Revert "mapd: improved system transforms GPS navigation from a basic "am I near a road?" check into an intelligent map matching system that understands movement patterns, GPS reliability, and road network"

This reverts commit ea1e521306.
mapd: improved system transforms GPS navigation from a basic "am I near a road?" check into an intelligent map matching system that understands movement patterns, GPS reliability, and road network
2026-10-15 21:13:41 +08:00 · 2025-08-25 17:26:13 -04:00 · 2025-08-25 17:21:55 -04:00 · 2025-08-25 17:14:41 -04:00 · 2025-08-25 16:29:36 -04:00 · 2025-08-25 16:25:44 -04:00
134 changed files with 1882 additions and 3026 deletions
@@ -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
@@ -5,7 +5,7 @@ on:
  workflow_dispatch:

 env:
-  BASE_IMAGE: sunnypilot-tici-base
+  BASE_IMAGE: sunnypilot-base
  DOCKER_REGISTRY: ghcr.io/sunnypilot
  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c

@@ -3,7 +3,7 @@ name: cereal validation
 on:
  push:
    branches:
-      - master-tici
+      - master
  pull_request:
    paths:
      - 'cereal/**'
@@ -16,7 +16,7 @@ on:
        type: string

 concurrency:
-  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true

 env:
@@ -31,7 +31,7 @@ jobs:
    strategy:
      fail-fast: false
      matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master-tici
+    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
    with:
      run_number: ${{ matrix.run_number }}

@@ -12,6 +12,6 @@ concurrency:

 jobs:
  selfdrive_tests:
-    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master-tici
+    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
    with:
      run_number: ${{ inputs.run_number }}
@@ -15,7 +15,7 @@ runs:
                          scons -j$(nproc) --cache-populate"
    - name: Save scons cache
      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master-tici'
+      if: github.ref == 'refs/heads/master'
      with:
        path: .ci_cache/scons_cache
        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -3,7 +3,7 @@ name: docs
 on:
  push:
    branches:
-      - master-tici
+      - master
  pull_request:
  workflow_call:
    inputs:
@@ -12,7 +12,7 @@ on:
        required: true
        type: string
 concurrency:
-  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true

 jobs:
@@ -35,13 +35,13 @@ jobs:

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

@@ -24,11 +24,11 @@ jobs:
      if: ${{ github.event_name != 'workflow_dispatch' }}
      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
      with:
-        ref: master-tici
+        ref: master
        wait-interval: 30
        running-workflow-name: 'build prebuilt'
        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build __nightly).*).)*$
+        check-regexp: ^((?!.*(build master-ci).*).)*$
    - uses: actions/checkout@v4
      with:
        submodules: true
@@ -19,7 +19,6 @@ jobs:
      contents: write
      pull-requests: write
    runs-on: ubuntu-latest
-    if: False
    steps:
      - uses: release-drafter/release-drafter@v6
        with:
@@ -10,7 +10,7 @@ jobs:
    env:
      ImageOS: ubuntu24
    container:
-      image: ghcr.io/sunnypilot/sunnypilot-tici-base:latest
+      image: ghcr.io/sunnypilot/sunnypilot-base:latest
    runs-on: ubuntu-latest
    if: github.repository == 'sunnypilot/sunnypilot'
    permissions:
@@ -25,7 +25,7 @@ jobs:
      if: ${{ github.event_name == 'schedule' }}
      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
      with:
-        ref: master-tici
+        ref: master
        wait-interval: 30
        running-workflow-name: 'build __nightly'
        repo-token: ${{ secrets.GITHUB_TOKEN }}
@@ -6,7 +6,7 @@ on:
  workflow_dispatch:

 env:
-  BASE_IMAGE: sunnypilot-tici-base
+  BASE_IMAGE: sunnypilot-base
  BUILD: release/ci/docker_build_sp.sh base
  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c

@@ -28,7 +28,7 @@ jobs:
          title: "[bot] Update translations"
          body: "Automatic PR from repo-maintenance -> update_translations"
          branch: "update-translations"
-          base: "master-tici"
+          base: "master"
          delete-branch: true
          labels: bot

@@ -36,14 +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
@@ -3,7 +3,7 @@ name: selfdrive
 on:
  push:
    branches:
-      - master-tici
+      - master
  pull_request:
  workflow_dispatch:
  workflow_call:
@@ -14,12 +14,12 @@ on:
        type: string

 concurrency:
-  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true

 env:
  PYTHONWARNINGS: error
-  BASE_IMAGE: sunnypilot-tici-base
+  BASE_IMAGE: sunnypilot-base
  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}

  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
@@ -68,10 +68,10 @@ jobs:
      if: github.repository == 'sunnypilot/sunnypilot'
      timeout-minutes: 3
      run: |
-        if [ "${{ github.ref }}" != "refs/heads/master-tici" ]; then
-          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 }}-${{ github.sha }}
@@ -305,5 +305,5 @@ jobs:
      - name: Upload Test Report
        uses: actions/upload-artifact@v4
        with:
-          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && 'master-tici' || github.event.number }}
+          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
          path: selfdrive/ui/tests/test_ui/report_1/screenshots
@@ -14,7 +14,7 @@ on:
      upstream_branch:
        description: 'Upstream branch to build from'
        required: true
-        default: 'master-tici'
+        default: 'master'
        type: string
      custom_name:
        description: 'Custom name for the model (no date, only name)'
@@ -35,7 +35,7 @@ on:
      upstream_branch:
        description: 'Upstream branch to build from'
        required: true
-        default: 'master-tici'
+        default: 'master'
        type: string
      custom_name:
        description: 'Custom name for the model (no date, only name)'
@@ -8,15 +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
@@ -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:
@@ -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>"

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

 ENV PYTHONUNBUFFERED=1

@@ -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.

@@ -123,6 +123,9 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
 struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
  dec @0 :DynamicExperimentalControl;

+  events @1 :List(OnroadEventSP.Event);
+  slc @2 :SpeedLimitControl;
+
  struct DynamicExperimentalControl {
    state @0 :DynamicExperimentalControlState;
    enabled @1 :Bool;
@@ -133,6 +136,23 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
      blended @1;
    }
  }
+
+  struct SpeedLimitControl {
+    state @0 :SpeedLimitControlState;
+    enabled @1 :Bool;
+    active @2 :Bool;
+    speedLimit @3 :Float32;
+    speedLimitOffset @4 :Float32;
+    distToSpeedLimit @5 :Float32;
+  }
+
+  enum SpeedLimitControlState {
+    inactive @0; # No speed limit set or not enabled by parameter.
+    tempInactive @1; # User wants to ignore speed limit until it changes.
+    preActive @2;
+    adapting @3; # Reducing speed to match new speed limit.
+    active @4; # Cruising at speed limit.
+  }
 }

 struct OnroadEventSP @0xda96579883444c35 {
@@ -172,8 +192,10 @@ struct OnroadEventSP @0xda96579883444c35 {
    experimentalModeSwitched @14;
    wrongCarModeAlertOnly @15;
    pedalPressedAlertOnly @16;
-    laneTurnLeft @17;
-    laneTurnRight @18;
+    speedLimitPreActive @17;
+    speedLimitActive @18;
+    speedLimitConfirmed @19;
+    speedLimitValueChange @20;
  }
 }

@@ -202,20 +224,7 @@ 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;
  }
 }

@@ -262,6 +271,7 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
 }

 struct CarStateSP @0xb86e6369214c01c8 {
+  speedLimit @0 :Float32;  # m/s
 }

 struct LiveMapDataSP @0xf416ec09499d9d19 {
@@ -273,16 +283,9 @@ 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 {
 }

@@ -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;
@@ -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),
@@ -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}},

@@ -197,12 +192,10 @@ 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}},
@@ -223,4 +216,14 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"OsmStateTitle", {PERSISTENT, STRING}},
    {"OsmWayTest", {PERSISTENT, STRING}},
    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
+
+    // Speed Limit Control
+    {"SpeedLimitControl", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"SpeedLimitControlPolicy", {PERSISTENT | BACKUP, INT, "3"}},
+    {"SpeedLimitEngageType", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SpeedLimitOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SpeedLimitValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SpeedLimitWarningType", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SpeedLimitWarningOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SpeedLimitWarningValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
 };
@@ -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
+# 326 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>|||
@@ -73,15 +72,12 @@ 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>|||
@@ -89,9 +85,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |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 +96,6 @@ 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 +120,7 @@ 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 +298,6 @@ 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>||
@@ -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
@@ -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)
@@ -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'"
@@ -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!
@@ -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)
@@ -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):
@@ -35,7 +35,7 @@ class LatControlTorque(LatControl):
    self.update_limits()
    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
@@ -73,6 +73,12 @@ class LatControlTorque(LatControl):
      ff = gravity_adjusted_lateral_accel
      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,
                                      feedforward=ff,
@@ -80,12 +86,6 @@ class LatControlTorque(LatControl):
                                      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)
@@ -146,6 +146,9 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
      clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
      accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)

+    # Get new v_cruise from Speed Limit Control
+    v_cruise = LongitudinalPlannerSP.update_v_cruise(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)
+
    if force_slow_decel:
      v_cruise = 0.0

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 from cereal import car
+from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
@@ -16,10 +17,13 @@ def main():
  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
  cloudlog.info("plannerd got CarParams: %s", CP.brand)

+  gps_location_service = get_gps_location_service(params)
+
  ldw = LaneDepartureWarning()
  longitudinal_planner = LongitudinalPlanner(CP)
  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
+                            'liveMapDataSP', 'carStateSP', gps_location_service],
                           poll='modelV2')

  while True:
@@ -216,7 +216,7 @@ 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()
@@ -333,7 +333,6 @@ 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 +347,6 @@ 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 +354,6 @@ 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


@@ -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."
  }
 }
@@ -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:
@@ -95,9 +95,8 @@ 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'] + \
-                                   self.camera_packets + self.sensor_packets + self.gps_packets,
+                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback'] + \
+                                   self.camera_packets + self.sensor_packets + self.gps_packets + ["longitudinalPlanSP"],
                                  ignore_alive=ignore, ignore_avg_freq=ignore,
                                  ignore_valid=ignore, frequency=int(1/DT_CTRL))

@@ -210,6 +209,7 @@ class SelfdriveD(CruiseHelper):

    if not self.CP.notCar:
      self.events.add_from_msg(self.sm['driverMonitoringState'].events)
+      self.events_sp.add_from_msg(self.sm['longitudinalPlanSP'].events)

    # Add car events, ignore if CAN isn't valid
    if CS.canValid:
@@ -301,13 +301,6 @@ 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):
@@ -67,6 +67,9 @@ class Plant:
    lp = messaging.new_message('liveParameters')
    car_control = messaging.new_message('carControl')
    model = messaging.new_message('modelV2')
+    car_state_sp = messaging.new_message('carStateSP')
+    live_map_data_sp = messaging.new_message('liveMapDataSP')
+    gps_data = messaging.new_message('gpsLocation')
    a_lead = (v_lead - self.v_lead_prev)/self.ts
    self.v_lead_prev = v_lead

@@ -133,7 +136,10 @@ class Plant:
          'controlsState': control.controlsState,
          'selfdriveState': ss.selfdriveState,
          'liveParameters': lp.liveParameters,
-          'modelV2': model.modelV2}
+          'modelV2': model.modelV2,
+          'carStateSP': car_state_sp.carStateSP,
+          'liveMapDataSP': live_map_data_sp.liveMapDataSP,
+          'gpsLocation': gps_data.gpsLocation}
    self.planner.update(sm)
    self.acceleration = self.planner.output_a_target
    self.speed = self.speed + self.acceleration * self.ts
@@ -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
@@ -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"
@@ -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)];
@@ -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;
-}
@@ -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;
 };
@@ -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",
@@ -54,6 +52,10 @@ lateral_panel_qt_src = [

 longitudinal_panel_qt_src = [
  "sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.cc",
+  "sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.cc",
+  "sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_policy.cc",
+  "sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_subpanel.cc",
+  "sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_warning.cc",
 ]

 network_src = [
@@ -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);
@@ -16,7 +16,6 @@ public:
  explicit DeveloperPanelSP(SettingsWindow *parent);

 private:
-  ParamControlSP *enableCopyparty;
  ParamControlSP *enableGithubRunner;
  ButtonControlSP *errorLogBtn;
  ParamControlSP *prebuiltToggle;
@@ -0,0 +1,25 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.h"
+
+SpeedLimitControl::SpeedLimitControl(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent)
+    : ExpandableToggleRow(param, title, desc, icon, parent) {
+
+  auto *slcFrame = new QFrame(this);
+  auto *slcFrameLayout = new QVBoxLayout();
+  slcFrame->setLayout(slcFrameLayout);
+  slcFrameLayout->setSpacing(0);
+  slcFrameLayout->setContentsMargins(0, 0, 0, 0);
+
+  slcSettings = new PushButtonSP(tr("Customize SLC"));
+  slcFrameLayout->addWidget(slcSettings);
+  connect(slcSettings, &QPushButton::clicked, [&]() {
+    emit slcSettingsButtonClicked();
+  });
+  addItem(slcFrame);
+}
@@ -0,0 +1,77 @@
+/*
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
+
+enum class SLCEngageType {
+  AUTO,
+  USER_CONFIRM,
+};
+
+inline const char *SLCEngageTypeText[]{
+  QT_TR_NOOP("Auto"),
+  QT_TR_NOOP("User Confirm")
+};
+
+enum class SLCOffsetType {
+  NONE,
+  FIXED,
+  PERCENT,
+};
+
+inline const char *SLCOffsetTypeText[]{
+  QT_TR_NOOP("None"),
+  QT_TR_NOOP("Fixed"),
+  QT_TR_NOOP("Percent"),
+};
+
+enum class SLCWarningType {
+  OFF,
+  DISPLAY,
+  CHIME,
+};
+
+inline const char *SLCWarningTypeText[]{
+  QT_TR_NOOP("Off"),
+  QT_TR_NOOP("Display"),
+  QT_TR_NOOP("Chime")
+};
+
+enum class SLCSourcePolicy {
+  CAR_ONLY,
+  MAP_ONLY,
+  CAR_FIRST,
+  MAP_FIRST,
+  COMBINED
+};
+
+inline const char *SLCSourcePolicyText[]{
+  QT_TR_NOOP("Car\nOnly"),
+  QT_TR_NOOP("Map\nOnly"),
+  QT_TR_NOOP("Car\nFirst"),
+  QT_TR_NOOP("Map\nFirst"),
+  QT_TR_NOOP("Combined\nData")
+};
+
+class SpeedLimitControl : public ExpandableToggleRow {
+  Q_OBJECT
+
+public:
+  SpeedLimitControl(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr);
+
+signals:
+  void slcSettingsButtonClicked();
+
+private:
+  Params params;
+  PushButtonSP *slcSettings;
+};
@@ -0,0 +1,53 @@
+/*
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_policy.h"
+
+SpeedLimitControlPolicy::SpeedLimitControlPolicy(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+  main_layout->setSpacing(0);
+
+  // Back button
+  PanelBackButton *back = new PanelBackButton(tr("Back"));
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  main_layout->addWidget(back, 0, Qt::AlignLeft);
+
+  main_layout->addSpacing(10);
+
+  ListWidgetSP *list = new ListWidgetSP(this, true);
+
+  std::vector<QString> slc_policy_texts{
+    SLCSourcePolicyText[static_cast<int>(SLCSourcePolicy::CAR_ONLY)],
+    SLCSourcePolicyText[static_cast<int>(SLCSourcePolicy::MAP_ONLY)],
+    SLCSourcePolicyText[static_cast<int>(SLCSourcePolicy::CAR_FIRST)],
+    SLCSourcePolicyText[static_cast<int>(SLCSourcePolicy::MAP_FIRST)],
+    SLCSourcePolicyText[static_cast<int>(SLCSourcePolicy::COMBINED)]
+  };
+  slc_policy = new ButtonParamControlSP(
+    "SpeedLimitControlPolicy",
+    tr("Speed Limit Source"),
+    "",
+    "",
+    slc_policy_texts,
+    250);
+  list->addItem(slc_policy);
+  connect(slc_policy, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitControlPolicy::refresh);
+
+  refresh();
+  main_layout->addWidget(list);
+};
+
+void SpeedLimitControlPolicy::refresh() {
+  SLCSourcePolicy policy_param = static_cast<SLCSourcePolicy>(std::atoi(params.get("SpeedLimitControlPolicy").c_str()));
+  slc_policy->setDescription(sourceDescription(policy_param));
+}
+
+void SpeedLimitControlPolicy::showEvent(QShowEvent *event) {
+  refresh();
+  slc_policy->showDescription();
+}
@@ -0,0 +1,56 @@
+/*
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class SpeedLimitControlPolicy : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit SpeedLimitControlPolicy(QWidget *parent = nullptr);
+  void refresh();
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void backPress();
+
+private:
+  Params params;
+  ButtonParamControlSP *slc_policy;
+
+  static QString sourceDescription(SLCSourcePolicy type = SLCSourcePolicy::CAR_ONLY) {
+    QString car_only = tr("⦿ Car Only: Use Speed Limit data only from Car");
+    QString map_only = tr("⦿ Map Only: Use Speed Limit data only from OpenStreetMaps");
+    QString car_first = tr("⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps");
+    QString map_first = tr("⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car");
+    QString combined = tr("⦿ Combined: Use combined Speed Limit data from Car & OpenStreetMaps");
+
+    if (type == SLCSourcePolicy::CAR_ONLY) {
+      car_only = "<font color='white'><b>" + car_only + "</b></font>";
+    } else if (type == SLCSourcePolicy::MAP_ONLY) {
+      map_only = "<font color='white'><b>" + map_only + "</b></font>";
+    } else if (type == SLCSourcePolicy::CAR_FIRST) {
+      car_first = "<font color='white'><b>" + car_first + "</b></font>";
+    } else if (type == SLCSourcePolicy::MAP_FIRST) {
+      map_first = "<font color='white'><b>" + map_first + "</b></font>";
+    } else {
+      combined = "<font color='white'><b>" + combined + "</b></font>";
+    }
+
+    return QString("%1<br>%2<br>%3<br>%4<br>%5")
+        .arg(car_only)
+        .arg(map_only)
+        .arg(car_first)
+        .arg(map_first)
+        .arg(combined);
+  }
+};
@@ -0,0 +1,142 @@
+/*
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_subpanel.h"
+
+SpeedLimitControlSubpanel::SpeedLimitControlSubpanel(QWidget *parent) : QStackedWidget(parent) {
+  subPanelFrame = new QFrame();
+  QVBoxLayout *subPanelLayout = new QVBoxLayout(subPanelFrame);
+  subPanelLayout->setContentsMargins(0, 0, 0, 0);
+  subPanelLayout->setSpacing(0);
+
+  // Back button
+  PanelBackButton *back = new PanelBackButton(tr("Back"));
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  subPanelLayout->addWidget(back, 0, Qt::AlignLeft);
+
+  subPanelLayout->addSpacing(20);
+
+  ListWidgetSP *list = new ListWidgetSP(this, true);
+
+  auto *slcBtnFrame = new QFrame(this);
+  auto *slcBtnFrameLayout = new QGridLayout();
+  slcBtnFrame->setLayout(slcBtnFrameLayout);
+  slcBtnFrameLayout->setContentsMargins(0, 40, 0, 40);
+  slcBtnFrameLayout->setSpacing(0);
+
+  slcWarningScreen = new SpeedLimitControlWarning(this);
+  slcPolicyScreen = new SpeedLimitControlPolicy(this);
+
+  slcWarningControl = new PushButtonSP(tr("Customize Warning"));
+  connect(slcWarningControl, &QPushButton::clicked, [&]() {
+    setCurrentWidget(slcWarningScreen);
+    slcWarningScreen->refresh();
+  });
+  connect(slcWarningScreen, &SpeedLimitControlWarning::backPress, [&]() {
+    setCurrentWidget(subPanelFrame);
+    showEvent(new QShowEvent());
+  });
+
+  slcSourceControl = new PushButtonSP(tr("Customize Source"));
+  connect(slcSourceControl, &QPushButton::clicked, [&]() {
+    setCurrentWidget(slcPolicyScreen);
+    slcPolicyScreen->refresh();
+  });
+  connect(slcPolicyScreen, &SpeedLimitControlPolicy::backPress, [&]() {
+    setCurrentWidget(subPanelFrame);
+    showEvent(new QShowEvent());
+  });
+
+  slcWarningControl->setFixedWidth(720);
+  slcSourceControl->setFixedWidth(720);
+  slcBtnFrameLayout->addWidget(slcWarningControl, 0, 0, Qt::AlignLeft);
+  slcBtnFrameLayout->addWidget(slcSourceControl, 0, 1, Qt::AlignRight);
+  list->addItem(slcBtnFrame);
+
+
+  std::vector<QString> slc_engage_texts{
+    SLCEngageTypeText[static_cast<int>(SLCEngageType::AUTO)],
+    SLCEngageTypeText[static_cast<int>(SLCEngageType::USER_CONFIRM)]
+  };
+  slc_engage_setting = new ButtonParamControlSP(
+    "SpeedLimitEngageType",
+    tr("Engage Mode"),
+    "",
+    "",
+    slc_engage_texts,
+    500);
+  slc_engage_setting->showDescription();
+  list->addItem(slc_engage_setting);
+
+  QFrame *offsetFrame = new QFrame(this);
+  QVBoxLayout *offsetLayout = new QVBoxLayout(offsetFrame);
+
+  std::vector<QString> slc_offset_texts{
+    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::NONE)],
+    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::FIXED)],
+    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::PERCENT)]
+  };
+  slc_offset_setting = new ButtonParamControlSP(
+    "SpeedLimitOffsetType",
+    tr("Speed Limit Offset"),
+    "",
+    "",
+    slc_offset_texts,
+    500);
+
+  offsetLayout->addWidget(slc_offset_setting);
+
+  slc_offset = new OptionControlSP(
+    "SpeedLimitValueOffset",
+    "",
+    "",
+    "",
+    {-30, 30}
+    );
+  offsetLayout->addWidget(slc_offset);
+
+  list->addItem(offsetFrame);
+
+  connect(slc_offset, &OptionControlSP::updateLabels, this, &SpeedLimitControlSubpanel::refresh);
+  connect(slc_offset_setting, &ButtonParamControlSP::showDescriptionEvent, slc_offset, &OptionControlSP::showDescription);
+  connect(slc_engage_setting, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitControlSubpanel::refresh);
+  connect(slc_offset_setting, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitControlSubpanel::refresh);
+
+  refresh();
+  subPanelLayout->addWidget(list);
+  addWidget(subPanelFrame);
+  addWidget(slcWarningScreen);
+  addWidget(slcPolicyScreen);
+  setCurrentWidget(subPanelFrame);
+};
+
+void SpeedLimitControlSubpanel::refresh() {
+  SLCEngageType engage_type_param = static_cast<SLCEngageType>(std::atoi(params.get("SpeedLimitEngageType").c_str()));
+  SLCOffsetType offset_type_param = static_cast<SLCOffsetType>(std::atoi(params.get("SpeedLimitOffsetType").c_str()));
+  QString offsetLabel = QString::fromStdString(params.get("SpeedLimitValueOffset"));
+
+  slc_engage_setting->setDescription(engageModeDescription(engage_type_param));
+  slc_offset->setDescription(offsetDescription(offset_type_param));
+
+  if (offset_type_param == SLCOffsetType::PERCENT) {
+    offsetLabel += "%";
+  }
+
+  if (offset_type_param == SLCOffsetType::NONE) {
+    slc_offset->setVisible(false);
+  } else {
+    slc_offset->setVisible(true);
+    slc_offset->setLabel(offsetLabel);
+    slc_offset->showDescription();
+  }
+}
+
+void SpeedLimitControlSubpanel::showEvent(QShowEvent *event) {
+  refresh();
+  slc_engage_setting->showDescription();
+  slc_offset->showDescription();
+}
@@ -0,0 +1,72 @@
+/*
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_policy.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_warning.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class SpeedLimitControlSubpanel : public QStackedWidget {
+  Q_OBJECT
+
+public:
+  SpeedLimitControlSubpanel(QWidget *parent = nullptr);
+  void refresh();
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void backPress();
+
+private:
+  Params params;
+  QFrame *subPanelFrame;
+  PushButtonSP *slcWarningControl;
+  PushButtonSP *slcSourceControl;
+  ButtonParamControlSP *slc_offset_setting;
+  OptionControlSP *slc_offset;
+  ButtonParamControlSP *slc_engage_setting;
+  SpeedLimitControlWarning *slcWarningScreen;
+  SpeedLimitControlPolicy *slcPolicyScreen;
+
+  static QString engageModeDescription(SLCEngageType type = SLCEngageType::AUTO) {
+    QString auto_str = tr("⦿ Auto: Automatic speed adjustment based on speed limit data");
+    QString user_str = tr("⦿ User Confirm: Asks driver to confirm speed adjustment based on speed limit data");
+
+    if (type == SLCEngageType::USER_CONFIRM) {
+      user_str = "<font color='white'><b>" + user_str + "</b></font>";
+    } else {
+      auto_str = "<font color='white'><b>" + auto_str + "</b></font>";
+    }
+
+    return QString("%1<br>%2")
+        .arg(auto_str)
+        .arg(user_str);
+  }
+
+  static QString offsetDescription(SLCOffsetType type = SLCOffsetType::NONE) {
+    QString none_str = tr("⦿ None: No Offset");
+    QString fixed_str = tr("⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]");
+    QString percent_str = tr("⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]");
+
+    if (type == SLCOffsetType::FIXED) {
+      fixed_str = "<font color='white'><b>" + fixed_str + "</b></font>";
+    } else if (type == SLCOffsetType::PERCENT) {
+      percent_str = "<font color='white'><b>" + percent_str + "</b></font>";
+    } else {
+      none_str = "<font color='white'><b>" + none_str + "</b></font>";
+    }
+
+    return QString("%1<br>%2<br>%3")
+        .arg(none_str)
+        .arg(fixed_str)
+        .arg(percent_str);
+  }
+};
@@ -0,0 +1,100 @@
+/*
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_warning.h"
+
+SpeedLimitControlWarning::SpeedLimitControlWarning(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+  main_layout->setSpacing(0);
+
+  // Back button
+  PanelBackButton *back = new PanelBackButton(tr("Back"));
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  main_layout->addWidget(back, 0, Qt::AlignLeft);
+
+  main_layout->addSpacing(10);
+
+  ListWidgetSP *list = new ListWidgetSP(this, true);
+
+  std::vector<QString> slc_warning_texts{
+    SLCWarningTypeText[static_cast<int>(SLCWarningType::OFF)],
+    SLCWarningTypeText[static_cast<int>(SLCWarningType::DISPLAY)],
+    SLCWarningTypeText[static_cast<int>(SLCWarningType::CHIME)]
+  };
+  slc_warning_settings = new ButtonParamControlSP(
+    "SpeedLimitWarningType", tr("Speed Limit Warning"),
+    "",
+    "",
+    slc_warning_texts,
+    300);
+  list->addItem(slc_warning_settings);
+
+  QFrame *offsetFrame = new QFrame(this);
+  QVBoxLayout *offsetLayout = new QVBoxLayout(offsetFrame);
+
+  std::vector<QString> slc_warning_offset_texts{
+    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::NONE)],
+    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::FIXED)],
+    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::PERCENT)]
+  };
+  slc_warning_offset_settings = new ButtonParamControlSP(
+    "SpeedLimitWarningOffsetType",
+    tr("Warning Offset"),
+    "",
+    "",
+    slc_warning_offset_texts,
+    300);
+  offsetLayout->addWidget(slc_warning_offset_settings);
+
+  slc_warning_offset = new OptionControlSP(
+    "SpeedLimitWarningValueOffset",
+    "",
+    "",
+    "",
+    {-30, 30}
+  );
+  slc_warning_offset->setFixedWidth(100);
+  offsetLayout->addWidget(slc_warning_offset);
+
+  list->addItem(offsetFrame);
+
+  connect(slc_warning_offset, &OptionControlSP::updateLabels, this, &SpeedLimitControlWarning::refresh);
+  connect(slc_warning_offset_settings, &ButtonParamControlSP::showDescriptionEvent, slc_warning_offset, &OptionControlSP::showDescription);
+  connect(slc_warning_settings, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitControlWarning::refresh);
+  connect(slc_warning_offset_settings, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitControlWarning::refresh);
+
+  refresh();
+  main_layout->addWidget(list);
+};
+
+void SpeedLimitControlWarning::refresh() {
+  SLCWarningType warning_type_param = static_cast<SLCWarningType>(std::atoi(params.get("SpeedLimitWarningType").c_str()));
+  SLCOffsetType offset_type_param = static_cast<SLCOffsetType>(std::atoi(params.get("SpeedLimitWarningOffsetType").c_str()));
+  QString offsetLabel = QString::fromStdString(params.get("SpeedLimitWarningValueOffset"));
+
+  slc_warning_settings->setDescription(warningDescription(warning_type_param));
+  slc_warning_offset->setDescription(offsetDescription(offset_type_param));
+
+  if (offset_type_param == SLCOffsetType::PERCENT) {
+    offsetLabel += "%";
+  }
+
+  if (offset_type_param == SLCOffsetType::NONE) {
+    slc_warning_offset->setDisabled(true);
+    slc_warning_offset->setLabel(tr("N/A"));
+  } else {
+    slc_warning_offset->setDisabled(false);
+    slc_warning_offset->setLabel(offsetLabel);
+  }
+}
+
+void SpeedLimitControlWarning::showEvent(QShowEvent *event) {
+  refresh();
+  slc_warning_settings->showDescription();
+  slc_warning_offset->showDescription();
+}
@@ -0,0 +1,71 @@
+/*
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class SpeedLimitControlWarning : public QWidget {
+  Q_OBJECT
+
+public:
+  SpeedLimitControlWarning(QWidget *parent = nullptr);
+
+  void refresh();
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void backPress();
+
+private:
+  Params params;
+
+  ButtonParamControlSP *slc_warning_settings;
+  ButtonParamControlSP *slc_warning_offset_settings;
+  OptionControlSP *slc_warning_offset;
+
+  static QString warningDescription(SLCWarningType type = SLCWarningType::OFF) {
+    QString off_str = tr("⦿ Off: No Warning");
+    QString display_str = tr("⦿ Display: Speed Limit Sign will visually alert");
+    QString chime_str = tr("⦿ Chime: Speed Limit Sign will visually alert along with an audible chime");
+
+    if (type == SLCWarningType::DISPLAY) {
+      display_str = "<font color='white'><b>" + display_str + "</b></font>";
+    } else if (type == SLCWarningType::CHIME) {
+      chime_str = "<font color='white'><b>" + chime_str + "</b></font>";
+    } else {
+      off_str = "<font color='white'><b>" + off_str + "</b></font>";
+    }
+
+    return QString("%1<br>%2<br>%3")
+        .arg(off_str)
+        .arg(display_str)
+        .arg(chime_str);
+  }
+
+  static QString offsetDescription(SLCOffsetType type = SLCOffsetType::NONE) {
+    QString none_str = tr("⦿ None: No Offset");
+    QString fixed_str = tr("⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]");
+    QString percent_str = tr("⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]");
+
+    if (type == SLCOffsetType::FIXED) {
+      fixed_str = "<font color='white'><b>" + fixed_str + "</b></font>";
+    } else if (type == SLCOffsetType::PERCENT) {
+      percent_str = "<font color='white'><b>" + percent_str + "</b></font>";
+    } else {
+      none_str = "<font color='white'><b>" + none_str + "</b></font>";
+    }
+
+    return QString("%1<br>%2<br>%3")
+        .arg(none_str)
+        .arg(fixed_str)
+        .arg(percent_str);
+  }
+};
@@ -8,6 +8,21 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"

 LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
+  setStyleSheet(R"(
+    #back_btn {
+      font-size: 50px;
+      margin: 0px;
+      padding: 15px;
+      border-width: 0;
+      border-radius: 30px;
+      color: #dddddd;
+      background-color: #393939;
+    }
+    #back_btn:pressed {
+      background-color:  #4a4a4a;
+    }
+  )");
+
  main_layout = new QStackedLayout(this);
  ListWidget *list = new ListWidget(this, false);

@@ -23,7 +38,28 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {

  QObject::connect(uiState(), &UIState::offroadTransition, this, &LongitudinalPanel::refresh);

+  slcControl = new SpeedLimitControl(
+    "SpeedLimitControl",
+    tr("Speed Limit Control (SLC)"),
+    tr("When you engage ACC, you will be prompted to set the cruising speed to the speed limit of the road adjusted by the Offset and Source Policy specified, or the current driving speed. "
+      "The maximum cruising speed will always be the MAX set speed."),
+    "",
+    this);
+  list->addItem(slcControl);
+
+  connect(slcControl, &SpeedLimitControl::slcSettingsButtonClicked, [=]() {
+    cruisePanelScroller->setLastScrollPosition();
+    main_layout->setCurrentWidget(slcScreen);
+  });
+
+  slcScreen = new SpeedLimitControlSubpanel(this);
+  connect(slcScreen, &SpeedLimitControlSubpanel::backPress, [=]() {
+    cruisePanelScroller->restoreScrollPosition();
+    main_layout->setCurrentWidget(cruisePanelScreen);
+  });
+
  main_layout->addWidget(cruisePanelScreen);
+  main_layout->addWidget(slcScreen);
  main_layout->setCurrentWidget(cruisePanelScreen);
  refresh(offroad);
 }
@@ -8,8 +8,11 @@
 #pragma once

 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_subpanel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+#include "selfdrive/ui/sunnypilot/ui.h"

 class LongitudinalPanel : public QWidget {
  Q_OBJECT
@@ -29,4 +32,6 @@ private:
  ScrollViewSP *cruisePanelScroller = nullptr;
  QWidget *cruisePanelScreen = nullptr;
  CustomAccIncrement *customAccIncrement = nullptr;
+  SpeedLimitControlSubpanel *slcScreen;
+  SpeedLimitControl *slcControl;
 };
@@ -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");
 }

@@ -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;
+
 };
@@ -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
@@ -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",
@@ -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();
-  }
 }
@@ -28,5 +28,4 @@ protected:
 std::map<std::string, ParamControlSP*> toggles;
 ParamWatcher * param_watcher;
 ButtonParamControlSP *chevron_info_settings;
- ButtonParamControlSP *dev_ui_settings;
 };
@@ -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());
-}
@@ -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;
 };
@@ -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);
-}
@@ -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);
-};
@@ -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) {}
-};
@@ -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);
 }
@@ -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;
 };
@@ -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());
 }
@@ -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;
-  }
-}
@@ -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);
@@ -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();
-  }
@@ -18,6 +18,7 @@ ExpandableToggleRow::ExpandableToggleRow(const QString &param, const QString &ti
  collapsibleWidget->setVisible(false);
  QVBoxLayout *collapsible_layout = new QVBoxLayout();
  collapsibleWidget->setLayout(collapsible_layout);
+  collapsible_layout->setContentsMargins(0, 20, 0, 20);

  list = new ListWidgetSP(this, false);

@@ -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);
-}
@@ -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();
-};
@@ -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);
@@ -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);
@@ -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;
@@ -2103,22 +2103,6 @@ Warning: You are on a metered connection!</source>
        <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>
@@ -2085,22 +2085,6 @@ Warning: You are on a metered connection!</source>
        <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>
@@ -2087,22 +2087,6 @@ Warning: You are on a metered connection!</source>
        <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>
@@ -2083,22 +2083,6 @@ Warning: You are on a metered connection!</source>
        <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>
@@ -2082,22 +2082,6 @@ Warning: You are on a metered connection!</source>
        <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>
@@ -2096,22 +2096,6 @@ Warning: You are on a metered connection!</source>
        <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>
@@ -2087,22 +2087,6 @@ Warning: You are on a metered connection!</source>
        <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>
@@ -2078,22 +2078,6 @@ Warning: You are on a metered connection!</source>
        <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>
@@ -2077,22 +2077,6 @@ Warning: You are on a metered connection!</source>
        <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>
@@ -2082,22 +2082,6 @@ Warning: You are on a metered connection!</source>
        <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>
@@ -2082,22 +2082,6 @@ Warning: You are on a metered connection!</source>
        <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>
@@ -66,11 +66,6 @@ typedef struct UIScene {
  uint64_t started_frame;
 } UIScene;

-#ifdef SUNNYPILOT
-#include "sunnypilot/ui_scene.h"
-#define UIScene UISceneSP
-#endif
-
 class UIState : public QObject {
  Q_OBJECT

@@ -6,11 +6,11 @@ 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.
 """
 import json
+import time
 import platform
 import os
 import glob
 import shutil
-from datetime import datetime

 from openpilot.common.params import Params
 from openpilot.common.realtime import Ratekeeper, config_realtime_process
@@ -56,7 +56,7 @@ def cleanup_old_osm_data(files_to_remove: list[str]) -> None:


 def request_refresh_osm_location_data(nations: list[str], states: list[str] = None) -> None:
-  params.put("OsmDownloadedDate", str(datetime.now().timestamp()))
+  params.put("OsmDownloadedDate", str(time.monotonic()))
  params.put_bool("OsmDbUpdatesCheck", False)

  osm_download_locations = {
@@ -177,7 +177,7 @@ 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()
@@ -304,7 +304,6 @@ 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 = model.get_action_from_model(model_output, prev_action, long_delay + DT_MDL)
      fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen,
@@ -317,7 +316,6 @@ 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

@@ -325,7 +323,6 @@ 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

@@ -27,7 +27,7 @@ from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 from openpilot.sunnypilot.models.runners.helpers import get_model_runner

-PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"
+PROCESS_NAME = "selfdrive.modeld.modeld"


 class FrameMeta:
@@ -77,47 +77,42 @@ class ModelState(ModelStateBase):
        self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)
        # Temporal input: shape is [batch, history, features]
        if len(shape) == 3 and shape[1] > 1:
-          buffer_history_len = shape[1] * 4 if shape[1] < 99 else shape[1]  # Allow for higher history buffers in the future
+          buffer_history_len = max(100, (shape[1] * 4 if shape[1] < 100 else shape[1]))   # Allow for higher history buffers in the future
          feature_len = shape[2]
+          self.temporal_buffers[key] = np.zeros((1, buffer_history_len, feature_len), dtype=np.float32)
          features_buffer_shape = self.model_runner.input_shapes.get('features_buffer')
          if shape[1] in (24, 25) and features_buffer_shape is not None and features_buffer_shape[1] == 24:  # 20Hz
-            buffer_history_len = (features_buffer_shape[1] + 1) * 4
            step = int(-buffer_history_len / shape[1])
            self.temporal_idxs_map[key] = np.arange(step, step * (shape[1] + 1), step)[::-1]
          elif shape[1] == 25:  # Split
            skip = buffer_history_len // shape[1]
            self.temporal_idxs_map[key] = np.arange(buffer_history_len)[-1 - (skip * (shape[1] - 1))::skip]
-          elif shape[1] >= 99:  # non20hz
-            self.temporal_idxs_map[key] = np.arange(shape[1])
-          self.temporal_buffers[key] = np.zeros((1, buffer_history_len, feature_len), dtype=np.float32)
+          elif shape[1] == buffer_history_len:  # non20hz
+            self.temporal_idxs_map[key] = np.arange(buffer_history_len)

  @property
  def mlsim(self) -> bool:
    return bool(self.generation is not None and self.generation >= 11)

-  @property
-  def desire_key(self) -> str:
-    return next(key for key in self.numpy_inputs if key.startswith('desire'))
-
  def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs[self.desire_key][0] = 0
-    new_desire = np.where(inputs[self.desire_key] - self.prev_desire > .99, inputs[self.desire_key], 0)
-    self.prev_desire[:] = inputs[self.desire_key]
-    self.temporal_buffers[self.desire_key][0,:-1] = self.temporal_buffers[self.desire_key][0,1:]
-    self.temporal_buffers[self.desire_key][0,-1] = new_desire
+    inputs['desire'][0] = 0
+    new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
+    self.prev_desire[:] = inputs['desire']
+    self.temporal_buffers['desire'][0,:-1] = self.temporal_buffers['desire'][0,1:]
+    self.temporal_buffers['desire'][0,-1] = new_desire

    # Roll buffer and assign based on desire.shape[1] value
-    if self.temporal_buffers[self.desire_key].shape[1] > self.numpy_inputs[self.desire_key].shape[1]:
-      skip = self.temporal_buffers[self.desire_key].shape[1] // self.numpy_inputs[self.desire_key].shape[1]
-      self.numpy_inputs[self.desire_key][:] = (self.temporal_buffers[self.desire_key][0].reshape(
-                                               self.numpy_inputs[self.desire_key].shape[0], self.numpy_inputs[self.desire_key].shape[1], skip, -1).max(axis=2))
+    if self.temporal_buffers['desire'].shape[1] > self.numpy_inputs['desire'].shape[1]:
+      skip = self.temporal_buffers['desire'].shape[1] // self.numpy_inputs['desire'].shape[1]
+      self.numpy_inputs['desire'][:] = (
+        self.temporal_buffers['desire'][0].reshape(self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], skip, -1).max(axis=2))
    else:
-      self.numpy_inputs[self.desire_key][:] = self.temporal_buffers[self.desire_key][0, self.temporal_idxs_map[self.desire_key]]
+      self.numpy_inputs['desire'][:] = self.temporal_buffers['desire'][0, self.temporal_idxs_map['desire']]

    for key in self.numpy_inputs:
-      if key in inputs and key not in [self.desire_key]:
+      if key in inputs and key not in ['desire']:
        self.numpy_inputs[key][:] = inputs[key]

    imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.model_runner.vision_input_names}
@@ -161,11 +156,10 @@ class ModelState(ModelStateBase):
    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)

    desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, self.mlsim)
-    if self.generation is not None and self.generation >= 10: # smooth curvature for post FOF models
-      if v_ego > self.MIN_LAT_CONTROL_SPEED:
-        desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
-      else:
-        desired_curvature = prev_action.desiredCurvature
+    if v_ego > self.MIN_LAT_CONTROL_SPEED:
+      desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
+    else:
+      desired_curvature = prev_action.desiredCurvature

    return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),desiredAcceleration=float(desired_accel), shouldStop=bool(should_stop))

@@ -208,7 +202,7 @@ 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()
@@ -312,7 +306,7 @@ def main(demo=False):
    bufs = {name: buf_extra if 'big' in name else buf_main for name in model.model_runner.vision_input_names}
    transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.model_runner.vision_input_names}
    inputs:dict[str, np.ndarray] = {
-      model.desire_key: vec_desire,
+      'desire': vec_desire,
      'traffic_convention': traffic_convention,
    }

@@ -328,7 +322,6 @@ 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 = model.get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
      prev_action = action
@@ -343,7 +336,6 @@ 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

@@ -351,7 +343,6 @@ 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


@@ -8,16 +8,12 @@ import openpilot.sunnypilot.modeld_v2.modeld as modeld_module

 ModelState = modeld_module.ModelState

+
 # These are the shapes extracted/loaded from the model onnx
 SHAPE_MODE_PARAMS = [
-  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "nav_features": (1, 256), "nav_instructions": (1, 150)}, 'non20hz'), # Optimus Prime
-  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "lat_planner_state": (1, 4),}, 'non20hz'), # farmville
-  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "lateral_control_params": (1, 2), "prev_desired_curv": (1, 100, 1)}, 'non20hz'), # wd40
-  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1), "lateral_control_params": (1, 2),}, 'non20hz'), # NTS
-  ({'desire': (1, 25, 8), 'features_buffer': (1, 24, 512)}, '20hz'), # NPR
-  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1), "lateral_control_params": (1, 2),}, 'non20hz'), # NTS
-  ({'desire': (1, 25, 8), 'features_buffer': (1, 25, 512)}, 'split'), # Steam Powered v2
-  ({'desire_pulse': (1, 25, 8), 'features_buffer': (1, 25, 512)}, 'split'), # desire rename
+  ({'desire': (1, 25, 8), 'features_buffer': (1, 25, 512), 'prev_desired_curv': (1, 25, 1)}, 'split'),
+  ({'desire': (1, 25, 8), 'features_buffer': (1, 24, 512), 'prev_desired_curv': (1, 25, 1)}, '20hz'),
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1)}, 'non20hz'),
 ]


@@ -99,7 +95,9 @@ def get_expected_indices(shape, constants, mode, key=None):
    idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
    return idxs
  elif mode == 'non20hz':
-    return np.arange(shape[1])
+    if key and shape[1] == constants.FULL_HISTORY_BUFFER_LEN:
+      return np.arange(constants.FULL_HISTORY_BUFFER_LEN)
+    return None
  return None


@@ -110,8 +108,6 @@ def test_buffer_shapes_and_indices(shapes, mode, apply_patches):
  for key in shapes:
    buf = state.temporal_buffers.get(key, None)
    idxs = state.temporal_idxs_map.get(key, None)
-    if buf is None:
-      continue    # not all shapes are 3D, and the non-3D ones are not buffered
    # Buffer shape logic
    if mode == 'split':
      expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
@@ -120,7 +116,10 @@ def test_buffer_shapes_and_indices(shapes, mode, apply_patches):
      expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
      expected_idxs = get_expected_indices(shapes[key], constants, '20hz', key)
    elif mode == 'non20hz':
-      expected_shape = (1, shapes[key][1], shapes[key][2])
+      if key == 'features_buffer':
+        expected_shape = (1, shapes[key][1]*4, shapes[key][2])
+      else:
+        expected_shape = (1, shapes[key][1], shapes[key][2])
      expected_idxs = get_expected_indices(shapes[key], constants, 'non20hz', key)

    assert buf is not None, f"{key}: buffer not found"
@@ -131,10 +130,10 @@ def test_buffer_shapes_and_indices(shapes, mode, apply_patches):
      assert idxs is None or idxs.size == 0, f"{key}: buffer idxs should be None or empty"


-def legacy_buffer_update(buf, new_val, mode, key, constants, idxs, input_shape, prev_desire=None):
+def legacy_buffer_update(buf, new_val, mode, key, constants, idxs):
  # This is what we compare the new dynamic logic to, to ensure it does the same thing
  if mode == 'split':
-    if key == 'desire' or key.startswith('desire'):
+    if key == 'desire':
      buf[0,:-1] = buf[0,1:]
      buf[0,-1] = new_val
      return buf.reshape((1, constants.INPUT_HISTORY_BUFFER_LEN, constants.TEMPORAL_SKIP, -1)).max(axis=2)
@@ -174,22 +173,15 @@ def legacy_buffer_update(buf, new_val, mode, key, constants, idxs, input_shape,
      return legacy_buf[idxs]
  elif mode == 'non20hz':
    if key == 'desire':
-      desire_len = constants.DESIRE_LEN
-      if prev_desire is None:
-        prev_desire = np.zeros(desire_len, dtype=np.float32)
-      # Set first element to zero
-      new_val = new_val.copy()
-      new_val[0] = 0
-      # Shift buffer by desire len
-      buf[0][:-desire_len] = buf[0][desire_len:]
-      # Only insert new desire if rising edge
-      buf[0][-desire_len:] = np.where(new_val - prev_desire > 0.99, new_val, 0)
-      prev_desire[:] = new_val
+      length = new_val.shape[0]
+      buf[0,:-1,:length] = buf[0,1:,:length]
+      buf[0,-1,:length] = new_val[:length]
      return buf[0]
    elif key == 'features_buffer':
-      buf[0, :-1] = buf[0, 1:]
-      buf[0, -1] = new_val
-      return buf[0, -input_shape[1]:]  # (99, 512)
+      feature_len = new_val.shape[0]
+      buf[0,:-1,:feature_len] = buf[0,1:,:feature_len]
+      buf[0,-1,:feature_len] = new_val[:feature_len]
+      return buf[0]
    elif key == 'prev_desired_curv':
      length = new_val.shape[0]
      buf[0,:-length,0] = buf[0,length:,0]
@@ -199,18 +191,32 @@ def legacy_buffer_update(buf, new_val, mode, key, constants, idxs, input_shape,


 def dynamic_buffer_update(state, key, new_val, mode):
-  if key == 'desire' or key.startswith('desire'):
-    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
-              for k, v in state.model_runner.input_shapes.items() if k != key}
-    inputs[key] = new_val.copy()
-    # ModelState.run expects desire as a pulse, so we zero the first element.
-    inputs[key][0] = 0
-    state.run({}, {}, inputs, prepare_only=False)
-    return state.numpy_inputs[key]
+  if key == 'desire':
+    state.temporal_buffers['desire'][0,:-1] = state.temporal_buffers['desire'][0,1:]
+    state.temporal_buffers['desire'][0,-1] = new_val
+    if state.temporal_buffers['desire'].shape[1] > state.numpy_inputs['desire'].shape[1]:
+      skip = state.temporal_buffers['desire'].shape[1] // state.numpy_inputs['desire'].shape[1]
+      return state.temporal_buffers['desire'][0].reshape(
+        state.numpy_inputs['desire'].shape[0], state.numpy_inputs['desire'].shape[1], skip, -1
+      ).max(axis=2)
+    else:
+      return state.temporal_buffers['desire'][0, state.temporal_idxs_map['desire']]
+
+  inputs = {'desire': np.zeros((1, state.constants.DESIRE_LEN), dtype=np.float32)}
+  for k, tb in state.temporal_buffers.items():
+    if k in state.temporal_idxs_map:
+      continue
+    buf_len = tb.shape[1]
+    if k in state.numpy_inputs:
+      out_len = state.numpy_inputs[k].shape[1]
+      if out_len <= buf_len:
+        state.temporal_idxs_map[k] = np.arange(buf_len)[-out_len:]
+      else:
+        state.temporal_idxs_map[k] = np.arange(buf_len)
+    else:
+      state.temporal_idxs_map[k] = np.arange(buf_len)

  if key == 'features_buffer':
-    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
-              for k, v in state.model_runner.input_shapes.items() if k != 'features_buffer'}
    def run_model_stub():
      return {
        'hidden_state': np.asarray(new_val, dtype=np.float32).reshape(1, -1),
@@ -220,8 +226,6 @@ def dynamic_buffer_update(state, key, new_val, mode):
    return state.numpy_inputs['features_buffer'][0]

  if key == 'prev_desired_curv':
-    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
-              for k, v in state.model_runner.input_shapes.items() if k != 'prev_desired_curv'}
    def run_model_stub():
      return {
        'hidden_state': np.zeros((1, state.constants.FEATURE_LEN), dtype=np.float32),
@@ -237,27 +241,16 @@ def dynamic_buffer_update(state, key, new_val, mode):
@pytest.mark.parametrize("key", ["desire", "features_buffer", "prev_desired_curv"])
 def test_buffer_update_equivalence(shapes, mode, key, apply_patches):
  state = ModelState(None)
-  if key == "desire":
-    desire_keys = [k for k in shapes.keys() if k.startswith('desire')]
-    if desire_keys:
-      actual_key = desire_keys[0]  # Use the first (and likely only) desire key
-  else:
-    actual_key = key
-
-  if actual_key not in state.numpy_inputs:
-    pytest.skip()
-
  constants = DummyModelRunner(shapes).constants
-  buf = state.temporal_buffers.get(actual_key, None)
-  idxs = state.temporal_idxs_map.get(actual_key, None)
-  input_shape = shapes[actual_key]
-  prev_desire = np.zeros(constants.DESIRE_LEN, dtype=np.float32) if key == 'desire' else None
-
+  buf = state.temporal_buffers.get(key, None)
+  idxs = state.temporal_idxs_map.get(key, None)
+  input_shape = shapes[key]
  for step in range(20):    # multiple steps to ensure history is built up
    new_val = np.full((input_shape[2],), step, dtype=np.float32)
-    expected = legacy_buffer_update(buf, new_val, mode, actual_key, constants, idxs, input_shape, prev_desire)
-    actual = dynamic_buffer_update(state, actual_key, new_val, mode)
+    expected = legacy_buffer_update(buf, new_val, mode, key, constants, idxs)
+    actual = dynamic_buffer_update(state, key, new_val, mode)
+    # Model returns the reduced numpy_inputs history, compare the last n entries so the test is checking the same slices.
    if expected is not None and actual is not None and expected.shape != actual.shape:
      if expected.ndim == 2 and actual.ndim == 2 and expected.shape[1] == actual.shape[1]:
        expected = expected[-actual.shape[0]:]
-    assert np.allclose(actual, expected), f"{mode} {actual_key}: dynamic buffer update does not match legacy logic"
+    assert np.allclose(actual, expected), f"{mode} {key}: dynamic buffer update does not match legacy logic"
@@ -8,7 +8,6 @@ See the LICENSE.md file in the root directory for more details.
 import time

 import requests
-from requests.exceptions import (SSLError, RequestException, HTTPError)
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from sunnypilot.models.helpers import is_bundle_version_compatible
@@ -67,7 +66,6 @@ class ModelParser:
    model_bundle.is20hz = bundle.get("is_20hz", False)
    model_bundle.minimumSelectorVersion = int(bundle["minimum_selector_version"])
    model_bundle.overrides = ModelParser._parse_overrides(bundle.get("overrides", {}))
-    model_bundle.ref = bundle.get("ref")

    return model_bundle

@@ -123,36 +121,19 @@ class ModelFetcher:
    self.model_cache = ModelCache(params)
    self.model_parser = ModelParser()

-  def _fetch_and_cache_models(self) -> list[custom.ModelManagerSP.ModelBundle] | None:
-    """Fetches fresh model data from remote and updates cache.
-    Returns None on transport errors. Raises on 404 and other fatal HTTP errors.
-    """
+  def _fetch_and_cache_models(self) -> list[custom.ModelManagerSP.ModelBundle]:
+    """Fetches fresh model data from remote and updates cache"""
    try:
      response = requests.get(self.MODEL_URL, timeout=10)
-
-      # Explicitly handle 404 differently
-      if response.status_code == 404:
-        cloudlog.error(f"Models URL returned 404 Not Found: {self.MODEL_URL}")
-        raise HTTPError(f"404 Not Found: {self.MODEL_URL}", response=response)
-
-      # Raise for any other 4xx/5xx
      response.raise_for_status()
-
      json_data = response.json()
+
      self.model_cache.set(json_data)
      cloudlog.debug("Successfully updated models cache")
      return self.model_parser.parse_models(json_data)
-
-    except ConnectionError as e:
-      cloudlog.warning(f"DNS/connection error while fetching models: {e}")
-    except SSLError as e:
-      cloudlog.warning(f"SSL error while fetching models: {e}")
-    except RequestException as e:
-      cloudlog.warning(f"Request transport error while fetching models: {e}")
-    except Exception as e:
-      cloudlog.exception(f"Unexpected error fetching models: {e}")
-
-    return None
+    except Exception:
+      cloudlog.exception("Error fetching models")
+      raise

  def get_available_bundles(self) -> list[custom.ModelManagerSP.ModelBundle]:
    """Gets the list of available models, with smart cache handling"""
@@ -162,12 +143,12 @@ class ModelFetcher:
      cloudlog.debug("Using valid cached models data")
      return self.model_parser.parse_models(cached_data)

-    fetched_bundles = self._fetch_and_cache_models()
-    if fetched_bundles is not None:
-      return fetched_bundles
-
-    if not cached_data:
-      cloudlog.warning("Failed to fetch fresh data and no cache available")
+    try:
+      return self._fetch_and_cache_models()
+    except Exception:
+      if not cached_data:
+        cloudlog.exception("Failed to fetch fresh data and no cache available")
+        raise

    cloudlog.warning("Failed to fetch fresh data. Using expired cache as fallback")
    return self.model_parser.parse_models(cached_data)
@@ -19,7 +19,7 @@ from openpilot.system.hardware.hw import Paths
 from pathlib import Path

 # see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 10
+CURRENT_SELECTOR_VERSION = 9
 REQUIRED_MIN_SELECTOR_VERSION = 9

 USE_ONNX = os.getenv('USE_ONNX', PC)
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3731604f80e83a1fdb7c258baf6530b81190eeec82e6443172e84a35b7a74c02
-size 1088
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0c2a513b7f2da004f145b7d689654cc65137f1b146d484fbce7ce727a297b62c
-size 861
@@ -73,7 +73,7 @@ class ControlsExt:
    # MADS state
    CC_SP.mads = sm['selfdriveStateSP'].mads

-    CC_SP.params = self.param_store.param_list
+    CC_SP.params = self.param_store.publish()

    return CC_SP

--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
nayan	28eb825013	Revert "mapd: improved system transforms GPS navigation from a basic "am I near a road?" check into an intelligent map matching system that understands movement patterns, GPS reliability, and road network" This reverts commit `ea1e521306`.	2025-08-25 17:26:13 -04:00
rav4kumar	ea1e521306	mapd: improved system transforms GPS navigation from a basic "am I near a road?" check into an intelligent map matching system that understands movement patterns, GPS reliability, and road network	2025-08-25 17:21:55 -04:00
nayan	2d937295ed	Merge branch 'feature/slc' into ui/slc-ui	2025-08-25 17:14:41 -04:00
nayan	4a0b30ae35	omg sunny.. pls	2025-08-25 16:29:36 -04:00
nayan	b8620fb843	Merge branch 'feature/slc' into ui/slc-ui	2025-08-25 16:25:44 -04:00
nayan	200d6145dc	sunny pls	2025-08-25 16:00:49 -04:00
Jason Wen	9822179d47	no more	2025-08-25 08:01:50 -04:00
Jason Wen	ff0c891b5f	params fix	2025-08-24 23:27:57 -04:00
Jason Wen	2e0ace119c	fix import	2025-08-24 23:27:57 -04:00
Jason Wen	132a109798	rename	2025-08-24 23:27:57 -04:00
Jason Wen	7b9568d0ab	user confirm in another PR	2025-08-24 23:27:57 -04:00
Jason Wen	676f48c9b5	Merge remote-tracking branch 'sunnypilot/sunnypilot/master' into feature/slc # Conflicts: # common/params_keys.h # selfdrive/selfdrived/selfdrived.py	2025-08-24 22:25:57 -04:00
Kumar	c768cd1973	Merge branch 'feature/slc' into ui/slc-ui	2025-08-10 09:15:11 -07:00
Jason Wen	24059b22f3	Merge remote-tracking branch 'sunnypilot/sunnypilot/master' into feature/slc # Conflicts: # common/params_keys.h # opendbc_repo # sunnypilot/selfdrive/controls/lib/longitudinal_planner.py # system/manager/manager.py	2025-08-02 23:47:22 -04:00
nayan	7b8b0ab949	Merge remote-tracking branch 'origin/feature/slc' into ui/slc-ui # Conflicts: # opendbc_repo	2025-07-04 14:16:02 -04:00
nayan	b5b86fe75e	Merge remote-tracking branch 'origin/master-new' into feature/slc # Conflicts: # opendbc_repo	2025-07-04 14:06:35 -04:00
nayan	8d65bf1232	Merge remote-tracking branch 'origin/master-new' into ui/slc-ui # Conflicts: # opendbc_repo # selfdrive/ui/sunnypilot/SConscript # selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc # selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h	2025-07-03 18:09:03 -04:00
rav4kumar	a39c7cf11d	Merge remote-tracking branch 'origin/feature/slc' into ui/slc-ui	2025-06-08 19:11:46 -07:00
Jason Wen	3f7e1e2d16	use CC.longActive	2025-06-07 20:19:20 -04:00
Jason Wen	3864dc5c88	Merge branch 'feature/slc' into ui/slc-ui # Conflicts: # opendbc_repo	2025-06-07 17:39:47 -04:00
Jason Wen	01f32f2c3d	Merge remote-tracking branch 'sunnypilot/sunnypilot/master-new' into feature/slc # Conflicts: # opendbc_repo	2025-06-07 17:39:28 -04:00
Jason Wen	95905de1ff	Merge branch 'feature/slc' into ui/slc-ui	2025-06-07 17:13:53 -04:00
Jason Wen	374150618c	Merge remote-tracking branch 'sunnypilot/sunnypilot/master-new' into feature/slc	2025-06-07 17:10:49 -04:00
Jason Wen	ccd8d5a592	fix tests	2025-06-07 17:10:01 -04:00
Jason Wen	7294709139	lint	2025-06-07 12:08:59 -04:00
Jason Wen	f683f897bb	Merge branch 'feature/slc' into ui/slc-ui	2025-06-07 12:07:54 -04:00
Jason Wen	75cffc4100	quote...?	2025-06-07 12:05:13 -04:00
Jason Wen	01f4d23a50	use gps data directly	2025-06-07 11:45:11 -04:00
Jason Wen	a998bf781e	refactor	2025-06-07 11:39:26 -04:00
Jason Wen	71f85ec9d3	Merge remote-tracking branch 'sunnypilot/sunnypilot/master-new' into feature/slc	2025-06-07 05:47:48 -04:00
Jason Wen	02ba1af1b5	fix test	2025-06-07 05:46:56 -04:00
Jason Wen	3bfbc5e629	Merge branch 'feature/slc' into ui/slc-ui	2025-06-07 05:17:29 -04:00
Jason Wen	2615735b87	use it directly	2025-06-07 05:17:14 -04:00
Jason Wen	d0b37d645f	Merge branch 'feature/slc' into ui/slc-ui	2025-06-07 04:40:13 -04:00
Jason Wen	678216de2c	no need to check alive	2025-06-07 04:39:55 -04:00
Jason Wen	dfb8b0963b	extra	2025-06-07 04:18:31 -04:00
Jason Wen	d58a875090	upstream opendbc again	2025-06-07 03:52:34 -04:00
Jason Wen	5d39bd211f	Merge branch 'feature/slc' into ui/slc-ui	2025-06-07 03:50:55 -04:00
Jason Wen	55931e080a	Merge remote-tracking branch 'sunnypilot/sunnypilot/master-new' into feature/slc # Conflicts: # cereal/custom.capnp # common/params_keys.h # sunnypilot/mapd/live_map_data/__init__.py # sunnypilot/mapd/live_map_data/base_map_data.py # sunnypilot/mapd/live_map_data/debug.py # sunnypilot/mapd/live_map_data/osm_map_data.py # sunnypilot/mapd/live_map_data/standalone.py # sunnypilot/mapd/mapd_installer.py # sunnypilot/mapd/mapd_manager.py	2025-06-07 03:50:28 -04:00
Jason Wen	de2770ee91	rebump	2025-06-07 03:34:08 -04:00
Jason Wen	168337ab73	Revert "in another pr" This reverts commit `a29bccff12`.	2025-06-07 03:33:58 -04:00
Jason Wen	0242fd8ce6	Revert "slc in another pr" This reverts commit `3a6987e6`	2025-06-07 03:33:55 -04:00
Jason Wen	8b594eef91	Merge branch 'feature/slc' into ui/slc-ui	2025-06-06 22:54:16 -04:00
Jason Wen	13e987f2ad	Merge branch 'mapd' into feature/slc	2025-06-06 22:53:38 -04:00
Jason Wen	0c3773f5d2	even more type hint	2025-06-06 22:53:00 -04:00
Jason Wen	f2faa1262c	type hints	2025-06-06 22:50:58 -04:00
Jason Wen	70ef1c0fd5	slight more cleanup	2025-06-06 22:43:42 -04:00
Jason Wen	6a8f31636a	combine pm	2025-06-06 22:29:36 -04:00
Jason Wen	6546100afc	use directly	2025-06-06 22:27:58 -04:00
Jason Wen	a05f7255c1	from old implementation	2025-06-06 22:24:01 -04:00
Jason Wen	f3eff3fdbd	type hint and slight cleanup	2025-06-06 22:22:32 -04:00
Jason Wen	8dc32ac90f	unused	2025-06-06 22:04:11 -04:00
Jason Wen	02da318901	sort	2025-06-06 21:56:54 -04:00
Jason Wen	235ffe374b	unused	2025-06-06 21:51:38 -04:00
Jason Wen	601e0e082e	set core affinity for all realtime processes	2025-06-06 21:51:19 -04:00
Jason Wen	748a0b6481	use horizontal accuracy	2025-06-06 21:35:52 -04:00
Jason Wen	0539cc7348	use horizontal accuracy	2025-06-06 21:31:44 -04:00
Jason Wen	3a6987e6ba	slc in another pr	2025-06-06 18:54:05 -04:00
Jason Wen	89d332105f	qlog	2025-06-06 18:49:57 -04:00
Jason Wen	4bbde8071d	no longer need data type	2025-06-06 18:49:28 -04:00
Jason Wen	a29bccff12	in another pr	2025-06-06 18:49:18 -04:00
Jason Wen	ce0cdcaa17	back to upstream	2025-06-06 18:47:00 -04:00
Jason Wen	dc2402cf30	Merge remote-tracking branch 'sunnypilot/sunnypilot/master-new' into feature/slc # Conflicts: # common/params_keys.h # opendbc_repo	2025-06-06 18:46:00 -04:00
Jason Wen	3ca50ef990	Merge branch 'feature/slc' into ui/slc-ui	2025-06-05 23:39:26 -04:00
Jason Wen	064f7a84df	Merge remote-tracking branch 'sunnypilot/sunnypilot/master-new' into feature/slc # Conflicts: # opendbc_repo	2025-06-05 23:39:10 -04:00
nayan8teen	a0a8280ac8	Merge remote-tracking branch 'origin/ui/slc-ui' into ui/slc-ui	2025-06-05 19:01:22 -04:00
nayan8teen	8df7f2c743	update margins	2025-06-05 19:01:03 -04:00
Jason Wen	bf277d68f0	Merge branch 'feature/slc' into ui/slc-ui	2025-06-05 02:45:17 -04:00
Jason Wen	7ca82593f0	type hint all	2025-06-05 02:44:55 -04:00
Jason Wen	dc2e5ef460	type hint all	2025-06-05 02:43:56 -04:00
Jason Wen	0306ba701b	don't reset if gas pressed	2025-06-05 02:25:55 -04:00
Jason Wen	5d705d3f6d	no need for brake pressed	2025-06-05 02:25:05 -04:00
Jason Wen	845a57a21a	rename	2025-06-05 02:24:43 -04:00
Jason Wen	cb3f57110b	more mypy stuff	2025-06-05 02:22:45 -04:00
Jason Wen	40c456b56b	simpler op enabled check	2025-06-05 02:19:26 -04:00
Jason Wen	810ffc266c	cleaner	2025-06-05 02:13:53 -04:00
Jason Wen	5b68983497	Merge branch 'feature/slc' into ui/slc-ui	2025-06-05 02:03:03 -04:00
Jason Wen	36e910d500	rename	2025-06-05 02:00:34 -04:00
Jason Wen	4b5cd3eef2	define types in init	2025-06-05 01:59:53 -04:00
Jason Wen	74a2a01a0f	single method	2025-06-05 01:57:25 -04:00
Jason Wen	bbe6c684d8	more	2025-06-05 01:50:15 -04:00
Jason Wen	1929a37b1f	handle all params with exceptions	2025-06-05 01:49:28 -04:00
Jason Wen	06eaa56a9d	policy param catch exceptions	2025-06-05 01:25:18 -04:00
Jason Wen	b0e0b46c8e	Merge remote-tracking branch 'sunnypilot/sunnypilot/master-new' into feature/slc	2025-06-05 01:22:20 -04:00
Jason Wen	75b2eca5df	mypy my bt	2025-06-04 23:25:15 -04:00
nayan8teen	4d9b0c77b4	hide slc_offset on none	2025-06-04 23:20:57 -04:00
nayan8teen	9b3eb4127c	Merge remote-tracking branch 'origin/ui/slc-ui' into ui/slc-ui # Conflicts: # selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_subpanel.cc	2025-06-04 23:13:58 -04:00
nayan8teen	cf95828e1c	adjust margins & slc_offset size	2025-06-04 23:12:12 -04:00
Jason Wen	ea9df3fe10	bigger btns	2025-06-04 23:11:33 -04:00
Jason Wen	01d84dc1ab	bigger btns	2025-06-04 23:03:00 -04:00
Jason Wen	c9d0accf16	unused	2025-06-04 22:56:39 -04:00
Jason Wen	094d5a6fcf	more formatting	2025-06-04 22:56:15 -04:00
Jason Wen	b0e979f09e	use std::atoi	2025-06-04 22:49:17 -04:00
Jason Wen	736815f736	Merge branch 'feature/slc' into ui/slc-ui	2025-06-04 22:40:41 -04:00
Jason Wen	2bed6bfe06	create directory if does not exist	2025-06-04 22:38:20 -04:00
Jason Wen	858d437f57	more	2025-06-04 22:34:26 -04:00
Jason Wen	73b8892125	formatting	2025-06-04 22:31:17 -04:00
Jason Wen	7d9e70d396	Merge remote-tracking branch 'sunnypilot/sunnypilot/master-new' into feature/slc # Conflicts: # opendbc_repo # selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc	2025-06-04 22:21:19 -04:00
nayan8teen	2cd0e918d3	move src from settings/slc to settings/longitudinal/slc	2025-06-04 20:49:02 -04:00
nayan8teen	ee84438c41	minor layout updates remove unnecessary imports call showDescription on showEvent instead of refresh	2025-06-04 20:41:01 -04:00
nayan8teen	c88fe5294d	update margins	2025-06-02 21:38:07 -04:00
nayan8teen	c06d7effea	Merge remote-tracking branch 'origin/feature/slc' into ui/slc-ui	2025-06-02 21:17:20 -04:00
Jason Wen	5b98cdf750	none for now	2025-06-02 00:19:58 -04:00
Jason Wen	42423e35de	Merge branch 'feature/slc' into ui/slc-ui	2025-06-02 00:18:38 -04:00
Jason Wen	be11d07a01	type hints	2025-06-02 00:01:19 -04:00
Jason Wen	fe521a39be	fix source	2025-06-01 23:58:17 -04:00
Jason Wen	0aa6953066	fix	2025-06-01 23:52:24 -04:00
Jason Wen	4531cd7ac6	use old controller for now	2025-06-01 23:36:55 -04:00
Jason Wen	ab3a7e82e8	fix	2025-06-01 22:49:17 -04:00
Jason Wen	eaa96655ca	Merge remote-tracking branch 'sunnypilot/sunnypilot/master-new' into feature/slc # Conflicts: # cereal/custom.capnp # cereal/log.capnp # cereal/services.py # opendbc_repo	2025-06-01 22:48:51 -04:00
nayan8teen	48947609be	remove extra include	2025-06-01 22:35:18 -04:00
nayan8teen	a0463f2c1a	subpanel within subpanel	2025-06-01 22:28:41 -04:00
nayan8teen	b5084ab97d	slc ui	2025-06-01 15:58:50 -04:00
Jason Wen	e350b1bebc	bring back car state speed limit	2025-06-01 14:31:52 -04:00
Jason Wen	5ecbed3125	Merge branch 'cs-sp' into feature/slc # Conflicts: # cereal/custom.capnp # cereal/log.capnp # cereal/services.py	2025-06-01 14:31:34 -04:00
Jason Wen	17e6781a71	fix tests	2025-06-01 10:52:28 -04:00
Jason Wen	72cbcd0601	Car: `CarStateSP`	2025-06-01 10:32:46 -04:00
Jason Wen	b6f3e5229f	Merge remote-tracking branch 'sunnypilot/sunnypilot/master-new' into feature/slc	2025-05-31 23:38:20 -04:00
Jason Wen	6f7a3e7834	missed event	2025-05-31 23:37:49 -04:00
Jason Wen	3885ee068d	no car state speed yet	2025-05-31 23:36:20 -04:00
Jason Wen	3d254f8ed6	need to sub	2025-05-31 23:32:39 -04:00
Jason Wen	471b24f7be	no nav for now	2025-05-31 23:28:22 -04:00
Jason Wen	d9a1f6a553	publish events	2025-05-31 02:02:52 -04:00
Jason Wen	8cc9eb1562	service missing	2025-05-31 01:44:07 -04:00
Jason Wen	4a94abe2ea	let's use gps chips directly for now	2025-05-31 01:34:09 -04:00
Jason Wen	ca100995b2	fix path	2025-05-30 23:38:21 -04:00
Jason Wen	f5e9a439db	fix spinner import	2025-05-30 23:36:43 -04:00
Jason Wen	4c133c601d	print them out	2025-05-30 23:21:43 -04:00
Jason Wen	69c68f7dc0	Merge remote-tracking branch 'sunnypilot/sunnypilot/master-new' into feature/slc # Conflicts: # selfdrive/ui/sunnypilot/SConscript	2025-05-30 23:14:40 -04:00
Jason Wen	ac67871a47	ui? ui!	2025-05-30 23:09:28 -04:00
Jason Wen	f7eb39abf4	enable debug print	2025-05-30 23:00:34 -04:00
Jason Wen	ca340510bf	init these	2025-05-30 22:59:52 -04:00
Jason Wen	c7d1e9f9cc	some type hints	2025-05-30 22:56:27 -04:00
Jason Wen	52da6e398c	start refactor controller	2025-05-30 22:51:12 -04:00
Jason Wen	26fc671251	wrong state	2025-05-30 20:18:50 -04:00
Jason Wen	b082daeb79	refactor state machine	2025-05-29 22:32:09 -04:00
Jason Wen	a389fa81c2	fixme-sp	2025-05-29 21:20:47 -04:00
Jason Wen	2d47bdf297	implement in long plan	2025-05-29 21:17:41 -04:00
Jason Wen	5e19d7d1a3	Merge remote-tracking branch 'sunnypilot/sunnypilot/master-new' into feature/slc	2025-05-29 19:29:44 -04:00
Jason Wen	440678f64f	Merge remote-tracking branch 'sunnypilot/sunnypilot/master-new' into feature/slc # Conflicts: # cereal/custom.capnp # sunnypilot/selfdrive/selfdrived/events.py	2025-05-21 00:40:54 -04:00
Jason Wen	b661fee9b1	Merge remote-tracking branch 'sunnypilot/sunnypilot/master-new' into feature/slc	2025-04-30 23:10:52 -04:00
Jason Wen	09be18cd9b	Merge remote-tracking branch 'sunnypilot/sunnypilot/master-new' into feature/slc	2025-04-28 22:25:57 -04:00
Jason Wen	b136d05ea2	lint	2025-04-27 22:30:40 -04:00
Jason Wen	2ff6060fe3	sp events	2025-04-27 22:10:55 -04:00
Jason Wen	4001bb1e46	add to cereal first	2025-04-27 21:37:54 -04:00
Jason Wen	49ed7795b9	more	2025-04-27 21:31:26 -04:00
Jason Wen	27fcc2f42a	fix linting	2025-04-27 21:02:45 -04:00
Jason Wen	398ded76d6	bring back cereal	2025-04-27 20:25:37 -04:00
Jason Wen	e0b73d32ad	old navd helpers	2025-04-27 20:12:49 -04:00
Jason Wen	b9d0b71bc1	more	2025-04-27 20:09:44 -04:00
Jason Wen	938796d467	move	2025-04-27 20:07:18 -04:00
Jason Wen	c50b187da9	some fixes	2025-04-27 19:59:35 -04:00
Jason Wen	2dd1258670	init	2025-04-27 11:52:15 -04:00