maybe it does not need to be complicated ?

.gitmodules

@@ -1,9 +1,11 @@
 [submodule "panda"]
   path = panda
   url = https://github.com/sunnyhaibin/panda.git
+  branch = tn
 [submodule "opendbc"]
   path = opendbc_repo
   url = https://github.com/sunnypilot/opendbc.git
+  branch = tn
 [submodule "msgq"]
   path = msgq_repo
   url = https://github.com/sunnypilot/msgq.git

cereal/custom.capnp

@@ -88,6 +88,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
 
 struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   dec @0 :DynamicExperimentalControl;
+  accelPersonality @1 :AccelerationPersonality;
 
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
@@ -99,6 +100,13 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
       blended @1;
     }
   }
+
+  enum AccelerationPersonality {
+    sport @0;
+    normal @1;
+    eco @2;
+    stock @3;
+  }
 }
 
 struct OnroadEventSP @0xda96579883444c35 {

common/params.cc

@@ -239,6 +239,13 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"HyundaiRadarTracksToggle", PERSISTENT},
 
     {"DynamicExperimentalControl", PERSISTENT},
+    {"ToyotaAutoHold", PERSISTENT},
+    {"ToyotaEnhancedBsm", PERSISTENT},
+    {"ToyotaTSS2Long", PERSISTENT},
+    {"FastTakeOff", PERSISTENT},
+    {"AccelPersonality", PERSISTENT},
+    {"ToyotaDriveMode", PERSISTENT},
+    {"RainbowMode", PERSISTENT},
 };
 
 } // namespace

selfdrive/car/card.py

@@ -121,9 +121,13 @@ class Car:
 
     # set alternative experiences from parameters
     disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
+    sp_toyota_auto_brake_hold = self.params.get_bool("ToyotaAutoHold")
     self.CP.alternativeExperience = 0
     if not disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
+    if sp_toyota_auto_brake_hold:
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
+
 
     # mads
     MadsParams().set_alternative_experience(self.CP)

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -9,6 +9,8 @@ from openpilot.common.swaglog import cloudlog
 # WARNING: imports outside of constants will not trigger a rebuild
 from openpilot.selfdrive.modeld.constants import index_function
 from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
+from openpilot.common.conversions import Conversions as CV
+
 
 if __name__ == '__main__':  # generating code
   from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
@@ -64,24 +66,48 @@ def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
   elif personality==log.LongitudinalPersonality.standard:
     return 1.0
   elif personality==log.LongitudinalPersonality.aggressive:
-    return 0.5
+    return 0.3
   else:
     raise NotImplementedError("Longitudinal personality not supported")
 
 
 def get_T_FOLLOW(personality=log.LongitudinalPersonality.standard):
   if personality==log.LongitudinalPersonality.relaxed:
-    return 1.75
+    return 1.80
   elif personality==log.LongitudinalPersonality.standard:
-    return 1.45
-  elif personality==log.LongitudinalPersonality.aggressive:
     return 1.25
+  elif personality==log.LongitudinalPersonality.aggressive:
+    return 1.10
   else:
     raise NotImplementedError("Longitudinal personality not supported")
 
 def get_stopped_equivalence_factor(v_lead):
   return (v_lead**2) / (2 * COMFORT_BRAKE)
 
+def get_stopped_equivalence_factor_krkeegen(v_lead, v_ego):
+  v_diff_offset = 0
+  v_diff_offset_max = 12
+  speed_to_reach_max_v_diff_offset = 26 * CV.KPH_TO_MS  # in m/s
+  delta_speed = v_lead - v_ego
+
+  if np.any(delta_speed > 0):
+    # Scale v_diff_offset with a hybrid approach: linear with a smooth transition
+    v_diff_offset = np.clip(delta_speed * 1.5, 0, v_diff_offset_max)
+    scaling_factor = np.clip((speed_to_reach_max_v_diff_offset - v_ego) / speed_to_reach_max_v_diff_offset, 0, 1)
+    # Apply a stronger decay at higher speeds to avoid pulling too close
+    smooth_scaling = scaling_factor ** 3 * (10 - 9 * scaling_factor)
+    v_diff_offset *= smooth_scaling
+
+  stopping_distance = (v_lead ** 2) / (2 * COMFORT_BRAKE) + v_diff_offset
+  return stopping_distance
+
+
+
+
+
+
+
+
 def get_safe_obstacle_distance(v_ego, t_follow):
   return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE
 
@@ -327,7 +353,7 @@ class LongitudinalMpc:
     lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
     return lead_xv
 
-  def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard):
+  def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard, fast_take_off = False):
     t_follow = get_T_FOLLOW(personality)
     v_ego = self.x0[1]
     self.status = radarstate.leadOne.status or radarstate.leadTwo.status
@@ -338,8 +364,13 @@ class LongitudinalMpc:
     # To estimate a safe distance from a moving lead, we calculate how much stopping
     # distance that lead needs as a minimum. We can add that to the current distance
     # and then treat that as a stopped car/obstacle at this new distance.
-    lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
-    lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
+    if fast_take_off:
+      lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor_krkeegen(lead_xv_0[:,1], v_ego)
+      lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor_krkeegen(lead_xv_1[:,1], v_ego)
+    else:
+      lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
+      lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
+
 
     self.params[:,0] = ACCEL_MIN
     self.params[:,1] = ACCEL_MAX

selfdrive/controls/lib/longitudinal_planner.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import math
 import numpy as np
-
+from openpilot.common.params import Params
 import cereal.messaging as messaging
 from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.common.conversions import Conversions as CV
@@ -88,6 +88,19 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     self.j_desired_trajectory = np.zeros(CONTROL_N)
     self.solverExecutionTime = 0.0
 
+    self.params = Params()
+    self.param_read_counter = 0
+    self.read_param()
+
+    self.fast_take_off = False
+
+
+  def read_param(self):
+    try:
+      self.fast_take_off = self.params.get_bool("FastTakeOff")
+    except AttributeError:
+      pass
+
   @staticmethod
   def parse_model(model_msg, model_error):
     if (len(model_msg.position.x) == ModelConstants.IDX_N and
@@ -110,6 +123,9 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
 
   def update(self, sm):
     LongitudinalPlannerSP.update(self, sm)
+    if self.param_read_counter % 50 == 0:
+      self.read_param()
+    self.param_read_counter += 1
     self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
     if dec_mpc_mode := self.get_mpc_mode():
       self.mpc.mode = dec_mpc_mode
@@ -142,6 +158,35 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     else:
       accel_clip = [ACCEL_MIN, ACCEL_MAX]
 
+    # Override accel using Accel Controller if enabled
+    if self.accel_controller.is_enabled:
+      max_limit = self.accel_controller.get_accel_limits(v_ego, accel_clip)
+
+      # Ensure max_limit is a single float value
+      if isinstance(max_limit, list):
+        max_limit = max_limit[1]
+
+      # If needed, ensure braking is allowed
+      # if not self.allow_throttle:
+      #     max_limit = min(max_limit, -3.5)  # Ensure braking is allowed if needed
+      #     print(f"allow_throttle={self.allow_throttle}, max_limit before={max_limit:.2f}")
+
+      print(f"Accel Controller: max_limit={max_limit:.2f}")
+
+      if self.mpc.mode == 'acc':
+        # Use the accel controller limits directly
+        accel_clip = [ACCEL_MIN, max_limit]
+        # Recalculate limit turn according to the new max limit
+        steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
+        accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
+        print(f"ACC Mode Final: v_ego={v_ego:.2f}, accel_clip={accel_clip}")
+      else:
+        print(f"Blended Mode (Accel Controller Enabled): accel_clip={accel_clip}")
+    else:
+      print(f"Accel Controller Disabled: accel_clip={accel_clip}")
+
+
+
     if reset_state:
       self.v_desired_filter.x = v_ego
       # Clip aEgo to cruise limits to prevent large accelerations when becoming active
@@ -165,7 +210,10 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
 
     self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
-    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['selfdriveState'].personality)
+    #print("Fast take off status:", self.fast_take_off)
+    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['selfdriveState'].personality, fast_take_off=self.fast_take_off)
+
+
 
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)

selfdrive/controls/radard.py

@@ -150,7 +150,7 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
     "vRel": float(lead_v_rel_pred),
     "vLead": float(v_ego + lead_v_rel_pred),
     "vLeadK": float(v_ego + lead_v_rel_pred),
-    "aLeadK": 0.0,
+    "aLeadK": float(lead_msg.a[0]),
     "aLeadTau": 0.3,
     "fcw": False,
     "modelProb": float(lead_msg.prob),

selfdrive/ui/qt/offroad/settings.cc

@@ -36,6 +36,42 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
       "../assets/offroad/icon_blank.png",
     },
+    {
+      "FastTakeOff",
+      tr("Very fast prius"),
+      tr("When prius goes faster then sunnys car :) vroom"),
+      "../assets/offroad/icon_blank.png",
+    },
+    {
+      "ToyotaAutoHold",
+      tr("Toyota: Auto Brake Hold"),
+      tr("umm auto brake hold?"),
+      "../assets/offroad/icon_blank.png",
+    },
+    {
+      "ToyotaEnhancedBsm",
+      tr("Toyota: Enhanced BSM"),
+      tr("like blind spot monitoring but better?"),
+      "../assets/offroad/icon_blank.png",
+    },
+    {
+      "ToyotaTSS2Long",
+      tr("Toyota: custom tune"),
+      tr("idk something gas and brake"),
+      "../assets/offroad/icon_blank.png",
+    },
+    {
+      "ToyotaDriveMode",
+      tr("Enable Toyota Drive Mode Button"),
+      tr("Sunnypilot will link the Acceleration Personality to the car's physical drive mode selector.\nReboot Required."),
+      "../assets/offroad/icon_blank.png",
+    },
+	{
+      "RainbowMode",
+      tr("Enable Tesla Rainbow Mode"),
+      tr("....."),
+      "../assets/offroad/icon_blank.png",
+    },
     {
       "DisengageOnAccelerator",
       tr("Disengage on Accelerator Pedal"),
@@ -91,6 +127,16 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
                                           "../assets/offroad/icon_speed_limit.png",
                                           longi_button_texts);
 
+  // accel controller
+  std::vector<QString> accel_personality_texts{tr("Sport"), tr("Normal"), tr("Eco"), tr("Stock")};
+  accel_personality_setting = new ButtonParamControlSP("AccelPersonality", tr("Acceleration Personality"),
+                                          tr("Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. "
+                                             "In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these "
+                                             "acceleration personality within Onroad Settings on the driving screen."),
+                                          "",
+                                          accel_personality_texts);
+  accel_personality_setting->showDescription();
+
   // set up uiState update for personality setting
   QObject::connect(uiState(), &UIState::uiUpdate, this, &TogglesPanel::updateState);
 
@@ -106,6 +152,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
     // insert longitudinal personality after NDOG toggle
     if (param == "DisengageOnAccelerator") {
       addItem(long_personality_setting);
+      addItem(accel_personality_setting);
     }
   }
 
@@ -126,6 +173,13 @@ void TogglesPanel::updateState(const UIState &s) {
     }
     uiState()->scene.personality = personality;
   }
+  if (sm.updated("longitudinalPlanSP")) {
+    auto accel_personality = sm["longitudinalPlanSP"].getLongitudinalPlanSP().getAccelPersonality();
+    if (accel_personality != s.scene.accel_personality && s.scene.started && isVisible()) {
+      accel_personality_setting->setCheckedButton(static_cast<int>(accel_personality));
+    }
+    uiState()->scene.accel_personality = accel_personality;
+  }
 }
 
 void TogglesPanel::expandToggleDescription(const QString &param) {
@@ -163,10 +217,12 @@ void TogglesPanel::updateToggles() {
       experimental_mode_toggle->setEnabled(true);
       experimental_mode_toggle->setDescription(e2e_description);
       long_personality_setting->setEnabled(true);
+      accel_personality_setting->setEnabled(true);
     } else {
       // no long for now
       experimental_mode_toggle->setEnabled(false);
       long_personality_setting->setEnabled(false);
+      accel_personality_setting->setEnabled(true);
       params.remove("ExperimentalMode");
 
       const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");

selfdrive/ui/qt/offroad/settings.h

@@ -85,6 +85,7 @@ protected:
   Params params;
   std::map<std::string, ParamControl*> toggles;
   ButtonParamControl *long_personality_setting;
+  ButtonParamControl *accel_personality_setting;
 
   virtual void updateToggles();
 };

selfdrive/ui/qt/onroad/model.cc

@@ -35,7 +35,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
 
   update_model(model, lead_one);
   drawLaneLines(painter);
-  drawPath(painter, model, surface_rect.height());
+  drawPath(painter, model, surface_rect.height(), surface_rect.width());
 
   if (longitudinal_control && sm.alive("radarState")) {
     update_leads(radar_state, model.getPosition());
@@ -105,9 +105,40 @@ void ModelRenderer::drawLaneLines(QPainter &painter) {
   }
 }
 
-void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height) {
+void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height, int width) {
   QLinearGradient bg(0, height, 0, 0);
-  if (experimental_mode) {
+  auto *s = uiState();
+  auto &sm = *(s->sm);
+
+  float v_ego = sm["carState"].getCarState().getVEgo();
+  bool rainbow = Params().getBool("RainbowMode");
+
+  // Get the current time in seconds for dynamic effect (speed of rainbow movement)
+  float time_offset = std::chrono::duration_cast<std::chrono::milliseconds>(
+      std::chrono::steady_clock::now().time_since_epoch()).count() / 1000.0f;
+
+  if (rainbow) {  // Rainbow Mode
+      const int max_len = track_vertices.length();
+      bg.setSpread(QGradient::PadSpread);  // Pad for a smooth gradient fade
+
+      for (int i = 0; i < max_len; i += 2) {  // Skip every other point for performance
+          if (track_vertices[i].y() < 0 || track_vertices[i].y() > height) continue;
+
+          float lin_grad_point = (height - track_vertices[i].y()) / height;
+
+          // Use easing for smoother color transitions
+          float eased_point = pow(lin_grad_point, 1.5f);  // Ease-in effect
+
+          // Dynamic hue with subtle, smooth animation
+          float path_hue = fmod(eased_point * 360.0 + (v_ego * 20.0) + (time_offset * 100.0), 360.0);
+
+          // Smooth alpha transition with longer fade
+          float alpha = util::map_val(eased_point, 0.2f, 0.75f, 0.8f, 0.0f);
+
+          // Use soft lightness for a premium feel
+          bg.setColorAt(eased_point, QColor::fromHslF(path_hue / 360.0, 1.0f, 0.55f, alpha));
+      }
+  } else if (experimental_mode) {
     // The first half of track_vertices are the points for the right side of the path
     const auto &acceleration = model.getAcceleration().getX();
     const int max_len = std::min<int>(track_vertices.length() / 2, acceleration.size());
@@ -140,8 +171,12 @@ void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reade
 
   painter.setBrush(bg);
   painter.drawPolygon(track_vertices);
+
+  LongFuel(painter,height, width);
+  LateralFuel(painter, height, width);
 }
 
+
 void ModelRenderer::updatePathGradient(QLinearGradient &bg) {
   static const QColor throttle_colors[] = {
       QColor::fromHslF(148. / 360., 0.94, 0.51, 0.4),
@@ -186,6 +221,161 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float
       (1 - t) * start.alphaF() + t * end.alphaF());
 }
 
+void ModelRenderer::LongFuel(QPainter &painter, int height, int width) {
+    qreal rectWidth = static_cast<qreal>(width);
+    qreal rectHeight = static_cast<qreal>(height);
+    UIState *s = uiState();
+
+    float currentAcceleration = (*s->sm)["carControl"].getCarControl().getActuators().getAccel();
+    //float currentAcceleration = (*s->sm)["carState"].getCarState().getAEgo();
+
+    qreal gaugeSize = 140.0;  // Diameter of the semicircle
+    qreal backgroundSize = gaugeSize * 1.4;  // Background is 30% larger than the gague
+    qreal centerX = rectWidth / 17;  // Center the gague horz
+    qreal centerY = rectHeight / 2 + 120;  // Center the gauge vertical offset
+
+    // Draw a dark circular background
+    painter.setPen(Qt::NoPen);
+    painter.setBrush(QColor(0, 0, 0, 80));  // Semi-transparent black
+    painter.drawEllipse(QPointF(centerX, centerY), backgroundSize / 2, backgroundSize / 2);
+
+    // Add a subtle border/glow around the background
+    QPen borderPen(QColor(0, 0, 0, 100));
+    borderPen.setWidth(2);
+    painter.setPen(borderPen);
+    painter.drawEllipse(QPointF(centerX, centerY), backgroundSize / 2 + 1, backgroundSize / 2 + 1);
+
+    // Draw the background semicircle
+    QPen semicirclePen(QColor(50, 50, 50));  // Dark gray for the semicircle
+    semicirclePen.setWidth(30);  // Thicker pen for the semicircle
+    semicirclePen.setCapStyle(Qt::RoundCap);
+    painter.setPen(semicirclePen);
+    painter.drawArc(QRectF(centerX - gaugeSize / 2, centerY - gaugeSize / 2, gaugeSize, gaugeSize), 0, 180 * 16);
+
+    // Determine the color based on the magnitude of acceleration
+    QColor indicatorColor;
+    float absoluteAcceleration = std::abs(currentAcceleration);
+    if (absoluteAcceleration < 0.3) {
+        indicatorColor = QColor(23, 241, 66, 200);  // Green for low acceleration
+    } else if (absoluteAcceleration < 0.6) {
+        indicatorColor = QColor(255, 166, 0, 200);  // Yellow for moderate acceleration
+    } else {
+        indicatorColor = QColor(245, 0, 0, 200);    // Red for high acceleration
+    }
+
+    // Calculate the span of the arc based on acceleration
+    int spanAngle = static_cast<int>(90 * absoluteAcceleration * 16);  // Scale for better visibility
+    spanAngle = std::clamp(spanAngle, 0, 90 * 16);  // Ensure the arc does not exceed 90 degrees
+
+    // Starting angle is at the middle of the semicircle (90 degrees)
+    int startAngle = 90 * 16;
+
+    // Draw the acceleration arc if there's significant acceleration
+    if (absoluteAcceleration > 0.01) {
+        semicirclePen.setColor(indicatorColor);
+        painter.setPen(semicirclePen);
+
+        QRectF arcRect(centerX - gaugeSize / 2, centerY - gaugeSize / 2, gaugeSize, gaugeSize);
+
+        // For positive acceleration, draw the arc to the left
+        if (currentAcceleration > 0) {
+            painter.drawArc(arcRect, startAngle, -spanAngle);  // Negative span for left side
+        } else {
+            // For negative acceleration (deceleration), draw the arc to the right
+            painter.drawArc(arcRect, startAngle, spanAngle);  // Positive span for right side
+        }
+    }
+
+    // Draw the text center
+    painter.setPen(Qt::white);
+    QFont font = painter.font();
+    font.setPixelSize(20);
+    font.setBold(true);
+    painter.setFont(font);
+    painter.drawText(QRectF(centerX - 50, centerY + 10, 100, 20), Qt::AlignCenter, "LONG");
+}
+
+
+void ModelRenderer::LateralFuel(QPainter &painter, int height, int width) {
+    qreal rectWidth = static_cast<qreal>(width);
+    qreal rectHeight = static_cast<qreal>(height);
+    UIState *s = uiState();
+
+    float currentLateral = (*s->sm)["carState"].getCarState().getSteeringAngleDeg();
+
+    qreal gaugeSize = 140.0;  // Diameter of the semicircle
+    qreal backgroundSize = gaugeSize * 1.4;  // Background is 30% larger than the gague
+    qreal centerX = rectWidth / 17;  // Center the gague horz
+    qreal centerY = rectHeight / 2 - 120;  // Center the gague vertical offset
+
+    // Draw a dark circular background
+    painter.setPen(Qt::NoPen);
+    painter.setBrush(QColor(0, 0, 0, 80));  // Semi-transparent black
+    painter.drawEllipse(QPointF(centerX, centerY), backgroundSize / 2, backgroundSize / 2);
+
+    // Add a subtle border/glow around the background
+    QPen borderPen(QColor(0, 0, 0, 100));
+    borderPen.setWidth(2);
+    painter.setPen(borderPen);
+    painter.drawEllipse(QPointF(centerX, centerY), backgroundSize / 2 + 1, backgroundSize / 2 + 1);
+
+    // Draw the background semicircle
+    QPen semicirclePen(QColor(50, 50, 50));  // Dark gray for the semicircle
+    semicirclePen.setWidth(30);  // Thicker pen for the semicircle
+    semicirclePen.setCapStyle(Qt::RoundCap);
+    painter.setPen(semicirclePen);
+    painter.drawArc(QRectF(centerX - gaugeSize / 2, centerY - gaugeSize / 2, gaugeSize, gaugeSize), 0, 180 * 16);
+
+    // Determine the color based on the magnitude of lateral force
+    QColor indicatorColor;
+    float absoluteLateral = std::abs(currentLateral); // TODO: its too choppy, something is wrong here
+    if (absoluteLateral < 5.0) {  // Low lateral force
+        indicatorColor = QColor(23, 241, 66, 200);  // Green
+    } else if (absoluteLateral < 15.0) {  // Moderate lateral force
+        indicatorColor = QColor(255, 166, 0, 200);  // Yellow
+    } else {  // High lateral force
+        indicatorColor = QColor(245, 0, 0, 200);    // Red
+    }
+
+    // Calculate the span of the arc based on lateral force
+    int spanAngle = static_cast<int>(90 * (absoluteLateral / 15.0) * 16);  // Scale for better visibility
+    spanAngle = std::clamp(spanAngle, 0, 90 * 16);  // Ensure the arc does not exceed 90 degrees
+
+    // Starting angle is at the middle of the semicircle (90 degrees)
+    int startAngle = 90 * 16;
+
+    // Draw the lateral arc if there's significant lateral force
+    if (absoluteLateral > 0.1) {
+        semicirclePen.setColor(indicatorColor);
+        painter.setPen(semicirclePen);
+
+        QRectF arcRect(centerX - gaugeSize / 2, centerY - gaugeSize / 2, gaugeSize, gaugeSize);
+
+        // For left turn (negative lateral), draw the arc on the left side
+        if (currentLateral < 0) {
+            painter.drawArc(arcRect, startAngle, -spanAngle);  // Negative span for left side
+        }
+        // For right turn (positive lateral), draw the arc on the right side
+        else {
+            painter.drawArc(arcRect, startAngle, spanAngle);  // Positive span for right side
+        }
+    }
+
+    // Draw the text in the center
+    painter.setPen(Qt::white);
+    QFont font = painter.font();
+    font.setPixelSize(20);
+    font.setBold(true);
+    painter.setFont(font);
+    painter.drawText(QRectF(centerX - 50, centerY + 10, 100, 20), Qt::AlignCenter, "LAT");
+}
+
+
+
+
+
+
+
 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
                              const QPointF &vd, const QRect &surface_rect) {
   const float speedBuff = 10.;

selfdrive/ui/qt/onroad/model.h

@@ -23,10 +23,11 @@ private:
   void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
   void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
   void drawLaneLines(QPainter &painter);
-  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
+  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height, int width);
   void updatePathGradient(QLinearGradient &bg);
   QColor blendColors(const QColor &start, const QColor &end, float t);
-
+  void LongFuel(QPainter &p, int height, int width);
+  void LateralFuel(QPainter &p, int height, int width);
   bool longitudinal_control = false;
   bool experimental_mode = false;
   float blend_factor = 1.0f;

selfdrive/ui/sunnypilot/ui.cc

@@ -18,7 +18,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
-    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP",
+    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "carControl",
   });
 
   // update timer

selfdrive/ui/translations/main_ar.ts

@@ -124,23 +124,11 @@
         <translation>وضع المناورة الطولية</translation>
     </message>
     <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation>التحكم الطولي openpilot (ألفا)</translation>
-    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>تحذير: التحكم الطولي في openpilot في المرحلة ألفا لهذه السيارة، وسيقوم بتعطيل مكابح الطوارئ الآلية (AEB).</translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>في هذه السيارة يعمل openpilot افتراضياً بالشكل المدمج في التحكم التكيفي في السرعة بدلاً من التحكم الطولي. قم بتمكين هذا الخيار من أجل الانتقال إلى التحكم الطولي. يوصى بتمكين الوضع التجريبي عند استخدام وضع التحكم الطولي ألفا من openpilot.</translation>
-    </message>
-    <message>
-        <source>Enable ADB</source>
+        <source>Enables or disables the github runner service.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
+        <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -152,13 +140,25 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enable GitHub runner service</source>
+        <source>Enable ADB</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enables or disables the github runner service.</source>
+        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished">التحكم الطولي openpilot (ألفا)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished">تحذير: التحكم الطولي في openpilot في المرحلة ألفا لهذه السيارة، وسيقوم بتعطيل مكابح الطوارئ الآلية (AEB).</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished">في هذه السيارة يعمل openpilot افتراضياً بالشكل المدمج في التحكم التكيفي في السرعة بدلاً من التحكم الطولي. قم بتمكين هذا الخيار من أجل الانتقال إلى التحكم الطولي. يوصى بتمكين الوضع التجريبي عند استخدام وضع التحكم الطولي ألفا من openpilot.</translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -313,14 +313,18 @@
         <source>Training Guide</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Regulatory</source>
-        <translation type="unfinished">التنظيمية</translation>
-    </message>
     <message>
         <source>Language</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">إعادة التشغيل</translation>
+    </message>
+    <message>
+        <source>Regulatory</source>
+        <translation type="unfinished">التنظيمية</translation>
+    </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
         <translation type="unfinished">هل أنت متأكد أنك تريد مراجعة دليل التدريب؟</translation>
@@ -333,10 +337,6 @@
         <source>Select a language</source>
         <translation type="unfinished">اختر لغة</translation>
     </message>
-    <message>
-        <source>Reboot</source>
-        <translation type="unfinished">إعادة التشغيل</translation>
-    </message>
     <message>
         <source>Power Off</source>
         <translation type="unfinished">إيقاف التشغيل</translation>
@@ -374,27 +374,27 @@
     <name>DriveStats</name>
     <message>
         <source>Drives</source>
-        <translation type="unfinished"></translation>
+        <translation>القيادة</translation>
     </message>
     <message>
         <source>Hours</source>
-        <translation type="unfinished"></translation>
+        <translation>ساعات</translation>
     </message>
     <message>
         <source>ALL TIME</source>
-        <translation type="unfinished"></translation>
+        <translation>كامل الوقت</translation>
     </message>
     <message>
         <source>PAST WEEK</source>
-        <translation type="unfinished"></translation>
+        <translation>الأسبوع الماضي</translation>
     </message>
     <message>
         <source>KM</source>
-        <translation type="unfinished"></translation>
+        <translation>كم</translation>
     </message>
     <message>
         <source>Miles</source>
-        <translation type="unfinished"></translation>
+        <translation>ميل</translation>
     </message>
 </context>
 <context>
@@ -461,10 +461,6 @@
         <source>Toggle with Main Cruise</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Unified Engagement Mode (UEM)</source>
         <translation type="unfinished"></translation>
@@ -496,6 +492,10 @@ Remain Active: ALC will remain active even after the brake pedal is pressed.
 Pause Steering: ALC will be paused after the brake pedal is manually pressed.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -529,6 +529,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 </context>
 <context>
     <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">متقدم</translation>
+    </message>
     <message>
         <source>Scan</source>
         <translation type="unfinished"></translation>
@@ -649,7 +653,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
     </message>
     <message>
         <source>Please connect to Wi-Fi to complete initial pairing</source>
-        <translation>يرجى الاتصال بشبكة الواي فاي لإكمال الاقتران الأولي</translation>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -667,11 +671,11 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
     <name>ParamControlSP</name>
     <message>
         <source>Enable</source>
-        <translation type="unfinished">تمكين</translation>
+        <translation>تمكين</translation>
     </message>
     <message>
         <source>Cancel</source>
-        <translation type="unfinished">إلغاء</translation>
+        <translation>إلغاء</translation>
     </message>
 </context>
 <context>
@@ -895,30 +899,34 @@ This may take up to a minute.</source>
     <name>SettingsWindowSP</name>
     <message>
         <source>×</source>
-        <translation type="unfinished">×</translation>
+        <translation>×</translation>
     </message>
     <message>
         <source>Device</source>
-        <translation type="unfinished">الجهاز</translation>
+        <translation>الجهاز</translation>
     </message>
     <message>
         <source>Network</source>
-        <translation type="unfinished">الشبكة</translation>
-    </message>
-    <message>
-        <source>sunnylink</source>
-        <translation type="unfinished"></translation>
+        <translation>الشبكة</translation>
     </message>
     <message>
         <source>Toggles</source>
-        <translation type="unfinished">المثبتتات</translation>
+        <translation>المثبتتات</translation>
     </message>
     <message>
         <source>Software</source>
-        <translation type="unfinished">البرنامج</translation>
+        <translation>البرنامج</translation>
+    </message>
+    <message>
+        <source>Developer</source>
+        <translation>المطور</translation>
     </message>
     <message>
         <source>sunnypilot</source>
+        <translation>sunnypilot</translation>
+    </message>
+    <message>
+        <source>sunnylink</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -929,10 +937,6 @@ This may take up to a minute.</source>
         <source>Vehicle</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Developer</source>
-        <translation type="unfinished">المطور</translation>
-    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1223,16 +1227,32 @@ This may take up to a minute.</source>
 </context>
 <context>
     <name>SoftwarePanelSP</name>
-    <message>
-        <source>Current Model</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>SELECT</source>
         <translation type="unfinished">اختيار</translation>
     </message>
     <message>
-        <source>No custom model selected!</source>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">إعادة ضبط المعايرة</translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">متابعة</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current Model</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1251,6 +1271,22 @@ This may take up to a minute.</source>
         <source>Downloading %1 model [%2]... (%3%)</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>%1 model [%2] %3</source>
         <translation type="unfinished"></translation>
@@ -1267,24 +1303,12 @@ This may take up to a minute.</source>
         <source>from cache</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Use Default</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Select a Model</source>
+        <source>No custom model selected!</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1292,7 +1316,11 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Model download has started in the background.</source>
+        <source>Cancel</source>
+        <translation type="unfinished">إلغاء</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1303,30 +1331,6 @@ This may take up to a minute.</source>
         <source>Would you like to do that now?</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">إعادة ضبط المعايرة</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">متابعة</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">إلغاء</translation>
-    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -1385,11 +1389,11 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
-        <translation type="unfinished"></translation>
+        <source>N/A</source>
+        <translation type="unfinished">غير متاح</translation>
     </message>
     <message>
-        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
+        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1397,12 +1401,16 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>N/A</source>
-        <translation type="unfinished">غير متاح</translation>
+        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
     <name>SunnypilotPanel</name>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Modular Assistive Driving System (MADS)</source>
         <translation type="unfinished"></translation>
@@ -1411,10 +1419,6 @@ This may take up to a minute.</source>
         <source>Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Customize MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>TermsPage</name>
@@ -1477,6 +1481,18 @@ This may take up to a minute.</source>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>عند تمكين هذه الميزة، فإن الضغط على دواسة الوقود سيؤدي إلى فك ارتباط openpilot.</translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="vanished">التحكم الطولي openpilot (ألفا)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="vanished">تحذير: التحكم الطولي في openpilot في المرحلة ألفا لهذه السيارة، وسيقوم بتعطيل مكابح الطوارئ الآلية (AEB).</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="vanished">في هذه السيارة يعمل openpilot افتراضياً بالشكل المدمج في التحكم التكيفي في السرعة بدلاً من التحكم الطولي. قم بتمكين هذا الخيار من أجل الانتقال إلى التحكم الطولي. يوصى بتمكين الوضع التجريبي عند استخدام وضع التحكم الطولي ألفا من openpilot.</translation>
+    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>الوضع التجريبي</translation>
@@ -1561,6 +1577,71 @@ This may take up to a minute.</source>
         <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Sport</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Eco</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Stock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acceleration Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these acceleration personality within Onroad Settings on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Toyota Drive Mode Button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sunnypilot will link the Acceleration Personality to the car&apos;s physical drive mode selector.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Very fast prius</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When prius goes faster then sunnys car :) vroom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: Auto Brake Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>umm auto brake hold?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: Enhanced BSM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>like blind spot monitoring but better?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: custom tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>idk something gas and brake</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_de.ts

@@ -525,6 +525,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 </context>
 <context>
     <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">Erweitert</translation>
+    </message>
     <message>
         <source>Scan</source>
         <translation type="unfinished"></translation>
@@ -1545,6 +1549,71 @@ This may take up to a minute.</source>
         <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Sport</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Eco</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Stock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acceleration Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these acceleration personality within Onroad Settings on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Toyota Drive Mode Button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sunnypilot will link the Acceleration Personality to the car&apos;s physical drive mode selector.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Very fast prius</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When prius goes faster then sunnys car :) vroom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: Auto Brake Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>umm auto brake hold?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: Enhanced BSM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>like blind spot monitoring but better?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: custom tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>idk something gas and brake</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_es.ts

@@ -1429,6 +1429,18 @@ Esto puede tardar un minuto.</translation>
         <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
         <translation>Utilice el sistema openpilot para acceder a un autocrucero adaptativo y asistencia al conductor para mantenerse en el carril. Se requiere su atención en todo momento para utilizar esta función. Cambiar esta configuración solo tendrá efecto con el auto apagado.</translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="vanished">Control longitudinal de openpilot (fase experimental)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="vanished">AVISO: el control longitudinal de openpilot está en fase experimental para este automóvil y desactivará el Frenado Automático de Emergencia (AEB).</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="vanished">En este automóvil, openpilot se configura de manera predeterminada con el Autocrucero Adaptativo (ACC) incorporado en el automóvil en lugar del control longitudinal de openpilot. Habilita esta opción para cambiar al control longitudinal de openpilot. Se recomienda activar el modo experimental al habilitar el control longitudinal de openpilot (aún en fase experimental).</translation>
+    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>Modo Experimental</translation>
@@ -1545,6 +1557,71 @@ Esto puede tardar un minuto.</translation>
         <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Sport</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Eco</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Stock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acceleration Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these acceleration personality within Onroad Settings on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Toyota Drive Mode Button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sunnypilot will link the Acceleration Personality to the car&apos;s physical drive mode selector.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Very fast prius</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When prius goes faster then sunnys car :) vroom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: Auto Brake Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>umm auto brake hold?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: Enhanced BSM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>like blind spot monitoring but better?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: custom tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>idk something gas and brake</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_fr.ts

@@ -1545,6 +1545,71 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Sport</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Eco</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Stock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acceleration Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these acceleration personality within Onroad Settings on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Toyota Drive Mode Button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sunnypilot will link the Acceleration Personality to the car&apos;s physical drive mode selector.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Very fast prius</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When prius goes faster then sunnys car :) vroom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: Auto Brake Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>umm auto brake hold?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: Enhanced BSM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>like blind spot monitoring but better?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: custom tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>idk something gas and brake</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_ja.ts

@@ -1541,6 +1541,71 @@ This may take up to a minute.</source>
         <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Sport</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Eco</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Stock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acceleration Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these acceleration personality within Onroad Settings on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Toyota Drive Mode Button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sunnypilot will link the Acceleration Personality to the car&apos;s physical drive mode selector.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Very fast prius</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When prius goes faster then sunnys car :) vroom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: Auto Brake Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>umm auto brake hold?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: Enhanced BSM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>like blind spot monitoring but better?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: custom tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>idk something gas and brake</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_ko.ts

@@ -524,6 +524,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 </context>
 <context>
     <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">고급 설정</translation>
+    </message>
     <message>
         <source>Scan</source>
         <translation type="unfinished"></translation>
@@ -1481,6 +1485,18 @@ This may take up to a minute.</source>
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation>openpilot 가감속 제어는 향후 업데이트에서 지원될 수 있습니다.</translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="vanished">openpilot 가감속 제어 (알파)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="vanished">경고: openpilot 가감속 제어 알파 기능으로 차량의 자동긴급제동(AEB)을 비활성화합니다.</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="vanished">이 차량은 openpilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. openpilot의 가감속 제어로 전환하려면 이 기능을 활성화하세요. openpilot 가감속 제어 알파를 활성화하는 경우 실험 모드 활성화를 권장합니다.</translation>
+    </message>
     <message>
         <source>Aggressive</source>
         <translation>공격적</translation>
@@ -1541,6 +1557,71 @@ This may take up to a minute.</source>
         <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Sport</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Eco</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Stock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acceleration Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these acceleration personality within Onroad Settings on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Toyota Drive Mode Button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sunnypilot will link the Acceleration Personality to the car&apos;s physical drive mode selector.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Very fast prius</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When prius goes faster then sunnys car :) vroom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: Auto Brake Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>umm auto brake hold?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: Enhanced BSM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>like blind spot monitoring but better?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: custom tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>idk something gas and brake</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_pt-BR.ts

@@ -525,6 +525,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 </context>
 <context>
     <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">Avançado</translation>
+    </message>
     <message>
         <source>Scan</source>
         <translation type="unfinished"></translation>
@@ -1485,6 +1489,18 @@ Isso pode levar até um minuto.</translation>
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation>O controle longitudinal openpilot poderá vir em uma atualização futura.</translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="vanished">Controle Longitudinal openpilot (Embrionário)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="vanished">AVISO: o controle longitudinal openpilot está em estado embrionário para este carro e desativará a Frenagem Automática de Emergência (AEB).</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="vanished">Neste carro, o openpilot tem como padrão o ACC embutido do carro em vez do controle longitudinal do openpilot. Habilite isso para alternar para o controle longitudinal openpilot. Recomenda-se ativar o modo Experimental ao ativar o embrionário controle longitudinal openpilot.</translation>
+    </message>
     <message>
         <source>Aggressive</source>
         <translation>Disputa</translation>
@@ -1545,6 +1561,71 @@ Isso pode levar até um minuto.</translation>
         <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Sport</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Eco</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Stock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acceleration Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these acceleration personality within Onroad Settings on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Toyota Drive Mode Button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sunnypilot will link the Acceleration Personality to the car&apos;s physical drive mode selector.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Very fast prius</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When prius goes faster then sunnys car :) vroom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: Auto Brake Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>umm auto brake hold?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: Enhanced BSM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>like blind spot monitoring but better?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: custom tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>idk something gas and brake</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_th.ts

@@ -524,6 +524,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 </context>
 <context>
     <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">ขั้นสูง</translation>
+    </message>
     <message>
         <source>Scan</source>
         <translation type="unfinished"></translation>
@@ -1481,6 +1485,18 @@ This may take up to a minute.</source>
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation>ระบบควบคุมการเร่ง/เบรคโดย openpilot อาจมาในการอัปเดตในอนาคต</translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="vanished">ระบบควบคุมการเร่ง/เบรคโดย openpilot (Alpha)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="vanished">คำเตือน: การควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในสถานะ alpha และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="vanished">โดยปกติสำหรับรถคันนี้ openpilot จะควบคุมการเร่ง/เบรคด้วยระบบ ACC จากโรงงาน แทนการควยคุมโดย openpilot เปิดสวิตซ์นี้เพื่อให้ openpilot ควบคุมการเร่ง/เบรค แนะนำให้เปิดโหมดทดลองเมื่อต้องการให้ openpilot ควบคุมการเร่ง/เบรค ซึ่งอยู่ในสถานะ alpha</translation>
+    </message>
     <message>
         <source>Aggressive</source>
         <translation>ดุดัน</translation>
@@ -1541,6 +1557,71 @@ This may take up to a minute.</source>
         <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Sport</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Eco</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Stock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acceleration Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these acceleration personality within Onroad Settings on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Toyota Drive Mode Button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sunnypilot will link the Acceleration Personality to the car&apos;s physical drive mode selector.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Very fast prius</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When prius goes faster then sunnys car :) vroom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: Auto Brake Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>umm auto brake hold?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: Enhanced BSM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>like blind spot monitoring but better?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: custom tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>idk something gas and brake</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_tr.ts

@@ -524,6 +524,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 </context>
 <context>
     <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">Gelişmiş Seçenekler</translation>
+    </message>
     <message>
         <source>Scan</source>
         <translation type="unfinished"></translation>
@@ -1539,6 +1543,71 @@ This may take up to a minute.</source>
         <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Sport</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Eco</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Stock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acceleration Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these acceleration personality within Onroad Settings on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Toyota Drive Mode Button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sunnypilot will link the Acceleration Personality to the car&apos;s physical drive mode selector.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Very fast prius</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When prius goes faster then sunnys car :) vroom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: Auto Brake Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>umm auto brake hold?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: Enhanced BSM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>like blind spot monitoring but better?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: custom tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>idk something gas and brake</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -524,6 +524,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 </context>
 <context>
     <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">高级</translation>
+    </message>
     <message>
         <source>Scan</source>
         <translation type="unfinished"></translation>
@@ -1481,6 +1485,18 @@ This may take up to a minute.</source>
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation>openpilot纵向控制可能会在未来的更新中提供。</translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="vanished">openpilot纵向控制（Alpha 版）</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="vanished">警告：此车辆的 openpilot 纵向控制功能目前处于Alpha版本，使用此功能将会停用自动紧急制动（AEB）功能。</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="vanished">在这辆车上，openpilot 默认使用车辆内建的主动巡航控制（ACC），而非 openpilot 的纵向控制。启用此项功能可切换至 openpilot 的纵向控制。当启用 openpilot 纵向控制 Alpha 版本时，建议同时启用实验性模式（Experimental mode）。</translation>
+    </message>
     <message>
         <source>Aggressive</source>
         <translation>积极</translation>
@@ -1541,6 +1557,71 @@ This may take up to a minute.</source>
         <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Sport</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Eco</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Stock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acceleration Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these acceleration personality within Onroad Settings on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Toyota Drive Mode Button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sunnypilot will link the Acceleration Personality to the car&apos;s physical drive mode selector.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Very fast prius</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When prius goes faster then sunnys car :) vroom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: Auto Brake Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>umm auto brake hold?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: Enhanced BSM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>like blind spot monitoring but better?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: custom tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>idk something gas and brake</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -524,6 +524,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 </context>
 <context>
     <name>NetworkingSP</name>
+    <message>
+        <source>Advanced</source>
+        <translation type="obsolete">進階</translation>
+    </message>
     <message>
         <source>Scan</source>
         <translation type="unfinished"></translation>
@@ -1481,6 +1485,18 @@ This may take up to a minute.</source>
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation>openpilot 縱向控制可能會在未來的更新中提供。</translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="vanished">openpilot 縱向控制 (Alpha 版)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="vanished">警告：此車輛的 openpilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急煞車（AEB）功能。</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="vanished">在這輛車上，openpilot 預設使用車輛內建的主動巡航控制（ACC），而非 openpilot 的縱向控制。啟用此項功能可切換至 openpilot 的縱向控制。當啟用 openpilot 縱向控制 Alpha 版本時，建議同時啟用實驗性模式（Experimental mode）。</translation>
+    </message>
     <message>
         <source>Aggressive</source>
         <translation>積極</translation>
@@ -1541,6 +1557,71 @@ This may take up to a minute.</source>
         <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Sport</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Eco</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Stock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Acceleration Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these acceleration personality within Onroad Settings on the driving screen.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Toyota Drive Mode Button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sunnypilot will link the Acceleration Personality to the car&apos;s physical drive mode selector.
+Reboot Required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Very fast prius</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When prius goes faster then sunnys car :) vroom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: Auto Brake Hold</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>umm auto brake hold?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: Enhanced BSM</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>like blind spot monitoring but better?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Toyota: custom tune</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>idk something gas and brake</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/ui.cc

@@ -173,8 +173,8 @@ void Device::updateBrightness(const UIState &s) {
       clipped_brightness = std::pow((clipped_brightness + 16.0) / 116.0, 3.0);
     }
 
-    // Scale back to 10% to 100%
-    clipped_brightness = std::clamp(100.0f * clipped_brightness, 10.0f, 100.0f);
+    // Scale back to 5% to 100%
+    clipped_brightness = std::clamp(100.0f * clipped_brightness, 5.0f, 100.0f);
   }
 
   int brightness = brightness_filter.update(clipped_brightness);

selfdrive/ui/ui.h

@@ -60,6 +60,7 @@ typedef struct UIScene {
   cereal::PandaState::PandaType pandaType;
 
   cereal::LongitudinalPersonality personality;
+  cereal::LongitudinalPlanSP::AccelerationPersonality accel_personality;
 
   float light_sensor = -1;
   bool started, ignition, is_metric;

sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py

@@ -0,0 +1,95 @@
+# The MIT License
+#
+# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other contributors.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+# Last updated: February 20, 2025
+from cereal import custom
+from openpilot.common.numpy_fast import interp
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.params import Params
+
+AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
+
+# Accel personality by @arne182 modified by cgw and kumar
+
+_DP_CRUISE_MIN_V_ECO =    [-0.01, -0.01, -0.10, -1.2]
+_DP_CRUISE_MIN_V_NORMAL = [-0.015, -0.015, -0.12, -1.21]
+_DP_CRUISE_MIN_V_SPORT =  [-0.02, -0.02, -0.14, -1.22]
+_DP_CRUISE_MIN_BP =       [0.,     2.0,  11,   25.]
+
+_DP_CRUISE_MAX_V_ECO =    [2.50, 1.80, 1.58, 1.45, 0.82, .532, .432, .32,  .28,  .085]
+_DP_CRUISE_MAX_V_NORMAL = [2.50, 1.90, 1.72, 1.65, 1.10, .75,  .61,  .50,  .41,  .26]
+_DP_CRUISE_MAX_V_SPORT =  [2.50, 2.00, 1.95, 1.90, 1.60, 1.06,  .74,  .62,  .54,  .4]
+_DP_CRUISE_MAX_BP =       [0.,   1.,   6.,   8.,   11.,  16,   20.,  25.,  30.,  55.]
+
+
+class AccelController:
+  def __init__(self):
+    self._params = Params()
+    self._personality = AccelPersonality.stock
+    self._frame = 0
+
+  def _read_params(self):
+    if self._frame % int(1. / DT_MDL) == 0:
+      personality_str = self._params.get("AccelPersonality", encoding='utf-8')
+      if personality_str is not None:
+        personality_int = int(personality_str)
+        if personality_int in [AccelPersonality.stock, AccelPersonality.normal, AccelPersonality.eco, AccelPersonality.sport]:
+          self._personality = personality_int
+
+  def _dp_calc_cruise_accel_limits(self, v_ego: float) -> tuple[float, float]:
+    self._read_params()  # Ensure personality updates
+
+    # if self._personality == AccelPersonality.eco:
+    #     min_v = _DP_CRUISE_MIN_V_ECO
+    #     max_v = _DP_CRUISE_MAX_V_ECO
+    # elif self._personality == AccelPersonality.sport:
+    #     min_v = _DP_CRUISE_MIN_V_SPORT
+    #     max_v = _DP_CRUISE_MAX_V_SPORT
+    # else:
+    #     min_v = _DP_CRUISE_MIN_V_NORMAL
+    #     max_v = _DP_CRUISE_MAX_V_NORMAL
+
+    if self._personality == AccelPersonality.eco:
+      max_v = _DP_CRUISE_MAX_V_ECO
+      #print("eco")
+    elif self._personality == AccelPersonality.sport:
+      max_v = _DP_CRUISE_MAX_V_SPORT
+      #print("sport")
+    else:
+      max_v = _DP_CRUISE_MAX_V_NORMAL
+      #print("normal")
+
+    # a_cruise_min = interp(v_ego, _DP_CRUISE_MIN_BP, min_v)
+    a_cruise_max = interp(v_ego, _DP_CRUISE_MAX_BP, max_v)
+
+    return a_cruise_max
+
+  def get_accel_limits(self, v_ego: float, accel_limits: list[float]) -> tuple[float, float]:
+    self._read_params()
+    return accel_limits if self._personality == AccelPersonality.stock else self._dp_calc_cruise_accel_limits(v_ego)
+
+  def is_enabled(self, accel_personality: int = AccelPersonality.stock) -> bool:
+    self._personality = accel_personality
+    return self._personality != AccelPersonality.stock
+
+  def update(self):
+    self._frame += 1

sunnypilot/selfdrive/controls/lib/dec/constants.py

@@ -2,12 +2,13 @@ class WMACConstants:
   LEAD_WINDOW_SIZE = 5
   LEAD_PROB = 0.5
 
-  SLOW_DOWN_WINDOW_SIZE = 4
+  SLOW_DOWN_WINDOW_SIZE = 5
   SLOW_DOWN_PROB = 0.6
 
   SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
-  #SLOW_DOWN_DIST = [25., 38., 55., 75., 95., 115., 130., 150.]
-  SLOW_DOWN_DIST = [30., 45., 60., 80., 100., 120., 135., 150.]
+  SLOW_DOWN_DIST = [25., 38., 55., 75., 95., 115., 130., 150.]
+  #SLOW_DOWN_DIST = [30., 45., 60., 80., 100., 120., 135., 150.]
+  #SLOW_DOWN_DIST = [35., 50., 65., 85., 105., 125., 140., 155.]
 
   SLOWNESS_WINDOW_SIZE = 12
   SLOWNESS_PROB = 0.5
@@ -23,4 +24,4 @@ class WMACConstants:
 class SNG_State:
   off = 0
   stopped = 1
-  going = 2
+  going = 2

sunnypilot/selfdrive/controls/lib/dec/dec.py

@@ -164,7 +164,7 @@ class DynamicExperimentalController:
     """
     Adapts the slow-down threshold based on vehicle speed and recent behavior.
     """
-    slowdown_scaling_factor: float = (1.0 + 0.05 * np.log(1 + len(self._slow_down_gmac.data)))
+    slowdown_scaling_factor: float = (1.0 + 0.03 * np.log(1 + len(self._slow_down_gmac.data)))
     adaptive_threshold: float = float(
       interp(self._v_ego_kph, WMACConstants.SLOW_DOWN_BP, WMACConstants.SLOW_DOWN_DIST) * slowdown_scaling_factor
     )
@@ -387,4 +387,4 @@ class DynamicExperimentalController:
 
     self._active = sm['selfdriveState'].experimentalMode and self._enabled
 
-    self._frame += 1
+    self._frame += 1

sunnypilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -8,13 +8,14 @@ See the LICENSE.md file in the root directory for more details.
 from cereal import messaging, custom
 from opendbc.car import structs
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
-
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import AccelController
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
 
 
 class LongitudinalPlannerSP:
   def __init__(self, CP: structs.CarParams, mpc):
     self.dec = DynamicExperimentalController(CP, mpc)
+    self.accel_controller = AccelController()
 
   def get_mpc_mode(self) -> str | None:
     if not self.dec.active():
@@ -24,6 +25,7 @@ class LongitudinalPlannerSP:
 
   def update(self, sm: messaging.SubMaster) -> None:
     self.dec.update(sm)
+    self.accel_controller.update()
 
   def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
     plan_sp_send = messaging.new_message('longitudinalPlanSP')

system/manager/manager.py

@@ -5,7 +5,7 @@ import signal
 import sys
 import traceback
 
-from cereal import log
+from cereal import log, custom
 import cereal.messaging as messaging
 import openpilot.system.sentry as sentry
 from openpilot.common.params import Params, ParamKeyType
@@ -49,7 +49,14 @@ def manager_init() -> None:
     ("MadsPauseLateralOnBrake", "0"),
     ("MadsUnifiedEngagementMode", "1"),
     ("ModelManager_LastSyncTime", "0"),
-    ("ModelManager_ModelsCache", "")
+    ("ModelManager_ModelsCache", ""),
+
+    ("ToyotaAutoHold", "0"),
+    ("ToyotaEnhancedBsm", "0"),
+    ("ToyotaTSS2Long", "0"),
+    ("FastTakeOff", "0"),
+    ("AccelPersonality", str(custom.LongitudinalPlanSP.AccelerationPersonality.stock)),
+    ("ToyotaDriveMode", "0"),
   ]
 
   if params.get_bool("RecordFrontLock"):