fix paths

Merge remote-tracking branch 'origin/deep-rl-maybe' into deep-rl
whatever
2026-08-16 05:13:43 +08:00 · 2026-07-25 20:22:21 -04:00 · 2026-07-25 20:01:35 -04:00 · 2026-07-25 18:30:29 -04:00 · 2026-07-25 18:08:17 -04:00 · 2026-07-25 17:43:59 -04:00
84 changed files with 397 additions and 1855 deletions
@@ -0,0 +1,39 @@
+name: prebuilt
+on:
+  schedule:
+    - cron: '0 * * * *'
+  workflow_dispatch:
+
+env:
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+  BUILD: release/ci/docker_build_sp.sh
+
+jobs:
+  build_prebuilt:
+    name: build prebuilt
+    runs-on: ubuntu-latest
+    if: github.repository == 'sunnypilot/sunnypilot'
+    env:
+      PUSH_IMAGE: true
+    permissions:
+      checks: read
+      contents: read
+      packages: write
+    steps:
+    - name: Wait for green check mark
+      if: ${{ github.event_name != 'workflow_dispatch' }}
+      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
+      with:
+        ref: master
+        wait-interval: 30
+        running-workflow-name: 'build prebuilt'
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
+        check-regexp: ^((?!.*(build master-ci|create badges).*).)*$
+    - uses: actions/checkout@v6
+      with:
+        submodules: true
+    - run: git lfs pull
+    - name: Build and Push docker image
+      run: |
+        $DOCKER_LOGIN
+        eval "$BUILD"
@@ -132,6 +132,7 @@ jobs:

  process_replay:
    name: process replay
+    if: false  # disable process_replay for forks
    runs-on: ${{
      (github.repository == 'commaai/openpilot') &&
      ((github.event_name != 'pull_request') ||
@@ -168,14 +169,14 @@ jobs:
        name: diff_report_${{ github.event.number }}
        path: openpilot/selfdrive/test/process_replay/diff_report.txt
    - name: Checkout ci-artifacts
-      if: github.repository == 'sunnypilot/sunnypilot' && github.ref == 'refs/heads/master'
+      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
      uses: actions/checkout@v7
      with:
-        repository: sunnypilot/ci-artifacts
+        repository: commaai/ci-artifacts
        ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
        path: ${{ github.workspace }}/ci-artifacts
    - name: Prepare refs
-      if: github.repository == 'sunnypilot/sunnypilot' && github.ref == 'refs/heads/master'
+      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
      working-directory: ${{ github.workspace }}/ci-artifacts
      run: |
        git config user.name "GitHub Actions Bot"
@@ -187,7 +188,7 @@ jobs:
        git add .
        git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
    - name: Push refs
-      if: github.repository == 'sunnypilot/sunnypilot' && github.ref == 'refs/heads/master'
+      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
      uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
      with:
        timeout_minutes: 2
@@ -1,44 +0,0 @@
-# AI policy
-
-## Why this exists
-
-We use AI tools ourselves, so this isn't an anti-AI stance. The problem is people submitting code, issues, or comments they don't actually understand. AI makes that very easy to do, and it creates real work for reviewers who have to figure out what you meant when you can't explain it yourself.
-
-If you're not going to put effort into understanding and verifying your submission, we're not going to put effort into reviewing it.
-
-## The rule
-
-You are responsible for everything you submit: code, PR descriptions, issues, bug reports, comments.
-
-1. Understand what you submit. If a reviewer asks why you did something, you answer from your own understanding, not by re-prompting. If you can't do that, don't submit it.
-
-2. Test your change. AI gets things wrong all the time. Run it, break it, confirm it actually works.
-
-3. Driving fixes need real evidence. Attach a dongle ID, upload logs, and include segments that show the fix working. A route hash by itself proves nothing.
-
-4. No AI-generated media (images, diagrams, videos) in issues or PRs.
-
-## Disclosure
-
-If AI tools helped you write something, say so. Add an `Assisted-by:` line in your commit message:
-
-```
-Assisted-by: GitHub Copilot
-Assisted-by: Claude
-```
-
-Disclosing won't count against your PR. It helps reviewers know where to look. Hiding it and getting caught will.
-
-## How we review
-
-Reviewers are looking at whether you understand your own change. Can you explain it? Can you respond to feedback without re-prompting? Does your PR description say why you made the change, not just list what changed?
-
-Good code from someone who used AI and understands what they wrote is fine. How you got there doesn't matter as long as you can stand behind it.
-
-## What happens
-
-Submissions that don't meet this bar get closed. If it keeps happening, you get blocked.
-
-## Maintainers
-
-Maintainers use AI at their discretion. They've earned that through sustained contribution and they know the codebase.
@@ -1,10 +1,10 @@
-<!--- AUTOGENERATED FROM openpilot/selfdrive/car/CARS_template.md, DO NOT EDIT. --->
+<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->

 # Supported Cars

 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.

-# 342 Supported Cars
+# 341 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|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -78,8 +78,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Accord 2018-22|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<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" /></a>||
 |Honda|Accord 2023-25|All|Stock|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2023-26|All|Stock|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-26">Buy Here</a></sub></details>|||
-|Honda|City (Brazil only) 2023-25|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023-25">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2023-25|All|Stock|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<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>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<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" /></a>||
 |Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<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" /></a>||
 |Honda|Civic 2022-24|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<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" /></a>||
@@ -187,7 +187,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Niro Plug-in Hybrid 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 F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>|||
 |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2017">Buy Here</a></sub></details>|||
 |Kia|Optima 2019-20|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 G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2019-20">Buy Here</a></sub></details>|||
-|Kia|Optima Hybrid 2019|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 H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
+|Kia|Optima Hybrid 2019|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 H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
 |Kia|Seltos 2021|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 A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Seltos 2021">Buy Here</a></sub></details>|||
 |Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Sorento 2019|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 E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
@@ -230,15 +230,14 @@ A supported vehicle is one that just works when you install a comma device. All
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
 |Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>6</sup>](#footnotes)|Leaf IC 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf IC 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
 |Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
 |Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
-|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
-|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
 |SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
 |SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
@@ -1,5 +1,3 @@
-> sunnypilot follows [commaai/openpilot](https://github.com/commaai/openpilot)'s contributing guidelines. The following applies to all contributions here.
-
 # How to contribute

 Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
@@ -37,7 +35,6 @@ All of these are examples of good PRs:
 * **UI design**: we do not have a good review process for this yet
 * **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't.
 * **Negative expected value**: This is a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
-* **AI-generated contributions**: see our [AI policy](AI_POLICY.md)

 ### First contribution

@@ -69,8 +69,6 @@ struct LeadData {
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
  mads @0 :ModularAssistiveDrivingSystem;
  intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
-  buttonsPressed @2 :UInt16;
-  buttonsReleaseToggle @3 :UInt16;

  enum AudibleAlert {
    none @0;
@@ -351,7 +349,6 @@ struct OnroadEventSP @0xda96579883444c35 {
    speedLimitChanged @21;
    speedLimitPending @22;
    e2eChime @23;
-    laneChangeRoadEdge @24;
  }
 }

@@ -458,8 +455,6 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {

 struct ModelDataV2SP @0xa1680744031fdb2d {
  laneTurnDirection @0 :TurnDirection;
-  leftLaneChangeEdgeBlock @1 :Bool;
-  rightLaneChangeEdgeBlock @2 :Bool;

  enum TurnDirection {
    none @0;
@@ -179,10 +179,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"RoadEdgeLaneChangeEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ScreenSaverEnabled", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"ScreenSaverTimeout", {PERSISTENT | BACKUP, INT, "300"}},
    {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -225,7 +222,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"TeslaMadsScreenButton", {PERSISTENT | BACKUP, INT, "0"}},
    {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ToyotaStopAndGoHack", {PERSISTENT | BACKUP, BOOL, "0"}},

@@ -276,7 +272,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    // Torque lateral control custom params
    {"CustomTorqueParams", {PERSISTENT | BACKUP , BOOL}},
    {"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
-    {"LateralJerkTorqueController", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
    {"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
    {"TorqueControlTune", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
@@ -56,9 +56,6 @@ class CarSpecificEvents:
      if self.CP.minEnableSpeed > 0 and CS.vEgo < 0.001:
        events.add(EventName.manualRestart)

-      if CS.brakeHoldActive and CS.blockPcmEnable: # set by Nidec Hybrid which cannot resume from brakehold
-        events.add(EventName.belowEngageSpeed)
-
    elif self.CP.brand == 'toyota':
      # TODO: when we check for unexpected disengagement, check gear not S1, S2, S3
      if self.CP.openpilotLongitudinalControl:
@@ -25,8 +25,6 @@ from openpilot.tools.lib.logreader import LogReader, LogsUnavailable, openpilotc
 from openpilot.tools.lib.file_sources import Source
 from openpilot.tools.lib.route import SegmentName

-from openpilot.sunnypilot.tools.lib.sunnypilot_car_segments import sunnypilot_car_segments_source
-
 SafetyModel = car.CarParams.SafetyModel
 SteerControlType = structs.CarParams.SteerControlType

@@ -134,7 +132,7 @@ class TestCarModelBase(unittest.TestCase):
      segment_range = f"{cls.test_route.route}/{seg}"

      try:
-        sources: list[Source] = [internal_source] if len(INTERNAL_SEG_LIST) else [openpilotci_source, comma_api_source, sunnypilot_car_segments_source]
+        sources: list[Source] = [internal_source] if len(INTERNAL_SEG_LIST) else [openpilotci_source, comma_api_source]
        lr = LogReader(segment_range, sources=sources, sort_by_time=True)
        return cls.get_testing_data_from_logreader(lr)
      except (LogsUnavailable, AssertionError):
@@ -33,7 +33,7 @@ class DesireHelper:
  def get_lane_change_direction(CS):
    return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right

-  def update(self, carstate, lateral_active, lane_change_prob, left_edge_detected=False, right_edge_detected=False):
+  def update(self, carstate, lateral_active, lane_change_prob):
    self.alc.update_params()
    self.lane_turn_controller.update_params()
    v_ego = carstate.vEgo
@@ -64,8 +64,8 @@ class DesireHelper:
                         ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
                          (carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))

-        blindspot_detected = (((carstate.leftBlindspot or left_edge_detected) and self.lane_change_direction == LaneChangeDirection.left) or
-                              ((carstate.rightBlindspot or right_edge_detected) and self.lane_change_direction == LaneChangeDirection.right))
+        blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
+                              (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))

        self.alc.update_lane_change(blindspot_detected, carstate.brakePressed)

@@ -158,7 +158,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
  def publish(self, sm, pm):
    plan_send = messaging.new_message('longitudinalPlan')

-    plan_send.valid = sm.all_checks()
+    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState', 'radarState'])

    longitudinalPlan = plan_send.longitudinalPlan
    longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
@@ -23,25 +23,25 @@ def main():
  cloudlog.info("plannerd got CarParamsSP")

  gps_location_service = get_gps_location_service(params)
-  ignore_services = ["liveMapDataSP", "carStateSP", "selfdriveStateSP", gps_location_service]
+  ignore_services = ["liveMapDataSP", gps_location_service]

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

  while True:
    sm.update()
-    longitudinal_planner.sla.update_buttons(sm['selfdriveStateSP'].buttonsReleaseToggle)
+    longitudinal_planner.sla.update_car_state(sm['carState'])
    if sm.updated['modelV2']:
      longitudinal_planner.update(sm)
      longitudinal_planner.publish(sm, pm)

      ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl'])
      msg = messaging.new_message('driverAssistance')
-      msg.valid = sm.all_checks()
+      msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2', 'liveParameters'])
      msg.driverAssistance.leftLaneDeparture = ldw.left
      msg.driverAssistance.rightLaneDeparture = ldw.right
      pm.send('driverAssistance', msg)
@@ -29,7 +29,6 @@ from openpilot.selfdrive.modeld.usbgpu_link import wait_usbgpu_link

 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
-from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController

 PROCESS_NAME = "openpilot.selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -214,7 +213,6 @@ def main(demo=False):
  prev_action = log.ModelDataV2.Action()

  DH = DesireHelper()
-  RELC = RoadEdgeLaneChangeController()

  while True:
    # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -315,8 +313,7 @@ def main(demo=False):
      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
      r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
      lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      left_edge, right_edge = RELC.update_and_fill(modelv2_send.modelV2, mdv2sp_send.modelDataV2SP, v_ego)
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, left_edge, right_edge)
+      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
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a501760a9d1d5fef0eab2b8c5d122d06124fc26dc8e0782e0aa94b82a208f0ff
+size 1757355221
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2b85e82079a2d31c5ce8616f2b429ccfcdcb8ebb5aefd72a62b8bd78aa9c7621
-size 15583592
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:659727c4d4839adc4992a254409a54259a8756a743f2d567bf5fdc6579f8009b
+size 60881999
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c824f68646a3b94f117f01c70dc8316fb466e05fbd42ccdba440b8a8dc86914b
-size 46265993
@@ -26,7 +26,7 @@
    "severity": 1
  },
  "Offroad_CarUnrecognized": {
-    "text": "sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please select your vehicle manually at https://www.sunnylink.ai/. Need help? Visit https://community.sunnypilot.ai/",
+    "text": "sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.",
    "severity": 0
  },
  "Offroad_Recalibration": {
@@ -42,7 +42,7 @@
    "severity": 0
  },
  "Offroad_ExcessiveActuation": {
-    "text": "Excessive %1 actuation detected on your last drive. Please visit https://community.sunnypilot.ai/ and share your device's Dongle ID for troubleshooting.",
+    "text": "Excessive %1 actuation detected 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."
  },
@@ -30,7 +30,6 @@ from openpilot.sunnypilot import get_sanitize_int_param
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
 from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
-from openpilot.sunnypilot.selfdrive.selfdrived.button_state_tracker import ButtonStateTracker
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP

 REPLAY = "REPLAY" in os.environ
@@ -93,7 +92,7 @@ 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', 'lateralManeuverPlan'] + ['modelDataV2SP', 'longitudinalPlanSP']
+    ignore = self.sensor_packets + self.gps_packets + ['alertDebug', 'lateralManeuverPlan'] + ['modelDataV2SP']
    if SIMULATION:
      ignore += ['driverCameraState', 'managerState']
    if REPLAY:
@@ -178,7 +177,6 @@ class SelfdriveD(CruiseHelper):
    self.car_events_sp = CarSpecificEventsSP(self.CP, self.CP_SP)

    CruiseHelper.__init__(self, self.CP)
-    self.button_state_tracker = ButtonStateTracker()

  def update_events(self, CS):
    """Compute onroadEvents from carState"""
@@ -327,16 +325,9 @@ class SelfdriveD(CruiseHelper):
    # Handle lane change
    if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
      direction = self.sm['modelV2'].meta.laneChangeDirection
-      mdv2sp = self.sm['modelDataV2SP']
-
      if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
         (CS.rightBlindspot and direction == LaneChangeDirection.right):
        self.events.add(EventName.laneChangeBlocked)
-
-      elif (mdv2sp.leftLaneChangeEdgeBlock and direction == LaneChangeDirection.left) or \
-           (mdv2sp.rightLaneChangeEdgeBlock and direction == LaneChangeDirection.right):
-        self.events_sp.add(custom.OnroadEventSP.EventName.laneChangeRoadEdge)
-
      else:
        if direction == LaneChangeDirection.left:
          self.events.add(EventName.preLaneChangeLeft)
@@ -606,8 +597,6 @@ class SelfdriveD(CruiseHelper):
    icbm.sendButton = self.icbm.cruise_button
    icbm.vTarget = self.icbm.v_target

-    self.button_state_tracker.publish(ss_sp)
-
    self.pm.send('selfdriveStateSP', ss_sp_msg)

    # onroadEventsSP - logged every second or on change
@@ -627,7 +616,6 @@ class SelfdriveD(CruiseHelper):
      self.mads.update(CS)
    self.update_alerts(CS)

-    self.button_state_tracker.update(CS)
    self.publish_selfdriveState(CS)

    self.CS_prev = CS
@@ -500,7 +500,7 @@ CONFIGS = [
  ),
  ProcessConfig(
    proc_name="dmonitoringd",
-    pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "selfdriveState", "carControl"],
+    pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "selfdriveState"],
    subs=["driverMonitoringState"],
    ignore=["logMonoTime"],
    should_recv_callback=MessageBasedRcvCallback("driverStateV2"),
@@ -511,7 +511,7 @@ CONFIGS = [
    pubs=[
      "cameraOdometry", "accelerometer", "gyroscope", "liveCalibration", "carState"
    ],
-    subs=["livePose"],
+    subs=["liveLocationKalman", "livePose"],
    ignore=["logMonoTime"],
    should_recv_callback=MessageBasedRcvCallback("cameraOdometry"),
    tolerance=NUMPY_TOLERANCE,
@@ -66,7 +66,7 @@ segments = [
 # dashcamOnly makes don't need to be tested until a full port is done
 excluded_interfaces = ["mock", "body", "psa"]

-BASE_URL = "https://raw.githubusercontent.com/sunnypilot/ci-artifacts/refs/heads/process-replay/"
+BASE_URL = "https://raw.githubusercontent.com/commaai/ci-artifacts/refs/heads/process-replay/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
 EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"}

@@ -13,7 +13,6 @@ from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout

 if gui_app.sunnypilot_ui():
  from openpilot.selfdrive.ui.sunnypilot.layouts.settings.settings import SettingsLayoutSP as SettingsLayout
-  from openpilot.selfdrive.ui.sunnypilot.layouts.home import HomeLayoutSP as HomeLayout


 class MainState(IntEnum):
@@ -13,7 +13,6 @@ from openpilot.system.ui.lib.application import gui_app

 if gui_app.sunnypilot_ui():
  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
-  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.home import MiciHomeLayoutSP as MiciHomeLayout

 ONROAD_DELAY = 2.5  # seconds

@@ -1,68 +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.
-"""
-import pyray as rl
-from openpilot.selfdrive.ui.layouts.home import HomeLayout, HomeLayoutState, HEAD_BUTTON_FONT_SIZE, SPACING
-from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.lib.multilang import tr, trn
-from openpilot.system.ui.widgets.label import gui_label
-
-BRAND_FONT_SIZE = 48
-BRAND_DESC_SPACING = 12
-
-
-class HomeLayoutSP(HomeLayout):
-  def _render_header(self):
-    font = gui_app.font(FontWeight.MEDIUM)
-
-    version_text_width = self.header_rect.width
-
-    if self.update_available:
-      version_text_width -= self.update_notif_rect.width
-
-      highlight_color = rl.Color(75, 95, 255, 255) if self.current_state == HomeLayoutState.UPDATE else rl.Color(54, 77, 239, 255)
-      rl.draw_rectangle_rounded(self.update_notif_rect, 0.3, 10, highlight_color)
-
-      text = tr("UPDATE")
-      text_size = measure_text_cached(font, text, HEAD_BUTTON_FONT_SIZE)
-      text_x = self.update_notif_rect.x + (self.update_notif_rect.width - text_size.x) // 2
-      text_y = self.update_notif_rect.y + (self.update_notif_rect.height - text_size.y) // 2
-      rl.draw_text_ex(font, text, rl.Vector2(int(text_x), int(text_y)), HEAD_BUTTON_FONT_SIZE, 0, rl.WHITE)
-
-    if self.alert_count > 0:
-      version_text_width -= self.alert_notif_rect.width
-
-      highlight_color = rl.Color(255, 70, 70, 255) if self.current_state == HomeLayoutState.ALERTS else rl.Color(226, 44, 44, 255)
-      rl.draw_rectangle_rounded(self.alert_notif_rect, 0.3, 10, highlight_color)
-
-      alert_text = trn("{} ALERT", "{} ALERTS", self.alert_count).format(self.alert_count)
-      text_size = measure_text_cached(font, alert_text, HEAD_BUTTON_FONT_SIZE)
-      text_x = self.alert_notif_rect.x + (self.alert_notif_rect.width - text_size.x) // 2
-      text_y = self.alert_notif_rect.y + (self.alert_notif_rect.height - text_size.y) // 2
-      rl.draw_text_ex(font, alert_text, rl.Vector2(int(text_x), int(text_y)), HEAD_BUTTON_FONT_SIZE, 0, rl.WHITE)
-
-    if self.update_available or self.alert_count > 0:
-      version_text_width -= SPACING * 1.5
-
-    version_right = self.header_rect.x + self.header_rect.width
-    version_left = version_right - version_text_width
-
-    brand = "sunnypilot"
-    description = self.params.get("UpdaterCurrentDescription") or ""
-
-    desc_width = 0
-    if description:
-      desc_size = measure_text_cached(gui_app.font(FontWeight.NORMAL), description, BRAND_FONT_SIZE)
-      desc_width = desc_size.x
-      desc_rect = rl.Rectangle(version_right - desc_width, self.header_rect.y, desc_width, self.header_rect.height)
-      gui_label(desc_rect, description, BRAND_FONT_SIZE, rl.WHITE, alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
-
-    brand_size = measure_text_cached(gui_app.font(FontWeight.AUDIOWIDE), brand, BRAND_FONT_SIZE)
-    spacing = BRAND_DESC_SPACING if description else 0
-    brand_x = version_right - desc_width - spacing - brand_size.x
-    brand_rect = rl.Rectangle(max(version_left, brand_x), self.header_rect.y, brand_size.x, self.header_rect.height)
-    gui_label(brand_rect, brand, BRAND_FONT_SIZE, rl.WHITE, font_weight=FontWeight.AUDIOWIDE)
@@ -20,7 +20,7 @@ class SunnylinkConsentPage(Widget):
    self._done_callback = done_callback
    self._step = 0

-    self._title = self._child(Label(tr("sunnylink"), font_size=90, font_weight=FontWeight.AUDIOWIDE, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT))
+    self._title = self._child(Label(tr("sunnylink"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT))

    self._content = [
      {
@@ -9,7 +9,7 @@ from enum import IntEnum
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp
+from openpilot.system.ui.sunnypilot.widgets.list_view import option_item_sp
 from openpilot.sunnypilot.system.params_migration import ONROAD_BRIGHTNESS_TIMER_VALUES


@@ -61,26 +61,10 @@ class DisplayLayout(Widget):
                                    f"{value} s" if value < 60 else f"{int(value/60)} m"),
      inline=True
    )
-    self._screensaver_toggle = toggle_item_sp(
-      param="ScreenSaverEnabled",
-      title=lambda: tr("Screen Saver"),
-      description=lambda: tr("Show a screen saver when the device is offroad and idle, instead of turning the screen off."),
-    )
-    self._screensaver_timeout = option_item_sp(
-      param="ScreenSaverTimeout",
-      title=lambda: tr("Screen Saver Duration"),
-      description=lambda: tr("How long the screen saver runs before the screen turns off."),
-      min_value=60,
-      max_value=600,
-      value_change_step=60,
-      label_callback=lambda value: f"{int(value/60)} m"
-    )
    items = [
      self._onroad_brightness,
      self._onroad_brightness_timer,
      self._interactivity_timeout,
-      self._screensaver_toggle,
-      self._screensaver_timeout,
    ]
    return items

@@ -103,8 +87,6 @@ class DisplayLayout(Widget):
    brightness_val = self._onroad_brightness.action_item.current_value
    self._onroad_brightness_timer.action_item.set_enabled(brightness_val not in (OnroadBrightness.AUTO, OnroadBrightness.AUTO_DARK))

-    self._screensaver_timeout.set_visible(self._screensaver_toggle.action_item.get_state())
-
  def _render(self, rect):
    self._scroller.render(rect)

@@ -139,8 +139,7 @@ class SteeringLayout(Widget):
      self._nnlc_toggle.action_item.set_state(False)
      enforce_torque_enabled = False
      nnlc_enabled = False
-    jerk_aware_enabled = ui_state.params.get_bool("LateralJerkTorqueController")
-    self._nnlc_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not enforce_torque_enabled and not jerk_aware_enabled)
+    self._nnlc_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not enforce_torque_enabled)
    self._torque_control_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not nnlc_enabled)
    self._torque_customization_button.action_item.set_enabled(self._torque_control_toggle.action_item.get_state())

@@ -51,18 +51,11 @@ class LaneChangeSettingsLayout(Widget):
      description=lambda: tr("Toggle to enable a delay timer for seamless lane changes when blind spot monitoring " +
                             "(BSM) detects a obstructing vehicle, ensuring safe maneuvering."),
    )
-    self._road_edge_block = toggle_item_sp(
-      param="RoadEdgeLaneChangeEnabled",
-      title=lambda: tr("Block Lane Change: Road Edge Detection"),
-      description=lambda: tr("Blocks the lane change if the model sees a road edge on your signaled side."),
-    )

    items = [
      self._lane_change_timer,
      LineSeparatorSP(40),
      self._bsm_delay,
-      LineSeparatorSP(40),
-      self._road_edge_block,
    ]

    return items
@@ -7,7 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 from collections.abc import Callable
 import pyray as rl

-from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType, TeslaFlagsSP
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake
 from openpilot.system.ui.lib.multilang import tr, tr_noop
@@ -96,10 +96,7 @@ class MadsSettingsLayout(Widget):
    if brand == "rivian":
      return True
    elif brand == "tesla":
-      if ui_state.CP_SP is None or not ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS:
-        return True
-      screen_button = int(ui_state.params.get("TeslaMadsScreenButton", return_default=True))
-      return screen_button == MadsScreenButtonType.OFF
+      return not (ui_state.CP_SP is not None and ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS)
    return False

  def _update_steering_mode_description(self, button_index: int):
@@ -40,13 +40,6 @@ class TorqueSettingsLayout(Widget):
      self.cached_torque_versions = json.load(f)

  def _initialize_items(self):
-    self._jerk_aware_toggle = toggle_item_sp(
-      param="LateralJerkTorqueController",
-      title=lambda: tr("Lateral Jerk Torque Controller"),
-      description=lambda: tr("Looks ahead at planned steering to reduce sudden corrections, so the wheel moves " +
-                             "more smoothly through turns. Works with Self-Tune and custom tuning. " +
-                             "Thanks to @twilsonco for the implementation."),
-    )
    self._torque_control_versions = ListItemSP(
      title=tr("Torque Control Tune Version"),
      description="Select the version of Torque Control Tune to use.",
@@ -102,7 +95,6 @@ class TorqueSettingsLayout(Widget):
    )

    items = [
-      self._jerk_aware_toggle,
      self._torque_control_versions,
      self._self_tune_toggle,
      self._relaxed_tune_toggle,
@@ -115,8 +107,6 @@ class TorqueSettingsLayout(Widget):

  def _update_state(self):
    super()._update_state()
-    nnlc_enabled = ui_state.params.get_bool("NeuralNetworkLateralControl")
-    self._jerk_aware_toggle.action_item.set_enabled(ui_state.is_offroad() and not nnlc_enabled)
    if not ui_state.params.get_bool("LiveTorqueParamsToggle"):
      ui_state.params.remove("LiveTorqueParamsRelaxedToggle")
      self._relaxed_tune_toggle.action_item.set_state(False)
@@ -4,11 +4,10 @@ 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.
 """
-from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp, toggle_item_sp
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp

 COOP_STEERING_MIN_KMH = 23
 OEM_STEERING_MIN_KMH = 48
@@ -19,14 +18,7 @@ class TeslaSettings(BrandSettings):
  def __init__(self):
    super().__init__()
    self.coop_steering_toggle = toggle_item_sp(tr("Cooperative Steering (Beta)"), "", param="TeslaCoopSteering")
-    self.mads_screen_button = multiple_button_item_sp(
-      title=lambda: tr("MADS Screen Activation"),
-      description="",
-      buttons=[lambda: tr("Off"), lambda: tr("3-Finger"), lambda: tr("4-Finger"), lambda: tr("5-Finger")],
-      param="TeslaMadsScreenButton",
-      inline=False,
-    )
-    self.items = [self.coop_steering_toggle, self.mads_screen_button]
+    self.items = [self.coop_steering_toggle]

  def update_settings(self):
    is_metric = ui_state.is_metric
@@ -49,18 +41,3 @@ class TeslaSettings(BrandSettings):

    self.coop_steering_toggle.set_description(coop_steering_desc)
    self.coop_steering_toggle.action_item.set_enabled(ui_state.is_offroad())
-
-    has_vehicle_bus = ui_state.CP_SP is not None and bool(ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS)
-    self.mads_screen_button.set_visible(has_vehicle_bus)
-
-    mads_screen_button_desc = (
-      f"{tr('Use a multi-finger press on the infotainment screen to toggle MADS.')} " +
-      f"{tr('This allows the use of full MADS functionality when enabled.')}<br><br>" +
-      f"{tr('Selecting a higher finger count may reduce accidental activations.')}<br><br>" +
-      f"<b>{tr('Note: Setting this to Off will reset your MADS settings to default.')}</b>"
-    )
-    if not ui_state.is_offroad():
-      mads_screen_button_disabled_msg = tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to change.")
-      mads_screen_button_desc = f"<b>{mads_screen_button_disabled_msg}</b><br><br>{mads_screen_button_desc}"
-    self.mads_screen_button.set_description(mads_screen_button_desc)
-    self.mads_screen_button.action_item.set_enabled(ui_state.is_offroad())
@@ -1,15 +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.
-"""
-from openpilot.selfdrive.ui.mici.layouts.home import MiciHomeLayout
-from openpilot.system.ui.lib.application import FontWeight
-from openpilot.system.ui.widgets.label import UnifiedLabel
-
-
-class MiciHomeLayoutSP(MiciHomeLayout):
-  def __init__(self):
-    super().__init__()
-    self._openpilot_label = UnifiedLabel("sunnypilot", font_size=88, font_weight=FontWeight.AUDIOWIDE, max_width=480, wrap_text=False)
@@ -4,6 +4,7 @@ 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.
 """
+from collections.abc import Callable
 import pyray as rl

 from openpilot.cereal import custom
@@ -47,8 +48,10 @@ class CurrentModelInfo(Widget):
    self.info_text.render()

 class ModelsLayoutMici(NavScroller):
-  def __init__(self):
+  def __init__(self, back_callback: Callable):
    super().__init__()
+    self.set_back_callback(back_callback)
+    self.original_back_callback = back_callback
    self.focused_widget = None

    self.current_model_info = CurrentModelInfo()
@@ -82,10 +85,12 @@ class ModelsLayoutMici(NavScroller):

    return folders

-  def _push_selection_view(self, items):
-    scroller = NavScroller()
-    scroller._scroller.add_widgets(items)
-    gui_app.push_widget(scroller)
+  def _show_selection_view(self, items, back_callback: Callable):
+    self._scroller._items = items
+    for item in items:
+      item.set_touch_valid_callback(lambda: self._scroller.scroll_panel.is_touch_valid() and self._scroller.enabled)
+    self._scroller.scroll_panel.set_offset(0)
+    self.set_back_callback(back_callback)

  def _show_folders(self):
    self.focused_widget = self.select_model_btn
@@ -107,18 +112,15 @@ class ModelsLayoutMici(NavScroller):
          folder_buttons.insert(0, btn)
        else:
          folder_buttons.append(btn)
-    self._push_selection_view(folder_buttons)
-
-  def _pop_to_main(self):
-    gui_app.pop_widgets_to(self)
+    self._show_selection_view(folder_buttons, self._reset_main_view)

  def _select_model(self, bundle):
    ui_state.params.put("ModelManager_DownloadIndex", bundle.index)
-    self._pop_to_main()
+    self._reset_main_view()

  def _select_default(self):
    ui_state.params.remove("ModelManager_ActiveBundle")
-    self._pop_to_main()
+    self._reset_main_view()

  def _select_folder(self, folder_name):
    favs = ui_state.params.get("ModelManager_Favs")
@@ -133,7 +135,13 @@ class ModelsLayoutMici(NavScroller):
      btn = BigButton(txt)
      btn.set_click_callback(lambda b=bundle: self._select_model(b))
      btns.append(btn)
-    self._push_selection_view(btns)
+    self._show_selection_view(btns, self._show_folders)
+
+  def _reset_main_view(self):
+    self._scroller._items = self.main_items  # type: ignore[assignment] # ty: ignore[invalid-assignment]
+    self.set_back_callback(self.original_back_callback)
+    self._scroller.scroll_panel.set_offset(0)
+    self._scroller.scroll_to(0)

  def hide_event(self):
    super().hide_event()
@@ -32,11 +32,11 @@ class SettingsLayoutSP(OP.SettingsLayout):
                                                BIG_ICON_SIZE)
    self.icon_offroad_slider = gui_app.texture("icons_mici/settings/device/lkas.png", BIG_ICON_SIZE, BIG_ICON_SIZE)

-    sunnylink_panel = SunnylinkLayoutMici()
+    sunnylink_panel = SunnylinkLayoutMici(back_callback=gui_app.pop_widget)
    sunnylink_btn = SettingsBigButton(tr("sunnylink"), "", gui_app.texture("icons_mici/settings/developer/ssh.png", 55, 55))
    sunnylink_btn.set_click_callback(lambda: gui_app.push_widget(sunnylink_panel))

-    models_panel = ModelsLayoutMici()
+    models_panel = ModelsLayoutMici(back_callback=gui_app.pop_widget)
    models_btn = SettingsBigButton(tr("models"), "", gui_app.texture("../../sunnypilot/selfdrive/assets/offroad/icon_models.png", ICON_SIZE, ICON_SIZE))
    models_btn.set_click_callback(lambda: gui_app.push_widget(models_panel))

@@ -6,6 +6,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 import pyray as rl

+from collections.abc import Callable

 from openpilot.cereal import custom
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle
@@ -53,8 +54,9 @@ class SunnylinkInfo(Widget):
    self.sponsor_text.render()

 class SunnylinkLayoutMici(NavScroller):
-  def __init__(self):
+  def __init__(self, back_callback: Callable):
    super().__init__()
+    self.set_back_callback(back_callback)
    self._restore_in_progress = False
    self._backup_in_progress = False
    self._sunnylink_enabled = ui_state.params.get("SunnylinkEnabled")
@@ -12,7 +12,6 @@ from openpilot.common.params import Params
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import OnroadBrightness
 from openpilot.sunnypilot.sunnylink.sunnylink_state import SunnylinkState
 from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.sunnypilot.widgets.screen_saver import ScreenSaverSP

 OpenpilotState = log.SelfdriveState.OpenpilotState
 MADSState = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
@@ -39,9 +38,6 @@ class UIStateSP:

    self.sunnylink_state = SunnylinkState()

-    self.screensaver = ScreenSaverSP(params=self.params)
-    self.screensaver_enabled: bool = False
-
    self.active_bundle = None
    self.blindspot: bool = False
    self.chevron_metrics = None
@@ -174,7 +170,6 @@ class UIStateSP:
    self.turn_signals = self.params.get_bool("ShowTurnSignals")
    self.boot_offroad_mode = self.params.get("DeviceBootMode", return_default=True)
    self.always_offroad = self.params.get_bool("OffroadMode")
-    self.screensaver_enabled = self.params.get_bool("ScreenSaverEnabled")

    if not self._sp_initialized:
      self._sp_initialized = True
@@ -189,15 +184,10 @@ class UIStateSP:
        self.params.put_bool("EnforceTorqueControl", False, block=True)
        self.params.put_bool("NeuralNetworkLateralControl", False, block=True)

-      if self.params.get_bool("LateralJerkTorqueController") and self.params.get_bool("NeuralNetworkLateralControl"):
-        self.params.put_bool("LateralJerkTorqueController", False, block=True)
-        self.params.put_bool("NeuralNetworkLateralControl", False, block=True)
-
      # Angle steering: no torque-based lateral controls
      if CP.steerControlType == car.CarParams.SteerControlType.angle:
        self.params.remove("EnforceTorqueControl")
        self.params.remove("NeuralNetworkLateralControl")
-        self.params.remove("LateralJerkTorqueController")

      # Alpha longitudinal: clear if not available
      if not CP.alphaLongitudinalAvailable:
@@ -210,7 +200,6 @@ class UIStateSP:
      # No CarParams: clear all car-dependent params as safety default
      self.params.remove("EnforceTorqueControl")
      self.params.remove("NeuralNetworkLateralControl")
-      self.params.remove("LateralJerkTorqueController")
      self.params.remove("AlphaLongitudinalEnabled")

    # No longitudinal control: no experimental mode or DEC
@@ -235,26 +224,10 @@ class UIStateSP:


 class DeviceSP:
-  def __init__(self):
-    self._blocked_by_screensaver: bool = False
-
  def _set_awake(self, on: bool, _ui_state=None):
-    self._blocked_by_screensaver = False
-
    if _ui_state.boot_offroad_mode == 1 and not on:
      _ui_state.params.put_bool("OffroadMode", True)

-    if not on and _ui_state.screensaver_enabled:
-      if _ui_state.screensaver.was_dismissed:
-        if gui_app.get_active_widget() == _ui_state.screensaver:
-          gui_app.pop_widget()
-      elif _ui_state.screensaver.is_active:
-        self._blocked_by_screensaver = True
-      else:
-        _ui_state.screensaver.initialize()
-        gui_app.push_widget(_ui_state.screensaver)
-        self._blocked_by_screensaver = True
-
  @staticmethod
  def set_onroad_brightness(_ui_state, awake: bool, cur_brightness: float) -> float:
    if not awake or not _ui_state.started:
@@ -338,11 +338,8 @@ def build_mici_script(pm: PubMaster, main_layout, script: Script) -> None:

  settings_cases: Cases = [
    lambda: scroll_through_cases(toggle_cases),
-    None,  # sunnylink (just open and close)
-    None,  # models (just open and close)
    lambda: scroll_through_cases(network_cases),
    lambda: scroll_through_cases(device_cases),
-    lambda: script.wait(WAIT_SHORT),  # software
    lambda: script.wait(WAIT_SHORT),  # pairing
    lambda: run_actions(lambda: swipe_up(height * 3), lambda: swipe_down(height * 3)),  # firehose (scroll down and back up)
    lambda: scroll_through_cases(developer_cases),
@@ -340,8 +340,6 @@ class Device(DeviceSP):
  def _set_awake(self, on: bool, _ui_state=None):
    if on != self._awake:
      super()._set_awake(on, _ui_state or ui_state)
-      if self._blocked_by_screensaver:
-        return
      self._awake = on
      cloudlog.debug(f"setting display power {int(on)}")
      HARDWARE.set_display_power(on)
@@ -9,7 +9,7 @@ from openpilot.common.params import Params
 from opendbc.car import structs
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP, HyundaiSafetyFlagsSP
-from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType, TeslaFlagsSP
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP


 MADS_NO_ACC_MAIN_BUTTON = ("rivian", "tesla")
@@ -21,20 +21,17 @@ class MadsSteeringModeOnBrake:
  DISENGAGE = 2


-def get_mads_limited_brands(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params) -> bool:
+def get_mads_limited_brands(CP: structs.CarParams, CP_SP: structs.CarParamsSP) -> bool:
  if CP.brand == 'rivian':
    return True
  if CP.brand == 'tesla':
-    if not CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS:
-      return True
-    screen_button = int(params.get("TeslaMadsScreenButton", return_default=True))
-    return screen_button == MadsScreenButtonType.OFF
+    return not CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS

  return False


 def read_steering_mode_param(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
-  if get_mads_limited_brands(CP, CP_SP, params):
+  if get_mads_limited_brands(CP, CP_SP):
    return MadsSteeringModeOnBrake.DISENGAGE

  return params.get("MadsSteeringMode", return_default=True)
@@ -66,7 +63,7 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p
  # MADS is currently partially supported for these platforms due to lack of consistent states to engage controls
  # Only MadsSteeringModeOnBrake.DISENGAGE is supported for these platforms
  # TODO-SP: To enable MADS full support for Rivian and most Tesla, identify consistent signals for MADS toggling
-  mads_partial_support = get_mads_limited_brands(CP, CP_SP, params)
+  mads_partial_support = get_mads_limited_brands(CP, CP_SP)
  if mads_partial_support:
    params.put("MadsSteeringMode", 2, block=True)
    params.put_bool("MadsUnifiedEngagementMode", True, block=True)
@@ -13,7 +13,7 @@ from openpilot.selfdrive.selfdrived.events import Events
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
-from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType, TeslaFlagsSP
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP

 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 EventName = log.OnroadEvent.EventName
@@ -38,12 +38,6 @@ def make_panda_state(mocker, controls_allowed_lateral=True):
  return ps


-def make_params_mock(mocker, values):
-  params = mocker.MagicMock()
-  params.get = mocker.MagicMock(side_effect=lambda k, **kwargs: values[k])
-  return params
-
-
 def make_mads(mocker, steering_mode):
  sd = mocker.MagicMock()
  sd.CP = structs.CarParams()
@@ -229,27 +223,15 @@ class TestBrandSteeringModeRestrictions:
    params = mocker.MagicMock()
    assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.DISENGAGE

-  @pytest.mark.parametrize("screen_button", [MadsScreenButtonType.THREE_FINGER,
-                                             MadsScreenButtonType.FOUR_FINGER,
-                                             MadsScreenButtonType.FIVE_FINGER])
-  def test_tesla_with_vehicle_bus_uses_param(self, mocker, screen_button):
+  def test_tesla_with_vehicle_bus_uses_param(self, mocker):
    CP = structs.CarParams()
    CP.brand = "tesla"
    CP_SP = structs.CarParamsSP()
    CP_SP.flags = TeslaFlagsSP.HAS_VEHICLE_BUS
-    params = make_params_mock(mocker, {"TeslaMadsScreenButton": screen_button,
-                                       "MadsSteeringMode": MadsSteeringModeOnBrake.REMAIN_ACTIVE})
+    params = mocker.MagicMock()
+    params.get = mocker.MagicMock(return_value=MadsSteeringModeOnBrake.REMAIN_ACTIVE)
    assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.REMAIN_ACTIVE

-  def test_tesla_with_vehicle_bus_screen_button_off_forced_to_disengage(self, mocker):
-    CP = structs.CarParams()
-    CP.brand = "tesla"
-    CP_SP = structs.CarParamsSP()
-    CP_SP.flags = TeslaFlagsSP.HAS_VEHICLE_BUS
-    params = make_params_mock(mocker, {"TeslaMadsScreenButton": MadsScreenButtonType.OFF,
-                                       "MadsSteeringMode": MadsSteeringModeOnBrake.REMAIN_ACTIVE})
-    assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.DISENGAGE
-
  @pytest.mark.parametrize("brand", ["hyundai", "toyota", "honda", "gm"])
  def test_other_brands_use_param(self, mocker, brand):
    CP = structs.CarParams()
@@ -82,3 +82,18 @@ if os.path.isfile(supercombo_onnx):
  compile_combined('supercombo',
                   f'--supercombo-onnx {supercombo_onnx}',
                   'driving_combined_supercombo_tinygrad.pkl')
+
+if PC:
+  inputs = tinygrad_files + [File(Dir("#openpilot/sunnypilot/modeld_v2").File("install_models_pc.py").abspath)]
+  outputs = []
+  model_dir = Dir("models").abspath
+  cmd = f'python3 {Dir("#openpilot/sunnypilot/modeld_v2").abspath}/install_models_pc.py {model_dir}'
+
+  for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_on_policy', 'driving_policy']:
+    if File(f"models/{model_name}.onnx").exists():
+        inputs.append(File(f"models/{model_name}.onnx"))
+        inputs.append(File(f"models/{model_name}_tinygrad.pkl"))
+        outputs.append(File(f"models/{model_name}_metadata.pkl"))
+  if outputs:
+    lenv.Command(outputs, inputs, cmd)
+
@@ -57,26 +57,7 @@ def derive_frame_skip(vision_input_shapes: dict, policy_input_shapes: dict) -> i
  return 1 if not features_buffer or features_buffer[1] >= 99 else 4


-def get_policy_npy_shapes(input_shapes: dict, is_supercombo: bool = False) -> tuple[dict, list[int]]:
-  desire_key = _detect_desire_key(input_shapes)
-  shapes = {}
-  if desire_key:
-    shapes['desire'] = (input_shapes[desire_key][2],)
-
-  if is_supercombo and 'features_buffer' in input_shapes:
-    fb = input_shapes['features_buffer']
-    shapes['prev_feat'] = (fb[0], fb[2])
-
-  for key, shape in input_shapes.items():
-    if key not in (desire_key, 'features_buffer') and 'img' not in key:
-      shapes[key] = tuple(shape)
-
-  sizes = [int(np.prod(size)) for size in shapes.values()]
-  return shapes, sizes
-
-
-def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT,
-                            is_supercombo: bool = False, use_packed: bool = True) -> tuple[dict, dict]:
+def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT) -> tuple[dict, dict]:
  road_key, _ = _detect_vision_keys(input_shapes)
  if not road_key:
    raise ValueError("Vision road key missing from input shapes.")
@@ -92,69 +73,37 @@ def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = D
  desire_shape = input_shapes[desire_key]
  features_buffer = input_shapes.get('features_buffer')

-  if use_packed:  # remove packed detection block after all models are recompiled
-    npy_arrays = {
-      'tfm': np.zeros((3, 3), dtype=np.float32),
-      'big_tfm': np.zeros((3, 3), dtype=np.float32)
-    }
+  npy_arrays = {
+    'desire': np.zeros(desire_shape[2], dtype=np.float32),
+    'tfm': np.zeros((3, 3), dtype=np.float32),
+    'big_tfm': np.zeros((3, 3), dtype=np.float32)
+  }

-    shapes, sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo)
-    packed_npy_inputs = np.zeros(sum(sizes), dtype=np.float32)
+  for key, shape in input_shapes.items():
+    if key not in npy_arrays and 'img' not in key and key not in ('features_buffer', desire_key):
+      npy_arrays[key] = np.zeros(shape, dtype=np.float32)

-    split_indices = np.cumsum(sizes[:-1]) if len(sizes) > 1 else []
-    split_views = np.split(packed_npy_inputs, split_indices) if len(sizes) > 0 else []
-    for (k, s), v in zip(shapes.items(), split_views, strict=True):
-      npy_arrays[k] = v.reshape(s)
+  queues = {
+    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
+                  dtype=np.float32), device=device).contiguous().realize()
+  }

-    queues = {
-      'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-      'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-      'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
-                    dtype=np.float32), device=device).contiguous().realize(),
-      'packed_npy_inputs': Tensor(packed_npy_inputs, device='NPY').realize(),
-    }
-
-    if features_buffer:
-      queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]),
-                         dtype=np.float32), device=device).contiguous().realize()
-
-    queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items() if key in ('tfm', 'big_tfm')})
-  else:
-    # TODO-SP: Remove legacy queuing fallback else block after all models are recompiled
-    npy_arrays = {
-      'desire': np.zeros(desire_shape[2], dtype=np.float32),
-      'tfm': np.zeros((3, 3), dtype=np.float32),
-      'big_tfm': np.zeros((3, 3), dtype=np.float32)
-    }
-
-    for key, shape in input_shapes.items():
-      if key not in npy_arrays and 'img' not in key and key not in ('features_buffer', desire_key):
-        npy_arrays[key] = np.zeros(shape, dtype=np.float32)
-
-    queues = {
-      'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-      'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-      'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
-                    dtype=np.float32), device=device).contiguous().realize()
-    }
-
-    if features_buffer:
-      queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]),
-                         dtype=np.float32), device=device).contiguous().realize()
-
-    queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items()})
+  if features_buffer:
+    queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]),
+                       dtype=np.float32), device=device).contiguous().realize()

+  queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items()})
  return queues, npy_arrays


-def make_split_input_queues(vision_input_shapes: dict, policy_input_shapes: dict,
-                            frame_skip: int, device: str = Device.DEFAULT, use_packed: bool = True) -> tuple[dict, dict]:
-  return generate_queues_and_npy({**vision_input_shapes, **policy_input_shapes}, frame_skip, device, is_supercombo=False, use_packed=use_packed)
+def make_split_input_queues(vision_input_shapes: dict, policy_input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT) -> tuple[dict, dict]:
+  return generate_queues_and_npy({**vision_input_shapes, **policy_input_shapes}, frame_skip, device)


-def make_supercombo_input_queues(input_shapes: dict, frame_skip: int,
-                                 device: str = Device.DEFAULT, use_packed: bool = True) -> tuple[dict, dict]:
-  return generate_queues_and_npy(input_shapes, frame_skip, device, is_supercombo=True, use_packed=use_packed)
+def make_supercombo_input_queues(input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT) -> tuple[dict, dict]:
+  return generate_queues_and_npy(input_shapes, frame_skip, device)


 def create_jit_runner(vision_runner, policy_runners: list, nv12: NV12Frame, model_size: tuple[int, int],
@@ -169,17 +118,22 @@ def create_jit_runner(vision_runner, policy_runners: list, nv12: NV12Frame, mode
  if not desire_key or not road_key or not wide_key:
    raise ValueError("Missing required vision or desire keys in input shapes.")

-  is_supercombo = vision_runner is None
-  npy_shapes, npy_sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo)
+  extra_keys = [key for key in input_shapes if key not in (desire_key, 'features_buffer', 'traffic_convention') and 'img' not in key]

-  def runner(img_q, big_img_q, feat_q, packed_npy_inputs, frame, big_frame, tfm, big_tfm, **kwargs):
+  def runner(img_q, big_img_q, feat_q, frame, big_frame, tfm, big_tfm, **kwargs):
    desire_q = kwargs['desire_q']
+    desire = kwargs['desire']
+    traffic_convention = kwargs.get('traffic_convention')

-    packed_npy_inputs_dev = packed_npy_inputs.to(Device.DEFAULT)
-    tfm_dev = tfm.to(Device.DEFAULT)
-    big_tfm_dev = big_tfm.to(Device.DEFAULT)
+    npys = [tfm.to(Device.DEFAULT), big_tfm.to(Device.DEFAULT), desire.to(Device.DEFAULT)]
+    if traffic_convention is not None:
+      npys.append(traffic_convention.to(Device.DEFAULT))

-    Tensor.realize(packed_npy_inputs_dev, tfm_dev, big_tfm_dev)
+    extra_tensors = {key: kwargs[key].to(Device.DEFAULT) for key in extra_keys if key in kwargs}
+    Tensor.realize(*npys, *extra_tensors.values())
+
+    tfm_dev, big_tfm_dev, desire_dev = npys[:3]
+    traffic_conv_dev = npys[3] if traffic_convention is not None else None

    img = shift_and_sample(img_q, frame_prepare(frame, tfm_dev).unsqueeze(0), sample_skip_fn).realize()
    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm_dev).unsqueeze(0), sample_skip_fn).realize()
@@ -187,37 +141,22 @@ def create_jit_runner(vision_runner, policy_runners: list, nv12: NV12Frame, mode
    if prepare_only:
      return img, big_img

-    unpacked_tensors = [tensor.reshape(shape) for tensor, shape in zip(packed_npy_inputs_dev.split(npy_sizes), npy_shapes.values(), strict=True)]
-    unpacked_dict = dict(zip(npy_shapes.keys(), unpacked_tensors, strict=True))
-
-    desire_dev = unpacked_dict['desire']
    desire_buf = shift_and_sample(desire_q, desire_dev.reshape(1, 1, -1), sample_desire_fn).realize()
+    inputs = {desire_key: desire_buf, **extra_tensors}

-    inputs = {desire_key: desire_buf}
-    for key, tensor_val in unpacked_dict.items():
-      if key not in ('desire', 'prev_feat'):
-        inputs[key] = tensor_val
-
-    if 'prev_feat' in unpacked_dict:
-      prev_feat_dev = unpacked_dict['prev_feat']
-      inputs['features_buffer'] = shift_and_sample(feat_q, prev_feat_dev.reshape(1, 1, -1), sample_skip_fn).realize()
+    if traffic_conv_dev is not None:
+      inputs['traffic_convention'] = traffic_conv_dev

    if vision_runner:
      vision_out_cast = next(iter(vision_runner({road_key: img, wide_key: big_img}).values())).cast('float32').realize()
-      if 'features_buffer' not in inputs:
-        new_feat = vision_out_cast[:, features_slice].reshape(1, -1).unsqueeze(0)
-        inputs['features_buffer'] = shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
+      new_feat = vision_out_cast[:, features_slice].reshape(1, -1).unsqueeze(0)
+      inputs['features_buffer'] = shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
      policy_outs = [next(iter(pol_runner(inputs).values())).cast('float32').realize() for pol_runner in policy_runners]
      return (vision_out_cast, *policy_outs) if len(policy_outs) > 1 else (vision_out_cast, policy_outs[0])
-
-    inputs.update({road_key: img, wide_key: big_img})
-    if 'features_buffer' not in inputs:
-      inputs['features_buffer'] = sample_skip_fn(feat_q)
-
+    inputs.update({road_key: img, wide_key: big_img, 'features_buffer': sample_skip_fn(feat_q)})
    policy_out = next(iter(policy_runners[0](inputs).values())).cast('float32').realize()
-    if 'features_buffer' not in inputs and features_slice is not None:
-      new_feat = policy_out[:, features_slice].reshape(1, -1).unsqueeze(0)
-      shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
+    new_feat = policy_out[:, features_slice].reshape(1, -1).unsqueeze(0)
+    shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
    return policy_out

  return runner
@@ -235,17 +174,16 @@ def compile_and_warmup(nv12: NV12Frame, model_size: tuple[int, int], prepare_onl
  features_slice = feat_meta['output_slices']['hidden_state']
  WARP_DEV = 'CPU' if "USBGPU" in os.environ else Device.DEFAULT

-  is_supercombo = vision_runner is None
  run_func = create_jit_runner(vision_runner, policy_runners, nv12, model_size, features_slice, frame_skip, all_shapes, prepare_only)
  run_jit = TinyJit(run_func, prune=True)
-  queues, npy_arrays = generate_queues_and_npy(all_shapes, frame_skip, Device.DEFAULT, is_supercombo=is_supercombo)
+  queues, npy_arrays = generate_queues_and_npy(all_shapes, frame_skip, Device.DEFAULT)

  for i in range(3):
-    rng = np.random.default_rng(42 + i)
+    np.random.seed(42 + i)
    frame = Tensor.randint(nv12.size, low=0, high=256, dtype=dtypes.uint8, device=WARP_DEV).realize()
    big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype=dtypes.uint8, device=WARP_DEV).realize()
    for arr in npy_arrays.values():
-      arr[:] = rng.standard_normal(arr.shape).astype(arr.dtype)
+      arr[:] = np.random.randn(*arr.shape).astype(arr.dtype)

    Device.default.synchronize()
    start_time = time.perf_counter()
@@ -254,7 +192,6 @@ def compile_and_warmup(nv12: NV12Frame, model_size: tuple[int, int], prepare_onl
    Device.default.synchronize()
    print(f"  [{i + 1}/3] enqueue {(mid_time - start_time) * 1e3:6.2f} ms -- total {(time.perf_counter() - start_time) * 1e3:6.2f} ms")

-  # TODO-SP: switch to dump_oob/load_oob on next full recompile of all models
  return pickle.loads(pickle.dumps(run_jit)) if not prepare_only else run_jit


@@ -352,7 +289,6 @@ if __name__ == "__main__":
                        vision_runner, policy_runners, output_data['metadata']))

  with open(args.output, "wb") as file:
-    # TODO-SP: switch to dump_oob from openpilot/selfdrive/helpers on next full recompile of all models
    pickle.dump(output_data, file)

  pkl_size = os.path.getsize(args.output)
@@ -0,0 +1,75 @@
+#!/usr/bin/env python3
+import sys
+import shutil
+import pickle
+import codecs
+from pathlib import Path
+
+from openpilot.common.hardware.hw import Paths
+from openpilot.sunnypilot.modeld_v2.get_model_metadata import MetadataOnnxPBParser, get_name_and_shape, get_metadata_value_by_name
+
+
+def generate_metadata_pkl(model_path, output_path):
+  try:
+    model = MetadataOnnxPBParser(model_path).parse()
+    output_slices = get_metadata_value_by_name(model, 'output_slices')
+    if not output_slices:
+      return False
+    metadata = {
+      'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
+      'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
+      'input_shapes': dict(get_name_and_shape(x) for x in model["graph"]["input"]),
+      'output_shapes': dict(get_name_and_shape(x) for x in model["graph"]["output"]),
+    }
+    with open(output_path, 'wb') as f:
+      pickle.dump(metadata, f)
+    return True
+  except Exception:
+    return False
+
+
+def install_models(model_dir):
+  model_dir = Path(model_dir)
+  models = ["driving_off_policy", "driving_on_policy", "driving_vision"]
+  found_models = []
+
+  for model in models:
+    if (model_dir / f"{model}.onnx").exists():
+      found_models.append(model)
+
+  if not found_models:
+    return
+
+  try:
+    custom_name = input(f"Found models ({', '.join(found_models)}). Enter model short name (e.g. wmiv4): ").strip()
+  except EOFError:
+    return
+
+  if not custom_name:
+    print("No name provided, skipping installation.")
+    return
+
+  dest_dir = Path(Paths.model_root())
+  dest_dir.mkdir(parents=True, exist_ok=True)
+
+  for model in found_models:
+    onnx_path = model_dir / f"{model}.onnx"
+    tinygrad_pkl = model_dir / f"{model}_tinygrad.pkl"
+    metadata_pkl = model_dir / f"{model}_metadata.pkl"
+
+    if not metadata_pkl.exists():
+      generate_metadata_pkl(onnx_path, metadata_pkl)
+
+    dest_tinygrad = dest_dir / f"{model}_{custom_name}_tinygrad.pkl"
+    dest_metadata = dest_dir / f"{model}_{custom_name}_metadata.pkl"
+
+    if tinygrad_pkl.exists():
+      shutil.move(str(tinygrad_pkl), str(dest_tinygrad))
+    if metadata_pkl.exists():
+      shutil.move(str(metadata_pkl), str(dest_metadata))
+
+if __name__ == "__main__":
+  if len(sys.argv) < 2:
+    print("Usage: install_models_pc.py <model_dir>")
+    sys.exit(1)
+  install_models(sys.argv[1])
@@ -24,11 +24,6 @@ from setproctitle import setproctitle
 from openpilot.cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
-
-from tinygrad.tensor import Tensor
-from tinygrad.device import Device
-
-from openpilot.common.file_chunker import open_file_chunked
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -36,7 +31,6 @@ from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
-from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value

@@ -44,12 +38,10 @@ from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_p
 from openpilot.sunnypilot.modeld_v2.constants import Plan
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
-from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues

 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 from openpilot.sunnypilot.models.helpers import get_active_bundle
-from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController

 PROCESS_NAME = "openpilot.selfdrive.modeld.modeld_tinygrad"

@@ -108,8 +100,14 @@ class ModelState(ModelStateBase):
    self._init_combined(pkl_path, cam_w, cam_h, model_bundle)

  def _init_combined(self, pkl_path, cam_w, cam_h, bundle):
+    from tinygrad.tensor import Tensor
+    from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+    from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues
+    from tinygrad.device import Device
+
+    from openpilot.common.file_chunker import open_file_chunked
+
    cloudlog.warning(f"loading combined pkl: {pkl_path}")
-    # TODO-SP: switch to load_oob from openpilot/selfdrive/helpers on next full recompile of all models
    jits = pickle.load(open_file_chunked(pkl_path))

    self.DEV = Device.DEFAULT
@@ -117,28 +115,16 @@ class ModelState(ModelStateBase):
    self.QUEUE_DEV = self.DEV

    metadata = jits['metadata']
-
-    self._run_policy = jits[(cam_w, cam_h)]['run_policy']
-    self._warp_enqueue = jits[(cam_w, cam_h)]['warp_enqueue']
-
-    # TODO-SP: Remove legacy use_packed detection block after all models are recompiled
-    captured = getattr(self._run_policy, 'captured', None)
-    if captured is not None:
-      use_packed = 'packed_npy_inputs' in getattr(captured, 'expected_names', [])
-    else:
-      use_packed = True
-
    if 'model' in metadata:
      model_metadata = metadata['model']
      self.vision_output_slices = model_metadata['output_slices']
      self.policy_output_slices = {}
      self._policy_slices_list = []
      self._combined_model_type = 'supercombo'
-      self._vision_input_names = [key for key in model_metadata['input_shapes'] if 'img' in key]
+      self._vision_input_names = [k for k in model_metadata['input_shapes'] if 'img' in k]
      from openpilot.sunnypilot.modeld_v2.compile_modeld import make_supercombo_input_queues
      frame_skip = derive_frame_skip({}, model_metadata['input_shapes'])
-      self.input_queues, self.numpy_inputs = make_supercombo_input_queues(model_metadata['input_shapes'],
-                                                                          frame_skip, device=self.QUEUE_DEV, use_packed=use_packed)
+      self.input_queues, self.numpy_inputs = make_supercombo_input_queues(model_metadata['input_shapes'], frame_skip, device=self.QUEUE_DEV)
    else:
      vision_metadata = metadata['vision']
      policy_keys = [k for k in metadata if k != 'vision']
@@ -156,13 +142,16 @@ class ModelState(ModelStateBase):
      policy_input_shapes = first_policy_metadata['input_shapes']
      self._vision_input_names = [k for k in vision_input_shapes if 'img' in k]
      frame_skip = derive_frame_skip(vision_input_shapes, policy_input_shapes)
-      self.input_queues, self.numpy_inputs = make_split_input_queues(vision_input_shapes, policy_input_shapes,
-                                                                     frame_skip, device=self.QUEUE_DEV, use_packed=use_packed)
+      self.input_queues, self.numpy_inputs = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device=self.QUEUE_DEV)

    self._desire_key = next(key for key in self.numpy_inputs if key.startswith('desire'))
    self._road_key = next(key for key in self._vision_input_names if 'big' not in key)
    self._wide_key = next(key for key in self._vision_input_names if 'big' in key)

+    from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser
+    from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser
+    self.parser = SplitParser() if self._combined_model_type != 'supercombo' else CombinedParser()
+
    is_20hz = bundle.is20hz if bundle else self._combined_model_type in ('split', 'multi_policy')
    if is_20hz:
      from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
@@ -171,19 +160,14 @@ class ModelState(ModelStateBase):
      from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
      self.constants = ModelConstants()

-    if self._combined_model_type != 'supercombo':
-      from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser
-      self.parser = SplitParser()
-    else:
-      from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser
-      self.parser = CombinedParser()
-
    self.prev_desire = np.zeros(self.constants.DESIRE_LEN, dtype=np.float32)
    self.full_frames: dict = {}
    self._blob_cache: dict = {}
    nv12_info = get_nv12_info(cam_w, cam_h)
    self.frame_buf_params = dict.fromkeys(self._vision_input_names, nv12_info)

+    self._run_policy = jits[(cam_w, cam_h)]['run_policy']
+    self._warp_enqueue = jits[(cam_w, cam_h)]['warp_enqueue']
    yuv_size = self.frame_buf_params[self._road_key][3]
    self._warp_enqueue(
      **self.input_queues,
@@ -205,6 +189,8 @@ class ModelState(ModelStateBase):

  def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
+    from tinygrad.tensor import Tensor
+
    for key in bufs.keys():
      ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
      yuv_size = self.frame_buf_params[key][3]
@@ -236,16 +222,11 @@ class ModelState(ModelStateBase):
      model_output = raw_outputs.numpy().flatten()
      sliced = {k: model_output[np.newaxis, v] for k, v in self.vision_output_slices.items()}
      outputs = self.parser.parse_outputs(sliced)
-      if 'prev_feat' in self.numpy_inputs:
-        self.numpy_inputs['prev_feat'][:] = model_output[self.vision_output_slices['hidden_state']]
    else:
      vision_output = raw_outputs[0].numpy().flatten()
      vision_sliced = {k: vision_output[np.newaxis, v] for k, v in self.vision_output_slices.items()}
      outputs = self.parser.parse_vision_outputs(vision_sliced)

-      if 'prev_feat' in self.numpy_inputs and 'hidden_state' in self.vision_output_slices:
-        self.numpy_inputs['prev_feat'][:] = vision_output[self.vision_output_slices['hidden_state']]
-
      for i, policy_slices in enumerate(self._policy_slices_list):
        policy_output = raw_outputs[i + 1].numpy().flatten()
        policy_sliced = {k: policy_output[np.newaxis, v] for k, v in policy_slices.items()}
@@ -266,11 +247,6 @@ class ModelState(ModelStateBase):
      buf[0, :-1] = buf[0, 1:]
      buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0

-    # TODO-SP: This is a hack to prevent GPU corruption by calculating in CPU space, it can be removed on next recompile
-    if 'prev_feat' not in self.numpy_inputs and 'feat_q' in self.input_queues:
-      feat_val = self.input_queues['feat_q'].numpy()
-      self.input_queues['feat_q'].assign(feat_val).realize()
-
    return outputs

  def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
@@ -279,6 +255,7 @@ class ModelState(ModelStateBase):
      plan = model_output['plan'][0]
      desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
                                                       action_t=long_action_t)
+      desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)

      curvature_plan = (plan + (self.PLANPLUS_CONTROL - 1.0) * model_output['planplus'][0]
                        if 'planplus' in model_output and self.PLANPLUS_CONTROL != 1.0 else plan)
@@ -288,8 +265,6 @@ class ModelState(ModelStateBase):
      desired_curvature = model_output['action'][0, 0] / (max(1.0, v_ego))**2
      should_stop = (v_ego < 0.3 and desired_accel < 0.1)

-    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
-
    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)
@@ -368,7 +343,6 @@ def main(demo=False):

  DH = DesireHelper()
  meta_constants = load_meta_constants()
-  RELC = RoadEdgeLaneChangeController()

  while True:
    # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -481,8 +455,7 @@ def main(demo=False):
      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
      r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
      lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      left_edge, right_edge = RELC.update_and_fill(modelv2_send.modelV2, mdv2sp_send.modelDataV2SP, v_ego)
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, left_edge, right_edge)
+      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
@@ -1,16 +1,13 @@
 import numpy as np
 from openpilot.sunnypilot.modeld_v2.constants import ModelConstants

-
 def safe_exp(x, out=None):
  # -11 is around 10**14, more causes float16 overflow
  return np.exp(np.clip(x, -np.inf, 11), out=out)

-
 def sigmoid(x):
  return 1. / (1. + safe_exp(-x))

-
 def softmax(x, axis=-1):
  x -= np.max(x, axis=axis, keepdims=True)
  if x.dtype == np.float32 or x.dtype == np.float64:
@@ -20,19 +17,6 @@ def softmax(x, axis=-1):
  x /= np.sum(x, axis=axis, keepdims=True)
  return x

-
-def _infer_mhp(slice_size: int, prod_out_shape: int, max_in_n: int = 16, max_out_n: int = 6) -> tuple[int, int]:
-  for out_n in range(max_out_n + 1):
-    per = 2 * prod_out_shape + out_n
-    if per <= 0:
-      continue
-    if slice_size % per == 0:
-      in_n = slice_size // per
-      if 1 <= in_n <= max_in_n:
-        return in_n, out_n
-  return 1, 0  # single hypothesis, no weights — matches a non-MDN output
-
-
 class Parser:
  def __init__(self, ignore_missing=False):
    self.ignore_missing = ignore_missing
@@ -56,22 +40,17 @@ class Parser:
    raw = outs[name]
    outs[name] = sigmoid(raw)

-  def parse_mdn(self, name, outs, out_shape, in_N=0, out_N=0):
+  def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
    if self.check_missing(outs, name):
      return
    raw = outs[name]
-
-    if in_N == 0 and out_N == 0:
-      prod = int(np.prod(out_shape))
-      in_N, out_N = _infer_mhp(raw.shape[1], prod)
-
-    raw = raw.reshape((raw.shape[0], in_N, -1))
+    raw = raw.reshape((raw.shape[0], max(in_N, 1), -1))

    n_values = (raw.shape[2] - out_N)//2
    pred_mu = raw[:,:,:n_values]
    pred_std = safe_exp(raw[:,:,n_values: 2*n_values])

-    if in_N > 1 and out_N > 0:
+    if in_N > 1:
      weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype)
      for i in range(out_N):
        weights[:,:,i - out_N] = softmax(raw[:,:,i - out_N], axis=-1)
@@ -82,6 +61,7 @@ class Parser:
          weights[fidx] = weights[fidx][idxs]
          pred_mu[fidx] = pred_mu[fidx][idxs]
          pred_std[fidx] = pred_std[fidx][idxs]
+      assert out_shape is not None
      full_shape = tuple([raw.shape[0], in_N] + list(out_shape))
      outs[name + '_weights'] = weights
      outs[name + '_hypotheses'] = pred_mu.reshape(full_shape)
@@ -94,43 +74,37 @@ class Parser:
          idxs = np.argsort(weights[fidx,:,hidx])[::-1]
          pred_mu_final[fidx, hidx] = pred_mu[fidx, idxs[0]]
          pred_std_final[fidx, hidx] = pred_std[fidx, idxs[0]]
-    elif in_N > 1 and out_N == 0:
-      # MHP without weights: keep every hypothesis intact, surface them as
-      # ``*_hypotheses`` and propagate the full multi-hypothesis tensor.
-      full_shape = tuple([raw.shape[0], in_N] + list(out_shape))
-      outs[name + '_hypotheses'] = pred_mu.reshape(full_shape)
-      outs[name + '_stds_hypotheses'] = pred_std.reshape(full_shape)
-      pred_mu_final = pred_mu
-      pred_std_final = pred_std
    else:
      pred_mu_final = pred_mu
      pred_std_final = pred_std

-    if out_N > 1 or (in_N > 1 and out_N == 0):
-      n_selections = out_N if out_N > 1 else in_N
-      final_shape = tuple([raw.shape[0], n_selections] + list(out_shape))
+    if out_N > 1:
+      assert out_shape is not None
+      final_shape = tuple([raw.shape[0], out_N] + list(out_shape))
    else:
+      assert out_shape is not None
      final_shape = tuple([raw.shape[0],] + list(out_shape))
    outs[name] = pred_mu_final.reshape(final_shape)
    outs[name + '_stds'] = pred_std_final.reshape(final_shape)

  def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    # supercombo (4955 / 102) and newer variants (e.g. 990 / 144).
-    self.parse_mdn('plan',   outs, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
-    self.parse_mdn('lane_lines', outs, out_shape=(ModelConstants.NUM_LANE_LINES, ModelConstants.IDX_N, ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('road_edges', outs, out_shape=(ModelConstants.NUM_ROAD_EDGES, ModelConstants.IDX_N, ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('pose',         outs, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('road_transform', outs, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
+                   out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
+    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
    if 'sim_pose' in outs:
-      self.parse_mdn('sim_pose', outs, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('wide_from_device_euler', outs, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
-    self.parse_mdn('lead', outs, out_shape=(ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH))
+      self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
+    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
+                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
    if 'lat_planner_solution' in outs:
-      self.parse_mdn('lat_planner_solution', outs, out_shape=(ModelConstants.IDX_N, ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
    if 'desired_curvature' in outs:
-      self.parse_mdn('desired_curvature', outs, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
+      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
    for k in ['lead_prob', 'lane_lines_prob', 'meta']:
      self.parse_binary_crossentropy(k, outs)
    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
-    self.parse_categorical_crossentropy('desire_pred',  outs, out_shape=(ModelConstants.DESIRE_PRED_LEN, ModelConstants.DESIRE_PRED_WIDTH))
+    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
    return outs
@@ -123,7 +123,7 @@ class Parser:
      self.parse_categorical_crossentropy('desire_state', outs, out_shape=(SplitModelConstants.DESIRE_PRED_WIDTH,))
    if 'lane_lines' in outs:
      self.parse_mdn('lane_lines', outs, in_N=0, out_N=0,
-                     out_shape=(SplitModelConstants.NUM_LANE_LINES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+                    out_shape=(SplitModelConstants.NUM_LANE_LINES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
    if 'lane_lines_prob' in outs:
      self.parse_binary_crossentropy('lane_lines_prob', outs)
    if 'lead_prob' in outs:
@@ -134,7 +134,7 @@ class Parser:
      self.parse_binary_crossentropy('meta', outs)
    if 'road_edges' in outs:
      self.parse_mdn('road_edges', outs, in_N=0, out_N=0,
-                     out_shape=(SplitModelConstants.NUM_ROAD_EDGES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+                    out_shape=(SplitModelConstants.NUM_ROAD_EDGES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
    if 'sim_pose' in outs:
      self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
    if 'action' in outs:
@@ -67,12 +67,16 @@ class TestStockEquivalence:
    state = model_state_factory(ARCHETYPES['vision_policy_split'])

    frame_skip = derive_frame_skip(SPLIT_VISION_INPUT_SHAPES, SPLIT_POLICY_INPUT_SHAPES)
+    # action_t is a deep-model prerequisite the SP loader doesn't provide yet; see skip_keys below
    stock_shapes = {**SPLIT_VISION_INPUT_SHAPES, **SPLIT_POLICY_INPUT_SHAPES, 'action_t': (1, 2)}
    stock_queues, stock_npy = make_input_queues(stock_shapes, frame_skip, device='NPY')

-    assert set(state.input_queues.keys()) == set(stock_queues.keys())
-    assert {'desire', 'traffic_convention'} <= set(state.numpy_inputs.keys())
-    assert set(state.numpy_inputs.keys()) == set(stock_npy.keys()) - {'action_t', 'prev_feat'}
+    # TODO-SP: remove action_t skip once SP adds prerequisite for deep models (action_t input queue)
+    skip_keys = {'action_t'}
+    assert set(state.input_queues.keys()) == set(stock_queues.keys()) - skip_keys, \
+      f"Queue keys differ: v2={set(state.input_queues.keys())}, stock={set(stock_queues.keys())}"
+    assert set(state.numpy_inputs.keys()) == set(stock_npy.keys()) - skip_keys, \
+      f"Npy keys differ: v2={set(state.numpy_inputs.keys())}, stock={set(stock_npy.keys())}"

  def test_split_queue_keys_work_with_desire_key(self, model_state_factory):
    from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues
@@ -64,6 +64,8 @@ class ModelParser:

    model.type = model_data.get("type")
    model.artifact = ModelParser._parse_artifact(model_data.get("artifact", {}))
+    if metadata := model_data.get("metadata"):
+      model.metadata = ModelParser._parse_artifact(metadata)
    return model

  @staticmethod
@@ -209,3 +211,5 @@ if __name__ == "__main__":
      # Print metadata details
      if model.artifact.chunks:
        print(f"Contains {len(model.artifact.chunks)} chunks.")
+      if hasattr(model, 'metadata') and model.metadata and model.metadata.fileName:
+        print(f"Metadata: {model.metadata.fileName}, Download URI: {model.metadata.downloadUri.uri}")
@@ -18,7 +18,7 @@ from openpilot.sunnypilot.models.constants import Meta, MetaSimPose, MetaTombRai
 from openpilot.common.hardware.hw import Paths

 # SET ME TO THE EXACT JSON VERSION WE SET IN SUNNYPILOT_MODELS REPO
-REQUIRED_JSON_VERSION = 16
+REQUIRED_JSON_VERSION = 15

 CUSTOM_MODEL_PATH = Paths.model_root()
 METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
@@ -56,20 +56,12 @@ def is_bundle_version_compatible(bundle: dict) -> bool:

 def _bundle_artifacts(bundle: custom.ModelManagerSP.ModelBundle) -> list[tuple[str, str]]:
  artifacts = []
-  from openpilot.common.file_chunker import get_chunk_name
  for model in getattr(bundle, 'models', []) or []:
-    for artifact in (getattr(model, 'artifact', None),):
-      if artifact and getattr(artifact, 'fileName', None):
-        if len(artifact.chunks) > 0:
-          for i, chunk in enumerate(artifact.chunks):
-            chunk_name = get_chunk_name(artifact.fileName, i, len(artifact.chunks))
-            if getattr(chunk, 'sha256', None):
-              artifacts.append((chunk_name, chunk.sha256))
-        else:
-          if getattr(artifact, 'downloadUri', None):
-            sha256 = getattr(artifact.downloadUri, 'sha256', None)
-            if sha256:
-              artifacts.append((artifact.fileName, sha256))
+    for artifact in (getattr(model, 'artifact', None), getattr(model, 'metadata', None)):
+      if artifact and getattr(artifact, 'fileName', None) and getattr(artifact, 'downloadUri', None):
+        sha256 = getattr(artifact.downloadUri, 'sha256', None)
+        if sha256:
+          artifacts.append((artifact.fileName, sha256))
  return artifacts


@@ -164,7 +156,8 @@ def _get_model():


 def load_metadata():
-  metadata_path = METADATA_PATH
+  model = _get_model()
+  metadata_path = f"{CUSTOM_MODEL_PATH}/{model.metadata.fileName}" if model else METADATA_PATH

  with open(metadata_path, 'rb') as f:
    return pickle.load(f)
@@ -38,11 +38,11 @@ class ModelManagerSP:
    if not self.selected_bundle:
      return
    for model in self.selected_bundle.models:
-      artifact = model.artifact
-      if artifact is not source_artifact and artifact.fileName == source_artifact.fileName:
-        artifact.downloadProgress.status = source_artifact.downloadProgress.status
-        artifact.downloadProgress.progress = source_artifact.downloadProgress.progress
-        artifact.downloadProgress.eta = source_artifact.downloadProgress.eta
+      for artifact in (model.artifact, model.metadata):
+        if artifact is not source_artifact and artifact.fileName == source_artifact.fileName:
+          artifact.downloadProgress.status = source_artifact.downloadProgress.status
+          artifact.downloadProgress.progress = source_artifact.downloadProgress.progress
+          artifact.downloadProgress.eta = source_artifact.downloadProgress.eta

  def _calculate_eta(self, filename: str, progress: float) -> int:
    """Calculate ETA based on elapsed time and current progress"""
@@ -136,22 +136,7 @@ class ModelManagerSP:
    full_path = os.path.join(destination_path, filename)

    try:
-      is_cached = False
-      if len(artifact.chunks) > 0:
-        from openpilot.common.file_chunker import get_chunk_name
-        chunks_valid = True
-        for i, chunk in enumerate(artifact.chunks):
-          chunk_path = get_chunk_name(full_path, i, len(artifact.chunks))
-          if not await verify_file(chunk_path, chunk.sha256):
-            chunks_valid = False
-            break
-        if chunks_valid and len(artifact.chunks) > 0:
-          is_cached = True
-      else:
-        if await verify_file(full_path, expected_hash):
-          is_cached = True
-
-      if is_cached:
+      if await verify_file(full_path, expected_hash):
        artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached
        artifact.downloadProgress.progress = 100
        artifact.downloadProgress.eta = 0
@@ -161,15 +146,11 @@ class ModelManagerSP:

      if len(artifact.chunks) > 0:
        await self._download_chunked(url, full_path, artifact)
-        from openpilot.common.file_chunker import get_chunk_name
-        for i, chunk in enumerate(artifact.chunks):
-          chunk_path = get_chunk_name(full_path, i, len(artifact.chunks))
-          if not await verify_file(chunk_path, chunk.sha256):
-            raise ValueError(f"Hash validation failed for chunk {i+1} of {filename}")
      else:
        await self._download_file(url, full_path, artifact)
-        if not await verify_file(full_path, expected_hash):
-          raise ValueError(f"Hash validation failed for {filename}")
+
+      if not await verify_file(full_path, expected_hash):
+        raise ValueError(f"Hash validation failed for {filename}")

      artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloaded
      artifact.downloadProgress.progress = 100
@@ -217,16 +198,16 @@ class ModelManagerSP:
    try:
      seen_artifacts: set[str] = set()
      for model in self.selected_bundle.models:
-        artifact = model.artifact
-        if not artifact.fileName:
-          continue
-        if artifact.fileName in seen_artifacts:
-          artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached
-          artifact.downloadProgress.progress = 100
-          artifact.downloadProgress.eta = 0
-        else:
-          seen_artifacts.add(artifact.fileName)
-          await self._process_artifact(artifact, destination_path)
+        for artifact in (model.metadata, model.artifact):
+          if not artifact.fileName:
+            continue
+          if artifact.fileName in seen_artifacts:
+            artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached
+            artifact.downloadProgress.progress = 100
+            artifact.downloadProgress.eta = 0
+          else:
+            seen_artifacts.add(artifact.fileName)
+            await self._process_artifact(artifact, destination_path)

      self.active_bundle = self.selected_bundle
      self.active_bundle.status = custom.ModelManagerSP.DownloadStatus.downloaded
@@ -287,6 +268,8 @@ class ModelManagerSP:
      for model in self.active_bundle.models:
        if hasattr(model, 'artifact') and model.artifact.fileName:
          active_files.append(model.artifact.fileName)
+        if hasattr(model, 'metadata') and model.metadata.fileName:
+          active_files.append(model.metadata.fileName)

    # Remove all files except active ones (including their chunk files)
    model_dir = Paths.model_root()
@@ -73,16 +73,10 @@ def _cleanup_unsupported_params(CP: structs.CarParams, CP_SP: structs.CarParamsS
  if params is None:
    params = Params()

-  if params.get_bool("LateralJerkTorqueController") and params.get_bool("NeuralNetworkLateralControl"):
-    cloudlog.warning("LateralJerkTorqueController and NeuralNetworkLateralControl both enabled, disabling both")
-    params.put_bool("LateralJerkTorqueController", False, block=True)
-    params.put_bool("NeuralNetworkLateralControl", False, block=True)
-
  if CP.steerControlType == structs.CarParams.SteerControlType.angle:
    cloudlog.warning("SteerControlType is angle, cleaning up params")
    params.remove("NeuralNetworkLateralControl")
    params.remove("EnforceTorqueControl")
-    params.remove("LateralJerkTorqueController")

  if not CP_SP.intelligentCruiseButtonManagementAvailable or CP.openpilotLongitudinalControl:
    cloudlog.warning("ICBM not available or openpilot Longitudinal Control enabled, cleaning up params")
@@ -129,7 +123,6 @@ def initialize_params(params) -> list[dict[str, Any]]:
  # tesla
  keys.extend([
    "TeslaCoopSteering",
-    "TeslaMadsScreenButton",
  ])

  # toyota
@@ -1,5 +1,5 @@
 """
-Copyright (c) 2021-, rav4kumar, sunnypilot, and a number of other contributors.
+Copyright (c) 2021-, rav4kumar, 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.
@@ -33,7 +33,6 @@ class LatControlTorqueExt(NeuralNetworkLateralControl, LatControlTorqueExtOverri
    self._output_torque = output_torque

    self.update_calculations(CS, VM, desired_lateral_accel)
-    self.update_jerk_aware_torque_control(CS, roll_compensation, gravity_adjusted_lateral_accel)
    self.update_neural_network_feedforward(CS, params, calibrated_pose)

    return self._pid_log, self._output_torque
@@ -132,10 +132,3 @@ class LatControlTorqueExtBase:
        self.lat_accel_friction_factor = 1.0
      self.lateral_jerk_setpoint = self.lat_jerk_friction_factor * self.lookahead_lateral_jerk
      self.lateral_jerk_measurement = self.lat_jerk_friction_factor * self.actual_lateral_jerk
-
-  def update_output_torque(self, CS):
-    freeze_integrator = self._steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-    self._output_torque = self._pid.update(self._pid_log.error,
-                                           feedforward=self._ff,
-                                           speed=CS.vEgo,
-                                           freeze_integrator=freeze_integrator)
@@ -1,45 +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.
-"""
-from opendbc.car.lateral import FRICTION_THRESHOLD
-from opendbc.sunnypilot.car.interfaces import LatControlInputs
-from opendbc.sunnypilot.car.lateral_ext import get_friction as get_friction_in_torque_space
-from openpilot.common.params import Params
-
-from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase
-
-
-class LatControlTorqueJerkAware(LatControlTorqueExtBase):
-  def __init__(self, lac_torque, CP, CP_SP, CI):
-    super().__init__(lac_torque, CP, CP_SP, CI)
-    self.params = Params()
-    self._jerk_aware_enabled = self.params.get_bool("LateralJerkTorqueController")
-
-  def update_limits(self):
-    if not self._jerk_aware_enabled:
-      return
-    self._pid.set_limits(self.lac_torque.steer_max, -self.lac_torque.steer_max)
-
-  def update_jerk_aware_torque_control(self, CS, roll_compensation, gravity_adjusted_lateral_accel):
-    if not self._jerk_aware_enabled:
-      return
-
-    torque_from_setpoint = self.torque_from_lateral_accel_in_torque_space(
-      LatControlInputs(self._setpoint, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, gravity_adjusted=False
-    )
-    torque_from_measurement = self.torque_from_lateral_accel_in_torque_space(
-      LatControlInputs(self._measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, gravity_adjusted=False
-    )
-
-    self._pid_log.error = float(torque_from_setpoint - torque_from_measurement)  # ty: ignore[invalid-assignment]
-    self._ff = self.torque_from_lateral_accel_in_torque_space(
-      LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, gravity_adjusted=True
-    )
-
-    friction_input = self.update_friction_input(self._desired_lateral_accel, self._actual_lateral_accel)
-    self._ff += get_friction_in_torque_space(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
-
-    self.update_output_torque(CS)
@@ -82,7 +82,7 @@ class LatControlTorque(LatControl):
      future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
      self.lat_accel_request_buffer.append(future_desired_lateral_accel)
      gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
-      desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / max(lat_delay, self.dt)
+      desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / lat_delay

      measurement = measured_curvature * CS.vEgo ** 2
      measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
@@ -14,8 +14,7 @@ from opendbc.sunnypilot.car.lateral_ext import get_friction as get_friction_in_t
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import sign
-from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_jerk_aware import LatControlTorqueJerkAware
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase, sign
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import MOCK_MODEL_PATH
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.model import NNTorqueModel

@@ -32,18 +31,17 @@ def roll_pitch_adjust(roll, pitch):
  return roll * math.cos(pitch)


-class NeuralNetworkLateralControl(LatControlTorqueJerkAware):
+class NeuralNetworkLateralControl(LatControlTorqueExtBase):
  def __init__(self, lac_torque, CP, CP_SP, CI):
    super().__init__(lac_torque, CP, CP_SP, CI)
    self.params = Params()
    self.enabled = self.params.get_bool("NeuralNetworkLateralControl")
-    model_path = CP_SP.neuralNetworkLateralControl.model.path
-    self.has_nn_model = model_path not in (MOCK_MODEL_PATH, '')
+    self.has_nn_model = CP_SP.neuralNetworkLateralControl.model.path != MOCK_MODEL_PATH

    # NN model takes current v_ego, lateral_accel, lat accel/jerk error, roll, and past/future/planned data
    # of lat accel and roll
    # Past value is computed using previous desired lat accel and observed roll
-    self.model = NNTorqueModel(model_path) if self.has_nn_model else None
+    self.model = NNTorqueModel(CP_SP.neuralNetworkLateralControl.model.path)

    self.pitch = FirstOrderFilter(0.0, 0.5, 0.01)
    self.pitch_last = 0.0
@@ -66,7 +64,6 @@ class NeuralNetworkLateralControl(LatControlTorqueJerkAware):
    return self.enabled and self.model_valid and self.has_nn_model

  def update_limits(self):
-    super().update_limits()
    if not self._nnlc_enabled:
      return

@@ -87,6 +84,13 @@ class NeuralNetworkLateralControl(LatControlTorqueJerkAware):
    self._ff += get_friction_in_torque_space(self._desired_lateral_accel - self._actual_lateral_accel, self._lateral_accel_deadzone,
                                             FRICTION_THRESHOLD, self.torque_params)

+  def update_output_torque(self, CS):
+    freeze_integrator = self._steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+    self._output_torque = self._pid.update(self._pid_log.error,
+                                           feedforward=self._ff,
+                                           speed=CS.vEgo,
+                                           freeze_integrator=freeze_integrator)
+
  def update_neural_network_feedforward(self, CS, params, calibrated_pose) -> None:
    if not self._nnlc_enabled:
      return
@@ -1,98 +0,0 @@
-"""
-Copyright (c) 2021-, rav4kumar, 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.
-"""
-import numpy as np
-
-from openpilot.common.constants import CV
-from openpilot.common.realtime import DT_MDL
-from openpilot.common.params import Params
-
-NEARSIDE_PROB = 0.2
-EDGE_PROB = 0.35
-EDGE_REACTION_TIME = 1.0
-EDGE_CLEAR_TIME = 0.3
-MIN_SPEED = 20 * CV.MPH_TO_MS
-VEHICLE_EDGE_MARGIN = 1.08
-EDGE_CLEARANCE = 3.7
-
-
-class RoadEdgeLaneChangeController:
-  def __init__(self):
-    self.params = Params()
-    self.enabled = self.params.get_bool("RoadEdgeLaneChangeEnabled")
-    self.param_read_counter = 0
-    self.left_edge_detected = False
-    self.right_edge_detected = False
-    self.left_edge_timer = 0.0
-    self.right_edge_timer = 0.0
-    self.left_clear_timer = 0.0
-    self.right_clear_timer = 0.0
-
-  def read_params(self) -> None:
-    self.enabled = self.params.get_bool("RoadEdgeLaneChangeEnabled")
-
-  def update_params(self) -> None:
-    if self.param_read_counter % 50 == 0:
-      self.read_params()
-    self.param_read_counter += 1
-
-  def reset(self) -> None:
-    self.left_edge_detected = False
-    self.right_edge_detected = False
-    self.left_edge_timer = 0.0
-    self.right_edge_timer = 0.0
-    self.left_clear_timer = 0.0
-    self.right_clear_timer = 0.0
-
-  def update(self, road_edge_stds, lane_line_probs, v_ego: float, road_edges=None) -> None:
-    self.update_params()
-
-    if not self.enabled or v_ego < MIN_SPEED:
-      self.reset()
-      return
-
-    left_edge_prob = np.clip(1.0 - road_edge_stds[0], 0.0, 1.0)
-    right_edge_prob = np.clip(1.0 - road_edge_stds[1], 0.0, 1.0)
-    left_lane_prob = lane_line_probs[0]
-    right_lane_prob = lane_line_probs[3]
-
-    if road_edges is not None and len(road_edges) == 2 and len(road_edges[0].y) > 0 and len(road_edges[1].y) > 0:
-      left_clearance = abs(road_edges[0].y[0]) - VEHICLE_EDGE_MARGIN
-      right_clearance = abs(road_edges[1].y[0]) - VEHICLE_EDGE_MARGIN
-    else:
-      left_clearance = 0.0
-      right_clearance = 0.0
-
-    left_cond = left_edge_prob > EDGE_PROB and left_lane_prob < NEARSIDE_PROB and left_clearance < EDGE_CLEARANCE
-    right_cond = right_edge_prob > EDGE_PROB and right_lane_prob < NEARSIDE_PROB and right_clearance < EDGE_CLEARANCE
-
-    if left_cond:
-      self.left_edge_timer = min(self.left_edge_timer + DT_MDL, EDGE_REACTION_TIME + EDGE_CLEAR_TIME)
-      self.left_clear_timer = 0.0
-      if self.left_edge_timer > EDGE_REACTION_TIME:
-        self.left_edge_detected = True
-    else:
-      self.left_clear_timer += DT_MDL
-      if self.left_clear_timer > EDGE_CLEAR_TIME:
-        self.left_edge_timer = 0.0
-        self.left_edge_detected = False
-
-    if right_cond:
-      self.right_edge_timer = min(self.right_edge_timer + DT_MDL, EDGE_REACTION_TIME + EDGE_CLEAR_TIME)
-      self.right_clear_timer = 0.0
-      if self.right_edge_timer > EDGE_REACTION_TIME:
-        self.right_edge_detected = True
-    else:
-      self.right_clear_timer += DT_MDL
-      if self.right_clear_timer > EDGE_CLEAR_TIME:
-        self.right_edge_timer = 0.0
-        self.right_edge_detected = False
-
-  def update_and_fill(self, modelv2, mdv2sp, v_ego):
-    self.update(modelv2.roadEdgeStds, modelv2.laneLineProbs, v_ego, modelv2.roadEdges)
-    mdv2sp.leftLaneChangeEdgeBlock = self.left_edge_detected
-    mdv2sp.rightLaneChangeEdgeBlock = self.right_edge_detected
-    return self.left_edge_detected, self.right_edge_detected
@@ -91,7 +91,7 @@ class SpeedLimitAssist:

    self._plus_hold = 0.
    self._minus_hold = 0.
-    self._release_toggle_prev = 0
+    self._last_carstate_ts = 0.

    # TODO-SP: SLA's own output_a_target for planner
    # Solution functions mapped to respective states
@@ -146,16 +146,16 @@ class SpeedLimitAssist:
      set_speed_limit_assist_availability(self.CP, self.CP_SP, self.params)
      self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist

-  def update_buttons(self, release_toggle: int) -> None:
-    released = self._release_toggle_prev ^ release_toggle
-    self._release_toggle_prev = release_toggle
-    if not released:
-      return
+  def update_car_state(self, CS: car.CarState) -> None:
    now = time.monotonic()
-    if any((released >> b) & 1 for b in CRUISE_BUTTONS_PLUS):
-      self._plus_hold = max(self._plus_hold, now + CRUISE_BUTTON_CONFIRM_HOLD)
-    if any((released >> b) & 1 for b in CRUISE_BUTTONS_MINUS):
-      self._minus_hold = max(self._minus_hold, now + CRUISE_BUTTON_CONFIRM_HOLD)
+    self._last_carstate_ts = now
+
+    for b in CS.buttonEvents:
+      if not b.pressed:
+        if b.type in CRUISE_BUTTONS_PLUS:
+          self._plus_hold = max(self._plus_hold, now + CRUISE_BUTTON_CONFIRM_HOLD)
+        elif b.type in CRUISE_BUTTONS_MINUS:
+          self._minus_hold = max(self._minus_hold, now + CRUISE_BUTTON_CONFIRM_HOLD)

  def _get_button_release(self, req_plus: bool, req_minus: bool) -> bool:
    now = time.monotonic()
@@ -5,14 +5,11 @@ 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 time
-
 import pytest

 from openpilot.cereal import custom
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.rivian.values import CAR as RIVIAN
-from opendbc.car.structs import car
 from opendbc.car.tesla.values import CAR as TESLA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from openpilot.common.constants import CV
@@ -24,13 +21,9 @@ from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfac
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist, \
-  PRE_ACTIVE_GUARD_PERIOD, ACTIVE_STATES, CRUISE_BUTTON_CONFIRM_HOLD
-from openpilot.sunnypilot.selfdrive.selfdrived.button_state_tracker import ButtonStateTracker
+  PRE_ACTIVE_GUARD_PERIOD, ACTIVE_STATES
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP

-ButtonEvent = car.CarState.ButtonEvent
-ButtonType = car.CarState.ButtonEvent.Type
-
 SpeedLimitAssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState

 ALL_STATES = tuple(SpeedLimitAssistState.schema.enumerants.values())
@@ -283,86 +276,3 @@ class TestSpeedLimitAssist:
        assert self.sla.state in [SpeedLimitAssistState.preActive, SpeedLimitAssistState.active]
      elif initial_state in ACTIVE_STATES:
        assert self.sla.state in ACTIVE_STATES
-
-
-class TestButtonStateTrackerSLAIntegration:
-
-  def setup_method(self, method):
-    self.tracker = ButtonStateTracker()
-    self.params = Params()
-    self.params.put("IsReleaseSpBranch", True, block=True)
-    self.params.put("SpeedLimitMode", int(Mode.assist), block=True)
-    self.params.put_bool("IsMetric", False, block=True)
-    self.params.put("SpeedLimitOffsetType", 0, block=True)
-    self.params.put("SpeedLimitValueOffset", 0, block=True)
-
-    CarInterface = interfaces[DEFAULT_CAR]
-    CP = CarInterface.get_non_essential_params(DEFAULT_CAR)
-    CP.openpilotLongitudinalControl = True
-    CP_SP = CarInterface.get_non_essential_params_sp(CP, DEFAULT_CAR)
-    self.sla = SpeedLimitAssist(CP, CP_SP)
-
-  def _make_cs(self, events=None) -> car.CarState:
-    CS = car.CarState()
-    CS.buttonEvents = events or []
-    return CS
-
-  def _run_ctrl_frames(self, frames: list[car.CarState]) -> None:
-    for cs in frames:
-      self.tracker.update(cs)
-
-  def test_button_confirm_via_tracker(self) -> None:
-    self._run_ctrl_frames([
-      self._make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=True)]),
-      self._make_cs(),
-      self._make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=False)]),
-      self._make_cs(),
-      self._make_cs(),
-    ])
-    self.sla.update_buttons(self.tracker.release_toggle)
-    assert self.sla._get_button_release(req_plus=True, req_minus=False)
-
-  def test_rapid_press_release_between_polls(self) -> None:
-    self.sla.update_buttons(self.tracker.release_toggle)
-
-    self._run_ctrl_frames([
-      self._make_cs([ButtonEvent(type=ButtonType.decelCruise, pressed=True)]),
-      self._make_cs([ButtonEvent(type=ButtonType.decelCruise, pressed=False)]),
-      self._make_cs(),
-      self._make_cs(),
-      self._make_cs(),
-    ])
-    self.sla.update_buttons(self.tracker.release_toggle)
-    assert self.sla._get_button_release(req_plus=False, req_minus=True)
-
-  def test_multiple_releases_between_polls(self) -> None:
-    self.sla.update_buttons(self.tracker.release_toggle)
-
-    self._run_ctrl_frames([
-      self._make_cs([
-        ButtonEvent(type=ButtonType.accelCruise, pressed=True),
-        ButtonEvent(type=ButtonType.decelCruise, pressed=True),
-      ]),
-      self._make_cs([
-        ButtonEvent(type=ButtonType.accelCruise, pressed=False),
-        ButtonEvent(type=ButtonType.decelCruise, pressed=False),
-      ]),
-    ])
-    self.sla.update_buttons(self.tracker.release_toggle)
-    assert self.sla._get_button_release(req_plus=True, req_minus=False)
-    assert self.sla._get_button_release(req_plus=False, req_minus=True)
-
-  def test_no_false_positive_same_toggle(self) -> None:
-    self.sla.update_buttons(self.tracker.release_toggle)
-    self.sla.update_buttons(self.tracker.release_toggle)
-    assert not self.sla._get_button_release(req_plus=True, req_minus=False)
-    assert not self.sla._get_button_release(req_plus=False, req_minus=True)
-
-  def test_button_confirm_expires(self) -> None:
-    self._run_ctrl_frames([
-      self._make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=True)]),
-      self._make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=False)]),
-    ])
-    self.sla.update_buttons(self.tracker.release_toggle)
-    time.sleep(CRUISE_BUTTON_CONFIRM_HOLD + 0.1)
-    assert not self.sla._get_button_release(req_plus=True, req_minus=False)
@@ -2,11 +2,10 @@ import pytest
 from openpilot.cereal import log, custom
 from openpilot.common.params import Params

-from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper, LaneChangeState, LaneChangeDirection
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController, LANE_CHANGE_SPEED_MIN
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode

-
 TurnDirection = custom.ModelDataV2SP.TurnDirection


@@ -110,17 +109,5 @@ def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, e
  dh = DesireHelper()
  dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
  for _ in range(10):
-    dh.update(carstate, lateral_active, lane_change_prob,
-              left_edge_detected=False, right_edge_detected=False)
-  assert dh.desire == expected_desire
-
-
-def test_edge_blocks_lane_change(set_lane_turn_params):
-  dh = DesireHelper()
-  dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
-  carstate = DummyCarState(vEgo=15, leftBlinker=True, steeringPressed=True, steeringTorque=1)
-  for _ in range(10):
-    dh.update(carstate, True, 1.0, left_edge_detected=True, right_edge_detected=False)
-  assert dh.lane_change_state == LaneChangeState.preLaneChange
-  assert dh.lane_change_direction == LaneChangeDirection.left
-  assert dh.desire == log.Desire.none
+    dh.update(carstate, lateral_active, lane_change_prob)
+  assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
@@ -1,108 +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.
-"""
-import numpy as np
-
-from openpilot.cereal import log, messaging
-from opendbc.car.structs import car
-from opendbc.car.car_helpers import interfaces
-from opendbc.car.honda.values import CAR as HONDA
-from opendbc.car.vehicle_model import VehicleModel
-from openpilot.common.params import Params
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car.helpers import convert_to_capnp
-from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
-from openpilot.selfdrive.locationd.helpers import Pose
-from openpilot.common.mock.generators import generate_livePose
-from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
-from openpilot.selfdrive.modeld.constants import ModelConstants
-
-
-def _make_controller(enhanced=False, nnlc=False):
-  params = Params()
-  params.put_bool("EnforceTorqueControl", True, block=True)
-  params.put_bool("LateralJerkTorqueController", enhanced, block=True)
-  params.put_bool("NeuralNetworkLateralControl", nnlc, block=True)
-
-  car_name = HONDA.HONDA_CIVIC
-  CarInterface = interfaces[car_name]
-  CP = CarInterface.get_non_essential_params(car_name)
-  CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
-  CI = CarInterface(CP, CP_SP)
-  sunnypilot_interfaces.setup_interfaces(CI, params)
-  CP_SP = convert_to_capnp(CP_SP)
-  VM = VehicleModel(CP)
-  controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI, DT_CTRL)
-  return controller, VM, CP
-
-
-def _make_model_v2():
-  model = messaging.new_message('modelV2')
-  position = log.XYZTData.new_message()
-  position.x = [float(x) for x in 30.0 * np.array(ModelConstants.T_IDXS)]
-  model.modelV2.position = position
-  orientation = log.XYZTData.new_message()
-  orientation.x = [0.0 for _ in ModelConstants.T_IDXS]
-  orientation.y = [0.0 for _ in ModelConstants.T_IDXS]
-  model.modelV2.orientation = orientation
-  velocity = log.XYZTData.new_message()
-  velocity.x = [30.0 for _ in ModelConstants.T_IDXS]
-  model.modelV2.velocity = velocity
-  acceleration = log.XYZTData.new_message()
-  acceleration.x = [0.0 for _ in ModelConstants.T_IDXS]
-  acceleration.y = [0.0 for _ in ModelConstants.T_IDXS]
-  model.modelV2.acceleration = acceleration
-  return model
-
-
-def _run_update(controller, VM):
-  CS = car.CarState.new_message()
-  CS.vEgo = 30
-  CS.steeringPressed = False
-  lp = generate_livePose()
-  pose = Pose.from_live_pose(lp.livePose)
-  params = log.LiveParametersData.new_message()
-  model_v2 = _make_model_v2().modelV2
-  controller.extension.update_model_v2(model_v2)
-  controller.extension.update_lateral_lag(0.2)
-  return controller.update(True, CS, VM, params, False, 0.5, pose, False, 0.2)
-
-
-class TestLatControlTorqueExt:
-  def test_init_enhanced_only(self):
-    controller, VM, _ = _make_controller(enhanced=True, nnlc=False)
-    assert controller.extension._jerk_aware_enabled
-    assert not controller.extension.enabled  # NNLC disabled
-
-  def test_init_nnlc_only(self):
-    controller, VM, _ = _make_controller(enhanced=False, nnlc=True)
-    assert not controller.extension._jerk_aware_enabled
-    assert controller.extension.enabled
-
-  def test_init_neither(self):
-    controller, VM, _ = _make_controller(enhanced=False, nnlc=False)
-    assert not controller.extension._jerk_aware_enabled
-    assert not controller.extension.enabled
-
-  def test_init_both_no_crash(self):
-    controller, VM, _ = _make_controller(enhanced=True, nnlc=True)
-    assert not controller.extension._jerk_aware_enabled
-    assert not controller.extension.enabled
-
-  def test_update_enhanced_only(self):
-    controller, VM, _ = _make_controller(enhanced=True, nnlc=False)
-    output_torque, _, pid_log = _run_update(controller, VM)
-    assert pid_log.active
-
-  def test_update_neither(self):
-    controller, VM, _ = _make_controller(enhanced=False, nnlc=False)
-    output_torque, _, pid_log = _run_update(controller, VM)
-    assert pid_log.active
-
-  def test_update_both_no_crash(self):
-    controller, VM, _ = _make_controller(enhanced=True, nnlc=True)
-    output_torque, _, pid_log = _run_update(controller, VM)
-    assert pid_log.active
@@ -1,169 +0,0 @@
-"""
-Copyright (c) 2021-, rav4kumar, 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.
-"""
-import pytest
-
-from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot.selfdrive.controls.lib.relc import (
-  RoadEdgeLaneChangeController, EDGE_REACTION_TIME, EDGE_CLEAR_TIME, MIN_SPEED,
-  VEHICLE_EDGE_MARGIN, EDGE_CLEARANCE,
-)
-
-V_HIGH = MIN_SPEED + 2.0
-V_LOW = MIN_SPEED - 1.0
-
-
-class MockEdge:
-  def __init__(self, y_val):
-    self.y = [y_val] * 33
-
-
-def edges(left_y, right_y):
-  return [MockEdge(left_y), MockEdge(right_y)]
-
-
-CLOSE_EDGES = edges(-2.0, 1.5)
-FAR_EDGES = edges(-10.0, 10.0)
-
-
-@pytest.fixture
-def relc(mocker):
-  mocker.patch("openpilot.sunnypilot.selfdrive.controls.lib.relc.Params")
-  controller = RoadEdgeLaneChangeController()
-  controller.enabled = True
-  return controller
-
-
-def drive(controller, road_edge_stds, lane_line_probs, seconds, v_ego=V_HIGH, road_edges=CLOSE_EDGES):
-  for _ in range(int(seconds / DT_MDL) + 1):
-    controller.update(road_edge_stds, lane_line_probs, v_ego, road_edges)
-
-
-@pytest.mark.parametrize("road_edge_stds,lane_line_probs,attr", [
-  ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], "left_edge_detected"),
-  ([0.9, 0.0], [0.8, 0.8, 0.8, 0.0], "right_edge_detected"),
-])
-def test_edge_detection(relc, road_edge_stds, lane_line_probs, attr):
-  drive(relc, road_edge_stds, lane_line_probs, EDGE_REACTION_TIME + 0.1)
-  assert getattr(relc, attr)
-
-
-def test_edge_detection_requires_time(relc):
-  drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME - 0.05)
-  assert not relc.left_edge_detected
-
-
-def test_both_edges_detected(relc):
-  drive(relc, [0.0, 0.0], [0.0, 0.8, 0.8, 0.0], EDGE_REACTION_TIME + 0.1)
-  assert relc.left_edge_detected
-  assert relc.right_edge_detected
-
-
-def test_noise_doesnt_clear(relc):
-  edge = ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8])
-  clear = ([0.9, 0.9], [0.8, 0.8, 0.8, 0.8])
-
-  drive(relc, *edge, EDGE_REACTION_TIME + 0.1)
-  assert relc.left_edge_detected
-
-  relc.update(*clear, V_HIGH, CLOSE_EDGES)
-  relc.update(*edge, V_HIGH, CLOSE_EDGES)
-  assert relc.left_edge_detected
-
-
-def test_clears_after_window(relc):
-  edge = ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8])
-  clear = ([0.9, 0.9], [0.8, 0.8, 0.8, 0.8])
-
-  drive(relc, *edge, EDGE_REACTION_TIME + 0.1)
-  assert relc.left_edge_detected
-
-  drive(relc, *clear, EDGE_CLEAR_TIME + 0.05)
-  assert not relc.left_edge_detected
-  assert relc.left_edge_timer == 0.0
-
-
-def test_low_speed_skips(relc):
-  drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1, v_ego=V_LOW)
-  assert not relc.left_edge_detected
-  assert relc.left_edge_timer == 0.0
-
-
-def test_speed_drop_resets(relc):
-  drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
-  assert relc.left_edge_detected
-
-  relc.update([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], V_LOW, CLOSE_EDGES)
-  assert not relc.left_edge_detected
-
-
-def test_param_off_resets(relc):
-  drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
-  assert relc.left_edge_detected
-
-  relc.params.get_bool.return_value = False
-  relc.read_params()
-  relc.update([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], V_HIGH, CLOSE_EDGES)
-  assert not relc.left_edge_detected
-  assert not relc.right_edge_detected
-
-
-def test_lane_line_prevents_detection(relc):
-  drive(relc, [0.0, 0.9], [0.8, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
-  assert not relc.left_edge_detected
-
-
-def test_one_side_blocks_other_allows(relc):
-  drive(relc, [0.9, 0.0], [0.8, 0.8, 0.8, 0.0], EDGE_REACTION_TIME + 0.1)
-  assert relc.right_edge_detected
-  assert not relc.left_edge_detected
-
-
-def test_disabled_no_detection(relc):
-  relc.enabled = False
-  relc.params.get_bool.return_value = False
-  drive(relc, [0.0, 0.0], [0.0, 0.8, 0.8, 0.0], EDGE_REACTION_TIME + 0.1)
-  assert not relc.left_edge_detected
-  assert not relc.right_edge_detected
-
-
-def test_far_edge_no_block(relc):
-  drive(relc, [0.0, 0.9], [0.05, 0.5, 0.5, 0.08], EDGE_REACTION_TIME + 0.1, road_edges=FAR_EDGES)
-  assert not relc.left_edge_detected
-
-
-def test_close_edge_blocks(relc):
-  drive(relc, [0.9, 0.0], [0.05, 0.8, 0.8, 0.05], EDGE_REACTION_TIME + 0.1,
-        road_edges=edges(-8.0, 1.5))
-  assert relc.right_edge_detected
-  assert not relc.left_edge_detected
-
-
-def test_wide_road_no_lines_no_block(relc):
-  drive(relc, [0.0, 0.0], [0.05, 0.4, 0.4, 0.05], EDGE_REACTION_TIME + 0.1,
-        road_edges=edges(-8.0, 8.0))
-  assert not relc.left_edge_detected
-  assert not relc.right_edge_detected
-
-
-def test_narrow_road_both_block(relc):
-  drive(relc, [0.0, 0.0], [0.02, 0.4, 0.4, 0.02], EDGE_REACTION_TIME + 0.1,
-        road_edges=edges(-2.5, 2.5))
-  assert relc.left_edge_detected
-  assert relc.right_edge_detected
-
-
-def test_clearance_boundary(relc):
-  boundary = VEHICLE_EDGE_MARGIN + EDGE_CLEARANCE  # 4.78m
-  drive(relc, [0.0, 0.9], [0.05, 0.5, 0.5, 0.08], EDGE_REACTION_TIME + 0.1,
-        road_edges=edges(-(boundary - 0.1), 10.0))
-  assert relc.left_edge_detected
-
-  relc.reset()
-
-  drive(relc, [0.0, 0.9], [0.05, 0.5, 0.5, 0.08], EDGE_REACTION_TIME + 0.1,
-        road_edges=edges(-(boundary + 0.1), 10.0))
-  assert not relc.left_edge_detected
@@ -1,26 +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.
-"""
-from opendbc.car import structs
-
-
-class ButtonStateTracker:
-  def __init__(self) -> None:
-    self.pressed: int = 0
-    self.release_toggle: int = 0
-
-  def update(self, CS: structs.CarState) -> None:
-    for b in CS.buttonEvents:
-      bit = 1 << b.type.raw
-      if b.pressed:
-        self.pressed |= bit
-      else:
-        self.pressed &= ~bit
-        self.release_toggle ^= bit
-
-  def publish(self, ss_sp) -> None:
-    ss_sp.buttonsPressed = self.pressed
-    ss_sp.buttonsReleaseToggle = self.release_toggle
@@ -244,12 +244,4 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
      AlertStatus.normal, AlertSize.none,
      Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
  },
-
-  EventNameSP.laneChangeRoadEdge: {
-    ET.WARNING: Alert(
-      "Lane Change Unavailable: Road Edge",
-      "",
-      AlertStatus.userPrompt, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.1),
-  },
 }
@@ -1,67 +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.
-"""
-from opendbc.car.structs import car
-from openpilot.sunnypilot.selfdrive.selfdrived.button_state_tracker import ButtonStateTracker
-
-ButtonEvent = car.CarState.ButtonEvent
-ButtonType = car.CarState.ButtonEvent.Type
-
-
-class TestButtonStateTracker:
-  def setup_method(self) -> None:
-    self.tracker = ButtonStateTracker()
-
-  def make_cs(self, events: list) -> car.CarState:
-    CS = car.CarState()
-    CS.buttonEvents = events
-    return CS
-
-  def test_initial_state(self) -> None:
-    assert self.tracker.pressed == 0
-    assert self.tracker.release_toggle == 0
-
-  def test_press_sets_bit(self) -> None:
-    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=True)]))
-    assert self.tracker.pressed == (1 << ButtonType.accelCruise)
-    assert self.tracker.release_toggle == 0
-
-  def test_release_clears_and_toggles(self) -> None:
-    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=True)]))
-    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=False)]))
-    assert self.tracker.pressed == 0
-    assert self.tracker.release_toggle == (1 << ButtonType.accelCruise)
-
-  def test_multiple_buttons(self) -> None:
-    self.tracker.update(self.make_cs([
-      ButtonEvent(type=ButtonType.accelCruise, pressed=True),
-      ButtonEvent(type=ButtonType.decelCruise, pressed=True),
-    ]))
-    assert self.tracker.pressed == (1 << ButtonType.accelCruise) | (1 << ButtonType.decelCruise)
-
-    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=False)]))
-    assert self.tracker.pressed == (1 << ButtonType.decelCruise)
-    assert self.tracker.release_toggle == (1 << ButtonType.accelCruise)
-
-  def test_release_toggle_flips(self) -> None:
-    for _ in range(2):
-      self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.gapAdjustCruise, pressed=True)]))
-      self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.gapAdjustCruise, pressed=False)]))
-    assert self.tracker.release_toggle == 0
-
-  def test_publish(self) -> None:
-    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=True)]))
-    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.decelCruise, pressed=True)]))
-    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=False)]))
-
-    class MockSP:
-      buttonsPressed = 0
-      buttonsReleaseToggle = 0
-
-    sp = MockSP()
-    self.tracker.publish(sp)
-    assert sp.buttonsPressed == self.tracker.pressed
-    assert sp.buttonsReleaseToggle == self.tracker.release_toggle
@@ -323,32 +323,6 @@
                "equals": true
              },
              "items": [
-                {
-                  "key": "LateralJerkTorqueController",
-                  "widget": "toggle",
-                  "title": "Lateral Jerk Torque Controller",
-                  "description": "Looks ahead at planned steering to reduce sudden corrections, so the wheel moves more smoothly through turns. Works with Self-Tune and custom tuning. Thanks to @twilsonco for the implementation.",
-                  "visibility": [
-                    {
-                      "type": "not",
-                      "condition": {
-                        "type": "capability",
-                        "field": "steer_control_type",
-                        "equals": "angle"
-                      }
-                    }
-                  ],
-                  "enablement": [
-                    {
-                      "type": "offroad_only"
-                    },
-                    {
-                      "type": "param",
-                      "key": "NeuralNetworkLateralControl",
-                      "equals": false
-                    }
-                  ]
-                },
                {
                  "key": "LiveTorqueParamsToggle",
                  "widget": "toggle",
@@ -545,12 +519,6 @@
                }
              ]
            },
-            {
-              "key": "RoadEdgeLaneChangeEnabled",
-              "widget": "toggle",
-              "title": "Block Lane Change: Road Edge Detection",
-              "description": "Blocks lane change when the model sees a road edge on the side you signal."
-            },
            {
              "key": "AutoLaneChangeBsmDelay",
              "widget": "toggle",
@@ -1292,67 +1260,6 @@
                  "label": "2 m"
                }
              ]
-            },
-            {
-              "key": "ScreenSaverEnabled",
-              "widget": "toggle",
-              "title": "Screen Saver",
-              "description": "Show a screen saver when the device is offroad and idle, instead of turning the screen off."
-            },
-            {
-              "key": "ScreenSaverTimeout",
-              "widget": "multiple_button",
-              "title": "Screen Saver Duration",
-              "description": "How long the screen saver runs before the screen turns off.",
-              "options": [
-                {
-                  "value": 60,
-                  "label": "1 m"
-                },
-                {
-                  "value": 120,
-                  "label": "2 m"
-                },
-                {
-                  "value": 180,
-                  "label": "3 m"
-                },
-                {
-                  "value": 240,
-                  "label": "4 m"
-                },
-                {
-                  "value": 300,
-                  "label": "5 m"
-                },
-                {
-                  "value": 360,
-                  "label": "6 m"
-                },
-                {
-                  "value": 420,
-                  "label": "7 m"
-                },
-                {
-                  "value": 480,
-                  "label": "8 m"
-                },
-                {
-                  "value": 540,
-                  "label": "9 m"
-                },
-                {
-                  "value": 600,
-                  "label": "10 m"
-                }
-              ],
-              "enablement": [
-                {
-                  "type": "param",
-                  "key": "ScreenSaverEnabled",
-                  "equals": true
-                }
-              ]
            }
          ]
        }
@@ -2130,11 +2037,6 @@
                  "type": "param",
                  "key": "EnforceTorqueControl",
                  "equals": false
-                },
-                {
-                  "type": "param",
-                  "key": "LateralJerkTorqueController",
-                  "equals": false
                }
              ]
            }
@@ -2259,42 +2161,6 @@
              "type": "offroad_only"
            }
          ]
-        },
-        {
-          "key": "TeslaMadsScreenButton",
-          "widget": "multiple_button",
-          "title": "MADS Screen Activation",
-          "description": "Use a multi-finger press on the infotainment screen to toggle MADS. This allows the use of full MADS functionality when enabled. Selecting a higher finger count may reduce accidental activations. Note: Setting this to Off will reset your MADS settings to default.",
-          "options": [
-            {
-              "value": 0,
-              "label": "Off"
-            },
-            {
-              "value": 1,
-              "label": "3-Finger"
-            },
-            {
-              "value": 2,
-              "label": "4-Finger"
-            },
-            {
-              "value": 3,
-              "label": "5-Finger"
-            }
-          ],
-          "visibility": [
-            {
-              "type": "capability",
-              "field": "tesla_has_vehicle_bus",
-              "equals": true
-            }
-          ],
-          "enablement": [
-            {
-              "type": "offroad_only"
-            }
-          ]
        }
      ]
    },
@@ -128,36 +128,3 @@ sections:
      label: 1 m
    - value: 120
      label: 2 m
-  - key: ScreenSaverEnabled
-    widget: toggle
-    title: Screen Saver
-    description: Show a screen saver when the device is offroad and idle, instead of turning the screen off.
-  - key: ScreenSaverTimeout
-    widget: multiple_button
-    title: Screen Saver Duration
-    description: How long the screen saver runs before the screen turns off.
-    options:
-    - value: 60
-      label: 1 m
-    - value: 120
-      label: 2 m
-    - value: 180
-      label: 3 m
-    - value: 240
-      label: 4 m
-    - value: 300
-      label: 5 m
-    - value: 360
-      label: 6 m
-    - value: 420
-      label: 7 m
-    - value: 480
-      label: 8 m
-    - value: 540
-      label: 9 m
-    - value: 600
-      label: 10 m
-    enablement:
-    - type: param
-      key: ScreenSaverEnabled
-      equals: true
@@ -73,9 +73,6 @@ sections:
    - type: param
      key: EnforceTorqueControl
      equals: false
-    - type: param
-      key: LateralJerkTorqueController
-      equals: false
 - id: camera
  title: Camera
  description: Camera position and calibration
@@ -127,21 +127,6 @@ sections:
      key: EnforceTorqueControl
      equals: true
    items:
-    - key: LateralJerkTorqueController
-      widget: toggle
-      title: Lateral Jerk Torque Controller
-      description: Looks ahead at planned steering to reduce sudden corrections, so the wheel moves more smoothly through turns. Works with Self-Tune and custom tuning. Thanks to @twilsonco for the implementation.
-      visibility:
-      - type: not
-        condition:
-          type: capability
-          field: steer_control_type
-          equals: angle
-      enablement:
-      - $ref: '#/macros/offroad'
-      - type: param
-        key: NeuralNetworkLateralControl
-        equals: false
    - key: LiveTorqueParamsToggle
      widget: toggle
      title: Self-Tune
@@ -257,10 +242,6 @@ sections:
      label: 2 seconds
    - value: 5
      label: 3 seconds
-  - key: RoadEdgeLaneChangeEnabled
-    widget: toggle
-    title: 'Block Lane Change: Road Edge Detection'
-    description: Blocks lane change when the model sees a road edge on the side you signal.
  - key: AutoLaneChangeBsmDelay
    widget: toggle
    title: 'Auto Lane Change: Delay with Blind Spot'
@@ -56,28 +56,6 @@ sections:
    title: Cooperative Steering (Beta)
    enablement:
    - $ref: '#/macros/offroad'
-  - key: TeslaMadsScreenButton
-    widget: multiple_button
-    title: MADS Screen Activation
-    description: 'Use a multi-finger press on the infotainment screen to toggle MADS.
-      This allows the use of full MADS functionality when enabled. Selecting a higher
-      finger count may reduce accidental activations. Note: Setting this to Off will
-      reset your MADS settings to default.'
-    options:
-    - value: 0
-      label: 'Off'
-    - value: 1
-      label: 3-Finger
-    - value: 2
-      label: 4-Finger
-    - value: 3
-      label: 5-Finger
-    visibility:
-    - type: capability
-      field: tesla_has_vehicle_bus
-      equals: true
-    enablement:
-    - $ref: '#/macros/offroad'
 - id: toyota
  title: Toyota / Lexus Settings
  description: ''
@@ -257,26 +257,20 @@ class TestKnownPanels:
    assert "mads_settings" in sub_ids

  def test_mutual_exclusion_torque_nnlc(self, schema):
-    """EnforceTorqueControl, EnhancedLatAccel, and NNLC must reference each other in enablement."""
-    torque = nnlc = enhanced = None
+    """EnforceTorqueControl and NNLC must reference each other in enablement."""
+    torque = nnlc = None
    for panel in schema["panels"]:
      for item in _iter_panel_items(panel):
        if item["key"] == "EnforceTorqueControl":
          torque = item
        elif item["key"] == "NeuralNetworkLateralControl":
          nnlc = item
-        elif item["key"] == "LateralJerkTorqueController":
-          enhanced = item
    assert torque is not None, "EnforceTorqueControl item missing"
    assert nnlc is not None, "NeuralNetworkLateralControl item missing"
-    assert enhanced is not None, "LateralJerkTorqueController item missing"
    torque_enable_keys = {r.get("key") for r in torque.get("enablement", []) if r.get("type") == "param"}
    assert "NeuralNetworkLateralControl" in torque_enable_keys
    nnlc_enable_keys = {r.get("key") for r in nnlc.get("enablement", []) if r.get("type") == "param"}
    assert "EnforceTorqueControl" in nnlc_enable_keys
-    assert "LateralJerkTorqueController" in nnlc_enable_keys
-    enhanced_enable_keys = {r.get("key") for r in enhanced.get("enablement", []) if r.get("type") == "param"}
-    assert "NeuralNetworkLateralControl" in enhanced_enable_keys


 class TestKnownVehicleSettings:
@@ -17,26 +17,6 @@ ONROAD_BRIGHTNESS_TIMER_VALUES = {0: 3, 1: 5, 2: 7, 3: 10, 4: 15, 5: 30, **{i: (
 VALID_TIMER_VALUES = set(ONROAD_BRIGHTNESS_TIMER_VALUES.values())


-def _resolve_brand(_params) -> str:
-  bundle = _params.get("CarPlatformBundle")
-  if isinstance(bundle, dict) and bundle.get("brand"):
-    return str(bundle["brand"])
-
-  # Auto-fingerprinted cars have no bundle, fall back to the last known CarParams.
-  CP_bytes = _params.get("CarParamsPersistent")
-  if CP_bytes is None:
-    return ""
-
-  # Never raises: callers rely on "" to mean "brand unknown, skip the migration".
-  try:
-    from openpilot.cereal import messaging  # lazy: avoids heavy import at module level
-    from opendbc.car.structs import car
-    return str(messaging.log_from_bytes(CP_bytes, car.CarParams).brand)
-  except Exception as e:
-    cloudlog.exception(f"params_migration: failed to resolve brand from CarParamsPersistent: {e}")
-    return ""
-
-
 def _migrate_car_platform_bundle(_params):
  bundle = _params.get("CarPlatformBundle")
  if bundle is None:
@@ -67,23 +47,6 @@ def _migrate_car_platform_bundle(_params):
  cloudlog.info(f"params_migration: CarPlatformBundle migrated {old_platform!r} -> {new_platform!r}")


-def _migrate_tesla_mads_screen_button(_params):
-  # TeslaMadsScreenButton defaults to Off for fresh installs, but the screen button was previously always
-  # active on Teslas with a vehicle bus. Seed existing Tesla installs with 3-finger to preserve that.
-  try:
-    if _params.get("TeslaMadsScreenButton") is not None:
-      return
-
-    if _resolve_brand(_params) != "tesla":
-      return
-
-    from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType  # lazy: avoids heavy import at module level
-    _params.put("TeslaMadsScreenButton", MadsScreenButtonType.THREE_FINGER, block=True)
-    cloudlog.info("params_migration: seeded TeslaMadsScreenButton with 3-finger to preserve existing behavior")
-  except Exception as e:
-    cloudlog.exception(f"Error migrating TeslaMadsScreenButton: {e}")
-
-
 def run_migration(_params):
  # migrate OnroadScreenOffBrightness
  if _params.get("OnroadScreenOffBrightnessMigrated") != ONROAD_BRIGHTNESS_MIGRATION_VERSION:
@@ -117,6 +80,3 @@ def run_migration(_params):
      cloudlog.exception(f"Error migrating OnroadScreenOffTimer: {e}")

  _migrate_car_platform_bundle(_params)
-
-  # seed TeslaMadsScreenButton for existing Tesla installs
-  _migrate_tesla_mads_screen_button(_params)
@@ -1,21 +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.
-"""
-
-import os
-
-SUNNYPILOT_CAR_SEGMENTS_REPO = os.environ.get("SUNNYPILOT_CAR_SEGMENTS_REPO",
-                                               "https://huggingface.co/datasets/sunnypilot/sunnypilotCarSegments")
-SUNNYPILOT_CAR_SEGMENTS_BRANCH = os.environ.get("SUNNYPILOT_CAR_SEGMENTS_BRANCH", "main")
-
-
-def get_url(route, segment, file="rlog.zst"):
-  return f"{SUNNYPILOT_CAR_SEGMENTS_REPO}/resolve/{SUNNYPILOT_CAR_SEGMENTS_BRANCH}/segments/{route.replace('|', '/')}/{segment}/{file}"
-
-
-def sunnypilot_car_segments_source(sr, seg_idxs, fns, /):
-  from openpilot.tools.lib.file_sources import eval_source
-  return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs})
@@ -1,68 +0,0 @@
-#!/usr/bin/env python3
-"""
-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.
-"""
-
-import argparse
-import os
-import tempfile
-
-import requests
-from huggingface_hub import HfApi
-from tqdm import tqdm
-
-from openpilot.tools.lib.route import Route
-
-REPO_ID = os.environ.get("SUNNYPILOT_CAR_SEGMENTS_REPO_ID", "sunnypilot/sunnypilotCarSegments")
-
-
-def upload_route(route_name: str, dry_run: bool = False) -> None:
-  route = Route(route_name)
-  log_paths = route.log_paths()
-  valid_segments = [(i, url) for i, url in enumerate(log_paths) if url is not None]
-
-  print(f"Route: {route_name}")
-  print(f"Segments: {len(valid_segments)}/{len(log_paths)}")
-
-  if not valid_segments:
-    print("No segments found.")
-    return
-
-  api = HfApi()
-
-  with tempfile.TemporaryDirectory() as tmpdir:
-    for seg_idx, url in tqdm(valid_segments, desc="Uploading"):
-      filename = url.split("?")[0].rsplit("/", 1)[-1]
-      local_path = os.path.join(tmpdir, f"{seg_idx}_{filename}")
-      resp = requests.get(url, stream=True)
-      resp.raise_for_status()
-      with open(local_path, "wb") as f:
-        for chunk in resp.iter_content(chunk_size=8192):
-          f.write(chunk)
-
-      repo_path = f"segments/{route_name.replace('|', '/')}/{seg_idx}/{filename}"
-
-      if dry_run:
-        size_mb = os.path.getsize(local_path) / 1024 / 1024
-        print(f"  [{seg_idx}] {size_mb:.1f} MB -> {repo_path}")
-      else:
-        api.upload_file(
-          path_or_fileobj=local_path,
-          path_in_repo=repo_path,
-          repo_id=REPO_ID,
-          repo_type="dataset",
-        )
-
-  print("Done.")
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="Upload route rlogs to sunnypilot HuggingFace dataset")
-  parser.add_argument("route", help="Route ID (e.g. 5beb9b58bd12b691/0000010a--a51155e496)")
-  parser.add_argument("--dry-run", action="store_true", help="Download and show sizes without uploading")
-  args = parser.parse_args()
-
-  upload_route(args.route, dry_run=args.dry_run)
@@ -88,7 +88,7 @@ def use_sunnylink_uploader_shim(started, params, CP: car.CarParams) -> bool:
  return use_sunnylink_uploader(params)

 def is_tinygrad_model(started, params, CP: car.CarParams) -> bool:
-  """Check if the active model runner is tinygrad."""
+  """Check if the active model runner is SNPE."""
  return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.tinygrad)

 def is_stock_model(started, params, CP: car.CarParams) -> bool:
@@ -1,118 +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.
-"""
-import os
-import time
-
-import pyray as rl
-
-from openpilot.common.hardware import HARDWARE
-from openpilot.common.params import Params
-from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.widgets import Widget
-
-
-class ScreenSaverSP(Widget):
-  def __init__(self, params: Params | None = None):
-    super().__init__()
-    self.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
-    self._params = params or Params()
-    self._is_mici = HARDWARE.get_device_type() == 'mici' or (HARDWARE.get_device_type() == "pc" and os.getenv("BIG") != "1")
-
-    self.x = 0.0
-    self.y = 100.0
-    self.vx = 120.0 if self._is_mici else 300.0
-    self.vy = 70.0 if self._is_mici else 200.0
-    self._hue = 150
-    self.color = rl.color_from_hsv(self._hue, 1, 1)
-
-    self.text = "sunnypilot"
-    self.font_size = 50 if self._is_mici else 200
-    self._start_time = None
-    self._dismiss = False
-    self._screensaver_timeout = 300
-    self._hit_last_frame = False
-
-  @property
-  def is_active(self) -> bool:
-    return self._start_time is not None and not self._dismiss
-
-  @property
-  def was_dismissed(self) -> bool:
-    return self._dismiss
-
-  def initialize(self):
-    self._screensaver_timeout = self._params.get("ScreenSaverTimeout", return_default=True)
-    if self._start_time is None:
-      self._start_time = time.monotonic()
-    self._dismiss = False
-
-  def hide_event(self):
-    super().hide_event()
-    self._dismiss = False
-    self._start_time = None
-
-  def _handle_mouse_release(self, mouse_pos):
-    self._dismiss = True
-    self._start_time = None
-    gui_app.pop_widget()
-    return super()._handle_mouse_release(mouse_pos)
-
-  def _update_state(self):
-    super()._update_state()
-
-    self.font = gui_app.font(FontWeight.AUDIOWIDE)
-    text_size = measure_text_cached(self.font, self.text, self.font_size, 0)
-    self.logo_width = text_size.x
-    self.logo_height = text_size.y
-
-    if self._start_time and time.monotonic() - self._start_time > self._screensaver_timeout:
-      self._dismiss = True
-      self._start_time = None
-
-    dt = rl.get_frame_time()
-
-    self.x += self.vx * dt
-    self.y += self.vy * dt
-
-    hit_x = hit_y = False
-    if self.x + self.logo_width > self.rect.width:
-      self.vx *= -1
-      self.x = self.rect.width - self.logo_width
-      hit_x = True
-    elif self.x < 0:
-      self.vx *= -1
-      self.x = 0
-      hit_x = True
-
-    if self.y + self.logo_height > self.rect.height:
-      self.vy *= -1
-      self.y = self.rect.height - self.logo_height
-      hit_y = True
-    elif self.y < 0:
-      self.vy *= -1
-      self.y = 0
-      hit_y = True
-
-    hit = hit_x or hit_y
-    if hit and not self._hit_last_frame:
-      while self._hue_dist((new_hue := rl.get_random_value(0, 360)), self._hue) < 120:
-        pass
-      self._hue = new_hue
-      self.color = rl.color_from_hsv(self._hue, 1, 1)
-    self._hit_last_frame = hit
-
-  @staticmethod
-  def _hue_dist(a, b):
-    d = abs(a - b)
-    return min(d, 360 - d)
-
-  def _render(self, rect: rl.Rectangle):
-    self.set_rect(rect)
-    rl.clear_background(rl.BLACK)
-    rl.draw_text_ex(self.font, self.text, rl.Vector2(int(self.x), int(self.y)), self.font_size, 0, self.color)
-    return -1
@@ -22,8 +22,6 @@ from openpilot.tools.lib.file_sources import comma_api_source, internal_source,
 from openpilot.tools.lib.route import SegmentRange, FileName
 from openpilot.tools.lib.log_time_series import msgs_to_time_series

-from openpilot.sunnypilot.tools.lib.sunnypilot_car_segments import sunnypilot_car_segments_source
-
 LogMessage = type[capnp._DynamicStructReader]
 LogIterable = Iterable[LogMessage]
 RawLogIterable = Iterable[bytes]
@@ -248,7 +246,7 @@ class LogReader:
  def __init__(self, identifier: str | list[str], default_mode: ReadMode = ReadMode.RLOG,
               sources: list[Source] | None = None, sort_by_time=False, only_union_types=False):
    if sources is None:
-      sources = [internal_source, comma_api_source, openpilotci_source, comma_car_segments_source, sunnypilot_car_segments_source]
+      sources = [internal_source, comma_api_source, openpilotci_source, comma_car_segments_source]

    self.default_mode = default_mode
    self.sources = sources
@@ -75,7 +75,6 @@ testing = [
 ]

 dev = [
-  "huggingface_hub",
  "matplotlib",
 ]

@@ -0,0 +1,30 @@
+#!/usr/bin/env bash
+set -e
+
+SCRIPT_DIR=$(dirname "$0")
+OPENPILOT_DIR=$SCRIPT_DIR/../../
+
+DOCKER_IMAGE=sunnypilot
+DOCKER_FILE=Dockerfile.openpilot
+DOCKER_REGISTRY=ghcr.io/sunnypilot
+COMMIT_SHA=$(git rev-parse HEAD)
+
+if [ -n "$TARGET_ARCHITECTURE" ]; then
+  PLATFORM="linux/$TARGET_ARCHITECTURE"
+  TAG_SUFFIX="-$TARGET_ARCHITECTURE"
+else
+  PLATFORM="linux/$(uname -m)"
+  TAG_SUFFIX=""
+fi
+
+LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX
+REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG
+REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA
+
+DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
+
+if [ -n "$PUSH_IMAGE" ]; then
+  docker push $REMOTE_TAG
+  docker tag $REMOTE_TAG $REMOTE_SHA_TAG
+  docker push $REMOTE_SHA_TAG
+fi
@@ -5,19 +5,6 @@ requires-python = ">=3.12.3, <3.13"
 [manifest]
 overrides = [{ name = "opendbc", editable = "opendbc_repo" }]

-[[package]]
-name = "anyio"
-version = "4.14.2"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "idna" },
-    { name = "typing-extensions" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/61/cc/a381afa6efea9f496eff839d4a6a1aed3bfafc7b3ab4b0d1b243a12573dd/anyio-4.14.2.tar.gz", hash = "sha256:cfa139f3ed1a23ee8f88a145ddb5ac7605b8bbfd8592baacd7ce3d8bb4313c7f", size = 260176, upload-time = "2026-07-12T20:29:07.082Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/da/35/f2287558c17e29fafc8ef3daf819bb9834061cfa43bff8014f7df7f63bdc/anyio-4.14.2-py3-none-any.whl", hash = "sha256:9f505dda5ac9f0c8309b5e8bd445a8c2bf7246f3ce950121e45ea15bc41d1494", size = 125813, upload-time = "2026-07-12T20:29:05.763Z" },
-]
-
 [[package]]
 name = "attrs"
 version = "26.1.0"
@@ -408,15 +395,6 @@ wheels = [
    { url = "https://files.pythonhosted.org/packages/ab/84/02fc1827e8cdded4aa65baef11296a9bbe595c474f0d6d758af082d849fd/execnet-2.1.2-py3-none-any.whl", hash = "sha256:67fba928dd5a544b783f6056f449e5e3931a5c378b128bc18501f7ea79e296ec", size = 40708, upload-time = "2025-11-12T09:56:36.333Z" },
 ]

-[[package]]
-name = "filelock"
-version = "3.32.2"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/f6/57/3ba6e6cb097f85b855b00163d169f35365f44277df044dcf96d55b8f62a3/filelock-3.32.2.tar.gz", hash = "sha256:c33351e1f49cae33414acbc6d56784e6ecee82514ec90795da1161fc4836b5b8", size = 217172, upload-time = "2026-07-29T22:46:04.895Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/c1/e8/72f8cef9fdfeffe06213fe8508039396ee48daa0e3259457ed766173bfd6/filelock-3.32.2-py3-none-any.whl", hash = "sha256:87dd94cf281e586d135fa51132b8e3d9a598b316e90377a288663c9321036c82", size = 98830, upload-time = "2026-07-29T22:46:03.52Z" },
-]
-
 [[package]]
 name = "fonttools"
 version = "4.63.0"
@@ -434,88 +412,6 @@ wheels = [
    { url = "https://files.pythonhosted.org/packages/2c/47/c99d5268f354002ce80f8d029cd9d7d872969da1de8b93d32de4dc56d6f4/fonttools-4.63.0-py3-none-any.whl", hash = "sha256:445af2eab030a16b9171ea8bdda7ebf7d96bda2df88ee182a464252f6e05e20d", size = 1164562, upload-time = "2026-05-14T12:04:29.092Z" },
 ]

-[[package]]
-name = "fsspec"
-version = "2026.7.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/00/78/f34251dadb8f3921264a1d9b8946f5e542014ee2614b285261b4e40e6775/fsspec-2026.7.0.tar.gz", hash = "sha256:c803c40f4cf860b49dea58ee3e1c33cb9c790520e233537e1340049f89b82a88", size = 317040, upload-time = "2026-07-28T16:34:51.052Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/fd/3c/6a2bf344106328fd04963664a60b9bb6496fc25df8e962fcdc1367285fb9/fsspec-2026.7.0-py3-none-any.whl", hash = "sha256:b57ddbafedfaef7018c1ecab32aa200a9d7ca26b77965f64e48b70061249d279", size = 206583, upload-time = "2026-07-28T16:34:49.538Z" },
-]
-
-[[package]]
-name = "h11"
-version = "0.16.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/01/ee/02a2c011bdab74c6fb3c75474d40b3052059d95df7e73351460c8588d963/h11-0.16.0.tar.gz", hash = "sha256:4e35b956cf45792e4caa5885e69fba00bdbc6ffafbfa020300e549b208ee5ff1", size = 101250, upload-time = "2025-04-24T03:35:25.427Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/04/4b/29cac41a4d98d144bf5f6d33995617b185d14b22401f75ca86f384e87ff1/h11-0.16.0-py3-none-any.whl", hash = "sha256:63cf8bbe7522de3bf65932fda1d9c2772064ffb3dae62d55932da54b31cb6c86", size = 37515, upload-time = "2025-04-24T03:35:24.344Z" },
-]
-
-[[package]]
-name = "hf-xet"
-version = "1.6.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/1b/ab/522a2ab67f27971a9d48ca666d4fca85ef7d5282d142e31fd087e27b1bbe/hf_xet-1.6.0.tar.gz", hash = "sha256:2e58454a340b3556dfa4972d5451aff4fba8dd42a236600ba1a1d2b1514f0fef", size = 920527, upload-time = "2026-08-03T22:33:13.243Z" }
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Author	SHA1	Message	Date
nayan	2a8a6607de	fix paths	2026-07-25 20:22:21 -04:00
nayan	6d47f03160	Merge remote-tracking branch 'origin/deep-rl-maybe' into deep-rl	2026-07-25 20:01:35 -04:00
nayan	273eb9f997	whatever	2026-07-25 18:30:29 -04:00
nayan	e143888eb1	realize. that i don't know shit	2026-07-25 18:08:17 -04:00
nayan	8092f13438	read/open - what's the difference	2026-07-25 17:43:59 -04:00
nayan	a87788b65c	Merge remote-tracking branch 'origin/deep-rl-maybe' into deep-rl-maybe	2026-07-25 17:29:35 -04:00
nayan	4cbe97fd20	hmmmm	2026-07-25 17:29:18 -04:00
Nayan	98254867a9	fuck. i AM blind. or dumb. or both.	2026-07-25 16:49:07 -04:00
Nayan	bee1cdd45d	i might be blind	2026-07-25 16:47:01 -04:00
nayan	91e40b80d8	wtf. ghostwriter	2026-07-25 16:34:01 -04:00
nayan	110568a9d1	it's a supercombo	2026-07-25 16:28:47 -04:00
nayan	bb1b9a27d8	Merge remote-tracking branch 'origin/master' into deep-rl # Conflicts: # openpilot/sunnypilot/modeld_v2/compile_modeld.py # openpilot/sunnypilot/modeld_v2/modeld.py # openpilot/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py # openpilot/sunnypilot/modeld_v2/tests/test_warp.py # openpilot/sunnypilot/modeld_v2/warp.py # openpilot/sunnypilot/models/manager.py # openpilot/sunnypilot/models/runners/helpers.py # openpilot/sunnypilot/models/runners/model_runner.py # openpilot/sunnypilot/models/runners/tinygrad/model_types.py # openpilot/sunnypilot/models/runners/tinygrad/tinygrad_runner.py # sunnypilot/models/helpers.py	2026-07-25 16:12:52 -04:00
nayan	76b21c72cf	i don't know what i'm doing	2026-07-25 16:08:15 -04:00
discountchubbs	70424bd661	oopsie	2026-06-12 04:08:47 -07:00
discountchubbs	d215eab1d4	deeeeep	2026-06-12 03:49:03 -07:00
discountchubbs	91316c8cb5	simplify	2026-06-12 03:38:33 -07:00
discountchubbs	fa284be7e6	bye metadata	2026-06-12 03:12:13 -07:00
discountchubbs	6e7d9e5e52	done done done	2026-06-07 11:37:30 -07:00
James Vecellio-Grant	a4a7c2335d	Merge branch 'compile-modeld-defluff' into deep-rl	2026-06-07 19:54:47 +02:00
James Vecellio-Grant	ae573c7c3f	Update compile_modeld.py	2026-06-07 10:52:39 -07:00
discountchubbs	7d7b6ee306	i could	2026-06-07 10:32:55 -07:00
discountchubbs	6a4c59c3e0	needed	2026-06-07 10:22:07 -07:00
discountchubbs	fb5cb7a1cc	i could lie say	2026-06-07 10:06:02 -07:00
discountchubbs	049dfd2eaa	Update compile_modeld.py	2026-06-07 09:47:40 -07:00
discountchubbs	be20848487	Update compile_modeld.py	2026-06-07 04:17:14 -07:00
discountchubbs	cdd232b606	Merge branch 'deep-rl' of github.com:sunnypilot/sunnypilot into deep-rl	2026-06-07 04:06:16 -07:00
discountchubbs	b21c70b1ba	Update compile_modeld.py	2026-06-07 04:05:54 -07:00
James Vecellio-Grant	67e5bd3c1e	Merge branch 'compile-modeld-defluff' into deep-rl	2026-06-07 12:58:59 +02:00
discountchubbs	74692d0b5f	summary	2026-06-07 03:56:09 -07:00
discountchubbs	dd35c27981	Update compile_modeld.py	2026-06-07 03:44:27 -07:00
discountchubbs	159140e64e	Update compile_modeld.py	2026-06-07 03:41:09 -07:00
James Vecellio-Grant	f1ab6c8dfb	Update compile_modeld.py	2026-06-07 12:21:49 +02:00
James Vecellio-Grant	e1fe30fd3e	Update compile_modeld.py	2026-06-07 12:19:36 +02:00
James Vecellio-Grant	fba521dcff	Update fetcher.py	2026-06-07 12:06:02 +02:00
discountchubbs	a8ef55bfaa	gpu stuffs	2026-06-07 02:14:25 -07:00
discountchubbs	a232f54e2d	CREAM AND SUGAR	2026-06-07 01:45:42 -07:00
discountchubbs	2697008aa7	redundant	2026-06-06 10:09:07 -07:00
discountchubbs	ad5abd242a	modeld_v2: refactor compile_modeld	2026-06-06 09:58:48 -07:00
discountchubbs	6c1e0f370b	god use full attribute names please	2026-06-06 09:25:50 -07:00
discountchubbs	1083f5bf21	dumb	2026-06-06 09:16:36 -07:00
discountchubbs	dc5116c718	numpy	2026-06-06 09:15:51 -07:00
discountchubbs	8611e08dc6	fix string	2026-06-06 09:03:36 -07:00
discountchubbs	dc0f73c63b	modeld_v2: safe model validation	2026-06-06 08:54:36 -07:00