typo

.github/workflows/auto_pr_review.yaml

@@ -29,11 +29,11 @@ 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

.github/workflows/badges.yaml

@@ -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
 

.github/workflows/cereal_validation.yaml

@@ -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:

.github/workflows/ci_weekly_report.yaml

@@ -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 }}
 

.github/workflows/ci_weekly_run.yaml

@@ -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 }}

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

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

.github/workflows/docs.yaml

@@ -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
 

.github/workflows/prebuilt.yaml

@@ -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

.github/workflows/release-drafter.yml

@@ -19,7 +19,6 @@ jobs:
       contents: write
       pull-requests: write
     runs-on: ubuntu-latest
-    if: False
     steps:
       - uses: release-drafter/release-drafter@v6
         with:

.github/workflows/release.yaml

@@ -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 }}
@@ -39,4 +39,4 @@ jobs:
         git config --global --add safe.directory '*'
         git lfs pull
     - name: Push __nightly
-      run: BRANCH=__nightly release/build_stripped.sh
+      run: BRANCH=__nightly release/build_devel.sh

.github/workflows/repo-maintenance.yaml

@@ -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
 
@@ -36,14 +36,13 @@ 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
       with:
         submodules: true
     - name: uv lock
-      if: github.repository == 'commaai/openpilot'
       run: |
         python3 -m ensurepip --upgrade
         pip3 install uv
@@ -68,7 +67,7 @@ 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

.github/workflows/selfdrive_tests.yaml

@@ -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 }}
@@ -27,7 +27,7 @@ env:
 
   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
 
-  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
+  PYTEST: pytest --continue-on-collection-errors --durations=0 --durations-min=5 -n logical
 
 jobs:
   build_release:
@@ -52,7 +52,7 @@ jobs:
         command: git lfs pull
     - name: Build devel
       timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
+      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
     - uses: ./.github/workflows/setup-with-retry
     - name: Build openpilot and run checks
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
@@ -68,10 +68,10 @@ jobs:
       if: github.repository == 'sunnypilot/sunnypilot'
       timeout-minutes: 3
       run: |
-        if [ "${{ github.ref }}" != "refs/heads/master-tici" ]; then
-          git fetch  origin master-tici:refs/remotes/origin/master-tici
+        if [ "${{ github.ref }}" != "refs/heads/master" ]; then
+          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"
         $DOCKER_LOGIN
@@ -129,7 +129,7 @@ jobs:
         PYTHONWARNINGS: default
     - name: Save Homebrew cache
       uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master-tici'
+      if: github.ref == 'refs/heads/master'
       with:
         path: ~/Library/Caches/Homebrew
         key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -146,7 +146,7 @@ jobs:
       run: . .venv/bin/activate && scons -j$(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 }}
@@ -190,8 +190,7 @@ jobs:
       timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 999 }}
       run: |
         ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        # Pre-compile Python bytecode so each pytest worker doesn't need to
-                        $PYTEST --collect-only -m 'not slow' -qq && \
+                        $PYTEST --collect-only -m 'not slow' &> /dev/null && \
                         MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
@@ -305,5 +304,5 @@ jobs:
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
-          name: report-${{ 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

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

@@ -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)'

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

@@ -8,15 +8,21 @@ 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_C3_SOURCE_BRANCH: ${{ vars.STAGING_C3_SOURCE_BRANCH || 'master' }} # vars are set on repo settings.
+  DEV_C3_SOURCE_BRANCH: ${{ vars.DEV_C3_SOURCE_BRANCH || 'master-dev-c3-new' }} # vars are set on repo settings.
+  
+  # Target branch configurations
+  STAGING_TARGET_BRANCH: ${{ vars.STAGING_TARGET_BRANCH || 'staging-c3-new' }} # vars are set on repo settings.
+  DEV_TARGET_BRANCH: ${{ vars.DEV_TARGET_BRANCH || 'dev-c3-new' }} # vars are set on repo settings.
+  RELEASE_TARGET_BRANCH: ${{ vars.RELEASE_TARGET_BRANCH || 'release-c3-new' }} # vars are set on repo settings.
   
   # Runtime configuration
   SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
 
 on:
   push:
-    branches: [ master-tici ]
-    tags: [ 'release/*' ]
+    branches: [ master, master-dev-c3-new ]
+    tags: [ '*' ]
   pull_request_target:
     types: [ labeled ]
   workflow_dispatch:
@@ -28,72 +34,9 @@ on:
         default: false
 
 jobs:
-  prepare_strategy:
-    runs-on: ubuntu-24.04
-    if: (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-    outputs:
-      environment: ${{ steps.strategy.outputs.environment }}
-      new_branch: ${{ steps.strategy.outputs.new_branch }}
-      extra_version_identifier: ${{ steps.strategy.outputs.extra_version_identifier }}
-      version: ${{ steps.strategy.outputs.version }}
-      cancel_publish_in_progress: ${{ steps.strategy.outputs.cancel_publish_in_progress }}
-      publish_concurrency_group: ${{ steps.strategy.outputs.publish_concurrency_group }}
-      is_stable_branch: ${{ steps.strategy.outputs.is_stable_branch }}
-      build: ${{ steps.strategy.outputs.build }}
-    steps:
-      - uses: actions/checkout@v4
-      - name: Extract deploy strategy
-        id: strategy
-        run: |
-          echo '::group::Strategy Extraction'
-          BRANCH="${{ github.head_ref || github.ref_name }}"
-          echo "Current branch: $BRANCH"
-
-          STRATEGY_JSON='${{ vars.DEPLOY_STRATEGY }}'
-          CONFIG=$(echo "$STRATEGY_JSON" | jq -r --arg branch "$BRANCH" '
-            .configs[] | select(.branch == $branch)
-          ')
-
-          BUILD="$(date '+%Y.%m.%d')-${{ github.run_number }}"
-          if [[ -z "$CONFIG" || "$CONFIG" == "null" ]]; then
-            echo "No exact strategy match found. Falling back to feature/fork logic."
-            IS_FORK="${{ github.event.pull_request.head.repo.fork && 'true' || 'false' }}"
-            FORK_SUFFIX=$( [[ "$IS_FORK" == "true" ]] && echo "-fork" || echo "" )
-            NEW_BRANCH="${BRANCH}${FORK_SUFFIX}-prebuilt"
-
-            echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
-            echo "version=$BUILD" >> $GITHUB_OUTPUT
-            echo "cancel_publish_in_progress=true" >> $GITHUB_OUTPUT
-            echo "publish_concurrency_group=publish-${BRANCH}" >> $GITHUB_OUTPUT
-            echo "environment=feature-branch" >> $GITHUB_OUTPUT
-            echo "extra_version_identifier=feature-branch" >> $GITHUB_OUTPUT
-          else
-          echo "Matched config: $CONFIG"
-            environment=$(echo "$CONFIG" | jq -r '.environment')
-            echo "environment=$environment" >> $GITHUB_OUTPUT
-            echo "new_branch=$(echo "$CONFIG" | jq -r '.target_branch')" >> $GITHUB_OUTPUT
-            cancel="$(echo "$CONFIG" | jq -r '.cancel_publish_in_progress')";
-            echo "cancel_publish_in_progress=$( [ "$cancel" = "null" ] && echo "true" || echo $cancel)" >> $GITHUB_OUTPUT
-            echo "publish_concurrency_group=publish-${BRANCH}$( [ "$cancel" = "null" ] || [ "$cancel" = "true" ] || echo "${{ github.sha }}" )" >> $GITHUB_OUTPUT
-          
-            is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
-            echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
-
-            stable_version=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g');
-            echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
-            echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
-          fi
-          echo "build=$BUILD" >> $GITHUB_OUTPUT
-          cat $GITHUB_OUTPUT
-  
   validate_tests:
     runs-on: ubuntu-24.04
-    needs: [ prepare_strategy ]
-    if: ${{
-      ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) ||
-      (github.event_name == 'push' && needs.prepare_strategy.outputs.is_stable_branch == 'true') ||
-      contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-      }}
+    if: ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) || contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
     steps:
       - uses: actions/checkout@v4
       - name: Wait for Tests
@@ -101,26 +44,19 @@ jobs:
         with:
           workflow: selfdrive_tests.yaml # The workflow file to monitor
           github-token: ${{ secrets.GITHUB_TOKEN }}
-          should-wait-for-start: ${{ github.event_name == 'push' && 'true' || 'false' }}
 
   build:
-    needs: [ validate_tests, prepare_strategy ]
+    needs: [ validate_tests ]
     concurrency:
       group: build-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: false
     runs-on: [self-hosted, tici]
     outputs:
-      new_branch: ${{ needs.prepare_strategy.outputs.new_branch }}
-      version: ${{ needs.prepare_strategy.outputs.version }}
-      extra_version_identifier: ${{ needs.prepare_strategy.outputs.extra_version_identifier }}
-      commit_sha: ${{ github.sha }}
-    if: ${{
-      (always() && !cancelled() && !failure()) &&
-      needs.prepare_strategy.result == 'success' &&
-      (needs.validate_tests.result == 'success' || needs.validate_tests.result == 'skipped') &&
-      (!contains(github.event_name, 'pull_request') ||
-      (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) 
-      }}
+      new_branch: ${{ steps.set-env.outputs.new_branch }}
+      version: ${{ steps.set-env.outputs.version }}
+      extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
+      commit_sha: ${{ steps.set-env.outputs.commit_sha }}
+    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
     steps:
       - uses: actions/checkout@v4
         with:
@@ -141,12 +77,61 @@ jobs:
             scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_C3_SOURCE_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}
 
+      - name: Set Feature Branch Prebuilt Configuration
+        id: set_feature_configuration
+        if: (
+          !(env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH) &&
+          !(env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH) &&
+          !(startsWith(github.ref, 'refs/tags/'))
+          )
+        run: |
+          echo "NEW_BRANCH=${{ env.SOURCE_BRANCH }}${{ github.event.pull_request.head.repo.fork && '-fork' || '' }}-prebuilt" >> $GITHUB_ENV
+          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
+
+      - name: Set dev-c3-new prebuilt Configuration
+        id: set_dev_configuration
+        if: (
+          steps.set_feature_configuration.outcome == 'skipped' &&
+          env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH
+          )
+        run: |
+          echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
+          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
+          echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
+
+      - name: Set staging-c3-new prebuilt Configuration
+        id: set_staging_configuration
+        if: (
+          steps.set_feature_configuration.outcome == 'skipped' &&
+          !contains(github.event_name, 'pull_request') &&
+          steps.set_dev_configuration.outcome == 'skipped' &&
+          (env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH)
+          )
+        run: |
+          echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
+          echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
+          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV
+
+      - name: Set release-c3-new prebuilt Configuration
+        id: set_tag_configuration
+        if: (
+          steps.set_feature_configuration.outcome == 'skipped' &&
+          !contains(github.event_name, 'pull_request') &&
+          steps.set_staging_configuration.outcome == 'skipped' &&
+          startsWith(github.ref, 'refs/tags/')
+          )
+        run: |
+          echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
+          echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
+          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV
+
       - name: Set environment variables
         id: set-env
         run: |
-          echo "new_branch=${{ needs.prepare_strategy.outputs.new_branch }}" >> $GITHUB_OUTPUT
-          echo "version=${{ needs.prepare_strategy.outputs.version }}" >> $GITHUB_OUTPUT
-          echo "extra_version_identifier=${{ needs.prepare_strategy.outputs.extra_version_identifier }}" >> $GITHUB_OUTPUT
+          # Write to GITHUB_OUTPUT from environment variables
+          echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
+          [[ ! -z "$EXTRA_VERSION_IDENTIFIER" ]] && echo "extra_version_identifier=$EXTRA_VERSION_IDENTIFIER" >> $GITHUB_OUTPUT
+          [[ ! -z "$VERSION" ]] && echo "version=$VERSION" >> $GITHUB_OUTPUT
           echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
           
           # Set up common environment
@@ -241,19 +226,15 @@ jobs:
         if: always()
         run: |
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
-  
-  
+
   publish:
     concurrency:
-      # We do a bit of a hack here to avoid canceling the publishing job if a new commit comes in while we're publishing by adding the sha to the group name.
-      # This means that if multiple commits come in while we're publishing, they will be queued up and publish one after the other.
-      # Otherwise, if a job is waiting to be published due to environment wait time, it would be canceled by a new commit and restart the wait time.
-      group: ${{ needs.prepare_strategy.outputs.publish_concurrency_group }}
-      cancel-in-progress: ${{ needs.prepare_strategy.outputs.cancel_publish_in_progress == 'true' }}
-    if: ${{ (always() && !cancelled() && !failure()) && needs.build.result == 'success' && needs.prepare_strategy.result == 'success' && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
-    needs: [ build, prepare_strategy ]
+      group: publish-${{ github.head_ref || github.ref_name }}
+      cancel-in-progress: true
+    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+    needs: [ build ]
     runs-on: ubuntu-24.04
-    environment: ${{ needs.prepare_strategy.outputs.environment }}
+    environment: ${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }}
     steps:
       - uses: actions/checkout@v4
 
@@ -285,7 +266,7 @@ jobs:
             "${{ needs.build.outputs.new_branch }}" \
             "${{ needs.build.outputs.version }}" \
             "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
-            "${{ needs.build.outputs.extra_version_identifier }}"
+            "-${{ needs.build.outputs.extra_version_identifier }}"
 
           echo ""
           echo "----   ℹ️ To update the list of branches that auto deploy prebuilts  -----"
@@ -293,18 +274,11 @@ jobs:
           echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
           echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
           echo "3. Update as needed (JSON array with no spaces)"
-      
-      - name: Tag ${{ needs.prepare_strategy.outputs.environment }}
-        if: ${{ needs.prepare_strategy.outputs.is_stable_branch == 'true' && (github.event_name != 'push' || !startsWith(github.ref, 'refs/tags/')) }}
-        run: |
-            TAG="${{ needs.prepare_strategy.outputs.environment }}/${{ needs.prepare_strategy.outputs.version }}/${{ needs.prepare_strategy.outputs.build }}"
-            git tag -f -a ${TAG} -m "${{ needs.prepare_strategy.outputs.environment }} @ ${{ needs.prepare_strategy.outputs.version }} of build ${{ needs.build.outputs.build }}."
-            git push -f origin ${TAG}
 
   notify:
     needs: [ build, publish ]
     runs-on: ubuntu-24.04
-    if: ${{ (always() && !cancelled() && !failure()) && needs.publish.result == 'success' && !failure() && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
     steps:
       - uses: actions/checkout@v4
       - name: Setup Alpine Linux environment

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

@@ -1,7 +1,7 @@
 name: Build dev-c3-new
 
 env:
-  DEFAULT_SOURCE_BRANCH: "master-tici"
+  DEFAULT_SOURCE_BRANCH: "master"
   DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
   PR_LABEL: "dev-c3"
   LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
@@ -10,17 +10,17 @@ env:
 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'
@@ -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-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
+      )
     steps:
       - uses: actions/checkout@v4
         with:

.github/workflows/ui_preview.yaml

@@ -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 }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.sha || github.event.pull_request.head.sha }}
+  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
   BRANCH_NAME: "openpilot/pr-${{ 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
-        if: github.ref == 'refs/heads/master-tici' && github.event_name == 'push'
+      - name: Saving new master ui
+        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>"
 

Dockerfile.sunnypilot

@@ -1,4 +1,4 @@
-FROM ghcr.io/sunnypilot/sunnypilot-tici-base:latest
+FROM ghcr.io/sunnypilot/sunnypilot-base:latest
 
 ENV PYTHONUNBUFFERED=1
 

Jenkinsfile

@@ -167,7 +167,7 @@ node {
   env.GIT_COMMIT = checkout(scm).GIT_COMMIT
 
   def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'release-tici', 'testing-closet*', 'hotfix-*']
+                         'testing-closet*', 'hotfix-*']
   def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
 
   if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {

README.md

@@ -22,47 +22,19 @@ 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.
-
-### If you want to use our newest branches (our rewrite)
-> [!TIP]
->You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
+Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `release-c3` branch.
 
 * sunnypilot not installed or you installed a version before 0.8.17?
   1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
   2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://staging-tici.sunnypilot.ai```.
+  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```release-c3.sunnypilot.ai```.
   4. Complete the rest of the installation following the onscreen instructions.
 
 * 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`
-
-
-|     Branch      |               Installation URL                |
-|:---------------:|:---------------------------------------------:|
-| `staging-tici`  |     `https://staging-tici.sunnypilot.ai`      |
-| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |
-| `release-tici`  |            **Not yet available**.             |
-
-> [!TIP]
-> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging-tici'.
-
-> [!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.
-
-
-<details>
-
-<summary>Older legacy branches</summary>
-
-### If you want to use our older legacy branches (*not recommended*)
-
-> [**IMPORTANT**]
-> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
-> You can still restore the latest sunnylink backup made on the old branches.
+  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `release-c3`
 
 |    Branch    |         Installation URL         |
 |:------------:|:--------------------------------:|
@@ -70,9 +42,25 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
 | `staging-c3` | https://staging-c3.sunnypilot.ai |
 |   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
 
-</details>
+### If you want to use our newest branches (our rewrite)
+> [!TIP]
+>You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
 
 
+> [!IMPORTANT]
+> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
+> You can still restore the latest sunnylink backup made on the old branches.
+
+|      Branch      |                 Installation URL              |
+|:----------------:|:---------------------------------------------:|
+| `staging-c3-new` | `https://staging-c3-new.sunnypilot.ai`        |
+|   `dev-c3-new`   | `https://dev-c3-new.sunnypilot.ai`            |
+| `custom-branch`  | `https://install.sunnypilot.ai/{branch_name}` |
+| `release-c3-new` |            **Not yet available**.             |
+
+> [!TIP]
+> 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.
+
 ## 🎆 Pull Requests
 We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
 

RELEASES.md

@@ -1,22 +1,18 @@
 Version 0.10.1 (2025-09-08)
 ========================
-* Record driving feedback using LKAS button
-* Honda City 2023 support thanks to drFritz!
 
 Version 0.10.0 (2025-08-05)
 ========================
 * New driving model
   * New training architecture
-     * Described in our CVPR paper: "Learning to Drive from a World Model"
-     * Longitudinal MPC replaced by E2E planning from World Model in Experimental Mode
-     * Action from lateral MPC as training objective replaced by E2E planning from World Model
+     * Architecture outlined in CVPR paper: "Learning to Drive from a World Model"
+     * Longitudinal MPC replaced by E2E planning from worldmodel in experimental mode
+     * Action from lateral MPC as training objective replaced by E2E planning from worldmodel
   * Low-speed lead car ground-truth fixes
+
 * Enable live-learned steering actuation delay
+* Record driving feedback using LKAS button when MADS is disabled
 * Opt-in audio recording for dashcam video
-* Acura MDX 2025 support thanks to vanillagorillaa and MVL!
-* Honda Accord 2023-25 support thanks to vanillagorillaa and MVL!
-* Honda CR-V 2023-25 support thanks to vanillagorillaa and MVL!
-* Honda Pilot 2023-25 support thanks to vanillagorillaa and MVL!
 
 Version 0.9.9 (2025-05-23)
 ========================

cereal/custom.capnp

@@ -172,8 +172,6 @@ struct OnroadEventSP @0xda96579883444c35 {
     experimentalModeSwitched @14;
     wrongCarModeAlertOnly @15;
     pedalPressedAlertOnly @16;
-    laneTurnLeft @17;
-    laneTurnRight @18;
   }
 }
 
@@ -202,20 +200,7 @@ struct CarControlSP @0xa5cd762cd951a455 {
 
   struct Param {
     key @0 :Text;
-    type @2 :ParamType;
-    value @3 :Data;
-
-    valueDEPRECATED @1 :Text; # The data type change may cause issues with backwards compatibility.
-  }
-  
-  enum ParamType {
-    string @0;
-    bool @1;
-    int @2;
-    float @3;
-    time @4;
-    json @5;
-    bytes @6;
+    value @1 :Text;
   }
 }
 
@@ -273,16 +258,9 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
   roadName @5 :Text;
 }
 
-struct ModelDataV2SP @0xa1680744031fdb2d {
-  laneTurnDirection @0 :TurnDirection;
+struct CustomReserved9 @0xa1680744031fdb2d {
 }
 
-  enum TurnDirection {
-    none @0;
-    turnLeft @1;
-    turnRight @2;
-  }
-
 struct CustomReserved10 @0xcb9fd56c7057593a {
 }
 

cereal/log.capnp

@@ -2631,7 +2631,7 @@ struct Event {
     backupManagerSP @113 :Custom.BackupManagerSP;
     carStateSP @114 :Custom.CarStateSP;
     liveMapDataSP @115 :Custom.LiveMapDataSP;
-    modelDataV2SP @116 :Custom.ModelDataV2SP;
+    customReserved9 @116 :Custom.CustomReserved9;
     customReserved10 @136 :Custom.CustomReserved10;
     customReserved11 @137 :Custom.CustomReserved11;
     customReserved12 @138 :Custom.CustomReserved12;

cereal/services.py

@@ -88,7 +88,6 @@ _services: dict[str, tuple] = {
   "carControlSP": (True, 100., 10),
   "carStateSP": (True, 100., 10),
   "liveMapDataSP": (True, 1., 1),
-  "modelDataV2SP": (True, 20.),
 
   # debug
   "uiDebug": (True, 0., 1),

common/model.h

@@ -1 +1 @@
-#define DEFAULT_MODEL "Steam Powered (Default)"
+#define DEFAULT_MODEL "Down To Ride (Default)"

common/params_keys.h

@@ -73,9 +73,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
     {"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
     {"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
-    {"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
+    {"LastUpdateRouteCount", {PERSISTENT, INT}},
     {"LastUpdateTime", {PERSISTENT, TIME}},
-    {"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
+    {"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT}},
     {"LiveDelay", {PERSISTENT | BACKUP, BYTES}},
     {"LiveParameters", {PERSISTENT, JSON}},
     {"LiveParametersV2", {PERSISTENT, BYTES}},
@@ -146,8 +146,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
     {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
     {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
-    {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
-    {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
     {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
     {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
@@ -155,10 +153,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
     {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
     {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // MADS params
@@ -171,7 +167,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
     {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
     {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT, "0"}},
-    {"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
     {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
     {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
 
@@ -197,16 +192,14 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
 
-    // sunnypilot model params
+    // model panel params
     {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
     {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
-    {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
 
     // mapd
     {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
-    {"MapdVersion", {PERSISTENT, STRING}},
+    {"MapdVersion", {PERSISTENT, STRING, ""}},
     {"MapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT, "0.0"}},
     {"NextMapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"Offroad_OSMUpdateRequired", {CLEAR_ON_MANAGER_START, JSON}},
@@ -222,5 +215,5 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OsmStateName", {PERSISTENT, STRING, "All"}},
     {"OsmStateTitle", {PERSISTENT, STRING}},
     {"OsmWayTest", {PERSISTENT, STRING}},
-    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
+    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING, ""}},
 };

common/pid.py

@@ -14,7 +14,8 @@ class PIDController:
     if isinstance(self._k_d, Number):
       self._k_d = [[0], [self._k_d]]
 
-    self.set_limits(pos_limit, neg_limit)
+    self.pos_limit = pos_limit
+    self.neg_limit = neg_limit
 
     self.i_rate = 1.0 / rate
     self.speed = 0.0
@@ -40,10 +41,6 @@ class PIDController:
     self.f = 0.0
     self.control = 0
 
-  def set_limits(self, pos_limit, neg_limit):
-    self.pos_limit = pos_limit
-    self.neg_limit = neg_limit
-
   def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
     self.speed = speed
     self.p = float(error) * self.k_p

common/run.py

@@ -1,6 +1,4 @@
 import subprocess
-from contextlib import contextmanager
-from subprocess import Popen, PIPE, TimeoutExpired
 
 
 def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
@@ -13,16 +11,3 @@ def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> st
   except subprocess.CalledProcessError:
     return default
 
-
-@contextmanager
-def managed_proc(cmd: list[str], env: dict[str, str]):
-  proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
-  try:
-    yield proc
-  finally:
-    if proc.poll() is None:
-      proc.terminate()
-    try:
-      proc.wait(timeout=5)
-    except TimeoutExpired:
-      proc.kill()

docs/CARS.md

@@ -4,13 +4,12 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 334 Supported Cars
+# 325 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
-|Acura|MDX 2025|All except Type S|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
 |Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
 |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
@@ -73,25 +72,19 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Accord 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
+|Honda|Accord 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
-|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-21">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025">Buy Here</a></sub></details>|||
-|Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector + Honda Clarity Proxy Board<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://shop.retropilot.org/product/honda-clarity-proxy-board-kit">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
-|Honda|CR-V 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-25">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
 |Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
@@ -102,7 +95,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
-|Honda|Pilot 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
 |Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-25">Buy Here</a></sub></details>|||
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera 2022">Buy Here</a></sub></details>|||
 |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2019">Buy Here</a></sub></details>|||
@@ -127,7 +119,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
-|Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022-23">Buy Here</a></sub></details>|||
+|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -305,7 +297,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Wildlander PHEV 2021|All|openpilot|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Wildlander PHEV 2021">Buy Here</a></sub></details>|||
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||

docs/CONTRIBUTING.md

@@ -6,7 +6,7 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu
 
 ### Getting Started
 
-* Set up your [development environment](/tools/)
+* Setup your [development environment](../tools/)
 * Join our [Discord](https://discord.comma.ai)
 * Docs are at https://docs.comma.ai and https://blog.comma.ai
 

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

@@ -1,11 +1,11 @@
 # Turn the speed blue
 *A getting started guide for openpilot development*
 
-In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.
+In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI.
 
 And if you have a comma 3/3X, we'll deploy the change to your device for testing.
 
-## 1. Set up your development environment
+## 1. Setup your development environment
 
 Run this to clone openpilot and install all the dependencies:
 ```bash

launch_env.sh

@@ -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="12.6"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

launch_openpilot.sh

@@ -1,20 +1,3 @@
 #!/usr/bin/env bash
-set -euo pipefail
-IFS=$'\n\t'
-
-# On any failure, run the fallback launcher
-trap 'exec ./launch_chffrplus.sh' ERR
-C3_LAUNCH_SH="./sunnypilot/system/hardware/c3/launch_chffrplus.sh"
-
-MODEL="$(tr -d '\0' < "/sys/firmware/devicetree/base/model")"
-export MODEL
-
-if [ "$MODEL" = "comma tici" ]; then
-  # Force a failure if the launcher doesn't exist
-  [ -x "$C3_LAUNCH_SH" ] || false
-
-  # If it exists, run it
-  exec "$C3_LAUNCH_SH"
-fi
 
 exec ./launch_chffrplus.sh

release/README.md

@@ -3,34 +3,33 @@
 ```
 ## release checklist
 
-### Go to staging
-- [ ] make a GitHub issue to track release
-- [ ] create release master branch
+**Go to `devel-staging`**
+- [ ] make issue to track release
 - [ ] update RELEASES.md
-- [ ] bump version on master: `common/version.h` and `RELEASES.md`
+- [ ] trigger new nightly build: https://github.com/commaai/openpilot/actions/workflows/release.yaml
+- [ ] update `devel-staging`: `git reset --hard origin/__nightly`
 - [ ] build new userdata partition from `release3-staging`
+- [ ] open a pull request from `devel-staging` to `devel`
 - [ ] post on Discord, tag `@release crew`
 
-Updating staging:
-1. either rebase on master or cherry-pick changes
-2. run this to update: `BRANCH=devel-staging release/build_devel.sh`
-3. build new userdata partition from `release3-staging`
-
-### Go to release
-- [ ] before going to release, test the following:
+**Go to `devel`**
+- [ ] bump version on master: `common/version.h` and `RELEASES.md`
+- [ ] before merging the pull request, test the following:
   - [ ] update from previous release -> new release
   - [ ] update from new release -> previous release
   - [ ] fresh install with `openpilot-test.comma.ai`
   - [ ] drive on fresh install
   - [ ] no submodules or LFS
   - [ ] check sentry, MTBF, etc.
-  - [ ] stress test passes in production
+  - [ ] stress test in production
+
+**Go to `release3`**
 - [ ] publish the blog post
 - [ ] `git reset --hard origin/release3-staging`
 - [ ] tag the release: `git tag v0.X.X <commit-hash> && git push origin v0.X.X`
 - [ ] create GitHub release
 - [ ] final test install on `openpilot.comma.ai`
 - [ ] update factory provisioning
-- [ ] close out milestone and issue
+- [ ] close out milestone
 - [ ] post on Discord, X, etc.
 ```

release/build_devel.sh

@@ -17,23 +17,28 @@ rm -rf $TARGET_DIR
 mkdir -p $TARGET_DIR
 cd $TARGET_DIR
 cp -r $SOURCE_DIR/.git $TARGET_DIR
+pre-commit uninstall || true
 
-echo "[-] setting up stripped branch sync T=$SECONDS"
+echo "[-] bringing __nightly and devel in sync T=$SECONDS"
 cd $TARGET_DIR
 
-# tmp branch
-git checkout --orphan tmp
+git fetch --depth 1 origin __nightly
+git fetch --depth 1 origin devel
+
+git checkout -f --track origin/__nightly
+git reset --hard __nightly
+git checkout __nightly
+git reset --hard origin/devel
+git clean -xdff
+git lfs uninstall
 
 # remove everything except .git
 echo "[-] erasing old sunnypilot T=$SECONDS"
-git submodule deinit -f --all
-git rm -rf --cached .
 find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
 
-# cleanup before the copy
+# reset source tree
 cd $SOURCE_DIR
 git clean -xdff
-git submodule foreach --recursive git clean -xdff
 
 # do the files copy
 echo "[-] copying files T=$SECONDS"
@@ -42,7 +47,6 @@ cp -pR --parents $(./release/release_files.py) $TARGET_DIR/
 
 # in the directory
 cd $TARGET_DIR
-rm -rf .git/modules/
 rm -f panda/board/obj/panda.bin.signed
 
 # include source commit hash and build date in commit
@@ -81,7 +85,7 @@ fi
 
 if [ ! -z "$BRANCH" ]; then
   echo "[-] Pushing to $BRANCH T=$SECONDS"
-  git push -f origin tmp:$BRANCH
+  git push -f origin __nightly:$BRANCH
 fi
 
 echo "[-] done T=$SECONDS, ready at $TARGET_DIR"

release/check-submodules.sh

@@ -31,25 +31,13 @@ while read hash submodule ref; do
       exit 1
     fi
   else
-    # Check against master-tici for specific submodules, master for others
-    if [ "$submodule" = "opendbc_repo" ] || [ "$submodule" = "panda" ]; then
-      git -C $submodule fetch --depth 100 origin master-tici
-      remote_hash=$(git -C $submodule rev-parse FETCH_HEAD)
-      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
+    git -C $submodule fetch --depth 100 origin master
+    git -C $submodule branch -r --contains $hash | grep "origin/master"
+    if [ "$?" -eq 0 ]; then
+      echo "$submodule ok"
     else
-      git -C $submodule fetch --depth 100 origin master
-      git -C $submodule branch -r --contains $hash | grep "origin/master"
-      if [ "$?" -eq 0 ]; then
-        echo "$submodule ok"
-      else
-        echo "$submodule: $hash is not on master"
-        exit 1
-      fi
+      echo "$submodule: $hash is not on master"
+      exit 1
     fi
   fi
 done <<< $(git submodule status --recursive)

release/ci/docker_common_sp.sh

@@ -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'"

release/ci/publish.sh

@@ -51,19 +51,26 @@ git fetch origin $DEV_BRANCH || (git checkout -b $DEV_BRANCH && git commit --all
 
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
+git commit -a -m "sunnypilot v$VERSION release"
+git branch --set-upstream-to=origin/$DEV_BRANCH
 
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/common/version.h)
+SP_VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
 
-# Commit with detailed message
-git commit -a -m "sunnypilot v$VERSION
-version: sunnypilot v$SP_VERSION (${EXTRA_VERSION_IDENTIFIER})
-date: $DATETIME
-master commit: $GIT_HASH
-"
-git branch --set-upstream-to=origin/$DEV_BRANCH
+# Add built files to git
+git add -f .
+if [ "$EXTRA_VERSION_IDENTIFIER" = "-release" ] || [ "$EXTRA_VERSION_IDENTIFIER" = "-staging" ]; then
+  export VERSION=${VERSION%"$EXTRA_VERSION_IDENTIFIER"}
+  git commit --amend -m "sunnypilot v$VERSION"
+else
+  git commit --amend -m "sunnypilot v$VERSION
+  version: sunnypilot v$SP_VERSION release
+  date: $DATETIME
+  master commit: $GIT_HASH
+  "
+fi
 git branch -m $DEV_BRANCH
 
 # Push!

selfdrive/controls/controlsd.py

@@ -95,8 +95,6 @@ class Controls(ControlsExt, ModelStateBase):
         self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
                                            torque_params.frictionCoefficientFiltered)
 
-        self.LaC.extension.update_limits()
-
       self.LaC.extension.update_model_v2(self.sm['modelV2'])
 
       self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)

selfdrive/controls/lib/desire_helper.py

@@ -1,8 +1,7 @@
-from cereal import log, custom
+from cereal import log
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
-from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController
 
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -31,12 +30,6 @@ DESIRES = {
   },
 }
 
-TURN_DESIRES = {
-  custom.TurnDirection.none: log.Desire.none,
-  custom.TurnDirection.turnLeft: log.Desire.turnLeft,
-  custom.TurnDirection.turnRight: log.Desire.turnRight,
-}
-
 
 class DesireHelper:
   def __init__(self):
@@ -48,21 +41,13 @@ class DesireHelper:
     self.prev_one_blinker = False
     self.desire = log.Desire.none
     self.alc = AutoLaneChangeController(self)
-    self.lane_turn_controller = LaneTurnController(self)
-    self.lane_turn_direction = custom.TurnDirection.none
 
   def update(self, carstate, lateral_active, lane_change_prob):
     self.alc.update_params()
-    self.lane_turn_controller.update_params()
     v_ego = carstate.vEgo
     one_blinker = carstate.leftBlinker != carstate.rightBlinker
     below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
 
-    # Lane turn controller update
-    self.lane_turn_controller.update_lane_turn(blindspot_left=carstate.leftBlindspot, blindspot_right=carstate.rightBlindspot,
-                                               left_blinker=carstate.leftBlinker, right_blinker=carstate.rightBlinker, v_ego=v_ego)
-    self.lane_turn_direction = self.lane_turn_controller.get_turn_direction()
-
     if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX or self.alc.lane_change_set_timer == AutoLaneChangeMode.OFF:
       self.lane_change_state = LaneChangeState.off
       self.lane_change_direction = LaneChangeDirection.none
@@ -121,10 +106,7 @@ class DesireHelper:
 
     self.prev_one_blinker = one_blinker
 
-    if self.lane_turn_direction != custom.TurnDirection.none:
-      self.desire = TURN_DESIRES[self.lane_turn_direction]
-    else:
-      self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
+    self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
 
     # Send keep pulse once per second during LaneChangeStart.preLaneChange
     if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting):

selfdrive/controls/lib/latcontrol_torque.py

@@ -3,6 +3,7 @@ import numpy as np
 
 from cereal import log
 from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
+from opendbc.car.interfaces import LatControlInputs
 from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.common.pid import PIDController
@@ -28,24 +29,17 @@ class LatControlTorque(LatControl):
   def __init__(self, CP, CP_SP, CI):
     super().__init__(CP, CP_SP, CI)
     self.torque_params = CP.lateralTuning.torque.as_builder()
-    self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
-    self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
     self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
-                             k_f=self.torque_params.kf)
-    self.update_limits()
+                             k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
+    self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
 
-    self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)
+    self.extension = LatControlTorqueExt(self, CP, CP_SP)
 
   def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
     self.torque_params.latAccelFactor = latAccelFactor
     self.torque_params.latAccelOffset = latAccelOffset
     self.torque_params.friction = friction
-    self.update_limits()
-
-  def update_limits(self):
-    self.pid.set_limits(self.lateral_accel_from_torque(self.steer_max, self.torque_params),
-                        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):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
@@ -67,31 +61,33 @@ class LatControlTorque(LatControl):
       setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
       measurement = actual_lateral_accel + low_speed_factor * actual_curvature
       gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation
-
-      # 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
+      torque_from_setpoint = self.torque_from_lateral_accel(LatControlInputs(setpoint, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
+                                                            gravity_adjusted=False)
+      torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
+                                                               gravity_adjusted=False)
+      pid_log.error = float(torque_from_setpoint - torque_from_measurement)
+      ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
+                                          gravity_adjusted=True)
       ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
 
+      # Lateral acceleration torque controller extension updates
+      # Overrides stock ff and pid_log.error
+      ff, pid_log = self.extension.update(CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
+                                          desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
+                                          desired_curvature, actual_curvature)
+
       freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-      output_lataccel = self.pid.update(pid_log.error,
+      output_torque = self.pid.update(pid_log.error,
                                       feedforward=ff,
                                       speed=CS.vEgo,
                                       freeze_integrator=freeze_integrator)
-      output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
-
-      # Lateral acceleration torque controller extension updates
-      # Overrides pid_log.error and output_torque
-      pid_log, output_torque = self.extension.update(CS, VM, self.pid, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
-                                                     desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
-                                                     desired_curvature, actual_curvature, steer_limited_by_safety, output_torque)
 
       pid_log.active = True
       pid_log.p = float(self.pid.p)
       pid_log.i = float(self.pid.i)
       pid_log.d = float(self.pid.d)
       pid_log.f = float(self.pid.f)
-      pid_log.output = float(-output_torque)  # TODO: log lat accel?
+      pid_log.output = float(-output_torque)
       pid_log.actualLateralAccel = float(actual_lateral_accel)
       pid_log.desiredLateralAccel = float(desired_lateral_accel)
       pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))

selfdrive/controls/lib/longitudinal_planner.py

@@ -93,12 +93,12 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     return x, v, a, j, throttle_prob
 
   def update(self, sm):
-    mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
+    self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
     if not self.mlsim:
-      self.mpc.mode = mode
+      self.mpc.mode = self.mode
     LongitudinalPlannerSP.update(self, sm)
     if dec_mpc_mode := self.get_mpc_mode():
-      mode = dec_mpc_mode
+      self.mode = dec_mpc_mode
       if not self.mlsim:
         self.mpc.mode = dec_mpc_mode
 
@@ -123,7 +123,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
 
-    if mode == 'acc':
+    if self.mode == 'acc':
       accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
       steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
       accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
@@ -173,7 +173,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
     output_should_stop_e2e = sm['modelV2'].action.shouldStop
 
-    if mode == 'acc' or not self.mlsim:
+    if self.mode == 'acc' or not self.mlsim:
       output_a_target = output_a_target_mpc
       self.output_should_stop = output_should_stop_mpc
     else:

selfdrive/controls/lib/tests/test_latcontrol.py

@@ -5,7 +5,6 @@ from opendbc.car.car_helpers import interfaces
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.nissan.values import CAR as NISSAN
-from opendbc.car.gm.values import CAR as GM
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.selfdrive.car.helpers import convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
@@ -18,8 +17,7 @@ from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfac
 
 class TestLatControl:
 
-  @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
-                         (NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque)])
+  @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),  (NISSAN.NISSAN_LEAF, LatControlAngle)])
   def test_saturation(self, car_name, controller):
     CarInterface = interfaces[car_name]
     CP = CarInterface.get_non_essential_params(car_name)

selfdrive/modeld/modeld.py

@@ -107,12 +107,15 @@ class ModelState(ModelStateBase):
 
     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.full_prev_desired_curv = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_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 = {
       'desire': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32),
       'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
+      'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32),
+      'prev_desired_curv': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
       'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
     }
 
@@ -145,6 +148,7 @@ class ModelState(ModelStateBase):
     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']
+    self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
     imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names}
 
     if TICI and not USBGPU:
@@ -170,6 +174,11 @@ class ModelState(ModelStateBase):
     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))
 
+    # TODO model only uses last value now
+    self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
+    self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
+    self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
+
     combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
     if SEND_RAW_PRED:
       combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
@@ -216,7 +225,7 @@ def main(demo=False):
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
   # messaging
-  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
   sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
 
   publish_state = PublishState()
@@ -290,6 +299,7 @@ def main(demo=False):
     if sm.frame % 60 == 0:
       model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
     lat_delay = model.lat_delay + LAT_SMOOTH_SECONDS
+    lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -322,6 +332,7 @@ def main(demo=False):
     inputs:dict[str, np.ndarray] = {
       'desire': vec_desire,
       'traffic_convention': traffic_convention,
+      'lateral_control_params': lateral_control_params,
     }
 
     mt1 = time.perf_counter()
@@ -333,7 +344,6 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
-      mdv2sp_send = messaging.new_message('modelDataV2SP')
 
       action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
       prev_action = action
@@ -348,7 +358,6 @@ def main(demo=False):
       DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
-      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 
@@ -356,7 +365,6 @@ def main(demo=False):
       pm.send('modelV2', modelv2_send)
       pm.send('drivingModelData', drivingdata_send)
       pm.send('cameraOdometry', posenet_send)
-      pm.send('modelDataV2SP', mdv2sp_send)
     last_vipc_frame_id = meta_main.frame_id
 
 

selfdrive/modeld/models/driving_policy.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:04b763fb71efe57a8a4c4168a8043ecd58939015026ded0dc755ded6905ac251
-size 12343523
+oid sha256:1af87c38492444521632a0e75839b5684ee46bf255b3474773784bffb9fe4f57
+size 15583374

selfdrive/modeld/models/driving_vision.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e66bb8d53eced3786ed71a59b55ffc6810944cb217f0518621cc76303260a1ef
-size 46271991
+oid sha256:c824f68646a3b94f117f01c70dc8316fb466e05fbd42ccdba440b8a8dc86914b
+size 46265993

selfdrive/modeld/parse_model_outputs.py

@@ -22,10 +22,9 @@ class Parser:
     self.ignore_missing = ignore_missing
 
   def check_missing(self, outs, name):
-    missing = name not in outs
-    if missing and not self.ignore_missing:
+    if name not in outs and not self.ignore_missing:
       raise ValueError(f"Missing output {name}")
-    return missing
+    return name not in outs
 
   def parse_categorical_crossentropy(self, name, outs, out_shape=None):
     if self.check_missing(outs, name):
@@ -85,13 +84,6 @@ class Parser:
     outs[name] = pred_mu_final.reshape(final_shape)
     outs[name + '_stds'] = pred_std_final.reshape(final_shape)
 
-  def is_mhp(self, outs, name, shape):
-    if self.check_missing(outs, name):
-      return False
-    if outs[name].shape[1] == 2 * shape:
-      return False
-    return True
-
   def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
@@ -102,17 +94,23 @@ class Parser:
     self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
     self.parse_binary_crossentropy('meta', outs)
     self.parse_binary_crossentropy('lead_prob', outs)
-    lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH)
-    lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
-    lead_out_shape = (ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) if lead_mhp else \
-        (ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH)
-    self.parse_mdn('lead', outs, in_N=lead_in_N, out_N=lead_out_N, out_shape=lead_out_shape)
+    if outs['lead'].shape[1] == 2 * ModelConstants.LEAD_MHP_SELECTION *ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH:
+      self.parse_mdn('lead', outs, in_N=0, out_N=0,
+                     out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    else:
+      self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
+                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
     return outs
 
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    plan_mhp = self.is_mhp(outs, 'plan',  ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
-    plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
-    self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
+    if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH:
+      self.parse_mdn('plan', outs, in_N=0, out_N=0,
+                     out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
+    else:
+      self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
+                     out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
+    if 'desired_curvature' in outs:
+      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
     return outs
 

selfdrive/pandad/pandad.py

@@ -93,7 +93,7 @@ def main() -> None:
 
       # TODO: remove this in the next AGNOS
       # wait until USB is up before counting
-      if time.monotonic() < 60.:
+      if time.monotonic() < 35.:
         no_internal_panda_count = 0
 
       # Handle missing internal panda

selfdrive/selfdrived/alerts_offroad.json

@@ -49,10 +49,5 @@
     "text": "openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting.",
     "severity": 1,
     "_comment": "Set extra field to lateral or longitudinal."
-  },
-  "Offroad_TiciSupport": {
-    "text": "<b>Unsupported branch detected</b> - The current version of <b><u>%1</u></b> branch is no longer supported on the comma three. Please go to <b>[Device > Software]</b> and install a supported branch with <b><u>-tici</u></b> in the branch name for the comma three.",
-    "severity": 1,
-    "_comment": "Set extra field to the current branch name."
   }
 }

selfdrive/selfdrived/selfdrived.py

@@ -86,7 +86,7 @@ class SelfdriveD(CruiseHelper):
     # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
     self.car_state_sock = messaging.sub_sock('carState', timeout=20)
 
-    ignore = self.sensor_packets + self.gps_packets + ['alertDebug'] + ['modelDataV2SP']
+    ignore = self.sensor_packets + self.gps_packets + ['alertDebug']
     if SIMULATION:
       ignore += ['driverCameraState', 'managerState']
     if REPLAY:
@@ -95,8 +95,7 @@ class SelfdriveD(CruiseHelper):
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
-                                   'modelDataV2SP'] + \
+                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore,
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))
@@ -266,10 +265,7 @@ class SelfdriveD(CruiseHelper):
       if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture:
         self.events.add(EventName.ldw)
 
-    # ******************************************************************************************
-    #  NOTE: To fork maintainers.
-    #  Disabling or nerfing safety features will get you and your users banned from our servers.
-    #  We recommend that you do not change these numbers from the defaults.
+    # Check for excessive actuation
     if self.sm.updated['liveCalibration']:
       self.pose_calibrator.feed_live_calib(self.sm['liveCalibration'])
     if self.sm.updated['livePose']:
@@ -284,7 +280,6 @@ class SelfdriveD(CruiseHelper):
 
     if self.excessive_actuation:
       self.events.add(EventName.excessiveActuation)
-    # ******************************************************************************************
 
     # Handle lane change
     if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
@@ -301,13 +296,6 @@ class SelfdriveD(CruiseHelper):
                                                     LaneChangeState.laneChangeFinishing):
       self.events.add(EventName.laneChange)
 
-    # Handle lane turn
-    lane_turn_direction = self.sm['modelDataV2SP'].laneTurnDirection
-    if lane_turn_direction == custom.TurnDirection.turnLeft:
-      self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnLeft)
-    elif lane_turn_direction == custom.TurnDirection.turnRight:
-      self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnRight)
-
     for i, pandaState in enumerate(self.sm['pandaStates']):
       # All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput
       if i < len(self.CP.safetyConfigs):

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-6d3219bca9f66a229b38a5382d301a92b0147edb
+543bd2347fa35f8300478a3893fdd0a03a7c1fe6

selfdrive/test/process_replay/test_processes.py

@@ -63,7 +63,7 @@ segments = [
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock", "body", "psa"]
+excluded_interfaces = ["mock", "body"]
 
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")

selfdrive/test/test_onroad.py

@@ -333,18 +333,20 @@ class TestOnroad:
             assert np.all(eof_sof_diff > 0)
             assert np.all(eof_sof_diff < 50*1e6)
 
-        first_fid = {min(self.ts[c]['frameId']) for c in cams}
-        assert len(first_fid) == 1, "Cameras don't start on same frame ID"
+        first_fid = {c: min(self.ts[c]['frameId']) for c in cams}
         if cam.endswith('CameraState'):
           # camerad guarantees that all cams start on frame ID 0
           # (note loggerd also needs to start up fast enough to catch it)
-          assert next(iter(first_fid)) < 100, "Cameras start on frame ID too high"
+          assert set(first_fid.values()) == {0, }, "Cameras don't start on frame ID 0"
+        else:
+          # encoder guarantees all cams start on the same frame ID
+          assert len(set(first_fid.values())) == 1, "Cameras don't start on same frame ID"
 
         # we don't do a full segment rotation, so these might not match exactly
-        last_fid = {max(self.ts[c]['frameId']) for c in cams}
-        assert max(last_fid) - min(last_fid) < 10
+        last_fid = {c: max(self.ts[c]['frameId']) for c in cams}
+        assert max(last_fid.values()) - min(last_fid.values()) < 10
 
-        start, end = min(first_fid), min(last_fid)
+        start, end = min(first_fid.values()), min(last_fid.values())
         for i in range(end-start):
           ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams}
           diff = (max(ts.values()) - min(ts.values()))

selfdrive/ui/feedback/feedbackd.py

@@ -22,9 +22,8 @@ def main():
     sm.update()
     should_send_bookmark = False
 
-    # TODO: https://github.com/commaai/openpilot/issues/36015
     # only allow the LKAS button to record feedback when MADS is disabled
-    if False and sm.updated['carState'] and sm['carState'].canValid and not sm['selfdriveStateSP'].mads.available:
+    if sm.updated['carState'] and sm['carState'].canValid and not sm['selfdriveStateSP'].mads.available:
       for be in sm['carState'].buttonEvents:
         if be.type == ButtonType.lkas:
           if be.pressed:

selfdrive/ui/installer/installer.cc

@@ -24,13 +24,11 @@ const std::string BRANCH_STR = get_str(BRANCH "?
 #define GIT_SSH_URL "git@github.com:commaai/openpilot.git"
 #define CONTINUE_PATH "/data/continue.sh"
 
-const std::string INSTALL_PATH = "/data/openpilot";
-const std::string VALID_CACHE_PATH = "/data/.openpilot_cache";
+const std::string CACHE_PATH = "/data/openpilot.cache";
 
+#define INSTALL_PATH "/data/openpilot"
 #define TMP_INSTALL_PATH "/data/tmppilot"
 
-const int FONT_SIZE = 120;
-
 extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_start");
 extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_end");
 extern const uint8_t inter_ttf[] asm("_binary_selfdrive_ui_installer_inter_ascii_ttf_start");
@@ -43,16 +41,6 @@ void run(const char* cmd) {
   assert(err == 0);
 }
 
-void finishInstall() {
-  BeginDrawing();
-    ClearBackground(BLACK);
-    const char *m = "Finishing install...";
-    int text_width = MeasureText(m, FONT_SIZE);
-    DrawTextEx(font, m, (Vector2){(float)(GetScreenWidth() - text_width)/2 + FONT_SIZE, (float)(GetScreenHeight() - FONT_SIZE)/2}, FONT_SIZE, 0, WHITE);
-  EndDrawing();
-  util::sleep_for(60 * 1000);
-}
-
 void renderProgress(int progress) {
   BeginDrawing();
     ClearBackground(BLACK);
@@ -74,11 +62,11 @@ int doInstall() {
   }
 
   // cleanup previous install attempts
-  run("rm -rf " TMP_INSTALL_PATH);
+  run("rm -rf " TMP_INSTALL_PATH " " INSTALL_PATH);
 
   // do the install
-  if (util::file_exists(INSTALL_PATH) && util::file_exists(VALID_CACHE_PATH)) {
-    return cachedFetch(INSTALL_PATH);
+  if (util::file_exists(CACHE_PATH)) {
+    return cachedFetch(CACHE_PATH);
   } else {
     return freshClone();
   }
@@ -147,9 +135,7 @@ void cloneFinished(int exitCode) {
   run("git submodule update --init");
 
   // move into place
-  run(("rm -f " + VALID_CACHE_PATH).c_str());
-  run(("rm -rf " + INSTALL_PATH).c_str());
-  run(util::string_format("mv %s %s", TMP_INSTALL_PATH, INSTALL_PATH.c_str()).c_str());
+  run("mv " TMP_INSTALL_PATH " " INSTALL_PATH);
 
 #ifdef INTERNAL
   run("mkdir -p /data/params/d/");
@@ -167,9 +153,9 @@ void cloneFinished(int exitCode) {
     param << value;
     param.close();
   }
-  run(("cd " + INSTALL_PATH + " && "
+  run("cd " INSTALL_PATH " && "
       "git remote set-url origin --push " GIT_SSH_URL " && "
-      "git config --replace-all remote.origin.fetch \"+refs/heads/*:refs/remotes/origin/*\"").c_str());
+      "git config --replace-all remote.origin.fetch \"+refs/heads/*:refs/remotes/origin/*\"");
 #endif
 
   // write continue.sh
@@ -185,22 +171,16 @@ void cloneFinished(int exitCode) {
   run("mv /data/continue.sh.new " CONTINUE_PATH);
 
   // wait for the installed software's UI to take over
-  finishInstall();
+  util::sleep_for(60 * 1000);
 }
 
 int main(int argc, char *argv[]) {
   InitWindow(2160, 1080, "Installer");
-  font = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, FONT_SIZE, NULL, 0);
+  font = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, 120, NULL, 0);
   SetTextureFilter(font.texture, TEXTURE_FILTER_BILINEAR);
-
-  if (util::file_exists(CONTINUE_PATH)) {
-    finishInstall();
-  } else {
-    renderProgress(0);
-    int result = doInstall();
-    cloneFinished(result);
-  }
-
+  renderProgress(0);
+  int result = doInstall();
+  cloneFinished(result);
   CloseWindow();
   UnloadFont(font);
   return 0;

selfdrive/ui/layouts/settings/toggles.py

@@ -23,6 +23,10 @@ DESCRIPTIONS = {
   'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
   "IsMetric": "Display speed in km/h instead of mph.",
   "RecordAudio": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.",
+  "RecordAudioFeedback": (
+    "Press the LKAS button to record audio feedback about openpilot. When this toggle is disabled, the button acts as a bookmark button. " +
+    "The event will be highlighted in comma connect and the segment will be preserved on your device's storage."
+  ),
 }
 
 
@@ -81,6 +85,12 @@ class TogglesLayout(Widget):
         self._params.get_bool("RecordAudio"),
         icon="microphone.png",
       ),
+      toggle_item(
+        "Record Audio Feedback with LKAS button",
+        DESCRIPTIONS["RecordAudioFeedback"],
+        self._params.get_bool("RecordAudioFeedback"),
+        icon="microphone.png",
+      ),
       toggle_item(
         "Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="metric.png"
       ),

selfdrive/ui/lib/prime_state.py

@@ -2,15 +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.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 
-TOKEN_EXPIRY_HOURS = 2
-
 
 class PrimeType(IntEnum):
   UNKNOWN = -2,
@@ -23,12 +20,6 @@ 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 +49,13 @@ class PrimeState:
       return
 
     try:
-      identity_token = get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60)))
+      identity_token = Api(dongle_id).get_token()
       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}")
 

selfdrive/ui/onroad/model_renderer.py

@@ -187,9 +187,9 @@ class ModelRenderer(Widget):
       self._path.raw_points, 0.9, self._path_offset_z, max_idx, allow_invert=False
     )
 
-    self._update_experimental_gradient()
+    self._update_experimental_gradient(self._rect.height)
 
-  def _update_experimental_gradient(self):
+  def _update_experimental_gradient(self, height):
     """Pre-calculate experimental mode gradient colors"""
     if not self._experimental_mode:
       return
@@ -201,21 +201,22 @@ class ModelRenderer(Widget):
 
     i = 0
     while i < max_len:
-      # Some points (screen space) are out of frame (rect space)
-      track_y = self._path.projected_points[i][1]
-      if track_y < self._rect.y or track_y > (self._rect.y + self._rect.height):
+      track_idx = max_len - i - 1  # flip idx to start from bottom right
+      track_y = self._path.projected_points[track_idx][1]
+      if track_y < 0 or track_y > height:
         i += 1
         continue
 
-      # Calculate color based on acceleration (0 is bottom, 1 is top)
-      lin_grad_point = 1 - (track_y - self._rect.y) / self._rect.height
+      # Calculate color based on acceleration
+      lin_grad_point = (height - track_y) / height
 
       # speed up: 120, slow down: 0
-      path_hue = np.clip(60 + self._acceleration_x[i] * 35, 0, 120)
+      path_hue = max(min(60 + self._acceleration_x[i] * 35, 120), 0)
+      path_hue = int(path_hue * 100 + 0.5) / 100
 
       saturation = min(abs(self._acceleration_x[i] * 1.5), 1)
-      lightness = np.interp(saturation, [0.0, 1.0], [0.95, 0.62])
-      alpha = np.interp(lin_grad_point, [0.75 / 2.0, 0.75], [0.4, 0.0])
+      lightness = self._map_val(saturation, 0.0, 1.0, 0.95, 0.62)
+      alpha = self._map_val(lin_grad_point, 0.75 / 2.0, 0.75, 0.4, 0.0)
 
       # Use HSL to RGB conversion
       color = self._hsla_to_color(path_hue / 360.0, saturation, lightness, alpha)
@@ -279,7 +280,7 @@ class ModelRenderer(Widget):
 
     if self._experimental_mode:
       # Draw with acceleration coloring
-      if len(self._exp_gradient['colors']) > 1:
+      if len(self._exp_gradient['colors']) > 2:
         draw_polygon(self._rect, self._path.projected_points, gradient=self._exp_gradient)
       else:
         draw_polygon(self._rect, self._path.projected_points, rl.Color(255, 255, 255, 30))
@@ -408,6 +409,13 @@ class ModelRenderer(Widget):
 
     return np.vstack((left_screen.T, right_screen[:, ::-1].T)).astype(np.float32)
 
+  @staticmethod
+  def _map_val(x, x0, x1, y0, y1):
+    x = np.clip(x, x0, x1)
+    ra = x1 - x0
+    rb = y1 - y0
+    return (x - x0) * rb / ra + y0 if ra != 0 else y0
+
   @staticmethod
   def _hsla_to_color(h, s, l, a):
     rgb = colorsys.hls_to_rgb(h, l, s)

selfdrive/ui/qt/offroad/settings.cc

@@ -75,6 +75,13 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "../assets/icons/microphone.png",
       true,
     },
+    {
+      "RecordAudioFeedback",
+      tr("Record Audio Feedback with LKAS button"),
+      tr("Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.\n\nNote that this feature is only compatible with select cars."),
+      "../assets/icons/microphone.png",
+      false,
+    },
     {
       "IsMetric",
       tr("Use Metric System"),

selfdrive/ui/qt/onroad/alerts.cc

@@ -4,9 +4,6 @@
 #include <map>
 
 #include "selfdrive/ui/qt/util.h"
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/ui.h"
-#endif
 
 void OnroadAlerts::updateState(const UIState &s) {
   Alert a = getAlert(*(s.sm), s.scene.started_frame);
@@ -76,12 +73,6 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
   }
   QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);
 
-#ifdef SUNNYPILOT
-  const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
-  const int adjustment = dev_ui_info > 1 && alert.size != cereal::SelfdriveState::AlertSize::FULL ? 30 : 0;
-  r = QRect(0 + margin, height() - h + margin - adjustment, width() - margin*2, h - margin*2);
-#endif
-
   QPainter p(this);
 
   // draw background + gradient

selfdrive/ui/qt/onroad/annotated_camera.h

@@ -12,7 +12,6 @@
 #include "selfdrive/ui/sunnypilot/qt/onroad/model.h"
 #define ExperimentalButton ExperimentalButtonSP
 #define ModelRenderer ModelRendererSP
-#define HudRenderer HudRendererSP
 #else
 #include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/onroad/hud.h"

selfdrive/ui/qt/onroad/driver_monitoring.cc

@@ -73,11 +73,6 @@ void DriverMonitorRenderer::draw(QPainter &painter, const QRect &surface_rect) {
   float y = surface_rect.height() - offset;
   float opacity = is_active ? 0.65f : 0.2f;
 
-#ifdef SUNNYPILOT
-  const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
-  y -= dev_ui_info > 1 ? 50 : 0;
-#endif
-
   drawIcon(painter, QPoint(x, y), dm_img, QColor(0, 0, 0, 70), opacity);
 
   QPointF keypoints[std::size(DEFAULT_FACE_KPTS_3D)];

selfdrive/ui/qt/widgets/input.cc

@@ -336,8 +336,8 @@ QString MultiOptionDialog::getSelection(const QString &prompt_text, const QStrin
   return "";
 }
 
-TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<TreeFolder> &items,
-                                   const QString &current, const QString &favParam, QWidget *parent) : DialogBase(parent) {
+TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items,
+                                   const QString &current, QWidget *parent) : DialogBase(parent) {
   QFrame *container = new QFrame(this);
   container->setStyleSheet(R"(
     QFrame { background-color: #1B1B1B; }
@@ -375,9 +375,6 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<TreeF
   main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
   main_layout->addSpacing(25);
 
-  iconBlank = QIcon("../../sunnypilot/selfdrive/assets/icons/star-empty.png");
-  iconFilled = QIcon ("../../sunnypilot/selfdrive/assets/icons/star-filled.png");
-
   treeWidget = new QTreeWidget(this);
   treeWidget->setHeaderHidden(true);
   treeWidget->setIndentation(50);
@@ -399,49 +396,34 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<TreeF
 
   QScroller::grabGesture(treeWidget->viewport(), QScroller::LeftMouseButtonGesture);
 
-  // Create initial list of favorites from param
-  const QString favs = QString::fromStdString(params.get(favParam.toStdString()));
-  mapFavs = new QMap<QString, QList<QPushButton*>>();
-  favRefs = new QStringList(favs.split(";"));
-  for (const QString &item : *favRefs)
-  {
-    mapFavs->insert( item, {});
-  }
-
   // Populate tree
-  QListIterator<TreeFolder> iter(items);
+  QListIterator<QPair<QString, QStringList>> iter(items);
   while (iter.hasNext()) {
-    TreeFolder currItem = iter.next();
-    QString prevFolder;
-    QString currentFolder;
-    if (currItem.folder.isEmpty()) {
-      for (const TreeNode &item : currItem.items) {
+    QPair currItem = iter.next();
+    if (currItem.first.isEmpty()) {
+      for (const QString &item : currItem.second) {
         QTreeWidgetItem *topLevel = new QTreeWidgetItem();
-        topLevel->setText(0, item.displayName);
-        topLevel->setData(0, Qt::UserRole, item.ref);
+        topLevel->setText(0, item);
         topLevel->setFlags(topLevel->flags() | Qt::ItemIsSelectable);
         treeWidget->addTopLevelItem(topLevel);
-        if (item.ref == current) {
+        if (item == current) {
           topLevel->setSelected(true);
         }
       }
     } else {
-      QList<QTreeWidgetItem*> folders = treeWidget->findItems(currItem.folder, Qt::MatchExactly, 0);
-      QTreeWidgetItem *folderItem = nullptr;
-      if (folders.isEmpty()) {
-        folderItem = new QTreeWidgetItem(treeWidget);
-      } else {
-        folderItem = folders.first();
-      }
+      QTreeWidgetItem *folderItem = new QTreeWidgetItem(treeWidget);
       folderItem->setIcon(0, QIcon(QPixmap("../assets/icons/menu.png")));
-      folderItem->setText(0, "  " + currItem.folder);
+      folderItem->setText(0, "  " + currItem.first);
       folderItem->setFlags(folderItem->flags() | Qt::ItemIsAutoTristate);
       folderItem->setFlags(folderItem->flags() & ~Qt::ItemIsSelectable);
 
-      for (const TreeNode item : currItem.items)
+      for (const QString &item : currItem.second)
       {
-        QTreeWidgetItem *childItem = addChildItem(item.displayName, item.ref, folderItem);
-        if (item.ref == current) {
+        QTreeWidgetItem *childItem = new QTreeWidgetItem(folderItem);
+        childItem->setText(0, item);
+        childItem->setFlags(childItem->flags() | Qt::ItemIsSelectable);
+
+        if (item == current) {
           childItem->setSelected(true);
           folderItem->setExpanded(true);
         }
@@ -449,39 +431,6 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<TreeF
     }
   }
 
-  // Create favorites folder
-  favorites = new QTreeWidgetItem();
-  favorites->setIcon(0, QIcon(QPixmap("../assets/icons/menu.png")));
-  favorites->setText(0, "  " + tr("Favorites"));
-  favorites->setFlags(favorites->flags() | Qt::ItemIsAutoTristate);
-  favorites->setFlags(favorites->flags() & ~Qt::ItemIsSelectable);
-  treeWidget->insertTopLevelItem(1, favorites);
-
-  // Create favorite nodes
-  for (int i = favRefs->size() - 1; i >= 0; --i) {
-    QString item = favRefs->at(i);
-    if (item.isEmpty()) continue;
-
-    QTreeWidgetItemIterator treeIt(treeWidget);
-    QTreeWidgetItem *nodeItem = nullptr;
-    while (*treeIt) {
-      if (item == (*treeIt)->data(0, Qt::UserRole).toString()) {
-        nodeItem = (*treeIt);
-        break;
-      }
-      ++treeIt;
-    }
-    if (nodeItem == nullptr) continue;
-
-    QTreeWidgetItem *childItem = addChildItem(nodeItem->text(0),
-      nodeItem->data(0, Qt::UserRole).toString(), favorites);
-    if (item == current) {
-      treeWidget->collapseAll();
-      childItem->setSelected(true);
-      favorites->setExpanded(true);
-    }
-  }
-
   confirm_btn = new QPushButton(tr("Select"));
   confirm_btn->setObjectName("confirm_btn");
   confirm_btn->setEnabled(false);
@@ -489,7 +438,7 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<TreeF
   QObject::connect(treeWidget, &QTreeWidget::itemSelectionChanged, [=]() {
     QList<QTreeWidgetItem*> selectedItems = treeWidget->selectedItems();
     if (!selectedItems.isEmpty()) {
-      selection = selectedItems.first()->data(0, Qt::UserRole).toString();
+      selection = selectedItems.first()->text(0);
       confirm_btn->setEnabled(selection != current);
     }
   });
@@ -516,91 +465,11 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<TreeF
   outer_layout->addWidget(container);
 }
 
-QString TreeOptionDialog::getSelection(const QString &prompt_text, const QList<TreeFolder> &items,
-                                     const QString &current, const QString &favParam, QWidget *parent) {
-  TreeOptionDialog d(prompt_text, items, current, favParam, parent);
+QString TreeOptionDialog::getSelection(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items,
+                                     const QString &current, QWidget *parent) {
+  TreeOptionDialog d(prompt_text, items, current, parent);
   if (d.exec()) {
     return d.selection;
   }
   return "";
 }
-
-/**
- * Handles the addition or removal of items from the "favorites" list based on the provided reference identifier.
- *
- * @param displayName The text label associated with the item to be added or removed in the favorites.
- * @param ref A unique reference key identifying the item.
- * @param btn A pointer to the QPushButton associated with the item. The button's icon is updated to indicate
- *            whether the item is currently favorited or not.
- *
- * If the item is already in the favorites, it is removed from the list, its associated buttons have their
- * icons reset, and the favorites tree is updated accordingly. If the item is not in the favorites, it is
- * added to the list, a new associated button is created, and the favorites tree is updated. The current
- * state of the favorites is stored in the Params object as a semicolon-separated string.
- */
-void TreeOptionDialog::handleFavorites(const QString &displayName, const QString &ref, QPushButton *btn) {
-  if (mapFavs->keys().contains(ref)) { // Remove from favorites
-    for (auto *itemBtn:mapFavs->value(ref))
-    {
-      itemBtn->setIcon(iconBlank);
-    }
-    mapFavs->remove(ref);
-    favRefs->removeAll(ref);
-    for (int i = 0; i < favorites->childCount(); ++i) {
-      QTreeWidgetItem* child = favorites->child(i);
-      if (child && child->data(0, Qt::UserRole).toString() == ref) {
-        favorites->removeChild(child);
-      }
-    }
-  } else { // Add to favorites
-    QPushButton *favBtn = new QPushButton();
-    btn->setIcon(iconFilled);
-    mapFavs->insert(ref, {btn, favBtn});
-    favRefs->append(ref);
-    addChildItem(displayName, ref, favorites, favBtn, true);
-  }
-
-  const QString favs =favRefs->join(";");
-  params.put("ModelManager_Favs", favs.toStdString());
-}
-
-/**
- * Adds a child item to a given folder item within the QTreeWidget.
- *
- * @param displayName The text to display for the child item.
- * @param ref A reference string that uniquely identifies the child item.
- * @param folderItem The parent folder item to which the child item will be added.
- * @param btn A pointer to a QPushButton associated with the child item. If nullptr, a new button will be created.
- * @param addAtTop If true, the child item is added as the first child of the folder item; otherwise, it is appended to the end.
- * @return A pointer to the created QTreeWidgetItem representing the child item.
- */
-QTreeWidgetItem* TreeOptionDialog::addChildItem(const QString &displayName, const QString &ref, QTreeWidgetItem *folderItem, QPushButton *btn, bool addAtTop) {
-  QTreeWidgetItem *childItem = new QTreeWidgetItem();
-  if (btn == nullptr) {
-    btn = new QPushButton();
-  }
-  if (mapFavs->keys().contains(ref)) {
-    btn->setIcon(iconFilled);
-    (*mapFavs)[ref].append(btn);
-  } else {
-    btn->setIcon(iconBlank);
-  }
-  btn->setIconSize(QSize(100, 100));
-  QWidget *buttonContainer = new QWidget();
-  QHBoxLayout *layout = new QHBoxLayout(buttonContainer);
-  layout->addWidget(btn, 0, Qt::AlignRight);
-  childItem->setText(0, displayName);
-  childItem->setData(0, Qt::UserRole, ref);
-  childItem->setFlags(childItem->flags() | Qt::ItemIsSelectable);
-  if (addAtTop) {
-    folderItem->insertChild(0, childItem);
-  } else {
-    folderItem->addChild(childItem);
-  }
-  treeWidget->setItemWidget(childItem, 0, buttonContainer);
-
-  connect(btn, &QPushButton::clicked, btn, [=]() {
-    handleFavorites(displayName, ref, btn);
-  });
-  return childItem;
-}

selfdrive/ui/qt/widgets/input.h

@@ -8,22 +8,9 @@
 #include <QWidget>
 #include <QTreeWidget>
 
-#include "common/params.h"
 #include "selfdrive/ui/qt/widgets/keyboard.h"
 
 
-struct TreeNode {
-  QString folder;
-  QString displayName;
-  QString ref;
-  int index;
-};
-
-struct TreeFolder {
-  QString folder;
-  QList<TreeNode> items;
-};
-
 class DialogBase : public QDialog {
   Q_OBJECT
 
@@ -88,20 +75,11 @@ class TreeOptionDialog : public DialogBase {
   Q_OBJECT
 
 public:
-  explicit TreeOptionDialog(const QString &prompt_text, const QList<TreeFolder> &items, const QString &current, const QString &favParam, QWidget *parent = nullptr);
-  static QString getSelection(const QString &prompt_text, const QList<TreeFolder> &items, const QString &current, const QString &favParam, QWidget *parent = nullptr);
-  void handleFavorites(const QString &displayName, const QString &ref, QPushButton* btn);
-  QTreeWidgetItem* addChildItem(const QString &displayName, const QString &ref, QTreeWidgetItem* folderItem, QPushButton* btn = nullptr, bool addAtTop = false);
+  explicit TreeOptionDialog(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items, const QString &current, QWidget *parent = nullptr);
+  static QString getSelection(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items, const QString &current, QWidget *parent = nullptr);
   QString selection;
 
 private:
   QTreeWidget *treeWidget;
   QPushButton *confirm_btn;
-  Params params;
-  QMap<QString, QList<QPushButton*>> *mapFavs;
-  QStringList *favRefs;
-  QTreeWidgetItem *favorites;
-
-  QIcon iconBlank;
-  QIcon iconFilled;
 };

selfdrive/ui/sunnypilot/SConscript

@@ -4,7 +4,6 @@ widgets_src = [
   "sunnypilot/qt/widgets/controls.cc",
   "sunnypilot/qt/widgets/drive_stats.cc",
   "sunnypilot/qt/widgets/expandable_row.cc",
-  "sunnypilot/qt/widgets/external_storage.cc",
   "sunnypilot/qt/widgets/prime.cc",
   "sunnypilot/qt/widgets/scrollview.cc",
   "sunnypilot/qt/network/networking.cc",
@@ -39,7 +38,6 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/visuals_panel.cc",
   "sunnypilot/qt/onroad/annotated_camera.cc",
   "sunnypilot/qt/onroad/buttons.cc",
-  "sunnypilot/qt/onroad/developer_ui/developer_ui.cc",
   "sunnypilot/qt/onroad/hud.cc",
   "sunnypilot/qt/onroad/model.cc",
   "sunnypilot/qt/onroad/onroad_home.cc",

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

@@ -5,14 +5,9 @@
  * See the LICENSE.md file in the root directory for more details.
  */
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/external_storage.h"
 
 DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(parent) {
 
-  #ifndef __APPLE__
-  addItem(new ExternalStorageControl());
-  #endif
-
   // Advanced Controls Toggle
   showAdvancedControls = new ParamControlSP("ShowAdvancedControls", tr("Show Advanced Controls"), tr("Toggle visibility of advanced sunnypilot controls.\nThis only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state."), "");
   addItem(showAdvancedControls);
@@ -27,10 +22,6 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare
   enableGithubRunner = new ParamControlSP("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "", this, true);
   addItem(enableGithubRunner);
 
-  // Copyparty Toggle
-  enableCopyparty = new ParamControlSP("EnableCopyparty", tr("Enable Copyparty service"), tr("Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it's IP."), "", this, false);
-  addItem(enableCopyparty);
-
   // Quickboot Mode Toggle
   prebuiltToggle = new ParamControlSP("QuickBootToggle", tr("Enable Quickboot Mode"), tr(""), "", this, true);
   addItem(prebuiltToggle);

selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h

@@ -16,7 +16,6 @@ public:
   explicit DeveloperPanelSP(SettingsWindow *parent);
 
 private:
-  ParamControlSP *enableCopyparty;
   ParamControlSP *enableGithubRunner;
   ButtonControlSP *errorLogBtn;
   ParamControlSP *prebuiltToggle;

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

@@ -101,42 +101,32 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   QString policyType = tr("Policy Model");
   policyFrame = createModelDetailFrame(this, policyType, policyProgressBar);
   list->addItem(policyFrame);
+
   list->addItem(horizontal_line());
 
-  // Lane Turn Desire toggle
-  lane_turn_desire_toggle = new ParamControlSP("LaneTurnDesire", tr("Use Lane Turn Desires"),
-                            "If you’re driving at 20 mph (32 km/h) or below and have your blinker on, "
-                            "the car will plan a turn in that direction at the nearest drivable path. "
-                            "This prevents situations (like at red lights) where the car might plan the wrong turn direction.",
-                             "../assets/offroad/icon_shell.png");
-  list->addItem(lane_turn_desire_toggle);
-
-  // Lane Turn Value control
-  int max_value_mph = 20;
-  bool is_metric_initial = params.getBool("IsMetric");
-  const float K = 1.609344f;
-  int per_value_change_scaled = is_metric_initial ? static_cast<int>(std::round((1.0f / K) * 100.0f)) : 100; // 100 -> 1 mph
-  lane_turn_value_control = new OptionControlSP("LaneTurnValue", tr("Adjust Lane Turn Speed"),
-    tr("Set the maximum speed for lane turn desires. Default is 19 %1.").arg(is_metric_initial ? "km/h" : "mph"),
-    "", {5 * 100, max_value_mph * 100}, per_value_change_scaled, false, nullptr, true, true);
-  lane_turn_value_control->showDescription();
-  list->addItem(lane_turn_value_control);
-
-  // Show based on toggle
-  refreshLaneTurnValueControl();
-  connect(lane_turn_desire_toggle, &ParamControlSP::toggleFlipped, this, &ModelsPanel::refreshLaneTurnValueControl);
-  connect(lane_turn_value_control, &OptionControlSP::updateLabels, this, &ModelsPanel::refreshLaneTurnValueControl);
-
   // LiveDelay toggle
   lagd_toggle_control = new ParamControlSP("LagdToggle", tr("Live Learning Steer Delay"), "", "../assets/offroad/icon_shell.png");
   lagd_toggle_control->showDescription();
   list->addItem(lagd_toggle_control);
 
   // Software delay control
+  int liveDelayMaxInt = 30;
+  std::string liveDelayBytes = params.get("LiveDelay");
+  if (!liveDelayBytes.empty()) {
+    capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
+      reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
+      liveDelayBytes.size() / sizeof(capnp::word)));
+    auto event = msg.getRoot<cereal::Event>();
+    if (event.hasLiveDelay()) {
+      auto liveDelay = event.getLiveDelay();
+      float lateralDelay = liveDelay.getLateralDelay();
+      liveDelayMaxInt = static_cast<int>(lateralDelay * 100.0f) + 20;
+    }
+  }
   delay_control = new OptionControlSP("LagdToggleDelay", tr("Adjust Software Delay"),
-                                      tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
-                                         "\nThe default software delay value is 0.2"),
-                                      "", {5, 50}, 1, false, nullptr, true, true);
+                                     tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
+                                        "\nThe default software delay value is 0.2"),
+                                     "", {5, liveDelayMaxInt}, 1, false, nullptr, true, true);
 
   connect(delay_control, &OptionControlSP::updateLabels, [=]() {
     float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
@@ -169,19 +159,6 @@ QFrame* ModelsPanel::createModelDetailFrame(QWidget *parent, QString &typeName,
   return frame;
 }
 
-void ModelsPanel::refreshLaneTurnValueControl() {
-  if (!lane_turn_value_control) return;
-  float stored_mph = QString::fromStdString(params.get("LaneTurnValue")).toFloat();
-  bool is_metric = params.getBool("IsMetric");
-  QString unit = is_metric ? "km/h" : "mph";
-  float display_value = stored_mph;
-  if (is_metric) {
-    display_value = stored_mph * 1.609344f;
-  }
-  lane_turn_value_control->setLabel(QString::number(static_cast<int>(std::round(display_value))) + " " + unit);
-  lane_turn_value_control->setVisible(params.getBool("LaneTurnDesire"));
-}
-
 /**
  * @brief Updates the UI with bundle download progress information
  * Reads status from modelManagerSP cereal message and displays status for all models
@@ -282,18 +259,6 @@ QString ModelsPanel::GetActiveModelInternalName() {
   return DEFAULT_MODEL;
 }
 
-/**
- * @brief Gets the ref of the currently selected model bundle
- * @return ref of the selected bundle or default model name
- */
-QString ModelsPanel::GetActiveModelRef() {
-  if (model_manager.hasActiveBundle()) {
-    return QString::fromStdString(model_manager.getActiveBundle().getRef());
-  }
-
-  return DEFAULT_MODEL;
-}
-
 void ModelsPanel::updateModelManagerState() {
   const SubMaster &sm = *(uiStateSP()->sm);
   model_manager = sm["modelManagerSP"].getModelManagerSP();
@@ -307,31 +272,34 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
   currentModelLblBtn->setEnabled(false);
   currentModelLblBtn->setValue(tr("Fetching models..."));
 
-  QList<TreeNode> sortedModels;
+  struct ModelEntry {
+    QString folder;
+    QString displayName;
+    int index;
+  };
+  QList<ModelEntry> sortedModels;
   QSet<QString> modelFolders;
-  QRegularExpression re("\\(([^)]*)\\)[^(]*$");
   const auto bundles = model_manager.getAvailableBundles();
 
   for (const auto &bundle : bundles) {
     auto overrides = bundle.getOverrides();
-    QString folder;
+    QString gen;
     for (const auto &override : overrides) {
       if (override.getKey() == "folder") {
-        folder = QString::fromStdString(override.getValue().cStr());
+        gen = QString::fromStdString(override.getValue().cStr());
       }
     }
 
-    modelFolders.insert(folder);
-    sortedModels.append(TreeNode{
-      folder,
+    modelFolders.insert(gen);
+    sortedModels.append(ModelEntry{
+      gen,
       QString::fromStdString(bundle.getDisplayName()),
-      QString::fromStdString(bundle.getRef()),
       static_cast<int>(bundle.getIndex())
     });
   }
 
   std::sort(sortedModels.begin(), sortedModels.end(),
-    [](const TreeNode &a, const TreeNode &b) {
+    [](const ModelEntry &a, const ModelEntry &b) {
       return a.index > b.index;
     });
 
@@ -354,46 +322,37 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
       });
 
   // Create the final items list using sorted folders
-  QList<TreeFolder> items;
+  QList<QPair<QString, QStringList>> items;
   for (const auto &folderPair : folderMaxIndices) {
-    QList<TreeNode> folderModels;
-    QString folder = folderPair.first;
+    QStringList folderModels;
     for (const auto &model : sortedModels) {
       if (model.folder == folderPair.first) {
-        if (model.index == folderPair.second) {
-          QRegularExpressionMatch match = re.match(model.displayName);
-          if (match.hasMatch()) {
-            folder.append(" - (Updated: ").append(match.captured(1)).append(")");
-          }
-        }
-        folderModels.append(model);
+        folderModels.append(model.displayName);
       }
     }
-    items.append(TreeFolder{folder, folderModels});
+    items.append(qMakePair(folderPair.first, folderModels));
   }
 
-  items.insert(0, TreeFolder{"", {
-    TreeNode{"", DEFAULT_MODEL, DEFAULT_MODEL, -1}
-  }});
+  items.insert(0, qMakePair(QString(""), QStringList{DEFAULT_MODEL}));
 
   currentModelLblBtn->setValue(GetActiveModelInternalName());
 
-  const QString selectedBundleRef = TreeOptionDialog::getSelection(
-    tr("Select a Model"), items, GetActiveModelRef(), QString("ModelManager_Favs"), this);
+  const QString selectedBundleName = TreeOptionDialog::getSelection(
+    tr("Select a Model"), items, GetActiveModelName(), this);
 
-  if (selectedBundleRef.isEmpty() || !canContinueOnMeteredDialog()) {
+  if (selectedBundleName.isEmpty() || !canContinueOnMeteredDialog()) {
     return;
   }
 
   // Handle "Stock" selection differently
-  if (selectedBundleRef == DEFAULT_MODEL) {
+  if (selectedBundleName == DEFAULT_MODEL) {
     params.remove("ModelManager_ActiveBundle");
     currentModelLblBtn->setValue(tr("Default"));
     showResetParamsDialog();
   } else {
     // Find selected bundle and initiate download
     for (const auto &bundle: bundles) {
-      if (QString::fromStdString(bundle.getRef()) == selectedBundleRef) {
+      if (QString::fromStdString(bundle.getDisplayName()) == selectedBundleName) {
         params.put("ModelManager_DownloadIndex", std::to_string(bundle.getIndex()));
         if (bundle.getGeneration() != model_manager.getActiveBundle().getGeneration()) {
           showResetParamsDialog();
@@ -424,28 +383,34 @@ void ModelsPanel::updateLabels() {
                    "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.");
   bool lagdEnabled = params.getBool("LagdToggle");
   if (lagdEnabled) {
-    auto liveDelayBytes = params.get("LiveDelay");
+    std::string liveDelayBytes = params.get("LiveDelay");
     if (!liveDelayBytes.empty()) {
-      auto LD = loadCerealEvent(params, "LiveDelay");
-      float lateralDelay = LD->getLiveDelay().getLateralDelay();
-      desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
-              .arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 3));
+      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
+        reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
+        liveDelayBytes.size() / sizeof(capnp::word)));
+      auto event = msg.getRoot<cereal::Event>();
+      if (event.hasLiveDelay()) {
+        auto liveDelay = event.getLiveDelay();
+        float lateralDelay = liveDelay.getLateralDelay();
+        desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
+                .arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 3));
+      }
     }
   } else {
-    auto carParamsBytes = params.get("CarParamsPersistent");
+    std::string carParamsBytes = params.get("CarParamsPersistent");
     if (!carParamsBytes.empty()) {
-      AlignedBuffer aligned_buf_cp;
-      capnp::FlatArrayMessageReader cmsg(aligned_buf_cp.align(carParamsBytes.data(), carParamsBytes.size()));
-      cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
-
-      float steerDelay = CP.getSteerActuatorDelay();
+      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
+        reinterpret_cast<const capnp::word*>(carParamsBytes.data()),
+        carParamsBytes.size() / sizeof(capnp::word)));
+      auto carParams = msg.getRoot<cereal::CarParams>();
+      float steerDelay = carParams.getSteerActuatorDelay();
       float softwareDelay = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
       float totalLag = steerDelay + softwareDelay;
       desc += QString("<br><br><span style=\"color:#e0e0e0\">"
                       "<b>%1</b> %2 s + <b>%3</b> %4 s = <b>%5</b> %6 s</span>")
-             .arg(tr("Actuator Delay:"), QString::number(steerDelay, 'f', 2),
-                  tr("Software Delay:"), QString::number(softwareDelay, 'f', 2),
-                  tr("Total Delay:"), QString::number(totalLag, 'f', 2));
+           .arg(tr("Actuator Delay:"), QString::number(steerDelay, 'f', 2),
+                tr("Software Delay:"), QString::number(softwareDelay, 'f', 2),
+                tr("Total Delay:"), QString::number(totalLag, 'f', 2));
     }
   }
   lagd_toggle_control->setDescription(desc);
@@ -456,9 +421,6 @@ void ModelsPanel::updateLabels() {
     delay_control->setLabel(QString::number(value, 'f', 2) + "s");
   }
 
-  // Update lane turn desire label and visibility
-  refreshLaneTurnValueControl();
-
   clearModelCacheBtn->setValue(QString::number(calculateCacheSize(), 'f', 2) + " MB");
 }
 

selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h

@@ -9,7 +9,6 @@
 
 #include <QProgressBar>
 
-#include "selfdrive/ui/sunnypilot/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 
 class ModelsPanel : public QWidget {
@@ -21,7 +20,6 @@ public:
 private:
   QString GetActiveModelName();
   QString GetActiveModelInternalName();
-  QString GetActiveModelRef();
   void updateModelManagerState();
   void showEvent(QShowEvent *event) override;
 
@@ -38,7 +36,6 @@ private:
   void updateLabels();
   void handleCurrentModelLblBtnClicked();
   void handleBundleDownloadProgress();
-  void refreshLaneTurnValueControl();
   void showResetParamsDialog();
   QProgressBar* createProgressBar(QWidget *parent);
   QFrame* createModelDetailFrame(QWidget *parent, QString &typeName, QProgressBar *progressBar);
@@ -83,6 +80,5 @@ private:
   Params params;
   ButtonControlSP *clearModelCacheBtn;
   ButtonControlSP *refreshAvailableModelsBtn;
-  ParamControlSP *lane_turn_desire_toggle;
-  OptionControlSP *lane_turn_value_control;
+
 };

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

@@ -11,39 +11,12 @@ SoftwarePanelSP::SoftwarePanelSP(QWidget *parent) : SoftwarePanel(parent) {
   // branch selector
   QObject::disconnect(targetBranchBtn, nullptr, nullptr, nullptr);
   connect(targetBranchBtn, &ButtonControlSP::clicked, [=]() {
-    if (Hardware::get_device_type() == cereal::InitData::DeviceType::TICI) {
-      auto current = params.get("GitBranch");
-      QStringList allBranches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(",");
-      QStringList branches;
-      for (const QString &b : allBranches) {
-        if (b.endsWith("-tici")) {
-          branches.append(b);
-        }
-      }
-
-      for (QString b : {current.c_str(), "master-tici", "staging-tici", "release-tici"}) {
-        auto i = branches.indexOf(b);
-        if (i >= 0) {
-          branches.removeAt(i);
-          branches.insert(0, b);
-        }
-      }
-
-      QString cur = QString::fromStdString(params.get("UpdaterTargetBranch"));
-      QString selection = MultiOptionDialog::getSelection(tr("Select a branch"), branches, cur, this);
-      if (!selection.isEmpty()) {
-        params.put("UpdaterTargetBranch", selection.toStdString());
-        targetBranchBtn->setValue(QString::fromStdString(params.get("UpdaterTargetBranch")));
-        checkForUpdates();
-      }
-    } else {
-      InputDialog d(tr("Search Branch"), this, tr("Enter search keywords, or leave blank to list all branches."), false);
+    InputDialog d(tr("Search Branch"), this, tr("Enter search keywords, or leave blank to list all branches."), false);
       d.setMinLength(0);
       const int ret = d.exec();
       if (ret) {
         searchBranches(d.text());
       }
-    }
   });
 
   // Disable Updates toggle

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

@@ -34,27 +34,6 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   vlayout->setContentsMargins(50, 20, 50, 20);
 
   auto *list = new ListWidget(this, false);
-
-  QVBoxLayout *titleLayout = new QVBoxLayout;
-  QLabel *title = new QLabel(tr("🚀 sunnylink 🚀"));
-  title->setStyleSheet("font-size: 90px; font-weight: 500; font-family: 'Noto Color Emoji';");
-  titleLayout->addWidget(title, 0, Qt::AlignCenter);
-
-  QLabel *sunnylinkDesc = new QLabel("<div align='center'><font color='green'>"+
-    tr("For secure backup, restore, and remote configuration")+ "</font></div>");
-
-  QLabel *sponsorMsg = new QLabel("<div align='center'><font color='orange'>"+
-    tr("Sponsorship isn't required for basic backup/restore") + "<br>" +
-       tr("Click the sponsor button for more details")+ "</font></div>");
-
-  sunnylinkDesc->setStyleSheet("font-size: 40px; font-weight: 100; font-family: 'Noto';");
-  sponsorMsg->setStyleSheet("font-size: 35px; font-weight: 100; font-family: 'Noto';");
-
-  titleLayout->addWidget(sunnylinkDesc, 0, Qt::AlignCenter);
-  titleLayout->addWidget(sponsorMsg, 0, Qt::AlignCenter);
-
-  list->addItem(titleLayout);
-
   QString sunnylinkEnabledBtnDesc = tr("This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.");
   sunnylinkEnabledBtn = new ParamControl(
     "SunnylinkEnabled",

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

@@ -28,13 +28,6 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
       "../assets/offroad/icon_monitoring.png",
       false,
     },
-    {
-      "RainbowMode",
-      tr("Enable Tesla Rainbow Mode"),
-      RainbowizeWords(tr("A beautiful rainbow effect on the path the model wants to take.")) + "<br/><i>" + tr("It")+ " <b>" + tr("does not") + "</b> " + tr("affect driving in any way.") + "</i>",
-      "../assets/offroad/icon_monitoring.png",
-      false,
-    },
   };
 
   // Add regular toggles first
@@ -72,15 +65,6 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
   list->addItem(chevron_info_settings);
   param_watcher->addParam("ChevronInfo");
 
-  // Visuals: Developer UI Info (Dev UI)
-  std::vector<QString> dev_ui_settings_texts{tr("Off"), tr("Right"), tr("Right &&\nBottom")};
-  dev_ui_settings = new ButtonParamControlSP(
-    "DevUIInfo", tr("Developer UI"), tr("Display real-time parameters and metrics from various sources."),
-    "",
-    dev_ui_settings_texts,
-    380);
-  list->addItem(dev_ui_settings);
-
   sunnypilotScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(sunnypilotScroller);
 
@@ -99,7 +83,4 @@ void VisualsPanel::paramsRefresh() {
   if (chevron_info_settings) {
     chevron_info_settings->refresh();
   }
-  if (dev_ui_settings) {
-    dev_ui_settings->refresh();
-  }
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h

@@ -28,5 +28,4 @@ protected:
  std::map<std::string, ParamControlSP*> toggles;
  ParamWatcher * param_watcher;
  ButtonParamControlSP *chevron_info_settings;
- ButtonParamControlSP *dev_ui_settings;
 };

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

@@ -14,8 +14,3 @@ AnnotatedCameraWidgetSP::AnnotatedCameraWidgetSP(VisionStreamType type, QWidget
 void AnnotatedCameraWidgetSP::updateState(const UIState &s) {
   AnnotatedCameraWidget::updateState(s);
 }
-
-void AnnotatedCameraWidgetSP::showEvent(QShowEvent *event) {
-  AnnotatedCameraWidget::showEvent(event);
-  ui_update_params_sp(uiState());
-}

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

@@ -15,7 +15,4 @@ class AnnotatedCameraWidgetSP : public AnnotatedCameraWidget {
 public:
   explicit AnnotatedCameraWidgetSP(VisionStreamType type, QWidget *parent = nullptr);
   void updateState(const UIState &s) override;
-
-protected:
-  void showEvent(QShowEvent *event) override;
 };

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

@@ -1,227 +0,0 @@
-/**
- * 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 <cmath>
-
-#include "common/util.h"
-#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h"
-
-
-// Add Relative Distance to Primary Lead Car
-// Unit: Meters
-UiElement DeveloperUi::getDRel(bool lead_status, float lead_d_rel) {
-  QString value = lead_status ? QString::number(lead_d_rel, 'f', 0) : "-";
-  QColor color = QColor(255, 255, 255, 255);
-
-  if (lead_status) {
-    // Orange if close, Red if very close
-    if (lead_d_rel < 5) {
-      color = QColor(255, 0, 0, 255);
-    } else if (lead_d_rel < 15) {
-      color = QColor(255, 188, 0, 255);
-    }
-  }
-
-  return UiElement(value, "REL DIST", "m", color);
-}
-
-// Add Relative Velocity vs Primary Lead Car
-// Unit: kph if metric, else mph
-UiElement DeveloperUi::getVRel(bool lead_status, float lead_v_rel, bool is_metric, const QString &speed_unit) {
-  QString value = lead_status ? QString::number(lead_v_rel * (is_metric ? MS_TO_KPH : MS_TO_MPH), 'f', 0) : "-";
-  QColor color = QColor(255, 255, 255, 255);
-
-  if (lead_status) {
-    // Red if approaching faster than 10mph
-    // Orange if approaching (negative)
-    if (lead_v_rel < -4.4704) {
-      color = QColor(255, 0, 0, 255);
-    } else if (lead_v_rel < 0) {
-      color = QColor(255, 188, 0, 255);
-    }
-  }
-
-  return UiElement(value, "REL SPEED", speed_unit, color);
-}
-
-// Add Real Steering Angle
-// Unit: Degrees
-UiElement DeveloperUi::getSteeringAngleDeg(float angle_steers, bool lat_active, bool steer_override) {
-  QString value = QString("%1%2%3").arg(QString::number(angle_steers, 'f', 1)).arg("°").arg("");
-  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
-
-  // Red if large steering angle
-  // Orange if moderate steering angle
-  if (std::fabs(angle_steers) > 180) {
-    color = QColor(255, 0, 0, 255);
-  } else if (std::fabs(angle_steers) > 90) {
-    color = QColor(255, 188, 0, 255);
-  }
-
-  return UiElement(value, "REAL STEER", "", color);
-}
-
-// Add Actual Lateral Acceleration (roll compensated) when using Torque
-// Unit: m/s²
-UiElement DeveloperUi::getActualLateralAccel(float curvature, float v_ego, float roll, bool lat_active, bool steer_override) {
-  double actualLateralAccel = (curvature * pow(v_ego, 2)) - (roll * 9.81);
-
-  QString value = QString::number(actualLateralAccel, 'f', 2);
-  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
-
-  return UiElement(value, "ACTUAL L.A.", "m/s²", color);
-}
-
-// Add Desired Steering Angle when using PID
-// Unit: Degrees
-UiElement DeveloperUi::getSteeringAngleDesiredDeg(bool lat_active, float steer_angle_desired, float angle_steers) {
-  QString value = lat_active ? QString("%1%2%3").arg(QString::number(steer_angle_desired, 'f', 1)).arg("°").arg("") : "-";
-  QColor color = QColor(255, 255, 255, 255);
-
-  if (lat_active) {
-    // Red if large steering angle
-    // Orange if moderate steering angle
-    if (std::fabs(angle_steers) > 180) {
-      color = QColor(255, 0, 0, 255);
-    } else if (std::fabs(angle_steers) > 90) {
-      color = QColor(255, 188, 0, 255);
-    } else {
-      color = QColor(0, 255, 0, 255);
-    }
-  }
-
-  return UiElement(value, "DESIRED STEER", "", color);
-}
-
-// Add Device Memory (RAM) Usage
-// Unit: Percent
-UiElement DeveloperUi::getMemoryUsagePercent(int memory_usage_percent) {
-  QString value = QString("%1%2").arg(QString::number(memory_usage_percent, 'd', 0)).arg("%");
-  QColor color = (memory_usage_percent > 85) ? QColor(255, 188, 0, 255) : QColor(255, 255, 255, 255);
-
-  return UiElement(value, "RAM", "", color);
-}
-
-// Add Vehicle Current Acceleration
-// Unit: m/s²
-UiElement DeveloperUi::getAEgo(float a_ego) {
-  QString value = QString::number(a_ego, 'f', 1);
-  QColor color = QColor(255, 255, 255, 255);
-
-  return UiElement(value, "ACC.", "m/s²", color);
-}
-
-// Add Relative Velocity to Primary Lead Car
-// Unit: kph if metric, else mph
-UiElement DeveloperUi::getVEgoLead(bool lead_status, float lead_v_rel, float v_ego, bool is_metric, const QString &speed_unit) {
-  QString value = lead_status ? QString::number((lead_v_rel + v_ego) * (is_metric ? MS_TO_KPH : MS_TO_MPH), 'f', 0) : "-";
-  QColor color = QColor(255, 255, 255, 255);
-
-  if (lead_status) {
-    // Red if approaching faster than 10mph
-    // Orange if approaching (negative)
-    if (lead_v_rel < -4.4704) {
-      color = QColor(255, 0, 0, 255);
-    } else if (lead_v_rel < 0) {
-      color = QColor(255, 188, 0, 255);
-    }
-  }
-
-  return UiElement(value, "L.S.", speed_unit, color);
-}
-
-// Add Friction Coefficient Raw from torqued
-// Unit: None
-UiElement DeveloperUi::getFrictionCoefficientFiltered(float friction_coefficient_filtered, bool live_valid) {
-  QString value = QString::number(friction_coefficient_filtered, 'f', 3);
-  QColor color = live_valid ? QColor(0, 255, 0, 255) : QColor(255, 255, 255, 255);
-
-  return UiElement(value, "FRIC.", "", color);
-}
-
-// Add Lateral Acceleration Factor Raw from torqued
-// Unit: m/s²
-UiElement DeveloperUi::getLatAccelFactorFiltered(float lat_accel_factor_filtered, bool live_valid) {
-  QString value = QString::number(lat_accel_factor_filtered, 'f', 3);
-  QColor color = live_valid ? QColor(0, 255, 0, 255) : QColor(255, 255, 255, 255);
-
-  return UiElement(value, "L.A.", "m/s²", color);
-}
-
-// Add Steering Torque from Car EPS
-// Unit: Newton Meters
-UiElement DeveloperUi::getSteeringTorqueEps(float steering_torque_eps) {
-  QString value = QString::number(std::fabs(steering_torque_eps), 'f', 1);
-  QColor color = QColor(255, 255, 255, 255);
-
-  return UiElement(value, "E.T.", "N·dm", color);
-}
-
-// Add Bearing Degree and Direction from Car (Compass)
-// Unit: Meters
-UiElement DeveloperUi::getBearingDeg(float bearing_accuracy_deg, float bearing_deg) {
-  QString value = (bearing_accuracy_deg != 180.00) ? QString("%1%2%3").arg(QString::number(bearing_deg, 'd', 0)).arg("°").arg("") : "-";
-  QColor color = QColor(255, 255, 255, 255);
-  QString dir_value;
-
-  if (bearing_accuracy_deg != 180.00) {
-    if (((bearing_deg >= 337.5) && (bearing_deg <= 360)) || ((bearing_deg >= 0) && (bearing_deg <= 22.5))) {
-      dir_value = "N";
-    } else if ((bearing_deg > 22.5) && (bearing_deg < 67.5)) {
-      dir_value = "NE";
-    } else if ((bearing_deg >= 67.5) && (bearing_deg <= 112.5)) {
-      dir_value = "E";
-    } else if ((bearing_deg > 112.5) && (bearing_deg < 157.5)) {
-      dir_value = "SE";
-    } else if ((bearing_deg >= 157.5) && (bearing_deg <= 202.5)) {
-      dir_value = "S";
-    } else if ((bearing_deg > 202.5) && (bearing_deg < 247.5)) {
-      dir_value = "SW";
-    } else if ((bearing_deg >= 247.5) && (bearing_deg <= 292.5)) {
-      dir_value = "W";
-    } else if ((bearing_deg > 292.5) && (bearing_deg < 337.5)) {
-      dir_value = "NW";
-    }
-  } else {
-    dir_value = "OFF";
-  }
-
-  return UiElement(QString("%1 | %2").arg(dir_value).arg(value), "B.D.", "", color);
-}
-
-// Add Altitude of Current Location
-// Unit: Meters
-UiElement DeveloperUi::getAltitude(float gps_accuracy, float altitude) {
-  QString value = (gps_accuracy != 0.00) ? QString::number(altitude, 'f', 1) : "-";
-  QColor color = QColor(255, 255, 255, 255);
-
-  return UiElement(value, "ALT.", "m", color);
-}
-
-// Add Actuators Output
-// Unit: Degree (angle) or m/s² (torque)
-UiElement DeveloperUi::getActuatorsOutputLateral(cereal::CarParams::SteerControlType steerControlType,
-                                                 cereal::CarControl::Actuators::Reader &actuators,
-                                                 float desiredCurvature, float v_ego, float roll, bool lat_active, bool steer_override) {
-  QString label;
-  QString value;
-  QString unit;
-
-  if (steerControlType == cereal::CarParams::SteerControlType::ANGLE) {
-    label = "DESIRED STEER";
-    value = QString("%1%2%3").arg(QString::number(actuators.getSteeringAngleDeg(), 'f', 1)).arg("°").arg("");
-  } else {
-    label = "DESIRED L.A.";
-    double desiredLateralAccel = (desiredCurvature * pow(v_ego, 2)) - (roll * 9.81);
-    value = QString::number(desiredLateralAccel, 'f', 2);
-    unit = "m/s²";
-  }
-
-  value = lat_active ? value : "-";
-  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
-
-  return UiElement(value, label, unit, color);
-}

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

@@ -1,31 +0,0 @@
-/**
- * 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/qt/onroad/developer_ui/ui_elements.h"
-
-class DeveloperUi {
-
-public:
-  static UiElement getDRel(bool lead_status, float lead_d_rel);
-  static UiElement getVRel(bool lead_status, float lead_v_rel, bool is_metric, const QString &speed_unit);
-  static UiElement getSteeringAngleDeg(float angle_steers, bool lat_active, bool steer_override);
-  static UiElement getActualLateralAccel(float curvature, float v_ego, float roll, bool lat_active, bool steer_override);
-  static UiElement getSteeringAngleDesiredDeg(bool lat_active, float steer_angle_desired, float angle_steers);
-  static UiElement getMemoryUsagePercent(int memory_usage_percent);
-  static UiElement getAEgo(float a_ego);
-  static UiElement getVEgoLead(bool lead_status, float lead_v_rel, float v_ego, bool is_metric, const QString &speed_unit);
-  static UiElement getFrictionCoefficientFiltered(float friction_coefficient_filtered, bool live_valid);
-  static UiElement getLatAccelFactorFiltered(float lat_accel_factor_filtered, bool live_valid);
-  static UiElement getSteeringTorqueEps(float steering_torque_eps);
-  static UiElement getBearingDeg(float bearing_accuracy_deg, float bearing_deg);
-  static UiElement getAltitude(float gps_accuracy, float altitude);
-  static UiElement getActuatorsOutputLateral(cereal::CarParams::SteerControlType steerControlType,
-                                             cereal::CarControl::Actuators::Reader &actuators,
-                                             float desiredCurvature, float v_ego, float roll, bool lat_active, bool steer_override);
-};

selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h

@@ -1,19 +0,0 @@
-/**
- * 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 <QColor>
-
-struct UiElement {
-  QString value{};
-  QString label{};
-  QString units{};
-  QColor color{};
-
-  explicit UiElement(const QString &value = "", const QString &label = "", const QString &units = "", const QColor &color = QColor(255, 255, 255, 255))
-    : value(value), label(label), units(units), color(color) {}
-};

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

@@ -7,202 +7,12 @@
 
 #include "selfdrive/ui/sunnypilot/qt/onroad/hud.h"
 
-#include "selfdrive/ui/qt/util.h"
-
-
 HudRendererSP::HudRendererSP() {}
 
 void HudRendererSP::updateState(const UIState &s) {
   HudRenderer::updateState(s);
-
-  const SubMaster &sm = *(s.sm);
-  const bool cs_alive = sm.alive("controlsState");
-  const auto cs = sm["controlsState"].getControlsState();
-  const auto car_state = sm["carState"].getCarState();
-  const auto car_control = sm["carControl"].getCarControl();
-  const auto radar_state = sm["radarState"].getRadarState();
-  const auto is_gps_location_external = sm.rcv_frame("gpsLocationExternal") > 1;
-  const auto gpsLocation = is_gps_location_external ? sm["gpsLocationExternal"].getGpsLocationExternal() : sm["gpsLocation"].getGpsLocation();
-  const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters();
-  const auto car_params = sm["carParams"].getCarParams();
-
-  static int reverse_delay = 0;
-  bool reverse_allowed = false;
-  if (int(car_state.getGearShifter()) != 4) {
-    reverse_delay = 0;
-    reverse_allowed = false;
-  } else {
-    reverse_delay += 50;
-    if (reverse_delay >= 1000) {
-      reverse_allowed = true;
-    }
-  }
-
-  reversing = reverse_allowed;
-  is_metric = s.scene.is_metric;
-
-  // Handle older routes where vEgoCluster is not set
-  v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
-  float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
-  speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
-  speed *= is_metric ? MS_TO_KPH : MS_TO_MPH;
-
-  latActive = car_control.getLatActive();
-  steerOverride = car_state.getSteeringPressed();
-
-  devUiInfo = s.scene.dev_ui_info;
-
-  speedUnit = is_metric ? tr("km/h") : tr("mph");
-  lead_d_rel = radar_state.getLeadOne().getDRel();
-  lead_v_rel = radar_state.getLeadOne().getVRel();
-  lead_status = radar_state.getLeadOne().getStatus();
-  steerControlType = car_params.getSteerControlType();
-  actuators = car_control.getActuators();
-  torqueLateral = steerControlType == cereal::CarParams::SteerControlType::TORQUE;
-  angleSteers = car_state.getSteeringAngleDeg();
-  desiredCurvature = cs.getDesiredCurvature();
-  curvature = cs.getCurvature();
-  roll = sm["liveParameters"].getLiveParameters().getRoll();
-  memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent();
-  gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;  // External reports accuracy, internal does not.
-  altitude = gpsLocation.getAltitude();
-  vEgo = car_state.getVEgo();
-  aEgo = car_state.getAEgo();
-  steeringTorqueEps = car_state.getSteeringTorqueEps();
-  bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
-  bearingDeg = gpsLocation.getBearingDeg();
-  torquedUseParams = ltp.getUseParams();
-  latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
-  frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
-  liveValid = ltp.getLiveValid();
 }
 
 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
   HudRenderer::draw(p, surface_rect);
-  if (!reversing) {
-    // Bottom Dev UI
-    if (devUiInfo == 2) {
-      QRect rect_bottom(surface_rect.left(), surface_rect.bottom() - 60, surface_rect.width(), 61);
-      p.setPen(Qt::NoPen);
-      p.setBrush(QColor(0, 0, 0, 100));
-      p.drawRect(rect_bottom);
-      drawBottomDevUI(p, rect_bottom.left(), rect_bottom.center().y());
-    }
-
-    // Right Dev UI
-    if (devUiInfo != 0) {
-      QRect rect_right(surface_rect.right() - (UI_BORDER_SIZE * 2), UI_BORDER_SIZE * 1.5, 184, 170);
-      drawRightDevUI(p, surface_rect.right() - 184 - UI_BORDER_SIZE * 2, UI_BORDER_SIZE * 2 + rect_right.height());
-    }
-  }
-}
-
-void HudRendererSP::drawText(QPainter &p, int x, int y, const QString &text, QColor color) {
-  QRect real_rect = p.fontMetrics().boundingRect(text);
-  real_rect.moveCenter({x, y - real_rect.height() / 2});
-  p.setPen(color);
-  p.drawText(real_rect.x(), real_rect.bottom(), text);
-}
-
-int HudRendererSP::drawRightDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color) {
-
-  p.setFont(InterFont(28, QFont::Bold));
-  x += 92;
-  y += 80;
-  drawText(p, x, y, label);
-
-  p.setFont(InterFont(30 * 2, QFont::Bold));
-  y += 65;
-  drawText(p, x, y, value, color);
-
-  p.setFont(InterFont(28, QFont::Bold));
-
-  if (units.length() > 0) {
-    p.save();
-    x += 120;
-    y -= 25;
-    p.translate(x, y);
-    p.rotate(-90);
-    drawText(p, 0, 0, units);
-    p.restore();
-  }
-
-  return 130;
-}
-
-void HudRendererSP::drawRightDevUI(QPainter &p, int x, int y) {
-  int rh = 5;
-  int ry = y;
-
-  UiElement dRelElement = DeveloperUi::getDRel(lead_status, lead_d_rel);
-  rh += drawRightDevUIElement(p, x, ry, dRelElement.value, dRelElement.label, dRelElement.units, dRelElement.color);
-  ry = y + rh;
-
-  UiElement vRelElement = DeveloperUi::getVRel(lead_status, lead_v_rel, is_metric, speedUnit);
-  rh += drawRightDevUIElement(p, x, ry, vRelElement.value, vRelElement.label, vRelElement.units, vRelElement.color);
-  ry = y + rh;
-
-  UiElement steeringAngleDegElement = DeveloperUi::getSteeringAngleDeg(angleSteers, latActive, steerOverride);
-  rh += drawRightDevUIElement(p, x, ry, steeringAngleDegElement.value, steeringAngleDegElement.label, steeringAngleDegElement.units, steeringAngleDegElement.color);
-  ry = y + rh;
-
-  UiElement actuatorsOutputLateralElement = DeveloperUi::getActuatorsOutputLateral(steerControlType, actuators, desiredCurvature, vEgo, roll, latActive, steerOverride);
-  rh += drawRightDevUIElement(p, x, ry, actuatorsOutputLateralElement.value, actuatorsOutputLateralElement.label, actuatorsOutputLateralElement.units, actuatorsOutputLateralElement.color);
-  ry = y + rh;
-
-  UiElement actualLateralAccelElement = DeveloperUi::getActualLateralAccel(curvature, vEgo, roll, latActive, steerOverride);
-  rh += drawRightDevUIElement(p, x, ry, actualLateralAccelElement.value, actualLateralAccelElement.label, actualLateralAccelElement.units, actualLateralAccelElement.color);
-}
-
-int HudRendererSP::drawBottomDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color) {
-  p.setFont(InterFont(38, QFont::Bold));
-  QFontMetrics fm(p.font());
-  QRect init_rect = fm.boundingRect(label + " ");
-  QRect real_rect = fm.boundingRect(init_rect, 0, label + " ");
-  real_rect.moveCenter({x, y});
-
-  QRect init_rect2 = fm.boundingRect(value);
-  QRect real_rect2 = fm.boundingRect(init_rect2, 0, value);
-  real_rect2.moveTop(real_rect.top());
-  real_rect2.moveLeft(real_rect.right() + 10);
-
-  QRect init_rect3 = fm.boundingRect(units);
-  QRect real_rect3 = fm.boundingRect(init_rect3, 0, units);
-  real_rect3.moveTop(real_rect.top());
-  real_rect3.moveLeft(real_rect2.right() + 10);
-
-  p.setPen(Qt::white);
-  p.drawText(real_rect, Qt::AlignLeft | Qt::AlignVCenter, label);
-
-  p.setPen(color);
-  p.drawText(real_rect2, Qt::AlignRight | Qt::AlignVCenter, value);
-  p.drawText(real_rect3, Qt::AlignLeft | Qt::AlignVCenter, units);
-  return 430;
-}
-
-void HudRendererSP::drawBottomDevUI(QPainter &p, int x, int y) {
-  int rw = 90;
-
-  UiElement aEgoElement = DeveloperUi::getAEgo(aEgo);
-  rw += drawBottomDevUIElement(p, rw, y, aEgoElement.value, aEgoElement.label, aEgoElement.units, aEgoElement.color);
-
-  UiElement vEgoLeadElement = DeveloperUi::getVEgoLead(lead_status, lead_v_rel, vEgo, is_metric, speedUnit);
-  rw += drawBottomDevUIElement(p, rw, y, vEgoLeadElement.value, vEgoLeadElement.label, vEgoLeadElement.units, vEgoLeadElement.color);
-
-  if (torqueLateral && torquedUseParams) {
-    UiElement frictionCoefficientFilteredElement = DeveloperUi::getFrictionCoefficientFiltered(frictionCoefficientFiltered, liveValid);
-    rw += drawBottomDevUIElement(p, rw, y, frictionCoefficientFilteredElement.value, frictionCoefficientFilteredElement.label, frictionCoefficientFilteredElement.units, frictionCoefficientFilteredElement.color);
-
-    UiElement latAccelFactorFilteredElement = DeveloperUi::getLatAccelFactorFiltered(latAccelFactorFiltered, liveValid);
-    rw += drawBottomDevUIElement(p, rw, y, latAccelFactorFilteredElement.value, latAccelFactorFilteredElement.label, latAccelFactorFilteredElement.units, latAccelFactorFilteredElement.color);
-  } else {
-    UiElement steeringTorqueEpsElement = DeveloperUi::getSteeringTorqueEps(steeringTorqueEps);
-    rw += drawBottomDevUIElement(p, rw, y, steeringTorqueEpsElement.value, steeringTorqueEpsElement.label, steeringTorqueEpsElement.units, steeringTorqueEpsElement.color);
-
-    UiElement bearingDegElement = DeveloperUi::getBearingDeg(bearingAccuracyDeg, bearingDeg);
-    rw += drawBottomDevUIElement(p, rw, y, bearingDegElement.value, bearingDegElement.label, bearingDegElement.units, bearingDegElement.color);
-  }
-
-  UiElement altitudeElement = DeveloperUi::getAltitude(gpsAccuracy, altitude);
-  rw += drawBottomDevUIElement(p, rw, y, altitudeElement.value, altitudeElement.label, altitudeElement.units, altitudeElement.color);
 }

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

@@ -7,8 +7,9 @@
 
 #pragma once
 
+#include <QPainter>
+
 #include "selfdrive/ui/qt/onroad/hud.h"
-#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h"
 
 class HudRendererSP : public HudRenderer {
   Q_OBJECT
@@ -17,40 +18,4 @@ public:
   HudRendererSP();
   void updateState(const UIState &s) override;
   void draw(QPainter &p, const QRect &surface_rect) override;
-
-private:
-  Params params;
-  void drawText(QPainter &p, int x, int y, const QString &text, QColor color = Qt::white);
-  void drawRightDevUI(QPainter &p, int x, int y);
-  int drawRightDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color);
-  int drawBottomDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color);
-  void drawBottomDevUI(QPainter &p, int x, int y);
-
-  bool lead_status;
-  float lead_d_rel;
-  float lead_v_rel;
-  bool torqueLateral;
-  float angleSteers;
-  float desiredCurvature;
-  float curvature;
-  float roll;
-  int memoryUsagePercent;
-  int devUiInfo;
-  float gpsAccuracy;
-  float altitude;
-  float vEgo;
-  float aEgo;
-  float steeringTorqueEps;
-  float bearingAccuracyDeg;
-  float bearingDeg;
-  bool torquedUseParams;
-  float latAccelFactorFiltered;
-  float frictionCoefficientFiltered;
-  bool liveValid;
-  QString speedUnit;
-  bool latActive;
-  bool steerOverride;
-  bool reversing;
-  cereal::CarParams::SteerControlType steerControlType;
-  cereal::CarControl::Actuators::Reader actuators;
 };

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

@@ -48,43 +48,5 @@ void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Rea
       painter.drawPolygon(right_blindspot_vertices);
     }
   }
-
-  bool rainbow = Params().getBool("RainbowMode");
-  //float v_ego = sm["carState"].getCarState().getVEgo();
-
-  if (rainbow) {
-    // Simple time-based animation
-    float time_offset = std::chrono::duration_cast<std::chrono::milliseconds>(
-        std::chrono::steady_clock::now().time_since_epoch()).count() / 1000.0f;
-
-    // simple linear gradient from bottom to top
-    QLinearGradient bg(0, surface_rect.height(), 0, 0);
-
-    // evenly spaced colors across the spectrum
-    // The animation shifts the entire spectrum smoothly
-    float animation_speed = 40.0f; // speed vroom vroom
-    float hue_offset = fmod(time_offset * animation_speed, 360.0f);
-
-    // 6-8 color stops for smooth transitions more color makes it laggy
-    const int num_stops = 7;
-    for (int i = 0; i < num_stops; i++) {
-      float position = static_cast<float>(i) / (num_stops - 1);
-
-      float hue = fmod(hue_offset + position * 360.0f, 360.0f);
-      float saturation = 0.9f;
-      float lightness = 0.6f;
-
-      // Alpha fades out towards the far end of the path
-      float alpha = 0.8f * (1.0f - position * 0.3f);
-
-      QColor color = QColor::fromHslF(hue / 360.0f, saturation, lightness, alpha);
-      bg.setColorAt(position, color);
-    }
-
-    painter.setBrush(bg);
-    painter.drawPolygon(track_vertices);
-  } else {
-    // Normal path rendering
-    ModelRenderer::drawPath(painter, model, surface_rect.height());
-  }
+  ModelRenderer::drawPath(painter, model, surface_rect.height());
 }

selfdrive/ui/sunnypilot/qt/util.cc

@@ -110,16 +110,3 @@ QStringList searchFromList(const QString &query, const QStringList &list) {
   }
   return search_results;
 }
-
-std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::string& _param) {
-  std::string bytes = params.get(_param);
-
-  try {
-    AlignedBuffer aligned_buf;
-    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(bytes.data(), bytes.size()));
-    return cmsg.getRoot<cereal::Event>();
-  } catch (kj::Exception& e) {
-    qInfo() << "invalid " << QString::fromStdString(_param) << ":" << e.getDescription().cStr();
-    return std::nullopt;
-  }
-}

selfdrive/ui/sunnypilot/qt/util.h

@@ -15,11 +15,8 @@
 #include <QRegularExpression>
 #include <QWidget>
 
-#include "selfdrive/ui/sunnypilot/ui.h"
-
 QString getUserAgent(bool sunnylink = false);
 std::optional<QString> getSunnylinkDongleId();
 std::optional<QString> getParamIgnoringDefault(const std::string &param_name, const std::string &default_value);
 QMap<QString, QVariantMap> loadPlatformList();
 QStringList searchFromList(const QString &query, const QStringList &list);
-std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::string& _param);

selfdrive/ui/sunnypilot/qt/widgets/controls.h

@@ -750,24 +750,3 @@ public:
     setFixedSize(400, 100);
   }
 };
-
-inline QString RainbowizeWords(const QString &text) {
-  const QStringList colors = {
-    "#FF6F61",  // soft coral red
-    "#FFA177",  // warm peach
-    "#FFD966",  // soft golden yellow
-    "#88D498",  // mint green
-    "#6EC6FF",  // sky blue
-    "#A78BFA",  // soft lavender
-    "#F78FB3"   // rose pink
-  };
-    
-    QString result;
-    QStringList words = text.split(' ');
-    
-    for (int i = 0; i < words.size(); ++i) {
-      result += QString("<font color='%1'>%2</font> ").arg(colors[i % colors.size()]).arg(words[i].toHtmlEscaped());
-    }
-    
-    return result.trimmed();
-  }

selfdrive/ui/sunnypilot/qt/widgets/external_storage.cc

@@ -1,170 +0,0 @@
-/**
- * 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/widgets/external_storage.h"
-
-#include <QProcess>
-#include <QCoreApplication>
-#include <QShowEvent>
-#include <QTimer>
-#include <QtConcurrent>
-
-#include "common/params.h"
-#include "selfdrive/ui/qt/api.h"
-#include "selfdrive/ui/qt/widgets/input.h"
-#include "selfdrive/ui/sunnypilot/ui.h"
-
-ExternalStorageControl::ExternalStorageControl() :
-  ButtonControl(tr("External Storage"), "", tr("Extend your comma device's storage by inserting a USB drive into the aux port.")) {
-
-  QObject::connect(this, &ButtonControl::clicked, [=]() {
-    if (text() == tr("CHECK") || text() == tr("MOUNT")) {
-      mountStorage();
-    } else if (text() == tr("UNMOUNT")) {
-      unmountStorage();
-    } else if (text() == tr("FORMAT")) {
-      if (ConfirmationDialog::confirm(tr("Are you sure you want to format this drive? This will erase all data."), tr("Format"), this)) {
-        formatStorage();
-      }
-    }
-  });
-
-  QObject::connect(uiState(), &UIState::offroadTransition, this, &ExternalStorageControl::updateState);
-  updateState(!uiState()->scene.started);
-
-  refresh();
-}
-
-void ExternalStorageControl::updateState(bool offroad) {
-  setEnabled(offroad);
-}
-
-void ExternalStorageControl::debouncedRefresh() {
-  if (refreshPending) return;
-  refreshPending = true;
-
-  QTimer::singleShot(250, this, [=]() {
-    refreshPending = false;
-    refresh();
-  });
-}
-
-void ExternalStorageControl::refresh() {
-  QtConcurrent::run([=]() {
-    auto run = [](const QString &cmd) {
-      QProcess p;
-      p.start("sh", QStringList() << "-c" << cmd);
-      p.waitForFinished();
-      return p.exitCode() == 0;
-    };
-
-    bool isMounted = run("findmnt -n /mnt/external_realdata");
-    bool hasDrive = run("lsblk -f /dev/sdg");
-    bool hasFs = run("lsblk -f /dev/sdg1 | grep -q ext4");
-    bool hasLabel = run("sudo blkid /dev/sdg1 | grep -q 'LABEL=\"openpilot\"'");
-
-    QString info;
-    if (isMounted && hasLabel) {
-      QProcess df;
-      df.start("sh", QStringList() << "-c" << "df -h /mnt/external_realdata | awk 'NR==2 {print $3 \"/\" $2}'");
-      df.waitForFinished();
-      info = df.readAllStandardOutput().trimmed();
-    }
-
-    QMetaObject::invokeMethod(this, [=]() {
-      if (formatting) {
-        setValue(tr("formatting"));
-        setText(tr("FORMAT"));
-        setEnabled(false);
-      } else {
-        if (!hasDrive) {
-          setValue(tr("insert drive"));
-          setText(tr("CHECK"));
-        } else if (!hasFs || !hasLabel) {
-          setValue(tr("needs format"));
-          setText(tr("FORMAT"));
-        } else if (isMounted) {
-          setValue(info);
-          setText(tr("UNMOUNT"));
-        } else {
-          setValue("drive detected");
-          setText(tr("MOUNT"));
-        }
-        updateState(!uiState()->scene.started);
-      }
-    }, Qt::QueuedConnection);
-  });
-}
-
-void ExternalStorageControl::mountStorage() {
-  setValue(tr("mounting"));
-  setEnabled(false);
-
-  QtConcurrent::run([=]() {
-    QProcess process;
-    process.start("sh", QStringList() << "-c" <<
-      "sudo mount -o remount,rw / && "
-      "sudo mkdir -p /mnt/external_realdata && "
-      "grep -q '/dev/sdg1 /mnt/external_realdata' /etc/fstab || "
-      "echo '/dev/sdg1 /mnt/external_realdata ext4 defaults,nofail 0 2' | sudo tee -a /etc/fstab && "
-      "sudo systemctl daemon-reexec && "
-      "sudo mount /mnt/external_realdata && "
-      "sudo chown -R comma:comma /mnt/external_realdata && "
-      "sudo chmod -R 775 /mnt/external_realdata && "
-      "sudo mount -o remount,ro /");
-    process.waitForFinished();
-
-    QMetaObject::invokeMethod(this, [=]() {
-      debouncedRefresh();
-    }, Qt::QueuedConnection);
-  });
-}
-
-void ExternalStorageControl::unmountStorage() {
-  setValue(tr("unmounting"));
-  setEnabled(false);
-
-  QtConcurrent::run([=]() {
-    QProcess process;
-    process.start("sh", QStringList() << "-c" << "sudo umount /mnt/external_realdata");
-    process.waitForFinished();
-
-    QMetaObject::invokeMethod(this, [=]() {
-      debouncedRefresh();
-    }, Qt::QueuedConnection);
-  });
-}
-
-void ExternalStorageControl::formatStorage() {
-  unmountStorage();
-  formatting = true;
-  setValue(tr("formatting"));
-  setEnabled(false);
-
-  QProcess *process = new QProcess(this);
-  connect(process, static_cast<void(QProcess::*)(int, QProcess::ExitStatus)>(&QProcess::finished),
-          this, [=](int exitCode, QProcess::ExitStatus status) {
-            process->deleteLater();
-            formatting = false;
-            if (exitCode == 0 && status == QProcess::NormalExit) {
-              mountStorage();
-            } else {
-              setValue(tr("needs format"));
-              updateState(!uiState()->scene.started);
-            }
-          });
-  process->start("sh", QStringList() << "-c" <<
-    "sudo wipefs -a /dev/sdg && "
-    "sudo parted -s /dev/sdg mklabel gpt mkpart primary ext4 0% 100% && "
-    "sudo mkfs.ext4 -F -L openpilot /dev/sdg1"
-  );
-}
-
-void ExternalStorageControl::showEvent(QShowEvent *event) {
-  ButtonControl::showEvent(event);
-  QTimer::singleShot(100, this, &ExternalStorageControl::debouncedRefresh);
-}

selfdrive/ui/sunnypilot/qt/widgets/external_storage.h

@@ -1,34 +0,0 @@
-/**
- * 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 "system/hardware/hw.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#define ButtonControl ButtonControlSP
-
-class ExternalStorageControl : public ButtonControl {
-  Q_OBJECT
-
-public:
-  ExternalStorageControl();
-
-protected:
-  void showEvent(QShowEvent *event) override;
-
-private:
-  Params params;
-
-  bool refreshPending = false;
-  bool formatting = false;
-  void updateState(bool offroad);
-  void refresh();
-  void debouncedRefresh();
-  void mountStorage();
-  void unmountStorage();
-  void formatStorage();
-};

selfdrive/ui/sunnypilot/ui.cc

@@ -18,22 +18,13 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
-    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
-    "carControl", "gpsLocationExternal", "gpsLocation", "liveTorqueParameters",
-    "carStateSP", "liveParameters"
+    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP"
   });
 
   // update timer
   timer = new QTimer(this);
   QObject::connect(timer, &QTimer::timeout, this, &UIStateSP::update);
   timer->start(1000 / UI_FREQ);
-
-  // Param watcher for UIScene param updates
-  param_watcher = new ParamWatcher(this);
-  connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
-    ui_update_params_sp(this);
-  });
-  param_watcher->addParam("DevUIInfo");
 }
 
 // This method overrides completely the update method from the parent class intentionally.
@@ -48,11 +39,6 @@ void UIStateSP::update() {
   emit uiUpdate(*this);
 }
 
-void ui_update_params_sp(UIStateSP *s) {
-  auto params = Params();
-  s->scene.dev_ui_info = std::atoi(params.get("DevUIInfo").c_str());
-}
-
 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {
   QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &DeviceSP::update);
   QObject::connect(this, &Device::displayPowerChanged, this, &DeviceSP::handleDisplayPowerChanged);

selfdrive/ui/sunnypilot/ui.h

@@ -13,7 +13,6 @@
 #include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/role_model.h"
 #include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/sponsor_role_model.h"
 #include "selfdrive/ui/ui.h"
-#include "selfdrive/ui/qt/util.h"
 
 class UIStateSP : public UIState {
   Q_OBJECT
@@ -74,7 +73,6 @@ private slots:
 private:
   std::vector<RoleModel> sunnylinkRoles = {};
   std::vector<UserModel> sunnylinkUsers = {};
-  ParamWatcher *param_watcher;
 };
 
 UIStateSP *uiStateSP();
@@ -94,5 +92,3 @@ private:
 
 DeviceSP *deviceSP();
 inline DeviceSP *device() { return deviceSP(); }
-
-void ui_update_params_sp(UIStateSP *s);

selfdrive/ui/sunnypilot/ui_scene.h

@@ -1,12 +0,0 @@
-/**
-  * 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
-
-typedef struct UISceneSP : UIScene {
-  int dev_ui_info = 0;
-} UISceneSP;

selfdrive/ui/tests/test_feedbackd.py

@@ -5,7 +5,6 @@ from openpilot.common.params import Params
 from openpilot.system.manager.process_config import managed_processes
 
 
-@pytest.mark.skip("tmp disabled")
 class TestFeedbackd:
   def setup_method(self):
     self.pm = messaging.PubMaster(['carState', 'rawAudioData'])

selfdrive/ui/translations/main_ar.ts

@@ -972,6 +972,10 @@ The default software delay value is 0.2</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
@@ -1016,38 +1020,6 @@ The default software delay value is 0.2</source>
         <source>Cancel</source>
         <translation type="unfinished">إلغاء</translation>
     </message>
-    <message>
-        <source>Refresh Model List</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REFRESH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching Latest Models</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Live Steer Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Actuator Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Software Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Total Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -2095,30 +2067,6 @@ Warning: You are on a metered connection!</source>
         <source>Not Paired</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>[Don&apos;t use] Enable sunnylink uploader</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>🚀 sunnylink 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>For secure backup, restore, and remote configuration</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Click the sponsor button for more details</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
@@ -2264,6 +2212,16 @@ Warning: You are on a metered connection!</source>
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable sunnypilot</source>
         <translation type="unfinished"></translation>

selfdrive/ui/translations/main_de.ts

@@ -964,6 +964,10 @@ The default software delay value is 0.2</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
@@ -1008,38 +1012,6 @@ The default software delay value is 0.2</source>
         <source>Cancel</source>
         <translation type="unfinished">Abbrechen</translation>
     </message>
-    <message>
-        <source>Refresh Model List</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REFRESH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching Latest Models</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Live Steer Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Actuator Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Software Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Total Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -2077,30 +2049,6 @@ Warning: You are on a metered connection!</source>
         <source>Not Paired</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>[Don&apos;t use] Enable sunnylink uploader</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>🚀 sunnylink 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>For secure backup, restore, and remote configuration</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Click the sponsor button for more details</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
@@ -2246,6 +2194,16 @@ Warning: You are on a metered connection!</source>
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable sunnypilot</source>
         <translation type="unfinished"></translation>

selfdrive/ui/translations/main_es.ts

@@ -462,7 +462,7 @@ La calibración del retraso de la dirección está completa.</translation>
     </message>
     <message>
         <source>Select a language</source>
-        <translation type="unfinished">Seleccione el idioma</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <source>Wake-Up Behavior</source>
@@ -968,6 +968,10 @@ The default software delay value is 0.2</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
@@ -1012,38 +1016,6 @@ The default software delay value is 0.2</source>
         <source>Cancel</source>
         <translation type="unfinished">Cancelar</translation>
     </message>
-    <message>
-        <source>Refresh Model List</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REFRESH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching Latest Models</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Live Steer Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Actuator Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Software Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Total Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -2079,30 +2051,6 @@ Warning: You are on a metered connection!</source>
         <source>Not Paired</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>[Don&apos;t use] Enable sunnylink uploader</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>🚀 sunnylink 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>For secure backup, restore, and remote configuration</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Click the sponsor button for more details</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
@@ -2248,6 +2196,16 @@ Warning: You are on a metered connection!</source>
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation>Graba y almacena el audio del micrófono mientras conduces. El audio se incluirá en el video de la cámara del tablero en comma connect.</translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable sunnypilot</source>
         <translation type="unfinished"></translation>

selfdrive/ui/translations/main_fr.ts

@@ -964,6 +964,10 @@ The default software delay value is 0.2</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
@@ -1008,38 +1012,6 @@ The default software delay value is 0.2</source>
         <source>Cancel</source>
         <translation type="unfinished">Annuler</translation>
     </message>
-    <message>
-        <source>Refresh Model List</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REFRESH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching Latest Models</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Live Steer Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Actuator Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Software Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Total Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -2075,30 +2047,6 @@ Warning: You are on a metered connection!</source>
         <source>Not Paired</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>[Don&apos;t use] Enable sunnylink uploader</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>🚀 sunnylink 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>For secure backup, restore, and remote configuration</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Click the sponsor button for more details</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
@@ -2244,6 +2192,16 @@ Warning: You are on a metered connection!</source>
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable sunnypilot</source>
         <translation type="unfinished"></translation>

selfdrive/ui/translations/main_ja.ts

@@ -966,6 +966,10 @@ The default software delay value is 0.2</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
@@ -1010,38 +1014,6 @@ The default software delay value is 0.2</source>
         <source>Cancel</source>
         <translation type="unfinished">キャンセル</translation>
     </message>
-    <message>
-        <source>Refresh Model List</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REFRESH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching Latest Models</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Live Steer Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Actuator Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Software Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Total Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -2074,30 +2046,6 @@ Warning: You are on a metered connection!</source>
         <source>Not Paired</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>[Don&apos;t use] Enable sunnylink uploader</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>🚀 sunnylink 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>For secure backup, restore, and remote configuration</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Click the sponsor button for more details</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
@@ -2243,6 +2191,16 @@ Warning: You are on a metered connection!</source>
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation>運転中にマイク音声を録音・保存します。音声は comma connect のドライブレコーダー映像に含まれます。</translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable sunnypilot</source>
         <translation type="unfinished"></translation>

selfdrive/ui/translations/main_ko.ts

@@ -974,6 +974,10 @@ The default software delay value is 0.2</source>
         <source>Default</source>
         <translation>기본값</translation>
     </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation>이 기능을 켜면 차량이 스스로 핸들 반응 속도를 학습하고 맞춥니다. 끄면 고정된 핸들 반응 속도를 사용합니다. 이 기능을 켜두는 것이 기본 openpilot 경험을 제공합니다. 차량이 주행 중일 때 현재 값이 자동으로 업데이트됩니다.</translation>
+    </message>
     <message>
         <source>Model download has started in the background.</source>
         <translation>모델 다운로드가 백그라운드에서 시작되었습니다.</translation>
@@ -1018,38 +1022,6 @@ The default software delay value is 0.2</source>
         <source>Cancel</source>
         <translation>취소</translation>
     </message>
-    <message>
-        <source>Refresh Model List</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REFRESH</source>
-        <translation type="unfinished">새로 고침</translation>
-    </message>
-    <message>
-        <source>Fetching Latest Models</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Live Steer Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Actuator Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Software Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Total Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -2088,30 +2060,6 @@ Warning: You are on a metered connection!</source>
         <source>Not Paired</source>
         <translation>페어링되지 않음</translation>
     </message>
-    <message>
-        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>[Don&apos;t use] Enable sunnylink uploader</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>🚀 sunnylink 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>For secure backup, restore, and remote configuration</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Click the sponsor button for more details</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
@@ -2257,6 +2205,18 @@ Warning: You are on a metered connection!</source>
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation>운전 중 마이크 오디오를 녹음하고 저장합니다. 이 오디오는 comma connect의 대시캠 영상에 포함됩니다.</translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation>LKAS 버튼으로 오디오 피드백 녹음</translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation>LKAS 버튼을 눌러 openpilot 팀과 주행 피드백을 녹음하고 공유하세요. 이 기능을 비활성화하면, 해당 버튼은 북마크 버튼 역할을 합니다. 이 이벤트는 comma connect에서 강조되며, 해당 구간 영상은 기기 저장소에 보존됩니다.
+
+참고: 이 기능은 일부 차량에서만 호환됩니다.</translation>
+    </message>
     <message>
         <source>Enable sunnypilot</source>
         <translation>sunnypilot 사용</translation>

selfdrive/ui/translations/main_pt-BR.ts

@@ -968,6 +968,10 @@ The default software delay value is 0.2</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
@@ -1012,38 +1016,6 @@ The default software delay value is 0.2</source>
         <source>Cancel</source>
         <translation type="unfinished">Cancelar</translation>
     </message>
-    <message>
-        <source>Refresh Model List</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REFRESH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching Latest Models</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Live Steer Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Actuator Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Software Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Total Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -2079,30 +2051,6 @@ Warning: You are on a metered connection!</source>
         <source>Not Paired</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>[Don&apos;t use] Enable sunnylink uploader</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>🚀 sunnylink 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>For secure backup, restore, and remote configuration</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Click the sponsor button for more details</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
@@ -2248,6 +2196,16 @@ Warning: You are on a metered connection!</source>
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation>Grave e armazene o áudio do microfone enquanto estiver dirigindo. O áudio será incluído ao vídeo dashcam no comma connect.</translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable sunnypilot</source>
         <translation type="unfinished"></translation>

selfdrive/ui/translations/main_th.ts

@@ -962,6 +962,10 @@ The default software delay value is 0.2</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
@@ -1006,38 +1010,6 @@ The default software delay value is 0.2</source>
         <source>Cancel</source>
         <translation type="unfinished">ยกเลิก</translation>
     </message>
-    <message>
-        <source>Refresh Model List</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REFRESH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching Latest Models</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Live Steer Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Actuator Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Software Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Total Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -2070,30 +2042,6 @@ Warning: You are on a metered connection!</source>
         <source>Not Paired</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>[Don&apos;t use] Enable sunnylink uploader</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>🚀 sunnylink 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>For secure backup, restore, and remote configuration</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Click the sponsor button for more details</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
@@ -2239,6 +2187,16 @@ Warning: You are on a metered connection!</source>
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable sunnypilot</source>
         <translation type="unfinished"></translation>