bump

see if it's better
bump
2026-09-15 02:13:43 +08:00 · 2025-10-09 01:31:38 -04:00 · 2025-10-09 01:17:07 -04:00 · 2025-10-08 23:10:57 -04:00 · 2025-10-08 22:23:12 -04:00 · 2025-10-08 16:29:10 -04:00
289 changed files with 12908 additions and 7153 deletions
@@ -29,21 +29,21 @@ jobs:
      env:
        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
      with:
-        target: /^(?!master-tici$).*/
+        target: /^(?!master$).*/
        exclude: /sunnypilot:.*/
        change-to: ${{ github.base_ref }}
        already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master-tici` branch"
+        already-exists-comment: "Your PR should be made against the `master` branch"
  update-pr-labels:
    name: Update fork's PR Labels
    runs-on: ubuntu-latest
    if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize'))
    env:
-      PR_LABEL: 'dev-c3'
+      PR_LABEL: 'dev'
      TRUST_FORK_PR_LABEL: 'trust-fork-pr'
    steps:
-      - name: Check if PR has dev-c3 label
+      - name: Check if PR has dev label
        id: check-labels
        uses: actions/github-script@v7
        with:
@@ -62,11 +62,11 @@ jobs:
            console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
            console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
-            core.setOutput('has-dev-c3', hasDevC3Label ? 'true' : 'false');
+            core.setOutput('has-dev', hasDevC3Label ? 'true' : 'false');
            core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
      - name: Remove trust-fork-pr label if present
-        if: steps.check-labels.outputs.has-dev-c3 == 'true' && steps.check-labels.outputs.has-trust == 'true'
+        if: steps.check-labels.outputs.has-dev == 'true' && steps.check-labels.outputs.has-trust == 'true'
        uses: actions/github-script@v7
        with:
          github-token: ${{ secrets.GITHUB_TOKEN }}
@@ -5,7 +5,7 @@ on:
  workflow_dispatch:
 env:
-  BASE_IMAGE: sunnypilot-tici-base
+  BASE_IMAGE: sunnypilot-base
  DOCKER_REGISTRY: ghcr.io/sunnypilot
  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
@@ -3,7 +3,7 @@ name: cereal validation
 on:
  push:
    branches:
-      - master-tici
+      - master
  pull_request:
    paths:
      - 'cereal/**'
@@ -16,7 +16,7 @@ on:
        type: string
 concurrency:
-  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true
 env:
@@ -31,7 +31,7 @@ jobs:
    strategy:
      fail-fast: false
      matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master-tici
+    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
    with:
      run_number: ${{ matrix.run_number }}
@@ -12,6 +12,6 @@ concurrency:
 jobs:
  selfdrive_tests:
-    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master-tici
+    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
    with:
      run_number: ${{ inputs.run_number }}
@@ -15,7 +15,7 @@ runs:
                          scons -j$(nproc) --cache-populate"
    - name: Save scons cache
      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master-tici'
+      if: github.ref == 'refs/heads/master'
      with:
        path: .ci_cache/scons_cache
        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -3,7 +3,7 @@ name: docs
 on:
  push:
    branches:
-      - master-tici
+      - master
  pull_request:
  workflow_call:
    inputs:
@@ -12,7 +12,7 @@ on:
        required: true
        type: string
 concurrency:
-  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true
 jobs:
@@ -35,13 +35,13 @@ jobs:
    # Push to docs.comma.ai
    - uses: actions/checkout@v4
-      if: github.ref == 'refs/heads/master-tici' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
      with:
        path: openpilot-docs
        ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
        repository: sunnypilot/sunnypilot-docs
    - name: Push
-      if: github.ref == 'refs/heads/master-tici' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
      run: |
        set -x
@@ -24,11 +24,11 @@ jobs:
      if: ${{ github.event_name != 'workflow_dispatch' }}
      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
      with:
-        ref: master-tici
+        ref: master
        wait-interval: 30
        running-workflow-name: 'build prebuilt'
        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build __nightly).*).)*$
+        check-regexp: ^((?!.*(build master-ci).*).)*$
    - uses: actions/checkout@v4
      with:
        submodules: true
@@ -19,7 +19,6 @@ jobs:
      contents: write
      pull-requests: write
    runs-on: ubuntu-latest
    if: False
    steps:
      - uses: release-drafter/release-drafter@v6
        with:
@@ -10,7 +10,7 @@ jobs:
    env:
      ImageOS: ubuntu24
    container:
-      image: ghcr.io/sunnypilot/sunnypilot-tici-base:latest
+      image: ghcr.io/sunnypilot/sunnypilot-base:latest
    runs-on: ubuntu-latest
    if: github.repository == 'sunnypilot/sunnypilot'
    permissions:
@@ -25,7 +25,7 @@ jobs:
      if: ${{ github.event_name == 'schedule' }}
      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
      with:
-        ref: master-tici
+        ref: master
        wait-interval: 30
        running-workflow-name: 'build __nightly'
        repo-token: ${{ secrets.GITHUB_TOKEN }}
@@ -6,7 +6,7 @@ on:
  workflow_dispatch:
 env:
-  BASE_IMAGE: sunnypilot-tici-base
+  BASE_IMAGE: sunnypilot-base
  BUILD: release/ci/docker_build_sp.sh base
  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
@@ -28,7 +28,7 @@ jobs:
          title: "[bot] Update translations"
          body: "Automatic PR from repo-maintenance -> update_translations"
          branch: "update-translations"
-          base: "master-tici"
+          base: "master"
          delete-branch: true
          labels: bot
@@ -36,7 +36,7 @@ jobs:
    name: package_updates
    runs-on: ubuntu-latest
    container:
-      image: ghcr.io/sunnypilot/sunnypilot-tici-base:latest
+      image: ghcr.io/sunnypilot/sunnypilot-base:latest
    if: github.repository == 'sunnypilot/sunnypilot'
    steps:
    - uses: actions/checkout@v4
@@ -68,7 +68,7 @@ jobs:
        commit-message: Update Python packages
        title: '[bot] Update Python packages'
        branch: auto-package-updates
-        base: master-tici
+        base: master
        delete-branch: true
        body: 'Automatic PR from repo-maintenance -> package_updates'
        labels: bot
@@ -3,7 +3,7 @@ name: selfdrive
 on:
  push:
    branches:
-      - master-tici
+      - master
  pull_request:
  workflow_dispatch:
  workflow_call:
@@ -14,12 +14,12 @@ on:
        type: string
 concurrency:
-  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true
 env:
  PYTHONWARNINGS: error
-  BASE_IMAGE: sunnypilot-tici-base
+  BASE_IMAGE: sunnypilot-base
  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
@@ -68,10 +68,10 @@ jobs:
      if: github.repository == 'sunnypilot/sunnypilot'
      timeout-minutes: 3
      run: |
-        if [ "${{ github.ref }}" != "refs/heads/master-tici" ]; then
+        if [ "${{ github.ref }}" != "refs/heads/master" ]; then
-          git fetch  origin master-tici:refs/remotes/origin/master-tici
+          git fetch  origin master:refs/remotes/origin/master
-          SUBMODULE_PATHS=$(git diff origin/master-tici HEAD --name-only | grep -E '^[^/]+$' | while read path; do
+          SUBMODULE_PATHS=$(git diff origin/master HEAD --name-only | grep -E '^[^/]+$' | while read path; do
            if git ls-files --stage "$path" | grep -q "^160000"; then
              echo "$path"
            fi
@@ -97,7 +97,7 @@ jobs:
      with:
        submodules: true
    - name: Setup docker push
-      if: github.ref == 'refs/heads/master-tici' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
      run: |
        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
        $DOCKER_LOGIN
@@ -107,7 +107,6 @@ jobs:
  build_mac:
    name: build macOS
    if: false  # temp disable since homebrew install is getting stuck
    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
    steps:
    - uses: actions/checkout@v4
@@ -116,7 +115,9 @@ jobs:
    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
    - name: Homebrew cache
      uses: ./.github/workflows/auto-cache
      if: false # disabling the cache for now because it is breaking macos builds...
      with:
        save: false # No need save here if we manually save it later conditionally
        path: ~/Library/Caches/Homebrew
        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
        restore-keys: |
@@ -125,11 +126,11 @@ jobs:
    - name: Install dependencies
      run: ./tools/mac_setup.sh
      env:
-        # package install has DeprecationWarnings
+        PYTHONWARNINGS: default  # package install has DeprecationWarnings
-        PYTHONWARNINGS: default
+        HOMEBREW_DISPLAY_INSTALL_TIMES: 1
    - name: Save Homebrew cache
      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master-tici'
+      if: github.ref == 'refs/heads/master'
      with:
        path: ~/Library/Caches/Homebrew
        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -137,6 +138,7 @@ jobs:
    - name: Getting scons cache
      uses: ./.github/workflows/auto-cache
      with:
        save: false # No need save here if we manually save it later conditionally
        path: /tmp/scons_cache
        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
        restore-keys: |
@@ -146,7 +148,7 @@ jobs:
      run: . .venv/bin/activate && scons -j$(nproc)
    - name: Save scons cache
      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master-tici'
+      if: github.ref == 'refs/heads/master'
      with:
        path: /tmp/scons_cache
        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -305,5 +307,5 @@ jobs:
      - name: Upload Test Report
        uses: actions/upload-artifact@v4
        with:
-          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && 'master-tici' || github.event.number }}
+          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
          path: selfdrive/ui/tests/test_ui/report_1/screenshots
@@ -14,7 +14,7 @@ on:
      upstream_branch:
        description: 'Upstream branch to build from'
        required: true
-        default: 'master-tici'
+        default: 'master'
        type: string
      custom_name:
        description: 'Custom name for the model (no date, only name)'
@@ -35,7 +35,7 @@ on:
      upstream_branch:
        description: 'Upstream branch to build from'
        required: true
-        default: 'master-tici'
+        default: 'master'
        type: string
      custom_name:
        description: 'Custom name for the model (no date, only name)'
@@ -8,14 +8,14 @@ env:
  PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
  # Branch configurations
-  STAGING_C3_SOURCE_BRANCH: 'master-tici' # vars.STAGING_C3_SOURCE_BRANCH could be used, set on repo settings.
+  STAGING_SOURCE_BRANCH: 'master'
  # Runtime configuration
  SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
 on:
  push:
-    branches: [ master-tici ]
+    branches: [ master, master-dev ]
    tags: [ 'release/*' ]
  pull_request_target:
    types: [ labeled ]
@@ -138,7 +138,7 @@ jobs:
          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
          restore-keys: |
            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_C3_SOURCE_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_SOURCE_BRANCH }}
            scons-${{ runner.os }}-${{ runner.arch }}
      - name: Set environment variables
@@ -1,31 +1,31 @@
-name: Build dev-c3-new
+name: Build dev
 env:
-  DEFAULT_SOURCE_BRANCH: "master-tici"
+  DEFAULT_SOURCE_BRANCH: "master"
-  DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
+  DEFAULT_TARGET_BRANCH: "master-dev"
-  PR_LABEL: "dev-c3"
+  PR_LABEL: "dev"
  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:
  push:
    branches:
-      - master-tici
+      - master
  pull_request_target:
    types: [ labeled ]
    branches:
-      - 'master-tici'
+      - 'master'
  workflow_dispatch:
    inputs:
      source_branch:
        description: 'Source branch to reset from'
        required: true
-        default: 'master-tici'
+        default: 'master'
        type: string
      target_branch:
        description: 'Target branch to reset and squash into'
        required: true
-        default: 'master-dev-c3-new'
+        default: 'master-dev'
        type: string
      cancel_in_progress:
        description: 'Cancel any in-progress runs of this workflow'
@@ -40,7 +40,11 @@ concurrency:
 jobs:
  reset-and-squash:
    runs-on: ubuntu-latest
-    if: False
+    if: (
      (github.event_name == 'workflow_dispatch')
      || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev'))))
      )
    steps:
      - uses: actions/checkout@v4
        with:
@@ -51,7 +55,7 @@ jobs:
        uses: ./.github/workflows/wait-for-action # Path to where you place the action
        if: (
          (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
+          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev'))))
          )
        with:
          workflow: selfdrive_tests.yaml # The workflow file to monitor
@@ -2,19 +2,19 @@ name: "ui preview"
 on:
  push:
    branches:
-      - master-tici
+      - master
  pull_request_target:
    types: [assigned, opened, synchronize, reopened, edited]
    branches:
-      - 'master-tici'
+      - 'master'
    paths:
      - 'selfdrive/ui/**'
  workflow_dispatch:
 env:
  UI_JOB_NAME: "Create UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && 'master-tici' || github.event.number }}
+  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-tici' && github.sha || github.event.pull_request.head.sha }}
+  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"
 jobs:
@@ -55,7 +55,7 @@ jobs:
          name: report-1-${{ env.REPORT_NAME }}
          path: ${{ github.workspace }}/pr_ui
-      - name: Getting master-tici ui
+      - name: Getting master ui
        uses: actions/checkout@v4
        with:
          repository: sunnypilot/ci-artifacts
@@ -63,8 +63,8 @@ jobs:
          path: ${{ github.workspace }}/master_ui
          ref: openpilot_master_ui
-      - name: Saving new master-tici ui
+      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master-tici' && github.event_name == 'push'
+        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
        working-directory: ${{ github.workspace }}/master_ui
        run: |
          git checkout --orphan=new_master_ui
@@ -93,9 +93,9 @@ jobs:
          for ((i=0; i<${#A[*]}; i=i+1));
          do
-            # Check if the master-tici file exists
+            # Check if the master file exists
            if [ ! -f "${{ github.workspace }}/master_ui/${A[$i]}.png" ]; then
-              # This is a new file in PR UI that doesn't exist in master-tici
+              # This is a new file in PR UI that doesn't exist in master
              DIFF="${DIFF}<details open>"
              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
              DIFF="${DIFF}<table>"
@@ -118,7 +118,7 @@ jobs:
              DIFF="${DIFF}<table>"
              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master-tici <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
+              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
              DIFF="${DIFF}</tr>"
@@ -50,7 +50,6 @@ cereal/services.h
 cereal/gen
 cereal/messaging/bridge
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
 selfdrive/ui/translations/tmp
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/car/tests/cars_dump
@@ -23,6 +23,11 @@
      "id": "args",
      "description": "Arguments to pass to the process",
      "type": "promptString"
    },
    {
      "id": "replayArg",
      "type": "promptString",
      "description": "Enter route or segment to replay."
    }
  ],
  "configurations": [
@@ -40,7 +45,41 @@
      "type": "cppdbg",
      "request": "launch",
      "program": "${workspaceFolder}/${input:cpp_process}",
-      "cwd": "${workspaceFolder}",
+      "cwd": "${workspaceFolder}"
    },
    {
      "name": "Attach LLDB to Replay drive",
      "type": "lldb",
      "request": "attach",
      "pid": "${command:pickMyProcess}",
      "initCommands": [
        "script import time; time.sleep(3)"
      ]
    },
    {
      "name": "Replay drive",
      "type": "debugpy",
      "request": "launch",
      "program": "${workspaceFolder}/opendbc/safety/tests/safety_replay/replay_drive.py",
      "args": [
        "${input:replayArg}"
      ],
      "console": "integratedTerminal",
      "justMyCode": false,
      "env": {
        "PYTHONPATH": "${workspaceFolder}"
      },
      "subProcess": true,
      "stopOnEntry": false
    }
  ],
  "compounds": [
    {
      "name": "Replay drive + Safety LLDB",
      "configurations": [
        "Replay drive",
        "Attach LLDB to Replay drive"
      ]
    }
  ]
 }
@@ -1,4 +1,4 @@
-FROM ghcr.io/sunnypilot/sunnypilot-tici-base:latest
+FROM ghcr.io/sunnypilot/sunnypilot-base:latest
 ENV PYTHONUNBUFFERED=1
@@ -178,7 +178,7 @@ node {
  try {
    if (env.BRANCH_NAME == 'devel-staging') {
-      deviceStage("build release3-staging", "tici-needs-can", [], [
+      deviceStage("build release3-staging", "tizi-needs-can", [], [
        step("build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"),
      ])
    }
@@ -186,12 +186,12 @@ node {
    if (env.BRANCH_NAME == '__nightly') {
      parallel (
        'nightly': {
-          deviceStage("build nightly", "tici-needs-can", [], [
+          deviceStage("build nightly", "tizi-needs-can", [], [
            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
          ])
        },
        'nightly-dev': {
-          deviceStage("build nightly-dev", "tici-needs-can", [], [
+          deviceStage("build nightly-dev", "tizi-needs-can", [], [
            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
          ])
        },
@@ -200,39 +200,30 @@ node {
    if (!env.BRANCH_NAME.matches(excludeRegex)) {
    parallel (
      // tici tests
      'onroad tests': {
-        deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
+        deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
          step("build openpilot", "cd system/manager && ./build.py"),
          step("check dirty", "release/check-dirty.sh"),
          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
        ])
      },
      'HW + Unit Tests': {
-        deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
+        deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
          step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py", [diffPaths: ["system/ubloxd/"]]),
          step("test manager", "pytest system/manager/test/test_manager.py"),
        ])
      },
      'loopback': {
-        deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
+        deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [
          step("build openpilot", "cd system/manager && ./build.py"),
          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
        ])
      },
      'camerad AR0231': {
        deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
        ])
      },
      'camerad OX03C10': {
-        deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
+        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
@@ -246,17 +237,13 @@ node {
        ])
      },
      'sensord': {
-        deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
+        deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
        ])
        deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
        ])
      },
      'replay': {
-        deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
+        deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
        ])
@@ -266,7 +253,6 @@ node {
          step("build openpilot", "cd system/manager && ./build.py"),
          step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
          // TODO: enable once new AGNOS is available
          // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),
@@ -22,7 +22,7 @@ https://docs.sunnypilot.ai/ is your one stop shop for everything from features t
 Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
 ## Installation
-Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging-tici` branch.
+Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging-c3-new` branch.
 ### If you want to use our newest branches (our rewrite)
 > [!TIP]
@@ -31,24 +31,25 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
 * sunnypilot not installed or you installed a version before 0.8.17?
  1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
  2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://staging-tici.sunnypilot.ai```.
+  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://staging-c3-new.sunnypilot.ai```.
  4. Complete the rest of the installation following the onscreen instructions.
 * sunnypilot already installed and you installed a version after 0.8.17?
  1. On the comma three, go to `Settings` ▶️ `Software`.
  2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
  3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
-  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging-tici`
+  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging-c3-new`
-|     Branch      |               Installation URL                |
+|      Branch      |                 Installation URL              |
-|:---------------:|:---------------------------------------------:|
+|:----------------:|:---------------------------------------------:|
-| `staging-tici`  |     `https://staging-tici.sunnypilot.ai`      |
+| `staging-c3-new` | `https://staging-c3-new.sunnypilot.ai`        |
-| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |
+|   `dev-c3-new`   | `https://dev-c3-new.sunnypilot.ai`            |
-| `release-tici`  |            **Not yet available**.             |
+| `custom-branch`  | `https://install.sunnypilot.ai/{branch_name}` |
 | `release-c3-new` |            **Not yet available**.             |
 > [!TIP]
-> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging-tici'.
+> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging-c3-new'.
 > [!NOTE]
 > Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
@@ -1,7 +1,13 @@
 Version 0.10.1 (2025-09-08)
 ========================
-* Record driving feedback using LKAS button
+* New driving model
-* Honda City 2023 support thanks to drFritz!
+  * World Model: removed global localization inputs
  * World Model: 2x the number of parameters
  * World Model: trained on 4x the number of segments
  * Driving Vision Model: trained on 4x the number of segments
 * Honda City 2023 support thanks to vanillagorillaa and drFritz!
 * Honda N-Box 2018 support thanks to miettal!
 * Honda Odyssey 2021-25 support thanks to csouers and MVL!
 Version 0.10.0 (2025-08-05)
 ========================
@@ -359,11 +359,6 @@ SConscript([
  'system/ubloxd/SConscript',
  'system/loggerd/SConscript',
 ])
 if arch != "Darwin":
  SConscript([
    'system/logcatd/SConscript',
    'system/proclogd/SConscript',
  ])
 if arch == "larch64":
  SConscript(['system/camerad/SConscript'])
@@ -25,6 +25,26 @@ struct ModularAssistiveDrivingSystem {
  }
 }
 struct IntelligentCruiseButtonManagement {
  state @0 :IntelligentCruiseButtonManagementState;
  sendButton @1 :SendButtonState;
  vTarget @2 :Float32;
  enum IntelligentCruiseButtonManagementState {
    inactive @0;      # No button press or default state
    preActive @1;     # Pre-active state before transitioning to increasing or decreasing
    increasing @2;    # Increasing speed
    decreasing @3;    # Decreasing speed
    holding @4;       # Holding steady speed
  }
  enum SendButtonState {
    none @0;
    increase @1;
    decrease @2;
  }
 }
 # Same struct as Log.RadarState.LeadData
 struct LeadData {
  dRel @0 :Float32;
@@ -48,6 +68,7 @@ struct LeadData {
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
  mads @0 :ModularAssistiveDrivingSystem;
  intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
 }
 struct ModelManagerSP @0xaedffd8f31e7b55d {
@@ -122,6 +143,13 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
 struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
  dec @0 :DynamicExperimentalControl;
  longitudinalPlanSource @1 :LongitudinalPlanSource;
  smartCruiseControl @2 :SmartCruiseControl;
  speedLimit @3 :SpeedLimit;
  vTarget @4 :Float32;
  aTarget @5 :Float32;
  events @6 :List(OnroadEventSP.Event);
  e2eAlerts @7 :E2eAlerts;
  struct DynamicExperimentalControl {
    state @0 :DynamicExperimentalControlState;
@@ -133,6 +161,97 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
      blended @1;
    }
  }
  struct SmartCruiseControl {
    vision @0 :Vision;
    map @1 :Map;
    struct Vision {
      state @0 :VisionState;
      vTarget @1 :Float32;
      aTarget @2 :Float32;
      currentLateralAccel @3 :Float32;
      maxPredictedLateralAccel @4 :Float32;
      enabled @5 :Bool;
      active @6 :Bool;
    }
    struct Map {
      state @0 :MapState;
      vTarget @1 :Float32;
      aTarget @2 :Float32;
      enabled @3 :Bool;
      active @4 :Bool;
    }
    enum VisionState {
      disabled @0; # System disabled or inactive.
      enabled @1; # No predicted substantial turn on vision range.
      entering @2; # A substantial turn is predicted ahead, adapting speed to turn comfort levels.
      turning @3; # Actively turning. Managing acceleration to provide a roll on turn feeling.
      leaving @4; # Road ahead straightens. Start to allow positive acceleration.
      overriding @5; # System overriding with manual control.
    }
    enum MapState {
      disabled @0; # System disabled or inactive.
      enabled @1; # No predicted substantial turn on map range.
      turning @2; # Actively turning. Managing acceleration to provide a roll on turn feeling.
      overriding @3; # System overriding with manual control.
    }
  }
  struct SpeedLimit {
    resolver @0 :Resolver;
    assist @1 :Assist;
    struct Resolver {
      speedLimit @0 :Float32;
      distToSpeedLimit @1 :Float32;
      source @2 :Source;
      speedLimitOffset @3 :Float32;
      speedLimitLast @4 :Float32;
      speedLimitFinal @5 :Float32;
      speedLimitFinalLast @6 :Float32;
      speedLimitValid @7 :Bool;
      speedLimitLastValid @8 :Bool;
    }
    struct Assist {
      state @0 :AssistState;
      enabled @1 :Bool;
      active @2 :Bool;
      vTarget @3 :Float32;
      aTarget @4 :Float32;
    }
    enum Source {
      none @0;
      car @1;
      map @2;
    }
    enum AssistState {
      disabled @0;
      inactive @1; # No speed limit set or not enabled by parameter.
      preActive @2;
      pending @3; # Awaiting new speed limit.
      adapting @4; # Reducing speed to match new speed limit.
      active @5; # Cruising at speed limit.
    }
  }
  enum LongitudinalPlanSource {
    cruise @0;
    sccVision @1;
    sccMap @2;
    speedLimitAssist @3;
  }
  struct E2eAlerts {
    greenLightAlert @0 :Bool;
    leadDepartAlert @1 :Bool;
  }
 }
 struct OnroadEventSP @0xda96579883444c35 {
@@ -174,12 +293,20 @@ struct OnroadEventSP @0xda96579883444c35 {
    pedalPressedAlertOnly @16;
    laneTurnLeft @17;
    laneTurnRight @18;
    speedLimitPreActive @19;
    speedLimitActive @20;
    speedLimitChanged @21;
    speedLimitPending @22;
    e2eChime @23;
  }
 }
 struct CarParamsSP @0x80ae746ee2596b11 {
  flags @0 :UInt32;        # flags for car specific quirks in sunnypilot
  safetyParam @1 : Int16;  # flags for sunnypilot's custom safety flags
  pcmCruiseSpeed @3 :Bool;
  intelligentCruiseButtonManagementAvailable @4 :Bool;
  enableGasInterceptor @5 :Bool;
  neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
@@ -199,6 +326,7 @@ struct CarControlSP @0xa5cd762cd951a455 {
  params @1 :List(Param);
  leadOne @2 :LeadData;
  leadTwo @3 :LeadData;
  intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
  struct Param {
    key @0 :Text;
@@ -207,7 +335,7 @@ struct CarControlSP @0xa5cd762cd951a455 {
    valueDEPRECATED @1 :Text; # The data type change may cause issues with backwards compatibility.
  }
-  
+
  enum ParamType {
    string @0;
    bool @1;
@@ -262,6 +390,7 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
 }
 struct CarStateSP @0xb86e6369214c01c8 {
  speedLimit @0 :Float32;
 }
 struct LiveMapDataSP @0xf416ec09499d9d19 {
@@ -585,7 +585,6 @@ struct PandaState @0xa7649e2575e4591e {
  heartbeatLost @22 :Bool;
  interruptLoad @25 :Float32;
  fanPower @28 :UInt8;
  fanStallCount @34 :UInt8;
  spiErrorCount @33 :UInt16;
@@ -714,6 +713,7 @@ struct PandaState @0xa7649e2575e4591e {
  usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
  safetyParamDEPRECATED @20 :Int16;
  safetyParam2DEPRECATED @26 :UInt32;
  fanStallCountDEPRECATED @34 :UInt8;
 }
 struct PeripheralState {
@@ -2684,7 +2684,7 @@ struct Event {
    lateralPlanDEPRECATED @64 :LateralPlan;
    navModelDEPRECATED @104 :NavModelData;
    uiPlanDEPRECATED @106 :UiPlan;
-    liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
+    liveLocationKalman @72 :LiveLocationKalman;
    liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
    onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
  }
@@ -33,7 +33,7 @@ MessageContext message_context;
 struct SubMaster::SubMessage {
  std::string name;
  SubSocket *socket = nullptr;
-  int freq = 0;
+  float freq = 0.0f;
  bool updated = false, alive = false, valid = false, ignore_alive;
  uint64_t rcv_time = 0, rcv_frame = 0;
  void *allocated_msg_reader = nullptr;
@@ -89,6 +89,7 @@ _services: dict[str, tuple] = {
  "carStateSP": (True, 100., 10),
  "liveMapDataSP": (True, 1., 1),
  "modelDataV2SP": (True, 20.),
  "liveLocationKalman": (True, 20.),
  # debug
  "uiDebug": (True, 0., 1),
@@ -121,12 +122,12 @@ def build_header():
  h += "#include <map>\n"
  h += "#include <string>\n"
-  h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n"
+  h += "struct service { std::string name; bool should_log; float frequency; int decimation; };\n"
  h += "static std::map<std::string, service> services = {\n"
  for k, v in SERVICE_LIST.items():
    should_log = "true" if v.should_log else "false"
    decimation = -1 if v.decimation is None else v.decimation
-    h += '  { "%s", {"%s", %s, %d, %d}},\n' % \
+    h += '  { "%s", {"%s", %s, %f, %d}},\n' % \
         (k, k, should_log, v.frequency, decimation)
  h += "};\n"
@@ -1 +1 @@
-#define DEFAULT_MODEL "Steam Powered (Default)"
+#define DEFAULT_MODEL "Firehose (Default)"
@@ -94,7 +94,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
    {"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
    {"Offroad_StorageMissing", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},
@@ -149,17 +148,25 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
    {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
    {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
    {"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
    {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
    {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
    {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
    {"LastGPSPositionLLK", {PERSISTENT, STRING}},
    {"LeadDepartAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
    {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
    {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
    {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "100"}},
    {"OnroadScreenOffControl", {PERSISTENT | BACKUP, BOOL}},
    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "0"}},
    {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
    // MADS params
    {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -185,7 +192,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"SunnylinkCache_Users", {PERSISTENT, STRING}},
    {"SunnylinkDongleId", {PERSISTENT, STRING}},
    {"SunnylinkdPid", {PERSISTENT, INT}},
-    {"SunnylinkEnabled", {PERSISTENT, BOOL}},
+    {"SunnylinkEnabled", {PERSISTENT, BOOL, "1"}},
    // Backup Manager params
    {"BackupManager_CreateBackup", {PERSISTENT, BOOL}},
@@ -223,4 +230,25 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"OsmStateTitle", {PERSISTENT, STRING}},
    {"OsmWayTest", {PERSISTENT, STRING}},
    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
    {"RoadNameToggle", {PERSISTENT, STRING}},
    // Speed Limit
    {"SpeedLimitMode", {PERSISTENT | BACKUP, INT, "1"}},
    {"SpeedLimitOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
    {"SpeedLimitPolicy", {PERSISTENT | BACKUP, INT, "3"}},
    {"SpeedLimitValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
    // Smart Cruise Control
    {"MapTargetVelocities", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
    {"SmartCruiseControlMap", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"SmartCruiseControlVision", {PERSISTENT | BACKUP, BOOL, "0"}},
    // Torque lateral control custom params
    {"CustomTorqueParams", {PERSISTENT | BACKUP , BOOL}},
    {"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
    {"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
    {"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
    {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
    {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
 };
@@ -36,6 +36,7 @@ const double MS_TO_KPH = 3.6;
 const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE;
 const double METER_TO_MILE = KM_TO_MILE / 1000.0;
 const double METER_TO_FOOT = 3.28084;
 const double METER_TO_KM = 1. / 1000.0;
 #define ALIGNED_SIZE(x, align) (((x) + (align)-1) & ~((align)-1))
@@ -39,7 +39,7 @@ All of these are examples of good PRs:
 ### First contribution
 [Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
-There's lot of bounties that don't require a comma 3/3X or a car.
+There's lot of bounties that don't require a comma 3X or a car.
 ## Pull Requests
@@ -0,0 +1,30 @@
 # Debugging Panda Safety with Replay Drive + LLDB
 ## 1. Start the debugger in VS Code
 * Select **Replay drive + Safety LLDB**.
 * Enter the route or segment when prompted.
 [<img src="https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604">](https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604)
 ## 2. Attach LLDB
 * When prompted, pick the running **`replay_drive` process**.
 * ⚠️ Attach quickly, or `replay_drive` will start consuming messages.
 > [!TIP]
 > Add a Python breakpoint at the start of `replay_drive.py` to pause execution and give yourself time to attach LLDB.
 ## 3. Set breakpoints in VS Code
 Breakpoints can be set directly in `modes/xxx.h` (or any C file).
 No extra LLDB commands are required — just place breakpoints in the editor.
 ## 4. Resume execution
 Once attached, you can step through both Python (on the replay) and C safety code as CAN logs are replayed.
 > [!NOTE]
 > * Use short routes for quicker iteration.
 > * Pause `replay_drive` early to avoid wasting log messages.
 ## Video
 View a demo of this workflow on the PR that added it: https://github.com/commaai/openpilot/pull/36055#issue-3352911578
@@ -16,7 +16,7 @@ industry standards of safety for Level 2 Driver Assistance Systems. In particula
 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.
+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.
@@ -29,8 +29,18 @@ ensuring two main safety requirements.
 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 [opendbc/safety/safety](https://github.com/commaai/opendbc/tree/master/opendbc/safety/safety).
-**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
+[^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.
  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. 
+---
 ### Forks of openpilot
 * Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/selfdrive/monitoring)
 * Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/selfdrive/selfdrived/helpers.py)
 * If your fork modifies any of the code in `opendbc/safety/`:
   * your fork cannot use the openpilot trademark
   * your fork must preserve the full [safety test suite](https://github.com/commaai/opendbc/tree/master/opendbc/safety/tests) and all tests must pass, including any new coverage required by the fork's changes
 Failure to comply with these standards will get you and your users banned from comma.ai servers.
 **comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements.**
@@ -1,11 +1,11 @@
-# connect to a comma 3/3X
+# connect to a comma 3X
-A comma 3/3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
+A comma 3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
 ## Serial Console
 On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
-Connect the comma 3/3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
+Connect the comma 3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
 On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.
@@ -45,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
    * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
 > [!NOTE]
-> The default port for ADB is 5555 on the comma 3/3X.
+> The default port for ADB is 5555 on the comma 3X.
 For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
@@ -8,7 +8,7 @@ Replaying is a critical tool for openpilot development and debugging.
 Just run `tools/replay/replay --demo`.
 ## Replaying CAN data
-*Hardware required: jungle and comma 3/3X*
+*Hardware required: jungle and comma 3X*
 1. Connect your PC to a jungle.
 2.
@@ -3,7 +3,7 @@
 In 30 minutes, we'll get an openpilot development environment set up 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.
+And if you have a comma 3X, we'll deploy the change to your device for testing.
 ## 1. Set up your development environment
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="12.8"
+  export AGNOS_VERSION="13.1"
 fi
 export STAGING_ROOT="/data/safe_staging"
@@ -21,7 +21,7 @@ nav:
    - What is openpilot?: getting-started/what-is-openpilot.md
  - How-to:
    - Turn the speed blue: how-to/turn-the-speed-blue.md
-    - Connect to a comma 3/3X: how-to/connect-to-comma.md
+    - Connect to a comma 3X: how-to/connect-to-comma.md
    # - Make your first pull request: how-to/make-first-pr.md
    #- Replay a drive: how-to/replay-a-drive.md
  - Concepts:
@@ -36,6 +36,9 @@ dependencies = [
  "pyopenssl < 24.3.0",
  "pyaudio",
  # ubloxd (TODO: just use struct)
  "kaitaistruct",
  # panda
  "libusb1",
  "spidev; platform_system == 'Linux'",
@@ -101,8 +104,9 @@ dev = [
  "av",
  "azure-identity",
  "azure-storage-blob",
-  "dbus-next",
+  "dbus-next", # TODO: remove once we moved everything to jeepney
  "dictdiffer",
  "jeepney",
  "matplotlib",
  "opencv-python-headless",
  "parameterized >=0.8, <0.9",
@@ -120,6 +124,7 @@ dev = [
 tools = [
  "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
  "dearpygui>=2.1.0",
 ]
 [project.urls]
@@ -157,7 +162,6 @@ testpaths = [
  "system/camerad",
  "system/hardware",
  "system/loggerd",
  "system/proclogd",
  "system/tests",
  "system/ubloxd",
  "system/webrtc",
@@ -173,7 +177,7 @@ quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
 ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
-skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*"
+skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*"
 [tool.mypy]
 python_version = "3.11"
@@ -247,6 +251,7 @@ exclude = [
  "teleoprtc_repo",
  "third_party",
  "*.ipynb",
  "generated",
 ]
 lint.flake8-implicit-str-concat.allow-multiline = false
@@ -31,25 +31,13 @@ while read hash submodule ref; do
      exit 1
    fi
  else
-    # Check against master-tici for specific submodules, master for others
+    git -C $submodule fetch --depth 100 origin master
-    if [ "$submodule" = "opendbc_repo" ] || [ "$submodule" = "panda" ]; then
+    git -C $submodule branch -r --contains $hash | grep "origin/master"
-      git -C $submodule fetch --depth 100 origin master-tici
+    if [ "$?" -eq 0 ]; then
-      remote_hash=$(git -C $submodule rev-parse FETCH_HEAD)
+      echo "$submodule ok"
      if git -C $submodule merge-base --is-ancestor $hash $remote_hash; then
        echo "$submodule ok"
      else
        echo "$submodule: $hash is not on master-tici"
        exit 1
      fi
    else
-      git -C $submodule fetch --depth 100 origin master
+      echo "$submodule: $hash is not on master"
-      git -C $submodule branch -r --contains $hash | grep "origin/master"
+      exit 1
      if [ "$?" -eq 0 ]; then
        echo "$submodule ok"
      else
        echo "$submodule: $hash is not on master"
        exit 1
      fi
    fi
  fi
 done <<< $(git submodule status --recursive)
@@ -1,8 +1,8 @@
 if [ "$1" = "base" ]; then
-  export DOCKER_IMAGE=sunnypilot-tici-base
+  export DOCKER_IMAGE=sunnypilot-base
  export DOCKER_FILE=Dockerfile.sunnypilot_base
 elif [ "$1" = "prebuilt" ]; then
-  export DOCKER_IMAGE=sunnypilot-tici-prebuilt
+  export DOCKER_IMAGE=sunnypilot-prebuilt
  export DOCKER_FILE=Dockerfile.sunnypilot
 else
  echo "Invalid docker build image: '$1'"
@@ -14,7 +14,7 @@ def setup_argument_parser():
  parser.add_argument('--pr-data', type=str, help='PR data in JSON format')
  parser.add_argument('--source-branch', type=str, default='master',
                      help='Source branch for merging')
-  parser.add_argument('--target-branch', type=str, default='master-dev-c3-new-test',
+  parser.add_argument('--target-branch', type=str, default='master-dev-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')
@@ -71,7 +71,7 @@ class Car:
  def __init__(self, CI=None, RI=None) -> None:
    self.can_sock = messaging.sub_sock('can', timeout=20)
-    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP'])
+    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP', 'longitudinalPlanSP'])
    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP', 'carStateSP'])
    self.can_rcv_cum_timeout_counter = 0
@@ -124,7 +124,7 @@ class Car:
    self.CP.alternativeExperience = 0
    # mads
-    set_alternative_experience(self.CP, self.params)
+    set_alternative_experience(self.CP, self.CP_SP, self.params)
    set_car_specific_params(self.CP, self.CP_SP, self.params)
    # Dynamic Experimental Control
@@ -179,7 +179,7 @@ class Car:
    self.params.put_nonblocking("CarParamsSPPersistent", cp_sp_bytes)
    self.mock_carstate = MockCarState()
-    self.v_cruise_helper = VCruiseHelper(self.CP)
+    self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
    self.is_metric = self.params.get_bool("IsMetric")
    self.experimental_mode = self.params.get_bool("ExperimentalMode")
@@ -216,6 +216,7 @@ class Car:
    if can_rcv_valid and REPLAY:
      self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
    self.v_cruise_helper.update_speed_limit_assist(self.is_metric, self.sm['longitudinalPlanSP'])
    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
@@ -30,8 +30,8 @@ CRUISE_INTERVAL_SIGN = {
 class VCruiseHelper(VCruiseHelperSP):
-  def __init__(self, CP):
+  def __init__(self, CP, CP_SP):
-    VCruiseHelperSP.__init__(self)
+    VCruiseHelperSP.__init__(self, CP, CP_SP)
    self.CP = CP
    self.v_cruise_kph = V_CRUISE_UNSET
    self.v_cruise_cluster_kph = V_CRUISE_UNSET
@@ -46,10 +46,14 @@ class VCruiseHelper(VCruiseHelperSP):
  def update_v_cruise(self, CS, enabled, is_metric):
    self.v_cruise_kph_last = self.v_cruise_kph
    self.get_minimum_set_speed(is_metric)
    if CS.cruiseState.available:
-      if not self.CP.pcmCruise:
+      _enabled = self.update_enabled_state(CS, enabled)
      if not self.CP.pcmCruise or (not self.CP_SP.pcmCruiseSpeed and _enabled):
        # if stock cruise is completely disabled, then we can use our own set speed logic
-        self._update_v_cruise_non_pcm(CS, enabled, is_metric)
+        self._update_v_cruise_non_pcm(CS, _enabled, is_metric)
        self.update_speed_limit_assist_v_cruise_non_pcm()
        self.v_cruise_cluster_kph = self.v_cruise_kph
        self.update_button_timers(CS, enabled)
      else:
@@ -101,6 +105,12 @@ class VCruiseHelper(VCruiseHelperSP):
    if not self.button_change_states[button_type]["enabled"]:
      return
    # Speed Limit Assist for Non PCM long cars.
    # True: Disallow set speed changes when user confirmed the target set speed during preActive state
    # False: Allow set speed changes as SLA is not requesting user confirmation
    if self.update_speed_limit_assist_pre_active_confirmed(button_type):
      return
    long_press, v_cruise_delta = VCruiseHelperSP.update_v_cruise_delta(self, long_press, v_cruise_delta)
    if long_press and self.v_cruise_kph % v_cruise_delta != 0:  # partial interval
      self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta
@@ -111,7 +121,7 @@ class VCruiseHelper(VCruiseHelperSP):
    if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
      self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)
-    self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
+    self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), self.v_cruise_min, V_CRUISE_MAX)
  def update_button_timers(self, CS, enabled):
    # increment timer for buttons still pressed
@@ -60,5 +60,8 @@ def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> struct
  struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
  struct_dataclass.leadOne = structs.LeadData(**remove_deprecated(struct_dict.get('leadOne', {})))
  struct_dataclass.leadTwo = structs.LeadData(**remove_deprecated(struct_dict.get('leadTwo', {})))
  struct_dataclass.intelligentCruiseButtonManagement = structs.IntelligentCruiseButtonManagement(
    **remove_deprecated(struct_dict.get('intelligentCruiseButtonManagement', {}))
  )
  return struct_dataclass
@@ -1,15 +1,12 @@
 import os
 import math
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from parameterized import parameterized
 from cereal import car, custom
 from opendbc.car import DT_CTRL
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.structs import CarParams
-from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args
+from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface
 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
@@ -21,11 +18,6 @@ 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}
 ALL_REQUESTS = {tuple(r.request) for config in FW_QUERY_CONFIGS.values() for r in config.requests}
 MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60'))
@@ -37,43 +29,10 @@ class TestCarInterfaces:
            phases=(Phase.reuse, Phase.generate, Phase.shrink))
  @given(data=st.data())
  def test_car_interfaces(self, car_name, data):
-    CarInterface = interfaces[car_name]
+    car_interface = get_fuzzy_car_interface(car_name, data.draw)
-
+    car_params = car_interface.CP.as_reader()
-    args = get_fuzzy_car_interface_args(data.draw)
+    car_params_sp = car_interface.CP_SP
    car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
                                         alpha_long=args['alpha_long'], is_release=False, docs=False)
    car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
                                               alpha_long=args['alpha_long'], docs=False)
    car_params = car_params.as_reader()
    car_interface = CarInterface(car_params, car_params_sp)
    sunnypilot_interfaces.setup_interfaces(car_interface)
    assert car_params
    assert car_params_sp
    assert car_interface
    assert car_params.mass > 1
    assert car_params.wheelbase > 0
    # centerToFront is center of gravity to front wheels, assert a reasonable range
    assert car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7
    assert car_params.maxLateralAccel > 0
    # Longitudinal sanity checks
    assert len(car_params.longitudinalTuning.kpV) == len(car_params.longitudinalTuning.kpBP)
    assert len(car_params.longitudinalTuning.kiV) == len(car_params.longitudinalTuning.kiBP)
    # Lateral sanity checks
    if car_params.steerControlType != CarParams.SteerControlType.angle:
      tune = car_params.lateralTuning
      if tune.which() == 'pid':
        if car_name != MOCK.MOCK:
          assert not math.isnan(tune.pid.kf) and tune.pid.kf > 0
          assert len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP)
          assert len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP)
      elif tune.which() == 'torque':
        assert not math.isnan(tune.torque.kf) and tune.torque.kf > 0
        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)
@@ -101,7 +60,7 @@ class TestCarInterfaces:
    # Test controller initialization
    # TODO: wait until card refactor is merged to run controller a few times,
    #  hypothesis also slows down significantly with just one more message draw
-    LongControl(car_params)
+    LongControl(car_params, car_params_sp)
    if car_params.steerControlType == CarParams.SteerControlType.angle:
      LatControlAngle(car_params, car_params_sp, car_interface)
    elif car_params.lateralTuning.which() == 'pid':
@@ -5,7 +5,7 @@ import numpy as np
 from parameterized import parameterized_class
 from cereal import log
 from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
-from cereal import car
+from cereal import car, custom
 from openpilot.common.constants import CV
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
@@ -44,12 +44,13 @@ class TestCruiseSpeed:
    assert simulation_steady_state == pytest.approx(cruise_speed, abs=.01), f'Did not reach {self.speed} m/s'
-# TODO: test pcmCruise
+# TODO: test pcmCruise and pcmCruiseSpeed
-@parameterized_class(('pcm_cruise',), [(False,)])
+@parameterized_class(('pcm_cruise', 'pcm_cruise_speed'), [(False, True)])
 class TestVCruiseHelper:
  def setup_method(self):
    self.CP = car.CarParams(pcmCruise=self.pcm_cruise)
-    self.v_cruise_helper = VCruiseHelper(self.CP)
+    self.CP_SP = custom.CarParamsSP(pcmCruiseSpeed=self.pcm_cruise_speed)
    self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
    self.reset_cruise_speed_state()
  def reset_cruise_speed_state(self):
@@ -58,7 +58,7 @@ class Controls(ControlsExt, ModelStateBase):
    self.pose_calibrator = PoseCalibrator()
    self.calibrated_pose: Pose | None = None
-    self.LoC = LongControl(self.CP)
+    self.LoC = LongControl(self.CP, self.CP_SP)
    self.VM = VehicleModel(self.CP)
    self.LaC: LatControl
    if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
@@ -116,7 +116,8 @@ class Controls(ControlsExt, ModelStateBase):
    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
+    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and \
                    (self.CP.openpilotLongitudinalControl or not self.CP_SP.pcmCruiseSpeed)
    actuators = CC.actuators
    actuators.longControlState = self.LoC.long_control_state
@@ -168,7 +169,7 @@ class Controls(ControlsExt, ModelStateBase):
      CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist()
      CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist()
-    CC.cruiseControl.override = CC.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl
+    CC.cruiseControl.override = CC.enabled and not CC.longActive and (self.CP.openpilotLongitudinalControl or not self.CP_SP.pcmCruiseSpeed)
    CC.cruiseControl.cancel = CS.cruiseState.enabled and (not CC.enabled or not self.CP.pcmCruise)
    CC.cruiseControl.resume = CC.enabled and CS.cruiseState.standstill and not self.sm['longitudinalPlan'].shouldStop
@@ -51,6 +51,10 @@ class DesireHelper:
    self.lane_turn_controller = LaneTurnController(self)
    self.lane_turn_direction = custom.TurnDirection.none
  @staticmethod
  def get_lane_change_direction(CS):
    return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right
  def update(self, carstate, lateral_active, lane_change_prob):
    self.alc.update_params()
    self.lane_turn_controller.update_params()
@@ -71,12 +75,13 @@ class DesireHelper:
      if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
        self.lane_change_state = LaneChangeState.preLaneChange
        self.lane_change_ll_prob = 1.0
        # Initialize lane change direction to prevent UI alert flicker
        self.lane_change_direction = self.get_lane_change_direction(carstate)
      # LaneChangeState.preLaneChange
      elif self.lane_change_state == LaneChangeState.preLaneChange:
-        # Set lane change direction
+        # Update lane change direction
-        self.lane_change_direction = LaneChangeDirection.left if \
+        self.lane_change_direction = self.get_lane_change_direction(carstate)
          carstate.leftBlinker else LaneChangeDirection.right
        torque_applied = carstate.steeringPressed and \
                         ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
@@ -48,6 +48,10 @@ class LatControlTorque(LatControl):
                        self.lateral_accel_from_torque(-self.steer_max, self.torque_params))
  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
    # Override torque params from extension
    if self.extension.update_override_torque_params(self.torque_params):
      self.update_limits()
    pid_log = log.ControlsState.LateralTorqueState.new_message()
    if not active:
      output_torque = 0.0
@@ -56,10 +60,8 @@ class LatControlTorque(LatControl):
      actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
      roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
      curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
      desired_lateral_accel = desired_curvature * CS.vEgo ** 2
-      # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
+      desired_lateral_accel = desired_curvature * CS.vEgo ** 2
      # desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2
      actual_lateral_accel = actual_curvature * CS.vEgo ** 2
      lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
@@ -71,6 +73,8 @@ class LatControlTorque(LatControl):
      # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
      pid_log.error = float(setpoint - measurement)
      ff = gravity_adjusted_lateral_accel
      # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
      ff -= self.torque_params.latAccelOffset
      ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
@@ -10,8 +10,11 @@ CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 LongCtrlState = car.CarControl.Actuators.LongControlState
-def long_control_state_trans(CP, active, long_control_state, v_ego,
+def long_control_state_trans(CP, CP_SP, active, long_control_state, v_ego,
                             should_stop, brake_pressed, cruise_standstill):
  # Gas Interceptor
  cruise_standstill = cruise_standstill and not CP_SP.enableGasInterceptor
  stopping_condition = should_stop
  starting_condition = (not should_stop and
                        not cruise_standstill and
@@ -45,8 +48,9 @@ def long_control_state_trans(CP, active, long_control_state, v_ego,
  return long_control_state
 class LongControl:
-  def __init__(self, CP):
+  def __init__(self, CP, CP_SP):
    self.CP = CP
    self.CP_SP = CP_SP
    self.long_control_state = LongCtrlState.off
    self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
                             (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
@@ -61,7 +65,7 @@ class LongControl:
    self.pid.neg_limit = accel_limits[0]
    self.pid.pos_limit = accel_limits[1]
-    self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo,
+    self.long_control_state = long_control_state_trans(self.CP, self.CP_SP, active, self.long_control_state, CS.vEgo,
                                                       should_stop, CS.brakePressed,
                                                       CS.cruiseState.standstill)
    if self.long_control_state == LongCtrlState.off:
@@ -146,6 +146,9 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
      clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
      accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)
    # Get new v_cruise and a_desired from Smart Cruise Control and Speed Limit Assist
    v_cruise, self.a_desired = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)
    if force_slow_decel:
      v_cruise = 0.0
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 from cereal import car
 from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
@@ -16,14 +17,18 @@ def main():
  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
  cloudlog.info("plannerd got CarParams: %s", CP.brand)
  gps_location_service = get_gps_location_service(params)
  ldw = LaneDepartureWarning()
  longitudinal_planner = LongitudinalPlanner(CP)
  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
-                           poll='modelV2')
+                            'liveMapDataSP', 'carStateSP', gps_location_service],
                           poll='carState')
  while True:
    sm.update()
    longitudinal_planner.sla.update_car_state(sm['carState'])
    if sm.updated['modelV2']:
      longitudinal_planner.update(sm)
      longitudinal_planner.publish(sm, pm)
@@ -1,4 +1,4 @@
-from cereal import car
+from cereal import car, custom
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
@@ -8,49 +8,52 @@ class TestLongControlStateTransition:
  def test_stay_stopped(self):
    CP = car.CarParams.new_message()
    CP_SP = custom.CarParamsSP.new_message()
    active = True
    current_state = LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                             should_stop=True, brake_pressed=False, cruise_standstill=False)
    assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                             should_stop=False, brake_pressed=True, cruise_standstill=False)
    assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                             should_stop=False, brake_pressed=False, cruise_standstill=True)
    assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
                             should_stop=False, brake_pressed=False, cruise_standstill=False)
    assert next_state == LongCtrlState.pid
    active = False
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
                             should_stop=False, brake_pressed=False, cruise_standstill=False)
    assert next_state == LongCtrlState.off
 def test_engage():
  CP = car.CarParams.new_message()
  CP_SP = custom.CarParamsSP.new_message()
  active = True
  current_state = LongCtrlState.off
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                             should_stop=True, brake_pressed=False, cruise_standstill=False)
  assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                             should_stop=False, brake_pressed=True, cruise_standstill=False)
  assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                             should_stop=False, brake_pressed=False, cruise_standstill=True)
  assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                             should_stop=False, brake_pressed=False, cruise_standstill=False)
  assert next_state == LongCtrlState.pid
 def test_starting():
  CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
  CP_SP = custom.CarParamsSP.new_message()
  active = True
  current_state = LongCtrlState.starting
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                             should_stop=False, brake_pressed=False, cruise_standstill=False)
  assert next_state == LongCtrlState.starting
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
                             should_stop=False, brake_pressed=False, cruise_standstill=False)
  assert next_state == LongCtrlState.pid
@@ -0,0 +1,70 @@
 import numpy as np
 from cereal import car, messaging
 from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
 from opendbc.car import structs
 from opendbc.car.lateral import get_friction, FRICTION_THRESHOLD
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.locationd.torqued import TorqueEstimator, MIN_BUCKET_POINTS, POINTS_PER_BUCKET, STEER_BUCKET_BOUNDS
 np.random.seed(0)
 LA_ERR_STD = 1.0
 INPUT_NOISE_STD = 0.08
 V_EGO = 30.0
 WARMUP_BUCKET_POINTS = (1.5*MIN_BUCKET_POINTS).astype(int)
 STRAIGHT_ROAD_LA_BOUNDS = (0.02, 0.03)
 ROLL_BIAS_DEG = 2.0
 ROLL_COMPENSATION_BIAS = ACCELERATION_DUE_TO_GRAVITY*float(np.sin(np.deg2rad(ROLL_BIAS_DEG)))
 TORQUE_TUNE = structs.CarParams.LateralTorqueTuning(latAccelFactor=2.0, latAccelOffset=0.0, friction=0.2)
 TORQUE_TUNE_BIASED = structs.CarParams.LateralTorqueTuning(latAccelFactor=2.0, latAccelOffset=-ROLL_COMPENSATION_BIAS, friction=0.2)
 def generate_inputs(torque_tune, la_err_std, input_noise_std=None):
  rng = np.random.default_rng(0)
  steer_torques = np.concat([rng.uniform(bnd[0], bnd[1], pts) for bnd, pts in zip(STEER_BUCKET_BOUNDS, WARMUP_BUCKET_POINTS, strict=True)])
  la_errs = rng.normal(scale=la_err_std, size=steer_torques.size)
  frictions = np.array([get_friction(la_err, 0.0, FRICTION_THRESHOLD, torque_tune) for la_err in la_errs])
  lat_accels = torque_tune.latAccelFactor*steer_torques + torque_tune.latAccelOffset + frictions
  if input_noise_std is not None:
    steer_torques += rng.normal(scale=input_noise_std, size=steer_torques.size)
    lat_accels += rng.normal(scale=input_noise_std, size=steer_torques.size)
  return steer_torques, lat_accels
 def get_warmed_up_estimator(steer_torques, lat_accels):
  est = TorqueEstimator(car.CarParams())
  for steer_torque, lat_accel in zip(steer_torques, lat_accels, strict=True):
    est.filtered_points.add_point(steer_torque, lat_accel)
  return est
 def simulate_straight_road_msgs(est):
  carControl = messaging.new_message('carControl').carControl
  carOutput = messaging.new_message('carOutput').carOutput
  carState = messaging.new_message('carState').carState
  livePose = messaging.new_message('livePose').livePose
  carControl.latActive = True
  carState.vEgo = V_EGO
  carState.steeringPressed = False
  ts = DT_MDL*np.arange(2*POINTS_PER_BUCKET)
  steer_torques = np.concat((np.linspace(-0.03, -0.02, POINTS_PER_BUCKET), np.linspace(0.02, 0.03, POINTS_PER_BUCKET)))
  lat_accels = TORQUE_TUNE.latAccelFactor * steer_torques
  for t, steer_torque, lat_accel in zip(ts, steer_torques, lat_accels, strict=True):
    carOutput.actuatorsOutput.torque = float(-steer_torque)
    livePose.orientationNED.x = float(np.deg2rad(ROLL_BIAS_DEG))
    livePose.angularVelocityDevice.z = float(lat_accel / V_EGO)
    for which, msg in (('carControl', carControl), ('carOutput', carOutput), ('carState', carState), ('livePose', livePose)):
      est.handle_log(t, which, msg)
 def test_estimated_offset():
  steer_torques, lat_accels = generate_inputs(TORQUE_TUNE_BIASED, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
  est = get_warmed_up_estimator(steer_torques, lat_accels)
  msg = est.get_msg()
  # TODO add lataccelfactor and friction check when we have more accurate estimates
  assert abs(msg.liveTorqueParameters.latAccelOffsetRaw - TORQUE_TUNE_BIASED.latAccelOffset) < 0.1
 def test_straight_road_roll_bias():
  steer_torques, lat_accels = generate_inputs(TORQUE_TUNE, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
  est = get_warmed_up_estimator(steer_torques, lat_accels)
  simulate_straight_road_msgs(est)
  msg = est.get_msg()
  assert (msg.liveTorqueParameters.latAccelOffsetRaw < -0.05) and np.isfinite(msg.liveTorqueParameters.latAccelOffsetRaw)
@@ -11,6 +11,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, PoseCalibrator, Pose
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.selfdrive.locationd.torqued_ext import TorqueEstimatorExt
 HISTORY = 5  # secs
 POINTS_PER_BUCKET = 1500
@@ -50,9 +51,10 @@ class TorqueBuckets(PointBuckets):
        break
-class TorqueEstimator(ParameterEstimator):
+class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
  def __init__(self, CP, decimated=False, track_all_points=False):
-    super().__init__()
+    ParameterEstimator.__init__(self)
    TorqueEstimatorExt.__init__(self, CP)
    self.CP = CP
    self.hist_len = int(HISTORY / DT_MDL)
    self.lag = 0.0
@@ -82,6 +84,8 @@ class TorqueEstimator(ParameterEstimator):
    self.calibrator = PoseCalibrator()
    TorqueEstimatorExt.initialize_custom_params(self, decimated)
    self.reset()
    initial_params = {
@@ -260,6 +264,8 @@ def main(demo=False):
          t = sm.logMonoTime[which] * 1e-9
          estimator.handle_log(t, which, sm[which])
    TorqueEstimatorExt.update_use_params(estimator)
    # 4Hz driven by livePose
    if sm.frame % 5 == 0:
      pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks()))
@@ -13,12 +13,9 @@ class ModelConstants:
  META_T_IDXS = [2., 4., 6., 8., 10.]
  # model inputs constants
-  MODEL_FREQ = 20
+  N_FRAMES = 2
-  HISTORY_FREQ = 5
+  MODEL_RUN_FREQ = 20
-  HISTORY_LEN_SECONDS = 5
+  MODEL_CONTEXT_FREQ = 5 # "model_trained_fps"
  TEMPORAL_SKIP = MODEL_FREQ // HISTORY_FREQ
  FULL_HISTORY_BUFFER_LEN = MODEL_FREQ * HISTORY_LEN_SECONDS
  INPUT_HISTORY_BUFFER_LEN = HISTORY_FREQ * HISTORY_LEN_SECONDS
  FEATURE_LEN = 512
@@ -3,6 +3,7 @@ import capnp
 import numpy as np
 from cereal import log
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
 from openpilot.sunnypilot.models.helpers import plan_x_idxs_helper
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -95,8 +96,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  # action
  modelV2.action = action
-  # times at X_IDXS of edges and lines aren't used
+  # times at X_IDXS of edges and lines
-  LINE_T_IDXS: list[float] = []
+  LINE_T_IDXS: list[float] = plan_x_idxs_helper(ModelConstants, Plan, net_output_data)
  # lane lines
  modelV2.init('laneLines', 4)
@@ -149,7 +150,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  meta.hardBrakePredicted = hard_brake_predicted.item()
  # confidence
-  if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
+  if vipc_frame_id % (2*ModelConstants.MODEL_RUN_FREQ) == 0:
    # any disengage prob
    brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE]
    gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE]
@@ -80,6 +80,64 @@ class FrameMeta:
    if vipc is not None:
      self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 class InputQueues:
  def __init__ (self, model_fps, env_fps, n_frames_input):
    assert env_fps % model_fps == 0
    assert env_fps >= model_fps
    self.model_fps = model_fps
    self.env_fps = env_fps
    self.n_frames_input = n_frames_input
    self.dtypes = {}
    self.shapes = {}
    self.q = {}
  def update_dtypes_and_shapes(self, input_dtypes, input_shapes) -> None:
    self.dtypes.update(input_dtypes)
    if self.env_fps == self.model_fps:
      self.shapes.update(input_shapes)
    else:
      for k in input_shapes:
        shape = list(input_shapes[k])
        if 'img' in k:
          n_channels = shape[1] // self.n_frames_input
          shape[1] = (self.env_fps // self.model_fps + (self.n_frames_input - 1)) * n_channels
        else:
          shape[1] = (self.env_fps // self.model_fps) * shape[1]
        self.shapes[k] = tuple(shape)
  def reset(self) -> None:
    self.q = {k: np.zeros(self.shapes[k], dtype=self.dtypes[k]) for k in self.dtypes.keys()}
  def enqueue(self, inputs:dict[str, np.ndarray]) -> None:
    for k in inputs.keys():
      if inputs[k].dtype != self.dtypes[k]:
        raise ValueError(f'supplied input <{k}({inputs[k].dtype})> has wrong dtype, expected {self.dtypes[k]}')
      input_shape = list(self.shapes[k])
      input_shape[1] = -1
      single_input = inputs[k].reshape(tuple(input_shape))
      sz = single_input.shape[1]
      self.q[k][:,:-sz] = self.q[k][:,sz:]
      self.q[k][:,-sz:] = single_input
  def get(self, *names) -> dict[str, np.ndarray]:
    if self.env_fps == self.model_fps:
      return {k: self.q[k] for k in names}
    else:
      out = {}
      for k in names:
        shape = self.shapes[k]
        if 'img' in k:
          n_channels = shape[1] // (self.env_fps // self.model_fps + (self.n_frames_input - 1))
          out[k] = np.concatenate([self.q[k][:, s:s+n_channels] for s in np.linspace(0, shape[1] - n_channels, self.n_frames_input, dtype=int)], axis=1)
        elif 'pulse' in k:
          # any pulse within interval counts
          out[k] = self.q[k].reshape((shape[0], shape[1] * self.model_fps // self.env_fps, self.env_fps // self.model_fps, -1)).max(axis=2)
        else:
          idxs = np.arange(-1, -shape[1], -self.env_fps // self.model_fps)[::-1]
          out[k] = self.q[k][:, idxs]
      return out
 class ModelState(ModelStateBase):
  frames: dict[str, DrivingModelFrame]
  inputs: dict[str, np.ndarray]
@@ -102,19 +160,15 @@ class ModelState(ModelStateBase):
      self.policy_output_slices = policy_metadata['output_slices']
      policy_output_size = policy_metadata['output_shapes']['outputs'][1]
-    self.frames = {name: DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP) for name in self.vision_input_names}
+    self.frames = {name: DrivingModelFrame(context, ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ) for name in self.vision_input_names}
    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
    self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32)
    self.full_desire = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32)
    self.temporal_idxs = slice(-1-(ModelConstants.TEMPORAL_SKIP*(ModelConstants.INPUT_HISTORY_BUFFER_LEN-1)), None, ModelConstants.TEMPORAL_SKIP)
    # policy inputs
-    self.numpy_inputs = {
+    self.numpy_inputs = {k: np.zeros(self.policy_input_shapes[k], dtype=np.float32) for k in self.policy_input_shapes}
-      'desire': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32),
+    self.full_input_queues = InputQueues(ModelConstants.MODEL_CONTEXT_FREQ, ModelConstants.MODEL_RUN_FREQ, ModelConstants.N_FRAMES)
-      'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
+    for k in ['desire_pulse', 'features_buffer']:
-      'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
+      self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape})
-    }
+    self.full_input_queues.reset()
    # img buffers are managed in openCL transform code
    self.vision_inputs: dict[str, Tensor] = {}
@@ -136,15 +190,10 @@ class ModelState(ModelStateBase):
  def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs['desire'][0] = 0
+    inputs['desire_pulse'][0] = 0
-    new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
+    new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
-    self.prev_desire[:] = inputs['desire']
+    self.prev_desire[:] = inputs['desire_pulse']
    self.full_desire[0,:-1] = self.full_desire[0,1:]
    self.full_desire[0,-1] = new_desire
    self.numpy_inputs['desire'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2)
    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
    imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names}
    if TICI and not USBGPU:
@@ -163,9 +212,10 @@ class ModelState(ModelStateBase):
    self.vision_output = self.vision_run(**self.vision_inputs).contiguous().realize().uop.base.buffer.numpy()
    vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices))
-    self.full_features_buffer[0,:-1] = self.full_features_buffer[0,1:]
+    self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire})
-    self.full_features_buffer[0,-1] = vision_outputs_dict['hidden_state'][0, :]
+    for k in ['desire_pulse', 'features_buffer']:
-    self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
+      self.numpy_inputs[k][:] = self.full_input_queues.get(k)[k]
    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
    self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
@@ -223,7 +273,7 @@ def main(demo=False):
  params = Params()
  # setup filter to track dropped frames
-  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
+  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_RUN_FREQ)
  frame_id = 0
  last_vipc_frame_id = 0
  run_count = 0
@@ -320,7 +370,7 @@ def main(demo=False):
    bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
    transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
    inputs:dict[str, np.ndarray] = {
-      'desire': vec_desire,
+      'desire_pulse': vec_desire,
      'traffic_convention': traffic_convention,
    }
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:04b763fb71efe57a8a4c4168a8043ecd58939015026ded0dc755ded6905ac251
+oid sha256:ebb38a934d6472c061cc6010f46d9720ca132d631a47e585a893bdd41ade2419
-size 12343523
+size 12343535
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e66bb8d53eced3786ed71a59b55ffc6810944cb217f0518621cc76303260a1ef
+oid sha256:befac016a247b7ad5dc5b55d339d127774ed7bd2b848f1583f72aa4caee37781
 size 46271991
@@ -84,12 +84,10 @@ Panda *connect(std::string serial="", uint32_t index=0) {
    panda->set_can_fd_auto(i, true);
  }
-  bool is_deprecated_panda = std::find(DEPRECATED_PANDA_TYPES.begin(),
+  bool is_supported_panda = std::find(SUPPORTED_PANDA_TYPES.begin(), SUPPORTED_PANDA_TYPES.end(), panda->hw_type) != SUPPORTED_PANDA_TYPES.end();
                                       DEPRECATED_PANDA_TYPES.end(),
                                       panda->hw_type) != DEPRECATED_PANDA_TYPES.end();
-  if (is_deprecated_panda) {
+  if (!is_supported_panda) {
-    LOGW("panda %s is deprecated (hw_type: %i), skipping firmware check...", panda->hw_serial().c_str(), static_cast<uint16_t>(panda->hw_type));
+    LOGW("panda %s is not supported (hw_type: %i), skipping firmware check...", panda->hw_serial().c_str(), static_cast<uint16_t>(panda->hw_type));
    return panda.release();
  }
@@ -175,7 +173,6 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
  ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
  ps.setInterruptLoad(health.interrupt_load_pkt);
  ps.setFanPower(health.fan_power);
  ps.setFanStallCount(health.fan_stall_count);
  ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt));
  ps.setSpiErrorCount(health.spi_error_count_pkt);
  ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
@@ -9,13 +9,10 @@
 void pandad_main_thread(std::vector<std::string> serials);
 // deprecated devices
-static const std::vector<cereal::PandaState::PandaType> DEPRECATED_PANDA_TYPES = {
+static const std::vector<cereal::PandaState::PandaType> SUPPORTED_PANDA_TYPES = {
-  cereal::PandaState::PandaType::WHITE_PANDA,
+  cereal::PandaState::PandaType::RED_PANDA,
-  cereal::PandaState::PandaType::GREY_PANDA,
+  cereal::PandaState::PandaType::TRES,
-  cereal::PandaState::PandaType::BLACK_PANDA,
+  cereal::PandaState::PandaType::CUATRO,
  cereal::PandaState::PandaType::PEDAL,
  cereal::PandaState::PandaType::UNO,
  cereal::PandaState::PandaType::RED_PANDA_V2
 };
@@ -29,6 +29,12 @@ def flash_panda(panda_serial: str) -> Panda:
    HARDWARE.recover_internal_panda()
    raise
  # skip flashing if the detected panda is not supported
  supported_panda = check_panda_support(panda)
  if not supported_panda:
    cloudlog.warning(f"Panda {panda_serial} is not supported (hw_type: {panda.get_type()}), skipping flash...")
    return panda
  fw_signature = get_expected_signature(panda)
  internal_panda = panda.is_internal()
@@ -36,12 +42,6 @@ def flash_panda(panda_serial: str) -> Panda:
  panda_signature = b"" if panda.bootstub else panda.get_signature()
  cloudlog.warning(f"Panda {panda_serial} connected, version: {panda_version}, signature {panda_signature.hex()[:16]}, expected {fw_signature.hex()[:16]}")
  # skip flashing if the detected device is deprecated from upstream
  hw_type = panda.get_type()
  if hw_type in Panda.DEPRECATED_DEVICES:
    cloudlog.warning(f"Panda {panda_serial} is deprecated (hw_type: {hw_type}), skipping flash...")
    return panda
  if panda.bootstub or panda_signature != fw_signature:
    cloudlog.info("Panda firmware out of date, update required")
    panda.flash()
@@ -67,6 +67,14 @@ def flash_panda(panda_serial: str) -> Panda:
  return panda
 def check_panda_support(panda) -> bool:
  hw_type = panda.get_type()
  if hw_type in Panda.SUPPORTED_DEVICES:
    return True
  return False
 def main() -> None:
  # signal pandad to close the relay and exit
  def signal_handler(signum, frame):
@@ -91,11 +99,6 @@ def main() -> None:
      cloudlog.event("pandad.flash_and_connect", count=count)
      params.remove("PandaSignatures")
      # TODO: remove this in the next AGNOS
      # wait until USB is up before counting
      if time.monotonic() < 60.:
        no_internal_panda_count = 0
      # Handle missing internal panda
      if no_internal_panda_count > 0:
        if no_internal_panda_count == 3:
@@ -145,6 +148,12 @@ def main() -> None:
      params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas))
      for panda in pandas:
        # skip health check if the detected panda is not supported
        supported_panda = check_panda_support(panda)
        if not supported_panda:
          cloudlog.warning(f"Panda {panda.get_usb_serial()} is not supported (hw_type: {panda.get_type()}), skipping health check...")
          continue
        # check health for lost heartbeat
        health = panda.health()
        if health["heartbeat_lost"]:
@@ -22,8 +22,6 @@ class TestPandad:
    if len(Panda.list()) == 0:
      self._run_test(60)
    self.spi = HARDWARE.get_device_type() != 'tici'
  def teardown_method(self):
    managed_processes['pandad'].stop()
@@ -106,11 +104,9 @@ class TestPandad:
    # - 0.2s pandad -> pandad
    # - plus some buffer
    print("startup times", ts, sum(ts) / len(ts))
-    assert 0.1 < (sum(ts)/len(ts)) < (0.7 if self.spi else 5.0)
+    assert 0.1 < (sum(ts)/len(ts)) < 0.7
  def test_protocol_version_check(self):
    if not self.spi:
      pytest.skip("SPI test")
    # flash old fw
    fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
    self._flash_bootstub_and_test(fn, expect_mismatch=True)
@@ -6,7 +6,6 @@ import random
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
 from openpilot.system.hardware import HARDWARE
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages
@@ -16,8 +15,6 @@ JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
 class TestBoarddSpi:
  @classmethod
  def setup_class(cls):
    if HARDWARE.get_device_type() == 'tici':
      pytest.skip("only for spi pandas")
    os.environ['STARTED'] = '1'
    os.environ['SPI_ERR_PROB'] = '0.001'
    if not JUNGLE_SPAM:
@@ -29,10 +29,6 @@
    "text": "Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.",
    "severity": 1
  },
  "Offroad_StorageMissing": {
    "text": "NVMe drive not mounted.",
    "severity": 1
  },
  "Offroad_CarUnrecognized": {
    "text": "sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.",
    "severity": 0
@@ -83,7 +83,7 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
    f"Steer Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}",
    "",
    AlertStatus.userPrompt, AlertSize.small,
-    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 0.4)
+    Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.4)
 def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
@@ -21,12 +21,12 @@ from openpilot.selfdrive.selfdrived.helpers import ExcessiveActuationCheck
 from openpilot.selfdrive.selfdrived.state import StateMachine
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.version import get_build_metadata
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
 from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 REPLAY = "REPLAY" in os.environ
@@ -96,7 +96,7 @@ class SelfdriveD(CruiseHelper):
                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                   'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
-                                   'modelDataV2SP'] + \
+                                   'modelDataV2SP', 'longitudinalPlanSP'] + \
                                   self.camera_packets + self.sensor_packets + self.gps_packets,
                                  ignore_alive=ignore, ignore_avg_freq=ignore,
                                  ignore_valid=ignore, frequency=int(1/DT_CTRL))
@@ -135,13 +135,7 @@ class SelfdriveD(CruiseHelper):
    self.state_machine = StateMachine()
    self.rk = Ratekeeper(100, print_delay_threshold=None)
-    # some comma three with NVMe experience NVMe dropouts mid-drive that
+    self.ignored_processes = {'mapd', }
    # cause loggerd to crash on write, so ignore it only on that platform
    self.ignored_processes = set()
    nvme_expected = os.path.exists('/dev/nvme0n1') or (not os.path.isfile("/persist/comma/living-in-the-moment"))
    if HARDWARE.get_device_type() == 'tici' and nvme_expected:
      self.ignored_processes = {'loggerd', }
    self.ignored_processes.update({'mapd'})
    # Determine startup event
    is_remote = build_metadata.openpilot.comma_remote or build_metadata.openpilot.sunnypilot_remote
@@ -163,8 +157,9 @@ class SelfdriveD(CruiseHelper):
    self.events_sp_prev = []
    self.mads = ModularAssistiveDrivingSystem(self)
    self.icbm = IntelligentCruiseButtonManagement(self.CP, self.CP_SP)
-    self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)
+    self.car_events_sp = CarSpecificEventsSP(self.CP, self.CP_SP)
    CruiseHelper.__init__(self, self.CP)
@@ -210,6 +205,7 @@ class SelfdriveD(CruiseHelper):
    if not self.CP.notCar:
      self.events.add_from_msg(self.sm['driverMonitoringState'].events)
      self.events_sp.add_from_msg(self.sm['longitudinalPlanSP'].events)
    # Add car events, ignore if CAN isn't valid
    if CS.canValid:
@@ -449,6 +445,8 @@ class SelfdriveD(CruiseHelper):
          self.events.add(EventName.personalityChanged)
        self.experimental_mode_switched = False
    self.icbm.run(CS, self.sm['carControl'], self.sm['longitudinalPlanSP'], self.is_metric)
  def data_sample(self):
    _car_state = messaging.recv_one(self.car_state_sock)
    CS = _car_state.carState if _car_state else self.CS_prev
@@ -553,6 +551,11 @@ class SelfdriveD(CruiseHelper):
    mads.active = self.mads.active
    mads.available = self.mads.enabled_toggle
    icbm = ss_sp.intelligentCruiseButtonManagement
    icbm.state = self.icbm.state
    icbm.sendButton = self.icbm.cruise_button
    icbm.vTarget = self.icbm.v_target
    self.pm.send('selfdriveStateSP', ss_sp_msg)
    # onroadEventsSP - logged every second or on change
@@ -67,6 +67,9 @@ class Plant:
    lp = messaging.new_message('liveParameters')
    car_control = messaging.new_message('carControl')
    model = messaging.new_message('modelV2')
    car_state_sp = messaging.new_message('carStateSP')
    live_map_data_sp = messaging.new_message('liveMapDataSP')
    gps_data = messaging.new_message('gpsLocation')
    a_lead = (v_lead - self.v_lead_prev)/self.ts
    self.v_lead_prev = v_lead
@@ -133,7 +136,10 @@ class Plant:
          'controlsState': control.controlsState,
          'selfdriveState': ss.selfdriveState,
          'liveParameters': lp.liveParameters,
-          'modelV2': model.modelV2}
+          'modelV2': model.modelV2,
          'carStateSP': car_state_sp.carStateSP,
          'liveMapDataSP': live_map_data_sp.liveMapDataSP,
          'gpsLocation': gps_data.gpsLocation}
    self.planner.update(sm)
    self.acceleration = self.planner.output_a_target
    self.speed = self.speed + self.acceleration * self.ts
@@ -28,7 +28,8 @@ MigrationFunc = Callable[[list[MessageWithIndex]], MigrationOps]
 # 3. product is the message type created by the migration function, and the function will be skipped if product type already exists in lr
 # 4. it must return a list of operations to be applied to the logreader (replace, add, delete)
 # 5. all migration functions must be independent of each other
-def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: bool = False, camera_states: bool = False):
+def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: bool = False, camera_states: bool = False,
                live_location_kalman: bool = True):
  migrations = [
    migrate_sensorEvents,
    migrate_carParams,
@@ -37,7 +38,6 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo
    migrate_carOutput,
    migrate_controlsState,
    migrate_carState,
    migrate_liveLocationKalman,
    migrate_liveTracks,
    migrate_driverAssistance,
    migrate_drivingModelData,
@@ -51,6 +51,8 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo
    migrations.extend([migrate_pandaStates, migrate_peripheralState])
  if camera_states:
    migrations.append(migrate_cameraStates)
  if live_location_kalman:
    migrations.append(migrate_liveLocationKalman)
  return migrate(lr, migrations)
@@ -496,7 +496,7 @@ CONFIGS = [
    pubs=[
      "cameraOdometry", "accelerometer", "gyroscope", "liveCalibration", "carState"
    ],
-    subs=["livePose"],
+    subs=["liveLocationKalman", "livePose"],
    ignore=["logMonoTime"],
    should_recv_callback=MessageBasedRcvCallback("cameraOdometry"),
    tolerance=NUMPY_TOLERANCE,
@@ -595,7 +595,7 @@ def get_custom_params_from_lr(lr: LogIterable, initial_state: str = "first") ->
  if len(live_calibration) > 0:
    custom_params["CalibrationParams"] = live_calibration[msg_index].as_builder().to_bytes()
  if len(live_parameters) > 0:
-    custom_params["LiveParameters"] = live_parameters[msg_index].as_builder().to_bytes()
+    custom_params["LiveParametersV2"] = live_parameters[msg_index].as_builder().to_bytes()
  if len(live_torque_parameters) > 0:
    custom_params["LiveTorqueParameters"] = live_torque_parameters[msg_index].as_builder().to_bytes()
@@ -1 +1 @@
-6d3219bca9f66a229b38a5382d301a92b0147edb
+afcab1abb62b9d5678342956cced4712f44e909e
@@ -18,7 +18,6 @@ from openpilot.common.timeout import Timeout
 from openpilot.common.params import Params
 from openpilot.selfdrive.selfdrived.events import EVENTS, ET
 from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.hw import Paths
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.log_time_series import msgs_to_time_series
@@ -33,7 +32,7 @@ CPU usage budget
 TEST_DURATION = 25
 LOG_OFFSET = 8
-MAX_TOTAL_CPU = 280.  # total for all 8 cores
+MAX_TOTAL_CPU = 300.  # total for all 8 cores
 PROCS = {
  # Baseline CPU usage by process
  "selfdrive.controls.controlsd": 16.0,
@@ -57,30 +56,20 @@ PROCS = {
  "selfdrive.ui.soundd": 3.0,
  "selfdrive.ui.feedback.feedbackd": 1.0,
  "selfdrive.monitoring.dmonitoringd": 4.0,
-  "./proclogd": 2.0,
+  "system.proclogd": 3.0,
  "system.logmessaged": 1.0,
  "system.tombstoned": 0,
-  "./logcatd": 1.0,
+  "system.journald": 1.0,
  "system.micd": 5.0,
  "system.timed": 0,
  "selfdrive.pandad.pandad": 0,
  "system.statsd": 1.0,
  "system.loggerd.uploader": 15.0,
  "system.loggerd.deleter": 1.0,
  "./pandad": 19.0,
  "system.qcomgpsd.qcomgpsd": 1.0,
 }
 PROCS.update({
  "tici": {
    "./pandad": 5.0,
    "./ubloxd": 1.0,
    "system.ubloxd.pigeond": 6.0,
  },
  "tizi": {
     "./pandad": 19.0,
    "system.qcomgpsd.qcomgpsd": 1.0,
  }
 }.get(HARDWARE.get_device_type(), {}))
 TIMINGS = {
  # rtols: max/min, rsd
  "can": [2.5, 0.35],
@@ -63,14 +63,20 @@ class MainLayout(Widget):
      # Don't hide sidebar from interactive timeout
      if self._current_mode != MainState.ONROAD:
        self._sidebar.set_visible(False)
-      self._current_mode = MainState.ONROAD
+      self._set_current_layout(MainState.ONROAD)
    else:
-      self._current_mode = MainState.HOME
+      self._set_current_layout(MainState.HOME)
      self._sidebar.set_visible(True)
  def _set_current_layout(self, layout: MainState):
    if layout != self._current_mode:
      self._layouts[self._current_mode].hide_event()
      self._current_mode = layout
      self._layouts[self._current_mode].show_event()
  def open_settings(self, panel_type: PanelType):
    self._layouts[MainState.SETTINGS].set_current_panel(panel_type)
-    self._current_mode = MainState.SETTINGS
+    self._set_current_layout(MainState.SETTINGS)
    self._sidebar.set_visible(False)
  def _on_settings_clicked(self):
@@ -1,17 +0,0 @@
 import pyray as rl
 from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.network import WifiManagerUI
 class NetworkLayout(Widget):
  def __init__(self):
    super().__init__()
    self.wifi_manager = WifiManagerWrapper()
    self.wifi_ui = WifiManagerUI(self.wifi_manager)
  def _render(self, rect: rl.Rectangle):
    self.wifi_ui.render(rect)
  def shutdown(self):
    self.wifi_manager.shutdown()
@@ -2,7 +2,7 @@ import pyray as rl
 import time
 import threading
-from openpilot.common.api import Api, api_get
+from openpilot.common.api import api_get
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.ui_state import ui_state
@@ -11,7 +11,7 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.wrap_text import wrap_text
 from openpilot.system.ui.widgets import Widget
-
+from openpilot.selfdrive.ui.lib.api_helpers import get_token
 TITLE = "Firehose Mode"
 DESCRIPTION = (
@@ -163,7 +163,7 @@ class FirehoseLayout(Widget):
      dongle_id = self.params.get("DongleId")
      if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
        return
-      identity_token = Api(dongle_id).get_token()
+      identity_token = get_token(dongle_id)
      response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
      if response.status_code == 200:
        data = response.json()
@@ -2,7 +2,6 @@ import pyray as rl
 from dataclasses import dataclass
 from enum import IntEnum
 from collections.abc import Callable
 from openpilot.selfdrive.ui.layouts.network import NetworkLayout
 from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
 from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
 from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
@@ -10,7 +9,9 @@ from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
 from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.wifi_manager import WifiManager
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.network import WifiManagerUI
 # Settings close button
 SETTINGS_CLOSE_TEXT = "×"
@@ -43,7 +44,7 @@ class PanelType(IntEnum):
@dataclass
 class PanelInfo:
  name: str
-  instance: object
+  instance: Widget
  button_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
@@ -53,9 +54,12 @@ class SettingsLayout(Widget):
    self._current_panel = PanelType.DEVICE
    # Panel configuration
    wifi_manager = WifiManager()
    wifi_manager.set_active(False)
    self._panels = {
      PanelType.DEVICE: PanelInfo("Device", DeviceLayout()),
-      PanelType.NETWORK: PanelInfo("Network", NetworkLayout()),
+      PanelType.NETWORK: PanelInfo("Network", WifiManagerUI(wifi_manager)),
      PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayout()),
      PanelType.SOFTWARE: PanelInfo("Software", SoftwareLayout()),
      PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout()),
@@ -149,8 +153,14 @@ class SettingsLayout(Widget):
  def set_current_panel(self, panel_type: PanelType):
    if panel_type != self._current_panel:
      self._panels[self._current_panel].instance.hide_event()
      self._current_panel = panel_type
      self._panels[self._current_panel].instance.show_event()
-  def close_settings(self):
+  def show_event(self):
-    if self._close_callback:
+    super().show_event()
-      self._close_callback()
+    self._panels[self._current_panel].instance.show_event()
  def hide_event(self):
    super().hide_event()
    self._panels[self._current_panel].instance.hide_event()
@@ -0,0 +1,14 @@
 import time
 from functools import lru_cache
 from openpilot.common.api import Api
 TOKEN_EXPIRY_HOURS = 2
@lru_cache(maxsize=1)
 def _get_token(dongle_id: str, t: int):
  return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS)
 def get_token(dongle_id: str):
  return _get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60)))
@@ -2,14 +2,12 @@ from enum import IntEnum
 import os
 import threading
 import time
 from functools import lru_cache
-from openpilot.common.api import Api, api_get
+from openpilot.common.api import api_get
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
-
+from openpilot.selfdrive.ui.lib.api_helpers import get_token
 TOKEN_EXPIRY_HOURS = 2
 class PrimeType(IntEnum):
@@ -23,12 +21,6 @@ class PrimeType(IntEnum):
  PURPLE = 5,
@lru_cache(maxsize=1)
 def get_token(dongle_id: str, t: int):
  print('getting token')
  return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS)
 class PrimeState:
  FETCH_INTERVAL = 5.0  # seconds between API calls
  API_TIMEOUT = 10.0  # seconds for API requests
@@ -58,15 +50,13 @@ class PrimeState:
      return
    try:
-      identity_token = get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60)))
+      identity_token = get_token(dongle_id)
      response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token)
      if response.status_code == 200:
        data = response.json()
        is_paired = data.get("is_paired", False)
        prime_type = data.get("prime_type", 0)
        self.set_type(PrimeType(prime_type) if is_paired else PrimeType.UNPAIRED)
      elif response.status_code == 401:
        get_token.cache_clear()
    except Exception as e:
      cloudlog.error(f"Failed to fetch prime status: {e}")
@@ -47,10 +47,11 @@ void HudRenderer::draw(QPainter &p, const QRect &surface_rect) {
  bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0));
  p.fillRect(0, 0, surface_rect.width(), UI_HEADER_HEIGHT, bg);
-
+#ifndef SUNNYPILOT
  if (is_cruise_available) {
    drawSetSpeed(p, surface_rect);
  }
 #endif
  drawCurrentSpeed(p, surface_rect);
  p.restore();
@@ -24,6 +24,7 @@ qt_src = [
  "sunnypilot/qt/offroad/offroad_home.cc",
  "sunnypilot/qt/offroad/settings/developer_panel.cc",
  "sunnypilot/qt/offroad/settings/device_panel.cc",
  "sunnypilot/qt/offroad/settings/display_panel.cc",
  "sunnypilot/qt/offroad/settings/lateral_panel.cc",
  "sunnypilot/qt/offroad/settings/longitudinal_panel.cc",
  "sunnypilot/qt/offroad/settings/max_time_offroad.cc",
@@ -50,10 +51,14 @@ lateral_panel_qt_src = [
  "sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc",
  "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
  "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
  "sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.cc",
  "sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.cc",
 ]
 longitudinal_panel_qt_src = [
  "sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.cc",
  "sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.cc",
  "sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc",
 ]
 network_src = [
@@ -88,9 +93,13 @@ brand_settings_qt_src = [
  "sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc",
 ]
 display_panel_qt_src = [
  "sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc",
 ]
 sp_widgets_src = widgets_src + network_src
-sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src + longitudinal_panel_qt_src + osm_panel_qt_src
+sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src + \
            longitudinal_panel_qt_src + osm_panel_qt_src + display_panel_qt_src
 sp_qt_util = qt_util
 Export('sp_widgets_src', 'sp_qt_src', "sp_qt_util")
@@ -0,0 +1,63 @@
 /**
 * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 *
 * This file is part of sunnypilot and is licensed under the MIT License.
 * See the LICENSE.md file in the root directory for more details.
 */
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.h"
 OnroadScreenBrightnessControl::OnroadScreenBrightnessControl(const QString &param, const QString &title,
                                                             const QString &description, const QString &icon,
                                                             QWidget *parent)
  : ExpandableToggleRow(param, title, description, icon, parent) {
  auto *mainFrame = new QFrame(this);
  auto *mainFrameLayout = new QGridLayout();
  mainFrame->setLayout(mainFrameLayout);
  mainFrameLayout->setSpacing(0);
  onroadScreenOffTimer = new OptionControlSP(
    "OnroadScreenOffTimer",
    "",
    "",
    "",
    {0, 11}, 1, true, &onroadScreenOffTimerOptions);
  onroadScreenBrightness = new OptionControlSP(
    "OnroadScreenOffBrightness",
    "",
    "",
    "",
    {0, 100}, 10, true, nullptr, false);
  connect(onroadScreenOffTimer, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);
  connect(onroadScreenBrightness, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);
  onroadScreenOffTimer->setFixedWidth(280);
  onroadScreenBrightness->setFixedWidth(280);
  mainFrameLayout->addWidget(onroadScreenOffTimer, 0, 0, Qt::AlignLeft);
  mainFrameLayout->addWidget(onroadScreenBrightness, 0, 1, Qt::AlignRight);
  addItem(mainFrame);
  refresh();
 }
 void OnroadScreenBrightnessControl::refresh() {
  // Driving Screen Off Timer
  int valTimer = std::atoi(params.get("OnroadScreenOffTimer").c_str());
  std::string labelTimer = "<span style='font-size: 45px; font-weight: 450; color: #FFFFFF;'>";
  labelTimer += "Delay";
  labelTimer += " <br><span style='font-size: 40px; font-weight: 450; color:rgb(174, 255, 195);'>";
  labelTimer += (valTimer < 60 ? std::to_string(valTimer) + "s" : std::to_string(valTimer / 60) + "m");
  labelTimer += "</span></span>";
  onroadScreenOffTimer->setLabel(QString::fromStdString(labelTimer));
  // Driving Screen Off Brightness
  std::string valBrightness = params.get("OnroadScreenOffBrightness");
  std::string labelBrightness = "<span style='font-size: 45px; font-weight: 450; color: #FFFFFF;'>";
  labelBrightness += "Brightness";
  labelBrightness += " <br><span style='font-size: 40px; font-weight: 450; color:rgb(174, 255, 195);'>";
  labelBrightness += (valBrightness == "0" ? " Screen Off" : valBrightness + "%");
  labelBrightness += "</span></span>";
  onroadScreenBrightness->setLabel(QString::fromStdString(labelBrightness));
 }
@@ -0,0 +1,42 @@
 /**
 * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 *
 * This file is part of sunnypilot and is licensed under the MIT License.
 * See the LICENSE.md file in the root directory for more details.
 */
 #pragma once
 #include "selfdrive/ui/sunnypilot/ui.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
 static const QMap<QString, QString> onroadScreenOffTimerOptions = {
  {"0", "15"},
  {"1", "30"},
  {"2", "60"},
  {"3", "120"},
  {"4", "180"},
  {"5", "240"},
  {"6", "300"},
  {"7", "360"},
  {"8", "420"},
  {"9", "480"},
  {"10", "540"},
  {"11", "600"}
 };
 class OnroadScreenBrightnessControl : public ExpandableToggleRow {
  Q_OBJECT
 public:
  OnroadScreenBrightnessControl(const QString &param, const QString &title, const QString &desc, const QString &icon,
                                QWidget *parent = nullptr);
  void refresh();
 private:
  Params params;
  OptionControlSP *onroadScreenOffTimer;
  OptionControlSP *onroadScreenBrightness;
 };
@@ -0,0 +1,40 @@
 /**
 * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 *
 * This file is part of sunnypilot and is licensed under the MIT License.
 * See the LICENSE.md file in the root directory for more details.
 */
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h"
 DisplayPanel::DisplayPanel(QWidget *parent) : QWidget(parent) {
  main_layout = new QStackedLayout(this);
  ListWidgetSP *list = new ListWidgetSP(this, false);
  sunnypilotScreen = new QWidget(this);
  QVBoxLayout* vlayout = new QVBoxLayout(sunnypilotScreen);
  vlayout->setContentsMargins(50, 20, 50, 20);
  // Onroad Screen Off/Brightness
  onroadScreenBrightnessControl = new OnroadScreenBrightnessControl(
    "OnroadScreenOffControl",
    tr("Driving Screen Off: Non-Critical Events"),
    tr("Turn off device screen or reduce brightness after driving starts. "
       "It automatically brightens again when screen is touched or a critical event occurs."),
    "",
    this);
  list->addItem(onroadScreenBrightnessControl);
  sunnypilotScroller = new ScrollViewSP(list, this);
  vlayout->addWidget(sunnypilotScroller);
  main_layout->addWidget(sunnypilotScreen);
 }
 void DisplayPanel::showEvent(QShowEvent *event) {
  QWidget::showEvent(event);
  refresh();
 }
 void DisplayPanel::refresh() {
  onroadScreenBrightnessControl->refresh();
 }
@@ -0,0 +1,28 @@
 /**
 * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 *
 * This file is part of sunnypilot and is licensed under the MIT License.
 * See the LICENSE.md file in the root directory for more details.
 */
 #pragma once
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 class DisplayPanel : public QWidget {
  Q_OBJECT
 public:
  explicit DisplayPanel(QWidget *parent = nullptr);
  void showEvent(QShowEvent *event) override;
  void refresh();
 private:
  QStackedLayout* main_layout = nullptr;
  QWidget* sunnypilotScreen = nullptr;
  ScrollViewSP *sunnypilotScroller = nullptr;
  Params params;
  OnroadScreenBrightnessControl *onroadScreenBrightnessControl = nullptr;
 };
@@ -52,12 +52,16 @@ void MadsSettings::updateToggles(bool _offroad) {
  );
  auto cp_bytes = params.get("CarParamsPersistent");
-  if (!cp_bytes.empty()) {
+  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
    AlignedBuffer aligned_buf;
    AlignedBuffer aligned_buf_sp;
    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
    capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size()));
    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
    cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
-    if (isBrandInList(CP.getBrand(), mads_limited_settings_brands)) {
+    if (madsLimitedSettings(CP, CP_SP)) {
      params.remove("MadsMainCruiseAllowed");
      params.putBool("MadsUnifiedEngagementMode", true);
      params.put("MadsSteeringMode", std::to_string(static_cast<int>(MadsSteeringMode::DISENGAGE)));
@@ -12,7 +12,16 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-const std::vector<std::string> mads_limited_settings_brands = {"rivian", "tesla"};
+inline bool madsLimitedSettings(const cereal::CarParams::Reader &CP, const cereal::CarParamsSP::Reader &CP_SP) {
  if (CP.getBrand() == "rivian") {
    return true;
  }
  if (CP.getBrand() == "tesla") {
    return !(CP_SP.getFlags() & 1);  // 1 == TeslaFlagsSP.HAS_VEHICLE_BUS
  }
  return false;
 }
 enum class MadsSteeringMode {
  REMAIN_ACTIVE = 0,
@@ -10,14 +10,15 @@
 NeuralNetworkLateralControl::NeuralNetworkLateralControl() :
  ParamControl("NeuralNetworkLateralControl", tr("Neural Network Lateral Control (NNLC)"),  "", "") {
  setConfirmation(true, false);
-  updateToggle();
+  updateToggle(offroad);
 }
-void NeuralNetworkLateralControl::updateToggle() {
+void NeuralNetworkLateralControl::updateToggle(bool _offroad) {
  QString statusInitText = "<font color='yellow'>" + STATUS_CHECK_COMPATIBILITY + "</font>";
  QString notLoadedText = "<font color='yellow'>" + STATUS_NOT_LOADED + "</font>";
  QString loadedText = "<font color=#00ff00>" + STATUS_LOADED + "</font>";
  bool allowed = true;
  auto cp_bytes = params.get("CarParamsPersistent");
  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
@@ -31,7 +32,7 @@ void NeuralNetworkLateralControl::updateToggle() {
    if (CP.getSteerControlType() == cereal::CarParams::SteerControlType::ANGLE) {
      params.remove("NeuralNetworkLateralControl");
      setDescription(nnffDescriptionBuilder(STATUS_NOT_AVAILABLE));
-      setEnabled(false);
+      allowed = false;
    } else {
      QString nn_model_name = QString::fromStdString(CP_SP.getNeuralNetworkLateralControl().getModel().getName());
      QString nn_fuzzy = CP_SP.getNeuralNetworkLateralControl().getFuzzyFingerprint() ?
@@ -56,4 +57,11 @@ void NeuralNetworkLateralControl::updateToggle() {
  if (getDescription() != getBaseDescription()) {
    showDescription();
  }
  bool enforce_torque_toggle = params.getBool("EnforceTorqueControl");
  setEnabled(_offroad && allowed && !enforce_torque_toggle);
  refresh();
  offroad = _offroad;
 }
@@ -20,10 +20,11 @@ public:
  NeuralNetworkLateralControl();
 public slots:
-  void updateToggle();
+  void updateToggle(bool _offroad);
 private:
  Params params;
  bool offroad;
  // Status messages
  const QString STATUS_NOT_AVAILABLE = tr("NNLC is currently not available on this platform.");
@@ -0,0 +1,58 @@
 /**
 * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 *
 * This file is part of sunnypilot and is licensed under the MIT License.
 * See the LICENSE.md file in the root directory for more details.
 */
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.h"
 TorqueLateralControlCustomParams::TorqueLateralControlCustomParams(const QString &param, const QString &title, const QString &description, const QString &icon, QWidget *parent)
    : ExpandableToggleRow(param, title, description, icon, parent) {
  QFrame *frame = new QFrame(this);
  QGridLayout *frame_layout = new QGridLayout();
  frame->setLayout(frame_layout);
  frame_layout->setSpacing(0);
  torqueLateralControlParamsOverride = new ParamControl(
    "TorqueParamsOverrideEnabled",
    tr("Manual Real-Time Tuning"),
    tr("Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values."),
    "../assets/offroad/icon_blank.png",
    this
  );
  connect(torqueLateralControlParamsOverride, &ParamControl::toggleFlipped, this, &TorqueLateralControlCustomParams::refresh);
  torqueParamsOverrideLatAccelFactor = new OptionControlSP("TorqueParamsOverrideLatAccelFactor", tr("Lateral Acceleration Factor"), "", "", {1, 500}, 1, false, nullptr, true, false);
  connect(torqueParamsOverrideLatAccelFactor, &OptionControlSP::updateLabels, this, &TorqueLateralControlCustomParams::refresh);
  torqueParamsOverrideLatAccelFactor->setFixedWidth(280);
  torqueParamsOverrideFriction = new OptionControlSP("TorqueParamsOverrideFriction", tr("Friction"), "", "", {1, 100}, 1, false, nullptr, true, false);
  connect(torqueParamsOverrideFriction, &OptionControlSP::updateLabels, this, &TorqueLateralControlCustomParams::refresh);
  torqueParamsOverrideFriction->setFixedWidth(280);
  frame_layout->addWidget(torqueLateralControlParamsOverride, 0, 0, 1, 2);
  QSpacerItem *spacer = new QSpacerItem(20, 40);
  frame_layout->addItem(spacer, 1, 0, 1, 2);
  frame_layout->addWidget(torqueParamsOverrideLatAccelFactor, 2, 0, Qt::AlignCenter);
  frame_layout->addWidget(torqueParamsOverrideFriction, 2, 1, Qt::AlignCenter);
  addItem(frame);
  refresh();
 }
 void TorqueLateralControlCustomParams::refresh() {
  bool torque_override_param = params.getBool("TorqueParamsOverrideEnabled");
  float laf_param = QString::fromStdString(params.get("TorqueParamsOverrideLatAccelFactor")).toFloat();
  const QString laf_unit = "m/s²";
  float friction_param = QString::fromStdString(params.get("TorqueParamsOverrideFriction")).toFloat();
  torqueParamsOverrideLatAccelFactor->setTitle(tr("Lateral Acceleration Factor") + "\n(" + (torque_override_param ? tr("Real-time and Offline") : tr("Offline Only")) + ")");
  torqueParamsOverrideFriction->setTitle(tr("Friction") + "\n(" + (torque_override_param ? tr("Real-time and Offline") : tr("Offline Only")) + ")");
  torqueParamsOverrideLatAccelFactor->setLabel(QString::number(laf_param, 'f', 2) + " " + laf_unit);
  torqueParamsOverrideFriction->setLabel(QString::number(friction_param, 'f', 2));
 }
@@ -0,0 +1,27 @@
 /**
 * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 *
 * This file is part of sunnypilot and is licensed under the MIT License.
 * See the LICENSE.md file in the root directory for more details.
 */
 #pragma once
 #include "selfdrive/ui/sunnypilot/ui.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
 class TorqueLateralControlCustomParams : public ExpandableToggleRow {
  Q_OBJECT
 public:
  TorqueLateralControlCustomParams(const QString &param, const QString &title, const QString &description, const QString &icon, QWidget *parent = nullptr);
  void refresh();
 private:
  Params params;
  ParamControl *torqueLateralControlParamsOverride;
  OptionControlSP *torqueParamsOverrideFriction;
  OptionControlSP *torqueParamsOverrideLatAccelFactor;
 };
@@ -0,0 +1,81 @@
 /**
 * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 *
 * This file is part of sunnypilot and is licensed under the MIT License.
 * See the LICENSE.md file in the root directory for more details.
 */
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 TorqueLateralControlSettings::TorqueLateralControlSettings(QWidget *parent) : QWidget(parent) {
  QVBoxLayout *main_layout = new QVBoxLayout(this);
  main_layout->setContentsMargins(50, 20, 50, 20);
  main_layout->setSpacing(20);
  // Back button
  PanelBackButton *back = new PanelBackButton();
  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
  main_layout->addWidget(back, 0, Qt::AlignLeft);
  ListWidget *list = new ListWidget(this, false);
  // param, title, desc, icon
  std::vector<std::tuple<QString, QString, QString, QString>> toggle_defs{
    {
      "LiveTorqueParamsToggle",
      tr("Self-Tune"),
      tr("Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default."),
      "../assets/offroad/icon_blank.png",
    },
    {
      "LiveTorqueParamsRelaxedToggle",
      tr("Less Restrict Settings for Self-Tune (Beta)"),
      tr("Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values."),
      "../assets/offroad/icon_blank.png",
    }
  };
  for (auto &[param, title, desc, icon] : toggle_defs) {
    auto toggle = new ParamControlSP(param, title, desc, icon, this);
    list->addItem(toggle);
    toggles[param.toStdString()] = toggle;
  }
  torqueLateralControlCustomParams = new TorqueLateralControlCustomParams(
    "CustomTorqueParams",
    tr("Enable Custom Tuning"),
    tr("Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within \"opendbc/car/torque_data\". "
       "The values will also be used live when \"Manual Real-Time Tuning\" toggle is enabled."),
    "../assets/offroad/icon_blank.png",
    this);
  list->addItem(torqueLateralControlCustomParams);
  QObject::connect(uiState(), &UIState::offroadTransition, this, &TorqueLateralControlSettings::updateToggles);
  QObject::connect(toggles["LiveTorqueParamsToggle"], &ParamControlSP::toggleFlipped, [=](bool state) {
    if (!state) {
      params.remove("LiveTorqueParamsRelaxedToggle");
      toggles["LiveTorqueParamsRelaxedToggle"]->refresh();
    }
    updateToggles(offroad);
  });
  main_layout->addWidget(new ScrollViewSP(list, this));
 }
 void TorqueLateralControlSettings::showEvent(QShowEvent *event) {
  updateToggles(offroad);
 }
 void TorqueLateralControlSettings::updateToggles(bool _offroad) {
  bool live_toggle = toggles["LiveTorqueParamsToggle"]->isToggled();
  toggles["LiveTorqueParamsToggle"]->setEnabled(_offroad);
  toggles["LiveTorqueParamsRelaxedToggle"]->setEnabled(_offroad && live_toggle);
  torqueLateralControlCustomParams->setEnabled(_offroad);
  torqueLateralControlCustomParams->refresh();
  offroad = _offroad;
 }
@@ -0,0 +1,36 @@
 /**
 * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 *
 * This file is part of sunnypilot and is licensed under the MIT License.
 * See the LICENSE.md file in the root directory for more details.
 */
 #pragma once
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/sunnypilot/ui.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 class TorqueLateralControlSettings : public QWidget {
  Q_OBJECT
 public:
  explicit TorqueLateralControlSettings(QWidget *parent = nullptr);
  void showEvent(QShowEvent *event) override;
  signals:
    void backPress();
 public slots:
  void updateToggles(bool _offroad);
 private:
  Params params;
  bool offroad;
  std::map<std::string, ParamControlSP*> toggles;
  TorqueLateralControlCustomParams *torqueLateralControlCustomParams;
 };
@@ -75,6 +75,36 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
  list->addItem(horizontal_line());
  // Customized Torque Lateral Control
  torqueLateralControlToggle = new ParamControl(
    "EnforceTorqueControl",
    tr("Enforce Torque Lateral Control"),
    tr("Enable this to enforce sunnypilot to steer with Torque lateral control."),
    "");
  list->addItem(torqueLateralControlToggle);
  torqueLateralControlSettingsButton = new PushButtonSP(tr("Customize Params"));
  torqueLateralControlSettingsButton->setObjectName("torque_btn");
  connect(torqueLateralControlSettingsButton, &QPushButton::clicked, [=]() {
    sunnypilotScroller->setLastScrollPosition();
    main_layout->setCurrentWidget(torqueLateralControlWidget);
  });
  QObject::connect(torqueLateralControlToggle, &ToggleControl::toggleFlipped, [=](bool state) {
    torqueLateralControlSettingsButton->setEnabled(state);
    nnlcToggle->updateToggle(offroad);
    updateToggles(offroad);
  });
  torqueLateralControlWidget = new TorqueLateralControlSettings(this);
  connect(torqueLateralControlWidget, &TorqueLateralControlSettings::backPress, [=]() {
    sunnypilotScroller->restoreScrollPosition();
    main_layout->setCurrentWidget(sunnypilotScreen);
  });
  list->addItem(torqueLateralControlSettingsButton);
  list->addItem(vertical_space(0));
  list->addItem(horizontal_line());
  // Neural Network Lateral Control
  nnlcToggle = new NeuralNetworkLateralControl();
  list->addItem(nnlcToggle);
@@ -86,12 +116,10 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
      nnlcToggle->hideDescription();
    }
-    nnlcToggle->updateToggle();
+    nnlcToggle->updateToggle(offroad);
    updateToggles(offroad);
  });
  toggleOffroadOnly = {
    madsToggle, nnlcToggle,
  };
  QObject::connect(uiState(), &UIState::offroadTransition, this, &LateralPanel::updateToggles);
  sunnypilotScroller = new ScrollViewSP(list, this);
@@ -100,6 +128,7 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
  main_layout->addWidget(sunnypilotScreen);
  main_layout->addWidget(madsWidget);
  main_layout->addWidget(laneChangeWidget);
  main_layout->addWidget(torqueLateralControlWidget);
  setStyleSheet(R"(
    #back_btn {
@@ -120,7 +149,7 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
 }
 void LateralPanel::showEvent(QShowEvent *event) {
-  nnlcToggle->updateToggle();
+  nnlcToggle->updateToggle(offroad);
  updateToggles(offroad);
 }
@@ -129,27 +158,40 @@ void LateralPanel::hideEvent(QHideEvent *event) {
 }
 void LateralPanel::updateToggles(bool _offroad) {
-  for (auto *toggle : toggleOffroadOnly) {
+  bool torque_allowed = true;
    toggle->setEnabled(_offroad);
  }
  auto cp_bytes = params.get("CarParamsPersistent");
-  if (!cp_bytes.empty()) {
+  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
    AlignedBuffer aligned_buf;
    AlignedBuffer aligned_buf_sp;
    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
    capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size()));
    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
    cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
-    if (isBrandInList(CP.getBrand(), mads_limited_settings_brands)) {
+    if (madsLimitedSettings(CP, CP_SP)) {
      madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_LIMITED_COMPATIBILITY, MADS_BASE_DESC));
    } else {
      madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_FULL_COMPATIBILITY, MADS_BASE_DESC));
    }
    if (CP.getSteerControlType() == cereal::CarParams::SteerControlType::ANGLE) {
      params.remove("EnforceTorqueControl");
      torque_allowed = false;
    }
  } else {
    madsToggle->setDescription(descriptionBuilder(STATUS_MADS_CHECK_COMPATIBILITY, MADS_BASE_DESC));
    params.remove("EnforceTorqueControl");
    torque_allowed = false;
  }
  madsToggle->setEnabled(_offroad);
  madsSettingsButton->setEnabled(madsToggle->isToggled());
  torqueLateralControlToggle->setEnabled(_offroad && torque_allowed && !nnlcToggle->isToggled());
  torqueLateralControlSettingsButton->setEnabled(torqueLateralControlToggle->isToggled());
  blinkerPauseLateralSettings->refresh();
  offroad = _offroad;
@@ -15,6 +15,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
@@ -35,7 +36,6 @@ private:
  QStackedLayout* main_layout = nullptr;
  QWidget* sunnypilotScreen = nullptr;
  ScrollViewSP *sunnypilotScroller = nullptr;
  std::vector<ParamControl *> toggleOffroadOnly;
  bool offroad;
  ParamControl *madsToggle;
@@ -45,6 +45,9 @@ private:
  LaneChangeSettings *laneChangeWidget = nullptr;
  NeuralNetworkLateralControl *nnlcToggle = nullptr;
  BlinkerPauseLateralSettings *blinkerPauseLateralSettings = nullptr;
  ParamControl *torqueLateralControlToggle;
  PushButtonSP *torqueLateralControlSettingsButton;
  TorqueLateralControlSettings *torqueLateralControlWidget = nullptr;
  const QString MADS_BASE_DESC = tr("Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).");
@@ -0,0 +1,49 @@
 /*
 * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 *
 * This file is part of sunnypilot and is licensed under the MIT License.
 * See the LICENSE.md file in the root directory for more details.
 */
 #pragma once
 enum class SpeedLimitOffsetType {
  NONE,
  FIXED,
  PERCENT,
 };
 inline const QString SpeedLimitOffsetTypeTexts[]{
  QObject::tr("None"),
  QObject::tr("Fixed"),
  QObject::tr("Percent"),
 };
 enum class SpeedLimitSourcePolicy {
  CAR_ONLY,
  MAP_ONLY,
  CAR_FIRST,
  MAP_FIRST,
  COMBINED,
 };
 inline const QString SpeedLimitSourcePolicyTexts[]{
  QObject::tr("Car\nOnly"),
  QObject::tr("Map\nOnly"),
  QObject::tr("Car\nFirst"),
  QObject::tr("Map\nFirst"),
  QObject::tr("Combined\nData")
 };
 enum class SpeedLimitMode {
  OFF,
  INFORMATION,
  WARNING,
  ASSIST,
 };
 inline const QString SpeedLimitModeTexts[]{
  QObject::tr("Off"),
  QObject::tr("Information"),
  QObject::tr("Warning"),
  QObject::tr("Assist"),
 };
--- a/Show More
+++ b/Show More
`@@ -1,4 +1,4 @@`
	`FROM ghcr.io/sunnypilot/sunnypilot-tici-base:latest`	`FROM ghcr.io/sunnypilot/sunnypilot-base:latest`

	`ENV PYTHONUNBUFFERED=1`	`ENV PYTHONUNBUFFERED=1`
`@@ -1 +1 @@`
	`#define DEFAULT_MODEL "Steam Powered (Default)"`	`#define DEFAULT_MODEL "Firehose (Default)"`
		`@@ -1 +1 @@`
			`6d3219bca9f66a229b38a5382d301a92b0147edb`				`afcab1abb62b9d5678342956cced4712f44e909e`