.11-21:22:00:GMT - 0.8.17
+* commaai: AGNOS 6.2 (commaai/openpilot#26441)
+* NEW❗: Speed Limit Control - HKG - add speed limit from car's navigation head unit
+    * Compatible with certain models, trims, and model years
+* DISABLED: FCA: RAM HD - steer down to 0
+* FIXED: UI: End-to-end longitudinal button on driving screen synchronization
+* FIXED: Honda: Longitudinal status with set cruise speed now displays properly in the car's dashboard
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-11-08)
+========================
+* ADDED: New Zealand offline OpenStreetMap database
+
+sunnypilot - Version Latest (2022-11-04)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.11.05-01:44:00:GMT - 0.8.17
+* RE-ENABLED: Dynamic Lane Profile - preserves lanelines
+    * Can be found in "SP - Controls" menu
+* NEW❗: DLP: switch to laneless for current/future curves thanks to @twilsonco!
+    * Can be found in "SP - Controls" menu
+* NEW❗: UI: Road Camera Selector
+    * Enable this will display a button on the driving screen to select the driving camera
+    * Can be found in "SP - Visuals" menu
+* NEW❗: Controls: Camera & Path Custom Offsets
+    * Only applicable to laneline mode when using Dynamic Lane Profile
+* NEW❗: Buttons on driving screen are now sorted based on priority and availability
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-28)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.28-03:53:00:GMT - 0.8.17
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-26)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.26-06:20:00:GMT - 0.8.17
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-25)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.25-23:53:00:GMT - 0.8.17
+* Pre-Global Subaru support thanks to @martinl!
+* NEW❗: Speed Limit values turn red when current speed is higher than posted speed limit
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-23)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.22-23:15:00:GMT - 0.8.17
+* IMPROVED: Custom Stock Longitudinal Control - HKG - only allow engagement on user button press
+* IMPROVED: Custom Stock Longitudinal Control - Volkswagen MQB & PQ - more consistent set speed change
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-21)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.21-17:33:00:GMT - 0.8.17
+* IMPROVED: Custom Stock Longitudinal Control - Volkswagen MQB & PQ - more predictable button send logic
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-20)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.20-20:25:00:GMT - 0.8.17
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-19)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.19-08:31:00:GMT - 0.8.17
+* IMPROVED: Controls: Speed Limit Control - accelerator press only disengage if "Disengage on Accelerator Pedal" is enabled
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-18)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.18-04:44:00:GMT - 0.8.17
+* RE-ENABLED: Volkswagen MQB & PQ with Custom Stock Longitudinal Control
+* NEW❗: Steering Rate Cost Live Tune
+    * Enables live tune for Steering Rate Cost. Lower value allows steering wheel to move more freely at low speed
+    * Can be found in "SP - Controls" menu
+* FIXED: MADS: GM - include Regen Paddle logic thanks to @twilsonco!
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-17)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.17-23:54:00:GMT+1 - 0.8.17
+* ENABLED: "Custom Stock Longitudinal Control" toggle for CAN-FD cars
+* FIXED: HKG CAN-FD: Could not engage when openpilot longitudinal is enabled
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-13)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.13-19:43:00:GMT+1 - 0.8.17
+* ADDED: Live Tmux toggle
+    * Can be found in "SP - General" menu
+* IMPROVED: OpenStreetMap Database Update - only check for database update with explicit user decision
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-11)
+========================
+* ADDED: Hyundai openpilot longitudinal improvements - huge thanks to @aragon7777!
+* ADDED: Check for OpenStreetMap Database Update button
+* UPDATED: commaai: Low speed lateral control improvements (commaai:openpilot#26022, bbcd448) - pending PR
+* FIXED: MUTCD speed limit spacing adjusts dynamically when no subtext is shown (i.e., speed limit offset, distance to next speed limit)
+* FIXED: MADS: Intermittent CAN Error when engaging for Toyota Prius TSS-P
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-09)
+========================
+* ADDED: commaai: Low speed lateral control improvements (commaai:openpilot#26022, bca288bb) - pending PR
+* FIXED: MADS: Intermittent CAN Error when engaging for Toyota Prius TSS-P
+* IMPROVED: mapd: stop signs and other supported traffic_calming tags are now slowing/stopping as expected
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-08)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.08-12:07:00:GMT+1 - 0.8.17
+* FIXED: MADS: Intermittent CAN Error when engaging for Toyota Prius TSS-P
+* IMPROVED: mapd: Speed Humps are now set at 20 MPH or 32 km/h
+* IMPROVED: OpenStreetMap Offline Database download experience
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-07)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.07-08:16:00:GMT - 0.8.17
+* NEW❗: OpenStreetMap database can now be downloaded locally for offline use
+    * Now offering US South, US West, US Northeast, US Florida, Taiwan, and South Africa
+    * Databases updated - 2022.10.05-03:30:00:GMT
+* NEW❗: mapd: Stop Sign, Yield, Speed Bump, Speed Hump, Sharp Curve support - huge thanks to @move-fast and @dragonpilot-community!
+    * Go to https://openstreetmap.org and start mapping out your area!
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-09-30)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.30-22:43:00:GMT - 0.8.17
+* RE-ADDED: Torque Lateral Controller Live Tune Menu
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-09-23)
+========================
+* ADDED: Developer UI: latAccelFactorFiltered & frictionCoefficientFiltered values displays in green if Torque is using live params
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-09-22)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.19-22:19:00:GMT - 0.8.17
+* NEW❗: Toggle to explicitly enable Custom Stock Longitudinal Control
+    * Applicable cars only: Honda, Hyundai/Kia/Genesis
+    * Settings -> Toggles menu
+
+sunnypilot - Version Latest (2022-09-21)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.19-22:19:00:GMT - 0.8.17
+* ADDED: Toggle to enable Live Torque (self/auto tune) with Torque lateral controller
+    * To enable, first enable "Enforce Torque Lateral Controller" toggle
+* UPDATED: New metrics in Developer UI (when Live Torque is enabled)
+    * REMOVED: latAccelFactorRaw & frictionCoefficientRaw from torqued
+    * ADDED: latAccelFactorFiltered & frictionCoefficientFiltered from torqued
+* REMOVED: Temporary remove Torque Lateral Controller Live Tune Menu
+
+sunnypilot - Version Latest (2022-09-20)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.19-22:19:00:GMT - 0.8.17
+* ADDED: Toggle to enable Live Torque (self/auto tune) with Torque lateral controller
+    * To enable, first enable "Enforce Torque Lateral Controller" toggle
+* REMOVED: Temporary remove Torque Lateral Controller Live Tune Menu
+
+sunnypilot - Version Latest (2022-09-18)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.17-11:23:00:GMT - 0.8.17
+* ADDED: Kia Forte Non-SCC 2019 support for @askalice
+* FIXED: Torque Lateral Control Live Tune now syncs with commaai:openpilot#25822
+* FIXED: mapd dependencies no longer need to be re-downloaded after unknown reboots
+
+sunnypilot - Version Latest (2022-09-17)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.17-11:23:00:GMT - 0.8.17
+* NEW❗: Non SCC HKG support
+    * Custom Stock Longitudinal Control
+    * ❗No❗ openpilot longitudinal control
+* FIXED: Honda Bosch random low-value set speed changes
+
+sunnypilot - Version Latest (2022-09-16)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.16-20:23:00:GMT - 0.8.17
+
+sunnypilot - Version Latest (2022-09-15)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.16-02:00:00:GMT - 0.8.17
+* FIXED: Block additional auto lane change actions if blinker stays on after the first lane change
+* REVERTED: Some Toyota with LKAS button no longer requires double press to engage/disengage M.A.D.S.
+
+sunnypilot - Version Latest (2022-09-14)u
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
+* NEW❗: GM models supported in Force Car Recognition (FCR)
+    * Under "SP - Vehicles"
+* NEW❗: Prompt to select car in "SP - Vehicles" if car unrecognized on startup
+* FIXED: Some Toyota with LKAS button no longer requires double press to engage/disengage M.A.D.S.
+* UPDATED: ESCC: Use radar tracks from radar if available
+
+sunnypilot - Version Latest (2022-09-13)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
+* NEW❗: New metric in Developer UI
+    * Actual Lateral Acceleration (Roll Compensated)
+
+sunnypilot - Version Latest (2022-09-12)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
+* FIXED: Honda Nidec models not gaining speed when longitudinal engaged
+
+sunnypilot - Version Latest (2022-09-11)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
+* NEW❗: Hyundai Enhanced SCC now forwards FCW and AEB signals and commands from radar to car
+* RE-ENABLED: MADS Status Icon toggle
+
+sunnypilot - Version Latest (2022-09-10)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
+* NEW❗: RAM improvement implementation thanks to realfast!
+* DISABLED: Chrysler/Jeep/Ram with Custom Stock Longitudinal Control
+* DISABLED: Volkswagen MQB & PQ with Custom Stock Longitudinal Control
+
+sunnypilot - Version Latest (2022-09-09)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.09-07:35:00:GMT - 0.8.17
+* NEW❗: MADS now supporting General Motors (GM)
+* ADDED: Custom Stock Longitudinal Control - Volkswagen
+    * MQB & PQ
+* ADDED: Reverse ACC Change
+    * ACC +/-: Short=5, Long=1
+* ADDED: Custom Stock Longitudinal Control
+    * Hyundai/Kia/Genesis
+    * Honda Bosch
+* ADDED: Hyundai: 2015-16 Genesis resume from standstill fix (commaai:openpilot#25579) - pending PR
+* Vision Turn Speed Control re-enabled
+* Disable Onroad Uploads toggle re-enabled
+
+sunnypilot - Version Latest (2022-09-08)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.08-04:05:00:GMT - 0.8.17
+* NEW❗: Block lane change initiation while brake is pressed
+
+sunnypilot - Version Latest (2022-09-07)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.08-04:05:00:GMT - 0.8.17
+* NEW❗: Display End-to-end longitudinal 🌮 on screen
+    * NEW❗: Hold DISTANCE button on the steering wheel for 1 second to switch between E2E Long and ACC mode
+    * Enable toggle on the driving screen to switch between modes with End-to-end longitudinal
+    * Only applicable to cars with openpilot longitudinal control
+* NEW❗: Block lane change initiation while brake is pressed
+* REMOVED: Dynamic Lane Profile - upstream laneless model is now on by default
+* REMOVED: hyundai: consistent start from stop (commaai:openpilot#25672) - pending PR
+
+sunnypilot - Version Latest (2022-09-06)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.06 - 0.8.17
+* NEW❗: Display useful metrics above the chevron that tracks the lead car
+    * Under "SP - Visuals" menu
+    * Only applicable to cars with openpilot longitudinal control
+* ADDED: hyundai: consistent start from stop (commaai:openpilot#25672) - pending PR
+* FIXED: Vienna speed limit interface now scales properly with the outer box
+* REMOVED: Hyundai long improvements (commaai:openpilot#25604) - closed PR
+
+sunnypilot - Version Latest (2022-09-05)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.03 - 0.8.17
+* NEW❗: Speed Limit Control (SLC) interface integrated with upstream
+* NEW❗: Speed limit from active navigation is now prioritized for Speed Limit Control
+* NEW❗: MUTCD (U.S.) or Vienna (E.U.) speed limit interfaces can now be selected under "SP - Controls"
+
+sunnypilot - Version Latest (2022-09-04)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.03 - 0.8.17
+* FIXED: Gap Adjust Cruise status now displays properly on screen
+* FIXED: mapd - missing index in list caused mapd to crash
+* REMOVED: Temporary removed Vision Turn Speed Control
+
+sunnypilot - Version Latest (2022-09-03)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.03 - 0.8.17
+* ADDED: New border colors for different operation engagements
+* ADDED: UI: Show barrier when car detected in blind spot
+    * Only applicable to cars that have BSM detection with openpilot
+* FIXED: Cruise Cancel button no longer display prompt if cruise not engaged
+* TWEAKED: Update changelogs on startup in Settings -> Software -> Version
+* REMOVED: Upload Raw Logs and Full Resolution Videos toggles
+
+sunnypilot - Version Latest (2022-08-31)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.08.31 - 0.8.17
+* ADDED: New border colors for different operation engagements
+* ADDED: UI: Show barrier when car detected in blind spot
+    * Only applicable to cars that have BSM detection with openpilot
+* FIXED: Cruise Cancel button no longer display prompt if cruise not engaged
+* REMOVED: Upload Raw Logs and Full Resolution Videos toggles
+
+sunnypilot - Version 0.8.16 (2022-07-16)
+========================
+* Sync with commaai's master branches
+* NEW❗: Add toggle to pause lateral actuation below 30 MPH / 50 KM/H
+* IMPROVED: Better controls mismatch handling
+* IMPROVED: Less frequent Low Memory alert
+* IMPROVED: Only allow lateral control when in forward gears
+* IMPROVED: Better alerts handling on gear changes
+
+sunnypilot - Version 0.8.14-1.3 (2022-06-29)
+========================
+* Hyundai/Kia/Genesis
+    * NEW❗: MADS: Add GAP/Distance button on the steering wheel to engage/disengage
+        * To engage/disengage MADS: Hold the button for 0.5 second
+* NEW❗: Dynamic Lane Profile: Add toggle to enable "Laneless for Curves in Auto Lane"
+* HOTFIX🛠: Improve Torque lateral control and reduce ping pong for some Toyota cars
+    * Torque control: higher low speed gains and better steering angle deadzone logic
+* Developer UI: Remove Distance Traveled, replace with Memory Usage %
+    * This may have a potential to fix the Low Memory alert that may appear
+
+sunnypilot - Version 0.8.14-1 (2022-06-27)
+========================
+* HOTFIX🛠: Honda, Toyota, Volkswagen now initialized correctly with Torque Lateral Live Tune
+
+sunnypilot - Version 0.8.14-1 (2022-06-27)
+========================
+* NEW❗: Added toggle to enable updates for sunnypilot
+* HOTFIX🛠: Volkswagen car list now displays properly in Force Car Recognition menu
+* REVERTED: Honda - temporary removes CRUISE (MAIN) for MADS engagement
+    * LKAS button continues to be used for MADS engagement/disengagement
+
+sunnypilot - Version 0.8.14-1 (2022-06-26)
+========================
+Visit https://bit.ly/sunnyreadme for more details
+* sunnypilot 0.8.14 release - based on openpilot 0.8.14 devel
+* "0.8.14-prod-c3" branch only supports comma three
+    * If you have a comma two, EON, or other devices than a comma three, visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
+* Mono-branch support
+    * Honda/Acura
+    * Hyundai/Kia/Genesis
+    * Toyota/Lexus
+    * Volkswagen MQB
+* Modified Assistive Driving Safety (MADS) Mode
+    * NEW❗: CRUISE (MAIN) now engages MADS for all supported car makes
+    * NEW❗: Added toggle to disable disengaging Automatic Lane Centering (ALC) on the brake pedal
+* Dynamic Lane Profile (DLP)
+* NEW❗: Gap Adjust Cruise (GAC)
+    * openpilot longitudinal cars can now adjust between the lead car's following distance gap via 3 modes:
+        * Steering Wheel (SW) | User Interface (UI) | Steering Wheel + User Interface (SW+UI)
+* NEW❗: Custom Camera & Path Offsets
+* NEW❗: Torque Lateral Control from openpilot 0.8.15 master (as of 2022-06-15)
+* NEW❗: Torque Lateral Control Live Tune Menu
+* NEW❗: Speed Limit Sign from openpilot 0.8.15 master (as of 2022-06-22)
+* NEW❗: Mapbox Speed Limit data will now be utilized in Speed Limit Control (SLC)
+    * Speed limit data will be utilized in the following availability:
+        * Mapbox (active navigation) -> OpenStreetMap -> Car Interface (Toyota's TSR)
+* Custom Stock Longitudinal Control
+    * NEW❗: Volkswagen MQB
+    * Honda
+    * Hyundai/Kia/Genesis
+* NEW❗: Mapbox navigation support for non-Prime users
+    * Visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
+* Hyundai/Kia/Genesis
+    * NEW❗: Enhanced SCC (ESCC) Support
+        * Requires hardware modification. Visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
+    * NEW❗: Smart MDPS (SMDPS) Support - Auto-detection
+        * Requires hardware modification and custom firmware for the SMDPS. Visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
+* Toyota/Lexus
+    * NEW❗: Added toggle to enforce stock longitudinal control
+
+sunnypilot - Version 0.8.12-4
+========================
+* NEW❗: Custom Stock Longitudinal Control by setting the target speed via openpilot's "MAX" speed thanks to multikyd!
+    * Speed Limit Control
+    * Vision-based Turn Control
+    * Map-based Turn Control
+* NEW❗: HDA status integration with Custom Stock Longitudinal Control on applicable HKG cars only
+* NEW❗: Roll Compensation and SteerRatio fix from comma's 0.8.13
+* NEW❗: Dev UI to display different metrics on screen
+    * Click on the "MAX" box on the top left of the openpilot display to toggle different metrics display
+    * Lead car relative distance; Lead car relative speed; Actual steering degree; Desired steering degree; Engine RPM; Longitudinal acceleration; Lead car actual speed; EPS torque; Current altitude; Compass direction
+* NEW❗: Stand Still Timer to display time spent at a stop with M.A.D.S engaged (i.e., stop lights, stop signs, traffic congestions)
+* NEW❗: Current car speed text turns red when the car is braking
+* NEW❗: Export GPS tracks into GPX files and upload to OSM thanks to eFini!
+* NEW❗: Enable ACC and M.A.D.S with a single press of the RES+/SET- button
+* NEW❗: ACC +/-: Short=5, Long=1
+    * Change the ACC +/- buttons behavior with cruise speed change in openpilot
+    * Disabled (Stock):  Short=1, Long=5
+    * Enabled:  Short=5, Long=1
+* NEW❗: Speed Limit Value Offset (not %)*
+    * Set speed limit higher or lower than actual speed limit for a more personalized drive.
+    * *To use this feature, turn off "Enable Speed Limit % Offset"*
+* NEW❗: Dedicated icon to show the status of M.A.D.S.
+* NEW❗: No Offroad Fix for non-official devices that cannot shut down after the car is turned off
+* NEW❗: Stop N' Go Resume Alternative
+    * Offer alternative behavior to auto resume when stopped behind a lead car using stock SCC/ACC. This feature removes the repeating prompt chime when stopped and/or allows some cars to use auto resume (i.e., Genesis)
+* IMPROVED: Show the lead car icon in the car's dashboard when a lead car is detected by openpilot's camera vision
+* FIXED: MADS button unintentionally set MAX when using stock longitudinal control thanks to Spektor56!
+
+sunnypilot - Version 0.8.12-3
+========================
+* NEW❗: Bypass "System Malfunction" alert toggle
+    * Prevent openpilot from returning the "System Malfunction" alert that hinders the ability use openpilot
+* FIXED: Hyundai/Kia/Genesis Brake Hold Active now outputs the correct events on screen with M.A.D.S. engaged
+
+sunnypilot - Version 0.8.12-2
+========================
+* NEW❗: Disable M.A.D.S. toggle to disable the beloved M.A.D.S. feature
+    * Enable Stock openpilot engagement/disengagement
+* ADJUST: Initialize Driving Screen Off Brightness at 50%
+
+sunnypilot - Version 0.8.12-1
+========================
+* sunnypilot 0.8.12 release - based on openpilot 0.8.12 devel
+* Dedicated Hyundai/Kia/Genesis branch support
+* NEW❗: OpenStreetMap integration thanks to the Move Fast team!
+    * NEW❗: Vision-based Turn Control
+    * NEW❗: Map-Data-based Turn Control
+    * NEW❗: Speed Limit Control w/ optional Speed Limit Offset
+    * NEW❗: OpenStreetMap integration debug UI
+    * Only available to openpilot longitudinal enabled cars
+* NEW❗: Hands on Wheel Monitoring according to EU r079r4e regulation
+* NEW❗: Disable Onroad Uploads for data-limited Wi-Fi hotspots when using OpenStreetMap related features
+* NEW❗: Fast Boot (Prebuilt)
+* NEW❗: Auto Lane Change Timer
+* NEW❗: Screen Brightness Control (Global)
+* NEW❗: Driving Screen Off Timer
+* NEW❗: Driving Screen Off Brightness (%)
+* NEW❗: Max Time Offroad
+* Improved user feedback with M.A.D.S. operations thanks to Spektor56!
+    * Lane Path
+        * Green🟢 (Laneful), Red🔴 (Laneless): M.A.D.S. engaged
+        * White⚪: M.A.D.S. suspended or disengaged
+        * Black⚫: M.A.D.S. engaged, steering is being manually override by user
+    * Screen border now only illuminates Green when SCC/ACC is engaged
+
+sunnypilot - Version 0.8.10-1 (Unreleased)
+========================
+* sunnypilot 0.8.10 release - based on openpilot 0.8.10 `devel`
+* Add Toyota cars to Force Car Recognition
+
+sunnypilot - Version 0.8.9-4
+========================
+* Hyundai: Fix Ioniq Hybrid signals
+
+sunnypilot - Version 0.8.9-3
+========================
+* Update home screen brand and version structure
+
+sunnypilot - Version 0.8.9-2
+========================
+* Added additional Sonata Hybrid Firmware Versions
+* Features
+    * Modified Assistive Driving Safety (MADS) Mode
+    * Dynamic Lane Profile (DLP)
+    * Quiet Drive 🤫
+    * Force Car Recognition (FCR)
+    * PID Controller: add kd into the stock PID controller
+
+sunnypilot - Version 0.8.9-1
+========================
+* First changelog!
+* Features
+    * Modified Assistive Driving Safety (MADS) Mode
+    * Dynamic Lane Profile (DLP)
+    * Quiet Drive 🤫
+    * Force Car Recognition (FCR)
+    * PID Controller: add kd into the stock PID controller

docs_sp/SAFETY.md

@@ -0,0 +1,36 @@
+# Safety
+
+openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system.
+Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
+driver to be alert and to pay attention at all times.
+
+In order to enforce driver alertness, openpilot includes a driver monitoring feature
+that alerts the driver when distracted.
+
+However, even with an attentive driver, we must make further efforts for the system to be
+safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
+used safely** and openpilot is provided with no warranty of fitness for any purpose.
+
+openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
+industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
+ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
+released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/))
+on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
+hardware-in-the-loop and in-vehicle tests before each software release.
+
+Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
+ensuring two main safety requirements.
+
+1. The driver must always be capable to immediately retake manual control of the vehicle,
+   by stepping on the brake pedal or by pressing the cancel button.
+2. The vehicle must not alter its trajectory too quickly for the driver to safely
+   react. This means that while the system is engaged, the actuators are constrained
+   to operate within reasonable limits[^1]. 
+
+For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [panda/board/safety/](https://github.com/commaai/panda/tree/master/board/safety).
+
+**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
+  not fully meeting the above requirements.
+
+[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation. 
+

docs_sp/assets/features/dlp-1.png

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+oid sha256:996ef2f2fad71a5fa0c8a175c6f05fc841330ee57c1edee871077a95c737ac9f
+size 62046

docs_sp/assets/features/dlp-2.png

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+version https://git-lfs.github.com/spec/v1
+oid sha256:2ac783627ef97d31bbe79281986226c1a06501a80ba57f73e5cc66bae318242c
+size 107559

docs_sp/assets/features/dlp-3.png

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+version https://git-lfs.github.com/spec/v1
+oid sha256:abac3aad3f1f6fd8cd0d278e82c5a7e79aa7e9e3275fe261bc387acab63bd046
+size 164956

docs_sp/branches/definitions.md

@@ -0,0 +1,11 @@
+# Definitions
+
+|    Branch    | Definition | Description                                                                                                                                                                                                                                 | Stability/Readiness |
+|:------------:|------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|---|
+| `release-c3` | Release branch | Stable release branches. After testing on `staging-c3`, updates are pushed here and published publicly.                                                                                                                            | **Ready to Use:** Highly stable, recommended for most users. |
+| `staging-c3` | Staging branch | Pre-release testing branches. Community feedback is essential to identify issues before public release.                                                                                                                                     | **Varied Stability:** Generally stable, but intended for testing before public release. |
+|   `dev-c3`   | Development branches | Experimental branches with the latest features and bug fixes brought in manually. Expect bugs and braking changes.                                                                                                                          | **Experimental:** Least stable, suitable for testers and developers. |
+|   `master`   | Primary development branch | All Pull Requests are merged here for future releases. CI automatically strips, minifies, and pushes changes to `staging-c3`. Running the `master` branch is suitable for development purposes but not recommended for non-development use. | **For Development Use:** Suitable for developers, may be unstable for general use. |
+
+!!! tip
+    Your feedback is invaluable. Testers, even without software development experience, are encourage to run `dev-c3` or `staging-c3` and report issues.

docs_sp/branches/recommended-branches.md

@@ -0,0 +1,7 @@
+# Recommended Branches
+
+|      Branch      | Compatible Device | Installation URL          | Change Logs                                                                              |
+|:----------------:|-------------------|---------------------------|------------------------------------------------------------------------------------------|
+|   `release-c3`   | comma 3/3X        | release-c3.sunnypilot.ai  | [CHANGELOGS.md](https://github.com/sunnyhaibin/sunnypilot/blob/release-c3/CHANGELOGS.md) |
+|   `staging-c3`   | comma 3/3X        | staging-c3.sunnypilot.ai  | [CHANGELOGS.md](https://github.com/sunnyhaibin/sunnypilot/blob/release-c3/CHANGELOGS.md) |
+|     `dev-c3`     | comma 3/3X        | dev-c3.sunnypilot.ai      | [CHANGELOGS.md](https://github.com/sunnyhaibin/sunnypilot/blob/release-c3/CHANGELOGS.md) |

docs_sp/community/CONTRIBUTING.md

@@ -0,0 +1,68 @@
+# How to contribute
+
+Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about open-sourcing and externalization](https://www.sunnypilot.ai/blog/july/a-new-chapter-transparency/). Development activity is coordinated through our [GitHub Issues](https://github.com/sunnypilot/sunnypilot/issues), [GitHub Discussions](https://github.com/sunnypilot/sunnypilot/discussions), and [Discord](https://discord.sunnypilot.ai).
+
+### Getting Started
+
+* Setup your [development environment](https://github.com/sunnypilot/sunnypilot/tree/master/tools)
+* Read about the [development workflow](WORKFLOW.md)
+* Join our [Discord](https://discord.sunnypilot.ai)
+* Docs are at [https://docs.sunnypilot.ai](https://docs.sunnypilot.ai) and [https://www.sunnypilot.ai/blog](https://www.sunnypilot.ai/blog)
+
+## What contributions are we looking for?
+
+**sunnypilot's priorities are [safety](../SAFETY.md), stability, quality, and features, in that order.** Aligning with comma's ideals, part of sunnypilot's mission is to *solve self-driving cars while delivering shippable intermediaries*, and **all** development is towards that goal.
+
+### What gets merged?
+
+The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged.
+If a PR offers *some* value but will take lots of time to get merged, it will be closed.
+Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged. 
+
+All of these are examples of good PRs:
+
+* [typo fix](https://github.com/commaai/openpilot/pull/30678)
+* [removing unused code](https://github.com/commaai/openpilot/pull/30573)
+* [simple car model port](https://github.com/commaai/openpilot/pull/30245)
+* [car brand port](https://github.com/commaai/openpilot/pull/23331)
+* [UI design changes](https://github.com/sunnypilot/sunnypilot/commit/84f6fce90639135611ec568c4d39a352a300bede)
+* [new features](https://github.com/sunnypilot/sunnypilot/commit/68e1379003bfdb599921cf9cd5684bfb762fd676)
+
+### What doesn't get merged?
+
+* **arbitrary style changes**: code is art, and it's up to the author to make it beautiful
+* **500+ line PRs**: clean it up, break it up into smaller PRs, or both
+* **PRs without a clear goal**: every PR must have a singular and clear goal
+
+### First contribution
+
+Check out any [good first issue from commaai's openpilot](https://github.com/commaai/openpilot/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22) to get started.
+
+### What do I need to contribute?
+
+A lot of sunnypilot work requires only a PC, and some requires a comma device.
+Most car-related contributions require access to that car, plus a comma device installed in the car.
+
+## Pull Requests
+
+Pull requests should be against the [`master`](https://github.com/sunnypilot/sunnypilot) branch. If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve.
+
+A good pull request has all of the following:
+
+- a clearly stated purpose
+- every line changed directly contributes to the stated purpose
+- verification, i.e. how did you test your PR?
+- justification
+
+    * if you've optimized something, post benchmarks to prove it's better
+    * if you've improved your car's tuning, post before and after plots
+
+- passes the CI tests
+
+## Contributing without Code
+
+* Report bugs in [GitHub issues](https://github.com/sunnypilot/sunnypilot/issues).
+* Report driving issues in the `#general` Discord channel.
+* Consider opting into driver camera uploads to improve the driver monitoring model.
+* Connect your device to Wi-Fi regularly, so that comma can pull data for training better driving models.
+* Run the `staging-c3` branch and report issues. This branch is like `master` but it's built just like a release.

docs_sp/community/WORKFLOW.md

@@ -0,0 +1,43 @@
+# sunnypilot development workflow
+
+Aside from the ML models, most tools used for sunnypilot development are in this repo.
+
+Most development happens on normal Ubuntu workstations, and not in cars or directly on comma devices. See the [setup guide](https://github.com/sunnypilot/sunnypilot/tree/master/tools) for getting your PC setup for sunnypilot development.
+
+## Quick start
+
+```bash
+# get the latest stuff
+git pull
+git lfs pull
+git submodule update --init --recursive
+
+# update dependencies
+tools/ubuntu_setup.sh
+
+# build everything
+scons -j$(nproc)
+
+# build just the ui with either of these
+scons -j8 selfdrive/ui/
+cd selfdrive/ui/ && scons -u -j8
+
+# test everything
+pytest
+
+# test just logging services
+cd system/loggerd && pytest .
+
+# run the linter
+op lint
+```
+
+## Testing
+
+### Automated Testing
+
+All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
+
+### Code Style and Linting
+
+Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.

docs_sp/community/reporting-a-bug.md

@@ -0,0 +1,274 @@
+# Bug Reports
+
+sunnypilot is an actively maintained project that we constantly strive to improve. With project of this size and complexity, 
+bugs may occur. If you think you have discovered a bug, you can help us by submitting an issue 
+in [comma's public issue tracker][comma's issue tracker], 
+[sunnypilot's public issue tracker][sunnypilot's issue tracker] or on our [Discord][discord], following this guide.
+
+  [comma's issue tracker]: https://github.com/commaai/openpilot/issues
+  [sunnypilot's issue tracker]: https://github.com/sunnypilot/sunnypilot/issues
+  [discord]: https://discord.sunnypilot.ai
+
+## Before creating an issue
+
+With more than 2,500 users, issues are created frequently. The maintainers of this project are trying very hard to keep 
+the number of open issues and reports down by fixing bugs as fast as possible. By following this guide, you will know 
+exactly what information we need to help you quickly.
+
+**But first, please do the following things before creating an issue.**
+
+### Upgrade to the latest version
+
+Chances are that the bug you discovered was already fixed in a subsequent version. Thus, before reporting an issue, 
+ensure that you're running the [latest release version](https://github.com/sunnypilot/sunnypilot/releases) of sunnypilot. 
+Please consult our [installation guide](../setup/read-before-installing.md) to learn how to upgrade to the latest version.
+
+!!! warning "Bug fixes are not backported"
+    Please understand that only bugs that occur in the latest version of sunnypilot will be addressed. Also, to reduce 
+    duplicate efforts, fixes cannot be backported to earlier versions.
+
+### Remove customizations
+
+If you're using customized features, such as your own tweaks of the features, please remove them from the branch 
+you are testing from before reporting a bug. We can't offer official support for bugs that might hide in your implementations, 
+so make sure to omit any customizations from the version being tested.
+
+If, after removing the customizations, the bug is gone, the bug is likely caused by your customizations. A good idea is 
+to add them back gradually to narrow down the root cause of the problem If you did a major version upgrade, make sure 
+you adjusted all customizations you have implemented.
+
+!!! tip
+    If you are an advanced user, you could also utilize `git bisect` 
+    to perform a binary search in the history to find a particular regression.
+
+!!! warning "Customizations mentioned in our documentation"
+    A handful of the features sunnypilot offers can only be implemented with customizations. if you find a bug in any of 
+    the customizations that our documentations explicitly mentioned, you are, of course, encouraged to report it.
+
+**Don't be shy to ask on our [Discord][discord] for help if you run into problems.**
+
+### Search for solutions
+
+At this stage, we know that the problem persists in the latest version and is not caused by any of your customizations. 
+However, the problem might result from a small typo or a syntactical error in the source code, e.g., `selfdrive/car/interfaces.py`.
+
+Now, before you go through the trouble of creating a bug report that is answered and closed right away with a link to
+the relevant documentation section or another already reported or closed issue or discussion, you can save time for us 
+and yourself by doing some research:
+
+1. [Search our documentation] and look for the relevant sections that could be related to your problem. If found, make
+    sure that the settings are configured correctly.
+2. [Search our Discord][discord] to learn if other users are struggling with similar problems and work together with 
+   our 
+   great comunity towards a solution. Many problems are solved there.
+3. [Search comma's openpilot issue tracker][comma's issue tracker], as another user might 
+   already have reported the same problem that may exist in
+   stock openpilot, and there might even be a known workaround or fix for it. Thus, no need to create a new issue.
+4. [Search sunnypilot's issue tracker][sunnypilot's issue tracker], as another user might already have 
+   reported the same problem, and there
+   might even be a known workaround or fix for it. Thus, no need to create a new issue.
+
+[Search our documentation]: ?q=
+
+**Keep track of all <u>search terms</u> and <u>relevant links</u>, you'll need them in the bug report.**[^1]
+
+  [^1]:
+    We might be using terminology in our documentation different from yours, but we mean the same. When you include the 
+    search terms and related links in your bug report, you help us to adjust and improve the documentation. 
+
+---
+
+At this point, when you still haven't found a solution to your problem, we encourage you to report the issue on our 
+[Discord][discord] because it's now very likely that you stumbled over something we don't know 
+yet. Read the following section 
+to learn how to create a complete and helpful bug report.
+
+## Issue template
+
+We have created an issue template to make the bug reporting process as simple as possible, and more efficient for our
+community and us.
+
+- [Title]
+- [Context]<small>optional</small>
+- [Bug description]
+- [Related links]
+- [Reproduction]
+- [Steps to reproduce]
+- [Checklist]
+
+  [Title]: #title
+  [Context]: #context
+  [Bug description]: #bug-description
+  [Related links]: #related-links
+  [Reproduction]: #reproduction
+  [Steps to reproduce]: #steps-to-reproduce
+  [Checklist]: #checklist
+
+### Title
+
+A good title is short and descriptive. It should be a one-sentence executive summary of the issue, so the impact and
+severity of the bug you want to report can be inferred from the title.
+
+| <!-- --> | Example                                                                                                      |
+| -------- |--------------------------------------------------------------------------------------------------------------|
+| :material-check:{ style="color: #4DB6AC" } __Clear__ | Speed Limit Control (SLC) stuck in `preActive` when engaged                                                  |
+| :material-close:{ style="color: #EF5350" } __Wordy__ | The Speed Limit Control (SLC) remains in the `preActive` state when longitudinal it's supposed to be engaged |
+| :material-close:{ style="color: #EF5350" } __Unclear__ | SLC does not work                                                                                            |
+| :material-close:{ style="color: #EF5350" } __Useless__ | Help                                                                                                         |
+
+### Context <small>optional</small> { #context }
+
+Before describing the bug, you can provide additional context for us to understand what you were trying to achieve.
+Explain the circumstances in which you're using sunnypilot, and what you _think_ might be relevant. Don't write 
+about the bug here.
+
+!!! note "__Why this might be helpful__"
+    Some errors only manifest in specific settings, environments or edge cases, for example, when the feature is not available
+    to certain cars.
+
+### Bug description
+
+Now, to the bug you want to report. Provide a clear, focused, specific, and concise summary of the bug you encountered. 
+Explain why you think this is a bug that should be reported to sunnypilot, and not to one of its dependencies.[^3]
+Adhere to the following principles:
+
+  [^3]:
+    Sometimes, users report bugs on our [sunnypilot's issue tracker] or [Discord][discord] 
+    that are caused by one of our upstream dependencies, including [comma's openpilot], [comma's panda],
+    or other openpilot forks' dependencies. A good rule of thumb is
+    to reproduce the issue with stock openpilot in the same conditions and
+    check if the problem persists. If it does, the problem is likely not
+    related to sunnypilot and should be reported upstream. When in
+    doubt, use our [Discord][discord] to ask for help.
+
+  [comma's openpilot]: https://github.com/commaai/openpilot
+  [comma's panda]: https://github.com/commaai/panda
+
+-   __Explain the <u>what</u>, not the <u>how</u>__ – don't explain
+    [how to reproduce the bug][Steps to reproduce] here, we're getting there.
+    Focus on articulating the problem and its impact as clearly as possible.
+
+-   __Keep it short and concise__ – if the bug can be precisely explained in one
+    or two sentences, perfect. Don't inflate it – maintainers and future users
+    will be grateful for having to read less.
+
+-   __One bug at a time__ – if you encounter several unrelated bugs, please
+    create separate issues for them. Don't report them in the same issue, as
+    this makes attribution difficult.
+
+---
+
+:material-run-fast: __Stretch goal__ – if you found a workaround or a way to fix
+the bug, you can help other users temporarily mitigate the problem before
+we maintainers can fix the bug in our code base.
+
+!!! note "__Why we need this__"
+    In order for us to understand the problem, we need a clear description of it and quantify its impact, which is 
+    essential for triage and prioritization.
+
+### Related links
+
+Of course, prior to reporting a bug, you have read our documentation and
+[could not find a working solution][search for solutions]. Please share links
+to all sections of our documentation that might be relevant to the bug, as it
+helps us gradually improve it.
+
+Additionally, since you have searched [comma's issue tracker], [sunnypilot's issue tracker] or [Discord][discord]
+before reporting an issue, and have possibly found several issues or
+discussions, include those as well. Every link to an issue or discussion creates
+a backlink, guiding us maintainers and other users in the future.
+
+---
+
+:material-run-fast: __Stretch goal__ – if you also include the search terms you
+used when [searching for a solution][search for solutions] to your problem, you
+make it easier for us maintainers to improve the documentation.
+
+  [search for solutions]: #search-for-solutions
+
+### Reproduction
+
+A minimal reproduction is at the heart of every well-written bug report, as
+it allows us maintainers to instantly recreate the necessary conditions to
+inspect the bug to quickly find its root cause. It's a proven fact that issues
+with concise and small reproductions can be fixed much faster.
+
+After you have created the reproduction, take note of your <u>__comma Dongle ID__</u>. It will be used during the bug 
+report.
+
+!!! note "__Why we need this__"
+    If an issue contains no minimal reproduction or just a link to a repository with thousands of files, the 
+    maintainers would need to invest a lot of time into trying to recreate the right conditions to even inspect the 
+    bug, let alone fix it.
+
+!!! warning "Don't share links to repositories"
+    While we know that it is a good practice among developers to include a link
+    to a repository with the bug report, we currently don't support those in our
+    process. The reason is that the reproduction, which is automatically
+    produced by the <u>__route ID__</u> contains all the necessary
+    environment information that is often forgotten to be included.
+
+    Additionally, there are many non-technical users of sunnypilot that
+    have trouble creating repositories.
+
+### Steps to reproduce
+
+At this point, you provided us with enough information to understand the bug
+and provided us with a reproduction that we could run and inspect. However, when
+we check your reproduction, it might not be immediately apparent how we can see
+the bug in action.
+
+Thus, please list the specific steps we should follow when running your
+reproduction to observe the bug. Keep the steps short and concise, and make sure
+not to leave anything out. Use simple language as you would explain it to a
+five-year-old, and focus on continuity.
+
+!!! note "__Why we need this__"
+    We must know how to navigate your reproduction in order
+    to observe the bug, as some bugs only occur at certain viewports or in
+    specific conditions.
+
+### Uploading logs and preserving routes
+
+After reproducing the bug, please follow these steps to upload the necessary logs and preserve the routes.
+
+1. Ensure the route is fully uploaded at [comma Connect]. We cannot look 
+  into issues without routes, or at least a comma Dongle ID.
+
+    1. Visit [comma Connect], select the route with the issue reproduced.
+    2. Under the "Files" button, locate "All logs". Click "Upload x files".
+    3. View the upload queue, and confirm that all raw logs are uploaded.
+
+    !!! note
+        Sometimes when the qlogs of the route are still being uploaded, some raw logs may not be available to 
+        request for upload. Refresh the page a few times once you have confirmed all qlogs have been uploaded, 
+        then try to upload all raw logs again if available.
+
+2. Share your Dongle ID with sunnypilot on [comma Connect].
+
+    1. Visit [comma Connect], navigate to the gear icon.
+    2. Select "Share by email", and enter `support@sunnypilot.ai`.
+    3. Confirm the sharing by clicking the share icon again.
+    4. Set the device name to your vehicle's year/make/model and your Discord username, so it can be easily identified.
+
+3. Once all raw logs are uploaded, click "More info" and enable the "Preserved" option to preserve the route.
+4. Attach the route ID in your issue submission.
+
+  [comma Connect]: https://connect.comma.ai
+
+### Checklist
+
+Thanks for following the guide and creating a high-quality and complete bug
+report – you are almost done. The checklist ensures that you have read this guide
+and have worked to your best knowledge to provide us with everything we need to
+know to help you.
+
+- [ ] I have upgraded to the latest release version of sunnypilot.
+- [ ] I have removed or disable any customizations and confirmed the bug persists.
+- [ ] I have searched the documentation, issue trackers, and Discord for similar issues.
+- [ ] I have created a minimal reproduction and noted my comma Dongle ID.
+- [ ] I have shared my Dongle ID with sunnypilot at `support@sunnypilot.ai`.
+- [ ] I have filled out all required sections of the issue template.
+- [ ] I have followed this guide and ensured all necessary information is included.
+
+__We'll take it from here.__

docs_sp/community/reporting-a-docs-issue.md

@@ -0,0 +1,97 @@
+# Documentation issues
+
+Our documentation is composed of many pages and includes extensive
+information on features, configurations, customizations, and much more. If you
+have found an inconsistency or see room for improvement, please follow this
+guide to submit an issue on our [issue tracker].
+
+  [issue tracker]: https://github.com/sunnypilot/sunnypilot/issues
+
+## Issue template
+
+Reporting a documentation issue is usually less involved than reporting a bug.
+Please thoroughly read this guide before creating a new documentation issue,
+and provide the following information as part of the issue:
+
+- [Title]
+- [Description]
+- [Related links]
+- [Proposed change] <small>optional</small>
+- [Checklist]
+
+  [Title]: #title
+  [Description]: #description
+  [Related links]: #related-links
+  [Proposed change]: #proposed-change
+  [Checklist]: #checklist
+
+### Title
+
+A good title should be a short, one-sentence description of the issue, contain
+all relevant information and, in particular, keywords to simplify the search in
+our issue tracker.
+
+| <!-- --> | Example  |
+| -------- | -------- |
+| :material-check:{ style="color: #4DB6AC" } __Clear__ | Clarify Speed Limit Control engagement
+| :material-close:{ style="color: #EF5350" } __Unclear__ | Missing information in the docs
+| :material-close:{ style="color: #EF5350" } __Useless__ | Help
+
+### Description
+
+Provide a clear and concise summary of the inconsistency or issue you
+encountered in the documentation or the documentation section that needs
+improvement. Explain why you think the documentation should be adjusted and
+describe the severity of the issue:
+
+-   __Keep it short and concise__ – if the inconsistency or issue can be
+    precisely explained in one or two sentences, perfect. Maintainers and future
+    users will be grateful for having to read less.
+
+-   __One issue at a time__ – if you encounter several unrelated inconsistencies,
+    please create separate issues for them. Don't report them in the same issue
+    – it makes attribution difficult.
+
+!!! note "__Why we need this__"
+    Describing the problem clearly and concisely is a prerequisite for improving
+    our documentation – we need to understand what's wrong, so we can fix it.
+
+### Related links
+
+After you described the documentation section that needs to be adjusted above,
+we now ask you to share the link to this specific documentation section and
+other possibly related sections. Make sure to use anchor links (permanent links)
+where possible, as it simplifies discovery.
+
+!!! note "__Why we need this__"
+    Providing the links to the documentation help us understand which sections
+    of our documentation need to be adjusted, extended, or overhauled.
+
+### Proposed change <small>optional</small> { #proposed-change }
+
+Now that you have provided us with the description and links to the
+documentation sections, you can help us, maintainers, and the community by
+proposing an improvement. You can sketch out rough ideas or write a concrete
+proposal. This field is optional but very helpful.
+
+!!! note "__Why we need this__"
+    An improvement proposal can be beneficial for other users who encounter
+    the same issue, as they offer solutions before we maintainers can update
+    the documentation.
+
+### Checklist
+
+Thanks for following the guide and providing valuable feedback for our
+documentation – you are almost done. The checklist ensures that you have read
+this guide and have worked to your best knowledge to provide us with every piece
+of information we need to improve it.
+
+- [ ] I have provided a clear and descriptive title for the documentation issue.
+- [ ] I have summarized the inconsistency or issue concisely in the description.
+- [ ] I have included links to the specific documentation section(s) that need
+      adjustments.
+- [ ] (Optional) I have proposed a change or improvement to the documentation.
+- [ ] I have followed this guide and ensured all necessary information is included.
+
+__We'll take it from here.__
+

docs_sp/features/dynamic-lane-profile.md

@@ -0,0 +1,31 @@
+# Dynamic Lane Profile (DLP)
+
+Dynamic Lane Profile (DLP) aims to provide the best driving experience by confidently keeping the vehicle within a lane. 
+It allows sunnypilot to dynamically switch between lane profiles based on the lane recognition confidence level on the road.
+
+!!! note
+    Due to the removal of lateral planner in newer Driving Models, Dynamic Lane Profile is only available with the 
+    following selected Driving Models:
+
+    - New Delhi (December 21, 2023) - ND
+    - Blue Diamond v2 (December 11, 2023) - BDv2
+    - Blue Diamond (November 18, 2023) - BDv1
+    - Farmville (November 7, 2023) - FV
+    - Night Strike (October 3, 2023) - NS
+
+## Available Modes
+
+- **Auto Lane**: sunnypilot dynamically selects between `Laneline` or `Laneless` model.
+- **Laneline**: uses the Laneline model only.
+- **Laneless**: uses the Laneless model only.
+
+### Feature Location
+
+1. Settings
+![Settings](../assets/features/dlp-1.png)
+
+2. `sunnypilot` Panel
+![sunnypilot Panel](../assets/features/dlp-2.png)
+
+3. Select the desired mode
+![DLP Select](../assets/features/dlp-3.png)

docs_sp/features/hyundai-longitudinal-tuning.md

@@ -0,0 +1,97 @@
+
+# **How custom longitudinal tuning works for Hyundai/Kia/Genesis vehicles in sunnypilot.**
+
+To begin this documentation, I would like to first present the safety guidelines followed to create the tune:
+
+Our main safety guideline considered is [ISO 15622:2018](https://www.iso.org/obp/ui/en/#iso:std:iso:15622:ed-3:v1:en)
+This provides the groundwork of safety limits this tune must adhere too, and therefore, must be followed.
+For example, in our jerk calculations throughout this tune, you will see how maximum jerk is clipped using the equation provided.
+
+In the tuning you will see a set of equations, the first being jerk, **but what exactly is jerk?**
+Jerk is calculated by taking current acceleration (in the form of m/s^2), subtracting that by previous acceleration, and
+dividing that by time. In our tune you will see the following equation:
+
+    planned_accel = CC.actuators.accel
+    current_accel = CS.out.aEgo
+    blended_value = 0.67 * planned_accel + 0.33 * current_accel
+    delta = blended_value - self.state.accel_last_jerk
+
+    self.state.jerk = math.copysign(delta * delta, delta)
+    self.state.accel_last_jerk = blended_value
+
+Instead of using a hardcoded time, we are focused on making jerk parabolic. First we have our planned acceleration from longitudinal_planner.
+Then we have our current carstate acceleration. These are then blended together 67:33 = 100% to form our blended value.
+Following this, we have our delta which subtracts our blended_value from our previous acceleration `self.state.accel_last_jerk`
+Lastly, we have our finalized jerk calculation, which squares the delta to create a parabolic response while retaining the original sign,
+which could be positive or negative (e.g., 5.0 or -5.0). This then goes through our minimum and maximum clipping
+which forces a value between our set min and max, which I discuss later in this readme.
+
+Moving on, the accel_last_jerk, stores current accel after each iteration and uses that in the calculation as previous accel for
+our jerk calculations. Now we see the calculation of jerk max and jerk min. 
+
+### Let's dive into how jerk lower limit max is calculated:
+
+     velocity = CS.out.vEgo
+    if velocity < 5.0:
+      decel_jerk_max = self.car_config.jerk_limits[1]
+    elif velocity > 20.0:
+      decel_jerk_max = 2.5
+    else:
+      decel_jerk_max = 3.64284 - 0.05714 * velocity
+
+This equation above is set by ISO 15622, and dictates that jerk lower limit can only be five when below 5 m/s. In our equation,
+
+    self.car_config.jerk_limits[1] 
+
+Jerk_limits[1] represents a jerk value of 3.3 m/s^3, which is the maximum analyzed lower jerk rate seen on stock SCC CAN.
+Between 5 m/s and 20 m/s jerk is capped using the calculation:
+
+    decel_jerk_max = 3.64284 - 0.05714 * velocity
+
+This equation calculates the linear jerk from 6m/s to 19m/s, scaling down from 3.3 to 2.5 m/s^3.
+This means that if current velocity is say, 15 m/s the final jerk max value would be capped at 2.78 m/s^3.
+Anything above 20 m/s is capped to a lower jerk max of 2.5 m/s^3. This allows for a smoother jerk range, while complying to ISO standards to a tee.
+The current jerk Lower Limit you will see in openpilot before this tune, is 5.0 m/s^3; Which as you can see from using the above calculation,
+the 5.0 m/s^3 technically does not comply with ISO standards at any speed above 5.0 m/s^3.
+Having our jerk max be clipped to these values not only allows for better consistency with ISO standards, 
+but also enables us to have a much smoother braking experience.
+
+### Getting into our next topic, I would like to explain how our minimum jerk was chosen.
+
+Minimum jerk was chosen based off of the following guideline proposed by Handbook of Intellegent Vehicles (2012):
+`Ride comfort may be sacrificed only under emergency conditions when vehicle and occupant safety consideration may preclude comfort.`
+
+### What the value of 0.53 m/s^3 of the jerk lower limit was chosen based off of
+
+[Carlowitz et al. (2024).](https://www.researchgate.net/publication/382274551_User_evaluation_of_comfortable_deceleration_profiles_for_highly_automated_driving_Findings_from_a_test_track_study)
+This research study identified the average lower jerk used in comfortable driving settings, which is 0.53 m/s^3.
+This is then inputted to jerk_limits[0] as 0.53 m/s^3 represents the value used in upper jerk absolute minimum.
+
+     min_lower_jerk = self.car_config.jerk_limits[0]
+
+As shown above, lower jerk minimum of 0.53 is used for our lower_jerk minimum bounds.
+
+### Why our minimum upper jerk is conditional
+
+Our minimum upper band jerk is conditional as well and is denoted below:
+
+    min_upper_jerk = self.car_config.jerk_limits[0] if (velocity > 3.611) else 0.60
+
+This means that for speeds under 3.611 m/s (8.077 mph/ 13 kph) we have a minimum jerk of 0.60. This allows for smooth
+takeoffs while not causing lag. For all other speeds, we use our normal jerk_limit for minimum, which is 0.53.
+
+### Next, we have our acceleration limiting
+
+For acceleration limiting, we use TCS signal brakeLightsDEPRECATED to measure when to enact the standstill delay 
+which stock SCC uses to allow smoother transitions in acceleration.
+
+### Lastly, we have our accel value calculations for hyundaican.py
+
+For our accel value calculations we have the following:
+
+   `self.accel_value = np.clip(self.accel_raw, self.state.accel_last - jerk_number, self.state.accel_last + jerk_number)`
+
+This essentialy means that we have our accel_raw, which is acceleration (m/s^2), followed by our clipping variables. 
+jerk_number in this equation represents exactly `0.1`, which is subtracted or added by self.state.accel_last, which is 
+previous calculated accel_value. Furthermore, we have `self.state.accel_last`, which is caculated as the stored accel from
+the above calculations.

docs_sp/features/index.md

@@ -0,0 +1,3 @@
+# Features
+
+WIP

docs_sp/features/modified-assistive-driving-safety.md

@@ -0,0 +1,40 @@
+# Modified Assistive Driving Safety (M.A.D.S.)
+
+Modified Assistive Driving Safety (MADS) aims to elevate the user's driving experience by modifying the behaviors of 
+driving assist engagements.
+
+!!! note
+    This feature aligns closely with comma.ai's safety rules.
+
+## Independent Engagement
+
+MADS allows users to engage sunnypilot Automatic Lane Centering (ALC) for lateral control and Adaptive Cruise Control 
+(ACC) or Smart Cruise Control (SCC) for longitudinal control independently.
+
+??? note "Why This Feature Exists"
+    While newer car models allow for independent engagement of lateral (steering) and longitudinal (speed) control, 
+    many older models and stock openpilot enforce engaging both controls together. MADS introduces this modern 
+    convenience to older models, effectively backporting a feature found in newer cars and providing users more flexibility.
+
+## Dedicated Buttons
+
+### Toggle for sunnypilot ALC
+
+  - `CRUISE (MAIN)` button: Available on all supported cars on sunnypilot.
+  - `LFA` button: Available on newer HKG cars.
+  - `LKAS` button: Available on Honda, Toyota, and Global Subaru.
+
+### Engagement
+
+  - `SET-` button: Enables ACC/SCC.
+  - `CANCEL` button: Disables ACC/SCC only.
+  - `CRUISE (MAIN)` must be `ON` to use ACC/SCC.
+
+!!! info
+    The `CRUISE (MAIN)` button disables sunnypilot completely when `OFF`. This is strictly enforced in the panda safety code.
+
+## Lateral Control on Brake Pedal
+
+Dedicated toggle to handle Lateral state on brake pedal press and release:
+
+- **ON**: Pressing the `BRAKE pedal` will pause Automatic Lane Centering.

docs_sp/getting-started/develop-sunnypilot.md

@@ -0,0 +1,10 @@
+# To start developing sunnypilot
+
+sunnypilot is a fork of [commaai's openpilot](https://github.com/commaai/openpilot), developed by [sunnypilot](https://sunnypilot.ai) and by users like you. 
+We welcome both pull requests and issues on [GitHub](http://github.com/sunnypilot/sunnypilot).
+
+* Join the [community Discord](https://discord.sunnypilot.ai)
+* Check out [the contributing docs](../community/CONTRIBUTING.md)
+* Check out the [openpilot tools](https://github.com/sunnypilot/sunnypilot/tree/master/tools)
+* Read about the [development workflow](../community/WORKFLOW.md)
+* Information about running sunnypilot and code documentation lives on the [sunnypilot docs](https://docs.sunnypilot.ai)

docs_sp/getting-started/use-sunnypilot-in-a-car.md

@@ -0,0 +1,16 @@
+# To start using sunnypilot in a car
+
+To use sunnypilot in a car, you need four things:
+
+1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
+
+2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `release-c3.sunnypilot.ai` to install the release version.
+
+3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CARS.md).
+
+4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
+
+[comma.ai](https://comma.ai) have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup).
+
+!!! note
+    It's possible to run sunnypilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.

docs_sp/getting-started/what-is-sunnypilot.md

@@ -0,0 +1,11 @@
+# What is sunnypilot?
+
+sunnypilot is a fork of [comma.ai's openpilot](https://github.com/commaai/openpilot), an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 250+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
+
+## How do I use it?
+
+sunnypilot is designed to be used on the comma 3/3X.
+
+## How does it work?
+
+In short, sunnypilot uses the car's existing APIs for the built-in [ADAS](https://en.wikipedia.org/wiki/Advanced_driver-assistance_system) system and simply provides better acceleration, braking, and steering inputs than the stock system.

docs_sp/how-to/enabling-mapbox-navigation.md

@@ -0,0 +1,53 @@
+# :map: Enabling Mapbox navigation
+
+Enabling Mapbox Navigation on sunnypilot enhances your driving experience by providing accurate maps and directions.
+
+Following the instructions below, you will set up a free Mapbox account, generating your own access token, and 
+configuring on your comma 3/3X. Next:
+
+## 1. Create a free Mapbox account
+
+Sign up for a free Mapbox account. Although a credit card is required for verification, you will not be charged for the
+free tier.
+
+## 2. Generate access token
+
+!!! warning
+    You won't be able to access the secret key after this window.
+
+On the Dashboard, find the **Access Tokens** section and click `Create a Token`. Name it as you like and set 
+the scopes to allow everything for both Public and Secret. Copy both keys.
+
+## 3. Connect comma 3/3X to a network
+
+Once rebooted, connect your comma 3/3X to a network with internet access and note the comma 3/3X’s IP address.
+
+## 4. Configure keys
+
+In a browser, navigate to `C3_IP:8082` (e.g., 192.168.1.69:8082). You should see the comma logo and an input field. 
+Paste your Public token (pk.xx), press enter, paste your Secret key (sk.xx), and press enter again. This page lets 
+you search for destinations.
+
+## 5. Set Home and Work addresses
+
+To set Home and Work addresses, search for a place, select Home/Work from the dropdown, and click Navigate. For 
+other destinations, select Recent Places.
+
+!!! warning
+    Your comma 3/3X requires an active internet connection to download map data, generate directions, and update
+    ETA. Once data is downloaded, offline use is possible, but updates (like new directions after a missed turn)
+    won't occur.
+
+!!! info
+    At this time, it is not possible to search directly on the comma 3/3X.
+
+!!! info
+    Mapbox does not support alphanumeric addresses (e.g., W123N1234 Main St). There is currently no known
+    workaround for this.
+
+!!! tip
+    If your comma 3/3X shows a "Map Loading" screen, a reboot via the UI should fix it.
+    Connect the comma 3/3X to a network (i.e. your phone's hotspot) and use your phone browser to search for places.
+
+    In the Navigation panel on the comma 3/3X, select Home, Work, and Recent Places without needing a browser 
+    (assuming internet connection).

docs_sp/how-to/hyundai/enabling-radar-tracks.md

@@ -0,0 +1,50 @@
+# :satellite: Radar Tracks
+
+Unlock the potential of sunnypilot by enabling radar tracks manually on applicable Hyundai/Kia/Genesis cars. Thanks to
+[@greghogan](https://github.com/greghogan) and [@pd0wm](https://github.com/pd0wm), this feature is now accessible via SSH.
+
+!!! info "How Radar Points Can Be Used Along With Vision"
+    Current openpilot policy is to identify with vision first and match it to a radar point. If vision sees nothing,
+    you get a false negative and no lead car detection. (Source: [Hubblesphere#7894 from comma.ai community Discord](https://discord.com/channels/469524606043160576/872899198738104330/872913890793635872))
+
+!!! caution
+    **USE AT YOUR OWN RISK!** Stock system safety features, such as AEB and FCW, may be affected by these changes.
+
+## 1. Prerequisites
+
+Ensure the car is in the `OFF` ignition position and connect your comma 3/3X to the car.
+
+## 2. SSH connection
+
+Connect to your comma 3/3X via [SSH](https://github.com/commaai/openpilot/wiki/SSH).
+
+## 3. Execute commands
+
+In the SSH terminal, execute the following commands:
+
+```bash
+pkill -f openpilot
+python /data/openpilot/selfdrive/debug/hyundai_enable_radar_points.py
+```
+Follow the script instructions and ensure no faults appear.
+
+## 4. Reboot
+
+Reboot your comma 3/3X. Once rebotoed, start your car and ensure there is no fault caused by enabling the radar tracks.
+
+## 5. Test drive
+
+Go for a quick drive, drive behind a lead car, and allow the drive to upload its raw logs in [comma Connect](https://connect.comma.ai).
+
+## 6. Verify in Cabana
+
+Load the test route in [Cabana](https://github.com/sunnypilot/sunnypilot/tree/master/tools/cabana), load `hyundai_kia_mando_front_radar.dbc`, search `RADAR_TRACK_50x`,
+and check `LONG_DIST`.
+
+## 7. Confirmation
+
+If the radar tracks data is relevant, you've successfully enabled radar tracks.
+
+!!! tip
+    Having issues or need assistance? Reach out to the community in the `hyundai-kia-genesis` channel in
+    [sunnypilot Discord](https://discord.sunnypilot.ai) or [commaai community Discord](https://discord.comma.ai).

docs_sp/how-to/turn-the-speed-blue.md

@@ -0,0 +1,98 @@
+# Turn the speed blue
+*A getting started guide for openpilot development*
+
+In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI.
+
+And if you have a comma 3/3X, we'll deploy the change to your device for testing.
+
+## 1. Setup your development environment
+
+Run this to clone openpilot and install all the dependencies:
+```bash
+curl -fsSL openpilot.comma.ai | bash
+```
+
+Navigate to openpilot folder & activate a Python virtual environment
+```bash
+cd openpilot
+source .venv/bin/activate
+```
+
+Then, compile openpilot:
+```bash
+scons -j8
+```
+
+## 2. Run replay
+
+We'll run the `replay` tool with the demo route to get data streaming for testing our UI changes.
+```bash
+# in terminal 1
+tools/replay/replay --demo
+
+# in terminal 2
+selfdrive/ui/ui
+```
+
+The openpilot UI should launch and show a replay of the demo route.
+
+If you have your own comma device, you can replace `--demo` with one of your own routes from comma connect.
+
+## 3. Make the speed blue
+
+Search for “mph” with git grep in the `ui` folder.
+```bash
+$ git grep "mph" selfdrive/ui/
+paint.cc:  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
+```
+
+The line right above contains the actual speed. Unfortunately, COLOR_BLUE isn’t defined, but a git grep of COLOR_WHITE shows it’s nvgRGBA(255, 255, 255, 255). Personally, I like a lighter blue, so I went with #8080FF.
+```bash
+$ git diff
+diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
+index 821d95115..cc996eaa1 100644
+--- a/selfdrive/ui/paint.cc
++++ b/selfdrive/ui/paint.cc
+@@ -175,8 +175,8 @@ static void ui_draw_vision_speed(UIState *s) {
+   const float speed = std::max(0.0, (*s->sm)["carState"].getCarState().getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363));
+   const std::string speed_str = std::to_string((int)std::nearbyint(speed));
+   nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
+-  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold");
+-  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
++  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, nvgRGBA(128, 128, 255, 255), "sans-bold");
++  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, nvgRGBA(128, 128, 255, 200), "sans-regular");
+ }
+
+ static void ui_draw_vision_event(UIState *s) {
+```
+
+
+## 4. Rebuild UI, and admire your work
+
+```
+scons -j8 && selfdrive/ui/ui
+```
+
+![](https://blog.comma.ai/img/blue_speed_ui.png)
+
+## 5. Push your fork to GitHub
+
+Click fork on GitHub. Then, push with:
+```bash
+git remote rm origin
+git remote add origin git@github.com:<your-github-username>/openpilot.git
+git add .
+git commit -m "Make the speed blue."
+git push --set-upstream origin master
+```
+
+## 6. Run your fork on device in your car!
+
+Uninstall openpilot from your device through the settings. Then, enter the URL for your very own installer:
+```
+installer.comma.ai/<your-github-username>/master
+```
+
+## 7. Admire your work IRL
+
+![](https://blog.comma.ai/img/c3_blue_ui.jpg)

docs_sp/index.md

@@ -0,0 +1 @@
+getting-started/what-is-sunnypilot.md

docs_sp/safety-information/prohibited-safety-modifications.md

@@ -0,0 +1,14 @@
+# Prohibited Safety Modifications
+
+All [official sunnypilot branches](https://github.com/sunnyhaibin/sunnypilot/branches) strictly adhere to [comma.ai's safety policy](https://github.com/commaai/openpilot/blob/master/docs/SAFETY.md). Any changes that go against 
+this policy will result in your fork and your device being banned from both comma.ai and sunnypilot channels.
+
+The following changes are **VIOLATIONS** of the safety policy and **ARE NOT** supported in any official sunnypilot branches:
+
+!!! danger "Driver Monitoring"
+    - "Nerfing" or reducing monitoring parameters.
+
+!!! danger "Panda Safety"
+    - No preventing disengaging of <ins>**longitudinal control**</ins> (positive/negative acceleration) on brake pedal press.
+    - No auto re-engaging of <ins>**longitudinal control**</ins> (positive/negative acceleration) on brake pedal release.
+    - No disengaging on `CRUISE MAIN` in `OFF` state.

docs_sp/setup/changelogs/index.md

@@ -0,0 +1 @@
+../../CHANGELOGS.md

docs_sp/setup/read-before-installing.md

@@ -0,0 +1,20 @@
+# 🚨 Read Before Installing
+
+It is recommended to read the <u>**entire documentation**</u> before proceeding. This will ensure that you fully understand each added feature in sunnypilot. This also ensures that you are choosing the correct settings and branch for your car to have the best driving experience.
+
+!!! warning
+    By installing this software, you accept all responsibility for anything that might occur while you use it. sunnypilot and all contributors to sunnypilot are not liable.
+
+    **Use at your own risk.**
+
+## Installation
+
+Please refer to the [Recommended Branches](../branches/recommended-branches.md) to find your preferred/supported branch. This guide will assume you want to install the latest `release-c3` branch.
+
+You can install sunnypilot on your comma 3/3X using one of the following methods:
+
+- ### [URL Method (Directly on Device)](url-method.md)
+This method allows you to install sunnypilot directly from your device's screen using a provided URL. It's simple and user-friendly, requiring no additional tools or external devices.
+
+- ### [SSH Method (Command Line)](ssh-method.md)
+This method is for advanced users who prefer to use SSH to clone the sunnypilot repository and install it manually via the command line. It offeres greater control over the installation process.

docs_sp/setup/ssh-method.md

@@ -0,0 +1,26 @@
+# SSH Method
+
+If you are looking to install sunnypilot via SSH, run the following commands in an SSH terminal after connecting to your comma 3/3X:
+
+1. Navigate to `data` directory
+    ```sh 
+    cd /data
+    ```
+
+2. Clone sunnypilot
+
+    !!! example ""
+        `release-c3` branch is used in this step as an example.
+    ```sh
+    git clone release-c3 --recurse-submodules https://github.com/sunnyhaibin/openpilot.git 
+    ```
+
+3. Git LFS
+    ```sh
+    git lfs pull
+    ```
+
+4. Reboot
+    ```sh
+    sudo reboot
+    ```

docs_sp/setup/url-method.md

@@ -0,0 +1,37 @@
+# URL Method
+
+The URL installation method can be done in two ways, depending on your current setup and version of sunnypilot on your device.
+
+=== "sunnypilot not installed, or sunnypilot < 0.8.17"
+
+    1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
+    2. After factory reset/uninstall, upon reboot, select `Custom Software` when given the option.
+    3. Input the **Installation URL** per [Recommended Branches](../branches/recommended-branches.md).
+    4. Complete the rest of the installation by following the onscreen instructions.
+
+    !!! info "[Recommended Branches](../branches/recommended-branches.md)"
+        |    Branch    |         Installation URL         |
+        |:------------:|:--------------------------------:|
+        | `release-c3` | release-c3.sunnypilot.ai |
+        | `staging-c3` | staging-c3.sunnypilot.ai |
+        |   `dev-c3`   | dev-c3.sunnypilot.ai     |
+    !!! example "Example of Installation URL"
+        `release-c3.sunnypilot.ai`[^1]
+
+=== "sunnypilot already installed, or sunnypilot ≥ 0.8.17"
+
+    1. On the comma 3/3X, go to `Settings` → `Software`.
+    2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from the sunnypilot repository on GitHub.
+    3. At the `Target Branch` option, press `SELECT` to open the `Target Branch` selector.
+    4. Scroll and select the **Desired Branch** per Recommended Branches.
+
+    !!! info "[Recommended Branches](../branches/recommended-branches.md)"
+        |    Branch    |         Installation URL         |
+        |:------------:|:--------------------------------:|
+        | `release-c3` | release-c3.sunnypilot.ai |
+        | `staging-c3` | staging-c3.sunnypilot.ai |
+        |   `dev-c3`   | dev-c3.sunnypilot.ai     |
+    !!! example "Example of Desired Branch"
+        `release-c3`
+
+[^1]: Shortened URL for convenience. Full URL is `smiskol.com/fork/sunnyhaibin/release-c3`.

mkdocs-sp.yml

@@ -0,0 +1,150 @@
+site_name: sunnypilot docs
+repo_name: sunnypilot/sunnypilot
+repo_url: https://github.com/sunnypilot/sunnypilot/
+site_description: sunnypilot Documentation
+site_url: https://docs.sunnypilot.ai
+edit_uri: blob/new-docs/docs_sp
+
+exclude_docs: README.md
+
+strict: true
+docs_dir: docs_sp
+site_dir: docs_sp_site/
+
+theme:
+  name: material
+  icon:
+    repo: fontawesome/brands/github
+    edit: material/file-edit-outline
+    view: material/file-eye-outline
+  features:
+    - content.action.edit
+    - content.action.view
+    - content.code.copy
+    - content.code.select
+    #- navigation.expand
+    - navigation.footer
+    - navigation.indexes
+    - navigation.path
+    - navigation.sections
+    - navigation.tabs
+    - navigation.tabs.sticky
+    - navigation.top
+    - search.suggest
+    - search.highlight
+    - search.share
+  font:
+    text: Roboto
+    code: Roboto Mono
+  palette:
+    - media: "(prefers-color-scheme)"
+      toggle:
+        icon: material/link
+        name: Switch to light mode
+    - media: "(prefers-color-scheme: light)"
+      scheme: default
+      primary: indigo
+      accent: indigo
+      toggle:
+        icon: material/toggle-switch
+        name: Switch to dark mode
+    - media: "(prefers-color-scheme: dark)"
+      scheme: slate
+      primary: black
+      accent: indigo
+      toggle:
+        icon: material/toggle-switch-off
+        name: Switch to system preference
+  navigation_depth: 3
+
+markdown_extensions:
+  - admonition
+  - attr_list
+  - def_list
+  - footnotes
+  - md_in_html
+  - pymdownx.details
+  - pymdownx.emoji:
+      emoji_index: !!python/name:material.extensions.emoji.twemoji
+      emoji_generator: !!python/name:material.extensions.emoji.to_svg
+  - pymdownx.highlight:
+      anchor_linenums: true
+      line_spans: __span
+      pygments_lang_class: true
+  - pymdownx.inlinehilite
+  - pymdownx.magiclink:
+      normalize_issue_symbols: true
+      repo_url_shorthand: true
+      user: sunnypilot
+      repo: sunnypilot
+  - pymdownx.snippets
+  - pymdownx.superfences
+  - pymdownx.tabbed:
+      alternate_style: true
+  - pymdownx.tasklist:
+      custom_checkbox: true
+      clickable_checkbox: true
+  - toc:
+      permalink: true
+
+plugins:
+  - git-authors
+  - git-committers:
+      repository: sunnypilot/sunnypilot
+      branch: master
+      enabled: !ENV [CI, false]
+  - git-revision-date-localized:
+      enable_creation_date: true
+  - search
+
+extra:
+  analytics:
+    provider: google
+    property: !ENV GOOGLE_ANALYTICS_KEY
+    feedback:
+      title: Was this page helpful?
+      ratings:
+        - icon: material/emoticon-happy-outline
+          name: This page was helpful
+          data: 1
+          note: >-
+            Thanks for your feedback!
+        - icon: material/emoticon-sad-outline
+          name: This page could be improved
+          data: 0
+          note: >-
+            Thanks for your feedback! Help us improve this page by
+            using our <a href="..." target="_blank" rel="noopener">feedback form</a>.
+
+nav:
+  - Getting Started:
+    - index.md
+    - What is sunnypilot?: getting-started/what-is-sunnypilot.md
+    - Use sunnypilot in a car: getting-started/use-sunnypilot-in-a-car.md
+    - Develop sunnypilot: getting-started/develop-sunnypilot.md
+    - Setup:
+      - 🚨 Read before installing 🚨: setup/read-before-installing.md
+      - Installation:
+        - URL Method: setup/url-method.md
+        - SSH Method: setup/ssh-method.md
+    - Changelogs:
+      - setup/changelogs/index.md
+  - Features:
+    - features/index.md
+  - Community:
+    - Contributing: community/CONTRIBUTING.md
+    - Reporting a bug: community/reporting-a-bug.md
+    - Reporting a docs issue: community/reporting-a-docs-issue.md
+    - Asking a question: https://discord.sunnypilot.ai
+  - Safety Information:
+    - Safety: SAFETY.md
+    - Prohibited safety modifications: safety-information/prohibited-safety-modifications.md
+  - How To:
+    - Enabling Mapbox navigation: how-to/enabling-mapbox-navigation.md
+    - Turn the speed blue: how-to/turn-the-speed-blue.md
+    - Hyundai:
+      - Enabling Radar Tracks: how-to/hyundai/enabling-radar-tracks.md
+  - References:
+    - Branches:
+      - Definitions: branches/definitions.md
+      - Recommended Branches: branches/recommended-branches.md

openpilot/sunnypilot

@@ -0,0 +1 @@
+../sunnypilot

pyproject.toml

@@ -74,6 +74,11 @@ docs = [
   "Jinja2",
   "natsort",
   "mkdocs",
+  "mkdocs-material",
+  "mkdocs-git-revision-date-localized-plugin",
+  "mkdocs-git-committers-plugin-2",
+  "mkdocs-git-authors-plugin",
+  "mkdocs-glightbox",
 ]
 
 testing = [
@@ -163,6 +168,7 @@ testpaths = [
   "tools/replay",
   "tools/cabana",
   "cereal/messaging/tests",
+  "sunnypilot",
 ]
 
 [tool.codespell]

release/build_release.sh

@@ -74,6 +74,7 @@ find . -name '__pycache__' -delete
 rm -rf .sconsign.dblite Jenkinsfile release/
 rm selfdrive/modeld/models/driving_vision.onnx
 rm selfdrive/modeld/models/driving_policy.onnx
+rm sunnypilot/modeld*/models/supercombo.onnx
 
 find third_party/ -name '*x86*' -exec rm -r {} +
 find third_party/ -name '*Darwin*' -exec rm -r {} +

release/ci/install_github_runner.sh

@@ -0,0 +1,262 @@
+#!/usr/bin/env bash
+set -e
+
+# Default values
+DEFAULT_REPO_URL="https://github.com/sunnypilot"
+START_AT_BOOT=false
+RESTORE_MODE=false
+
+# Parse command line arguments
+while [[ $# -gt 0 ]]; do
+    case $1 in
+        --start-at-boot)
+            START_AT_BOOT=true
+            shift
+            ;;
+        --token)
+            GITHUB_TOKEN="$2"
+            shift 2
+            ;;
+        --repo)
+            REPO_URL="$2"
+            shift 2
+            ;;
+        --restore)
+            RESTORE_MODE=true
+            shift
+            ;;
+        *)
+            if [ -z "$GITHUB_TOKEN" ]; then
+                GITHUB_TOKEN="$1"
+            elif [ -z "$REPO_URL" ]; then
+                REPO_URL="$1"
+            fi
+            shift
+            ;;
+    esac
+done
+
+# Determine BASE_DIR based on mount point
+if mountpoint -q /data/media; then
+    BASE_DIR="/data/media/0/github"
+else
+    BASE_DIR="/data/github"
+fi
+
+# Constants
+RUNNER_USER="github-runner"
+USER_GROUPS="comma,gpu,gpio,sudo"
+RUNNER_DIR="${BASE_DIR}/runner"
+BUILDS_DIR="${BASE_DIR}/builds"
+LOGS_DIR="${BASE_DIR}/logs"
+CACHE_DIR="${BASE_DIR}/cache"
+OPENPILOT_DIR="${BASE_DIR}/openpilot"
+
+# Basic utility functions (no dependencies)
+remount_rw() {
+    sudo mount -o remount,rw /
+}
+
+remount_ro() {
+    sync || true  # Try to sync but continue even if it fails
+    sudo mount -o remount,ro /  # Always try to remount as read-only
+}
+
+# Always ensure we try to remount as read-only on exit
+trap remount_ro EXIT
+
+setup_runner_user() {
+    sudo useradd --comment 'GitHub Runner' --create-home --home-dir ${BASE_DIR} ${RUNNER_USER} --shell /bin/bash -G ${USER_GROUPS} || sudo usermod -aG ${USER_GROUPS} ${RUNNER_USER}
+}
+
+create_sudoers_entry() {
+    sudo grep -qxF "${RUNNER_USER} ALL=(ALL) NOPASSWD: ALL" /etc/sudoers || echo "${RUNNER_USER} ALL=(ALL) NOPASSWD: ALL" | sudo tee -a /etc/sudoers
+}
+
+set_directory_permissions() {
+    sudo chown -R ${RUNNER_USER}:comma "$BASE_DIR"
+    sudo chmod -R g+rwx "$BASE_DIR"
+    sudo find "$BASE_DIR" -type d -exec chmod g+s {} +
+}
+
+setup_directories() {
+    echo "Creating necessary directories..."
+    sudo mkdir -p "$RUNNER_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
+    mkdir -p "/data/openpilot"
+    sudo chown -R comma:comma "/data/openpilot"
+    sync
+}
+
+wipe_bash_logout() {
+  export BASE_DIR
+  sudo -u ${RUNNER_USER} bash -c "touch ${BASE_DIR}/.bash_logout"
+  sudo -u ${RUNNER_USER} bash -c "truncate -s 0 '${BASE_DIR}/.bash_logout'"
+}
+
+# System configuration functions (depends on basic utility functions)
+setup_system_configs() {
+    echo "Setting up system configurations..."
+    remount_rw
+    setup_runner_user
+    create_sudoers_entry
+    remount_ro
+    set_directory_permissions
+    wipe_bash_logout
+}
+
+# Runner setup functions
+install_runner() {
+    echo "Downloading and setting up runner..."
+    cd "$RUNNER_DIR"
+    curl -o actions-runner-linux-arm64-2.322.0.tar.gz -L https://github.com/actions/runner/releases/download/v2.322.0/actions-runner-linux-arm64-2.322.0.tar.gz
+    sudo -u ${RUNNER_USER} tar -xzf ./actions-runner-linux-arm64-2.322.0.tar.gz
+    sudo rm ./actions-runner-linux-arm64-2.322.0.tar.gz
+    sudo chmod +x ./config.sh
+}
+
+configure_runner() {
+    remount_rw
+    echo "Configuring runner..."
+    cd "$RUNNER_DIR"
+    sudo -u ${RUNNER_USER} ./config.sh --url "$REPO_URL" --token "$GITHUB_TOKEN" --name $(hostname) --runnergroup "tici-tizi" --labels "tici" --work "$BUILDS_DIR" --unattended
+    remount_ro
+}
+
+create_service_template() {
+    echo "Creating service template..."
+    cat <<EOL > "$RUNNER_DIR/bin/actions.runner.service.template"
+[Unit]
+Description={{Description}}
+After=network-online.target nss-lookup.target time-sync.target
+Wants=network-online.target nss-lookup.target time-sync.target
+StartLimitInterval=5
+StartLimitBurst=10
+
+[Service]
+Type=simple
+User=root
+ExecStart=/usr/bin/unshare -m -- /bin/bash -c 'mount --bind ${OPENPILOT_DIR} /data/openpilot && setpriv --reuid={{User}} --regid={{User}} --init-groups env HOME=${BASE_DIR} USER={{User}} LOGNAME={{User}} MAIL=/var/mail/{{User}} {{RunnerRoot}}/runsvc.sh'
+WorkingDirectory={{RunnerRoot}}
+KillMode=process
+KillSignal=SIGTERM
+TimeoutStopSec=5min
+Restart=always
+RestartSec=120
+
+[Install]
+WantedBy=multi-user.target
+EOL
+}
+
+install_service() {
+    remount_rw
+    echo "Installing systemd service..."
+    cd "$RUNNER_DIR"
+    sudo ./svc.sh install $RUNNER_USER
+
+    if [ "$START_AT_BOOT" = false ]; then
+        local service_name
+        if [ -f "${RUNNER_DIR}/.service" ]; then
+            service_name=$(cat "${RUNNER_DIR}/.service")
+        else
+            service_name="actions.runner.sunnypilot.$(uname -n)"
+        fi
+        sudo systemctl disable "${service_name}"
+    fi
+    remount_ro
+}
+
+check_restore_prerequisites() {
+    local needs_restore=false
+    local can_restore=false
+    local service_name=""
+
+    # Check if base runner directory exists
+    if [ ! -d "${RUNNER_DIR}" ]; then
+        echo "ERROR: Runner directory ${RUNNER_DIR} does not exist"
+        echo "This directory is required for restore operations"
+        exit 1
+    fi
+
+    # First check if we have the required files for restoration
+    if [ -f "${RUNNER_DIR}/.credentials" ] && [ -f "${RUNNER_DIR}/.service" ]; then
+        can_restore=true
+        service_name=$(cat "${RUNNER_DIR}/.service")
+        echo "Found required runner configuration files"
+    else
+        echo "Missing required runner configuration files"
+        echo "Required: .credentials and .service files in ${RUNNER_DIR}"
+        exit 1
+    fi
+
+    # Then check if restoration is needed (if either service or user is missing)
+    if ! systemctl list-unit-files "${service_name}" &>/dev/null; then
+        echo "Service ${service_name} not found in systemd"
+        needs_restore=true
+    fi
+
+    if ! id "${RUNNER_USER}" &>/dev/null; then
+        echo "User ${RUNNER_USER} does not exist"
+        needs_restore=true
+    fi
+
+    # Only proceed if we can restore AND need to restore
+    if [ "$can_restore" = true ] && [ "$needs_restore" = true ]; then
+        echo "Restoration is needed and possible"
+        return 0
+    else
+        if [ "$needs_restore" = false ]; then
+            echo "System is already properly configured (user and service exist)"
+        fi
+        exit 0
+    fi
+}
+
+perform_restore() {
+    echo "Starting runner restoration..."
+    setup_directories
+    setup_system_configs
+    install_service
+    echo "Runner restoration completed successfully"
+}
+
+perform_install() {
+    echo "Starting fresh installation..."
+    setup_directories
+    setup_system_configs
+    install_runner
+    set_directory_permissions
+    create_service_template
+    configure_runner
+    install_service
+    echo "Installation completed successfully"
+}
+
+main() {
+    if [ "$RESTORE_MODE" = true ]; then
+        echo "Running in restore mode - will only restore system configurations..."
+        check_restore_prerequisites
+        perform_restore
+    else
+        # Check required arguments for normal installation
+        if [ -z "$GITHUB_TOKEN" ]; then
+            echo "Usage: $0 [--start-at-boot] [--token <github_token>] [--repo <repository_url>] [--restore]"
+            echo "Required argument (except for --restore): github_token"
+            echo "Optional arguments:"
+            echo "  --start-at-boot    Enable auto-start at boot (default: false)"
+            echo "  --repo            Repository URL (default: ${DEFAULT_REPO_URL})"
+            echo "  --restore         Restore existing runner configuration"
+            exit 1
+        fi
+
+        # Set repository URL if not provided
+        REPO_URL="${REPO_URL:-$DEFAULT_REPO_URL}"
+        perform_install
+    fi
+
+    echo "Starting runner service..."
+    cd "$RUNNER_DIR"
+    sudo ./svc.sh start
+}
+
+main

release/ci/publish.sh

@@ -0,0 +1,78 @@
+#!/usr/bin/env bash
+
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+# Take parameters as arguments
+SOURCE_DIR=$1
+OUTPUT_DIR=$2
+DEV_BRANCH=$3
+VERSION=$4
+GIT_ORIGIN=$5
+EXTRA_VERSION_IDENTIFIER=$6
+
+# Check parameters
+if [ -z "$SOURCE_DIR" ] || [ -z "$OUTPUT_DIR" ]; then
+    echo "Error: No source or output directory provided."
+    exit 1
+fi
+
+if [ -z "$DEV_BRANCH" ] || [ -z "$VERSION" ]; then
+    echo "Error: No dev branch or version provided."
+    exit 1
+fi
+
+if [ -z "$GIT_ORIGIN" ]; then
+    echo "Error: No GIT_ORIGIN provided"
+    exit 1
+fi
+
+# "Tagging"
+echo "#define COMMA_VERSION \"$VERSION\"" > ${OUTPUT_DIR}/common/version.h
+
+## set git identity
+#source $DIR/identity.sh
+#export GIT_SSH_COMMAND="ssh -i /data/gitkey"
+
+echo "[-] Setting up repo T=$SECONDS"
+cd $OUTPUT_DIR
+git init
+
+# set git username/password
+#source /data/identity.sh
+
+git rm -rf $OUTPUT_DIR/.git || true # Doing cleanup, but it might fail if the .git doesn't exist or not allowed to delete
+git remote remove origin || true # ensure cleanup
+git remote add origin $GIT_ORIGIN
+#git push origin -d $DEV_BRANCH || true # Ensuring we delete the remote branch if it exists as we are wiping it out
+git fetch origin $DEV_BRANCH || (git checkout -b $DEV_BRANCH && git commit --allow-empty -m "sunnypilot v$VERSION release" && git push -u origin $DEV_BRANCH)
+
+echo "[-] committing version $VERSION T=$SECONDS"
+git add -f .
+git commit -a -m "sunnypilot v$VERSION release"
+git branch --set-upstream-to=origin/$DEV_BRANCH
+
+# include source commit hash and build date in commit
+GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
+DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
+SP_VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
+
+# Add built files to git
+git add -f .
+if [ "$EXTRA_VERSION_IDENTIFIER" = "-release" ] || [ "$EXTRA_VERSION_IDENTIFIER" = "-staging" ]; then
+  export VERSION=${VERSION%"$EXTRA_VERSION_IDENTIFIER"}
+  git commit --amend -m "sunnypilot v$VERSION"
+else
+  git commit --amend -m "sunnypilot v$VERSION
+  version: sunnypilot v$SP_VERSION release
+  date: $DATETIME
+  master commit: $GIT_HASH
+  "
+fi
+git branch -m $DEV_BRANCH
+
+# Push!
+echo "[-] pushing T=$SECONDS"
+git push -f origin $DEV_BRANCH

release/ci/squash_and_merge.py

@@ -0,0 +1,54 @@
+#!/usr/bin/env python3
+import subprocess
+import sys
+import argparse
+
+
+def run_git_command(command, check=True):
+  """
+  Runs a git command and returns the trimmed stdout output.
+  Exits the script if the command fails.
+  """
+  print(f"Running: {' '.join(command)}")
+  result = subprocess.run(command, capture_output=True, text=True)
+  if check and result.returncode != 0:
+    print(result.stdout.strip())
+    print(result.stderr.strip())
+    sys.exit(result.returncode)
+  return result.stdout.strip()
+
+
+def main():
+  parser = argparse.ArgumentParser(description="Merge multiple branches with squash merges.")
+  parser.add_argument("--base", required=True, help="The base branch name from which the target branch will be created.")
+  parser.add_argument("--target", required=True, help="The target branch name to merge into.")
+  parser.add_argument("--title", required=False, help="Title for the commit")
+
+  parser.add_argument("branches", nargs="+", help="List of branch names to merge into the target branch.")
+  args = parser.parse_args()
+
+  # Checkout the base branch to ensure a common starting point.
+  run_git_command(["git", "checkout", args.base])
+
+  # Check if the target branch exists. If not, create it from the base branch.
+  branch_list = run_git_command(["git", "branch"], check=False)
+  branch_names = [line.strip("* ").strip() for line in branch_list.splitlines()]
+  if args.target in branch_names:
+    run_git_command(["git", "checkout", args.target])
+  else:
+    run_git_command(["git", "checkout", "-b", args.target])
+
+  # Iterate over each branch, merging it with a squash merge.
+  for branch in args.branches:
+    print(f"Merging branch '{branch}' with a squash merge.")
+    # Merge the branch without creating a merge commit.
+    run_git_command(["git", "merge", "--squash", branch])
+    # Commit the squashed changes with an appropriate message.
+    commit_message = args.title or f"Squashed merge of branch '{branch}'"
+    run_git_command(["git", "commit", "-m", commit_message])
+
+  print(f"All branches have been merged with squashed commits into '{args.target}'.")
+
+
+if __name__ == "__main__":
+  main()

release/ci/squash_and_merge_prs.py

@@ -0,0 +1,200 @@
+#!/usr/bin/env python3
+
+import subprocess
+import sys
+import os
+import argparse
+import json
+from datetime import datetime
+
+
+def setup_argument_parser():
+  parser = argparse.ArgumentParser(description='Process and squash GitHub PRs')
+  parser.add_argument('--pr-data', type=str, help='PR data in JSON format')
+  parser.add_argument('--source-branch', type=str, default='master-new',
+                      help='Source branch for merging')
+  parser.add_argument('--target-branch', type=str, default='master-dev-c3-new-test',
+                      help='Target branch for merging')
+  parser.add_argument('--squash-script-path', type=str, required=True,
+                      help='Path to the squash_and_merge.py script')
+  return parser
+
+
+def validate_squash_script(script_path):
+  if not os.path.isfile(script_path):
+    raise FileNotFoundError(f"Squash script not found at: {script_path}")
+  if not os.access(script_path, os.X_OK):
+    raise PermissionError(f"Squash script is not executable: {script_path}")
+
+
+def sort_prs_by_creation(pr_data):
+  """Sort PRs by creation date"""
+  nodes = (pr_data.get('data', {}).get('search', {}).get('nodes', []))
+
+  return sorted(
+    nodes,
+    key=lambda x: datetime.fromisoformat(x.get('createdAt', '').replace('Z', '+00:00'))
+  )
+
+
+def add_pr_comment(pr_number, comment):
+  """Add or update a comment to a PR using gh cli"""
+  title = "## Squash and Merge"
+
+  try:
+    result = subprocess.run(
+      ['gh', 'pr', 'view', str(pr_number), '--json', 'comments'],
+      check=True,
+      capture_output=True,
+      text=True
+    )
+
+    comments_data = json.loads(result.stdout)
+    has_existing_comment = False
+
+    for pr_comment in comments_data['comments']:
+      if pr_comment['body'].startswith(title):
+        has_existing_comment = True
+        break
+
+    full_comment = f"{title}\n\n{comment}"
+
+    if has_existing_comment:
+      subprocess.run(
+        ['gh', 'pr', 'comment', '--edit-last', f"#{pr_number}", '--body', full_comment],
+        check=True,
+        capture_output=True,
+        text=True
+      )
+    else:
+      subprocess.run(
+        ['gh', 'pr', 'comment', f"#{pr_number}", '--body', full_comment],
+        check=True,
+        capture_output=True,
+        text=True
+      )
+
+  except subprocess.CalledProcessError as e:
+    print(f"Failed to add/update comment on PR #{pr_number}: {e.stderr}")
+  except json.JSONDecodeError:
+    print(f"Failed to parse comments data for PR #{pr_number}")
+
+
+def validate_pr(pr):
+  """Validate a PR and return (is_valid, skip_reason)"""
+  pr_number = pr.get('number', 'UNKNOWN')
+  branch = pr.get('headRefName', '')
+
+  if not branch:
+    return False, f"missing branch name for PR #{pr_number}"
+
+  # Check if checks have passed
+  commits = pr.get('commits', {}).get('nodes', [])
+  if not commits:
+    return False, "no commit data found"
+
+  status = commits[0].get('commit', {}).get('statusCheckRollup', {})
+  if not status or status.get('state') != 'SUCCESS':
+    return False, "not all checks have passed"
+
+  # Check for merge conflicts
+  merge_status = subprocess.run(['gh', 'pr', 'view', str(pr_number), '--json', 'mergeable,mergeStateStatus'],
+                                capture_output=True, text=True)
+  merge_data = json.loads(merge_status.stdout)
+  if not merge_data.get('mergeable'):
+    return False, "merge conflicts detected"
+
+  if (mergeStateStatus := merge_data.get('mergeStateStatus')) == "BEHIND":
+    return False, f"branch is `{mergeStateStatus}`"
+
+  return True, None
+
+
+def process_pr(pr_data, source_branch, target_branch, squash_script_path):
+  try:
+    nodes = sort_prs_by_creation(pr_data)
+    if not nodes:
+      print("No PRs to squash")
+      return 0
+
+    print(f"Deleting target branch {target_branch}")
+    subprocess.run(['git', 'branch', '-D', target_branch], check=False)
+    subprocess.run(['git', 'branch', target_branch, f'origin/{source_branch}'], check=True)
+    success_count = 0
+    for pr in nodes:
+      pr_number = pr.get('number', 'UNKNOWN')
+      branch = pr.get('headRefName', '')
+      title = pr.get('title', '')
+      is_valid, skip_reason = validate_pr(pr)
+
+      if not is_valid:
+        print(f"Warning: {skip_reason} for PR #{pr_number}, skipping")
+        add_pr_comment(pr_number,
+                       f"⚠️ This PR was skipped in the automated `{target_branch}` squash because **{skip_reason}**.")
+        continue
+
+      try:
+        # Fetch PR branch
+        subprocess.run(['git', 'fetch', 'origin', branch], check=True)
+        # Delete branch if it exists (ignore errors if it doesn't)
+        subprocess.run(['git', 'branch', '-D', branch], check=False)
+        # Create new branch pointing to origin's branch
+        subprocess.run(['git', 'branch', branch, f'origin/{branch}'], check=True)
+
+        # Run squash script
+        result = subprocess.run([
+          squash_script_path,
+          '--target', target_branch,
+          '--base', source_branch,
+          '--title', f"{title} (PR-{pr_number})",
+          branch,
+        ], capture_output=True, text=True)
+
+        print(result.stdout)
+        if result.returncode == 0:
+          print(f"Successfully processed PR #{pr_number}")
+          success_count += 1
+          continue
+
+        print(f"Error processing PR #{pr_number}:")
+        print(f"Command failed with exit code {result.returncode}")
+        output = result.stdout
+        print(f"Error output: {output}")
+        add_pr_comment(pr_number, f"⚠️ Error during automated `{target_branch}` squash:\n```\n{output}\n```")
+        subprocess.run(['git', 'reset', '--hard'], check=True)
+        continue
+      except Exception as e:
+        print(f"Unexpected error processing PR #{pr_number}: {str(e)}")
+        subprocess.run(['git', 'reset', '--hard'], check=True)
+        continue
+
+    return success_count
+
+  except Exception as e:
+    import traceback
+    print(f"Error in process_pr: {str(e)}")
+    print("Full traceback:")
+    print(traceback.format_exc())
+    return 0
+
+
+def main():
+  parser = setup_argument_parser()
+  try:
+    args = parser.parse_args()
+    validate_squash_script(args.squash_script_path)
+    pr_data_json = json.loads(args.pr_data)
+
+    # Process the PRs
+    success_count = process_pr(pr_data_json, args.source_branch, args.target_branch, args.squash_script_path)
+    print(f"Successfully processed {success_count} PRs")
+
+  except Exception as e:
+    print(f"Fatal error: {str(e)}", file=sys.stderr)
+    return 1
+
+  return 0
+
+
+if __name__ == "__main__":
+  sys.exit(main())

release/ci/uninstall_github_runner.sh

@@ -0,0 +1,66 @@
+#!/usr/bin/env bash
+# Determine BASE_DIR based on mount point
+if mountpoint -q /data/media; then
+    GITHUB_BASE_DIR="/data/media/0/github"
+else
+    GITHUB_BASE_DIR="/data/github"
+fi
+
+# Define directories and user
+BIN_DIR="$GITHUB_BASE_DIR/bin"
+BUILDS_DIR="$GITHUB_BASE_DIR/builds"
+OPENPILOT_DIR="$GITHUB_BASE_DIR/openpilot"
+LOGS_DIR="$GITHUB_BASE_DIR/logs"
+CACHE_DIR="$GITHUB_BASE_DIR/cache"
+RUNNER_USERNAME="github-runner"
+# Define the systemd service name
+SERVICE_NAME="github-runner"
+USER_GROUPS="comma,gpu,gpio,sudo"
+
+# Function to stop and disable the systemd service
+stop_and_uninstall_service() {
+    cd $GITHUB_BASE_DIR/runner
+    sudo ./svc.sh stop
+    sudo ./svc.sh uninstall
+}
+
+# Function to remove the systemd service file
+remove_runner() {
+    cd $GITHUB_BASE_DIR/runner
+    sudo rm .runner
+    sudo su -c './config.sh remove' github-runner
+}
+
+# Function to delete the Github Runner directories
+delete_directories() {
+    sudo rm -rf "$BIN_DIR/github-runner"
+    sudo rm -rf "$GITHUB_BASE_DIR" "$BIN_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
+}
+
+# Function to remove the Github Runner user
+delete_user() {
+    for group in ${USER_GROUPS//,/ }
+    do
+       sudo gpasswd -d ${RUNNER_USERNAME} ${group}
+    done
+    sudo userdel -r ${RUNNER_USERNAME}
+}
+
+# Function to remove sudoers entry
+remove_sudoers_entry() {
+    sudo sed -i.bak "/${RUNNER_USERNAME} ALL=(ALL) NOPASSWD: ALL/d" /etc/sudoers
+}
+
+# Make filesystem writable
+sudo mount -o remount rw /
+
+# Ensure filesystem is remounted as read-only on script exit
+trap "sudo mount -o remount ro /" EXIT
+
+# Call functions
+stop_and_uninstall_service
+remove_runner
+delete_directories
+delete_user
+remove_sudoers_entry
+# End of uninstall script

release/release_files.py

@@ -23,6 +23,7 @@ blacklist = [
 whitelist: list[str] = [
 ]
 
+
 if __name__ == "__main__":
   for f in Path(ROOT).rglob("**/*"):
     if not (f.is_file() or f.is_symlink()):

scripts/lint/lint.sh

@@ -13,7 +13,7 @@ cd $ROOT
 
 FAILED=0
 
-IGNORED_FILES="uv\.lock|docs\/CARS.md"
+IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md"
 IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
 
 function run() {
@@ -56,7 +56,7 @@ function run_tests() {
 
   if [[ -z "$FAST" ]]; then
     run "mypy" mypy $PYTHON_FILES
-    run "codespell" codespell $ALL_FILES
+    run "codespell" codespell $ALL_FILES --ignore-words=$ROOT/.codespellignore
   fi
 
   return $FAILED

scripts/manage-powersave.py

@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+import argparse
+import multiprocessing
+from openpilot.system.hardware import HARDWARE
+
+
+def main():
+  parser = argparse.ArgumentParser(description='Control power saving mode')
+  parser.add_argument('--enable', action='store_true', help='Enable power saving mode')
+  parser.add_argument('--disable', action='store_true', help='Disable power saving mode')
+  args = parser.parse_args()
+
+  if args.enable and args.disable:
+    parser.error("Cannot specify both --enable and --disable")
+  elif not (args.enable or args.disable):
+    parser.error("Must specify either --enable or --disable")
+
+  print(f"Number of CPU cores available before: [{multiprocessing.cpu_count()}]")
+  HARDWARE.set_power_save(args.enable)
+
+  state = "enabled" if args.enable else "disabled"
+  print(f"Power save mode set to: [{state}]")
+  print(f"Number of CPU cores available now: [{multiprocessing.cpu_count()}]")
+
+
+if __name__ == "__main__":
+  main()

selfdrive/car/card.py

@@ -1,11 +1,12 @@
 #!/usr/bin/env python3
+import json
 import os
 import time
 import threading
 
 import cereal.messaging as messaging
 
-from cereal import car, log
+from cereal import car, log, custom
 
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
@@ -21,6 +22,10 @@ from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState
+from openpilot.selfdrive.car.helpers import convert_carControlSP, convert_to_capnp
+
+from openpilot.sunnypilot.mads.helpers import set_alternative_experience, set_car_specific_params
+from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
 
 REPLAY = "REPLAY" in os.environ
 
@@ -63,11 +68,13 @@ class Car:
   CI: CarInterfaceBase
   RI: RadarInterfaceBase
   CP: car.CarParams
+  CP_SP: structs.CarParamsSP
+  CP_SP_capnp: custom.CarParamsSP
 
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
-    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'])
-    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'])
+    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP'])
+    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP'])
 
     self.can_rcv_cum_timeout_counter = 0
 
@@ -98,14 +105,18 @@ class Car:
         with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
           cached_params = _cached_params
 
-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
-      self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP)
+      fixed_fingerprint = json.loads(self.params.get("CarPlatformBundle", encoding='utf-8') or "{}").get("platform", None)
+
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params, fixed_fingerprint)
+      sunnypilot_interfaces.setup_interfaces(self.CI.CP, self.CI.CP_SP, self.params)
+      self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
       self.CP = self.CI.CP
+      self.CP_SP = self.CI.CP_SP
 
       # continue onto next fingerprinting step in pandad
       self.params.put_bool("FirmwareQueryDone", True)
     else:
-      self.CI, self.CP = CI, CI.CP
+      self.CI, self.CP, self.CP_SP = CI, CI.CP, CI.CP_SP
       self.RI = RI
 
     # set alternative experiences from parameters
@@ -114,6 +125,13 @@ class Car:
     if not disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
+    # mads
+    set_alternative_experience(self.CP, self.params)
+    set_car_specific_params(self.CP, self.CP_SP, self.params)
+
+    # Dynamic Experimental Control
+    self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
+
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 
     controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
@@ -156,6 +174,14 @@ class Car:
     self.params.put_nonblocking("CarParamsCache", cp_bytes)
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
 
+    # Write CarParamsSP for controls
+    # convert to pycapnp representation for caching and logging
+    self.CP_SP_capnp = convert_to_capnp(self.CP_SP)
+    cp_sp_bytes = self.CP_SP_capnp.to_bytes()
+    self.params.put("CarParamsSP", cp_sp_bytes)
+    self.params.put_nonblocking("CarParamsSPCache", cp_sp_bytes)
+    self.params.put_nonblocking("CarParamsSPPersistent", cp_sp_bytes)
+
     self.mock_carstate = MockCarState()
     self.v_cruise_helper = VCruiseHelper(self.CP)
 
@@ -165,6 +191,9 @@ class Car:
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
+    # log fingerprint in sentry
+    sunnypilot_interfaces.log_fingerprint(self.CP)
+
   def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
     """carState update loop, driven by can"""
 
@@ -193,7 +222,7 @@ class Car:
     self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
     if self.sm['carControl'].enabled and not self.CC_prev.enabled:
       # Use CarState w/ buttons from the step selfdrived enables on
-      self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode)
+      self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode, self.dynamic_experimental_control)
 
     # TODO: mirror the carState.cruiseState struct?
     CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
@@ -231,20 +260,28 @@ class Car:
       tracks_msg.liveTracks = RD
       self.pm.send('liveTracks', tracks_msg)
 
-  def controls_update(self, CS: car.CarState, CC: car.CarControl):
+    # carParamsSP - logged every 50 seconds (> 1 per segment)
+    if self.sm.frame % int(50. / DT_CTRL) == 0:
+      cp_sp_send = messaging.new_message('carParamsSP')
+      cp_sp_send.valid = True
+      cp_sp_send.carParamsSP = self.CP_SP_capnp
+      self.pm.send('carParamsSP', cp_sp_send)
+
+  def controls_update(self, CS: car.CarState, CC: car.CarControl, CC_SP: custom.CarControlSP):
     """control update loop, driven by carControl"""
 
     if not self.initialized_prev:
       # Initialize CarInterface, once controls are ready
       # TODO: this can make us miss at least a few cycles when doing an ECU knockout
-      self.CI.init(self.CP, *self.can_callbacks)
+      self.CI.init(self.CP, self.CP_SP, *self.can_callbacks)
+      sunnypilot_interfaces.init_interfaces(self.CP, self.CP_SP, self.params, *self.can_callbacks)
       # signal pandad to switch to car safety mode
       self.params.put_bool_nonblocking("ControlsReady", True)
 
     if self.sm.all_alive(['carControl']):
       # send car controls over can
       now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
-      self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
+      self.last_actuators_output, can_sends = self.CI.apply(CC, convert_carControlSP(CC_SP), now_nanos)
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
       self.CC_prev = CC
@@ -257,7 +294,7 @@ class Car:
     initialized = (not any(e.name == EventName.selfdriveInitializing for e in self.sm['onroadEvents']) and
                    self.sm.seen['onroadEvents'])
     if not self.CP.passive and initialized:
-      self.controls_update(CS, self.sm['carControl'])
+      self.controls_update(CS, self.sm['carControl'], self.sm['carControlSP'])
 
     self.initialized_prev = initialized
     self.CS_prev = CS
@@ -266,6 +303,10 @@ class Car:
     while not evt.is_set():
       self.is_metric = self.params.get_bool("IsMetric")
       self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
+
+      # sunnypilot
+      self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
+
       time.sleep(0.1)
 
   def card_thread(self):

selfdrive/car/cruise.py

@@ -123,12 +123,13 @@ class VCruiseHelper:
         self.button_timers[b.type.raw] = 1 if b.pressed else 0
         self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled}
 
-  def initialize_v_cruise(self, CS, experimental_mode: bool) -> None:
+  def initialize_v_cruise(self, CS, experimental_mode: bool, dynamic_experimental_control: bool) -> None:
     # initializing is handled by the PCM
     if self.CP.pcmCruise:
       return
 
-    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL
+    initial_experimental_mode = experimental_mode and not dynamic_experimental_control
+    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if initial_experimental_mode else V_CRUISE_INITIAL
 
     if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_initialized:
       self.v_cruise_kph = self.v_cruise_kph_last

selfdrive/car/helpers.py

@@ -0,0 +1,59 @@
+import capnp
+from typing import Any
+
+from cereal import custom
+from opendbc.car import structs
+
+_FIELDS = '__dataclass_fields__'  # copy of dataclasses._FIELDS
+
+
+def is_dataclass(obj):
+  """Similar to dataclasses.is_dataclass without instance type check checking"""
+  return hasattr(obj, _FIELDS)
+
+
+def _asdictref_inner(obj) -> dict[str, Any] | Any:
+  if is_dataclass(obj):
+    ret = {}
+    for field in getattr(obj, _FIELDS):  # similar to dataclasses.fields()
+      ret[field] = _asdictref_inner(getattr(obj, field))
+    return ret
+  elif isinstance(obj, (tuple, list)):
+    return type(obj)(_asdictref_inner(v) for v in obj)
+  else:
+    return obj
+
+
+def asdictref(obj) -> dict[str, Any]:
+  """
+  Similar to dataclasses.asdict without recursive type checking and copy.deepcopy
+  Note that the resulting dict will contain references to the original struct as a result
+  """
+  if not is_dataclass(obj):
+    raise TypeError("asdictref() should be called on dataclass instances")
+
+  return _asdictref_inner(obj)
+
+
+def convert_to_capnp(struct: structs.CarParamsSP) -> capnp.lib.capnp._DynamicStructBuilder:
+  struct_dict = asdictref(struct)
+
+  if isinstance(struct, structs.CarParamsSP):
+    struct_capnp = custom.CarParamsSP.new_message(**struct_dict)
+  else:
+    raise ValueError(f"Unsupported struct type: {type(struct)}")
+
+  return struct_capnp
+
+
+def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> structs.CarControlSP:
+  # TODO: recursively handle any car struct as needed
+  def remove_deprecated(s: dict) -> dict:
+    return {k: v for k, v in s.items() if not k.endswith('DEPRECATED')}
+
+  struct_dict = struct.to_dict()
+  struct_dataclass = structs.CarControlSP(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))
+
+  struct_dataclass.mads = structs.ModularAssistiveDrivingSystem(**remove_deprecated(struct_dict.get('mads', {})))
+
+  return struct_dataclass

selfdrive/car/tests/test_car_interfaces.py

@@ -4,7 +4,7 @@ import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from parameterized import parameterized
 
-from cereal import car
+from cereal import car, custom
 from opendbc.car import DT_CTRL
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.structs import CarParams
@@ -12,12 +12,15 @@ from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args
 from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
 from opendbc.car.mock.values import CAR as MOCK
 from opendbc.car.values import PLATFORMS
+from openpilot.selfdrive.car.helpers import convert_carControlSP
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
 
+from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
+
 ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}
 ALL_ECUS |= {ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra_ecus}
 
@@ -40,9 +43,13 @@ class TestCarInterfaces:
 
     car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
                                          experimental_long=args['experimental_long'], docs=False)
+    car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
+                                               experimental_long=args['experimental_long'], docs=False)
+    sunnypilot_interfaces.setup_interfaces(car_params, car_params_sp)
     car_params = car_params.as_reader()
-    car_interface = CarInterface(car_params)
+    car_interface = CarInterface(car_params, car_params_sp)
     assert car_params
+    assert car_params_sp
     assert car_interface
 
     assert car_params.mass > 1
@@ -69,13 +76,16 @@ class TestCarInterfaces:
         assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0
 
     cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
+    cc_sp_msg = FuzzyGenerator.get_random_msg(data.draw, custom.CarControlSP, real_floats=True)
     # Run car interface
     now_nanos = 0
     CC = car.CarControl.new_message(**cc_msg)
     CC = CC.as_reader()
+    CC_SP = custom.CarControlSP.new_message(**cc_sp_msg)
+    CC_SP = convert_carControlSP(CC_SP.as_reader())
     for _ in range(10):
       car_interface.update([])
-      car_interface.apply(CC, now_nanos)
+      car_interface.apply(CC, CC_SP, now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10 ms
 
     CC = car.CarControl.new_message(**cc_msg)
@@ -85,7 +95,7 @@ class TestCarInterfaces:
     CC = CC.as_reader()
     for _ in range(10):
       car_interface.update([])
-      car_interface.apply(CC, now_nanos)
+      car_interface.apply(CC, CC_SP, now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10ms
 
     # Test controller initialization
@@ -93,8 +103,8 @@ class TestCarInterfaces:
     #  hypothesis also slows down significantly with just one more message draw
     LongControl(car_params)
     if car_params.steerControlType == CarParams.SteerControlType.angle:
-      LatControlAngle(car_params, car_interface)
+      LatControlAngle(car_params, car_params_sp, car_interface)
     elif car_params.lateralTuning.which() == 'pid':
-      LatControlPID(car_params, car_interface)
+      LatControlPID(car_params, car_params_sp, car_interface)
     elif car_params.lateralTuning.which() == 'torque':
-      LatControlTorque(car_params, car_interface)
+      LatControlTorque(car_params, car_params_sp, car_interface)

selfdrive/car/tests/test_cruise_speed.py

@@ -57,16 +57,16 @@ class TestVCruiseHelper:
     for _ in range(2):
       self.v_cruise_helper.update_v_cruise(car.CarState(cruiseState={"available": False}), enabled=False, is_metric=False)
 
-  def enable(self, v_ego, experimental_mode):
+  def enable(self, v_ego, experimental_mode, dynamic_experimental_control):
     # Simulates user pressing set with a current speed
-    self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode)
+    self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode, dynamic_experimental_control)
 
   def test_adjust_speed(self):
     """
     Asserts speed changes on falling edges of buttons.
     """
 
-    self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
+    self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
 
     for btn in (ButtonType.accelCruise, ButtonType.decelCruise):
       for pressed in (True, False):
@@ -90,7 +90,7 @@ class TestVCruiseHelper:
       CS.buttonEvents = [ButtonEvent(type=ButtonType.decelCruise, pressed=pressed)]
       self.v_cruise_helper.update_v_cruise(CS, enabled=enabled, is_metric=False)
       if pressed:
-        self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
+        self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
 
       # Expected diff on enabling. Speed should not change on falling edge of pressed
       assert not pressed == self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last
@@ -100,7 +100,7 @@ class TestVCruiseHelper:
     Asserts we don't increment set speed if user presses resume/accel to exit cruise standstill.
     """
 
-    self.enable(0, False)
+    self.enable(0, False, False)
 
     for standstill in (True, False):
       for pressed in (True, False):
@@ -120,7 +120,7 @@ class TestVCruiseHelper:
 
     for v_ego in np.linspace(0, 100, 101):
       self.reset_cruise_speed_state()
-      self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
+      self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
 
       # first decrement speed, then perform gas pressed logic
       expected_v_cruise_kph = self.v_cruise_helper.v_cruise_kph - IMPERIAL_INCREMENT
@@ -142,10 +142,11 @@ class TestVCruiseHelper:
     """
 
     for experimental_mode in (True, False):
-      for v_ego in np.linspace(0, 100, 101):
-        self.reset_cruise_speed_state()
-        assert not self.v_cruise_helper.v_cruise_initialized
+      for dynamic_experimental_control in (True, False):
+        for v_ego in np.linspace(0, 100, 101):
+          self.reset_cruise_speed_state()
+          assert not self.v_cruise_helper.v_cruise_initialized
 
-        self.enable(float(v_ego), experimental_mode)
-        assert V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
-        assert self.v_cruise_helper.v_cruise_initialized
+          self.enable(float(v_ego), experimental_mode, dynamic_experimental_control)
+          assert V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
+          assert self.v_cruise_helper.v_cruise_initialized

selfdrive/car/tests/test_models.py

@@ -1,4 +1,5 @@
 import time
+import copy
 import os
 import pytest
 import random
@@ -153,7 +154,9 @@ class TestCarModelBase(unittest.TestCase):
 
     cls.CarInterface = interfaces[cls.platform]
     cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, experimental_long, docs=False)
+    cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
     assert cls.CP
+    assert cls.CP_SP
     assert cls.CP.carFingerprint == cls.platform
 
     os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -163,12 +166,15 @@ class TestCarModelBase(unittest.TestCase):
     del cls.can_msgs
 
   def setUp(self):
-    self.CI = self.CarInterface(self.CP.copy())
+    self.CI = self.CarInterface(self.CP.copy(), copy.deepcopy(self.CP_SP))
     assert self.CI
 
     # TODO: check safetyModel is in release panda build
     self.safety = libsafety_py.libsafety
 
+    safety_param_sp = self.CP_SP.safetyParam
+    self.safety.set_current_safety_param_sp(safety_param_sp)
+
     cfg = self.CP.safetyConfigs[-1]
     set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam)
     self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}")
@@ -195,10 +201,11 @@ class TestCarModelBase(unittest.TestCase):
     can_invalid_cnt = 0
     can_valid = False
     CC = structs.CarControl().as_reader()
+    CC_SP = structs.CarControlSP()
 
     for i, msg in enumerate(self.can_msgs):
       CS = self.CI.update(msg)
-      self.CI.apply(CC, msg[0])
+      self.CI.apply(CC, CC_SP, msg[0])
 
       if CS.canValid:
         can_valid = True
@@ -210,7 +217,7 @@ class TestCarModelBase(unittest.TestCase):
     self.assertEqual(can_invalid_cnt, 0)
 
   def test_radar_interface(self):
-    RI = self.CarInterface.RadarInterface(self.CP)
+    RI = self.CarInterface.RadarInterface(self.CP, self.CP_SP)
     assert RI
 
     # Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting,
@@ -270,13 +277,13 @@ class TestCarModelBase(unittest.TestCase):
     if self.CP.notCar:
       self.skipTest("Skipping test for notCar")
 
-    def test_car_controller(car_control):
+    def test_car_controller(car_control, car_control_sp):
       now_nanos = 0
       msgs_sent = 0
-      CI = self.CarInterface(self.CP)
+      CI = self.CarInterface(self.CP, self.CP_SP)
       for _ in range(round(10.0 / DT_CTRL)):  # make sure we hit the slowest messages
         CI.update([])
-        _, sendcan = CI.apply(car_control, now_nanos)
+        _, sendcan = CI.apply(car_control, car_control_sp, now_nanos)
 
         now_nanos += DT_CTRL * 1e9
         msgs_sent += len(sendcan)
@@ -289,17 +296,18 @@ class TestCarModelBase(unittest.TestCase):
 
     # Make sure we can send all messages while inactive
     CC = structs.CarControl()
-    test_car_controller(CC.as_reader())
+    CC_SP = structs.CarControlSP()
+    test_car_controller(CC.as_reader(), CC_SP)
 
     # Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
     self.safety.set_cruise_engaged_prev(True)
     CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(cancel=True))
-    test_car_controller(CC.as_reader())
+    test_car_controller(CC.as_reader(), CC_SP)
 
     # Test resume + general messages (controls_allowed=True & cruise_engaged=True)
     self.safety.set_controls_allowed(True)
     CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(resume=True))
-    test_car_controller(CC.as_reader())
+    test_car_controller(CC.as_reader(), CC_SP)
 
   # Skip stdout/stderr capture with pytest, causes elevated memory usage
   @pytest.mark.nocapture

selfdrive/controls/controlsd.py

@@ -2,7 +2,7 @@
 import math
 from typing import SupportsFloat
 
-from cereal import car, log
+from cereal import car, log, custom
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
@@ -33,12 +33,17 @@ class Controls:
     self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
     cloudlog.info("controlsd got CarParams")
 
-    self.CI = interfaces[self.CP.carFingerprint](self.CP)
+    cloudlog.info("controlsd is waiting for CarParamsSP")
+    self.CP_SP = messaging.log_from_bytes(self.params.get("CarParamsSP", block=True), custom.CarParamsSP)
+    cloudlog.info("controlsd got CarParamsSP")
+
+    self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP)
 
     self.sm = messaging.SubMaster(['liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
                                    'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
-                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'], poll='selfdriveState')
-    self.pm = messaging.PubMaster(['carControl', 'controlsState'])
+                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + ['selfdriveStateSP'],
+                                  poll='selfdriveState')
+    self.pm = messaging.PubMaster(['carControl', 'controlsState'] + ['carControlSP'])
 
     self.steer_limited_by_controls = False
     self.curvature = 0.0
@@ -51,11 +56,11 @@ class Controls:
     self.VM = VehicleModel(self.CP)
     self.LaC: LatControl
     if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
-      self.LaC = LatControlAngle(self.CP, self.CI)
+      self.LaC = LatControlAngle(self.CP, self.CP_SP, self.CI)
     elif self.CP.lateralTuning.which() == 'pid':
-      self.LaC = LatControlPID(self.CP, self.CI)
+      self.LaC = LatControlPID(self.CP, self.CP_SP, self.CI)
     elif self.CP.lateralTuning.which() == 'torque':
-      self.LaC = LatControlTorque(self.CP, self.CI)
+      self.LaC = LatControlTorque(self.CP, self.CP_SP, self.CI)
 
   def update(self):
     self.sm.update(15)
@@ -84,6 +89,8 @@ class Controls:
         self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
                                            torque_params.frictionCoefficientFiltered)
 
+      self.LaC.extension.update_model_v2(self.sm['modelV2'])
+
     long_plan = self.sm['longitudinalPlan']
     model_v2 = self.sm['modelV2']
 
@@ -92,7 +99,14 @@ class Controls:
 
     # Check which actuators can be enabled
     standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, 0.3) or CS.standstill
-    CC.latActive = self.sm['selfdriveState'].active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
+
+    ss_sp = self.sm['selfdriveStateSP']
+    if ss_sp.mads.available:
+      _lat_active = ss_sp.mads.active
+    else:
+      _lat_active = self.sm['selfdriveState'].active
+
+    CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
                    (not standstill or self.CP.steerAtStandstill)
     CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
 
@@ -134,9 +148,12 @@ class Controls:
         cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
         setattr(actuators, p, 0.0)
 
-    return CC, lac_log
+    CC_SP = custom.CarControlSP.new_message()
+    CC_SP.mads = ss_sp.mads
 
-  def publish(self, CC, lac_log):
+    return CC, CC_SP, lac_log
+
+  def publish(self, CC, CC_SP, lac_log):
     CS = self.sm['carState']
 
     # Orientation and angle rates can be useful for carcontroller
@@ -209,12 +226,18 @@ class Controls:
     cc_send.carControl = CC
     self.pm.send('carControl', cc_send)
 
+    # carControlSP
+    cc_sp_send = messaging.new_message('carControlSP')
+    cc_sp_send.valid = CS.canValid
+    cc_sp_send.carControlSP = CC_SP
+    self.pm.send('carControlSP', cc_sp_send)
+
   def run(self):
     rk = Ratekeeper(100, print_delay_threshold=None)
     while True:
       self.update()
-      CC, lac_log = self.state_control()
-      self.publish(CC, lac_log)
+      CC, CC_SP, lac_log = self.state_control()
+      self.publish(CC, CC_SP, lac_log)
       rk.monitor_time()
 
 

selfdrive/controls/lib/desire_helper.py

@@ -1,6 +1,7 @@
 from cereal import log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.realtime import DT_MDL
+from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController
 
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -39,8 +40,10 @@ class DesireHelper:
     self.keep_pulse_timer = 0.0
     self.prev_one_blinker = False
     self.desire = log.Desire.none
+    self.alc = AutoLaneChangeController(self)
 
   def update(self, carstate, lateral_active, lane_change_prob):
+    self.alc.update_params()
     v_ego = carstate.vEgo
     one_blinker = carstate.leftBlinker != carstate.rightBlinker
     below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
@@ -67,10 +70,12 @@ class DesireHelper:
         blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
                               (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
 
+        self.alc.update_lane_change(blindspot_detected, carstate.brakePressed)
+
         if not one_blinker or below_lane_change_speed:
           self.lane_change_state = LaneChangeState.off
           self.lane_change_direction = LaneChangeDirection.none
-        elif torque_applied and not blindspot_detected:
+        elif (torque_applied or self.alc.auto_lane_change_allowed) and not blindspot_detected:
           self.lane_change_state = LaneChangeState.laneChangeStarting
 
       # LaneChangeState.laneChangeStarting
@@ -112,3 +117,5 @@ class DesireHelper:
         self.keep_pulse_timer = 0.0
       elif self.desire in (log.Desire.keepLeft, log.Desire.keepRight):
         self.desire = log.Desire.none
+
+    self.alc.update_state()

selfdrive/controls/lib/latcontrol.py

@@ -5,7 +5,7 @@ from openpilot.common.realtime import DT_CTRL
 
 
 class LatControl(ABC):
-  def __init__(self, CP, CI):
+  def __init__(self, CP, CP_SP, CI):
     self.sat_count_rate = 1.0 * DT_CTRL
     self.sat_limit = CP.steerLimitTimer
     self.sat_count = 0.