ci: prebuilt process improvement & tag of staging prebuilt source (#1190)

* ci: add validate-test-on-staging-c3 branch to deployment triggers and enhance stable branch handling

* fix long overdue mistake lol

* ci: add condition to wait for start on push events in build workflow

* Fix extra version identifier

* no need for this, i validated what I needed

* only care for release tags, not any

* fix: update versioning logic to use build date and run number for tagging

* fix: update tagging logic and enhance commit message format in build scripts

* fix: refine tagging condition to exclude tag pushes for stable branches

* fix: add extra version identifier to output for better version tracking

* trying to keep things clean and simple

* bugfix

.github/workflows/build-all-tinygrad-models.yaml

@@ -127,7 +127,7 @@ jobs:
   retry_failed_models:
     needs: [setup, get_and_build]
     runs-on: ubuntu-latest
-    if: ${{ needs.setup.result != 'failure' && (failure() && !cancelled()) }}
+    if: ${{ needs.setup.result != 'failure' && !cancelled() }}
     outputs:
       retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
     steps:

.github/workflows/release.yaml

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

.github/workflows/repo-maintenance.yaml

@@ -50,6 +50,7 @@ jobs:
     - name: bump submodules
       run: |
         git config --global --add safe.directory '*'
+        git config submodule.tinygrad.update none
         git submodule update --remote
         git add .
     - name: update car docs

.github/workflows/selfdrive_tests.yaml

@@ -27,7 +27,7 @@ env:
 
   RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
-  PYTEST: pytest --continue-on-collection-errors --durations=0 --durations-min=5 -n logical
+  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
 
 jobs:
   build_release:
@@ -52,7 +52,7 @@ jobs:
         command: git lfs pull
     - name: Build devel
       timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
+      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
     - uses: ./.github/workflows/setup-with-retry
     - name: Build openpilot and run checks
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
@@ -190,7 +190,8 @@ jobs:
       timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 999 }}
       run: |
         ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        $PYTEST --collect-only -m 'not slow' &> /dev/null && \
+                        # Pre-compile Python bytecode so each pytest worker doesn't need to
+                        $PYTEST --collect-only -m 'not slow' -qq && \
                         MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \

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

@@ -9,12 +9,6 @@ env:
   
   # Branch configurations
   STAGING_C3_SOURCE_BRANCH: ${{ vars.STAGING_C3_SOURCE_BRANCH || 'master' }} # vars are set on repo settings.
-  DEV_C3_SOURCE_BRANCH: ${{ vars.DEV_C3_SOURCE_BRANCH || 'master-dev-c3-new' }} # vars are set on repo settings.
-  
-  # Target branch configurations
-  STAGING_TARGET_BRANCH: ${{ vars.STAGING_TARGET_BRANCH || 'staging-c3-new' }} # vars are set on repo settings.
-  DEV_TARGET_BRANCH: ${{ vars.DEV_TARGET_BRANCH || 'dev-c3-new' }} # vars are set on repo settings.
-  RELEASE_TARGET_BRANCH: ${{ vars.RELEASE_TARGET_BRANCH || 'release-c3-new' }} # vars are set on repo settings.
   
   # Runtime configuration
   SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
@@ -22,7 +16,7 @@ env:
 on:
   push:
     branches: [ master, master-dev-c3-new ]
-    tags: [ '*' ]
+    tags: [ 'release/*' ]
   pull_request_target:
     types: [ labeled ]
   workflow_dispatch:
@@ -34,9 +28,72 @@ on:
         default: false
 
 jobs:
+  prepare_strategy:
+    runs-on: ubuntu-24.04
+    if: (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+    outputs:
+      environment: ${{ steps.strategy.outputs.environment }}
+      new_branch: ${{ steps.strategy.outputs.new_branch }}
+      extra_version_identifier: ${{ steps.strategy.outputs.extra_version_identifier }}
+      version: ${{ steps.strategy.outputs.version }}
+      cancel_publish_in_progress: ${{ steps.strategy.outputs.cancel_publish_in_progress }}
+      publish_concurrency_group: ${{ steps.strategy.outputs.publish_concurrency_group }}
+      is_stable_branch: ${{ steps.strategy.outputs.is_stable_branch }}
+      build: ${{ steps.strategy.outputs.build }}
+    steps:
+      - uses: actions/checkout@v4
+      - name: Extract deploy strategy
+        id: strategy
+        run: |
+          echo '::group::Strategy Extraction'
+          BRANCH="${{ github.head_ref || github.ref_name }}"
+          echo "Current branch: $BRANCH"
+
+          STRATEGY_JSON='${{ vars.DEPLOY_STRATEGY }}'
+          CONFIG=$(echo "$STRATEGY_JSON" | jq -r --arg branch "$BRANCH" '
+            .configs[] | select(.branch == $branch)
+          ')
+
+          BUILD="$(date '+%Y.%m.%d')-${{ github.run_number }}"
+          if [[ -z "$CONFIG" || "$CONFIG" == "null" ]]; then
+            echo "No exact strategy match found. Falling back to feature/fork logic."
+            IS_FORK="${{ github.event.pull_request.head.repo.fork && 'true' || 'false' }}"
+            FORK_SUFFIX=$( [[ "$IS_FORK" == "true" ]] && echo "-fork" || echo "" )
+            NEW_BRANCH="${BRANCH}${FORK_SUFFIX}-prebuilt"
+
+            echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
+            echo "version=$BUILD" >> $GITHUB_OUTPUT
+            echo "cancel_publish_in_progress=true" >> $GITHUB_OUTPUT
+            echo "publish_concurrency_group=publish-${BRANCH}" >> $GITHUB_OUTPUT
+            echo "environment=feature-branch" >> $GITHUB_OUTPUT
+            echo "extra_version_identifier=feature-branch" >> $GITHUB_OUTPUT
+          else
+          echo "Matched config: $CONFIG"
+            environment=$(echo "$CONFIG" | jq -r '.environment')
+            echo "environment=$environment" >> $GITHUB_OUTPUT
+            echo "new_branch=$(echo "$CONFIG" | jq -r '.target_branch')" >> $GITHUB_OUTPUT
+            cancel="$(echo "$CONFIG" | jq -r '.cancel_publish_in_progress')";
+            echo "cancel_publish_in_progress=$( [ "$cancel" = "null" ] && echo "true" || echo $cancel)" >> $GITHUB_OUTPUT
+            echo "publish_concurrency_group=publish-${BRANCH}$( [ "$cancel" = "null" ] || [ "$cancel" = "true" ] || echo "${{ github.sha }}" )" >> $GITHUB_OUTPUT
+          
+            is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
+            echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
+
+            stable_version=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g');
+            echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
+            echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
+          fi
+          echo "build=$BUILD" >> $GITHUB_OUTPUT
+          cat $GITHUB_OUTPUT
+  
   validate_tests:
     runs-on: ubuntu-24.04
-    if: ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) || contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+    needs: [ prepare_strategy ]
+    if: ${{
+      ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) ||
+      (github.event_name == 'push' && needs.prepare_strategy.outputs.is_stable_branch == 'true') ||
+      contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+      }}
     steps:
       - uses: actions/checkout@v4
       - name: Wait for Tests
@@ -44,19 +101,26 @@ jobs:
         with:
           workflow: selfdrive_tests.yaml # The workflow file to monitor
           github-token: ${{ secrets.GITHUB_TOKEN }}
+          should-wait-for-start: ${{ github.event_name == 'push' && 'true' || 'false' }}
 
   build:
-    needs: [ validate_tests ]
+    needs: [ validate_tests, prepare_strategy ]
     concurrency:
       group: build-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: false
     runs-on: [self-hosted, tici]
     outputs:
-      new_branch: ${{ steps.set-env.outputs.new_branch }}
-      version: ${{ steps.set-env.outputs.version }}
-      extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
-      commit_sha: ${{ steps.set-env.outputs.commit_sha }}
-    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+      new_branch: ${{ needs.prepare_strategy.outputs.new_branch }}
+      version: ${{ needs.prepare_strategy.outputs.version }}
+      extra_version_identifier: ${{ needs.prepare_strategy.outputs.extra_version_identifier }}
+      commit_sha: ${{ github.sha }}
+    if: ${{
+      (always() && !cancelled() && !failure()) &&
+      needs.prepare_strategy.result == 'success' &&
+      (needs.validate_tests.result == 'success' || needs.validate_tests.result == 'skipped') &&
+      (!contains(github.event_name, 'pull_request') ||
+      (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) 
+      }}
     steps:
       - uses: actions/checkout@v4
         with:
@@ -77,61 +141,12 @@ jobs:
             scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_C3_SOURCE_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}
 
-      - name: Set Feature Branch Prebuilt Configuration
-        id: set_feature_configuration
-        if: (
-          !(env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH) &&
-          !(env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH) &&
-          !(startsWith(github.ref, 'refs/tags/'))
-          )
-        run: |
-          echo "NEW_BRANCH=${{ env.SOURCE_BRANCH }}${{ github.event.pull_request.head.repo.fork && '-fork' || '' }}-prebuilt" >> $GITHUB_ENV
-          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
-
-      - name: Set dev-c3-new prebuilt Configuration
-        id: set_dev_configuration
-        if: (
-          steps.set_feature_configuration.outcome == 'skipped' &&
-          env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH
-          )
-        run: |
-          echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
-
-      - name: Set staging-c3-new prebuilt Configuration
-        id: set_staging_configuration
-        if: (
-          steps.set_feature_configuration.outcome == 'skipped' &&
-          !contains(github.event_name, 'pull_request') &&
-          steps.set_dev_configuration.outcome == 'skipped' &&
-          (env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH)
-          )
-        run: |
-          echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
-          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV
-
-      - name: Set release-c3-new prebuilt Configuration
-        id: set_tag_configuration
-        if: (
-          steps.set_feature_configuration.outcome == 'skipped' &&
-          !contains(github.event_name, 'pull_request') &&
-          steps.set_staging_configuration.outcome == 'skipped' &&
-          startsWith(github.ref, 'refs/tags/')
-          )
-        run: |
-          echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
-          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV
-
       - name: Set environment variables
         id: set-env
         run: |
-          # Write to GITHUB_OUTPUT from environment variables
-          echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
-          [[ ! -z "$EXTRA_VERSION_IDENTIFIER" ]] && echo "extra_version_identifier=$EXTRA_VERSION_IDENTIFIER" >> $GITHUB_OUTPUT
-          [[ ! -z "$VERSION" ]] && echo "version=$VERSION" >> $GITHUB_OUTPUT
+          echo "new_branch=${{ needs.prepare_strategy.outputs.new_branch }}" >> $GITHUB_OUTPUT
+          echo "version=${{ needs.prepare_strategy.outputs.version }}" >> $GITHUB_OUTPUT
+          echo "extra_version_identifier=${{ needs.prepare_strategy.outputs.extra_version_identifier }}" >> $GITHUB_OUTPUT
           echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
           
           # Set up common environment
@@ -226,15 +241,19 @@ jobs:
         if: always()
         run: |
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
-
+  
+  
   publish:
     concurrency:
-      group: publish-${{ github.head_ref || github.ref_name }}
-      cancel-in-progress: true
-    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
-    needs: [ build ]
+      # We do a bit of a hack here to avoid canceling the publishing job if a new commit comes in while we're publishing by adding the sha to the group name.
+      # This means that if multiple commits come in while we're publishing, they will be queued up and publish one after the other.
+      # Otherwise, if a job is waiting to be published due to environment wait time, it would be canceled by a new commit and restart the wait time.
+      group: ${{ needs.prepare_strategy.outputs.publish_concurrency_group }}
+      cancel-in-progress: ${{ needs.prepare_strategy.outputs.cancel_publish_in_progress == 'true' }}
+    if: ${{ (always() && !cancelled() && !failure()) && needs.build.result == 'success' && needs.prepare_strategy.result == 'success' && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+    needs: [ build, prepare_strategy ]
     runs-on: ubuntu-24.04
-    environment: ${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }}
+    environment: ${{ needs.prepare_strategy.outputs.environment }}
     steps:
       - uses: actions/checkout@v4
 
@@ -266,7 +285,7 @@ jobs:
             "${{ needs.build.outputs.new_branch }}" \
             "${{ needs.build.outputs.version }}" \
             "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
-            "-${{ needs.build.outputs.extra_version_identifier }}"
+            "${{ needs.build.outputs.extra_version_identifier }}"
 
           echo ""
           echo "----   ℹ️ To update the list of branches that auto deploy prebuilts  -----"
@@ -274,11 +293,18 @@ jobs:
           echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
           echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
           echo "3. Update as needed (JSON array with no spaces)"
+      
+      - name: Tag ${{ needs.prepare_strategy.outputs.environment }}
+        if: ${{ needs.prepare_strategy.outputs.is_stable_branch == 'true' && (github.event_name != 'push' || !startsWith(github.ref, 'refs/tags/')) }}
+        run: |
+            TAG="${{ needs.prepare_strategy.outputs.environment }}/${{ needs.prepare_strategy.outputs.version }}/${{ needs.prepare_strategy.outputs.build }}"
+            git tag -f -a ${TAG} -m "${{ needs.prepare_strategy.outputs.environment }} @ ${{ needs.prepare_strategy.outputs.version }} of build ${{ needs.build.outputs.build }}."
+            git push -f origin ${TAG}
 
   notify:
     needs: [ build, publish ]
     runs-on: ubuntu-24.04
-    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+    if: ${{ (always() && !cancelled() && !failure()) && needs.publish.result == 'success' && !failure() && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
     steps:
       - uses: actions/checkout@v4
       - name: Setup Alpine Linux environment

Jenkinsfile

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

RELEASES.md

@@ -1,15 +1,22 @@
+Version 0.10.1 (2025-09-08)
+========================
+* Record driving feedback using LKAS button
+* Honda City 2023 support thanks to drFritz!
+
 Version 0.10.0 (2025-08-05)
 ========================
 * New driving model
   * New training architecture
-     * Architecture outlined in CVPR paper: "Learning to Drive from a World Model"
-     * Longitudinal MPC replaced by E2E planning from worldmodel in experimental mode
-     * Action from lateral MPC as training objective replaced by E2E planning from worldmodel
+     * Described in our CVPR paper: "Learning to Drive from a World Model"
+     * Longitudinal MPC replaced by E2E planning from World Model in Experimental Mode
+     * Action from lateral MPC as training objective replaced by E2E planning from World Model
   * Low-speed lead car ground-truth fixes
-
 * Enable live-learned steering actuation delay
-* Record driving feedback using LKAS button when MADS is disabled
 * Opt-in audio recording for dashcam video
+* Acura MDX 2025 support thanks to vanillagorillaa and MVL!
+* Honda Accord 2023-25 support thanks to vanillagorillaa and MVL!
+* Honda CR-V 2023-25 support thanks to vanillagorillaa and MVL!
+* Honda Pilot 2023-25 support thanks to vanillagorillaa and MVL!
 
 Version 0.9.9 (2025-05-23)
 ========================

common/model.h

@@ -1 +1 @@
-#define DEFAULT_MODEL "Space Lab 2 (Default)"
+#define DEFAULT_MODEL "Steam Powered (Default)"

common/params_keys.h

@@ -73,9 +73,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
     {"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
     {"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
-    {"LastUpdateRouteCount", {PERSISTENT, INT}},
+    {"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
     {"LastUpdateTime", {PERSISTENT, TIME}},
-    {"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT}},
+    {"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
     {"LiveDelay", {PERSISTENT | BACKUP, BYTES}},
     {"LiveParameters", {PERSISTENT, JSON}},
     {"LiveParametersV2", {PERSISTENT, BYTES}},
@@ -147,6 +147,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
     {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
+    {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
     {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
     {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
@@ -198,7 +199,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
 
     // mapd
     {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
-    {"MapdVersion", {PERSISTENT, STRING, ""}},
+    {"MapdVersion", {PERSISTENT, STRING}},
     {"MapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT, "0.0"}},
     {"NextMapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"Offroad_OSMUpdateRequired", {CLEAR_ON_MANAGER_START, JSON}},
@@ -214,5 +215,5 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OsmStateName", {PERSISTENT, STRING, "All"}},
     {"OsmStateTitle", {PERSISTENT, STRING}},
     {"OsmWayTest", {PERSISTENT, STRING}},
-    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING, ""}},
+    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
 };

common/pid.py

@@ -14,10 +14,8 @@ class PIDController:
     if isinstance(self._k_d, Number):
       self._k_d = [[0], [self._k_d]]
 
-    self.pos_limit = pos_limit
-    self.neg_limit = neg_limit
+    self.set_limits(pos_limit, neg_limit)
 
-    self.i_unwind_rate = 0.3 / rate
     self.i_rate = 1.0 / rate
     self.speed = 0.0
 
@@ -35,10 +33,6 @@ class PIDController:
   def k_d(self):
     return np.interp(self.speed, self._k_d[0], self._k_d[1])
 
-  @property
-  def error_integral(self):
-    return self.i/self.k_i
-
   def reset(self):
     self.p = 0.0
     self.i = 0.0
@@ -46,25 +40,25 @@ class PIDController:
     self.f = 0.0
     self.control = 0
 
-  def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0., freeze_integrator=False):
-    self.speed = speed
+  def set_limits(self, pos_limit, neg_limit):
+    self.pos_limit = pos_limit
+    self.neg_limit = neg_limit
 
+  def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
+    self.speed = speed
     self.p = float(error) * self.k_p
     self.f = feedforward * self.k_f
     self.d = error_rate * self.k_d
 
-    if override:
-      self.i -= self.i_unwind_rate * float(np.sign(self.i))
-    else:
-      if not freeze_integrator:
-        self.i = self.i + error * self.k_i * self.i_rate
+    if not freeze_integrator:
+      i = self.i + error * self.k_i * self.i_rate
 
-        # Clip i to prevent exceeding control limits
-        control_no_i = self.p + self.d + self.f
-        control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
-        self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
+      # Don't allow windup if already clipping
+      test_control = self.p + i + self.d + self.f
+      i_upperbound = self.i if test_control > self.pos_limit else self.pos_limit
+      i_lowerbound = self.i if test_control < self.neg_limit else self.neg_limit
+      self.i = np.clip(i, i_lowerbound, i_upperbound)
 
     control = self.p + self.i + self.d + self.f
-
     self.control = np.clip(control, self.neg_limit, self.pos_limit)
     return self.control

common/run.py

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

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.10.0"
+#define COMMA_VERSION "0.10.1"

docs/CARS.md

@@ -4,12 +4,13 @@
 
 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.
 
-# 321 Supported Cars
+# 334 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
+|Acura|MDX 2025|All except Type S|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
 |Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
 |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
@@ -72,19 +73,25 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Accord 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023">Buy Here</a></sub></details>|||
+|Honda|Accord 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
+|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-21">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025">Buy Here</a></sub></details>|||
+|Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector + Honda Clarity Proxy Board<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://shop.retropilot.org/product/honda-clarity-proxy-board-kit">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-25">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
 |Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
@@ -95,6 +102,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
+|Honda|Pilot 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
 |Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-25">Buy Here</a></sub></details>|||
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera 2022">Buy Here</a></sub></details>|||
 |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2019">Buy Here</a></sub></details>|||
@@ -105,6 +113,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Elantra Non-SCC 2022|No Smart Cruise Control (Non-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 K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Non-SCC 2022">Buy Here</a></sub></details>|||
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Genesis 2015-16">Buy Here</a></sub></details>|||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
@@ -118,11 +127,13 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
-|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022">Buy Here</a></sub></details>|||
+|Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Kona Electric Non-SCC 2019|No Smart Cruise Control (Non-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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric Non-SCC 2019">Buy Here</a></sub></details>|||
 |Hyundai|Kona Hybrid 2020|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 I connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
+|Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-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 B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Non-SCC 2019">Buy Here</a></sub></details>|||
 |Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Santa Cruz 2022-24[<sup>6</sup>](#footnotes)|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 N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
@@ -146,6 +157,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Carnival 2022-24[<sup>6</sup>](#footnotes)|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|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 K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
 |Kia|Ceed 2019-21|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
+|Kia|Ceed Plug-in Hybrid Non-SCC 2022|No Smart Cruise Control (Non-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 I connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed Plug-in Hybrid Non-SCC 2022">Buy Here</a></sub></details>|||
 |Kia|EV6 (Southeast Asia only) 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (with HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|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 P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (without HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist|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 L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
@@ -293,6 +305,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Wildlander PHEV 2021|All|openpilot|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Wildlander PHEV 2021">Buy Here</a></sub></details>|||
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||

docs/CONTRIBUTING.md

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

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

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

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="12.6"
+  export AGNOS_VERSION="12.8"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

launch_openpilot.sh

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

release/README.md

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

release/build_stripped.sh

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

release/ci/publish.sh

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

selfdrive/assets/icons/link.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a69514fe68dd1b4c73f28771640dcba10fc40989d1c7e771cb48bfd830fef206
+size 5713

selfdrive/car/card.py

@@ -107,8 +107,10 @@ class Car:
           cached_params = _cached_params
 
       fixed_fingerprint = (self.params.get("CarPlatformBundle") or {}).get("platform", None)
+      init_params_list_sp = sunnypilot_interfaces.initialize_params(self.params)
 
-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params, fixed_fingerprint)
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params,
+                        fixed_fingerprint, init_params_list_sp)
       sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
       self.CP = self.CI.CP

selfdrive/car/tests/test_models.py

@@ -439,9 +439,7 @@ class TestCarModelBase(unittest.TestCase):
         if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
           brake_pressed = False
       checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
-      # TODO: remove this exception before closing commaai/opendbc#1100
-      if not (self.CP.brand == "honda" and self.CP.flags & HondaFlags.BOSCH):
-        checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
+      checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
       checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()
 
       if self.CP.pcmCruise:

selfdrive/controls/controlsd.py

@@ -51,7 +51,7 @@ class Controls(ControlsExt, ModelStateBase):
                                   poll='selfdriveState')
     self.pm = messaging.PubMaster(['carControl', 'controlsState'] + self.pm_services_ext)
 
-    self.steer_limited_by_controls = False
+    self.steer_limited_by_safety = False
     self.curvature = 0.0
     self.desired_curvature = 0.0
 
@@ -95,6 +95,8 @@ class Controls(ControlsExt, ModelStateBase):
         self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
                                            torque_params.frictionCoefficientFiltered)
 
+        self.LaC.extension.update_limits()
+
       self.LaC.extension.update_model_v2(self.sm['modelV2'])
 
       self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
@@ -140,7 +142,7 @@ class Controls(ControlsExt, ModelStateBase):
 
     actuators.curvature = self.desired_curvature
     steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
-                                                       self.steer_limited_by_controls, self.desired_curvature,
+                                                       self.steer_limited_by_safety, self.desired_curvature,
                                                        self.calibrated_pose, curvature_limited)  # TODO what if not available
     actuators.torque = float(steer)
     actuators.steeringAngleDeg = float(steeringAngleDeg)
@@ -187,10 +189,10 @@ class Controls(ControlsExt, ModelStateBase):
     if self.sm['selfdriveState'].active:
       CO = self.sm['carOutput']
       if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
-        self.steer_limited_by_controls = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
+        self.steer_limited_by_safety = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
                                               STEER_ANGLE_SATURATION_THRESHOLD
       else:
-        self.steer_limited_by_controls = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
+        self.steer_limited_by_safety = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
 
     # TODO: both controlsState and carControl valids should be set by
     #       sm.all_checks(), but this creates a circular dependency

selfdrive/controls/lib/latcontrol.py

@@ -15,15 +15,15 @@ class LatControl(ABC):
     self.steer_max = 1.0
 
   @abstractmethod
-  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
     pass
 
   def reset(self):
     self.sat_count = 0.
 
-  def _check_saturation(self, saturated, CS, steer_limited_by_controls, curvature_limited):
+  def _check_saturation(self, saturated, CS, steer_limited_by_safety, curvature_limited):
     # Saturated only if control output is not being limited by car torque/angle rate limits
-    if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_controls and not CS.steeringPressed:
+    if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_safety and not CS.steeringPressed:
       self.sat_count += self.sat_count_rate
     else:
       self.sat_count -= self.sat_count_rate

selfdrive/controls/lib/latcontrol_angle.py

@@ -3,6 +3,7 @@ import math
 from cereal import log
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 
+# TODO This is speed dependent
 STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
 
 
@@ -10,9 +11,9 @@ class LatControlAngle(LatControl):
   def __init__(self, CP, CP_SP, CI):
     super().__init__(CP, CP_SP, CI)
     self.sat_check_min_speed = 5.
-    self.use_steer_limited_by_controls = CP.brand == "tesla"
+    self.use_steer_limited_by_safety = CP.brand == "tesla"
 
-  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
     angle_log = log.ControlsState.LateralAngleState.new_message()
 
     if not active:
@@ -23,9 +24,9 @@ class LatControlAngle(LatControl):
       angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
       angle_steers_des += params.angleOffsetDeg
 
-    if self.use_steer_limited_by_controls:
+    if self.use_steer_limited_by_safety:
       # these cars' carcontrollers calculate max lateral accel and jerk, so we can rely on carOutput for saturation
-      angle_control_saturated = steer_limited_by_controls
+      angle_control_saturated = steer_limited_by_safety
     else:
       # for cars which use a method of limiting torque such as a torque signal (Nissan and Toyota)
       # or relying on EPS (Ford Q3), carOutput does not capture maxing out torque  # TODO: this can be improved

selfdrive/controls/lib/latcontrol_pid.py

@@ -13,11 +13,7 @@ class LatControlPID(LatControl):
                              k_f=CP.lateralTuning.pid.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
     self.get_steer_feedforward = CI.get_steer_feedforward_function()
 
-  def reset(self):
-    super().reset()
-    self.pid.reset()
-
-  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
     pid_log = log.ControlsState.LateralPIDState.new_message()
     pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     pid_log.steeringRateDeg = float(CS.steeringRateDeg)
@@ -29,20 +25,24 @@ class LatControlPID(LatControl):
     pid_log.steeringAngleDesiredDeg = angle_steers_des
     pid_log.angleError = error
     if not active:
-      output_steer = 0.0
+      output_torque = 0.0
       pid_log.active = False
-      self.pid.reset()
+
     else:
       # offset does not contribute to resistive torque
-      steer_feedforward = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
+      ff = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
+      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+
+      output_torque = self.pid.update(error,
+                                feedforward=ff,
+                                speed=CS.vEgo,
+                                freeze_integrator=freeze_integrator)
 
-      output_steer = self.pid.update(error, override=CS.steeringPressed,
-                                     feedforward=steer_feedforward, speed=CS.vEgo)
       pid_log.active = True
       pid_log.p = float(self.pid.p)
       pid_log.i = float(self.pid.i)
       pid_log.f = float(self.pid.f)
-      pid_log.output = float(output_steer)
-      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited_by_controls, curvature_limited))
+      pid_log.output = float(output_torque)
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
 
-    return output_steer, angle_steers_des, pid_log
+    return output_torque, angle_steers_des, pid_log

selfdrive/controls/lib/latcontrol_torque.py

@@ -3,7 +3,6 @@ import numpy as np
 
 from cereal import log
 from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
-from opendbc.car.interfaces import LatControlInputs
 from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.common.pid import PIDController
@@ -29,19 +28,26 @@ class LatControlTorque(LatControl):
   def __init__(self, CP, CP_SP, CI):
     super().__init__(CP, CP_SP, CI)
     self.torque_params = CP.lateralTuning.torque.as_builder()
-    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
-                             k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
     self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
+    self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
+    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
+                             k_f=self.torque_params.kf)
+    self.update_limits()
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
 
-    self.extension = LatControlTorqueExt(self, CP, CP_SP)
+    self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)
 
   def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
     self.torque_params.latAccelFactor = latAccelFactor
     self.torque_params.latAccelOffset = latAccelOffset
     self.torque_params.friction = friction
+    self.update_limits()
 
-  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
+  def update_limits(self):
+    self.pid.set_limits(self.lateral_accel_from_torque(self.steer_max, self.torque_params),
+                        self.lateral_accel_from_torque(-self.steer_max, self.torque_params))
+
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
     if not active:
       output_torque = 0.0
@@ -61,36 +67,34 @@ class LatControlTorque(LatControl):
       setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
       measurement = actual_lateral_accel + low_speed_factor * actual_curvature
       gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation
-      torque_from_setpoint = self.torque_from_lateral_accel(LatControlInputs(setpoint, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
-                                                            gravity_adjusted=False)
-      torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
-                                                               gravity_adjusted=False)
-      pid_log.error = float(torque_from_setpoint - torque_from_measurement)
-      ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
-                                          gravity_adjusted=True)
+
+      # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
+      pid_log.error = float(setpoint - measurement)
+      ff = gravity_adjusted_lateral_accel
       ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
 
-      # Lateral acceleration torque controller extension updates
-      # Overrides stock ff and pid_log.error
-      ff, pid_log = self.extension.update(CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
-                                          desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
-                                          desired_curvature, actual_curvature)
-
-      freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
-      output_torque = self.pid.update(pid_log.error,
+      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+      output_lataccel = self.pid.update(pid_log.error,
                                       feedforward=ff,
                                       speed=CS.vEgo,
                                       freeze_integrator=freeze_integrator)
+      output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
+
+      # Lateral acceleration torque controller extension updates
+      # Overrides pid_log.error and output_torque
+      pid_log, output_torque = self.extension.update(CS, VM, self.pid, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
+                                                     desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
+                                                     desired_curvature, actual_curvature, steer_limited_by_safety, output_torque)
 
       pid_log.active = True
       pid_log.p = float(self.pid.p)
       pid_log.i = float(self.pid.i)
       pid_log.d = float(self.pid.d)
       pid_log.f = float(self.pid.f)
-      pid_log.output = float(-output_torque)
+      pid_log.output = float(-output_torque)  # TODO: log lat accel?
       pid_log.actualLateralAccel = float(actual_lateral_accel)
       pid_log.desiredLateralAccel = float(desired_lateral_accel)
-      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_controls, curvature_limited))
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
 
     # TODO left is positive in this convention
     return -output_torque, 0.0, pid_log

selfdrive/controls/lib/longitudinal_planner.py

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

selfdrive/controls/tests/test_latcontrol.py

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

selfdrive/modeld/modeld.py

@@ -107,15 +107,12 @@ class ModelState(ModelStateBase):
 
     self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32)
     self.full_desire = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32)
-    self.full_prev_desired_curv = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
     self.temporal_idxs = slice(-1-(ModelConstants.TEMPORAL_SKIP*(ModelConstants.INPUT_HISTORY_BUFFER_LEN-1)), None, ModelConstants.TEMPORAL_SKIP)
 
     # policy inputs
     self.numpy_inputs = {
       'desire': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32),
       'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
-      'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32),
-      'prev_desired_curv': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
       'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
     }
 
@@ -148,7 +145,6 @@ class ModelState(ModelStateBase):
     self.numpy_inputs['desire'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2)
 
     self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
-    self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
     imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names}
 
     if TICI and not USBGPU:
@@ -174,11 +170,6 @@ class ModelState(ModelStateBase):
     self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
     policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
 
-    # TODO model only uses last value now
-    self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
-    self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
-    self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
-
     combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
     if SEND_RAW_PRED:
       combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
@@ -299,7 +290,6 @@ def main(demo=False):
     if sm.frame % 60 == 0:
       model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
     lat_delay = model.lat_delay + LAT_SMOOTH_SECONDS
-    lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -332,7 +322,6 @@ def main(demo=False):
     inputs:dict[str, np.ndarray] = {
       'desire': vec_desire,
       'traffic_convention': traffic_convention,
-      'lateral_control_params': lateral_control_params,
     }
 
     mt1 = time.perf_counter()

selfdrive/modeld/models/driving_policy.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:22aec22a10ce09384d4a4af2a0bbff08d54af7e0c888503508f356fae4ff0e29
-size 15583374
+oid sha256:04b763fb71efe57a8a4c4168a8043ecd58939015026ded0dc755ded6905ac251
+size 12343523

selfdrive/modeld/models/driving_vision.onnx

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

selfdrive/modeld/parse_model_outputs.py

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

selfdrive/pandad/pandad.py

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

selfdrive/selfdrived/selfdrived.py

@@ -265,7 +265,10 @@ class SelfdriveD(CruiseHelper):
       if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture:
         self.events.add(EventName.ldw)
 
-    # Check for excessive actuation
+    # ******************************************************************************************
+    #  NOTE: To fork maintainers.
+    #  Disabling or nerfing safety features will get you and your users banned from our servers.
+    #  We recommend that you do not change these numbers from the defaults.
     if self.sm.updated['liveCalibration']:
       self.pose_calibrator.feed_live_calib(self.sm['liveCalibration'])
     if self.sm.updated['livePose']:
@@ -280,6 +283,7 @@ class SelfdriveD(CruiseHelper):
 
     if self.excessive_actuation:
       self.events.add(EventName.excessiveActuation)
+    # ******************************************************************************************
 
     # Handle lane change
     if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-62b3e8590fe85f87494517b3177a0ccaad1e17e5
+6d3219bca9f66a229b38a5382d301a92b0147edb

selfdrive/test/process_replay/test_processes.py

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

selfdrive/test/test_onroad.py

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

selfdrive/ui/feedback/feedbackd.py

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

selfdrive/ui/installer/installer.cc

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

selfdrive/ui/layouts/settings/settings.py

@@ -28,7 +28,7 @@ PANEL_COLOR = rl.Color(41, 41, 41, 255)
 CLOSE_BTN_COLOR = rl.Color(41, 41, 41, 255)
 CLOSE_BTN_PRESSED = rl.Color(59, 59, 59, 255)
 TEXT_NORMAL = rl.Color(128, 128, 128, 255)
-TEXT_SELECTED = rl.Color(255, 255, 255, 255)
+TEXT_SELECTED = rl.WHITE
 
 
 class PanelType(IntEnum):

selfdrive/ui/layouts/settings/toggles.py

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

selfdrive/ui/layouts/sidebar.py

@@ -24,18 +24,18 @@ NetworkType = log.DeviceState.NetworkType
 # Color scheme
 class Colors:
   SIDEBAR_BG = rl.Color(57, 57, 57, 255)
-  WHITE = rl.Color(255, 255, 255, 255)
+  WHITE = rl.WHITE
   WHITE_DIM = rl.Color(255, 255, 255, 85)
   GRAY = rl.Color(84, 84, 84, 255)
 
   # Status colors
-  GOOD = rl.Color(255, 255, 255, 255)
+  GOOD = rl.WHITE
   WARNING = rl.Color(218, 202, 37, 255)
   DANGER = rl.Color(201, 34, 49, 255)
 
   # UI elements
   METRIC_BORDER = rl.Color(255, 255, 255, 85)
-  BUTTON_NORMAL = rl.Color(255, 255, 255, 255)
+  BUTTON_NORMAL = rl.WHITE
   BUTTON_PRESSED = rl.Color(255, 255, 255, 166)
 
 

selfdrive/ui/lib/prime_state.py

@@ -2,12 +2,15 @@ from enum import IntEnum
 import os
 import threading
 import time
+from functools import lru_cache
 
 from openpilot.common.api import Api, api_get
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 
+TOKEN_EXPIRY_HOURS = 2
+
 
 class PrimeType(IntEnum):
   UNKNOWN = -2,
@@ -20,6 +23,12 @@ class PrimeType(IntEnum):
   PURPLE = 5,
 
 
+@lru_cache(maxsize=1)
+def get_token(dongle_id: str, t: int):
+  print('getting token')
+  return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS)
+
+
 class PrimeState:
   FETCH_INTERVAL = 5.0  # seconds between API calls
   API_TIMEOUT = 10.0  # seconds for API requests
@@ -49,13 +58,15 @@ class PrimeState:
       return
 
     try:
-      identity_token = Api(dongle_id).get_token()
+      identity_token = get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60)))
       response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token)
       if response.status_code == 200:
         data = response.json()
         is_paired = data.get("is_paired", False)
         prime_type = data.get("prime_type", 0)
         self.set_type(PrimeType(prime_type) if is_paired else PrimeType.UNPAIRED)
+      elif response.status_code == 401:
+        get_token.cache_clear()
     except Exception as e:
       cloudlog.error(f"Failed to fetch prime status: {e}")
 

selfdrive/ui/onroad/hud_renderer.py

@@ -34,7 +34,7 @@ class FontSizes:
 
 @dataclass(frozen=True)
 class Colors:
-  white: rl.Color = rl.Color(255, 255, 255, 255)
+  white: rl.Color = rl.WHITE
   disengaged: rl.Color = rl.Color(145, 155, 149, 255)
   override: rl.Color = rl.Color(145, 155, 149, 255)  # Added
   engaged: rl.Color = rl.Color(128, 216, 166, 255)
@@ -47,7 +47,7 @@ class Colors:
   white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
   border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
   header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
-  header_gradient_end: rl.Color = rl.Color(0, 0, 0, 0)
+  header_gradient_end: rl.Color = rl.BLANK
 
 
 UI_CONFIG = UIConfig()

selfdrive/ui/onroad/model_renderer.py

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

selfdrive/ui/qt/offroad/settings.cc

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

selfdrive/ui/qt/sidebar.cc

@@ -29,6 +29,7 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
   flag_img = loadPixmap("../assets/images/button_flag.png", home_btn.size());
   settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio);
   mic_img = loadPixmap("../assets/icons/microphone.png", QSize(30, 30));
+  link_img = loadPixmap("../assets/icons/link.png", QSize(60, 60));
 
   connect(this, &Sidebar::valueChanged, [=] { update(); });
 
@@ -154,7 +155,12 @@ void Sidebar::drawSidebar(QPainter &p) {
   p.setFont(InterFont(35));
   p.setPen(QColor(0xff, 0xff, 0xff));
   const QRect r = QRect(58, 247, width() - 100, 50);
-  p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type);
+
+  if (net_type == "Hotspot") {
+    p.drawPixmap(r.x(), r.y() + (r.height() - link_img.height()) / 2, link_img);
+  } else {
+    p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type);
+  }
 
 #ifndef SUNNYPILOT
   // metrics

selfdrive/ui/qt/sidebar.h

@@ -43,7 +43,7 @@ protected:
   void drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y);
   virtual void drawSidebar(QPainter &p);
 
-  QPixmap home_img, flag_img, settings_img, mic_img;
+  QPixmap home_img, flag_img, settings_img, mic_img, link_img;
   bool onroad, recording_audio, flag_pressed, settings_pressed, mic_indicator_pressed;
   const QMap<cereal::DeviceState::NetworkType, QString> network_type = {
     {cereal::DeviceState::NetworkType::NONE, tr("--")},

selfdrive/ui/sunnypilot/SConscript

@@ -4,6 +4,7 @@ widgets_src = [
   "sunnypilot/qt/widgets/controls.cc",
   "sunnypilot/qt/widgets/drive_stats.cc",
   "sunnypilot/qt/widgets/expandable_row.cc",
+  "sunnypilot/qt/widgets/external_storage.cc",
   "sunnypilot/qt/widgets/prime.cc",
   "sunnypilot/qt/widgets/scrollview.cc",
   "sunnypilot/qt/network/networking.cc",

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

@@ -5,9 +5,14 @@
  * See the LICENSE.md file in the root directory for more details.
  */
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/external_storage.h"
 
 DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(parent) {
 
+  #ifndef __APPLE__
+  addItem(new ExternalStorageControl());
+  #endif
+
   // Advanced Controls Toggle
   showAdvancedControls = new ParamControlSP("ShowAdvancedControls", tr("Show Advanced Controls"), tr("Toggle visibility of advanced sunnypilot controls.\nThis only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state."), "");
   addItem(showAdvancedControls);
@@ -47,17 +52,17 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare
   addItem(errorLogBtn);
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &DeveloperPanelSP::updateToggles);
+
+  is_release = params.getBool("IsReleaseBranch");
+  is_tested = params.getBool("IsTestedBranch");
+  is_development = params.getBool("IsDevelopmentBranch");
 }
 
 void DeveloperPanelSP::updateToggles(bool offroad) {
-  bool is_release = params.getBool("IsReleaseBranch");
-  bool is_tested = params.getBool("IsTestedBranch");
-  bool is_development = params.getBool("IsDevelopmentBranch");
   bool disable_updates = params.getBool("DisableUpdates");
 
   prebuiltToggle->setVisible(!is_release && !is_tested && !is_development);
   prebuiltToggle->setEnabled(disable_updates);
-
   params.putBool("QuickBootToggle", QFile::exists("/data/openpilot/prebuilt"));
   prebuiltToggle->refresh();
 
@@ -66,6 +71,7 @@ void DeveloperPanelSP::updateToggles(bool offroad) {
          "it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. "
          "<br><br><b>To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.</b>")
     : tr("Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first."));
+  prebuiltToggle->showDescription();
 
   enableGithubRunner->setVisible(!is_release);
   errorLogBtn->setVisible(!is_release);
@@ -74,7 +80,6 @@ void DeveloperPanelSP::updateToggles(bool offroad) {
 
 void DeveloperPanelSP::showEvent(QShowEvent *event) {
   DeveloperPanel::showEvent(event);
-  updateToggles(!uiState()->scene.started);
   AbstractControlSP::UpdateAllAdvancedControls();
-  prebuiltToggle->showDescription();
+  updateToggles(!uiState()->scene.started);
 }

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

@@ -21,6 +21,9 @@ private:
   ParamControlSP *prebuiltToggle;
   Params params;
   ParamControlSP *showAdvancedControls;
+  bool is_development;
+  bool is_release;
+  bool is_tested;
 
 private slots:
   void updateToggles(bool offroad);

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

@@ -211,7 +211,7 @@ void DevicePanelSP::updateState() {
   toggleDeviceBootMode->setDescription(deviceSleepModeDescription(currStatus));
 
   QString timeoutValue = QString::fromStdString(params.get("InteractivityTimeout"));
-  if (timeoutValue == "0") {
+  if (timeoutValue == "0" || timeoutValue.isEmpty()) {
     interactivityTimeout->setLabel("Default");
   } else {
     interactivityTimeout->setLabel(timeoutValue + "s");

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

@@ -110,10 +110,23 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
   list->addItem(lagd_toggle_control);
 
   // Software delay control
+  int liveDelayMaxInt = 30;
+  std::string liveDelayBytes = params.get("LiveDelay");
+  if (!liveDelayBytes.empty()) {
+    capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
+      reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
+      liveDelayBytes.size() / sizeof(capnp::word)));
+    auto event = msg.getRoot<cereal::Event>();
+    if (event.hasLiveDelay()) {
+      auto liveDelay = event.getLiveDelay();
+      float lateralDelay = liveDelay.getLateralDelay();
+      liveDelayMaxInt = static_cast<int>(lateralDelay * 100.0f) + 20;
+    }
+  }
   delay_control = new OptionControlSP("LagdToggleDelay", tr("Adjust Software Delay"),
                                      tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
                                         "\nThe default software delay value is 0.2"),
-                                     "", {5, 30}, 1, false, nullptr, true, true);
+                                     "", {5, liveDelayMaxInt}, 1, false, nullptr, true, true);
 
   connect(delay_control, &OptionControlSP::updateLabels, [=]() {
     float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
@@ -367,8 +380,39 @@ void ModelsPanel::updateLabels() {
 
   // Update lagdToggle description with current value
   QString desc = tr("Enable this for the car to learn and adapt its steering response time. "
-                   "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. "
-                   "The Current value is updated automatically when the vehicle is Onroad.");
+                   "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.");
+  bool lagdEnabled = params.getBool("LagdToggle");
+  if (lagdEnabled) {
+    std::string liveDelayBytes = params.get("LiveDelay");
+    if (!liveDelayBytes.empty()) {
+      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
+        reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
+        liveDelayBytes.size() / sizeof(capnp::word)));
+      auto event = msg.getRoot<cereal::Event>();
+      if (event.hasLiveDelay()) {
+        auto liveDelay = event.getLiveDelay();
+        float lateralDelay = liveDelay.getLateralDelay();
+        desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
+                .arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 3));
+      }
+    }
+  } else {
+    std::string carParamsBytes = params.get("CarParamsPersistent");
+    if (!carParamsBytes.empty()) {
+      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
+        reinterpret_cast<const capnp::word*>(carParamsBytes.data()),
+        carParamsBytes.size() / sizeof(capnp::word)));
+      auto carParams = msg.getRoot<cereal::CarParams>();
+      float steerDelay = carParams.getSteerActuatorDelay();
+      float softwareDelay = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
+      float totalLag = steerDelay + softwareDelay;
+      desc += QString("<br><br><span style=\"color:#e0e0e0\">"
+                      "<b>%1</b> %2 s + <b>%3</b> %4 s = <b>%5</b> %6 s</span>")
+           .arg(tr("Actuator Delay:"), QString::number(steerDelay, 'f', 2),
+                tr("Software Delay:"), QString::number(softwareDelay, 'f', 2),
+                tr("Total Delay:"), QString::number(totalLag, 'f', 2));
+    }
+  }
   lagd_toggle_control->setDescription(desc);
 
   delay_control->setVisible(!params.getBool("LagdToggle"));

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

@@ -34,6 +34,27 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   vlayout->setContentsMargins(50, 20, 50, 20);
 
   auto *list = new ListWidget(this, false);
+
+  QVBoxLayout *titleLayout = new QVBoxLayout;
+  QLabel *title = new QLabel(tr("🚀 sunnylink 🚀"));
+  title->setStyleSheet("font-size: 90px; font-weight: 500; font-family: 'Noto Color Emoji';");
+  titleLayout->addWidget(title, 0, Qt::AlignCenter);
+
+  QLabel *sunnylinkDesc = new QLabel("<div align='center'><font color='green'>"+
+    tr("For secure backup, restore, and remote configuration")+ "</font></div>");
+
+  QLabel *sponsorMsg = new QLabel("<div align='center'><font color='orange'>"+
+    tr("Sponsorship isn't required for basic backup/restore") + "<br>" +
+       tr("Click the sponsor button for more details")+ "</font></div>");
+
+  sunnylinkDesc->setStyleSheet("font-size: 40px; font-weight: 100; font-family: 'Noto';");
+  sponsorMsg->setStyleSheet("font-size: 35px; font-weight: 100; font-family: 'Noto';");
+
+  titleLayout->addWidget(sunnylinkDesc, 0, Qt::AlignCenter);
+  titleLayout->addWidget(sponsorMsg, 0, Qt::AlignCenter);
+
+  list->addItem(titleLayout);
+
   QString sunnylinkEnabledBtnDesc = tr("This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.");
   sunnylinkEnabledBtn = new ParamControl(
     "SunnylinkEnabled",
@@ -66,6 +87,14 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   });
   list->addItem(horizontal_line());
 
+  QString sunnylinkUploaderDesc = tr("Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)");
+  sunnylinkUploaderEnabledBtn = new ParamControlSP(
+    "EnableSunnylinkUploader",
+    tr("[Don't use] Enable sunnylink uploader"),
+    sunnylinkUploaderDesc,
+    "", nullptr, true);
+  list->addItem(sunnylinkUploaderEnabledBtn);
+
   connect(sunnylinkEnabledBtn, &ParamControl::showDescriptionEvent, [=]() {
     // resets the description to the default one for the Easter egg
     sunnylinkEnabledBtn->setDescription(sunnylinkEnabledBtnDesc);
@@ -261,6 +290,8 @@ void SunnylinkPanel::updatePanel() {
   pairSponsorBtn->setEnabled(!is_onroad && is_sunnylink_enabled);
   pairSponsorBtn->setValue(is_paired ? tr("Paired") : tr("Not Paired"));
 
+  sunnylinkUploaderEnabledBtn->setEnabled(max_current_sponsor_rule.roleTier == SponsorTier::Guardian && is_sunnylink_enabled);
+
   if (!is_sunnylink_enabled) {
     sunnylinkEnabledBtn->setValue("");
     sponsorBtn->setValue("");

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

@@ -49,6 +49,7 @@ private:
   QString sunnylinkBtnDescription;
   PushButtonSP *restoreSettings;
   PushButtonSP *backupSettings;
+  ParamControlSP * sunnylinkUploaderEnabledBtn;
 
   void stopSunnylink() const;
   void startSunnylink() const;

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

@@ -0,0 +1,170 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/external_storage.h"
+
+#include <QProcess>
+#include <QCoreApplication>
+#include <QShowEvent>
+#include <QTimer>
+#include <QtConcurrent>
+
+#include "common/params.h"
+#include "selfdrive/ui/qt/api.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+
+ExternalStorageControl::ExternalStorageControl() :
+  ButtonControl(tr("External Storage"), "", tr("Extend your comma device's storage by inserting a USB drive into the aux port.")) {
+
+  QObject::connect(this, &ButtonControl::clicked, [=]() {
+    if (text() == tr("CHECK") || text() == tr("MOUNT")) {
+      mountStorage();
+    } else if (text() == tr("UNMOUNT")) {
+      unmountStorage();
+    } else if (text() == tr("FORMAT")) {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to format this drive? This will erase all data."), tr("Format"), this)) {
+        formatStorage();
+      }
+    }
+  });
+
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &ExternalStorageControl::updateState);
+  updateState(!uiState()->scene.started);
+
+  refresh();
+}
+
+void ExternalStorageControl::updateState(bool offroad) {
+  setEnabled(offroad);
+}
+
+void ExternalStorageControl::debouncedRefresh() {
+  if (refreshPending) return;
+  refreshPending = true;
+
+  QTimer::singleShot(250, this, [=]() {
+    refreshPending = false;
+    refresh();
+  });
+}
+
+void ExternalStorageControl::refresh() {
+  QtConcurrent::run([=]() {
+    auto run = [](const QString &cmd) {
+      QProcess p;
+      p.start("sh", QStringList() << "-c" << cmd);
+      p.waitForFinished();
+      return p.exitCode() == 0;
+    };
+
+    bool isMounted = run("findmnt -n /mnt/external_realdata");
+    bool hasDrive = run("lsblk -f /dev/sdg");
+    bool hasFs = run("lsblk -f /dev/sdg1 | grep -q ext4");
+    bool hasLabel = run("sudo blkid /dev/sdg1 | grep -q 'LABEL=\"openpilot\"'");
+
+    QString info;
+    if (isMounted && hasLabel) {
+      QProcess df;
+      df.start("sh", QStringList() << "-c" << "df -h /mnt/external_realdata | awk 'NR==2 {print $3 \"/\" $2}'");
+      df.waitForFinished();
+      info = df.readAllStandardOutput().trimmed();
+    }
+
+    QMetaObject::invokeMethod(this, [=]() {
+      if (formatting) {
+        setValue(tr("formatting"));
+        setText(tr("FORMAT"));
+        setEnabled(false);
+      } else {
+        if (!hasDrive) {
+          setValue(tr("insert drive"));
+          setText(tr("CHECK"));
+        } else if (!hasFs || !hasLabel) {
+          setValue(tr("needs format"));
+          setText(tr("FORMAT"));
+        } else if (isMounted) {
+          setValue(info);
+          setText(tr("UNMOUNT"));
+        } else {
+          setValue("drive detected");
+          setText(tr("MOUNT"));
+        }
+        updateState(!uiState()->scene.started);
+      }
+    }, Qt::QueuedConnection);
+  });
+}
+
+void ExternalStorageControl::mountStorage() {
+  setValue(tr("mounting"));
+  setEnabled(false);
+
+  QtConcurrent::run([=]() {
+    QProcess process;
+    process.start("sh", QStringList() << "-c" <<
+      "sudo mount -o remount,rw / && "
+      "sudo mkdir -p /mnt/external_realdata && "
+      "grep -q '/dev/sdg1 /mnt/external_realdata' /etc/fstab || "
+      "echo '/dev/sdg1 /mnt/external_realdata ext4 defaults,nofail 0 2' | sudo tee -a /etc/fstab && "
+      "sudo systemctl daemon-reexec && "
+      "sudo mount /mnt/external_realdata && "
+      "sudo chown -R comma:comma /mnt/external_realdata && "
+      "sudo chmod -R 775 /mnt/external_realdata && "
+      "sudo mount -o remount,ro /");
+    process.waitForFinished();
+
+    QMetaObject::invokeMethod(this, [=]() {
+      debouncedRefresh();
+    }, Qt::QueuedConnection);
+  });
+}
+
+void ExternalStorageControl::unmountStorage() {
+  setValue(tr("unmounting"));
+  setEnabled(false);
+
+  QtConcurrent::run([=]() {
+    QProcess process;
+    process.start("sh", QStringList() << "-c" << "sudo umount /mnt/external_realdata");
+    process.waitForFinished();
+
+    QMetaObject::invokeMethod(this, [=]() {
+      debouncedRefresh();
+    }, Qt::QueuedConnection);
+  });
+}
+
+void ExternalStorageControl::formatStorage() {
+  unmountStorage();
+  formatting = true;
+  setValue(tr("formatting"));
+  setEnabled(false);
+
+  QProcess *process = new QProcess(this);
+  connect(process, static_cast<void(QProcess::*)(int, QProcess::ExitStatus)>(&QProcess::finished),
+          this, [=](int exitCode, QProcess::ExitStatus status) {
+            process->deleteLater();
+            formatting = false;
+            if (exitCode == 0 && status == QProcess::NormalExit) {
+              mountStorage();
+            } else {
+              setValue(tr("needs format"));
+              updateState(!uiState()->scene.started);
+            }
+          });
+  process->start("sh", QStringList() << "-c" <<
+    "sudo wipefs -a /dev/sdg && "
+    "sudo parted -s /dev/sdg mklabel gpt mkpart primary ext4 0% 100% && "
+    "sudo mkfs.ext4 -F -L openpilot /dev/sdg1"
+  );
+}
+
+void ExternalStorageControl::showEvent(QShowEvent *event) {
+  ButtonControl::showEvent(event);
+  QTimer::singleShot(100, this, &ExternalStorageControl::debouncedRefresh);
+}

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

@@ -0,0 +1,34 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "system/hardware/hw.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#define ButtonControl ButtonControlSP
+
+class ExternalStorageControl : public ButtonControl {
+  Q_OBJECT
+
+public:
+  ExternalStorageControl();
+
+protected:
+  void showEvent(QShowEvent *event) override;
+
+private:
+  Params params;
+
+  bool refreshPending = false;
+  bool formatting = false;
+  void updateState(bool offroad);
+  void refresh();
+  void debouncedRefresh();
+  void mountStorage();
+  void unmountStorage();
+  void formatStorage();
+};

selfdrive/ui/tests/test_feedbackd.py

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

selfdrive/ui/translations/main_ar.ts

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

selfdrive/ui/translations/main_de.ts

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

selfdrive/ui/translations/main_es.ts

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

selfdrive/ui/translations/main_fr.ts

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

selfdrive/ui/translations/main_ja.ts

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

selfdrive/ui/translations/main_pt-BR.ts

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

selfdrive/ui/translations/main_th.ts

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

selfdrive/ui/translations/main_tr.ts

@@ -962,10 +962,6 @@ The default software delay value is 0.2</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
@@ -1010,6 +1006,38 @@ The default software delay value is 0.2</source>
         <source>Cancel</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Refresh Model List</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching Latest Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Steer Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Actuator Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Software Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Total Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -2041,6 +2069,30 @@ Warning: You are on a metered connection!</source>
         <source>Not Paired</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[Don&apos;t use] Enable sunnylink uploader</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
@@ -2186,16 +2238,6 @@ Warning: You are on a metered connection!</source>
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable sunnypilot</source>
         <translation type="unfinished"></translation>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -966,10 +966,6 @@ The default software delay value is 0.2</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
@@ -1014,6 +1010,38 @@ The default software delay value is 0.2</source>
         <source>Cancel</source>
         <translation type="unfinished">取消</translation>
     </message>
+    <message>
+        <source>Refresh Model List</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching Latest Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Steer Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Actuator Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Software Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Total Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -2046,6 +2074,30 @@ Warning: You are on a metered connection!</source>
         <source>Not Paired</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[Don&apos;t use] Enable sunnylink uploader</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
@@ -2191,16 +2243,6 @@ Warning: You are on a metered connection!</source>
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation>在驾驶时录制并存储麦克风音频。该音频将会包含在 comma connect 的行车记录仪视频中。</translation>
     </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable sunnypilot</source>
         <translation type="unfinished"></translation>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -966,10 +966,6 @@ The default software delay value is 0.2</source>
         <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Model download has started in the background.</source>
         <translation type="unfinished"></translation>
@@ -1014,6 +1010,38 @@ The default software delay value is 0.2</source>
         <source>Cancel</source>
         <translation type="unfinished">取消</translation>
     </message>
+    <message>
+        <source>Refresh Model List</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching Latest Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Steer Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Actuator Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Software Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Total Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -2046,6 +2074,30 @@ Warning: You are on a metered connection!</source>
         <source>Not Paired</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[Don&apos;t use] Enable sunnylink uploader</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
@@ -2191,16 +2243,6 @@ Warning: You are on a metered connection!</source>
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation>在駕駛時錄製並儲存麥克風音訊。此音訊將會收錄在 comma connect 的行車記錄器影片中。</translation>
     </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable sunnypilot</source>
         <translation type="unfinished"></translation>

selfdrive/ui/widgets/exp_mode_button.py

@@ -37,7 +37,7 @@ class ExperimentalModeButton(Widget):
     self.params.put_bool("ExperimentalMode", self.experimental_mode)
 
   def _render(self, rect):
-    rl.draw_rectangle_rounded(rect, 0.08, 20, rl.Color(255, 255, 255, 255))
+    rl.draw_rectangle_rounded(rect, 0.08, 20, rl.WHITE)
 
     rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
     self._draw_gradient_background(rect)
@@ -53,7 +53,7 @@ class ExperimentalModeButton(Widget):
     text_x = rect.x + self.horizontal_padding
     text_y = rect.y + rect.height / 2 - 45 // 2  # Center vertically
 
-    rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), text, rl.Vector2(int(text_x), int(text_y)), 45, 0, rl.Color(0, 0, 0, 255))
+    rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), text, rl.Vector2(int(text_x), int(text_y)), 45, 0, rl.BLACK)
 
     # Draw icon (right aligned)
     icon_x = rect.x + rect.width - self.horizontal_padding - self.img_width
@@ -63,4 +63,4 @@ class ExperimentalModeButton(Widget):
     # Draw current mode icon
     current_icon = self.experimental_pixmap if self.experimental_mode else self.chill_pixmap
     source_rect = rl.Rectangle(0, 0, current_icon.width, current_icon.height)
-    rl.draw_texture_pro(current_icon, source_rect, icon_rect, rl.Vector2(0, 0), 0, rl.Color(255, 255, 255, 255))
+    rl.draw_texture_pro(current_icon, source_rect, icon_rect, rl.Vector2(0, 0), 0, rl.WHITE)

selfdrive/ui/widgets/prime.py

@@ -36,7 +36,7 @@ class PrimeWidget(Widget):
     font = gui_app.font(FontWeight.LIGHT)
     wrapped_text = "\n".join(wrap_text(font, "Become a comma prime member at connect.comma.ai", 56, int(w)))
     text_size = measure_text_cached(font, wrapped_text, 56)
-    rl.draw_text_ex(font, wrapped_text, rl.Vector2(x, desc_y), 56, 0, rl.Color(255, 255, 255, 255))
+    rl.draw_text_ex(font, wrapped_text, rl.Vector2(x, desc_y), 56, 0, rl.WHITE)
 
     # Features section
     features_y = desc_y + text_size.y + 50

sunnypilot/mapd/live_map_data/osm_map_data.py

@@ -34,7 +34,7 @@ class OsmMapData(BaseMapData):
     return float(self.mem_params.get("MapSpeedLimit") or 0.0)
 
   def get_current_road_name(self) -> str:
-    return str(self.mem_params.get("RoadName"))
+    return str(self.mem_params.get("RoadName") or "")
 
   def get_next_speed_limit_and_distance(self) -> tuple[float, float]:
     next_speed_limit_section_str = self.mem_params.get("NextMapSpeedLimit")

sunnypilot/mapd/mapd_installer.py

@@ -90,7 +90,7 @@ class MapdInstallManager:
     logging.error("Failed to download file after all retries")
 
   def get_installed_version(self) -> str:
-    return str(self._params.get("MapdVersion"))
+    return str(self._params.get("MapdVersion") or "")
 
   def wait_for_internet_connection(self, return_on_failure: bool = False) -> bool:
     max_retries = 10

sunnypilot/modeld_v2/modeld.py

@@ -69,24 +69,26 @@ class ModelState(ModelStateBase):
 
     # img buffers are managed in openCL transform code
     self.numpy_inputs = {}
+    self.temporal_buffers = {}
+    self.temporal_idxs_map = {}
 
     for key, shape in self.model_runner.input_shapes.items():
       if key not in self.frames: # Managed by opencl
         self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)
-
-    if self.model_runner.is_20hz_3d:  # split models
-      self.full_features_buffer = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN,  self.constants.FEATURE_LEN), dtype=np.float32)
-      self.full_desire = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN, self.constants.DESIRE_LEN), dtype=np.float32)
-      self.full_prev_desired_curv = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN, self.constants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
-      self.temporal_idxs = slice(-1-(self.constants.TEMPORAL_SKIP*(self.constants.INPUT_HISTORY_BUFFER_LEN-1)), None, self.constants.TEMPORAL_SKIP)
-    elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d:
-      self.full_features_buffer = np.zeros((self.constants.FULL_HISTORY_BUFFER_LEN + 1, self.constants.FEATURE_LEN), dtype=np.float32)
-      self.full_desire = np.zeros((self.constants.FULL_HISTORY_BUFFER_LEN + 1, self.constants.DESIRE_LEN), dtype=np.float32)
-      num_elements = self.numpy_inputs['features_buffer'].shape[1]
-      step_size = int(-100 / num_elements)
-      self.temporal_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
-      self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1,
-                                  self.numpy_inputs['desire'].shape[2])
+        # Temporal input: shape is [batch, history, features]
+        if len(shape) == 3 and shape[1] > 1:
+          buffer_history_len = max(100, (shape[1] * 4 if shape[1] < 100 else shape[1]))   # Allow for higher history buffers in the future
+          feature_len = shape[2]
+          self.temporal_buffers[key] = np.zeros((1, buffer_history_len, feature_len), dtype=np.float32)
+          features_buffer_shape = self.model_runner.input_shapes.get('features_buffer')
+          if shape[1] in (24, 25) and features_buffer_shape is not None and features_buffer_shape[1] == 24:  # 20Hz
+            step = int(-buffer_history_len / shape[1])
+            self.temporal_idxs_map[key] = np.arange(step, step * (shape[1] + 1), step)[::-1]
+          elif shape[1] == 25:  # Split
+            skip = buffer_history_len // shape[1]
+            self.temporal_idxs_map[key] = np.arange(buffer_history_len)[-1 - (skip * (shape[1] - 1))::skip]
+          elif shape[1] == buffer_history_len:  # non20hz
+            self.temporal_idxs_map[key] = np.arange(buffer_history_len)
 
   @property
   def mlsim(self) -> bool:
@@ -98,19 +100,16 @@ class ModelState(ModelStateBase):
     inputs['desire'][0] = 0
     new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
     self.prev_desire[:] = inputs['desire']
+    self.temporal_buffers['desire'][0,:-1] = self.temporal_buffers['desire'][0,1:]
+    self.temporal_buffers['desire'][0,-1] = new_desire
 
-    if self.model_runner.is_20hz_3d:  # split models
-      self.full_desire[0,:-1] = self.full_desire[0,1:]
-      self.full_desire[0,-1] = new_desire
-      self.numpy_inputs['desire'][:] = self.full_desire.reshape((1, self.constants.INPUT_HISTORY_BUFFER_LEN, self.constants.TEMPORAL_SKIP, -1)).max(axis=2)
-    elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d:  # 20hz supercombo
-      self.full_desire[:-1] = self.full_desire[1:]
-      self.full_desire[-1] = new_desire
-      self.numpy_inputs['desire'][:] = self.full_desire.reshape(self.desire_reshape_dims).max(axis=2)
-    else: # not 20hz
-      length = inputs['desire'].shape[0]
-      self.numpy_inputs['desire'][0, :-1] = self.numpy_inputs['desire'][0, 1:]
-      self.numpy_inputs['desire'][0, -1, :length] = new_desire[:length]
+    # Roll buffer and assign based on desire.shape[1] value
+    if self.temporal_buffers['desire'].shape[1] > self.numpy_inputs['desire'].shape[1]:
+      skip = self.temporal_buffers['desire'].shape[1] // self.numpy_inputs['desire'].shape[1]
+      self.numpy_inputs['desire'][:] = (
+        self.temporal_buffers['desire'][0].reshape(self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], skip, -1).max(axis=2))
+    else:
+      self.numpy_inputs['desire'][:] = self.temporal_buffers['desire'][0, self.temporal_idxs_map['desire']]
 
     for key in self.numpy_inputs:
       if key in inputs and key not in ['desire']:
@@ -127,42 +126,27 @@ class ModelState(ModelStateBase):
     # Run model inference
     outputs = self.model_runner.run_model()
 
-    if self.model_runner.is_20hz_3d: # split models
-      self.full_features_buffer[0, :-1] = self.full_features_buffer[0, 1:]
-      self.full_features_buffer[0, -1] = outputs['hidden_state'][0, :]
-      self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
-    elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d:  # 20hz supercombo
-      self.full_features_buffer[:-1] = self.full_features_buffer[1:]
-      self.full_features_buffer[-1] = outputs['hidden_state'][0, :]
-      self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[self.temporal_idxs]
-    else: # not 20hz
-      feature_len = outputs['hidden_state'].shape[1]
-      self.numpy_inputs['features_buffer'][0, :-1] = self.numpy_inputs['features_buffer'][0, 1:]
-      self.numpy_inputs['features_buffer'][0, -1, :feature_len] = outputs['hidden_state'][0, :feature_len]
+    # Update features_buffer
+    self.temporal_buffers['features_buffer'][0, :-1] = self.temporal_buffers['features_buffer'][0, 1:]
+    self.temporal_buffers['features_buffer'][0, -1] = outputs['hidden_state'][0, :]
+    self.numpy_inputs['features_buffer'][:] = self.temporal_buffers['features_buffer'][0, self.temporal_idxs_map['features_buffer']]
 
     if "desired_curvature" in outputs:
       input_name_prev = None
-
       if "prev_desired_curvs" in self.numpy_inputs.keys():
         input_name_prev = 'prev_desired_curvs'
       elif "prev_desired_curv" in self.numpy_inputs.keys():
         input_name_prev = 'prev_desired_curv'
-
-      if input_name_prev is not None:
+      if input_name_prev and input_name_prev in self.temporal_buffers:
         self.process_desired_curvature(outputs, input_name_prev)
     return outputs
 
   def process_desired_curvature(self, outputs, input_name_prev):
-    if self.model_runner.is_20hz_3d:  # split models
-      self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
-      self.full_prev_desired_curv[0,-1,:] = outputs['desired_curvature'][0, :]
-      self.numpy_inputs[input_name_prev][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
-      if self.mlsim:
-        self.numpy_inputs[input_name_prev][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
-    else:
-      length = outputs['desired_curvature'][0].size
-      self.numpy_inputs[input_name_prev][0, :-length, 0] = self.numpy_inputs[input_name_prev][0, length:, 0]
-      self.numpy_inputs[input_name_prev][0, -length:, 0] = outputs['desired_curvature'][0]
+    self.temporal_buffers[input_name_prev][0,:-1] = self.temporal_buffers[input_name_prev][0,1:]
+    self.temporal_buffers[input_name_prev][0,-1,:] = outputs['desired_curvature'][0, :]
+    self.numpy_inputs[input_name_prev][:] = self.temporal_buffers[input_name_prev][0, self.temporal_idxs_map[input_name_prev]]
+    if self.mlsim:
+      self.numpy_inputs[input_name_prev][:] = 0*self.temporal_buffers[input_name_prev][0, self.temporal_idxs_map[input_name_prev]]
 
   def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                             lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:

sunnypilot/modeld_v2/parse_model_outputs_split.py

@@ -1,6 +1,5 @@
 import numpy as np
 from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
-from openpilot.sunnypilot.models.helpers import get_active_bundle
 
 
 def safe_exp(x, out=None):
@@ -25,8 +24,6 @@ def softmax(x, axis=-1):
 class Parser:
   def __init__(self, ignore_missing=False):
     self.ignore_missing = ignore_missing
-    model_bundle = get_active_bundle()
-    self.generation = model_bundle.generation if model_bundle is not None else None
 
   def check_missing(self, outs, name):
     if name not in outs and not self.ignore_missing:
@@ -91,28 +88,26 @@ class Parser:
     outs[name] = pred_mu_final.reshape(final_shape)
     outs[name + '_stds'] = pred_std_final.reshape(final_shape)
 
-  def _parse_plan_mhp(self, outs):
-    self.parse_mdn('plan', outs, in_N=SplitModelConstants.PLAN_MHP_N, out_N=SplitModelConstants.PLAN_MHP_SELECTION,
-                         out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))
+  def is_mhp(self, outs, name, shape):
+    if self.check_missing(outs, name):
+      return False
+    if outs[name].shape[1] == 2 * shape:
+      return False
+    return True
 
   def parse_dynamic_outputs(self, outs: dict[str, np.ndarray]) -> None:
     if 'lead' in outs:
-      if self.generation >= 12 and \
-         outs['lead'].shape[1] == 2 * SplitModelConstants.LEAD_MHP_SELECTION * SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH:
-        self.parse_mdn('lead', outs, in_N=0, out_N=0,
-                       out_shape=(SplitModelConstants.LEAD_MHP_SELECTION, SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
-      else:
-        self.parse_mdn('lead', outs, in_N=SplitModelConstants.LEAD_MHP_N, out_N=SplitModelConstants.LEAD_MHP_SELECTION,
-                       out_shape=(SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
+      lead_mhp = self.is_mhp(outs, 'lead',
+                             SplitModelConstants.LEAD_MHP_SELECTION * SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH)
+      lead_in_N, lead_out_N = (SplitModelConstants.LEAD_MHP_N, SplitModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
+      lead_out_shape = (SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH) if lead_mhp else \
+        (SplitModelConstants.LEAD_MHP_SELECTION, SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH)
+      self.parse_mdn('lead', outs, in_N=lead_in_N, out_N=lead_out_N, out_shape=lead_out_shape)
     if 'plan' in outs:
-      if self.generation >= 12 and \
-        outs['plan'].shape[1] > 2 * SplitModelConstants.PLAN_WIDTH * SplitModelConstants.IDX_N:
-        self._parse_plan_mhp(outs)
-      elif self.generation >= 12:
-        self.parse_mdn('plan', outs, in_N=0, out_N=0,
-                       out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
-      else:
-        self._parse_plan_mhp(outs)
+      plan_mhp = self.is_mhp(outs, 'plan', SplitModelConstants.IDX_N * SplitModelConstants.PLAN_WIDTH)
+      plan_in_N, plan_out_N = (SplitModelConstants.PLAN_MHP_N, SplitModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
+      self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N,
+                     out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
 
   def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
     if 'desired_curvature' in outs:

sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py

@@ -0,0 +1,256 @@
+import numpy as np
+import pytest
+from typing import Any
+
+import openpilot.sunnypilot.models.helpers as helpers
+import openpilot.sunnypilot.models.runners.helpers as runner_helpers
+import openpilot.sunnypilot.modeld_v2.modeld as modeld_module
+
+ModelState = modeld_module.ModelState
+
+
+# These are the shapes extracted/loaded from the model onnx
+SHAPE_MODE_PARAMS = [
+  ({'desire': (1, 25, 8), 'features_buffer': (1, 25, 512), 'prev_desired_curv': (1, 25, 1)}, 'split'),
+  ({'desire': (1, 25, 8), 'features_buffer': (1, 24, 512), 'prev_desired_curv': (1, 25, 1)}, '20hz'),
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1)}, 'non20hz'),
+]
+
+
+# This creates a dummy runner, override, and bundle instance for the tests to run, without actually trying to load a physical model.
+class DummyOverride:
+  def __init__(self, key: str, value: str) -> None:
+    self.key = key
+    self.value = value
+
+
+class DummyBundle:
+  def __init__(self) -> None:
+    self.overrides = [DummyOverride('lat', '.1'), DummyOverride('long', '.3')]
+    self.generation = 10  # default to non-mlsim for buffer-update tests, as raising to 11 here will zero curvature buffer
+
+
+class DummyModelRunner:
+  def __init__(self, input_shapes: dict[str, tuple[int, int, int]], constants: Any = None) -> None:
+    self.input_shapes = input_shapes
+    self.constants = constants or type('C', (), {
+      'FULL_HISTORY_BUFFER_LEN': 100,
+      'FEATURE_LEN': 512,
+      'DESIRE_LEN': 8,
+      'PREV_DESIRED_CURV_LEN': 1,
+      'INPUT_HISTORY_BUFFER_LEN': 25,
+      'TEMPORAL_SKIP': 4,
+    })()
+    self.vision_input_names: list[str] = []
+    shape = input_shapes.get('desire', (1, 0, 0)) # [batch, history, features]
+    if shape[1] == 25:
+      self.is_20hz = True
+    else:
+      self.is_20hz = False
+
+  # Minimal prepare/run methods so ModelState can be run without actually running the model
+  def prepare_inputs(self, imgs_cl, numpy_inputs, frames):
+    return None
+
+  def run_model(self):
+    return {
+      'hidden_state': np.zeros((1, self.constants.FEATURE_LEN), dtype=np.float32),
+      'desired_curvature': np.zeros((1, 1), dtype=np.float32),
+    }
+
+
+@pytest.fixture
+def shapes(request):
+  return request.param
+
+
+@pytest.fixture
+def bundle() -> DummyBundle:
+  return DummyBundle()
+
+
+@pytest.fixture
+def runner(shapes) -> DummyModelRunner:
+  return DummyModelRunner(shapes)
+
+
+@pytest.fixture
+def apply_patches(monkeypatch: pytest.MonkeyPatch, bundle: DummyBundle, runner: DummyModelRunner):
+  monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None: bundle, raising=False)
+  monkeypatch.setattr(runner_helpers, 'get_model_runner', lambda: runner, raising=False)
+  monkeypatch.setattr(modeld_module, 'get_model_runner', lambda: runner, raising=False)
+  monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None: bundle, raising=False)
+
+
+# These are expected shapes and indices based on the time the model was presented
+def get_expected_indices(shape, constants, mode, key=None):
+  if mode == 'split':
+    start = -1 - (constants.TEMPORAL_SKIP * (constants.INPUT_HISTORY_BUFFER_LEN - 1))
+    arr = np.arange(constants.FULL_HISTORY_BUFFER_LEN)
+    idxs = arr[start::constants.TEMPORAL_SKIP]
+    return idxs
+  elif mode == '20hz':
+    num_elements = shape[1]
+    step_size = int(-100 / num_elements)
+    idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
+    return idxs
+  elif mode == 'non20hz':
+    if key and shape[1] == constants.FULL_HISTORY_BUFFER_LEN:
+      return np.arange(constants.FULL_HISTORY_BUFFER_LEN)
+    return None
+  return None
+
+
+@pytest.mark.parametrize("shapes,mode", SHAPE_MODE_PARAMS, indirect=["shapes"])
+def test_buffer_shapes_and_indices(shapes, mode, apply_patches):
+  state = ModelState(None)
+  constants = DummyModelRunner(shapes).constants
+  for key in shapes:
+    buf = state.temporal_buffers.get(key, None)
+    idxs = state.temporal_idxs_map.get(key, None)
+    # Buffer shape logic
+    if mode == 'split':
+      expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
+      expected_idxs = get_expected_indices(shapes[key], constants, 'split', key)
+    elif mode == '20hz':
+      expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
+      expected_idxs = get_expected_indices(shapes[key], constants, '20hz', key)
+    elif mode == 'non20hz':
+      if key == 'features_buffer':
+        expected_shape = (1, shapes[key][1]*4, shapes[key][2])
+      else:
+        expected_shape = (1, shapes[key][1], shapes[key][2])
+      expected_idxs = get_expected_indices(shapes[key], constants, 'non20hz', key)
+
+    assert buf is not None, f"{key}: buffer not found"
+    assert buf.shape == expected_shape, f"{key}: buffer shape {buf.shape} != expected {expected_shape}"
+    if expected_idxs is not None:
+      assert np.all(idxs == expected_idxs), f"{key}: buffer idxs {idxs} != expected {expected_idxs}"
+    else:
+      assert idxs is None or idxs.size == 0, f"{key}: buffer idxs should be None or empty"
+
+
+def legacy_buffer_update(buf, new_val, mode, key, constants, idxs):
+  # This is what we compare the new dynamic logic to, to ensure it does the same thing
+  if mode == 'split':
+    if key == 'desire':
+      buf[0,:-1] = buf[0,1:]
+      buf[0,-1] = new_val
+      return buf.reshape((1, constants.INPUT_HISTORY_BUFFER_LEN, constants.TEMPORAL_SKIP, -1)).max(axis=2)
+    elif key == 'features_buffer':
+      buf[0,:-1] = buf[0,1:]
+      buf[0,-1] = new_val
+      return buf[0, idxs]
+    elif key == 'prev_desired_curv':
+      buf[0,:-1] = buf[0,1:]
+      buf[0,-1,:] = new_val
+      return buf[0, idxs]
+  elif mode == '20hz':
+    if key == 'desire':
+      buf[:-1] = buf[1:]
+      buf[-1] = new_val
+      reshape_dims = (1, buf.shape[1], -1, buf.shape[2])
+      reshaped = buf.reshape(reshape_dims).max(axis=2)
+      # Slice to last shape[1] elements to match model input shape
+      input_len = reshaped.shape[1]
+      model_input_len = 25  # For 20hz mode, desire shape[1] is 25
+      if input_len > model_input_len:
+        reshaped = reshaped[:, -model_input_len:, :]
+      return reshaped
+    elif key == 'features_buffer':
+      buffer_history_len = buf.shape[1]
+      legacy_buf = np.zeros((buffer_history_len, buf.shape[2]), dtype=np.float32)
+      legacy_buf[:] = buf[0]
+      legacy_buf[:-1] = legacy_buf[1:]
+      legacy_buf[-1] = new_val
+      return legacy_buf[idxs]
+    elif key == 'prev_desired_curv':
+      buffer_history_len = buf.shape[1]
+      legacy_buf = np.zeros((buffer_history_len, buf.shape[2]), dtype=np.float32)
+      legacy_buf[:] = buf[0]
+      legacy_buf[:-1] = legacy_buf[1:]
+      legacy_buf[-1,:] = new_val
+      return legacy_buf[idxs]
+  elif mode == 'non20hz':
+    if key == 'desire':
+      length = new_val.shape[0]
+      buf[0,:-1,:length] = buf[0,1:,:length]
+      buf[0,-1,:length] = new_val[:length]
+      return buf[0]
+    elif key == 'features_buffer':
+      feature_len = new_val.shape[0]
+      buf[0,:-1,:feature_len] = buf[0,1:,:feature_len]
+      buf[0,-1,:feature_len] = new_val[:feature_len]
+      return buf[0]
+    elif key == 'prev_desired_curv':
+      length = new_val.shape[0]
+      buf[0,:-length,0] = buf[0,length:,0]
+      buf[0,-length:,0] = new_val[:length]
+      return buf[0]
+  return None
+
+
+def dynamic_buffer_update(state, key, new_val, mode):
+  if key == 'desire':
+    state.temporal_buffers['desire'][0,:-1] = state.temporal_buffers['desire'][0,1:]
+    state.temporal_buffers['desire'][0,-1] = new_val
+    if state.temporal_buffers['desire'].shape[1] > state.numpy_inputs['desire'].shape[1]:
+      skip = state.temporal_buffers['desire'].shape[1] // state.numpy_inputs['desire'].shape[1]
+      return state.temporal_buffers['desire'][0].reshape(
+        state.numpy_inputs['desire'].shape[0], state.numpy_inputs['desire'].shape[1], skip, -1
+      ).max(axis=2)
+    else:
+      return state.temporal_buffers['desire'][0, state.temporal_idxs_map['desire']]
+
+  inputs = {'desire': np.zeros((1, state.constants.DESIRE_LEN), dtype=np.float32)}
+  for k, tb in state.temporal_buffers.items():
+    if k in state.temporal_idxs_map:
+      continue
+    buf_len = tb.shape[1]
+    if k in state.numpy_inputs:
+      out_len = state.numpy_inputs[k].shape[1]
+      if out_len <= buf_len:
+        state.temporal_idxs_map[k] = np.arange(buf_len)[-out_len:]
+      else:
+        state.temporal_idxs_map[k] = np.arange(buf_len)
+    else:
+      state.temporal_idxs_map[k] = np.arange(buf_len)
+
+  if key == 'features_buffer':
+    def run_model_stub():
+      return {
+        'hidden_state': np.asarray(new_val, dtype=np.float32).reshape(1, -1),
+      }
+    state.model_runner.run_model = run_model_stub
+    state.run({}, {}, inputs, prepare_only=False)
+    return state.numpy_inputs['features_buffer'][0]
+
+  if key == 'prev_desired_curv':
+    def run_model_stub():
+      return {
+        'hidden_state': np.zeros((1, state.constants.FEATURE_LEN), dtype=np.float32),
+        'desired_curvature': np.asarray(new_val, dtype=np.float32).reshape(1, -1),
+      }
+    state.model_runner.run_model = run_model_stub
+    state.run({}, {}, inputs, prepare_only=False)
+    return state.numpy_inputs['prev_desired_curv'][0]
+  return None
+
+
+@pytest.mark.parametrize("shapes,mode", SHAPE_MODE_PARAMS, indirect=["shapes"])
+@pytest.mark.parametrize("key", ["desire", "features_buffer", "prev_desired_curv"])
+def test_buffer_update_equivalence(shapes, mode, key, apply_patches):
+  state = ModelState(None)
+  constants = DummyModelRunner(shapes).constants
+  buf = state.temporal_buffers.get(key, None)
+  idxs = state.temporal_idxs_map.get(key, None)
+  input_shape = shapes[key]
+  for step in range(20):    # multiple steps to ensure history is built up
+    new_val = np.full((input_shape[2],), step, dtype=np.float32)
+    expected = legacy_buffer_update(buf, new_val, mode, key, constants, idxs)
+    actual = dynamic_buffer_update(state, key, new_val, mode)
+    # Model returns the reduced numpy_inputs history, compare the last n entries so the test is checking the same slices.
+    if expected is not None and actual is not None and expected.shape != actual.shape:
+      if expected.ndim == 2 and actual.ndim == 2 and expected.shape[1] == actual.shape[1]:
+        expected = expected[-actual.shape[0]:]
+    assert np.allclose(actual, expected), f"{mode} {key}: dynamic buffer update does not match legacy logic"

sunnypilot/models/fetcher.py

@@ -114,7 +114,7 @@ class ModelCache:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v6.json"
+  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v7.json"
 
   def __init__(self, params: Params):
     self.params = params

sunnypilot/models/helpers.py

@@ -19,8 +19,8 @@ from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
 # see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 8
-REQUIRED_MIN_SELECTOR_VERSION = 8
+CURRENT_SELECTOR_VERSION = 9
+REQUIRED_MIN_SELECTOR_VERSION = 9
 
 USE_ONNX = os.getenv('USE_ONNX', PC)
 

sunnypilot/models/runners/tinygrad/tinygrad_runner.py

@@ -83,7 +83,7 @@ class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTiny
 
   def _run_model(self) -> NumpyDict:
     """Runs the Tinygrad model inference and parses the outputs."""
-    outputs = self.model_run(**self.inputs).numpy().flatten()
+    outputs = self.model_run(**self.inputs).contiguous().realize().uop.base.buffer.numpy()
     return self._parse_outputs(outputs)
 
   def _parse_outputs(self, model_outputs: np.ndarray) -> NumpyDict:

sunnypilot/models/tests/model_hash

@@ -1 +1 @@
-71c14a02af81857565e5fcffaaddb57a76fe80b283fe3292da830dbc92e211b7
+2ff2f49176a13bc7f856645d785b3b838a5c7ecf7f6cb37699fa0459ebf12453

sunnypilot/selfdrive/car/interfaces.py

@@ -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 typing import Any
 
 from opendbc.car import structs
 from opendbc.car.interfaces import CarInterfaceBase
-from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType
-from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import get_nn_model_path
@@ -23,22 +22,6 @@ def log_fingerprint(CP: structs.CarParams) -> None:
     sentry.capture_fingerprint(CP.carFingerprint, CP.brand)
 
 
-def _initialize_custom_longitudinal_tuning(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
-                                           params: Params = None) -> None:
-  if params is None:
-    params = Params()
-
-  # Hyundai Custom Longitudinal Tuning
-  if CP.brand == 'hyundai':
-    hyundai_longitudinal_tuning = params.get("HyundaiLongitudinalTuning")
-    if hyundai_longitudinal_tuning == LongitudinalTuningType.DYNAMIC:
-      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_DYNAMIC.value
-    if hyundai_longitudinal_tuning == LongitudinalTuningType.PREDICTIVE:
-      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_PREDICTIVE.value
-
-  CP_SP = CI.get_longitudinal_tuning_sp(CP, CP_SP)
-
-
 def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
                                                params: Params = None, enabled: bool = False) -> None:
   if params is None:
@@ -64,5 +47,15 @@ def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
   CP = CI.CP
   CP_SP = CI.CP_SP
 
-  _initialize_custom_longitudinal_tuning(CI, CP, CP_SP, params)
   _initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
+
+
+def initialize_params(params) -> list[dict[str, Any]]:
+  keys: list = []
+
+  # hyundai
+  keys.extend([
+    "HyundaiLongitudinalTuning"
+  ])
+
+  return [{k: params.get(k, return_default=True)} for k in keys]

sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py

@@ -9,23 +9,28 @@ from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.nnlc import NeuralNetworkL
 
 
 class LatControlTorqueExt(NeuralNetworkLateralControl):
-  def __init__(self, lac_torque, CP, CP_SP):
-    super().__init__(lac_torque, CP, CP_SP)
+  def __init__(self, lac_torque, CP, CP_SP, CI):
+    super().__init__(lac_torque, CP, CP_SP, CI)
 
-  def update(self, CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
+  def update(self, CS, VM, pid, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
              desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
-             desired_curvature, actual_curvature):
+             desired_curvature, actual_curvature, steer_limited_by_safety, output_torque):
     self._ff = ff
+    self._pid = pid
     self._pid_log = pid_log
     self._setpoint = setpoint
     self._measurement = measurement
+    self._roll_compensation = roll_compensation
     self._lateral_accel_deadzone = lateral_accel_deadzone
     self._desired_lateral_accel = desired_lateral_accel
     self._actual_lateral_accel = actual_lateral_accel
     self._desired_curvature = desired_curvature
     self._actual_curvature = actual_curvature
+    self._gravity_adjusted_lateral_accel = gravity_adjusted_lateral_accel
+    self._steer_limited_by_safety = steer_limited_by_safety
+    self._output_torque = output_torque
 
     self.update_calculations(CS, VM, desired_lateral_accel)
     self.update_neural_network_feedforward(CS, params, calibrated_pose)
 
-    return self._ff, self._pid_log
+    return self._pid_log, self._output_torque

sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py

@@ -7,6 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 import math
 import numpy as np
 
+from openpilot.common.pid import PIDController
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
@@ -43,9 +44,10 @@ def get_lookahead_value(future_vals, current_val):
 
 
 class LatControlTorqueExtBase:
-  def __init__(self, lac_torque, CP, CP_SP):
+  def __init__(self, lac_torque, CP, CP_SP, CI):
     self.model_v2 = None
     self.model_valid = False
+    self.lac_torque = lac_torque
     self.torque_params = lac_torque.torque_params
 
     self.actual_lateral_jerk: float = 0.0
@@ -53,17 +55,22 @@ class LatControlTorqueExtBase:
     self.lateral_jerk_measurement: float = 0.0
     self.lookahead_lateral_jerk: float = 0.0
 
-    self.torque_from_lateral_accel = lac_torque.torque_from_lateral_accel
+    self.torque_from_lateral_accel_in_torque_space = CI.torque_from_lateral_accel_in_torque_space()
 
     self._ff = 0.0
+    self._pid = PIDController(0.0, 0.0, k_f=0.0)
     self._pid_log = None
     self._setpoint = 0.0
     self._measurement = 0.0
+    self._roll_compensation = 0.0
     self._lateral_accel_deadzone = 0.0
     self._desired_lateral_accel = 0.0
     self._actual_lateral_accel = 0.0
     self._desired_curvature = 0.0
     self._actual_curvature = 0.0
+    self._gravity_adjusted_lateral_accel = 0.0
+    self._steer_limited_by_safety = False
+    self._output_torque = 0.0
 
     # twilsonco's Lateral Neural Network Feedforward
     # Instantaneous lateral jerk changes very rapidly, making it not useful on its own,

sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py

@@ -9,6 +9,8 @@ import math
 import numpy as np
 
 from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
+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.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.selfdrive.modeld.constants import ModelConstants
@@ -30,8 +32,8 @@ def roll_pitch_adjust(roll, pitch):
 
 
 class NeuralNetworkLateralControl(LatControlTorqueExtBase):
-  def __init__(self, lac_torque, CP, CP_SP):
-    super().__init__(lac_torque, CP, CP_SP)
+  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")
     self.has_nn_model = CP_SP.neuralNetworkLateralControl.model.path != MOCK_MODEL_PATH
@@ -57,14 +59,44 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
     self.error_deque = deque(maxlen=history_check_frames[0])
     self.past_future_len = len(self.past_times) + len(self.nn_future_times)
 
+  @property
+  def _nnlc_enabled(self):
+    return self.enabled and self.model_valid and self.has_nn_model
+
+  def update_limits(self):
+    if not self._nnlc_enabled:
+      return
+
+    self._pid.set_limits(self.lac_torque.steer_max, -self.lac_torque.steer_max)
+
   def update_lateral_lag(self, lag):
     super().update_lateral_lag(lag)
     self.nn_future_times = [t + self.desired_lat_jerk_time for t in self.future_times]
 
+  def update_feedforward_torque_space(self, CS):
+    torque_from_setpoint = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._setpoint, self._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, self._roll_compensation, CS.vEgo, CS.aEgo),
+                                                                             self.torque_params, gravity_adjusted=False)
+    self._pid_log.error = float(torque_from_setpoint - torque_from_measurement)
+    self._ff = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._gravity_adjusted_lateral_accel, self._roll_compensation,
+                                                                               CS.vEgo, CS.aEgo), self.torque_params, gravity_adjusted=True)
+    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.enabled or not self.model_valid or not self.has_nn_model:
+    if not self._nnlc_enabled:
       return
 
+    self.update_feedforward_torque_space(CS)
+
     low_speed_factor = float(np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)) ** 2
     self._setpoint = self._desired_lateral_accel + low_speed_factor * self._desired_curvature
     self._measurement = self._actual_lateral_accel + low_speed_factor * self._actual_curvature
@@ -128,3 +160,5 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
     # apply friction override for cars with low NN friction response
     if self.model.friction_override:
       self._pid_log.error += get_friction(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+
+    self.update_output_torque(CS)

sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py

@@ -3,6 +3,7 @@ from parameterized import parameterized
 
 from cereal import car, log, messaging
 from opendbc.car.car_helpers import interfaces
+from opendbc.car.gm.values import CAR as GM
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.hyundai.values import CAR as HYUNDAI
 from opendbc.car.toyota.values import CAR as TOYOTA
@@ -41,7 +42,7 @@ def generate_modelV2():
 
 class TestNeuralNetworkLateralControl:
 
-  @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN])
+  @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN, GM.CHEVROLET_BOLT_EUV])
   def test_saturation(self, car_name):
     params = Params()
     params.put_bool("NeuralNetworkLateralControl", True)
@@ -57,6 +58,7 @@ class TestNeuralNetworkLateralControl:
     VM = VehicleModel(CP)
 
     controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI)
+    torque_params = CP.lateralTuning.torque
 
     CS = car.CarState.new_message()
     CS.vEgo = 30
@@ -77,17 +79,23 @@ class TestNeuralNetworkLateralControl:
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
       controller.extension.update_lateral_lag(test_lag)
+      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
+      controller.extension.update_limits()
       _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True)
     assert lac_log.saturated
 
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
       controller.extension.update_lateral_lag(test_lag)
+      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
+      controller.extension.update_limits()
       _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False)
     assert not lac_log.saturated
 
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
       controller.extension.update_lateral_lag(test_lag)
+      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
+      controller.extension.update_limits()
       _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False)
     assert lac_log.saturated

sunnypilot/selfdrive/controls/lib/param_store.py

@@ -24,11 +24,16 @@ class ParamStore:
     self.values = {}
     self.cached_params_list: list[capnp.lib.capnp._DynamicStructBuilder] | None = None
 
+    self.frame = 0
+
   def update(self, params: Params) -> None:
-    old_values = dict(self.values)
-    self.values = {k: params.get(k) or "0" for k in self.keys}
-    if old_values != self.values:
-      self.cached_params_list = None
+    if self.frame % 300 == 0:
+      old_values = dict(self.values)
+      self.values = {k: params.get(k) or "0" for k in self.keys}
+      if old_values != self.values:
+        self.cached_params_list = None
+
+    self.frame += 1
 
   def publish(self) -> list[capnp.lib.capnp._DynamicStructBuilder]:
     if self.cached_params_list is None:

sunnypilot/sunnylink/athena/sunnylinkd.py

@@ -15,7 +15,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.athenad import ws_send, jsonrpc_handler, \
-  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim
+  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim, upload_handler
 from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
                        create_connection)
 
@@ -47,7 +47,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
               threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'),
               threading.Thread(target=ws_ping, args=(ws, end_event), name='ws_ping'),
               threading.Thread(target=ws_queue, args=(end_event,), name='ws_queue'),
-              # threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
+              threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
               # threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
               # threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'),
             ] + [

sunnypilot/sunnylink/uploader.py

@@ -1,40 +1,38 @@
 #!/usr/bin/env python3
-import bz2
-import datetime
-import io
 import json
 import os
 import random
+import requests
 import threading
 import time
 import traceback
+import datetime
 from collections.abc import Iterator
-from typing import BinaryIO
 
-import requests
+from cereal import log
+import cereal.messaging as messaging
+from sunnypilot.sunnylink.api import SunnylinkApi
+from openpilot.common.file_helpers import get_upload_stream
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
-from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
-
-import cereal.messaging as messaging
-from cereal import log
-from sunnypilot.sunnylink.api import SunnylinkApi
+from openpilot.common.swaglog import cloudlog
 
 NetworkType = log.DeviceState.NetworkType
 UPLOAD_ATTR_NAME = 'user.sunny.upload'
-
 UPLOAD_ATTR_VALUE = b'1'
 
-UPLOAD_QLOG_QCAM_MAX_SIZE = 5 * 1e6  # MB
+MAX_UPLOAD_SIZES = {
+  "qlog": 25*1e6,  # can't be too restrictive here since we use qlogs to find
+  # bugs, including ones that can cause massive log sizes
+  "qcam": 5*1e6,
+}
 
 allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1"))
 force_wifi = os.getenv("FORCEWIFI") is not None
 fake_upload = os.getenv("FAKEUPLOAD") is not None
 
-OFFROAD_TRANSITION_TIMEOUT = 900.  # wait until offroad for 15 minutes before allowing uploads
-
 
 class FakeRequest:
   def __init__(self):
@@ -52,7 +50,6 @@ def get_directory_sort(d: str) -> list[str]:
   o = ["0", ] if d.startswith("2024-") else ["1", ]
   return o + [s.rjust(10, '0') for s in d.rsplit('--', 1)]
 
-
 def listdir_by_creation(d: str) -> list[str]:
   if not os.path.isdir(d):
     return []
@@ -65,7 +62,6 @@ def listdir_by_creation(d: str) -> list[str]:
     cloudlog.exception("listdir_by_creation failed")
     return []
 
-
 def clear_locks(root: str) -> None:
   for logdir in os.listdir(root):
     path = os.path.join(root, logdir)
@@ -89,11 +85,11 @@ class Uploader:
     self.last_filename = ""
 
     self.immediate_folders = ["crash/", "boot/"]
-    self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1}
+    self.immediate_priority = {"qlog": 0, "qlog.zst": 0, "qcamera.ts": 1}
 
   def list_upload_files(self, metered: bool) -> Iterator[tuple[str, str, str]]:
     r = self.params.get("AthenadRecentlyViewedRoutes")
-    requested_routes = [] if r is None else r.split(",")
+    requested_routes = [] if r is None else [route for route in r.split(",") if route]
 
     for logdir in listdir_by_creation(self.root):
       path = os.path.join(self.root, logdir)
@@ -137,11 +133,11 @@ class Uploader:
       if any(f in fn for f in self.immediate_folders):
         return name, key, fn
 
-    return next(
-      ((name, key, fn)
-       for name, key, fn in upload_files if name in self.immediate_priority),
-      None,
-    )
+    for name, key, fn in upload_files:
+      if name in self.immediate_priority:
+        return name, key, fn
+
+    return None
 
   def do_upload(self, key: str, fn: str):
     url_resp = self.api.get(
@@ -161,15 +157,15 @@ class Uploader:
     if fake_upload:
       return FakeResponse()
 
-    with open(fn, "rb") as f:
-      data: BinaryIO
-      if key.endswith('.bz2') and not fn.endswith('.bz2'):
-        compressed = bz2.compress(f.read())
-        data = io.BytesIO(compressed)
-      else:
-        data = f
-
-      return requests.put(url, data=data, headers=headers, timeout=10)
+    stream = None
+    try:
+      compress = key.endswith('.zst') and not fn.endswith('.zst')
+      stream, _ = get_upload_stream(fn, compress)
+      response = requests.put(url, data=stream, headers=headers, timeout=10)
+      return response
+    finally:
+      if stream:
+        stream.close()
 
   def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) -> bool:
     try:
@@ -183,7 +179,7 @@ class Uploader:
     if sz == 0:
       # tag files of 0 size as uploaded
       success = True
-    elif name in self.immediate_priority and sz > UPLOAD_QLOG_QCAM_MAX_SIZE:
+    elif name in MAX_UPLOAD_SIZES and sz > MAX_UPLOAD_SIZES[name]:
       cloudlog.event("uploader_too_large", key=key, fn=fn, sz=sz)
       success = True
     else:
@@ -224,6 +220,7 @@ class Uploader:
 
     return success
 
+
   def step(self, network_type: int, metered: bool) -> bool | None:
     d = self.next_file_to_upload(metered)
     if d is None:
@@ -232,8 +229,8 @@ class Uploader:
     name, key, fn = d
 
     # qlogs and bootlogs need to be compressed before uploading
-    if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')):
-      key += ".bz2"
+    if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.zst')):
+      key += ".zst"
 
     return self.upload(name, key, fn, network_type, metered)
 
@@ -252,9 +249,6 @@ def main(exit_event: threading.Event = None) -> None:
   params = Params()
   dongle_id = params.get("SunnylinkDongleId")
 
-  offroad_transition_prev = 0.
-  offroad_last = False
-
   if dongle_id is None:
     cloudlog.info("uploader missing dongle_id")
     raise Exception("uploader can't start without dongle id")
@@ -265,35 +259,13 @@ def main(exit_event: threading.Event = None) -> None:
   backoff = 0.1
   while not exit_event.is_set():
     sm.update(0)
-
     offroad = params.get_bool("IsOffroad")
-    t = time.monotonic()
-    if offroad and not offroad_last and t > 300.:
-      offroad_transition_prev = time.monotonic()
-    offroad_last = offroad
-
-    network_type = NetworkType.wifi if force_wifi else sm['deviceState'].networkType
+    network_type = sm['deviceState'].networkType if not force_wifi else NetworkType.wifi
     if network_type == NetworkType.none:
       if allow_sleep:
         time.sleep(60 if offroad else 5)
       continue
 
-    if params.get_bool("DisableOnroadUploads"):
-      if not offroad or (offroad_transition_prev > 0. and t - offroad_transition_prev < OFFROAD_TRANSITION_TIMEOUT):
-        if not offroad:
-          cloudlog.info("not uploading: onroad uploads disabled")
-        else:
-          wait_minutes = int(OFFROAD_TRANSITION_TIMEOUT / 60)
-          time_left = OFFROAD_TRANSITION_TIMEOUT - (t - offroad_transition_prev)
-          if time_left > 2.0 * 60.0:
-            time_left_str = f"{int(time_left / 60)} minute(s)"
-          else:
-            time_left_str = f"{int(time_left)} seconds(s)"
-          cloudlog.info(f"not uploading: waiting until offroad for {wait_minutes} minutes; {time_left_str} left")
-        if allow_sleep:
-          time.sleep(60)
-        continue
-
     success = uploader.step(sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered)
     if success is None:
       backoff = 60 if offroad else 5
@@ -301,7 +273,7 @@ def main(exit_event: threading.Event = None) -> None:
       backoff = 0.1
     else:
       cloudlog.info("upload backoff %r", backoff)
-      backoff = min(backoff * 2, 120)
+      backoff = min(backoff*2, 120)
     if allow_sleep:
       time.sleep(backoff + random.uniform(0, backoff))
 

sunnypilot/system/hardware/c3/README.md

@@ -0,0 +1,3 @@
+# C3 specific hardware code
+
+`c3` is known as `tici` and comma three by comma. Not to confuse it with `c3x` which is known as `tizi`.

sunnypilot/system/hardware/c3/agnos.json

@@ -0,0 +1,84 @@
+[
+  {
+    "name": "xbl",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b.img.xz",
+    "hash": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
+    "hash_raw": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
+    "size": 3282256,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "ed61a650bea0c56652dd0fc68465d8fc722a4e6489dc8f257630c42c6adcdc89"
+  },
+  {
+    "name": "xbl_config",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c.img.xz",
+    "hash": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
+    "hash_raw": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
+    "size": 98124,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "b12801ffaa81e58e3cef914488d3b447e35483ba549b28c6cd9deb4814c3265f"
+  },
+  {
+    "name": "abl",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz",
+    "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
+    "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
+    "size": 274432,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6"
+  },
+  {
+    "name": "aop",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9.img.xz",
+    "hash": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
+    "hash_raw": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
+    "size": 184364,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "c1be2f4aac5b3af49b904b027faec418d05efd7bd5144eb4fdfcba602bcf2180"
+  },
+  {
+    "name": "devcfg",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620.img.xz",
+    "hash": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
+    "hash_raw": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
+    "size": 40336,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "17b229668b20305ff8fa3cd5f94716a3aaa1e5bf9d1c24117eff7f2f81ae719f"
+  },
+  {
+    "name": "boot",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz",
+    "hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
+    "hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
+    "size": 18515968,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0"
+  },
+  {
+    "name": "system",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz",
+    "hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126",
+    "hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
+    "size": 5368709120,
+    "sparse": true,
+    "full_check": false,
+    "has_ab": true,
+    "ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7",
+    "alt": {
+      "hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img",
+      "size": 5368709120
+    }
+  }
+]

sunnypilot/system/hardware/c3/launch_chffrplus.sh

@@ -0,0 +1,92 @@
+#!/usr/bin/env bash
+
+SP_C3_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+DIR="$( cd "$SP_C3_DIR/../../../.." >/dev/null 2>&1 && pwd )"
+
+source "$SP_C3_DIR/launch_env.sh"
+
+function agnos_init {
+  # TODO: move this to agnos
+  sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
+
+  # set success flag for current boot slot
+  sudo abctl --set_success
+
+  # TODO: do this without udev in AGNOS
+  # udev does this, but sometimes we startup faster
+  sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
+  sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
+
+
+  if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
+    AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
+    MANIFEST="$SP_C3_DIR/agnos.json"
+    if $AGNOS_PY --verify $MANIFEST; then
+      sudo reboot
+    fi
+    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
+  fi
+}
+
+function launch {
+  # Remove orphaned git lock if it exists on boot
+  [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
+
+  # Check to see if there's a valid overlay-based update available. Conditions
+  # are as follows:
+  #
+  # 1. The DIR init file has to exist, with a newer modtime than anything in
+  #    the DIR Git repo. This checks for local development work or the user
+  #    switching branches/forks, which should not be overwritten.
+  # 2. The FINALIZED consistent file has to exist, indicating there's an update
+  #    that completed successfully and synced to disk.
+
+  if [ -f "${DIR}/.overlay_init" ]; then
+    find ${DIR}/.git -newer ${DIR}/.overlay_init | grep -q '.' 2> /dev/null
+    if [ $? -eq 0 ]; then
+      echo "${DIR} has been modified, skipping overlay update installation"
+    else
+      if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
+        if [ ! -d /data/safe_staging/old_openpilot ]; then
+          echo "Valid overlay update found, installing"
+          LAUNCHER_LOCATION="${BASH_SOURCE[0]}"
+
+          mv $DIR /data/safe_staging/old_openpilot
+          mv "${STAGING_ROOT}/finalized" $DIR
+          cd $DIR
+
+          echo "Restarting launch script ${LAUNCHER_LOCATION}"
+          unset AGNOS_VERSION
+          exec "${LAUNCHER_LOCATION}"
+        else
+          echo "openpilot backup found, not updating"
+          # TODO: restore backup? This means the updater didn't start after swapping
+        fi
+      fi
+    fi
+  fi
+
+  # handle pythonpath
+  ln -sfn $(pwd) /data/pythonpath
+  export PYTHONPATH="$PWD"
+
+  # hardware specific init
+  if [ -f /AGNOS ]; then
+    agnos_init
+  fi
+
+  # write tmux scrollback to a file
+  tmux capture-pane -pq -S-1000 > /tmp/launch_log
+
+  # start manager
+  cd $DIR/system/manager
+  if [ ! -f $DIR/prebuilt ]; then
+    ./build.py
+  fi
+  ./manager.py
+
+  # if broken, keep on screen error
+  while true; do sleep 1; done
+}
+
+launch

sunnypilot/system/hardware/c3/launch_env.sh

@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+
+export OMP_NUM_THREADS=1
+export MKL_NUM_THREADS=1
+export NUMEXPR_NUM_THREADS=1
+export OPENBLAS_NUM_THREADS=1
+export VECLIB_MAXIMUM_THREADS=1
+
+if [ -z "$AGNOS_VERSION" ]; then
+  export AGNOS_VERSION="12.8"
+fi

system/athena/athenad.py

@@ -381,20 +381,22 @@ def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: str = N
   return {"success": 1}
 
 
-def scan_dir(path: str, prefix: str) -> list[str]:
+def scan_dir(path: str, prefix: str, base: str | None = None) -> list[str]:
+  if base is None:
+    base = path
   files = []
   # only walk directories that match the prefix
   # (glob and friends traverse entire dir tree)
   with os.scandir(path) as i:
     for e in i:
-      rel_path = os.path.relpath(e.path, Paths.log_root())
+      rel_path = os.path.relpath(e.path, base)
       if e.is_dir(follow_symlinks=False):
         # add trailing slash
         rel_path = os.path.join(rel_path, '')
         # if prefix is a partial dir name, current dir will start with prefix
         # if prefix is a partial file name, prefix with start with dir name
         if rel_path.startswith(prefix) or prefix.startswith(rel_path):
-          files.extend(scan_dir(e.path, prefix))
+          files.extend(scan_dir(e.path, prefix, base))
       else:
         if rel_path.startswith(prefix):
           files.append(rel_path)
@@ -402,7 +404,12 @@ def scan_dir(path: str, prefix: str) -> list[str]:
 
 @dispatcher.add_method
 def listDataDirectory(prefix='') -> list[str]:
-  return scan_dir(Paths.log_root(), prefix)
+  internal_files = scan_dir(Paths.log_root(), prefix, Paths.log_root())
+  try:
+    external_files = scan_dir(Paths.log_root_external(), prefix, Paths.log_root_external())
+  except FileNotFoundError:
+    external_files = []
+  return sorted(set(internal_files + external_files))
 
 
 @dispatcher.add_method
@@ -427,8 +434,13 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo
       failed.append(file.fn)
       continue
 
-    path = os.path.join(Paths.log_root(), file.fn)
-    if not os.path.exists(path) and not os.path.exists(strip_zst_extension(path)):
+    path_internal = os.path.join(Paths.log_root(), file.fn)
+    path_external = os.path.join(Paths.log_root_external(), file.fn)
+    if os.path.exists(path_internal) or os.path.exists(strip_zst_extension(path_internal)):
+      path = path_internal
+    elif os.path.exists(path_external) or os.path.exists(strip_zst_extension(path_external)):
+      path = path_external
+    else:
       failed.append(file.fn)
       continue
 

system/camerad/sensors/ar0231_cl.h

@@ -1,34 +0,0 @@
-#if SENSOR_ID == 1
-
-#define VIGNETTE_PROFILE_8DT0MM
-
-#define BIT_DEPTH 12
-#define PV_MAX 4096
-#define BLACK_LVL 168
-
-float4 normalize_pv(int4 parsed, float vignette_factor) {
-  float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX - BLACK_LVL);
-  return clamp(pv*vignette_factor, 0.0, 1.0);
-}
-
-float3 color_correct(float3 rgb) {
-  float3 corrected = rgb.x * (float3)(1.82717181, -0.31231438, 0.07307673);
-  corrected += rgb.y * (float3)(-0.5743977, 1.36858544, -0.53183455);
-  corrected += rgb.z * (float3)(-0.25277411, -0.05627105, 1.45875782);
-  return corrected;
-}
-
-float3 apply_gamma(float3 rgb, int expo_time) {
-  // tone mapping params
-  const float gamma_k = 0.75;
-  const float gamma_b = 0.125;
-  const float mp = 0.01; // ideally midpoint should be adaptive
-  const float rk = 9 - 100*mp;
-
-  // poly approximation for s curve
-  return (rgb > mp) ?
-    ((rk * (rgb-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(rgb-mp))) + gamma_k*mp + gamma_b) :
-    ((rk * (rgb-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(rgb-mp))) + gamma_k*mp + gamma_b);
-}
-
-#endif

system/camerad/sensors/os04c10_cl.h

@@ -1,58 +0,0 @@
-#if SENSOR_ID == 3
-
-#define BGGR
-#define VIGNETTE_PROFILE_4DT6MM
-
-#define BIT_DEPTH 12
-#define PV_MAX10 1023
-#define PV_MAX12 4095
-#define PV_MAX16 65536 // gamma curve is calibrated to 16bit
-#define BLACK_LVL 48
-
-float combine_dual_pvs(float lv, float sv, int expo_time) {
-  float svc = fmax(sv * expo_time, (float)(64 * (PV_MAX10 - BLACK_LVL)));
-  float svd = sv * fmin(expo_time, 8.0) / 8;
-
-  if (expo_time > 64) {
-    if (lv < PV_MAX10 - BLACK_LVL) {
-      return lv / (PV_MAX16 - BLACK_LVL);
-    } else {
-      return (svc / 64) / (PV_MAX16 - BLACK_LVL);
-    }
-  } else {
-    if (lv > 32) {
-      return (lv * 64 / fmax(expo_time, 8.0)) / (PV_MAX16 - BLACK_LVL);
-    } else {
-      return svd / (PV_MAX16 - BLACK_LVL);
-    }
-  }
-}
-
-float4 normalize_pv_hdr(int4 parsed, int4 short_parsed, float vignette_factor, int expo_time) {
-  float4 pl = convert_float4(parsed - BLACK_LVL);
-  float4 ps = convert_float4(short_parsed - BLACK_LVL);
-  float4 pv;
-  pv.s0 = combine_dual_pvs(pl.s0, ps.s0, expo_time);
-  pv.s1 = combine_dual_pvs(pl.s1, ps.s1, expo_time);
-  pv.s2 = combine_dual_pvs(pl.s2, ps.s2, expo_time);
-  pv.s3 = combine_dual_pvs(pl.s3, ps.s3, expo_time);
-  return clamp(pv*vignette_factor, 0.0, 1.0);
-}
-
-float4 normalize_pv(int4 parsed, float vignette_factor) {
-  float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX12 - BLACK_LVL);
-  return clamp(pv*vignette_factor, 0.0, 1.0);
-}
-
-float3 color_correct(float3 rgb) {
-  float3 corrected = rgb.x * (float3)(1.55361989, -0.268894615, -0.000593219);
-  corrected += rgb.y * (float3)(-0.421217301, 1.51883144, -0.69760146);
-  corrected += rgb.z * (float3)(-0.132402589, -0.249936825, 1.69819468);
-  return corrected;
-}
-
-float3 apply_gamma(float3 rgb, int expo_time) {
-  return (10 * rgb) / (1 + 9 * rgb);
-}
-
-#endif