fix

Merge branch 'master' into visual-style
version: bump to 2025.003.000
2026-08-03 10:49:25 +08:00 · 2025-11-07 21:51:35 -05:00 · 2025-11-07 21:25:46 -05:00 · 2025-11-06 23:12:41 -05:00 · 2025-11-06 23:10:03 -05:00 · 2025-11-06 22:47:55 -05:00
60 changed files with 1152 additions and 1072 deletions
@@ -21,12 +21,11 @@ env:
  PYTHONWARNINGS: error
  BASE_IMAGE: sunnypilot-base
  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
-  MAPBOX_TOKEN_CI: ${{ secrets.MAPBOX_TOKEN_CI }}

  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
  BUILD: release/ci/docker_build_sp.sh base

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

  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical

@@ -1,6 +1,30 @@
-sunnypilot Version 2025.002.000 (2025-xx-xx)
+sunnypilot Version 2025.003.000 (20xx-xx-xx)
 ========================

+sunnypilot Version 2025.002.000 (2025-11-06)
+========================
+* What's Changed (sunnypilot/sunnypilot)
+  * models: bump model json to v8 by @Discountchubbs
+  * Bug: Model UI Crash Fix by @nayan8teen
+  * controlsd: add `CP_SP` to `get_pid_accel_limits` by @THERoenPR
+  * sunnylink: update uploader button logic to support novice tier and above by @devtekve
+  * Tesla: Coop Steering by @AmyJeanes
+  * ui: update discord references and add forum widget by @devtekve
+  * ui: Fix spacing in sunnylink panel by @devtekve
+  * docs: Update README installation branches and discord links by @mpurnell1 in
+  * stats: sunnylink integration by @devtekve
+  * bug: Fix initial registration for sunnylink by @devtekve
+* What's Changed (sunnypilot/opendbc)
+  * Honda: add brake hold messages for Clarity by @mvl-boston
+  * interface: add `CP_SP` to `get_pid_accel_limits` method signature by @roenthomas
+  * Honda: use fixed accel min/max constants for Gas Interceptor by @roenthomas
+  * Tesla: Coop Steering by @AmyJeanes
+* New Contributors (sunnypilot/sunnypilot)
+  * @THERoenPR made their first contribution in "controlsd: add `CP_SP` to `get_pid_accel_limits`"
+  * @AmyJeanes made their first contribution in "Tesla: Coop Steering"
+  * @mpurnell1 made their first contribution in "docs: Update README installation branches and discord links"
+* Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2025.001.000...v2025.002.000
+
 sunnypilot Version 2025.001.000 (2025-10-25)
 ========================
 * 🛠️ Major rewrite
@@ -3,11 +3,9 @@
 ## 🌞 What is sunnypilot?
 [sunnypilot](https://github.com/sunnyhaibin/sunnypilot) is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 300+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.

-## 💭 Join our Discord
-Join the official sunnypilot Discord server to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
-* https://discord.gg/sunnypilot
-
-  ![](https://dcbadge.vercel.app/api/server/wRW3meAgtx?style=flat) ![Discord Shield](https://discordapp.com/api/guilds/880416502577266699/widget.png?style=shield)
+## 💭 Join our Community Forum
+Join the official sunnypilot community forum to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
+* https://community.sunnypilot.ai/

 ## Documentation
 https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
@@ -16,13 +14,13 @@ https://docs.sunnypilot.ai/ is your one stop shop for everything from features t
 * A supported device to run this software
    * a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x)
 * This software
-* One of [the 300+ supported cars](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
+* One of [the 325+ supported cars](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
 * A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car

 Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).

 ## Installation
-Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging-c3-new` branch.
+Please refer to [Recommended Branches](#recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging` branch.

 ### If you want to use our newest branches (our rewrite)
 > [!TIP]
@@ -31,28 +29,28 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
 * sunnypilot not installed or you installed a version before 0.8.17?
  1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
  2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://staging-c3-new.sunnypilot.ai```.
+  3. Input the installation URL per [Recommended Branches](#recommended-branches). Example: ```https://staging.sunnypilot.ai```.
  4. Complete the rest of the installation following the onscreen instructions.

 * sunnypilot already installed and you installed a version after 0.8.17?
-  1. On the comma three, go to `Settings` ▶️ `Software`.
+  1. On the comma three/3X, go to `Settings` ▶️ `Software`.
  2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
  3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
-  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging-c3-new`
+  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging`

-
-|      Branch      |                 Installation URL              |
-|:----------------:|:---------------------------------------------:|
-| `staging-c3-new` | `https://staging-c3-new.sunnypilot.ai`        |
-|   `dev-c3-new`   | `https://dev-c3-new.sunnypilot.ai`            |
-| `custom-branch`  | `https://install.sunnypilot.ai/{branch_name}` |
-| `release-c3-new` |            **Not yet available**.             |
+### Recommended Branches
+|      Branch     |                 Installation URL              |
+|:---------------:|:---------------------------------------------:|
+| `release`       | `https://release.sunnypilot.ai`               |
+| `staging`       | `https://staging.sunnypilot.ai`               |
+|   `dev`         | `https://dev.sunnypilot.ai`                   |
+| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |

 > [!TIP]
-> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging-c3-new'.
+> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging'.

 > [!NOTE]
-> Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
+> Do you require further assistance with software installation? Join the [sunnypilot community forum](https://community.sunnypilot.ai/new-topic?category=general/qa) and create a topic in the General/Q&A Category channel.


 <details>
@@ -340,7 +340,6 @@ struct OnroadEventSP @0xda96579883444c35 {
    speedLimitChanged @21;
    speedLimitPending @22;
    e2eChime @23;
-    navigationBanner @24;
  }
 }

@@ -455,20 +454,7 @@ struct ModelDataV2SP @0xa1680744031fdb2d {
  }
 }

-struct Navigationd @0xcb9fd56c7057593a {
-  upcomingTurn @0 :Text;
-  currentSpeedLimit @1 :UInt64;
-  bannerInstructions @2 :Text;
-  distanceFromRoute @3 :Float64;
-  allManeuvers @4 :List(Maneuver);
-  valid @5 :Bool;
-
-  struct Maneuver {
-    distance @0 :Float64;
-    type @1 :Text;
-    modifier @2 :Text;
-    instruction @3 :Text;
-  }
+struct CustomReserved10 @0xcb9fd56c7057593a {
 }

 struct CustomReserved11 @0xc2243c65e0340384 {
@@ -2632,7 +2632,7 @@ struct Event {
    carStateSP @114 :Custom.CarStateSP;
    liveMapDataSP @115 :Custom.LiveMapDataSP;
    modelDataV2SP @116 :Custom.ModelDataV2SP;
-    navigationd @136 :Custom.Navigationd;
+    customReserved10 @136 :Custom.CustomReserved10;
    customReserved11 @137 :Custom.CustomReserved11;
    customReserved12 @138 :Custom.CustomReserved12;
    customReserved13 @139 :Custom.CustomReserved13;
@@ -89,7 +89,6 @@ _services: dict[str, tuple] = {
  "carStateSP": (True, 100., 10),
  "liveMapDataSP": (True, 1., 1),
  "modelDataV2SP": (True, 20.),
-  "navigationd": (True, 3.),
  "liveLocationKalman": (True, 20.),

  # debug
@@ -172,6 +172,14 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualRadarTracks", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualRadarTracksDelay", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
+    {"VisualWideCam", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualStyle", {PERSISTENT | BACKUP, INT, "0"}},
+    {"VisualStyleZoom", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualStyleOverhead", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualStyleOverheadZoom", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualStyleOverheadThreshold", {PERSISTENT | BACKUP, INT, "20"}},

    // MADS params
    {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -187,15 +195,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
    {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},

-    // Navigation params
-    {"AllowNavigation", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"MapboxToken", {PERSISTENT | BACKUP, STRING}},
-    {"MapboxSettings", {CLEAR_ON_MANAGER_START, JSON}},
-    {"MapboxRoute", {PERSISTENT, STRING}},
-    {"MapboxRecompute", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"NavDesiresAllowed", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"NavEvents", {PERSISTENT | BACKUP, BOOL, "0"}},
-
    // Neural Network Lateral Control
    {"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},

@@ -217,6 +216,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"HyundaiLongitudinalTuning", {PERSISTENT | BACKUP, INT, "0"}},
    {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},

    {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -3,7 +3,6 @@ from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
 from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController
-from openpilot.sunnypilot.navd.navigation_desires.navigation_desires import NavigationDesires

 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -52,7 +51,6 @@ class DesireHelper:
    self.alc = AutoLaneChangeController(self)
    self.lane_turn_controller = LaneTurnController(self)
    self.lane_turn_direction = TurnDirection.none
-    self.navigation_desires = NavigationDesires()

  @staticmethod
  def get_lane_change_direction(CS):
@@ -145,7 +143,3 @@ class DesireHelper:
        self.desire = log.Desire.none

    self.alc.update_state()
-
-    nav_desire = self.navigation_desires.update(carstate, lateral_active)
-    if nav_desire != log.Desire.none and (self.desire == log.Desire.none or self.desire in (log.Desire.turnLeft, log.Desire.turnRight)):
-      self.desire = nav_desire
@@ -27,7 +27,7 @@ def main():
  longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
-                            'liveMapDataSP', 'navigationd', 'carStateSP', gps_location_service],
+                            'liveMapDataSP', 'carStateSP', gps_location_service],
                           poll='carState')

  while True:
@@ -88,7 +88,7 @@ class SelfdriveD(CruiseHelper):
    # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
    self.car_state_sock = messaging.sub_sock('carState', timeout=20)

-    ignore = self.sensor_packets + self.gps_packets + ['alertDebug'] + ['modelDataV2SP'] + ['navigationd']
+    ignore = self.sensor_packets + self.gps_packets + ['alertDebug'] + ['modelDataV2SP']
    if SIMULATION:
      ignore += ['driverCameraState', 'managerState']
    if REPLAY:
@@ -98,7 +98,7 @@ class SelfdriveD(CruiseHelper):
                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                   'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
-                                   'modelDataV2SP', 'longitudinalPlanSP', 'navigationd'] + \
+                                   'modelDataV2SP', 'longitudinalPlanSP'] + \
                                   self.camera_packets + self.sensor_packets + self.gps_packets,
                                  ignore_alive=ignore, ignore_avg_freq=ignore,
                                  ignore_valid=ignore, frequency=int(1/DT_CTRL))
@@ -71,7 +71,6 @@ class Plant:
    model = messaging.new_message('modelV2')
    car_state_sp = messaging.new_message('carStateSP')
    live_map_data_sp = messaging.new_message('liveMapDataSP')
-    navigationd = messaging.new_message('navigationd')
    gps_data = messaging.new_message('gpsLocation')
    a_lead = (v_lead - self.v_lead_prev)/self.ts
    self.v_lead_prev = v_lead
@@ -142,7 +141,6 @@ class Plant:
          'modelV2': model.modelV2,
          'carStateSP': car_state_sp.carStateSP,
          'liveMapDataSP': live_map_data_sp.liveMapDataSP,
-          'navigationd': navigationd.navigationd,
          'gpsLocation': gps_data.gpsLocation}
    self.planner.update(sm)
    self.acceleration = self.planner.output_a_target
@@ -25,6 +25,11 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
  // update engageability/experimental mode button
  experimental_btn->updateState(s);
  dmon.updateState(s);
+  if (s.scene.visual_style == 0) {
+    setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
+  } else {
+    setBackgroundColor(QColor(0, 0, 0));
+  }
 }

 void AnnotatedCameraWidget::initializeGL() {
@@ -35,7 +40,12 @@ void AnnotatedCameraWidget::initializeGL() {
  qInfo() << "OpenGL language version:" << QString((const char*)glGetString(GL_SHADING_LANGUAGE_VERSION));

  prev_draw_t = millis_since_boot();
-  setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
+  auto *s = uiState();
+  if (s->scene.visual_style == 0) {
+    setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
+  } else {
+    setBackgroundColor(QColor(0, 0, 0));
+  }
 }

 mat4 AnnotatedCameraWidget::calcFrameMatrix() {
@@ -118,7 +128,13 @@ void AnnotatedCameraWidget::paintGL() {
      } else if (v_ego > 15) {
        wide_cam_requested = false;
      }
-      wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
+      if (s->scene.visual_wide_cam == 1) {
+        wide_cam_requested = true;
+      } else if (s->scene.visual_wide_cam == 2) {
+        wide_cam_requested = false;
+      } else {
+        wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
+      }
    }
    CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
    CameraWidget::setFrameId(sm["modelV2"].getModelV2().getFrameId());
@@ -1,4 +1,5 @@
 #include "selfdrive/ui/qt/onroad/model.h"
+#include <algorithm>

 void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
  auto *s = uiState();
@@ -49,8 +50,14 @@ void ModelRenderer::update_leads(const cereal::RadarState::Reader &radar_state,
 }

 void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) {
+  auto *s = uiState();
  const auto &model_position = model.getPosition();
-  float max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
+  float max_distance;
+  if (s->scene.visual_style == 0) {
+    max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
+  } else {
+    max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
+  }

  // update lane lines
  const auto &lane_lines = model.getLaneLines();
@@ -58,7 +65,11 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
  int max_idx = get_path_length_idx(lane_lines[0], max_distance);
  for (int i = 0; i < std::size(lane_line_vertices); i++) {
    lane_line_probs[i] = line_probs[i];
-    mapLineToPolygon(lane_lines[i], 0.025 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
+    if (s->scene.visual_style == 2) {
+      mapLineToPolygon(lane_lines[i], 0.075 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
+    } else {
+      mapLineToPolygon(lane_lines[i], 0.025 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
+    }
  }

  // update road edges
@@ -66,7 +77,11 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
  const auto &edge_stds = model.getRoadEdgeStds();
  for (int i = 0; i < std::size(road_edge_vertices); i++) {
    road_edge_stds[i] = edge_stds[i];
-    mapLineToPolygon(road_edges[i], 0.025, 0, &road_edge_vertices[i], max_idx);
+    if (s->scene.visual_style == 2) {
+      mapLineToPolygon(road_edges[i], 0.1, 0, &road_edge_vertices[i], max_idx);
+    } else {
+      mapLineToPolygon(road_edges[i], 0.025, 0, &road_edge_vertices[i], max_idx);
+    }
  }

  // update path
@@ -79,16 +94,112 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
 }

 void ModelRenderer::drawLaneLines(QPainter &painter) {
-  // lanelines
-  for (int i = 0; i < std::size(lane_line_vertices); ++i) {
-    painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
-    painter.drawPolygon(lane_line_vertices[i]);
-  }
+  auto *s = uiState();
+  if (s->scene.visual_style == 2) {
+    QRectF r = clip_region;

-  // road edges
-  for (int i = 0; i < std::size(road_edge_vertices); ++i) {
-    painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - road_edge_stds[i], 0.0, 1.0)));
-    painter.drawPolygon(road_edge_vertices[i]);
+    qreal horizonY = r.bottom();
+    if (!road_edge_vertices[0].isEmpty() || !road_edge_vertices[1].isEmpty()) {
+      qreal leftH  = r.top();
+      qreal rightH = r.top();
+
+      if (!road_edge_vertices[0].isEmpty()) {
+        leftH = std::numeric_limits<qreal>::max();
+        for (const QPointF &pt : road_edge_vertices[0]) {
+          if (pt.y() < leftH) leftH = pt.y();
+        }
+      }
+
+      if (!road_edge_vertices[1].isEmpty()) {
+        rightH = std::numeric_limits<qreal>::max();
+        for (const QPointF &pt : road_edge_vertices[1]) {
+          if (pt.y() < rightH) rightH = pt.y();
+        }
+      }
+
+      horizonY = std::max(leftH, rightH);
+    }
+
+    painter.fillRect(QRectF(r.left(), horizonY + 0, r.width(), r.bottom() - (horizonY + 0)), QColor("#111111"));
+
+    auto buildFill = [&](const QPolygonF &edgeRibbon, bool isLeftSide) -> QPolygonF {
+      if (edgeRibbon.isEmpty()) return {};
+
+      QMap<int, QPointF> byY;
+      for (const QPointF &pt : edgeRibbon) {
+        int yi = int(std::round(pt.y()));
+        if (!byY.contains(yi)) {
+          byY[yi] = pt;
+        } else {
+          if (isLeftSide) {
+            if (pt.x() > byY[yi].x()) byY[yi] = pt;
+          } else {
+            if (pt.x() < byY[yi].x()) byY[yi] = pt;
+          }
+        }
+      }
+      if (byY.isEmpty()) return {};
+
+      QPolygonF curve;
+      for (auto it = byY.cbegin(); it != byY.cend(); ++it) {
+        curve << it.value();
+      }
+      if (curve.size() < 2) return {};
+
+      const qreal topY = curve.first().y();
+      QPolygonF fill;
+      if (isLeftSide) {
+        fill << QPointF(r.left(), topY);
+        for (const QPointF &pt : curve) fill << pt;
+        fill << QPointF(r.left(), r.bottom());
+      } else {
+        fill << QPointF(r.right(), topY);
+        for (const QPointF &pt : curve) fill << pt;
+        fill << QPointF(r.right(), r.bottom());
+      }
+      return fill;
+    };
+
+    QPolygonF leftFill  = buildFill(road_edge_vertices[0], true);
+    QPolygonF rightFill = buildFill(road_edge_vertices[1], false);
+
+    if (!leftFill.isEmpty()) {
+      painter.setBrush(QColor("#222222"));
+      painter.drawPolygon(leftFill);
+    }
+    if (!rightFill.isEmpty()) {
+      painter.setBrush(QColor("#222222"));
+      painter.drawPolygon(rightFill);
+    }
+
+    for (int i = 0; i < std::size(lane_line_vertices); ++i) {
+      painter.setBrush(QColor::fromRgbF(0.902, 0.902, 0.902, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
+      painter.drawPolygon(lane_line_vertices[i]);
+    }
+
+    for (int i = 0; i < std::size(road_edge_vertices); ++i) {
+      painter.setBrush(QColor(0x55, 0x55, 0x55, 255));
+      painter.drawPolygon(road_edge_vertices[i]);
+    }
+
+    QLinearGradient bgGrad(r.left(), horizonY - 100, r.left(), horizonY + 100);
+    bgGrad.setColorAt(0.0, QColor("#000000"));
+    bgGrad.setColorAt(0.5, QColor("#111111"));
+    bgGrad.setColorAt(1.0, QColor("#111111"));
+    painter.fillRect(QRectF(r.left(), horizonY - 200, r.width(), 200), bgGrad);
+
+  } else {
+    // lanelines
+    for (int i = 0; i < std::size(lane_line_vertices); ++i) {
+      painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
+      painter.drawPolygon(lane_line_vertices[i]);
+    }
+
+    // road edges
+    for (int i = 0; i < std::size(road_edge_vertices); ++i) {
+      painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - road_edge_stds[i], 0.0, 1.0)));
+      painter.drawPolygon(road_edge_vertices[i]);
+    }
  }
 }

@@ -175,6 +286,7 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float

 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
                             const QPointF &vd, const QRect &surface_rect) {
+  auto *s = uiState();
  const float speedBuff = 10.;
  const float leadBuff = 40.;
  const float d_rel = lead_data.getDRel();
@@ -197,20 +309,133 @@ void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadDa
  float g_yo = sz / 10;

  QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}};
-  painter.setBrush(QColor(218, 202, 37, 255));
+  if (s->scene.visual_style == 2) {
+    painter.setBrush(QColor(0xE6, 0xE6, 0xE6, 255));
+  } else {
+    painter.setBrush(QColor(218, 202, 37, 255));
+  }
  painter.drawPolygon(glow, std::size(glow));

  // chevron
  QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}};
-  painter.setBrush(QColor(201, 34, 49, fillAlpha));
+  if (s->scene.visual_style == 2) {
+    painter.setBrush(QColor(0, 0, 0, fillAlpha));
+  } else {
+    painter.setBrush(QColor(201, 34, 49, fillAlpha));
+  }
  painter.drawPolygon(chevron, std::size(chevron));
 }

-// Projects a point in car to space to the corresponding point in full frame image space.
+float mapRange(float x, float in_min, float in_max, float out_min, float out_max) {
+  if (in_min < in_max) {
+    x = std::clamp(x, in_min, in_max);
+  } else {
+    x = std::clamp(x, in_max, in_min);
+  }
+  return out_min + (x - in_min) * (out_max - out_min) / (in_max - in_min);
+}
+
+// Projects a point in car space to the corresponding point in full frame image space.
 bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out) {
+  auto *s = uiState();
+  auto &sm = *(s->sm);
+  float blend_speed_mph = fabsf(sm["carState"].getCarState().getVEgo() * 2.23694f);
+
  Eigen::Vector3f input(in_x, in_y, in_z);
+
+  if ((s->scene.visual_style_zoom == 1 || s->scene.visual_style_zoom == 2) && s->scene.visual_style != 0) {
+    float zoom_start = 20.0f;
+    float zoom_end   = 50.0f;
+
+    if (s->scene.visual_style_zoom == 2) {
+      std::swap(zoom_start, zoom_end);
+    }
+
+    float IN_X_OFFSET = mapRange(blend_speed_mph, zoom_start, zoom_end, 0.0f, 24.0f);
+    float IN_Y_OFFSET = mapRange(blend_speed_mph, zoom_start, zoom_end, 1.0f, 2.0f);
+    float IN_Z_OFFSET = mapRange(blend_speed_mph, zoom_start, zoom_end, 0.0f, 5.0f);
+    float PITCH_DEG   = mapRange(blend_speed_mph, zoom_start, zoom_end, 0.0f, 5.0f);
+
+    input = Eigen::Vector3f(in_x + IN_X_OFFSET, in_y / IN_Y_OFFSET, in_z + IN_Z_OFFSET);
+    Eigen::AngleAxisf pitch_rot(PITCH_DEG * M_PI / 180.0f, Eigen::Vector3f::UnitY());
+    input = pitch_rot * input;
+  }
+
  auto pt = car_space_transform * input;
-  *out = QPointF(pt.x() / pt.z(), pt.y() / pt.z());
+  bool normal_valid = (pt.z() > 1e-3f &&
+                       std::isfinite(pt.x()) && std::isfinite(pt.y()));
+  QPointF normal_view;
+  if (normal_valid) {
+    normal_view = QPointF(pt.x() / pt.z(), pt.y() / pt.z());
+  }
+
+  const float base_scale_x = 20.0f;
+  const float base_scale_y = 15.0f;
+  const float y_offset = 450.0f;
+
+  float factor_scale_x = 0.0f;
+  if (blend_speed_mph > 0.0f) {
+    if (s->scene.visual_style_overhead_zoom == 1) {
+      factor_scale_x = mapRange(blend_speed_mph, 0.0f, 50.0f, 30.0f, 0.0f);
+    } else if (s->scene.visual_style_overhead_zoom == 2) {
+      factor_scale_x = mapRange(blend_speed_mph, 50.0f, 0.0f, 30.0f, 0.0f);
+    }
+  }
+
+  float scale_x = base_scale_x + factor_scale_x;
+  float scale_y = base_scale_y;
+
+  QPointF topdown_view(
+    clip_region.center().x() + in_y * scale_x,
+    (clip_region.bottom() - y_offset) - in_x * scale_y
+  );
+
+  if ((s->scene.visual_style_overhead == 1 || s->scene.visual_style_overhead == 2) && s->scene.visual_style != 0) {
+    static float blend = 0.0f;
+    static float target_blend = 0.0f;
+    static double last_t = millis_since_boot();
+
+    const bool inverted = (s->scene.visual_style_overhead == 2);
+    const float threshold = s->scene.visual_style_overhead_threshold;
+    const float hysteresis = 5.0f;
+
+    if (!inverted) {
+      if (target_blend < 0.5f && blend_speed_mph > threshold) {
+        target_blend = 1.0f;
+      } else if (target_blend > 0.5f && blend_speed_mph < threshold - hysteresis) {
+        target_blend = 0.0f;
+      }
+    } else {
+      if (target_blend < 0.5f && blend_speed_mph < threshold) {
+        target_blend = 1.0f;
+      } else if (target_blend > 0.5f && blend_speed_mph > threshold + hysteresis) {
+        target_blend = 0.0f;
+      }
+    }
+
+    double now = millis_since_boot();
+    double dt = (now - last_t) / 1000.0;
+    last_t = now;
+
+    const float transition_time = 1.50f;
+    float step = dt / transition_time;
+
+    if (blend < target_blend) {
+      blend = std::min(blend + step, target_blend);
+    } else if (blend > target_blend) {
+      blend = std::max(blend - step, target_blend);
+    }
+
+    if (!normal_valid) return false;
+    *out = QPointF(
+      (1 - blend) * normal_view.x() + blend * topdown_view.x(),
+      (1 - blend) * normal_view.y() + blend * topdown_view.y()
+    );
+  } else {
+    if (!normal_valid) return false;
+    *out = normal_view;
+  }
+
  return clip_region.contains(*out);
 }

@@ -196,6 +196,7 @@ mat4 CameraWidget::calcFrameMatrix() {
 }

 void CameraWidget::paintGL() {
+  auto *s = uiState();
  glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
  glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);

@@ -248,7 +249,9 @@ void CameraWidget::paintGL() {

  glUniformMatrix4fv(program->uniformLocation("uTransform"), 1, GL_TRUE, frame_mat.v);
  glEnableVertexAttribArray(0);
-  glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, (const void *)0);
+  if (s->scene.visual_style == 0) {
+    glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, (const void *)0);
+  }
  glDisableVertexAttribArray(0);
  glBindVertexArray(0);
  glBindTexture(GL_TEXTURE_2D, 0);
@@ -11,17 +11,18 @@ WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) {
  main_layout->setContentsMargins(56, 40, 56, 40);
  main_layout->setSpacing(42);  
  
-  QLabel *title = new QLabel(tr("<span style='font-family: \"Noto Color Emoji\";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span>"));
-  title->setStyleSheet("font-size: 64px; font-weight: 500;");
+  community_popup = new SunnylinkCommunityPopup(this);
+  QLabel *title = new QLabel(tr("sunnypilot Community"));
+  title->setStyleSheet("font-size: 56px; font-weight: 500;");
  main_layout->addWidget(title);

-  QLabel *desc = new QLabel(tr("Maximize your training data uploads to improve openpilot's driving models."));
+  QLabel *desc = new QLabel(tr("Need help or have ideas?<br><b>Join</b> our community now!"));
  desc->setStyleSheet("font-size: 40px; font-weight: 400;");
  desc->setWordWrap(true);
  main_layout->addWidget(desc);

-  QPushButton *settings_btn = new QPushButton(tr("Open"));
-  connect(settings_btn, &QPushButton::clicked, [=]() { emit openSettings(1, "FirehosePanel"); });
+  QPushButton *settings_btn = new QPushButton(tr("Learn More"));
+  connect(settings_btn, &QPushButton::clicked, [=]() { community_popup->exec(); });
  settings_btn->setStyleSheet(R"(
    QPushButton {
      font-size: 48px;
@@ -3,12 +3,17 @@
 #include <QFrame>
 #include <QWidget>

+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/community_widget.h"
+
 class WiFiPromptWidget : public QFrame {
  Q_OBJECT

 public:
  explicit WiFiPromptWidget(QWidget* parent = 0);

+private:
+  SunnylinkCommunityPopup *community_popup;
+
 signals:
  void openSettings(int index = 0, const QString &param = "");
 };
@@ -35,6 +35,7 @@ qt_src = [
  "sunnypilot/qt/offroad/settings/software_panel.cc",
  "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",
  "sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc",
+  "sunnypilot/qt/offroad/settings/sunnylink/community_widget.cc",
  "sunnypilot/qt/offroad/settings/trips_panel.cc",
  "sunnypilot/qt/offroad/settings/vehicle_panel.cc",
  "sunnypilot/qt/offroad/settings/visuals_panel.cc",
@@ -0,0 +1,139 @@
+/**
+ * Copyright (c) 2025-, sunnypilot contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/community_widget.h"
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/util.h"
+
+using qrcodegen::QrCode;
+
+// --- SunnylinkCommunityQRWidget ---
+
+SunnylinkCommunityQRWidget::SunnylinkCommunityQRWidget(QWidget* parent)
+    : QWidget(parent) {}
+
+void SunnylinkCommunityQRWidget::showEvent(QShowEvent *event) {
+  updateQrCode(SUNNYLINK_COMMUNITY_URL);
+  update();
+}
+
+void SunnylinkCommunityQRWidget::updateQrCode(const QString &text) {
+  QrCode qr = QrCode::encodeText(text.toUtf8().data(), QrCode::Ecc::LOW);
+  qint32 sz = qr.getSize();
+  QImage im(sz, sz, QImage::Format_RGB32);
+
+  QRgb black = qRgb(0, 0, 0);
+  QRgb white = qRgb(255, 255, 255);
+  for (int y = 0; y < sz; y++) {
+    for (int x = 0; x < sz; x++) {
+      im.setPixel(x, y, qr.getModule(x, y) ? black : white);
+    }
+  }
+
+  int final_sz = ((width() / sz) - 1) * sz;
+  img = QPixmap::fromImage(im.scaled(final_sz, final_sz, Qt::KeepAspectRatio), Qt::MonoOnly);
+}
+
+void SunnylinkCommunityQRWidget::paintEvent(QPaintEvent *e) {
+  QPainter p(this);
+  p.fillRect(rect(), Qt::white);
+
+  if (!img.isNull()) {
+    QSize s = (size() - img.size()) / 2;
+    p.drawPixmap(s.width(), s.height(), img);
+  }
+}
+
+// --- SunnylinkCommunityPopup ---
+
+QStringList SunnylinkCommunityPopup::getInstructions() {
+  QStringList instructions;
+  instructions << tr("Scan the QR code and join us!");
+  return instructions;
+}
+
+SunnylinkCommunityPopup::SunnylinkCommunityPopup(QWidget* parent)
+    : DialogBase(parent) {
+  auto *mainLayout = new QVBoxLayout(this);
+  mainLayout->setContentsMargins(0, 0, 0, 0);
+  mainLayout->setSpacing(0);
+
+  // Solarized Light base3 background
+  setStyleSheet("SunnylinkCommunityPopup { background-color: #FDF6E3; }");
+
+  // Header spanning full width
+  auto headerWidget = new QWidget(this);
+  auto headerLayout = new QHBoxLayout(headerWidget);
+  headerLayout->setContentsMargins(85, 50, 85, 30);
+  headerLayout->setSpacing(30);
+
+  auto close = new QPushButton(QIcon(":/icons/close.svg"), "", this);
+  close->setIconSize(QSize(80, 80));
+  close->setStyleSheet("border: none;");
+  connect(close, &QPushButton::clicked, this, &QDialog::reject);
+  headerLayout->addWidget(close, 0, Qt::AlignLeft | Qt::AlignVCenter);
+
+  const auto title = new QLabel(tr("Join the sunnypilot Community Forum"), this);
+  // Solarized base02 for text
+  title->setStyleSheet("font-size: 65px; color: #073642;");
+  title->setWordWrap(false);
+  title->setAlignment(Qt::AlignCenter);
+  headerLayout->addWidget(title, 1);
+
+  // Spacer to balance the close button on the right
+  auto spacer = new QWidget(this);
+  spacer->setFixedSize(80, 80);
+  headerLayout->addWidget(spacer, 0);
+
+  mainLayout->addWidget(headerWidget);
+
+  // Two-column content layout
+  auto contentLayout = new QHBoxLayout();
+  contentLayout->setContentsMargins(0, 0, 0, 0);
+  contentLayout->setSpacing(0);
+  mainLayout->addLayout(contentLayout, 66);
+
+  // Left side: description
+  auto leftLayout = new QVBoxLayout();
+  leftLayout->setContentsMargins(85, 40, 50, 70);
+  leftLayout->setSpacing(35);
+  contentLayout->addLayout(leftLayout, 40);
+
+  // Hype / intro paragraph
+  const auto desc = new QLabel(tr(
+    "We're excited to announce our <b>sunnypilot Community Forum</b><br><br>"
+    "Over the years, Discord just hasn't scaled well for our growing community.<br>"
+    "It's noisy, unsearchable, and great discussions disappear too easily.<br>"
+    "Our new community forum aims to fix that by making it easier to <b>find answers, share ideas, track feedback, report bugs, help newcomers</b> and more!<br><br>"
+    "<b>Here's what's waiting for you:</b><br>"
+    "• Fully <b>indexable</b> and discoverable through search engines 🔎<br>"
+    "• <b>AI-powered</b>🤖 topic and chat summaries, spam detection, and more<br>"
+    "• A <b>trust-level system</b>✅ that rewards meaningful contributions<br>"
+    "• Designed to work <b>on your own time</b>.🧘<br><br>"
+    "Scan the QR code on the right and join the discussion!"
+  ), this);
+  // Solarized base01 for body text
+  desc->setStyleSheet("font-size: 40px; color: #586E75;");
+  desc->setWordWrap(true);
+  leftLayout->addWidget(desc);
+
+  leftLayout->addStretch();
+
+  // Right side: QR code and instructions
+  auto rightLayout = new QVBoxLayout();
+  rightLayout->setContentsMargins(50, 40, 85, 70);
+  rightLayout->setSpacing(40);
+  contentLayout->addLayout(rightLayout, 1);
+
+  // QR code (smaller, fixed size)
+  auto *qr = new SunnylinkCommunityQRWidget(this);
+  qr->setFixedSize(500, 500);
+  rightLayout->addStretch();
+  rightLayout->addWidget(qr, 0, Qt::AlignCenter);
+  rightLayout->addStretch();
+}
@@ -0,0 +1,40 @@
+/**
+* Copyright (c) 2025-, sunnypilot 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 <QrCode.hpp>
+#include <QtCore/qjsonobject.h>
+
+#include "common/util.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+const QString SUNNYLINK_COMMUNITY_URL = "https://community.sunnypilot.ai/sp-qr";
+
+class SunnylinkCommunityQRWidget : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit SunnylinkCommunityQRWidget(QWidget* parent = nullptr);
+  void paintEvent(QPaintEvent*) override;
+
+private:
+  QPixmap img;
+  void updateQrCode(const QString &text);
+  void showEvent(QShowEvent *event) override;
+};
+
+// Popup widget
+class SunnylinkCommunityPopup : public DialogBase {
+  Q_OBJECT
+
+public:
+  explicit SunnylinkCommunityPopup(QWidget* parent = nullptr);
+
+private:
+  static QStringList getInstructions();
+};
@@ -79,11 +79,11 @@ QStringList SunnylinkSponsorPopup::getInstructions(bool sponsor_pair) {
    instructions << tr("Scan the QR code to login to your GitHub account")
                 << tr("Follow the prompts to complete the pairing process")
                 << tr("Re-enter the \"sunnylink\" panel to verify sponsorship status")
-                 << tr("If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot");
+                 << tr("If sponsorship status was not updated, please contact a moderator on our forum at https://community.sunnypilot.ai");
  } else {
    instructions << tr("Scan the QR code to visit sunnyhaibin's GitHub Sponsors page")
                 << tr("Choose your sponsorship tier and confirm your support")
-                 << tr("Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status");
+                 << tr("Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues");
  }
  return instructions;
 }
@@ -90,7 +90,7 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
  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("Enable sunnylink uploader (just for testing infrastructure)"),
+    tr("Enable sunnylink uploader (infrastructure test)"),
    sunnylinkUploaderDesc,
    "", nullptr, true);
  list->addItem(sunnylinkUploaderEnabledBtn);
@@ -8,7 +8,41 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h"

 TeslaSettings::TeslaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  constexpr int coopSteeringMinKmh = 23; // minimum speed for cooperative steering (enforced by Tesla firmware)
+  constexpr int oemSteeringMinKmh = 48; // minimum speed for OEM lane departure avoidance (enforced by Tesla firmware)
+  bool is_metric = params.getBool("IsMetric");
+  QString unit = is_metric ? "km/h" : "mph";
+  int display_value_coop;
+  int display_value_oem;
+  if (is_metric) {
+    display_value_coop = coopSteeringMinKmh;
+    display_value_oem = oemSteeringMinKmh;
+  } else {
+    display_value_coop = static_cast<int>(std::round(coopSteeringMinKmh * KM_TO_MILE));
+    display_value_oem = static_cast<int>(std::round(oemSteeringMinKmh * KM_TO_MILE));
+  }
+  const QString coop_desc = QString("<b>%1</b><br><br>"
+                                    "%2<br>"
+                                    "%3<br>")
+                            .arg(tr("Warning: May experience steering oscillations below %5 %6 during turns, recommend disabling this feature if you experience these."))
+                            .arg(tr("Allows the driver to provide limited steering input while openpilot is engaged."))
+                            .arg(tr("Only works above %4 %6."))
+                            .arg(display_value_coop)
+                            .arg(display_value_oem)
+                            .arg(unit);
+
+  coopSteeringToggle = new ParamControlSP(
+    "TeslaCoopSteering",
+    tr("Cooperative Steering (Beta)"),
+    coop_desc,
+    "",
+    this
+  );
+  list->addItem(coopSteeringToggle);
+  coopSteeringToggle->showDescription();
+  coopSteeringToggle->setConfirmation(true, false);
 }

 void TeslaSettings::updateSettings() {
+  coopSteeringToggle->setEnabled(offroad);
 }
@@ -22,5 +22,5 @@ public:
  void updateSettings() override;

 private:
-  bool offroad = false;
+  ParamControlSP *coopSteeringToggle = nullptr;
 };
@@ -11,6 +11,18 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
  param_watcher = new ParamWatcher(this);
  connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
    paramsRefresh();
+    if (param_name == "VisualStyle") {
+      visual_style_value = param_value.toInt();
+    } else if (param_name == "VisualStyleOverhead") {
+      visual_style_overhead_value = param_value.toInt();
+    } else if (param_name == "VisualRadarTracks") {
+      bool radar_tracks_enabled = param_value.toInt() != 0;
+      visual_radar_tracks_delay_settings->setVisible(radar_tracks_enabled);
+    }
+    visual_style_zoom_settings->setVisible(visual_style_value != 0);
+    visual_style_overhead_settings->setVisible(visual_style_value != 0);
+    visual_style_overhead_zoom_settings->setVisible(visual_style_value != 0 && visual_style_overhead_value != 0);
+    visual_style_overhead_threshold_settings->setVisible(visual_style_value != 0 && visual_style_overhead_value != 0);
  });

  main_layout = new QStackedLayout(this);
@@ -90,6 +102,13 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
      "",
      false,
    },
+    {
+      "VisualRadarTracks",
+      tr("Show Radar Tracks"),
+      tr("Shows what the cars radar sees."),
+      "",
+      false,
+    },
  };

  // Add regular toggles first
@@ -116,6 +135,111 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
    param_watcher->addParam(param);
  }

+  // Visuals: Radar Tracks Delay
+  visual_radar_tracks_delay_settings = new OptionControlSP("VisualRadarTracksDelay", tr("Adjust Visual Radar Tracks Delay"),
+                                      tr("Delays radar tracks to better match what you see through the camera."),
+                                      "", {0, 100}, 10, false, nullptr, true);
+
+  connect(visual_radar_tracks_delay_settings, &OptionControlSP::updateLabels, [=]() {
+    float radar_tracks_delay_value = QString::fromStdString(params.get("VisualRadarTracksDelay")).toFloat();
+    visual_radar_tracks_delay_settings->setLabel(QString::number(radar_tracks_delay_value, 'f', 1) + " s");
+  });
+
+  float radar_tracks_delay_value = QString::fromStdString(params.get("VisualRadarTracksDelay")).toFloat();
+  visual_radar_tracks_delay_settings->setLabel(QString::number(radar_tracks_delay_value, 'f', 1) + " s");
+
+  list->addItem(visual_radar_tracks_delay_settings);
+
+  // Wide Cam
+  std::vector<QString> visual_wide_cam_settings_texts{tr("Auto"), tr("On"), tr("Off")};
+  visual_wide_cam_settings = new ButtonParamControlSP(
+    "VisualWideCam", tr("Wide Cam"), tr("Override the wide cam view regardless of experimental mode status."),
+    "",
+    visual_wide_cam_settings_texts,
+    250);
+  list->addItem(visual_wide_cam_settings);
+
+  // Visual Style
+  std::vector<QString> visual_style_settings_texts{tr("Default"), tr("Minimal"), tr("Vision")};
+  visual_style_settings = new ButtonParamControlSP(
+    "VisualStyle", tr("Visual Style"),
+    tr(
+      "Switch between different on-road visualization layouts."
+      "<ul style='margin-left: 10px; margin-top: 4px;'>"
+      "<li><b>Default:</b> Standard OpenPilot layout with camera and path view.</li>"
+      "<li><b>Minimal:</b> Clean interface without camera feed or extra elements.</li>"
+      "<li><b>Vision:</b> Experimental layout that focuses on model perception and environment.</li>"
+      "</ul>"
+    ),
+    "",
+    visual_style_settings_texts,
+    380);
+  list->addItem(visual_style_settings);
+
+  // Visual Style Zoom
+  std::vector<QString> visual_style_zoom_settings_texts{tr("Disabled"), tr("Enabled"), tr("Inverted")};
+  visual_style_zoom_settings = new ButtonParamControlSP(
+    "VisualStyleZoom", tr("Visual Style Zoom"),
+    tr(
+      "Enables dynamic zooming based on driving speed in the selected visual style."
+      "<ul style='margin-left: 10px; margin-top: 4px;'>"
+      "<li><b>Disabled:</b> Keeps the zoom fixed.</li>"
+      "<li><b>Enabled:</b> Zooms in at low speed and out at high speed.</li>"
+      "<li><b>Inverted:</b> Reverses the zoom behavior.</li>"
+      "</ul>"
+    ),
+    "",
+    visual_style_zoom_settings_texts,
+    380);
+  list->addItem(visual_style_zoom_settings);
+
+  // Visual Style Overhead
+  std::vector<QString> visual_style_overhead_settings_texts{tr("Disabled"), tr("Enabled"), tr("Inverted")};
+  visual_style_overhead_settings = new ButtonParamControlSP(
+    "VisualStyleOverhead", tr("Visual Style Overhead"),
+    tr(
+      "Toggles an overhead (top-down) camera view for a 2D-style perspective."
+      "<ul style='margin-left: 10px; margin-top: 4px;'>"
+      "<li><b>Disabled:</b> Keeps the standard forward 3D view.</li>"
+      "<li><b>Enabled:</b> Switches to overhead view when active.</li>"
+      "<li><b>Inverted:</b> Reverses when the transition happens.</li>"
+      "</ul>"
+    ),
+    "",
+    visual_style_overhead_settings_texts,
+    380);
+  list->addItem(visual_style_overhead_settings);
+
+  // Visual Style Overhead Zoom
+  std::vector<QString> visual_style_overhead_zoom_settings_texts{tr("Disabled"), tr("Enabled"), tr("Inverted")};
+  visual_style_overhead_zoom_settings = new ButtonParamControlSP(
+    "VisualStyleOverheadZoom", tr("Visual Style Overhead Zoom"),
+    tr(
+      "Controls zooming behavior while in overhead mode."
+      "<ul style='margin-left: 10px; margin-top: 4px;'>"
+      "<li><b>Disabled:</b> Keeps a fixed zoom level in overhead mode.</li>"
+      "<li><b>Enabled:</b> Zooms dynamically based on speed while overhead.</li>"
+      "<li><b>Inverted:</b> Opposite zoom direction.</li>"
+      "</ul>"
+    ),
+    "",
+    visual_style_overhead_zoom_settings_texts,
+    380);
+  list->addItem(visual_style_overhead_zoom_settings);
+
+  // Visual Style Overhead Threshold
+  visual_style_overhead_threshold_settings = new OptionControlSP(
+    "VisualStyleOverheadThreshold", tr("Visual Style Overhead Threshold"),
+    tr("Sets the speed (in mph) where the display transitions between normal and overhead view."),
+    "", {10, 80}, 5, false, nullptr, false);
+  auto updateThresholdLabel = [=]() {
+    int mph = QString::fromStdString(params.get("VisualStyleOverheadThreshold")).toInt();
+    visual_style_overhead_threshold_settings->setLabel(QString("%1 mph").arg(mph));
+  };
+  connect(visual_style_overhead_threshold_settings, &OptionControlSP::updateLabels, updateThresholdLabel);
+  updateThresholdLabel();
+  list->addItem(visual_style_overhead_threshold_settings);
+
  // Visuals: Display Metrics below Chevron
  std::vector<QString> chevron_info_settings_texts{tr("Off"), tr("Distance"), tr("Speed"), tr("Time"), tr("All")};
  chevron_info_settings = new ButtonParamControlSP(
@@ -136,6 +260,19 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
    380);
  list->addItem(dev_ui_settings);

+  bool radar_tracks_enabled = QString::fromStdString(params.get("VisualRadarTracks")).toInt() != 0;
+  visual_radar_tracks_delay_settings->setVisible(radar_tracks_enabled);
+  param_watcher->addParam("VisualRadarTracks");
+
+  visual_style_value = QString::fromStdString(params.get("VisualStyle")).toInt();
+  visual_style_overhead_value = QString::fromStdString(params.get("VisualStyleOverhead")).toInt();
+  visual_style_zoom_settings->setVisible(visual_style_value != 0);
+  visual_style_overhead_settings->setVisible(visual_style_value != 0);
+  visual_style_overhead_zoom_settings->setVisible(visual_style_value != 0 && visual_style_overhead_value != 0);
+  visual_style_overhead_threshold_settings->setVisible(visual_style_value != 0 && visual_style_overhead_value != 0);
+  param_watcher->addParam("VisualStyle");
+  param_watcher->addParam("VisualStyleOverhead");
+
  sunnypilotScroller = new ScrollViewSP(list, this);
  vlayout->addWidget(sunnypilotScroller);

@@ -191,4 +328,19 @@ void VisualsPanel::paramsRefresh() {
  if (dev_ui_settings) {
    dev_ui_settings->refresh();
  }
+  if (visual_wide_cam_settings) {
+    visual_wide_cam_settings->refresh();
+  }
+  if (visual_style_settings) {
+    visual_style_settings->refresh();
+  }
+  if (visual_style_zoom_settings) {
+    visual_style_zoom_settings->refresh();
+  }
+  if (visual_style_overhead_settings) {
+    visual_style_overhead_settings->refresh();
+  }
+  if (visual_style_overhead_zoom_settings) {
+    visual_style_overhead_zoom_settings->refresh();
+  }
 }
@@ -32,4 +32,14 @@ protected:
 ButtonParamControlSP *dev_ui_settings;

 bool has_longitudinal_control = false;
+
+ OptionControlSP *visual_radar_tracks_delay_settings;
+ ButtonParamControlSP *visual_wide_cam_settings;
+ int visual_style_value = 0;
+ int visual_style_overhead_value = 0;
+ ButtonParamControlSP *visual_style_settings;
+ ButtonParamControlSP *visual_style_zoom_settings;
+ ButtonParamControlSP *visual_style_overhead_settings;
+ ButtonParamControlSP *visual_style_overhead_zoom_settings;
+ OptionControlSP *visual_style_overhead_threshold_settings;
 };
@@ -8,6 +8,12 @@
 #include "selfdrive/ui/sunnypilot/qt/onroad/model.h"


+void ModelRendererSP::drawRadarPoint(QPainter &painter, const QPointF &pos, float v_rel, float radius) {
+  painter.setBrush(QColor(255, 255, 255, 200));
+  painter.setPen(Qt::NoPen);
+  painter.drawEllipse(pos, radius, radius);
+}
+
 void ModelRendererSP::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) {
  ModelRenderer::update_model(model, lead);
  const auto &model_position = model.getPosition();
@@ -67,6 +73,26 @@ void ModelRendererSP::draw(QPainter &painter, const QRect &surface_rect) {
    const bool right_blindspot = car_state.getRightBlindspot();
    drawBlindspot(painter, surface_rect, left_blindspot, right_blindspot);
  }
+
+  if (s->scene.visual_radar_tracks) {
+    if (sm.alive("liveTracks") && sm.rcv_frame("liveTracks") >= s->scene.started_frame) {
+      const auto &tracks = sm["liveTracks"].getLiveTracks().getPoints();
+      for (const auto &track : tracks) {
+        if (!std::isfinite(track.getDRel()) || !std::isfinite(track.getYRel())) continue;
+        float t_lag = s->scene.visual_radar_tracks_delay;
+        float d_pred = track.getDRel();
+        float y_pred = track.getYRel();
+        if (t_lag > 0.0f) {
+          d_pred += track.getVRel() * t_lag + 0.5f * track.getARel() * t_lag * t_lag;
+        }
+        QPointF screen_pt;
+        if (mapToScreen(d_pred, -y_pred, path_offset_z, &screen_pt)) {
+          drawRadarPoint(painter, screen_pt, track.getVRel(), 10.0f);
+        }
+      }
+    }
+  }
+
  drawLeadStatus(painter, surface_rect.height(), surface_rect.width());

  painter.restore();
@@ -28,4 +28,6 @@ private:

  // Lead status animation
  float lead_status_alpha = 0.0f;
+
+  void drawRadarPoint(QPainter &painter, const QPointF &pos, float v_rel, float radius = 10.0f);
 };
@@ -29,7 +29,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
    "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
    "carControl", "gpsLocationExternal", "gpsLocation", "liveTorqueParameters",
-    "carStateSP", "liveParameters", "liveMapDataSP", "carParamsSP"
+    "carStateSP", "liveParameters", "liveMapDataSP", "carParamsSP", "liveTracks"
  });

  // update timer
@@ -44,6 +44,14 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
  });
  param_watcher->addParam("DevUIInfo");
  param_watcher->addParam("StandstillTimer");
+  param_watcher->addParam("VisualRadarTracks");
+  param_watcher->addParam("VisualRadarTracksDelay");
+  param_watcher->addParam("VisualWideCam");
+  param_watcher->addParam("VisualStyle");
+  param_watcher->addParam("VisualStyleZoom");
+  param_watcher->addParam("VisualStyleOverhead");
+  param_watcher->addParam("VisualStyleOverheadZoom");
+  param_watcher->addParam("VisualStyleOverheadThreshold");
 }

 // This method overrides completely the update method from the parent class intentionally.
@@ -76,6 +84,17 @@ void ui_update_params_sp(UIStateSP *s) {
  s->scene.chevron_info = std::atoi(params.get("ChevronInfo").c_str());
  s->scene.blindspot_ui = params.getBool("BlindSpot");
  s->scene.rainbow_mode = params.getBool("RainbowMode");
+
+  s->scene.visual_radar_tracks = QString::fromStdString(params.get("VisualRadarTracks")).toInt();
+  s->scene.visual_radar_tracks_delay = QString::fromStdString(params.get("VisualRadarTracksDelay")).toFloat();
+
+  s->scene.visual_wide_cam = QString::fromStdString(params.get("VisualWideCam")).toInt();
+
+  s->scene.visual_style = QString::fromStdString(params.get("VisualStyle")).toInt();
+  s->scene.visual_style_zoom = QString::fromStdString(params.get("VisualStyleZoom")).toInt();
+  s->scene.visual_style_overhead = QString::fromStdString(params.get("VisualStyleOverhead")).toInt();
+  s->scene.visual_style_overhead_zoom = QString::fromStdString(params.get("VisualStyleOverheadZoom")).toInt();
+  s->scene.visual_style_overhead_threshold = QString::fromStdString(params.get("VisualStyleOverheadThreshold")).toInt();
 }

 void UIStateSP::reset_onroad_sleep_timer(OnroadTimerStatusToggle toggleTimerStatus) {
@@ -21,4 +21,12 @@ typedef struct UISceneSP : UIScene {
  int chevron_info;
  bool blindspot_ui;
  bool rainbow_mode;
+  int visual_radar_tracks = 0;
+  float visual_radar_tracks_delay = 0;
+  int visual_wide_cam = 0;
+  int visual_style = 0;
+  int visual_style_zoom = 0;
+  int visual_style_overhead = 0;
+  int visual_style_overhead_zoom = 0;
+  int visual_style_overhead_threshold = 20.0;
 } UISceneSP;
@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2025.002.000"
+#define SUNNYPILOT_VERSION "2025.003.000"
@@ -1,6 +0,0 @@
-# Navigation
-
-Navigation daemon with Mapbox integration for semi-offline navigation. This module handles route planning, geocoding, and turn-by-turn instructions to support autonomous driving features.
-
- `navigation_helpers/`: Mapbox API integration and navigation instructions processing.
- `navigationd`: Navigation service which uses mapbox integration to generate a route and keep it up to date. This service runs at three hz, using keep time to ensure the while loop only updates three times a second rather than every time sm updates, which in this case would be twenty hz (LLK).
@@ -1,16 +0,0 @@
-"""
-Copyright (c) 2021-, James Vecellio, 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.
-"""
-
-
-class NAV_CV:
-  """ These distances are expected in meters format and convert to desired format """
-  SHORT_DISTANCE_METERS = 200.0
-  QUARTER_MILE = 402.336
-  POINT_ONE_MILE = 160.9344
-  METERS_TO_KILO = 1000  # divide n by this
-  METERS_TO_MILE = 1609.344  # divide n by this
-  METERS_TO_FEET = 3.280839895  # multiply n by this
@@ -1,83 +0,0 @@
-"""
-Copyright (c) 2021-, James Vecellio, 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 cereal import custom, messaging
-from openpilot.common.params import Params
-from openpilot.common.realtime import DT_MDL
-
-from sunnypilot.navd.constants import NAV_CV
-
-
-class EventBuilder:
-  def __init__(self):
-    self._counter: int = -1
-    self._enabled: bool = False
-    self._params = Params()
-
-  @staticmethod
-  def _build_banner_message(metric: bool, nav_msg):
-    m = nav_msg.allManeuvers[1] if len(nav_msg.allManeuvers) > 1 else nav_msg.allManeuvers[0]
-    banner = m.instruction
-
-    if metric:
-      dist = f'{m.distance / NAV_CV.METERS_TO_KILO:.1f} km,'
-      if m.distance < NAV_CV.SHORT_DISTANCE_METERS:
-        dist = f'{int(m.distance)}m,'
-    else:
-      dist = f'{m.distance / NAV_CV.METERS_TO_MILE:.1f} mi,'
-      if m.distance < NAV_CV.QUARTER_MILE:
-        dist = f'{round((m.distance * NAV_CV.METERS_TO_FEET) / 50) * 50}ft,'
-
-    if m.type == 'arrive' or m.type == 'depart' or 'Your destination' in banner:
-      base_msg = banner
-    elif banner.startswith(('Continue', 'Drive', 'Head')):
-      base_msg = f'For {dist} {banner}'
-    elif 'Turn' in banner or 'Take' in banner or 'Make' in banner:
-      base_msg = f'In {dist} {banner}'
-    else:
-      base_msg = f'For {dist} Continue on {banner}'
-
-    return base_msg
-
-  @staticmethod
-  def _get_turning_message(upcoming_turn):
-    turn_messages = {
-      'left': 'Turning Left, Make sure to nudge the wheel',
-      'right': 'Turning Right, Make sure to nudge the wheel',
-      'slightLeft': 'Keeping Left',
-      'slightRight': 'Keeping Right',
-      'sharpLeft': 'Sharp Left Turn',
-      'sharpRight': 'Sharp Right Turn',
-      'straight': 'Continuing Straight',
-      'uturn': 'U-Turn Ahead',
-    }
-    return turn_messages.get(upcoming_turn, f"Upcoming {upcoming_turn.replace('_', ' ').title()}")
-
-  @staticmethod
-  def build_navigation_events(sm: messaging.SubMaster, metric=True) -> list:
-    nav_msg = sm['navigationd']
-    if not nav_msg.valid:
-      return []
-
-    banner_message = EventBuilder._build_banner_message(metric, nav_msg)
-
-    if nav_msg.upcomingTurn != 'none':
-      banner_message = EventBuilder._get_turning_message(nav_msg.upcomingTurn)
-
-    return [{
-      'name': custom.OnroadEventSP.EventName.navigationBanner,
-      'message': banner_message,
-    }]
-
-  def update(self, sm: messaging.SubMaster) -> list:
-    self._counter += 1
-    if self._counter % int(3.0 / DT_MDL) == 0:
-      self._enabled = self._params.get("NavEvents", return_default=True)
-
-    if self._enabled:
-      return self.build_navigation_events(sm)
-    else:
-      return []
@@ -126,8 +126,6 @@ def string_to_direction(direction: str) -> str:
    if d in direction:
      if 'slight' in direction and d in MODIFIABLE_DIRECTIONS:
        return 'slight' + d.capitalize()
-      elif 'sharp' in direction and d in MODIFIABLE_DIRECTIONS:
-        return 'sharp' + d.capitalize()
      return d
  return 'none'

@@ -1,44 +0,0 @@
-"""
-Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import cereal.messaging as messaging
-from cereal import car, log
-from openpilot.common.constants import CV
-from openpilot.common.params import Params
-
-
-class NavigationDesires:
-  def __init__(self):
-    self.sm = messaging.SubMaster(['navigationd'])
-    self.desire = log.Desire.none
-    self._turn_speed_limit = 20 * CV.MPH_TO_MS
-    self._params = Params()
-    self.param_counter = -1
-    self.nav_allowed: bool = False
-
-  def update_params(self):
-    self.param_counter += 1
-    if self.param_counter % 60 == 0:  # every 3 seconds at 20hz
-      self.nav_allowed = self._params.get("NavDesiresAllowed", return_default=True)
-
-  def update(self, CS: car.CarState, lateral_active: bool) -> log.Desire:
-    self.update_params()
-    self.sm.update(0)
-    nav_msg = self.sm['navigationd']
-    self.desire = log.Desire.none
-    if self.nav_allowed and nav_msg.valid and lateral_active:
-      upcoming = nav_msg.upcomingTurn
-      if upcoming == 'slightLeft' and (not CS.leftBlindspot or CS.vEgo < self._turn_speed_limit):
-        self.desire = log.Desire.keepLeft
-      elif upcoming == 'slightRight' and (not CS.rightBlindspot or CS.vEgo < self._turn_speed_limit):
-        self.desire = log.Desire.keepRight
-      elif (upcoming == 'left' and CS.steeringPressed and CS.steeringTorque > 0 and not CS.rightBlinker
-            and not CS.leftBlindspot and CS.vEgo < self._turn_speed_limit):
-        self.desire = log.Desire.turnLeft
-      elif (upcoming == 'right' and CS.steeringPressed and CS.steeringTorque < 0 and not CS.leftBlinker
-            and not CS.rightBlindspot and CS.vEgo < self._turn_speed_limit):
-        self.desire = log.Desire.turnRight
-    return self.desire
@@ -1,96 +0,0 @@
-"""
-Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import pytest
-import types
-
-from cereal import log
-from openpilot.common.params import Params
-
-from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.sunnypilot.navd.navigation_desires.navigation_desires import NavigationDesires
-
-
-def make_car(vEgo=0, leftBlinker=False, rightBlinker=False, leftBlindspot=False, rightBlindspot=False, steeringPressed=False, steeringTorque=0):
-  return types.SimpleNamespace(
-    vEgo=vEgo, leftBlinker=leftBlinker, rightBlinker=rightBlinker,
-    leftBlindspot=leftBlindspot, rightBlindspot=rightBlindspot,
-    steeringPressed=steeringPressed, steeringTorque=steeringTorque
-  )
-
-NAVIGATION_PARAMS: list[tuple] = [
-  ('slightLeft', make_car(), log.Desire.keepLeft),
-  ('slightRight', make_car(), log.Desire.keepRight),
-  ('slightLeft', make_car(vEgo=9, leftBlindspot=True), log.Desire.none),
-  ('slightRight', make_car(vEgo=9, rightBlindspot=True), log.Desire.none),
-  ('left', make_car(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False, steeringPressed=True, steeringTorque=1), log.Desire.turnLeft),
-  ('left', make_car(vEgo=5, leftBlinker=False, rightBlinker=True), log.Desire.none),
-  ('right', make_car(vEgo=6, rightBlinker=True, leftBlindspot=False, steeringPressed=True, steeringTorque=-1), log.Desire.turnRight),
-  ('right', make_car(vEgo=6, rightBlinker=True, rightBlindspot=True), log.Desire.none),
-  ('left', make_car(vEgo=9, leftBlinker=True), log.Desire.none),
-]
-
-INTEGRATION_PARAMS: list[tuple] = [(carstate, upcoming, log.Desire.none, expected) for upcoming, carstate, expected in NAVIGATION_PARAMS] + [
-  (make_car(vEgo=9, leftBlinker=True, steeringPressed=True, steeringTorque=1), 'slightLeft', log.Desire.turnLeft, log.Desire.keepLeft),
-  (make_car(vEgo=9, rightBlinker=True, steeringPressed=True, steeringTorque=-1), 'slightRight', log.Desire.turnRight, log.Desire.keepRight),
-  (make_car(vEgo=9, leftBlinker=True), 'slightLeft', log.Desire.laneChangeLeft, log.Desire.laneChangeLeft),
-  (make_car(vEgo=9, rightBlinker=True), 'slightRight', log.Desire.laneChangeRight, log.Desire.laneChangeRight),
-  (make_car(vEgo=9), 'none', log.Desire.none, log.Desire.none),
-]
-
-def make_nav_msg(valid=False, upcoming='none'):
-  return types.SimpleNamespace(valid=valid, upcomingTurn=upcoming)
-
-def params_setter(allowed: bool):
-  params = Params()
-  params.put("NavDesiresAllowed", allowed)
-
-@pytest.fixture
-def mock_submaster(mocker):
-  mock_sm = mocker.patch('cereal.messaging.SubMaster')
-  mock_sm_instance = mocker.Mock()
-  mock_sm.return_value = mock_sm_instance
-  mock_sm_instance.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=False))
-  params_setter(True)
-  return mock_sm_instance
-
-@pytest.mark.parametrize("upcoming, carstate, expected", NAVIGATION_PARAMS)
-def test_navigation_desires_update(mock_submaster, mocker, upcoming, carstate, expected):
-  nav_desires = NavigationDesires()
-  nav_desires.sm.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=True, upcoming=upcoming))
-  nav_desires.update(carstate, True)
-  assert nav_desires.desire == expected
-
-@pytest.mark.parametrize("msg_valid,lateral_active", [(False, True), (True, False)])
-def test_invalid_or_inactive(mock_submaster, mocker, msg_valid, lateral_active):
-  nav_desires = NavigationDesires()
-  nav_desires.sm.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=msg_valid, upcoming='slightLeft'))
-  nav_desires.update(make_car(), lateral_active)
-  assert nav_desires.desire == log.Desire.none
-
-def test_update(mock_submaster, mocker):
-  mock_submaster.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=True, upcoming='left'))
-  nav_desires = NavigationDesires()
-
-  assert nav_desires.update(make_car(leftBlinker=True, steeringPressed=True, steeringTorque=1), True) == log.Desire.turnLeft
-
-  params_setter(False)
-  nav_desires.param_counter = 59
-  nav_desires.update(make_car(leftBlinker=True), True)
-  assert nav_desires.desire == log.Desire.none
-
-@pytest.mark.parametrize("carstate, upcoming, current_desire, expected", INTEGRATION_PARAMS)
-def test_desire_helper(mock_submaster, mocker, carstate, upcoming, current_desire, expected):
-  mock_submaster.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=True, upcoming=upcoming))
-  dh = DesireHelper()
-  dh.desire = current_desire
-
-  if current_desire in (log.Desire.laneChangeLeft, log.Desire.laneChangeRight):
-    dh.lane_change_state = log.LaneChangeState.laneChangeStarting
-    dh.lane_change_direction = log.LaneChangeDirection.left if current_desire == log.Desire.laneChangeLeft else log.LaneChangeDirection.right
-
-  dh.update(carstate, True, 1.0)
-  assert dh.desire == expected
@@ -1,113 +0,0 @@
-"""
-Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import requests
-from urllib.parse import quote
-
-from openpilot.common.params import Params
-
-
-class MapboxIntegration:
-  def __init__(self):
-    self.params = Params()
-
-  def get_public_token(self) -> str:
-    token: str = self.params.get('MapboxToken', return_default=True)
-    return token
-
-  def set_destination(self, postvars, current_lon, current_lat, bearing=None) -> tuple[dict, bool]:
-    if 'latitude' in postvars and 'longitude' in postvars:
-      self.nav_confirmed(postvars, current_lon, current_lat, bearing)
-      return postvars, True
-
-    addr = postvars['place_name']
-    if not addr:
-      return postvars, False
-
-    token = self.get_public_token()
-    url = f'https://api.mapbox.com/geocoding/v5/mapbox.places/{quote(addr)}.json?access_token={token}&limit=1&proximity={current_lon},{current_lat}'
-    try:
-      response = requests.get(url, timeout=5)
-      if response.status_code == 200:
-        features = response.json()['features']
-        if features:
-          longitude, latitude = features[0]['geometry']['coordinates']
-          postvars.update({'latitude': latitude, 'longitude': longitude, 'name': addr})
-          self.nav_confirmed(postvars, current_lon, current_lat, bearing)
-          return postvars, True
-    except requests.RequestException:
-      pass  # Broad exception to handle network errors like no internet without crashing navd process.
-    return postvars, False
-
-  def nav_confirmed(self, postvars, start_lon, start_lat, bearing=None) -> None:
-    if not postvars:
-      return
-
-    latitude = float(postvars['latitude'])
-    longitude = float(postvars['longitude'])
-
-    data: dict = {'navData': {'current': {'latitude': latitude, 'longitude': longitude}, 'route': {}}}
-
-    token = self.get_public_token()
-    route_data = self.generate_route(start_lon, start_lat, longitude, latitude, token, bearing)
-    if route_data:
-      data['navData']['route'] = route_data
-    self.params.put('MapboxSettings', data)
-
-  @staticmethod
-  def generate_route(start_lon, start_lat, end_lon, end_lat, token, bearing=None) -> dict | None:
-    if not token:
-      return None
-
-    params = {
-      'access_token': token,
-      'geometries': 'geojson',
-      'steps': 'true',
-      'overview': 'full',
-      'annotations': 'maxspeed',
-      'alternatives': 'false',
-      'banner_instructions': 'true',
-    }
-    if bearing is not None:
-      params['bearings'] = f'{int((bearing + 360) % 360):.0f},90;'
-
-    try:
-      response = requests.get(f'https://api.mapbox.com/directions/v5/mapbox/driving/{start_lon},{start_lat};{end_lon},{end_lat}', params=params, timeout=5)
-      data = response.json() if response.status_code == 200 else {}
-    except requests.RequestException:
-      return None
-
-    routes = data['routes'] if data else None
-    legs = routes[0]['legs'] if routes else None
-
-    if data.get('code') != 'Ok' or not routes or not legs:
-      return None
-
-    route = routes[0]
-    leg = legs[0]
-
-    steps = [
-      {
-        'maneuver': step['maneuver']['type'],
-        'instruction': step['maneuver']['instruction'],
-        'distance': step['distance'],
-        'duration': step['duration'],
-        'location': {'longitude': step['maneuver']['location'][0], 'latitude': step['maneuver']['location'][1]},
-        'modifier': step['maneuver'].get('modifier', 'none'),
-        'bannerInstructions': step['bannerInstructions'],
-      }
-      for step in leg['steps']
-    ]
-
-    maxspeed = [{'speed': item['speed'], 'unit': item['unit']} for item in leg['annotation']['maxspeed'] if 'speed' in item]
-
-    return {
-      'steps': steps,
-      'totalDistance': route['distance'],
-      'totalDuration': route['duration'],
-      'geometry': [{'longitude': coord[0], 'latitude': coord[1]} for coord in route['geometry']['coordinates']],
-      'maxspeed': maxspeed,
-    }
@@ -1,138 +0,0 @@
-"""
-Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from openpilot.common.constants import CV
-from openpilot.common.params import Params
-
-from openpilot.sunnypilot.navd.helpers import Coordinate, string_to_direction
-
-
-class NavigationInstructions:
-  def __init__(self):
-    self.coord = Coordinate(0, 0)
-    self.params = Params()
-    self._cached_route = None
-    self._route_loaded = False
-    self._no_route = False
-
-  def get_route_progress(self, current_lat, current_lon) -> dict | None:
-    route = self.get_current_route()
-    if not route or not route['geometry'] or not route['steps']:
-      return None
-
-    self.coord.latitude = current_lat
-    self.coord.longitude = current_lon
-
-    # Find the closest point on the route relative to self
-    closest_idx, min_distance = min(((idx, self.coord.distance_to(coord)) for idx, coord in enumerate(route['geometry'])), key=lambda x: x[1])
-    closest_cumulative = route['cumulative_distances'][closest_idx]
-
-    # Find the current step index, which is the HIGHEST idx where the step location cumulative less/equal closest cumulative
-    current_step_idx = max((idx for idx, step in enumerate(route['steps']) if step['cumulative_distance'] <= closest_cumulative), default=-1)
-    current_step = route['steps'][current_step_idx if current_step_idx >= 0 else 0]
-
-    # The next turn is the next step relative to our cumulative index
-    next_turn_idx = current_step_idx + 1
-    next_turn = route['steps'][next_turn_idx] if 0 <= next_turn_idx < len(route['steps']) else None
-
-    current_maxspeed = current_step['maxspeed']
-
-    distance_to_end_of_step = max(0, current_step['distance'] - (closest_cumulative - current_step['cumulative_distance']))
-
-    all_maneuvers: list = []
-    max_maneuvers = 3
-    for idx in range(current_step_idx, min(current_step_idx + max_maneuvers, len(route['steps']))):
-      step = route['steps'][idx]
-      if idx == current_step_idx:
-        distance = distance_to_end_of_step
-      else:
-        distance = step['cumulative_distance'] - closest_cumulative
-      all_maneuvers.append({'distance': distance, 'type': step['maneuver'], 'modifier': step['modifier'], 'instruction': step['instruction']})
-
-    return {
-      'distance_from_route': min_distance,
-      'current_step': current_step,
-      'next_turn': next_turn,
-      'current_maxspeed': current_maxspeed,
-      'all_maneuvers': all_maneuvers,
-      'current_step_idx': current_step_idx,
-      'distance_to_end_of_step': distance_to_end_of_step,
-    }
-
-  def get_current_route(self):
-    if self._route_loaded and self._cached_route is not None:
-      return self._cached_route
-    if self._no_route:
-      return None
-
-    param_value = self.params.get('MapboxSettings')
-    route = param_value['navData']['route'] if param_value else None
-    if not route:
-      self._no_route = True
-      return None
-
-    geometry = [Coordinate(coord['latitude'], coord['longitude']) for coord in route['geometry']]
-    cumulative_distances = [0.0]
-    cumulative_distances.extend(cumulative_distances[-1] + geometry[step - 1].distance_to(geometry[step]) for step in range(1, len(geometry)))
-    maxspeed = [(speed['speed'], speed['unit']) for speed in route['maxspeed']]
-    steps = []
-    for step in route['steps']:
-      location = Coordinate(step['location']['latitude'], step['location']['longitude'])
-      closest_idx = min(range(len(geometry)), key=lambda i: location.distance_to(geometry[i]))
-      steps.append({
-        'bannerInstructions': step['bannerInstructions'],
-        'distance': step['distance'],
-        'duration': step['duration'],
-        'maneuver': step['maneuver'],
-        'location': location,
-        'cumulative_distance': cumulative_distances[closest_idx],
-        'maxspeed': maxspeed[min(closest_idx, len(maxspeed) - 1)] if len(maxspeed) > 0 else (0, 'kmh'),
-        'modifier': string_to_direction(step['modifier']),
-        'instruction': step['instruction'],
-      })
-    self._cached_route = {
-      'steps': steps,
-      'total_distance': route['totalDistance'],
-      'total_duration': route['totalDuration'],
-      'geometry': geometry,
-      'cumulative_distances': cumulative_distances,
-      'maxspeed': maxspeed,
-    }
-    self._route_loaded = True
-    return self._cached_route
-
-  def clear_route_cache(self):
-    self._cached_route = None
-    self._route_loaded = False
-    self._no_route = False
-
-  def get_upcoming_turn_from_progress(self, progress, current_lat, current_lon) -> str:
-    if progress and progress['next_turn']:
-      self.coord.latitude = current_lat
-      self.coord.longitude = current_lon
-      distance = self.coord.distance_to(progress['next_turn']['location'])
-      if distance <= 100:
-        modifier = progress['next_turn']['modifier']
-        return str(modifier)
-    return 'none'
-
-  @staticmethod
-  def get_current_speed_limit_from_progress(progress, is_metric: bool) -> int:
-    if progress and progress['current_maxspeed']:
-      speed, _ = progress['current_maxspeed']
-      if is_metric:
-        return int(speed)
-      else:
-        return int(round(speed * CV.KPH_TO_MPH))
-    return 0
-
-  @staticmethod
-  def arrived_at_destination(progress) -> bool:
-    if progress['all_maneuvers'][0]['type'] == 'arrive':
-      return True
-    elif progress['all_maneuvers'][0]['instruction'].startswith('Your destination'):
-      return True
-    return False
@@ -1,94 +0,0 @@
-"""
-Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import os
-
-from openpilot.common.constants import CV
-
-from openpilot.sunnypilot.navd.navigation_helpers.mapbox_integration import MapboxIntegration
-from openpilot.sunnypilot.navd.navigation_helpers.nav_instructions import NavigationInstructions
-
-
-class TestMapbox:
-  @classmethod
-  def setup_class(cls):
-    cls.mapbox = MapboxIntegration()
-    cls.nav = NavigationInstructions()
-
-    token = os.environ.get('MAPBOX_TOKEN_CI')
-    if token:
-      cls.mapbox.params.put('MapboxToken', token)
-
-    # route setup
-    cls.current_lon, cls.current_lat = -119.17557, 34.23305
-    cls.mapbox.params.put('MapboxRoute', '740 E Ventura Blvd. Camarillo, CA')
-    cls.postvars = {"place_name": cls.mapbox.params.get('MapboxRoute')}
-    cls.postvars, cls.valid_addr = cls.mapbox.set_destination(cls.postvars, cls.current_lon, cls.current_lat)
-    cls.route = cls.nav.get_current_route()
-    cls.progress = cls.nav.get_route_progress(cls.current_lat, cls.current_lon)
-
-  def test_set_destination(self):
-    assert self.valid_addr
-    settings = self.mapbox.params.get('MapboxSettings')
-    assert settings is not None
-    dest_lat = settings['navData']['current']['latitude']
-    dest_lon = settings['navData']['current']['longitude']
-    assert dest_lat == self.postvars["latitude"] and dest_lon == self.postvars["longitude"]
-
-  def test_get_route(self):
-    assert self.route is not None
-    assert 'steps' in self.route
-    assert 'geometry' in self.route
-    assert 'maxspeed' in self.route
-    assert 'total_distance' in self.route
-    assert 'total_duration' in self.route
-    assert len(self.route['steps']) > 0
-    assert len(self.route['geometry']) > 0
-    assert len(self.route['maxspeed']) > 0
-
-    if self.route and 'steps' in self.route:
-      for step in self.route['steps']:
-        assert 'modifier' in step
-
-  def test_upcoming_turn_detection(self):
-    upcoming = self.nav.get_upcoming_turn_from_progress(self.progress, self.current_lat, self.current_lon)
-    assert isinstance(upcoming, str)
-    assert upcoming == 'none'
-
-    if self.route['steps']:
-      turn_lat = self.route['steps'][1]['location'].latitude
-      turn_lon = self.route['steps'][1]['location'].longitude
-      close_lat = turn_lat - 0.0008  # 80 ish meters before the turn
-      if self.progress and self.progress.get('next_turn'):
-        expected_turn = self.progress['next_turn']['modifier']
-        upcoming_close = self.nav.get_upcoming_turn_from_progress(self.progress, close_lat, turn_lon)
-        if expected_turn:
-          assert upcoming_close == expected_turn == 'right', "Should be a right turn upcoming"
-
-  def test_route_progress_tracking(self):
-    assert self.progress is not None
-    assert 'distance_from_route' in self.progress
-    assert 'next_turn' in self.progress
-    assert 'current_maxspeed' in self.progress
-    assert 'all_maneuvers' in self.progress
-    assert 'distance_to_end_of_step' in self.progress
-    assert self.progress['distance_from_route'] >= 0
-    assert isinstance(self.progress['all_maneuvers'], list)
-
-  def test_speed_limit_handling(self):
-    speed_limit_metric = self.nav.get_current_speed_limit_from_progress(self.progress, True)
-    speed_limit_imperial = self.nav.get_current_speed_limit_from_progress(self.progress, False)
-    assert isinstance(speed_limit_metric, int)
-    assert isinstance(speed_limit_imperial, int)
-    expected_metric = int(self.progress['current_maxspeed'][0])
-    expected_imperial = int(round(self.progress['current_maxspeed'][0] * CV.KPH_TO_MPH))
-    assert speed_limit_metric == expected_metric
-    assert speed_limit_imperial == expected_imperial
-
-  def test_arrival_detection(self):
-    is_arrived = self.nav.arrived_at_destination(self.progress)
-    assert isinstance(is_arrived, bool)
-    assert not is_arrived
@@ -1,160 +0,0 @@
-"""
-Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import math
-
-import cereal.messaging as messaging
-from cereal import custom
-from openpilot.common.params import Params
-from openpilot.common.realtime import Ratekeeper
-from openpilot.common.swaglog import cloudlog
-
-from openpilot.sunnypilot.navd.constants import NAV_CV
-from openpilot.sunnypilot.navd.helpers import Coordinate, parse_banner_instructions
-from openpilot.sunnypilot.navd.navigation_helpers.mapbox_integration import MapboxIntegration
-from openpilot.sunnypilot.navd.navigation_helpers.nav_instructions import NavigationInstructions
-
-
-class Navigationd:
-  def __init__(self):
-    self.params = Params()
-    self.mapbox = MapboxIntegration()
-    self.nav_instructions = NavigationInstructions()
-
-    self.sm = messaging.SubMaster(['liveLocationKalman'])
-    self.pm = messaging.PubMaster(['navigationd'])
-    self.rk = Ratekeeper(3) # 3 Hz
-
-    self.route = None
-    self.destination: str | None = None
-    self.new_destination: str = ''
-
-    self.allow_navigation: bool = False
-    self.recompute_allowed: bool = False
-    self.allow_recompute: bool = False
-    self.reroute_counter: int = 0
-    self.cancel_route_counter: int = 0
-
-    self.frame: int = -1
-    self.last_position: Coordinate | None = None
-    self.last_bearing: float | None = None
-    self.is_metric: bool = False
-    self.valid: bool = False
-
-  def _update_params(self):
-    if self.last_position is not None:
-      self.frame += 1
-      if self.frame % 9 == 0:
-        self.allow_navigation = self.params.get('AllowNavigation', return_default=True)
-        self.is_metric = self.params.get('IsMetric', return_default=True)
-        self.new_destination = self.params.get('MapboxRoute')
-        self.recompute_allowed = self.params.get('MapboxRecompute', return_default=True)
-
-      self.allow_recompute: bool = (self.new_destination != self.destination and self.new_destination != '') or (
-        self.recompute_allowed and self.reroute_counter > 9 and self.route
-      )
-
-      if self.allow_recompute:
-        postvars = {'place_name': self.new_destination}
-        postvars, valid_addr = self.mapbox.set_destination(postvars, self.last_position.longitude, self.last_position.latitude, self.last_bearing)
-        cloudlog.debug(f'Set new destination to: {self.new_destination}, valid: {valid_addr}')
-        if valid_addr:
-          self.destination = self.new_destination
-          self.nav_instructions.clear_route_cache()
-          self.route = self.nav_instructions.get_current_route()
-          self.cancel_route_counter = 0
-          self.reroute_counter = 0
-
-      if self.cancel_route_counter == 30:
-        self.cancel_route_counter = 0
-        self.destination = None
-        self.nav_instructions.clear_route_cache()
-        self.route = None
-
-      self.valid = self.route is not None
-
-  def _update_navigation(self) -> tuple[str, dict | None, dict]:
-    banner_instructions: str = ''
-    nav_data: dict = {}
-    if self.allow_navigation and self.last_position is not None:
-      if progress := self.nav_instructions.get_route_progress(self.last_position.latitude, self.last_position.longitude):
-        nav_data['upcoming_turn'] = self.nav_instructions.get_upcoming_turn_from_progress(progress, self.last_position.latitude, self.last_position.longitude)
-        nav_data['current_speed_limit'] = self.nav_instructions.get_current_speed_limit_from_progress(progress, self.is_metric)
-        arrived = self.nav_instructions.arrived_at_destination(progress)
-
-        if progress['current_step']:
-          parsed = parse_banner_instructions(progress['current_step']['bannerInstructions'], progress['distance_to_end_of_step'])
-          if parsed:
-            banner_instructions = parsed['maneuverPrimaryText']
-
-        nav_data['distance_from_route'] = progress['distance_from_route']
-        large_distance = progress['distance_from_route'] > 100
-
-        if large_distance:
-          self.cancel_route_counter = self.cancel_route_counter + 1 if progress['distance_from_route'] > NAV_CV.QUARTER_MILE else 0
-          if self.recompute_allowed:
-            self.reroute_counter += 1
-        elif arrived:
-          self.cancel_route_counter += 1
-        else:
-          self.cancel_route_counter = 0
-          self.reroute_counter = 0
-
-        # Don't recompute in last segment to prevent reroute loops
-        if self.route:
-          if progress['current_step_idx'] == len(self.route['steps']) - 1:
-            self.allow_recompute = False
-    else:
-      banner_instructions = ''
-      progress = None
-      nav_data = {}
-      self.valid = False
-
-    return banner_instructions, progress, nav_data
-
-  def _build_navigation_message(self, banner_instructions: str, progress: dict | None, nav_data: dict, valid: bool):
-    msg = messaging.new_message('navigationd')
-    msg.valid = valid
-    msg.navigationd.upcomingTurn = nav_data.get('upcoming_turn', 'none')
-    msg.navigationd.currentSpeedLimit = nav_data.get('current_speed_limit', 0)
-    msg.navigationd.bannerInstructions = banner_instructions
-    msg.navigationd.distanceFromRoute = nav_data.get('distance_from_route', 0.0)
-    msg.navigationd.valid = self.valid
-
-    all_maneuvers = (
-      [custom.Navigationd.Maneuver.new_message(distance=m['distance'], type=m['type'], modifier=m['modifier'],
-                                               instruction=m['instruction']) for m in progress['all_maneuvers']]
-      if progress
-      else []
-    )
-    msg.navigationd.allManeuvers = all_maneuvers
-
-    return msg
-
-  def run(self):
-    cloudlog.warning('navigationd init')
-
-    while True:
-      self.sm.update()
-      location = self.sm['liveLocationKalman']
-      localizer_valid = location.positionGeodetic.valid if location else False
-
-      if localizer_valid:
-        self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2])
-        self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
-
-      self._update_params()
-      banner_instructions, progress, nav_data = self._update_navigation()
-
-      msg = self._build_navigation_message(banner_instructions, progress, nav_data, valid=localizer_valid)
-
-      self.pm.send('navigationd', msg)
-      self.rk.keep_time()
-
-
-def main():
-  nav = Navigationd()
-  nav.run()
@@ -1,92 +0,0 @@
-"""
-Copyright (c) 2021-, James Vecellio, 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 cereal import custom
-from openpilot.common.params import Params
-
-from openpilot.sunnypilot.navd.event_builder import EventBuilder
-
-
-class MockSM(dict):
-  def __init__(self, nav_msg):
-    super().__init__()
-    self['navigationd'] = nav_msg
-
-
-class TestEventBuilder:
-  def setup_method(self):
-    self.params = Params()
-    self.event_builder = EventBuilder()
-
-  def create_nav_msg(self, upcoming_turn='none', valid=True):
-    nav_msg = custom.Navigationd.new_message()
-    nav_msg.valid = valid
-    nav_msg.upcomingTurn = upcoming_turn
-    nav_msg.allManeuvers = [
-      custom.Navigationd.Maneuver.new_message(distance=192.84873284, type='turn', modifier='left', instruction='West Esplanade Drive'),
-      custom.Navigationd.Maneuver.new_message(distance=192.84809314, type='turn', modifier='right', instruction='West Esplanade Drive'),
-    ]
-    return nav_msg
-
-  def test_validity(self):
-    nav_msg = self.create_nav_msg(valid=False)
-    events = EventBuilder.build_navigation_events(MockSM(nav_msg))
-    assert events == []
-
-  def test_enabled(self):
-    self.params.put("NavEvents", True)
-    nav_msg = self.create_nav_msg()
-    events = self.event_builder.update(MockSM(nav_msg))
-    expected = [{
-      'name': custom.OnroadEventSP.EventName.navigationBanner,
-      'message': 'For 192m, Continue on West Esplanade Drive'
-    }]
-    assert events == expected
-
-    self.params.put("NavEvents", False)
-    self.event_builder._counter = 59
-    events = self.event_builder.update(MockSM(nav_msg))
-    assert events == []
-
-
-  def test_build_navigation_events(self):
-    nav_msg = self.create_nav_msg()
-    events = EventBuilder.build_navigation_events(MockSM(nav_msg), False)
-    expected = [{
-      'name': custom.OnroadEventSP.EventName.navigationBanner,
-      'message': 'For 650ft, Continue on West Esplanade Drive',
-    }]
-    assert events == expected
-
-  def test_distance_condition_imperial(self):
-    nav_msg = self.create_nav_msg()
-    nav_msg.allManeuvers[1] = custom.Navigationd.Maneuver.new_message(distance=160.0, type='continue', modifier='straight', instruction='1234 Apple Way')
-    events = EventBuilder.build_navigation_events(MockSM(nav_msg), False)
-    expected = [{
-      'name': custom.OnroadEventSP.EventName.navigationBanner,
-      'message': 'For 500ft, Continue on 1234 Apple Way',
-    }]
-    assert events == expected
-
-  def test_upcoming_turn_override(self):
-    nav_msg = self.create_nav_msg(upcoming_turn='left')
-    events = EventBuilder.build_navigation_events(MockSM(nav_msg))
-    expected = [{
-      'name': custom.OnroadEventSP.EventName.navigationBanner,
-      'message': 'Turning Left, Make sure to nudge the wheel',
-    }]
-    assert events == expected
-
-  def test_straight(self):
-    nav_msg = self.create_nav_msg()
-    nav_msg.allManeuvers[1] = custom.Navigationd.Maneuver.new_message(distance=80.0, type='continue', modifier='straight', instruction='1234 Apple Way')
-
-    events = EventBuilder.build_navigation_events(MockSM(nav_msg))
-    expected = [{
-      'name': custom.OnroadEventSP.EventName.navigationBanner,
-      'message': 'For 80m, Continue on 1234 Apple Way'
-    }]
-    assert events == expected
@@ -1,76 +0,0 @@
-"""
-Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import platform
-import pytest
-
-import cereal.messaging as messaging
-
-from openpilot.sunnypilot.navd.navigationd import Navigationd
-from openpilot.sunnypilot.navd.helpers import Coordinate
-
-
-class TestNavigationd:
-  is_darwin = platform.system() == "Darwin"
-
-  @pytest.fixture(autouse=True)
-  def setup_method(self, mocker):
-    if self.is_darwin:
-      mocker.patch('cereal.messaging.SubMaster')
-      mocker.patch('cereal.messaging.PubMaster')
-
-  def test_update_params(self):
-    nav = Navigationd()
-    nav.last_position = None
-    nav._update_params()
-    assert nav.frame == -1
-    nav.last_position = Coordinate(latitude=37.0, longitude=128.0)
-    nav._update_params()
-    assert nav.frame == 0  # frame only updates when last position is set
-
-  def test_update_navigation_no_position(self):
-    nav = Navigationd()
-    nav.last_position = None
-    banner, progress, nav_data = nav._update_navigation()
-    assert banner == ''
-    assert progress is None
-    assert nav_data == {}
-
-  def test_update_navigation(self):
-    nav = Navigationd()
-    nav.last_position = Coordinate(latitude=37.0, longitude=128.0)
-    nav.route = {'580 Winchester dr, oxnard, CA': True}
-    banner, progress, nav_data = nav._update_navigation()
-    assert isinstance(banner, str)
-    assert not progress  # no route was actually set
-    assert isinstance(nav_data, dict)
-
-  def test_build_navigation_message(self):
-    if self.is_darwin:
-      nav = Navigationd()
-      msg = nav._build_navigation_message('', None, {}, True)
-      assert msg.navigationd.bannerInstructions == ''
-      assert msg.navigationd.valid is False
-    else:
-      sm = messaging.SubMaster(['navigationd'])
-      nav = Navigationd()
-      msg = nav._build_navigation_message('', None, {}, True)
-
-      nav.pm.send('navigationd', msg)
-      sm.update()
-      received_msg = sm['navigationd']
-
-      assert received_msg.bannerInstructions == msg.navigationd.bannerInstructions
-      assert received_msg.valid == msg.navigationd.valid
-
-  def test_cancel_route(self):
-    nav = Navigationd()
-    nav.last_position = Coordinate(latitude=37.0, longitude=128.0)
-    nav.route = {'580 Winchester dr, oxnard, CA': True}
-    nav.cancel_route_counter = 30
-    nav._update_params()
-    assert nav.route is None
-    assert nav.destination is None
@@ -15,6 +15,8 @@ from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import set_

 import openpilot.system.sentry as sentry

+from sunnypilot.sunnylink.statsd import STATSLOGSP
+

 def log_fingerprint(CP: structs.CarParams) -> None:
  if CP.carFingerprint == "MOCK":
@@ -100,6 +102,9 @@ def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
  _initialize_torque_lateral_control(CI, CP, enforce_torque, nnlc_enabled)
  _cleanup_unsupported_params(CP, CP_SP)

+  STATSLOGSP.raw('sunnypilot.car_params', CP.to_dict())
+  # STATSLOGSP.raw('sunnypilot_params.car_params_sp', CP_SP.to_dict()) # https://github.com/sunnypilot/opendbc/pull/361
+

 def initialize_params(params) -> list[dict[str, Any]]:
  keys: list = []
@@ -115,4 +120,9 @@ def initialize_params(params) -> list[dict[str, Any]]:
    "SubaruStopAndGoManualParkingBrake",
  ])

+  # tesla
+  keys.extend([
+    "TeslaCoopSteering",
+  ])
+
  return [{k: params.get(k, return_default=True)} for k in keys]
@@ -16,7 +16,6 @@ from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_resolver import SpeedLimitResolver
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 from openpilot.sunnypilot.models.helpers import get_active_bundle
-from openpilot.sunnypilot.navd.event_builder import EventBuilder

 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
 LongitudinalPlanSource = custom.LongitudinalPlanSP.LongitudinalPlanSource
@@ -33,7 +32,6 @@ class LongitudinalPlannerSP:
    self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
    self.source = LongitudinalPlanSource.cruise
    self.e2e_alerts_helper = E2EAlertsHelper()
-    self.event_builder = EventBuilder()

    self.output_v_target = 0.
    self.output_a_target = 0.
@@ -79,16 +77,10 @@ class LongitudinalPlannerSP:
    self.output_v_target, self.output_a_target = targets[self.source]
    return self.output_v_target, self.output_a_target

-  def update_navigation_events(self, sm: messaging.SubMaster) -> None:
-    nav_events = self.event_builder.update(sm)
-    for event in nav_events:
-      self.events_sp.add(event['name'])
-
  def update(self, sm: messaging.SubMaster) -> None:
    self.events_sp.clear()
    self.dec.update(sm)
    self.e2e_alerts_helper.update(sm, self.events_sp)
-    self.update_navigation_events(sm)

  def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
    plan_sp_send = messaging.new_message('longitudinalPlanSP')
@@ -7,17 +7,11 @@ See the LICENSE.md file in the root directory for more details.

 from parameterized import parameterized

-import cereal.messaging
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper, LaneChangeState, LaneChangeDirection
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode, \
  AUTO_LANE_CHANGE_TIMER, ONE_SECOND_DELAY

-class MockSubMaster:
-  def __init__(self, services):
-    pass
-
-
 AUTO_LANE_CHANGE_TIMER_COMBOS = [
  (AutoLaneChangeMode.NUDGELESS, AUTO_LANE_CHANGE_TIMER[AutoLaneChangeMode.NUDGELESS]),
  (AutoLaneChangeMode.HALF_SECOND, AUTO_LANE_CHANGE_TIMER[AutoLaneChangeMode.HALF_SECOND]),
@@ -29,7 +23,6 @@ AUTO_LANE_CHANGE_TIMER_COMBOS = [

 class TestAutoLaneChangeController:
  def setup_method(self):
-    cereal.messaging.SubMaster = MockSubMaster
    self.DH = DesireHelper()
    self.alc = AutoLaneChangeController(self.DH)

@@ -1,29 +1,14 @@
 import pytest
-
-import cereal.messaging
 from cereal import log, custom
 from openpilot.common.params import Params

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

 TurnDirection = custom.ModelDataV2SP.TurnDirection


-class MockSubMaster:
-  def __init__(self, services): pass
-
-  def update(self, timeout): pass
-
-  def __getitem__(self, key):
-    return type('nav_msg', (), {'valid': False})()
-
-
-@pytest.fixture(autouse=True)
-def mock_submaster():
-  cereal.messaging.SubMaster = MockSubMaster
-
-
@pytest.mark.parametrize("left_blinker,right_blinker,v_ego,blindspot_left,blindspot_right,expected", [
  (True, False, 5, False, False, TurnDirection.turnLeft),
  (False, True, 6, False, False, TurnDirection.turnRight),
@@ -122,6 +107,7 @@ def set_lane_turn_params():
 ])
 def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, expected_desire, set_lane_turn_params):
  dh = DesireHelper()
+  dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
  for _ in range(10):
    dh.update(carstate, lateral_active, lane_change_prob)
-  assert dh.desire == expected_desire
+  assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
@@ -4,7 +4,6 @@ from openpilot.common.constants import CV
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
  NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, wrong_car_mode_alert
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
-from openpilot.sunnypilot.navd.event_builder import EventBuilder


 AlertSize = log.SelfdriveState.AlertSize
@@ -56,14 +55,6 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
    Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleLow, .1)


-def navigation_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  events = EventBuilder.build_navigation_events(sm, metric)
-  if not events:
-    return Alert("", "", AlertStatus.normal, AlertSize.none, Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.)
-
-  return Alert(events[0]['message'], "", AlertStatus.normal, AlertSize.small, Priority.LOW, VisualAlert.none, AudibleAlert.none, 2.)
-
-
 class EventsSP(EventsBase):
  def __init__(self):
    super().__init__()
@@ -235,8 +226,4 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
      AlertStatus.normal, AlertSize.none,
      Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
  },
-
-  EventNameSP.navigationBanner: {
-    ET.WARNING: navigation_alert,
-  },
 }
@@ -16,8 +16,9 @@ from functools import partial
 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.athena.athenad import ws_send, jsonrpc_handler, \
-  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim, upload_handler
+  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim, upload_handler, stat_handler
 from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
                       create_connection, WebSocketConnectionClosedException)

@@ -33,9 +34,6 @@ SUNNYLINK_RECONNECT_TIMEOUT_S = 70  # FYI changing this will also would require
 DISALLOW_LOG_UPLOAD = threading.Event()

 params = Params()
-sunnylink_dongle_id = params.get("SunnylinkDongleId")
-sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
-

 def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
  cloudlog.info("sunnylinkd.handle_long_poll started")
@@ -51,7 +49,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
              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=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'),
+              threading.Thread(target=stat_handler, args=(end_event, Paths.stats_sp_root(), True), name='stat_handler'),
            ] + [
              threading.Thread(target=jsonrpc_handler, args=(end_event, partial(startLocalProxy, end_event),), name=f'worker_{x}')
              for x in range(HANDLER_THREADS)
@@ -132,6 +130,8 @@ def ws_ping(ws: WebSocket, end_event: threading.Event) -> None:


 def ws_queue(end_event: threading.Event) -> None:
+  sunnylink_dongle_id = params.get("SunnylinkDongleId")
+  sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
  resume_requested = False
  tries = 0

@@ -233,6 +233,9 @@ def saveParams(params_to_update: dict[str, str], compression: bool = False) -> N


 def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]:
+  sunnylink_dongle_id = params.get("SunnylinkDongleId")
+  sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
+
  cloudlog.debug("athena.startLocalProxy.starting")
  ws = create_connection(
    remote_ws_uri,
@@ -254,6 +257,8 @@ def main(exit_event: threading.Event = None):
    cloudlog.info("Waiting for sunnylink registration to complete")
    time.sleep(10)

+  sunnylink_dongle_id = params.get("SunnylinkDongleId")
+  sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
  UploadQueueCache.initialize(upload_queue)

  ws_uri = f"{SUNNYLINK_ATHENA_HOST}"
@@ -0,0 +1,278 @@
+#!/usr/bin/env python3
+import base64
+import json
+import os
+import threading
+import traceback
+
+import zmq
+import time
+import uuid
+from pathlib import Path
+from collections import defaultdict
+from datetime import datetime, UTC
+
+from openpilot.common.params import Params
+from cereal.messaging import SubMaster
+from openpilot.system.hardware.hw import Paths
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.hardware import HARDWARE
+from openpilot.common.file_helpers import atomic_write_in_dir
+from openpilot.system.version import get_build_metadata
+from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
+from openpilot.system.statsd import METRIC_TYPE, StatLogSP
+from openpilot.common.realtime import Ratekeeper
+
+STATSLOGSP = StatLogSP(intercept=False)
+
+def sp_stats(end_event):
+  """Collect sunnypilot-specific statistics and send as raw metrics."""
+  rk = Ratekeeper(.1, print_delay_threshold=None)
+  statlogsp = STATSLOGSP
+  params = Params()
+
+  def flatten_dict(d, parent_key='', sep='.'):
+    items = {}
+    if isinstance(d, dict):
+      for k, v in d.items():
+        new_key = f"{parent_key}{sep}{k}" if parent_key else k
+        items.update(flatten_dict(v, new_key, sep=sep))
+    elif isinstance(d, (list, tuple)):
+      for i, v in enumerate(d):
+        new_key = f"{parent_key}[{i}]"
+        items.update(flatten_dict(v, new_key, sep=sep))
+    else:
+      items[parent_key] = d
+    return items
+
+  # Collect sunnypilot parameters
+  stats_dict = {}
+
+  param_keys = [
+    'SunnylinkEnabled',
+    'AutoLaneChangeBsmDelay',
+    'AutoLaneChangeTimer',
+    'CarPlatformBundle',
+    'CurrentRoute',
+    'DevUIInfo',
+    'EnableCopyparty',
+    'IntelligentCruiseButtonManagement',
+    'QuietMode',
+    'RainbowMode',
+    'ShowAdvancedControls',
+    'Mads',
+    'MadsMainCruiseAllowed',
+    'MadsSteeringMode',
+    'MadsUnifiedEngagementMode',
+    'ModelManager_ActiveBundle',
+    'ModelManager_Favs',
+    'EnableSunnylinkUploader',
+    'SunnylinkEnabled',
+    'InstallDate',
+    'UptimeOffroad',
+    'UptimeOnroad',
+  ]
+
+  while not end_event.is_set():
+    try:
+      for key in param_keys:
+
+        try:
+          value = params.get(key)
+        except Exception as e:
+          stats_dict[key] = e
+          continue
+
+        if value is None:
+          continue
+
+        if isinstance(value, (dict, list, tuple)):
+          stats_dict.update(flatten_dict(value, key))
+        else:
+          stats_dict[key] = value
+
+      if stats_dict:
+        statlogsp.raw('sunnypilot.device_params', stats_dict)
+    except Exception as e:
+      cloudlog.error(f"Exception {e}")
+    finally:
+      rk.keep_time()
+
+
+def stats_main(end_event):
+  comma_dongle_id = Params().get("DongleId")
+  sunnylink_dongle_id = Params().get("SunnylinkDongleId")
+
+  def get_influxdb_line(measurement: str, value: float | dict[str, float], timestamp: datetime, tags: dict) -> str:
+    res = f"{measurement}"
+    for k, v in tags.items():
+      res += f",{k}={str(v)}"
+    res += " "
+
+    if isinstance(value, float):
+      value = {'value': value}
+
+    for k, v in value.items():
+      res += f"{k}={str(v)},"
+
+    res += f"sunnylink_dongle_id=\"{sunnylink_dongle_id}\",comma_dongle_id=\"{comma_dongle_id}\" {int(timestamp.timestamp() * 1e9)}\n"
+    return res
+
+  def get_influxdb_line_raw(measurement: str, value: dict, timestamp: datetime, tags: dict) -> str:
+    res = f"{measurement}"
+    try:
+      custom_tags = ""
+      for k, v in tags.items():
+        custom_tags += f",{k}={str(v)}"
+      res += custom_tags
+
+      fields = ""
+      for k, v in value.items():
+        # Skip complex types - only keep simple scalar values
+        if isinstance(v, (dict, list, bytes, bytearray)):
+          continue
+
+        fields += f"{k}={json.dumps(v)},"
+
+      res += f" {fields}"
+    except Exception as e:
+      cloudlog.error(f"Unable to get influxdb line for: {value}")
+      res += f",invalid=1 reason={e},"
+
+    res += f"sunnylink_dongle_id=\"{sunnylink_dongle_id}\",comma_dongle_id=\"{comma_dongle_id}\" {int(timestamp.timestamp() * 1e9)}\n"
+    return res
+
+  # open statistics socket
+  ctx = zmq.Context.instance()
+  sock = ctx.socket(zmq.PULL)
+  sock.bind(f"{STATS_SOCKET}_sp")
+
+  STATS_DIR = Paths.stats_sp_root()
+
+  # initialize stats directory
+  Path(STATS_DIR).mkdir(parents=True, exist_ok=True)
+
+  build_metadata = get_build_metadata()
+
+  # initialize tags
+  tags = {
+    'started': False,
+    'version': build_metadata.openpilot.version,
+    'branch': build_metadata.channel,
+    'dirty': build_metadata.openpilot.is_dirty,
+    'origin': build_metadata.openpilot.git_normalized_origin,
+    'deviceType': HARDWARE.get_device_type(),
+  }
+
+  # subscribe to deviceState for started state
+  sm = SubMaster(['deviceState'])
+
+  idx = 0
+  boot_uid = str(uuid.uuid4())[:8]
+  last_flush_time = time.monotonic()
+  gauges = {}
+  samples: dict[str, list[float]] = defaultdict(list)
+  raws: dict = defaultdict()
+  try:
+    while not end_event.is_set():
+      started_prev = sm['deviceState'].started
+      sm.update()
+
+      # Update metrics
+      while True:
+        try:
+          metric = sock.recv_string(zmq.NOBLOCK)
+          try:
+            metric_type = metric.split('|')[1]
+            metric_name = metric.split(':')[0]
+            metric_value_raw = metric.split('|')[0].split(':')[1]
+
+            if metric_type == METRIC_TYPE.GAUGE:
+              metric_value = float(metric_value_raw)
+              gauges[metric_name] = metric_value
+            elif metric_type == METRIC_TYPE.SAMPLE:
+              metric_value = float(metric_value_raw)
+              samples[metric_name].append(metric_value)
+            elif metric_type == METRIC_TYPE.RAW:
+              raws[metric_name] = metric_value_raw
+            else:
+              cloudlog.event("unknown metric type", metric_type=metric_type)
+          except Exception:
+            print(traceback.format_exc())
+            cloudlog.event("malformed metric", metric=metric)
+        except zmq.error.Again:
+          break
+
+      # flush when started state changes or after FLUSH_TIME_S
+      if (time.monotonic() > last_flush_time + STATS_FLUSH_TIME_S) or (sm['deviceState'].started != started_prev):
+        result = ""
+        current_time = datetime.now(UTC)
+        tags['started'] = sm['deviceState'].started
+
+        for key, value in raws.items():
+          decoded_value = json.loads(base64.b64decode(value).decode('utf-8'))
+          result += get_influxdb_line_raw(key, decoded_value, current_time, tags)
+
+        for key, value in gauges.items():
+          result += get_influxdb_line(f"gauge.{key}", value, current_time, tags)
+
+        for key, values in samples.items():
+          values.sort()
+          sample_count = len(values)
+          sample_sum = sum(values)
+
+          stats = {
+            'count': sample_count,
+            'min': values[0],
+            'max': values[-1],
+            'mean': sample_sum / sample_count,
+          }
+          for percentile in [0.05, 0.5, 0.95]:
+            value = values[int(round(percentile * (sample_count - 1)))]
+            stats[f"p{int(percentile * 100)}"] = value
+
+          result += get_influxdb_line(f"sample.{key}", stats, current_time, tags)
+
+        # clear intermediate data
+        gauges.clear()
+        samples.clear()
+        last_flush_time = time.monotonic()
+
+        # check that we aren't filling up the drive
+        if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT:
+          if len(result) > 0:
+            stats_path = os.path.join(STATS_DIR, f"{boot_uid}_{idx}")
+            with atomic_write_in_dir(stats_path) as f:
+              f.write(result)
+            idx += 1
+        else:
+          cloudlog.error("stats dir full")
+  finally:
+    sock.close()
+    ctx.term()
+
+
+def main():
+  rk = Ratekeeper(1, print_delay_threshold=None)
+  end_event = threading.Event()
+
+  threads = [
+    threading.Thread(target=stats_main, args=(end_event,)),
+    threading.Thread(target=sp_stats, args=(end_event,)),
+  ]
+
+  for t in threads:
+    t.start()
+
+  try:
+    while all(t.is_alive() for t in threads):
+      rk.keep_time()
+  finally:
+    end_event.set()
+
+  for t in threads:
+    t.join()
+
+
+if __name__ == "__main__":
+  main()
@@ -744,26 +744,40 @@ def log_handler(end_event: threading.Event, log_attr_name=LOG_ATTR_NAME) -> None
      cloudlog.exception("athena.log_handler.exception")


-def stat_handler(end_event: threading.Event) -> None:
-  STATS_DIR = Paths.stats_root()
+def stat_handler(end_event: threading.Event, stats_dir=None, is_sunnylink=False) -> None:
+  stats_dir = stats_dir or Paths.stats_root()
  last_scan = 0.0

  while not end_event.is_set():
    curr_scan = time.monotonic()
    try:
      if curr_scan - last_scan > 10:
-        stat_filenames = list(filter(lambda name: not name.startswith(tempfile.gettempprefix()), os.listdir(STATS_DIR)))
+        stat_filenames = list(filter(lambda name: not name.startswith(tempfile.gettempprefix()), os.listdir(stats_dir)))
        if len(stat_filenames) > 0:
-          stat_path = os.path.join(STATS_DIR, stat_filenames[0])
+          stat_path = os.path.join(stats_dir, stat_filenames[0])
          with open(stat_path) as f:
+            payload = f.read()
+            is_compressed = False
+
+            # Log the current size of the file
+            if is_sunnylink:
+              # Compress and encode the data if it exceeds the maximum size
+              compressed_data = gzip.compress(payload.encode())
+              payload = base64.b64encode(compressed_data).decode()
+              is_compressed = True
+
            jsonrpc = {
              "method": "storeStats",
              "params": {
-                "stats": f.read()
+                "stats": payload
              },
              "jsonrpc": "2.0",
              "id": stat_filenames[0]
            }
+
+            if is_sunnylink and is_compressed:
+              jsonrpc["params"]["compressed"] = is_compressed
+
            low_priority_send_queue.put_nowait(json.dumps(jsonrpc))
          os.remove(stat_path)
        last_scan = curr_scan
@@ -55,6 +55,13 @@ class Paths:
    else:
      return "/data/stats/"

+  @staticmethod
+  def stats_sp_root() -> str:
+    if PC:
+      return str(Path(Paths.comma_home()) / "stats")
+    else:
+      return "/data/stats_sp/"
+
  @staticmethod
  def config_root() -> str:
    if PC:
@@ -164,6 +164,7 @@ procs = [
  # sunnylink <3
  DaemonProcess("manage_sunnylinkd", "sunnypilot.sunnylink.athena.manage_sunnylinkd", "SunnylinkdPid"),
  PythonProcess("sunnylink_registration_manager", "sunnypilot.sunnylink.registration_manager", sunnylink_need_register_shim),
+  PythonProcess("statsd_sp", "sunnypilot.sunnylink.statsd", and_(always_run, sunnylink_ready_shim)),
 ]

 # sunnypilot
@@ -180,9 +181,6 @@ procs += [
  NativeProcess("mapd", Paths.mapd_root(), ["bash", "-c", f"{MAPD_PATH} > /dev/null 2>&1"], mapd_ready),
  PythonProcess("mapd_manager", "sunnypilot.mapd.mapd_manager", always_run),

-  # navigationd
-  PythonProcess("navigationd", "sunnypilot.navd.navigationd", only_onroad),
-
  # locationd
  NativeProcess("locationd_llk", "sunnypilot/selfdrive/locationd", ["./locationd"], only_onroad),
 ]
@@ -1,11 +1,15 @@
 #!/usr/bin/env python3
+import base64
+import json
 import os
+from decimal import Decimal
+
 import zmq
 import time
 import uuid
 from pathlib import Path
 from collections import defaultdict
-from datetime import datetime, UTC
+from datetime import datetime, UTC, date
 from typing import NoReturn

 from openpilot.common.params import Params
@@ -21,18 +25,21 @@ from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET,
 class METRIC_TYPE:
  GAUGE = 'g'
  SAMPLE = 'sa'
+  RAW = 'r'
+

 class StatLog:
  def __init__(self):
    self.pid = None
    self.zctx = None
    self.sock = None
+    self.stats_socket = STATS_SOCKET

  def connect(self) -> None:
-    self.zctx = zmq.Context()
+    self.zctx = zmq.Context.instance() or zmq.Context()
    self.sock = self.zctx.socket(zmq.PUSH)
    self.sock.setsockopt(zmq.LINGER, 10)
-    self.sock.connect(STATS_SOCKET)
+    self.sock.connect(self.stats_socket)
    self.pid = os.getpid()

  def __del__(self):
@@ -60,6 +67,50 @@ class StatLog:
    self._send(f"{name}:{value}|{METRIC_TYPE.SAMPLE}")


+class StatLogSP(StatLog):
+  def __init__(self, intercept=True):
+    """
+    Initializes the class instance with an optional parameter to determine
+    if statistical logging should be configured or not.
+
+    :param intercept: A boolean flag that indicates whether to initialize
+        the `comma_statlog`. If True, the `comma_statlog` attribute is
+        instantiated as a `StatLog` object. Defaults to True.
+    """
+    super().__init__()
+    self.comma_statlog = StatLog() if intercept else None
+    self.stats_socket = f"{STATS_SOCKET}_sp"
+
+  def connect(self) -> None:
+    super().connect()
+    if self.comma_statlog:
+      self.comma_statlog.connect()
+
+  def __del__(self):
+    super().__del__()
+    if self.comma_statlog:
+      self.comma_statlog.__del__()
+
+  def _send(self, metric: str) -> None:
+    super()._send(metric)
+    if self.comma_statlog:
+      self.comma_statlog._send(metric)
+
+  @staticmethod
+  def default_converter(obj):
+    if isinstance(obj, (datetime, date)):
+      return obj.isoformat()
+    if isinstance(obj, set):
+      return list(obj)
+    if isinstance(obj, Decimal):
+      return float(obj)
+    return str(obj)  # fallback for unknown types
+
+  def raw(self, name: str, value: dict) -> None:
+    encoded_dict = base64.b64encode(json.dumps(value, default=self.default_converter).encode("utf-8")).decode("utf-8")
+    self._send(f"{name}:{encoded_dict}|{METRIC_TYPE.RAW}")
+
+
 def main() -> NoReturn:
  dongle_id = Params().get("DongleId")
  def get_influxdb_line(measurement: str, value: float | dict[str, float],  timestamp: datetime, tags: dict) -> str:
@@ -180,4 +231,4 @@ def main() -> NoReturn:
 if __name__ == "__main__":
  main()
 else:
-  statlog = StatLog()
+  statlog = StatLogSP(intercept=True)
Author	SHA1	Message	Date
royjr	669f3b7945	fix	2025-11-07 21:51:35 -05:00
royjr	63122e1a33	Merge branch 'master' into visual-style	2025-11-07 21:25:46 -05:00
Jason Wen	c1d3ae427b	version: bump to 2025.003.000	2025-11-06 23:12:41 -05:00
Jason Wen	2ab45b552d	Update CHANGELOG.md	2025-11-06 23:10:03 -05:00
github-actions[bot]	8c1d59fecd	[bot] Update Python packages (#1434 ) Update Python packages Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>	2025-11-06 22:47:55 -05:00
DevTekVE	cde88fd8ed	bug: Fix initial registration for sunnylink (#1457 ) refactor(sunnylink): defer `SunnylinkApi` initialization to function scope - Moved `SunnylinkApi` object creation into individual functions as needed. - Prevents unnecessary initialization when the object isn't used.	2025-11-06 12:13:15 +01:00
DevTekVE	4b5de0eddb	stats: sunnylink integration (#1454 ) * sunnylink: add statsd process and related telemetry logging infrastructure - Introduced `statsd_sp` process for handling Sunnylink-specific stats. - Enhanced metrics logging with improved directory structure and data handling. * sunnylink: re-enable and refine stat_handler for telemetry processing - Reactivated `stat_handler` thread with improved path handling. - Made `stat_handler` more flexible by allowing directory injection. * statsd: fix formatting issue in telemetry string generation - Corrected missing comma between `sunnylink_dongle_id` and `comma_dongle_id`. * update statsd_sp process configuration for enhanced readiness logic - Modified `statsd_sp` initialization to include `always_run` alongside `sunnylink_ready_shim`. - Ensures robust process activation conditions. * refactor(statsd): enhance and unify StatLogSP implementation - Replaced custom `StatLogSP` in sunnylink with centralized implementation from `system.statsd`. - Ensures consistent logic for StatLogSP handling across modules. * fix * refactor(statsd): add intercept parameter to StatLogSP for configurable logging - Introduced optional `intercept` parameter to `StatLogSP` to manage `comma_statlog` initialization. - Updated usage in `sunnylink` to disable interception where unnecessary. * Dont complain * feat(statsd): add raw metric type and SunnyPilot-specific stats collection - Introduced `METRIC_TYPE.RAW` for base64-encoded raw data metrics. - Added `sp_stats` thread to export SunnyPilot params as raw metrics. - Enhanced telemetry handling with decoding and serialization updates. * refactor(statsd): improve `sp_stats` error handling and param processing - Enhanced exception handling for `params.get` to prevent crashes. - Added support for nested dict values to be included in stats. * refactor(statsd): adjust imports and minor code formatting updates - Updated `Ratekeeper` import path for consistency with the `openpilot` module structure. - Fixed minor formatting for improved readability. * refactor(statsd): update typings and remove unused NoReturn annotation - Removed unnecessary `NoReturn` typing for `stats_main` to simplify function definition. - Adjusted `get_influxdb_line_raw` to refine typing for `value` parameter. * cleanup * init * init * slightly more * staticmethod * handle them all * get them models * log with route * more * car * Revert "car" This reverts commit `fe1c90cf4d`. * handle capnp * Revert "handle capnp" This reverts commit `c5aea68803`. * 1 more time * Revert "1 more time" This reverts commit `a364474fa5`. * Cleaning to expose wider * feat(interfaces, statsd): log car params to stats system - Added `STATSLOGSP` import and logging to capture `carFingerprint` in metrics. - Improved error handling in `get_influxdb_line_raw` for robust metric generation. * refactor(interfaces): streamline car params logging to stats - Simplified logging by directly converting `CP` to a dictionary. - Removed legacy stats aggregation for clarity. * feat(sunnylink): enable compression for stats in SunnyLink - Added optional compression for stats payload to support large data. - Updated `stat_handler` to handle compression and base64 encoding. * fix(statsd): filter complex types in `get_influxdb_line_raw` - Skips unsupported types (dict, list, bytes) to prevent formatting errors. - Simplifies type annotation for `value` parameter. * fix(statsd): use `json.dumps` for string conversion in `get_influxdb_line_raw` - Ensures proper handling of special characters in values. - Prevents potential formatting issues with raw `str()` conversion. * refactor(interfaces, statsd): update parameter keys for stats logging - Renamed logged keys for better clarity (`sunnypilot_params` → `sunnypilot.car_params`, `device_params`). - Ensures consistency across data logs. * bet --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-11-04 16:53:31 -05:00
Matt Purnell	071147baaf	docs: Update README installation branches and discord links (#1453 ) * Use sunnypilot CARS.md, update number of supported cars, add comma * Update device reference * Update discord links to forum links * Update references to -c3-new branches and release * Update broken link to branches table * Update README.md --------- Co-authored-by: DevTekVE <devtekve@gmail.com>	2025-11-03 06:52:17 +01:00
DevTekVE	18af4d6ad6	ui: Fix spacing in sunnylink panel (#1450 ) Fix spacing	2025-11-02 20:26:17 +01:00
DevTekVE	b81d5bca3c	ui: update discord references and add forum widget (#1440 ) * sunnylink: introduce community popup with QR code embedding - Added `SunnylinkCommunityPopup` widget to promote the sunnypilot Community Forum. - Integrated a QR code generator and display for quick access. - Updated `WiFiPromptWidget` to include a "Learn More" button triggering the community popup. * sunnylink: adjust community popup styling for better layout - Reduced font size of description text slightly for consistency. - Decreased QR code dimensions to improve visual balance. * Making more space out of thin air * sunnylink: update community references to use forum links - Replaced Discord links with Community Forum URLs for better alignment. - Improved clarity in sponsorship instructions.	2025-11-02 06:50:41 +01:00
Amy Jeanes	682d738ffa	Tesla: Coop Steering (#1283 ) * Tesla: Coop Steering * bump * bump * sync with opendbc/master * resolve comment * add oscillation warning and add confirmation * styling desc * beta --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-11-01 22:47:30 -04:00
royjr	c9b1afb154	Merge branch 'master' into visual-style	2025-10-10 00:06:55 -04:00
royjr	6e3bd3fbed	explicit radius	2025-10-09 23:56:37 -04:00
royjr	42592dd550	match what we currently send	2025-10-09 23:54:34 -04:00
royjr	b2f7d72a33	no need	2025-10-09 23:53:07 -04:00
royjr	2e0ce18c84	group	2025-10-09 23:52:51 -04:00
royjr	2a9a4a9263	Merge branch 'master' into visual-style	2025-10-09 23:51:18 -04:00
royjr	e63fb10fdb	Revert "metric threshold" This reverts commit `b54941928d`.	2025-10-08 21:35:23 -04:00
royjr	b54941928d	metric threshold	2025-10-08 21:35:15 -04:00
royjr	b85b8ffacf	better VisualStyleOverheadThreshold	2025-10-08 21:28:10 -04:00
royjr	3ff2e9b26a	reorder	2025-10-08 21:25:37 -04:00
royjr	4b3ffc722a	show visual_radar_tracks_delay_settings on VisualRadarTracks	2025-10-08 21:24:52 -04:00
royjr	5f49066829	more	2025-10-08 21:18:51 -04:00
royjr	ab2eb218d5	clean	2025-10-08 21:16:06 -04:00
royjr	6212b174e9	descs	2025-10-08 21:12:08 -04:00
royjr	a8a6e5708a	Merge branch 'master' into visual-style	2025-10-08 20:47:03 -04:00
royjr	54b060f178	move with	2025-10-08 20:45:17 -04:00
royjr	8266386cd0	better	2025-10-08 20:44:06 -04:00
royjr	8bbe87ee22	simple	2025-10-08 20:40:23 -04:00
royjr	d35ac0c145	a bit better	2025-10-08 20:34:26 -04:00
royjr	a134ae1e29	combine	2025-10-08 20:25:55 -04:00
royjr	6a69759b9e	hide options based on options	2025-10-08 20:24:51 -04:00
royjr	b9063e2966	cleanup	2025-10-08 19:55:40 -04:00
royjr	4397a4387a	mooooore fps	2025-10-08 19:49:14 -04:00
royjr	32dc384524	not needed for now	2025-10-08 19:47:08 -04:00
royjr	68fa239b97	unused	2025-10-08 19:45:37 -04:00
royjr	c8367fbc25	more fps remove	2025-10-08 19:44:45 -04:00
royjr	76fc4514e1	reorder	2025-10-08 19:43:32 -04:00
royjr	073ce2b4df	remove VisualFPS	2025-10-08 19:35:37 -04:00
royjr	5d516ba89f	Merge branch 'master' into visual-style	2025-10-08 12:26:38 -04:00
royjr	e819a0dcb1	Merge branch 'master' into visual-style	2025-10-08 02:14:22 -04:00
royjr	ba4b583e6e	fix visual_style_overhead_zoom	2025-10-08 01:55:38 -04:00
royjr	5954354356	fix visual_style_overhead	2025-10-08 01:48:06 -04:00
royjr	23ff232333	fix visual_style_overhead_settings	2025-10-08 01:40:10 -04:00
royjr	0bb47fcfa9	fix visual_style_overhead_threshold_settings	2025-10-08 01:29:15 -04:00
royjr	99a5682371	todo	2025-10-08 01:09:08 -04:00
royjr	22ca343050	fix visual_style_overhead_threshold_settings	2025-10-08 01:07:53 -04:00
royjr	0049d20151	VisualStyleZoom fix	2025-10-08 01:05:17 -04:00
royjr	b9f8f4e8ac	visual style better	2025-10-08 00:55:20 -04:00
royjr	26564dd42f	better VisualWideCam	2025-10-08 00:07:31 -04:00
royjr	ec440e4568	Merge branch 'master' into visual-style	2025-10-07 22:38:57 -04:00
royjr	69817f887b	Merge branch 'master' into visual-style	2025-09-30 15:01:21 -04:00
royjr	df21208b7c	Merge branch 'master' into visual-style	2025-09-25 02:08:38 -04:00
royjr	660c994c5e	visual_style_blend vs visual_style_overhead_blend	2025-09-25 02:08:28 -04:00
royjr	904cc796b0	prevent jitter	2025-09-25 01:44:06 -04:00
royjr	1a9a1e1b8a	Merge branch 'master' into visual-style	2025-09-23 23:00:46 -04:00
royjr	2ae7078c0f	use ParamWatcher	2025-09-23 14:37:21 -04:00
royjr	0fde830a30	fix params	2025-09-23 10:35:46 -04:00
royjr	7c744a42e5	safe font	2025-09-23 08:18:51 -04:00
royjr	90cc169dec	VisualRadarTracksDelay	2025-09-23 08:17:59 -04:00
royjr	36c1e11a9e	add FPS toggle	2025-09-23 07:47:16 -04:00
royjr	5e26a99337	better fps	2025-09-23 07:40:59 -04:00
royjr	53683cf90b	constant track size	2025-09-23 07:25:00 -04:00
royjr	95dcc23887	better tracks for overhead	2025-09-23 07:21:57 -04:00
royjr	cef3163c7c	more more more cached params	2025-09-23 06:54:46 -04:00
royjr	cbc34dd1f6	more cached params	2025-09-23 06:49:41 -04:00
royjr	fbd1f6bad1	cached params	2025-09-23 06:42:14 -04:00
royjr	f2ddf9abba	debug ui lag	2025-09-23 04:04:52 -04:00
royjr	8a5eaf5ba6	prepare for lag compensation	2025-09-23 03:35:06 -04:00
royjr	ddb377ac5b	radar lag compensate	2025-09-23 03:24:15 -04:00
royjr	512a01d28c	VisualWideCam toggle (untested)	2025-09-23 01:33:50 -04:00
royjr	b30e275169	Merge branch 'master' into visual-style	2025-09-23 01:15:18 -04:00
royjr	ee9fe5c9ed	VisualRadarTracks toggle	2025-09-23 01:10:44 -04:00
royjr	e672a352d3	bigger points	2025-09-23 00:24:38 -04:00
royjr	361d107040	basic radar	2025-09-22 23:55:55 -04:00
royjr	36eb047cd3	Merge branch 'master' into visual-style	2025-09-22 00:10:31 -04:00
royjr	218c6172e6	darker fills	2025-09-22 00:03:29 -04:00
royjr	8f35e4fc3c	Revert "smooooth" This reverts commit `c965df39d6`.	2025-09-21 23:02:48 -04:00
royjr	c965df39d6	smooooth	2025-09-21 22:10:35 -04:00
royjr	53ef69f3c3	hide horizon if no data	2025-09-21 21:55:23 -04:00
royjr	ea9ca18c8b	horizon at end	2025-09-21 21:49:01 -04:00
royjr	225858261e	better horizon	2025-09-21 21:34:14 -04:00
royjr	43de43b34a	better lines	2025-09-21 21:25:39 -04:00
royjr	96ddbe35a1	dynamically adjust background	2025-09-21 15:37:54 -04:00
royjr	7d547ad533	fix default	2025-09-21 15:30:13 -04:00
royjr	13de58b845	add more speeds	2025-09-21 15:30:06 -04:00
royjr	3d8c563a4b	dynamic zoom	2025-09-21 15:19:57 -04:00
royjr	bc75199d5a	overhead	2025-09-21 14:34:38 -04:00
royjr	ba6e18ed91	only for vision	2025-09-21 14:32:30 -04:00
royjr	74dbcd699b	add road edges to vision	2025-09-21 14:31:58 -04:00
royjr	35c6af0190	theme	2025-09-21 13:55:56 -04:00
royjr	827de88c8b	stump top down	2025-09-21 13:03:37 -04:00
royjr	54ca4b537d	VisualStyleBlendThreshold	2025-09-21 12:48:32 -04:00
royjr	c61f327076	allow always overhead view	2025-09-20 13:04:07 -04:00
royjr	d569913e5a	VisualStyleBlend	2025-09-20 12:57:17 -04:00
royjr	418c93be06	animate overhead	2025-09-20 12:16:49 -04:00
royjr	5acc040a89	overhead	2025-09-20 11:24:24 -04:00
royjr	e45b17c230	better	2025-09-20 03:00:00 -04:00
royjr	b14b6246d7	visual style init	2025-09-20 00:31:07 -04:00