chore: update CHANGELOG for 2026.001.002

* don't use upstream's

* clean

* update schema

* fix

* mismatch test and fix

CHANGELOG.md

@@ -1,3 +1,13 @@
+sunnypilot Version 2026.001.002 (2026-05-07)
+========================
+* What's Changed (sunnypilot/sunnypilot)
+  * release: ignore upstream IsReleaseBranch by @sunnyhaibin
+
+sunnypilot Version 2026.001.001 (2026-05-06)
+========================
+* What's Changed (sunnypilot/sunnypilot)
+  * ui: update gates for certain toggles by @sunnyhaibin
+
 sunnypilot Version 2026.001.000 (2026-05-06)
 ========================
 * What's Changed (sunnypilot/sunnypilot)
@@ -170,6 +180,20 @@ sunnypilot Version 2026.001.000 (2026-05-06)
   * @royjr made their first contribution in "HKG: add KIA_FORTE_2019_NON_SCC fingerprint"
   * @ssysm made their first contribution in "Tesla: remove `TESLA_MODEL_X` from `dashcamOnly`"
 * Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2025.002.000...v2026.001.000
+************************
+* Synced with commaai's openpilot (v0.11.1)
+  * master commit c001f3c9b490a80e69539f0af6022f6e07ceb721 (April 16, 2026)
+* New driver monitoring model
+* Improved image processing pipeline for driver camera
+* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
+* New driving model #36798
+  * Fully trained using a learned simulator
+  * Improved longitudinal performance in Experimental mode
+* Reduce comma four standby power usage by 77% to 52 mW
+* Kia K7 2017 support thanks to royjr!
+* Lexus LS 2018 support thanks to Hacheoy!
+* Improved inter-process communication memory efficiency
+* comma four support
 
 sunnypilot Version 2025.002.000 (2025-11-06)
 ========================

common/model.h

@@ -1 +1 @@
-#define DEFAULT_MODEL "POP model (Default)"
+#define DEFAULT_MODEL "CD210 (Default)"

selfdrive/car/card.py

@@ -86,7 +86,7 @@ class Car:
 
     self.can_callbacks = can_comm_callbacks(self.can_sock, self.pm.sock['sendcan'])
 
-    is_release = self.params.get_bool("IsReleaseBranch")
+    is_release = False  # self.params.get_bool("IsReleaseBranch")
     is_release_sp = self.params.get_bool("IsReleaseSpBranch")
 
     if CI is None:

selfdrive/ui/layouts/settings/developer.py

@@ -36,7 +36,7 @@ class DeveloperLayout(Widget):
   def __init__(self):
     super().__init__()
     self._params = Params()
-    self._is_release = self._params.get_bool("IsReleaseBranch")
+    self._is_release = False  # self._params.get_bool("IsReleaseBranch")
 
     # Build items and keep references for callbacks/state updates
     self._adb_toggle = toggle_item(

selfdrive/ui/layouts/settings/toggles.py

@@ -42,7 +42,7 @@ class TogglesLayout(Widget):
   def __init__(self):
     super().__init__()
     self._params = Params()
-    self._is_release = self._params.get_bool("IsReleaseBranch")
+    self._is_release = False  # self._params.get_bool("IsReleaseBranch")
 
     # param, title, desc, icon, needs_restart
     self._toggle_defs = {

selfdrive/ui/sunnypilot/ui_state.py

@@ -159,7 +159,6 @@ class UIStateSP:
 
   def _enforce_constraints(self) -> None:
     has_long = self.has_longitudinal_control
-    has_icbm = self.has_icbm
     CP = self.CP
 
     if CP is not None:
@@ -168,8 +167,8 @@ class UIStateSP:
         self.params.remove("EnforceTorqueControl")
         self.params.remove("NeuralNetworkLateralControl")
 
-      # Alpha longitudinal: clear if not available or on release branch
-      if not CP.alphaLongitudinalAvailable or self.params.get_bool("IsReleaseBranch"):
+      # Alpha longitudinal: clear if not available
+      if not CP.alphaLongitudinalAvailable:
         self.params.remove("AlphaLongitudinalEnabled")
 
       # BSM not available: clear BSM-dependent settings
@@ -181,21 +180,23 @@ class UIStateSP:
       self.params.remove("NeuralNetworkLateralControl")
       self.params.remove("AlphaLongitudinalEnabled")
 
-    # No longitudinal control: no experimental mode
+    # No longitudinal control: no experimental mode or DEC
     if not has_long:
       self.params.remove("ExperimentalMode")
+      self.params.remove("DynamicExperimentalControl")
 
     # ICBM: clear if not available or if full longitudinal control is active
     if self.CP_SP is not None:
       if not self.CP_SP.intelligentCruiseButtonManagementAvailable or has_long:
         self.params.remove("IntelligentCruiseButtonManagement")
+        self.has_icbm = False
     else:
       self.params.remove("IntelligentCruiseButtonManagement")
+      self.has_icbm = False
 
     # Cruise features requiring longitudinal or ICBM
-    if not (has_long or has_icbm):
+    if not (has_long or self.has_icbm):
       self.params.remove("CustomAccIncrementsEnabled")
-      self.params.remove("DynamicExperimentalControl")
       self.params.remove("SmartCruiseControlVision")
       self.params.remove("SmartCruiseControlMap")
 

selfdrive/ui/ui_state.py

@@ -74,7 +74,7 @@ class UIState(UIStateSP):
 
     # Core state variables
     self.is_metric: bool = self.params.get_bool("IsMetric")
-    self.is_release = self.params.get_bool("IsReleaseBranch")
+    self.is_release = False  # self.params.get_bool("IsReleaseBranch")
     self.always_on_dm: bool = self.params.get_bool("AlwaysOnDM")
     self.started: bool = False
     self.ignition: bool = False

sunnypilot/common/version.h

@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2026.001.000"
+#define SUNNYPILOT_VERSION "2026.001.002"

sunnypilot/models/tests/model_hash

@@ -1 +1 @@
-5d4d21f1899de21137f69d74a4602c44cc5a6b04cf4e4aa9d0ec9206f8c30350
+32f57bdc91f910df1f48ddae7c59aaf6e751f9df6756da481a210577dbce8bcf

sunnypilot/sunnylink/athena/sunnylinkd.py

@@ -34,7 +34,7 @@ from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnyl
 from openpilot.sunnypilot.sunnylink.capabilities import generate_capabilities, CAPABILITY_LABELS
 from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import generate_schema
 
-SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://athena.sunnylink.ai')
+SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://ws.stg.api.sunnypilot.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
 LOCAL_PORT_WHITELIST = {8022}
 SUNNYLINK_LOG_ATTR_NAME = "user.sunny.upload"

sunnypilot/sunnylink/capabilities.py

@@ -94,7 +94,7 @@ def generate_capabilities(params: Params | None = None) -> dict:
 
   # Hardware + boolean params (no CarParams dependency)
   caps["device_type"] = HARDWARE.get_device_type()
-  caps["is_release"] = params.get_bool("IsReleaseBranch")
+  caps["is_release"] = False  # params.get_bool("IsReleaseBranch")
   caps["is_sp_release"] = params.get_bool("IsReleaseSpBranch")
   caps["is_development"] = params.get_bool("IsDevelopmentBranch")
   caps["stock_longitudinal"] = params.get_bool("ToyotaEnforceStockLongitudinal")

sunnypilot/sunnylink/settings_ui.json

@@ -574,19 +574,9 @@
               "description": "Let the model decide when to use sunnypilot ACC or sunnypilot End to End Longitudinal.",
               "visibility": [
                 {
-                  "type": "any",
-                  "conditions": [
-                    {
-                      "type": "capability",
-                      "field": "has_longitudinal_control",
-                      "equals": true
-                    },
-                    {
-                      "type": "capability",
-                      "field": "has_icbm",
-                      "equals": true
-                    }
-                  ]
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
                 }
               ],
               "enablement": [
@@ -1731,26 +1721,6 @@
               "key": "JoystickDebugMode",
               "widget": "toggle",
               "title": "Joystick Debug Mode",
-              "visibility": [
-                {
-                  "type": "not",
-                  "condition": {
-                    "type": "any",
-                    "conditions": [
-                      {
-                        "type": "capability",
-                        "field": "is_release",
-                        "equals": true
-                      },
-                      {
-                        "type": "capability",
-                        "field": "is_sp_release",
-                        "equals": true
-                      }
-                    ]
-                  }
-                }
-              ],
               "enablement": [
                 {
                   "type": "offroad_only"
@@ -1775,19 +1745,9 @@
                     {
                       "type": "not",
                       "condition": {
-                        "type": "any",
-                        "conditions": [
-                          {
-                            "type": "capability",
-                            "field": "is_release",
-                            "equals": true
-                          },
-                          {
-                            "type": "capability",
-                            "field": "is_sp_release",
-                            "equals": true
-                          }
-                        ]
+                        "type": "capability",
+                        "field": "has_icbm",
+                        "equals": true
                       }
                     }
                   ]
@@ -1900,19 +1860,9 @@
                 {
                   "type": "not",
                   "condition": {
-                    "type": "any",
-                    "conditions": [
-                      {
-                        "type": "capability",
-                        "field": "is_release",
-                        "equals": true
-                      },
-                      {
-                        "type": "capability",
-                        "field": "is_sp_release",
-                        "equals": true
-                      }
-                    ]
+                    "type": "capability",
+                    "field": "is_sp_release",
+                    "equals": true
                   }
                 }
               ],
@@ -1947,11 +1897,6 @@
                   "condition": {
                     "type": "any",
                     "conditions": [
-                      {
-                        "type": "capability",
-                        "field": "is_release",
-                        "equals": true
-                      },
                       {
                         "type": "capability",
                         "field": "is_sp_release",

sunnypilot/sunnylink/settings_ui_src/_macros.yaml

@@ -59,12 +59,7 @@ macros:
             - type: not
               condition: {type: capability, field: tesla_has_vehicle_bus, equals: true}
 
-  # Hide everything but a clearly-marked release branch (matches Raylib
-  # _is_release_branch = is_release OR is_sp_release).
+  # Hide on sunnypilot release branches (is_release is hardcoded False everywhere; is_sp_release is the active gate).
   release_branches_hide:
     - type: not
-      condition:
-        type: any
-        conditions:
-          - {type: capability, field: is_release, equals: true}
-          - {type: capability, field: is_sp_release, equals: true}
+      condition: {type: capability, field: is_sp_release, equals: true}

sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml

@@ -21,14 +21,7 @@ sections:
     title: Dynamic Experimental Control
     description: Let the model decide when to use sunnypilot ACC or sunnypilot End to End Longitudinal.
     visibility:
-    - type: any
-      conditions:
-      - type: capability
-        field: has_longitudinal_control
-        equals: true
-      - type: capability
-        field: has_icbm
-        equals: true
+    - $ref: '#/macros/longitudinal'
     enablement:
     - $ref: '#/macros/longitudinal'
   - key: DisengageOnAccelerator

sunnypilot/sunnylink/settings_ui_src/pages/developer.yaml

@@ -26,8 +26,6 @@ sections:
   - key: JoystickDebugMode
     widget: toggle
     title: Joystick Debug Mode
-    visibility:
-    - $ref: '#/macros/release_branches_hide'
     enablement:
     - $ref: '#/macros/offroad'
   - key: AlphaLongitudinalEnabled
@@ -46,14 +44,9 @@ sections:
         equals: true
       - type: not
         condition:
-          type: any
-          conditions:
-          - type: capability
-            field: is_release
-            equals: true
-          - type: capability
-            field: is_sp_release
-            equals: true
+          type: capability
+          field: has_icbm
+          equals: true
     enablement:
     - $ref: '#/macros/not_engaged'
   - key: ShowDebugInfo
@@ -131,9 +124,6 @@ sections:
       condition:
         type: any
         conditions:
-        - type: capability
-          field: is_release
-          equals: true
         - type: capability
           field: is_sp_release
           equals: true

sunnypilot/sunnylink/tests/test_compile_settings_ui.py

@@ -15,6 +15,7 @@ compiled output once the compiler has produced it.
 """
 from __future__ import annotations
 
+import difflib
 import json
 import os
 
@@ -44,7 +45,16 @@ def committed() -> dict:
 class TestRoundtrip:
   def test_compiled_matches_committed(self, compiled, committed):
     """Compiled output must match the checked-in JSON."""
-    assert compiled == committed
+    if compiled == committed:
+      return
+    diff = "\n".join(difflib.unified_diff(
+      json.dumps(committed, indent=2).splitlines(),
+      json.dumps(compiled, indent=2).splitlines(),
+      fromfile="settings_ui.json (committed)",
+      tofile="settings_ui.json (freshly compiled)",
+      lineterm="",
+    ))
+    pytest.fail(f"settings_ui.json schema mismatch — run compile_settings_ui.py\n\n{diff}")
 
   def test_committed_file_is_canonical(self):
     """Compiled output must byte-match the checked-in file (including trailing newline).
@@ -53,7 +63,16 @@ class TestRoundtrip:
     rendered = json.dumps(schema, indent=2) + "\n"
     with open(DEFAULT_OUT) as f:
       current = f.read()
-    assert current == rendered, "settings_ui.json out of sync — run compile_settings_ui.py"
+    if current == rendered:
+      return
+    diff = "\n".join(difflib.unified_diff(
+      current.splitlines(),
+      rendered.splitlines(),
+      fromfile="settings_ui.json (on disk)",
+      tofile="settings_ui.json (freshly compiled)",
+      lineterm="",
+    ))
+    pytest.fail(f"settings_ui.json out of sync — run compile_settings_ui.py\n\n{diff}")
 
 
 class TestRefResolution:

sunnypilot/sunnylink/tests/test_settings_changes.py

@@ -181,17 +181,14 @@ class TestTorqueOptionGeneration:
 
 class TestReleaseBranchGates:
   @pytest.mark.parametrize("key", [
-    "JoystickDebugMode",
-    "AlphaLongitudinalEnabled",
     "EnableGithubRunner",
     "QuickBootToggle",
   ])
   def test_sp_dev_items_gate_on_is_sp_release(self, schema, key):
-    """SP dev items must hide on either release branch (is_release OR is_sp_release)."""
+    """sunnypilot dev items must hide on sunnypilot release branches (is_sp_release gate)."""
     item = _find_item(schema, key)
     assert item is not None, f"{key} not found in schema"
     rules = (item.get("visibility") or []) + (item.get("enablement") or [])
-    assert _references_capability_field(rules, "is_release"), f"{key} missing is_release gate"
     assert _references_capability_field(rules, "is_sp_release"), f"{key} missing is_sp_release gate"