Re enable sentry and swaglog handler for device metadata & crash information

This reverts commit a9f2f54bcc.

.cache/plugin/git-committers/page-authors.json

@@ -1 +0,0 @@
-{"cache_date": "2024-08-08", "page_authors": {"docs/index.md": {"last_commit_date": "2024-07-28", "authors": [{"login": "adeebshihadeh", "name": "adeebshihadeh", "url": "https://github.com/adeebshihadeh", "avatar": "https://avatars.githubusercontent.com/u/8762862?v=4"}, {"login": "tecandrew", "name": "tecandrew", "url": "https://github.com/tecandrew", "avatar": "https://avatars.githubusercontent.com/u/21319730?v=4"}, {"login": "pd0wm", "name": "pd0wm", "url": "https://github.com/pd0wm", "avatar": "https://avatars.githubusercontent.com/u/1314752?v=4"}]}, "docs/SAFETY.md": {"last_commit_date": "2023-07-25", "authors": [{"login": "haraschax", "name": "haraschax", "url": "https://github.com/haraschax", "avatar": "https://avatars.githubusercontent.com/u/6804392?v=4"}, {"login": "sshane", "name": "sshane", "url": "https://github.com/sshane", "avatar": "https://avatars.githubusercontent.com/u/25857203?v=4"}, {"login": "pd0wm", "name": "pd0wm", "url": "https://github.com/pd0wm", "avatar": "https://avatars.githubusercontent.com/u/1314752?v=4"}, {"login": "geohot", "name": "geohot", "url": "https://github.com/geohot", "avatar": "https://avatars.githubusercontent.com/u/72895?v=4"}]}, "docs/how-to/turn-the-speed-blue.md": {"last_commit_date": "2024-07-28", "authors": [{"login": "adeebshihadeh", "name": "adeebshihadeh", "url": "https://github.com/adeebshihadeh", "avatar": "https://avatars.githubusercontent.com/u/8762862?v=4"}]}}}

.gitignore

@@ -15,7 +15,6 @@ a.out
 .hypothesis
 
 /docs_site/
-/docs_sp_site/
 
 *.dylib
 *.DSYM

CHANGELOGS.md

@@ -5,15 +5,25 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
 * UPDATED: Synced with commaai's openpilot
   * master commit 4ef757c (July 06, 2024)
 * NEW❗: Default Driving Model: Notre Dame (July 01, 2024)
-* NEW❗: Longitudinal: Acceleration Personality thanks to kegman, rav4kumar, and arne1282!
+* NEW❗: Longitudinal: Acceleration Personality thanks to kegman, rav4kumar, and arne1282! (CTV 2.0: GlideTech)
   * Select from three distinct acceleration personalities: Eco, Normal, and Sport
   * Acceleration personalities are integrated directly into the model's acceleration matrix and can be activated in real-time!
+* NEW❗: Toyota - Drive Mode Selector
+  *  When enabled you can control acceleration personality just with press of button!
+* UPDATED: Dynamic Experimental Control
+  * Switched to weighted moving averages to enhance responsiveness to recent data.
+  * Goal is to improve real-time detection accuracy in dynamic conditions.
+  * Capable of handling the increased complexity that comes with this approach.
+  * Particularly beneficial in environments where recent changes are critical to performance.
 * NEW❗: Longitudinal: Dynamic Personality thanks to rav4kumar!
   * Dynamically adjusts following distance and reaction based on your "Driving Personality" setting
   * Personalities adapt in real-time to your speed and the distance to the lead car
   * Provides a more responsive and tailored driving experience compared to predefined settings
 * UPDATED: Driving Personality: Updated mode names
   * Aggressive, Moderate, Standard, Relaxed
+* NEW❗: Hyundai CAN: Enable Cruise Main by Default
+  * Set CRUISE MAIN to ON by default when the car starts, without engaging MADS
+  * This feature only applies when "openpilot Longitudinal Control (Alpha)" is enabled under the "Toggles" menu
 * NEW❗: Toyota - Enhanced Blind Spot Monitor (BSM) thanks to arne182, rav4kumar, and eFiniLan!
   * Enables Blind Spot Monitor (BSM) signals parsing in sunnypilot using the factory Blind Spot Monitor (BSM)
   * sunnypilot will use debugging CAN messages to receive unfiltered BSM signals, allowing detection of more objects
@@ -23,11 +33,14 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
     * Toyota TSS1/1.5, equipped with factory Blind Spot Monitoring (BSM)
     * Prius TSS2, equipped with factory Blind Spot Monitoring (BSM)
   * NOTE: Only enable this feature if your Toyota/Lexus vehicle has factory Blind Spot Monitor equipped, and mentioned in the supported platforms list
-* UPDATED: Toyota: TSS2 longitudinal: Custom Tuning
-  * Re-tuned and tested by the community (July 1, 2024)
+* UPDATED: Toyota: TSS2 longitudinal: Custom Tuning (CTV 2.0: GlideTech)
+  * Re-tuned and tested by the community (September 29, 2024)
 * UPDATED: Driving Model Selector v5
   * NEW❗: Driving Model additions
     * Notre Dame (July 01, 2024) - NDv3
+* UPDATED: Neural Network Lateral Control (NNLC)
+  * NEW❗: Remove Lateral Jerk Response (Alpha)
+  * FIXED: Hotfix for "lazy" steering performance in tighter curves thanks to twilsonco!
 * UPDATED: Toyota: Continued support for Smart DSU (SDSU) and Radar CAN Filter
   * In response to the official deprecation of support for Smart DSU (SDSU) and Radar CAN Filter in the upstream ([commaai/openpilot#32777](https://github.com/commaai/openpilot/pull/32777)), sunnypilot will continue maintaining software support for Smart DSU (SDSU) and Radar CAN Filter
 * UPDATED: Continued support for Mapbox navigation
@@ -37,11 +50,18 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
   * Auto Unlock by Shift to P: All doors are automatically unlocked when shifting the shift lever to P
 * FIXED: Driving Personality:
   * Maniac mode now correctly enforced when selected
+* FIXED: Experimental Model Distance Button Hold
+  * Experimental Model toggle with distance button hold no longer changes Personality
+  * Personality setting remains consistent when switching between Chill and Experimental Mode
 * UI Updates
   * Display Metrics Below Chevron
     * NEW❗: Time to Lead Car
       * Displays the time to reach the position previously occupied by the lead car
     * NEW❗: Display Distance, Speed, and Time to Lead Car simultaneously
+* Ford F-150 2022-23 support
+* Ford F-150 Lightning 2021-23 support
+* Ford Mustang Mach-E 2021-23 support
+* Hyundai Kona Electric Non-SCC 2019 support thanks to NikitaNekrasov!
 * Kia Ceed Plug-in Hybrid Non-SCC 2022 support thanks to TerminatorNL!
 
 sunnypilot - 0.9.7.1 (2024-06-13)
@@ -79,6 +99,8 @@ sunnypilot - 0.9.7.1 (2024-06-13)
   * Force sunnypilot in the offroad state even when the car is on
   * When Forced Offroad mode is on, allows changing offroad-only settings even when the car is turned on
   * To engage/disengage Force Offroad, go to Settings -> Device panel
+* NEW❗: Ford CAN-FD longitudinal
+  * NEW❗: Parse speed limit sign recognition from camera for certain supported platforms
 * UPDATED: Auto Lane Change Timer -> Auto Lane Change by Blinker
   * NEW❗: New "Off" option to disable lane change by blinker
 * UPDATED: Pause Lateral Below Speed with Blinker
@@ -86,6 +108,8 @@ sunnypilot - 0.9.7.1 (2024-06-13)
     * Pause lateral actuation with blinker when traveling below the desired speed selected. Default is 20 MPH or 32 km/h.
 * UPDATED: Hyundai CAN Longitudinal
   * Auto-enable radar tracks on platforms with applicable Mando radar
+* UPDATED: Hyundai CAN-FD Radar-based SCC
+  * Longitudinal support for CAN-FD Radar-based SCC cars
 * UPDATED: Hyundai CAN-FD Camera-based SCC
   * NEW❗: Parse lead info for camera-based SCC platforms with longitudinal support
     * Improve lead tracking when using openpilot longitudinal

README.md

@@ -48,6 +48,7 @@ Join the official sunnypilot Discord server to stay up to date with all the late
 To use sunnypilot in a car, you need the following:
 * A supported device to run this software
     * a [comma three](https://comma.ai/shop/products/three), or
+    * a comma two (only with older versions below 0.8.13)
 * This software
 * One of [the 250+ supported cars](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
 * A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
@@ -114,12 +115,40 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
 
 Requires further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
 
+comma two
+------
+
+1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
+2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
+3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://smiskol.com/fork/sunnyhaibin/0.8.12-4-prod```
+4. Complete the rest of the installation following the onscreen instructions.
+
+Requires further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
+
+  </details>
+
+  <details>
+  <summary>SSH (More Versatile)</summary>
+  <br>
+
+Prerequisites: [How to SSH](https://github.com/commaai/openpilot/wiki/SSH)
+
+If you are looking to install sunnypilot via SSH, run the following command in an SSH terminal after connecting to your device:
+
 comma three:
 ------
 * [`release-c3`](https://github.com/sunnyhaibin/openpilot/tree/release-c3):
 
   ```
-  cd /data && rm -rf ./openpilot && git clone -b release-c3 --recurse-submodules https://github.com/sunnyhaibin/sunnypilot.git openpilot && cd openpilot && sudo reboot
+  cd /data; rm -rf ./openpilot; git clone -b release-c3 --recurse-submodules https://github.com/sunnyhaibin/sunnypilot.git openpilot; cd openpilot; sudo reboot
+  ```
+
+comma two:
+------
+* [`0.8.12-prod-personal-hkg`](https://github.com/sunnyhaibin/openpilot/tree/0.8.12-prod-personal-hkg):
+
+  ```
+  cd /data; rm -rf ./openpilot; git clone -b 0.8.12-prod-personal-hkg --recurse-submodules https://github.com/sunnyhaibin/sunnypilot.git openpilot; cd openpilot; sudo reboot
   ```
 
 After running the command to install the desired branch, your comma device should reboot.
@@ -194,7 +223,7 @@ The goal of Modified Assistive Driving Safety (MADS) is to enhance the user driv
 * `SET-` button enables ACC/SCC
 * `CANCEL` button only disables ACC/SCC
 * `CRUISE (MAIN)` must be `ON` to use ACC/SCC
-* `CRUISE (MAIN)` button disables sunnypilot completely when `OFF` **(strictly enforced in panda safety code)**
+* `CRUISE (MAIN)` button disables ACC/SCC completely when `OFF` **(strictly enforced in panda safety code)**
 
 ### Disengage Lateral ALC on Brake Press Mode toggle
 Dedicated toggle to handle Lateral state on brake pedal press and release:
@@ -326,7 +355,7 @@ Example:
 
 ---
 
-How-To instructions can be found in [HOW-TOS.md](HOW-TOS.md).
+How-To instructions can be found in [HOW-TOS.md](https://github.com/sunnyhaibin/openpilot/blob/(!)README/HOW-TOS.md).
 
 </details>
 

cereal/car.capnp

@@ -137,6 +137,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     speedLimitPreActive @139;
     speedLimitConfirmed @140;
     torqueNNLoad @141;
+    hyundaiRadarTracksAvailable @142;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -250,7 +251,7 @@ struct CarState {
   struct CustomStockLong {
     cruiseButton @0 :Int16;
     finalSpeedKph @1 :Float32;
-    vCruiseKphPrev @2 :Float32;
+    vCruiseKphPrevDEPRECATED @2 :Float32;
     targetSpeed @3 :Float32;
     vSetDis @4 :Float32;
     speedDiff @5 :Float32;

cereal/custom.capnp

@@ -16,6 +16,7 @@ enum LongitudinalPersonalitySP {
   moderate @1;
   standard @2;
   relaxed @3;
+  overtake @4;
 }
 
 enum AccelerationPersonality {
@@ -34,11 +35,17 @@ enum ModelGeneration {
   five @5;
 }
 
+enum MpcSource {
+  acc @0;
+  blended @1;
+}
+
 struct ControlsStateSP @0x81c2f05a394cf4af {
   lateralState @0 :Text;
   personality @8 :LongitudinalPersonalitySP;
   dynamicPersonality @9 :Bool;
   accelPersonality @10 :AccelerationPersonality;
+  overtakingAccelerationAssist @11 :Bool;
 
   lateralControlState :union {
     indiState @1 :LateralINDIState;
@@ -90,8 +97,10 @@ struct LongitudinalPlanSP @0xaedffd8f31e7b55d {
   desiredTF @13 :Float32;
   notSpeedLimit @14 :Int16;
   e2eX @15 :List(Float32);
-  e2eBlended @18 :Text;
+  e2eBlendedDEPRECATED @18 :Text;
   e2eStatus @22 :Bool;
+  mpcSource @23 :MpcSource;
+  dynamicExperimentalControl @24 :Bool;
 
   distToTurn @7 :Float32;
   turnSpeed @8 :Float32;

common/params.cc

@@ -232,6 +232,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CustomMapboxTokenSk", PERSISTENT | BACKUP},
     {"CustomOffsets", PERSISTENT | BACKUP},
     {"CustomStockLong", PERSISTENT | BACKUP},
+    {"CustomStockLongPlanner", PERSISTENT | BACKUP},
     {"CustomTorqueLateral", PERSISTENT | BACKUP},
     {"DevUIInfo", PERSISTENT | BACKUP},
     {"DisableOnroadUploads", PERSISTENT | BACKUP},
@@ -261,9 +262,15 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"HandsOnWheelMonitoring", PERSISTENT | BACKUP},
     {"HasAcceptedTermsSP", PERSISTENT},
     {"HideVEgoUi", PERSISTENT | BACKUP},
+    {"HyundaiCruiseMainDefault", PERSISTENT | BACKUP},
+    {"HkgCustomLongTuning", PERSISTENT | BACKUP},
     {"HkgSmoothStop", PERSISTENT | BACKUP},
+    {"HyundaiCruiseMainDefault", PERSISTENT | BACKUP},
     {"HotspotOnBoot", PERSISTENT},
     {"HotspotOnBootConfirmed", PERSISTENT},
+    {"HyundaiRadarTracksAvailable", PERSISTENT},
+    {"HyundaiRadarTracksAvailableCache", PERSISTENT},
+    {"HyundaiRadarTracksAvailablePersistent", PERSISTENT},
     {"LastCarModel", PERSISTENT | BACKUP},
     {"LastSpeedLimitSignTap", PERSISTENT},
     {"LastSunnylinkPingTime", CLEAR_ON_MANAGER_START},
@@ -280,6 +287,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"NavModelUrl", PERSISTENT | BACKUP},
     {"NNFF", PERSISTENT | BACKUP},
     {"NNFFCarModel", PERSISTENT | BACKUP},
+    {"NNFFNoLateralJerk", PERSISTENT | BACKUP},
     {"OnroadScreenOff", PERSISTENT | BACKUP},
     {"OnroadScreenOffBrightness", PERSISTENT | BACKUP},
     {"OnroadScreenOffEvent", PERSISTENT | BACKUP},
@@ -290,8 +298,11 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"OsmLocationUrl", PERSISTENT},
     {"OsmWayTest", PERSISTENT},
     {"OsmDownloadedDate", PERSISTENT},
+    {"OvertakingAccelerationAssist", PERSISTENT},
     {"PathOffset", PERSISTENT | BACKUP},
     {"PauseLateralSpeed", PERSISTENT | BACKUP},
+    {"PCMVCruiseOverride", PERSISTENT | BACKUP},
+    {"PCMVCruiseOverrideSpeed", PERSISTENT | BACKUP},
     {"QuietDrive", PERSISTENT | BACKUP},
     {"RoadEdge", PERSISTENT | BACKUP},
     {"ReverseAccChange", PERSISTENT | BACKUP},
@@ -316,10 +327,12 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"TermsVersionSunnypilot", PERSISTENT},
     {"TorqueDeadzoneDeg", PERSISTENT | BACKUP},
     {"TorqueFriction", PERSISTENT | BACKUP},
+    {"TorqueLateralJerk", PERSISTENT | BACKUP},
     {"TorqueMaxLatAccel", PERSISTENT | BACKUP},
     {"TorquedOverride", PERSISTENT | BACKUP},
     {"ToyotaAutoLockBySpeed", PERSISTENT | BACKUP},
     {"ToyotaAutoUnlockByShifter", PERSISTENT | BACKUP},
+    {"ToyotaDriveMode", PERSISTENT | BACKUP},
     {"ToyotaEnhancedBsm", PERSISTENT | BACKUP},
     {"ToyotaSnG", PERSISTENT | BACKUP},
     {"ToyotaTSS2Long", PERSISTENT | BACKUP},

docs_sp/CHANGELOGS.md

@@ -1,965 +0,0 @@
-sunnypilot - 0.9.8.0 (2024-xx-xx)
-========================
-* Always on driver monitoring toggle
-************************
-* UPDATED: Synced with commaai's openpilot
-  * master commit 4ef757c (July 06, 2024)
-* NEW❗: Default Driving Model: Notre Dame (July 01, 2024)
-* NEW❗: Longitudinal: Acceleration Personality thanks to kegman, rav4kumar, and arne1282!
-  * Select from three distinct acceleration personalities: Eco, Normal, and Sport
-  * Acceleration personalities are integrated directly into the model's acceleration matrix and can be activated in real-time!
-* NEW❗: Longitudinal: Dynamic Personality thanks to rav4kumar!
-  * Dynamically adjusts following distance and reaction based on your "Driving Personality" setting
-  * Personalities adapt in real-time to your speed and the distance to the lead car
-  * Provides a more responsive and tailored driving experience compared to predefined settings
-* UPDATED: Driving Personality: Updated mode names
-  * Aggressive, Moderate, Standard, Relaxed
-* NEW❗: Toyota - Enhanced Blind Spot Monitor (BSM) thanks to arne182, rav4kumar, and eFiniLan!
-  * Enables Blind Spot Monitor (BSM) signals parsing in sunnypilot using the factory Blind Spot Monitor (BSM)
-  * sunnypilot will use debugging CAN messages to receive unfiltered BSM signals, allowing detection of more objects
-  * Supported platforms
-    * RAV4 TSS1, equipped with factory Blind Spot Monitoring (BSM)
-    * Lexus LSS1, equipped with factory Blind Spot Monitoring (BSM)
-    * Toyota TSS1/1.5, equipped with factory Blind Spot Monitoring (BSM)
-    * Prius TSS2, equipped with factory Blind Spot Monitoring (BSM)
-  * NOTE: Only enable this feature if your Toyota/Lexus vehicle has factory Blind Spot Monitor equipped, and mentioned in the supported platforms list
-* UPDATED: Toyota: TSS2 longitudinal: Custom Tuning
-  * Re-tuned and tested by the community (July 1, 2024)
-* UPDATED: Driving Model Selector v5
-  * NEW❗: Driving Model additions
-    * Notre Dame (July 01, 2024) - NDv3
-* UPDATED: Toyota: Continued support for Smart DSU (SDSU) and Radar CAN Filter
-  * In response to the official deprecation of support for Smart DSU (SDSU) and Radar CAN Filter in the upstream ([commaai/openpilot#32777](https://github.com/commaai/openpilot/pull/32777)), sunnypilot will continue maintaining software support for Smart DSU (SDSU) and Radar CAN Filter
-* UPDATED: Continued support for Mapbox navigation
-  * In response to the official temporary deprecation of support for Mapbox navigation in the upstream ([commaai/openpilot#32773](https://github.com/commaai/openpilot/pull/32773)), sunnypilot will continue maintaining software support for Mapbox navigation
-* NEW❗: Toyota - Automatic Door Locking and Unlocking thanks to AlexandreSato, cydia2020, and dragonpilot-community!
-  * Auto Lock by Speed: All doors are automatically locked when vehicle speed is approximately 6 mph (10 km/h) or higher
-  * Auto Unlock by Shift to P: All doors are automatically unlocked when shifting the shift lever to P
-* FIXED: Driving Personality:
-  * Maniac mode now correctly enforced when selected
-* UI Updates
-  * Display Metrics Below Chevron
-    * NEW❗: Time to Lead Car
-      * Displays the time to reach the position previously occupied by the lead car
-    * NEW❗: Display Distance, Speed, and Time to Lead Car simultaneously
-* Kia Ceed Plug-in Hybrid Non-SCC 2022 support thanks to TerminatorNL!
-
-sunnypilot - 0.9.7.1 (2024-06-13)
-========================
-* New driving model
-  * Inputs the past curvature for smoother and more accurate lateral control
-  * Simplified neural network architecture in the model's last layers
-  * Minor fixes to desire augmentation and weight decay
-* New driver monitoring model
-  * Improved end-to-end bit for phone detection
-* Adjust driving personality with the follow distance button
-* Support for hybrid variants of supported Ford models
-* Fingerprinting without the OBD-II port on all cars
-* Improved fuzzy fingerprinting for Ford and Volkswagen
-************************
-* UPDATED: Synced with commaai's openpilot
-  * master commit f8cb04e (June 10, 2024)
-* NEW❗: sunnylink (Alpha early access)
-  * NEW❗: Config/Settings Backup
-    * Remotely back up and restore sunnypilot settings easily
-    * Device registration with sunnylink ensures a secure, integrated experience across services
-    * AES encryption derived from the device's RSA private key is used for utmost security
-    * Settings are encrypted on-device, transmitted securely via HTTPS, and stored encrypted on sunnylink
-    * Prevents loss of settings after device resets, offering peace of mind through end-to-end encryption
-    * Early alpha access to all current and previous GitHub Sponsors and Patreon supporters
-  * GitHub account pairing from device settings scanning QR code
-    * Pairing your account will allow you to access features via our API (still WIP but accessible if you dig a little on our code 😉)
-    * Allow inheritance of your sponsorship status, allowing you to get extra features and early access whenever applicable
-* NEW❗: iOS Siri Shortcuts Navigation support thanks to twilsonco and mike86437!
-  * iOS and macOS Shortcuts to quickly set navigation destinations from your iOS device
-  * comma Prime support
-  * Personal Mapbox/Amap/Google Maps token support
-  * Instructions on how to set up your iOS Siri Shortcuts: https://routinehub.co/shortcut/17677/
-* NEW❗: Forced Offroad mode
-  * Force sunnypilot in the offroad state even when the car is on
-  * When Forced Offroad mode is on, allows changing offroad-only settings even when the car is turned on
-  * To engage/disengage Force Offroad, go to Settings -> Device panel
-* UPDATED: Auto Lane Change Timer -> Auto Lane Change by Blinker
-  * NEW❗: New "Off" option to disable lane change by blinker
-* UPDATED: Pause Lateral Below Speed with Blinker
-  * NEW❗: Customizable Pause Lateral Speed
-    * Pause lateral actuation with blinker when traveling below the desired speed selected. Default is 20 MPH or 32 km/h.
-* UPDATED: Hyundai CAN Longitudinal
-  * Auto-enable radar tracks on platforms with applicable Mando radar
-* UPDATED: Hyundai CAN-FD Camera-based SCC
-  * NEW❗: Parse lead info for camera-based SCC platforms with longitudinal support
-    * Improve lead tracking when using openpilot longitudinal
-* RE-ENABLED: Map-based Turn Speed Control (M-TSC) for supported platforms
-  * openpilot Longitudinal Control available cars
-  * Custom Stock Longitudinal Control available cars
-* UPDATED: Continued support for comma Pedal
-  * In response to the official deprecation of support for comma Pedal in the upstream, sunnypilot will continue maintaining software support for comma Pedal
-* UPDATED: Driving Model Selector v4
-  * NEW❗: Driving Model additions
-    * North Dakota (April 29, 2024) - NDv2
-    * WD40 (April 09, 2024) - WD40
-    * Duck Amigo (March 18, 2024) - DA
-    * Recertified Herbalist (March 01, 2024) - CHLR
-  * Legacy Driving Models with Navigate on openpilot (NoO) support
-    * Includes Duck Amigo and all preceding models
-* UPDATED: Bumping mapd by [@pfeiferj](https://github.com/pfeiferj) to version [v1.9.0](https://github.com/pfeiferj/mapd/releases/tag/v1.9.0) thanks to pfeiferj!
-* UPDATED: Reset Mapbox Access Token -> Reset Access Tokens for Map Services
-  * Reset self-service access tokens for Mapbox, Amap, and Google Maps
-* UPDATED: Upstream native support for Gap Adjust Cruise
-* UPDATED: Neural Network Lateral Control (NNLC)
-  * Due to upstream changes with platform simplifications, most platforms will match and fallback to combined platform model
-  * This will be updated when the new mapping of platforms are restructured (thanks @twilsonco 😉)
-* UI Updates
-  * Display Metrics Below Chevron
-    * NEW❗: Metrics is now being displayed below the chevron instead of above
-    * NEW❗: Display both Distance and Speed simultaneously
-    * NEW❗: View sunnylink connectivity status on the left sidebar!
-
-sunnypilot - 0.9.6.2 (2024-05-29)
-========================
-* REMOVED: Screen Recorder
-  * Screen Recorder is removed due to unnecessary resource usage
-  * An improved version will be available in the near future. Stay tuned!
-
-sunnypilot - 0.9.6.1 (2024-02-27)
-========================
-* New driving model
-  * Vision model trained on more data
-  * Improved driving performance
-  * Directly outputs curvature for lateral control
-* New driver monitoring model
-  * Trained on larger dataset
-* AGNOS 9
-* comma body streaming and controls over WebRTC
-* Improved fuzzy fingerprinting for many makes and models
-* Alpha longitudinal support for new Toyota models
-* Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire!
-* Dodge Durango 2020-21 support
-* Hyundai Staria 2023 support thanks to sunnyhaibin!
-* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
-* Lexus LC 2024 support thanks to nelsonjchen!
-* Toyota RAV4 2023-24 support
-* Toyota RAV4 Hybrid 2023-24 support
-************************
-* UPDATED: Synced with commaai's openpilot
-  * master commit db57a21 (February 22, 2024)
-  * v0.9.6 release (February 27, 2024)
-* UPDATED: Dynamic Experimental Control (DEC)
-  * Synced with dragonpilot-community/dragonpilot:beta3 commit f4ee52f
-* NEW❗: Default Driving Model: Certified Herbalist v2 (February 13, 2024)
-* UPDATED: Driving Model Selector v3
-  * NEW❗: Driving Model additions
-    * Certified Herbalist v2 (February 13, 2024) - CHv2
-    * Certified Herbalist (February 5, 2024) - CH
-    * Los Angeles v2 (January 24, 2024) - LAv2
-    * Los Angeles (January 22, 2024) - LAv1
-  * NEW❗: Model Caching thanks to DevTekVE!
-    * Model caching allows the selection of previously downloaded Driving Model
-    * Users can now access cached versions of selected models, eliminating redundant downloads for previously fetched models
-  * Legacy Driving Models support
-    * New Delhi (December 21, 2023) - ND
-    * Blue Diamond v2 (December 11, 2023) - BDv2
-    * Blue Diamond (November 18, 2023) - BDv1
-    * Farmville (November 7, 2023) - FV
-    * Night Strike (October 3, 2023) - NS
-  * Certain features are deprecated with newer Driving Models
-    * Dynamic Lane Profile (DLP)
-    * Custom Offsets
-* UPDATED: Dynamic Lane Profile (DLP)
-  * Continued support for Legacy Driving Models (e.g., ND, BDv2, BDv1, FV, NS)
-  * Deprecated support for newer Driving Models (e.g., CHv2, CH, LAv2, LAv1)
-* UPDATED: Custom Offsets
-  * Continued support for Legacy Driving Models (e.g., ND, BDv2, BDv1, FV, NS)
-  * Deprecated support for newer Driving Models (e.g., CHv2, CH, LAv2, LAv1)
-* UPDATED: Hyundai/Kia/Genesis - ESCC Radar Interceptor
-  * Message parsing improvements with the latest firmware update: https://github.com/sunnypilot/panda/tree/test-escc-smdps
-* UI Updates
-  * NEW❗: Visuals: Display Feature Status toggle
-    * Display the statuses of certain features on the driving screen
-  * NEW❗: Visuals: Enable Onroad Settings toggle
-    * Display the Onroad Settings button on the driving screen to adjust feature options on the driving screen, without navigating into the settings menu
-  * REMOVED: "Device ambient" temperature option on the sidebar
-* FIXED: New comma 3X support
-* FIXED: New comma eSIM support
-* Bug fixes and performance improvements
-
-sunnypilot - 0.9.5.3 (2023-12-24)
-========================
-* UPDATED: Dynamic Experimental Control (DEC)
-  * Synced with dragonpilot-community/dragonpilot:lp-dp-beta2 commit 578d38b
-* UPDATED: Driving Model Selector v2
-  * Driving models sort in descending order based on availability date
-  * Experimental/unmerged driving models are only available in "dev-c3" branch
-    * To select and use experimental driving models, navigate to "Software" panel, select the "dev-c3" branch, and check for update
-* UPDATED: Vision-based Turn Speed Control (V-TSC) implementation
-  * Refactored implementation thanks to pfeiferj!
-  * More accurate and consistent velocity calculation to achieve smoother longitudinal control in curves
-* NEW❗: Speed Limit Warning
-  * Display alert and/or chime to warn the driver when the cruising speed is faster than the speed limit plus the Warning Offset
-  * Customizable Warning Offset, independent of Speed Limit Control (SLC)'s Limit Offset
-* UPDATED: Speed Limit Source Policy
-  * Selectable speed limit source for Speed Limit Control and Speed Limit Warning
-  * Applicable to: Speed Limit Control, Speed Limit Warning
-* UPDATED: Speed Limit Control (SLC)
-  * Engage Mode: Removed "Warning Only" mode - this has been replaced by the new Speed Limit Warning sub-menu
-* UPDATED: OpenStreetMap (OSM) implementation
-  * Refactored implementation thanks to pfeiferj!
-    * Less resource impact
-    * Significantly smaller sizes with databases
-    * All regions are available to download
-    * Weekly map updates thanks to pfeiferj!
-    * Increased the font size of the road name
-  * C3X-specific changes
-    * Altitude (ALT.) display on Developer UI
-    * Current street name on top of driving screen when "OSM Debug UI" is enabled
-* UPDATED: Map-based Turn Speed Control (M-TSC) implementation
-  * Only available in "staging-c3" and "dev-c3" branches. If you are using "release-c3" branch, navigate to "Software" panel, select the desired target branch, and check for update
-  * Refactored implementation thanks to pfeiferj!
-  * Based on the new OpenStreetMap implementation
-  * Improved predicted curvature calculations from OpenStreetMap data
-* UI updates
-  * RE-ENABLED: Navigation: Full screen support
-    * Display the map view in full screen
-    * To switch back to driving view, tap on the border edge
-* Hyundai Bayon Non-SCC 2019 support thanks to polein78!
-
-sunnypilot - 0.9.5.2 (2023-12-07)
-========================
-* NEW❗: MADS: Allow Navigate on openpilot in Chill Mode
-  * Allow navigation to feed map view into the driving model while using Chill Mode
-  * Support all platforms, including platforms that do not support openpilot longitudinal control & Experimental Mode
-* NEW❗: Neural Network Lateral Controller
-  * Formerly known as "NNFF", this replaces the lateral "torque" controller with one using a neural network trained on each car's (actually, each separate EPS firmware) driving data for increased controls accuracy
-  * Contact @twilsonco in the sunnypilot Discord server with feedback, or to provide log data for your car if your car is currently unsupported
-* NEW❗: Driving Model Selector
-  * Easily switch between driving models without reinstalling branches. Offering immediate access to the latest models upon release
-    * An internet connection is required for downloading models. Each model switch currently involves downloading the model again. Future updates may allow for offline switching
-  * Warning is displayed for metered connections to avoid unexpected data usage if on cellular data
-  * Change driving models via **Settings -> Software -> Current Driving Model**.
-* NEW❗: Hyundai CAN longitudinal:
-  * NEW❗: Enable radar tracks for certain Santa Fe platforms
-    * Internal Combustion Engine (ICE) 2021-23
-    * Hybrid 2022-23
-    * Plug-in Hybrid 2022-23
-* NEW❗: Lane Change: When manually braking with steering engaged, turning on the turn signal will default to Nudge mode
-* Volkswagen MQB CC only platforms (radar or no radar) support thanks to jyoung8607!
-
-sunnypilot - 0.9.5.1 (2023-11-17)
-========================
-* UPDATED: Synced with commaai's master commit e94c3c5
-* NEW❗: Farmville driving model
-* NEW❗: Onroad Settings Panel
-  * Onroad buttons (i.e., DLP, GAC) moved to its dedicated panel
-    * Driving Personality
-    * Dynamic Lane Profile (DLP)
-    * Dynamic Experimental Control (DEC)
-    * Speed Limit Control (SLC)
-* NEW❗: Display main feature status on onroad view in real-time
-  * GAP - Driving Personality
-  * DLP - Dynamic Lane Profile
-  * DEC - Dynamic Experimental Control
-  * SLC - Speed Limit Control
-* NEW❗: Dynamic Experimental Control (DEC) thanks to dragonpilot-community!
-  * Automatically determines and selects between openpilot ACC and openpilot End to End longitudinal based on conditions for a more natural drive
-  * Dynamic Experimental Control is only active while in Experimental Mode
-  * When Dynamic Experimental Control is ON, initially setting cruise speed will set to the vehicle's current speed
-* NEW❗: Hyundai CAN longitudinal:
-  * NEW❗: Parse lead info for camera-based SCC platforms
-    * Improve lead tracking when using openpilot longitudinal
-  * NEW❗: Parse lead distance to display on car cluster
-    * Introduced better lead distance calculation to display on the car's cluster, replacing the binary "lead visible" indication on the SCC cluster
-    * Lead distance is now categorized into different ranges for more detailed and comprehensive information to the driver similar to how stock ACC does it
-  * NEW❗: Parse speed limit sign recognition from camera for certain supported platforms
-* NEW❗: Subaru - Stop and Go auto-resume support thanks to martinl!
-  * Global (excluding Gen 2 and Hybrid) and Pre-Global support
-* NEW❗: Toyota - Stop and Go hack
-  * Allow some Toyota/Lexus cars to auto resume during stop and go traffic
-  * Only applicable to certain models and model years
-* NEW❗: Toyota: ZSS support thanks to dragonpilot-community and ErichMoraga!
-* NEW❗: MSPA (Cereal structs refactor)
-  * Make sunnypilot Parsable Again - @sshane
-  * sunnypilot is now parsable with stock openpilot tools
-* NEW❗: Display 3D buildings on map thanks to jakethesnake420!
-* openpilot Longitudianl Control capable cars only
-  * UPDATED: Gap Adjust Cruise is now a part of Driving Personality
-    * [DISTANCE/FOLLOW DISTANCE/GAP DISTANCE] physical button on the steering wheel to select Driving Personality on by default
-    * Status now viewable in onroad view or Onroad Settings Panel
-    * REMOVED: Gap Adjust Cruise toggle
-* UPDATED: Speed Limit Control (SLC)
-  * NEW❗: Speed Limit Engage Mode
-    * Select the desired mode to set the cruising speed to the speed limit
-      * Warning Only: Warn the driver when the vehicle is driven faster than the speed limit
-      * Auto: Automatic speed adjustment on motorways based on speed limit data
-      * User Confirm: Inform the driver to change set speed of Adaptive Cruise Control to help the driver stay within the speed limit
-    * Supported platforms
-      * openpilot Longitudinal Control available cars (Excluding certain Toyota/Lexus, Ford, explained below)
-      * Custom Stock Longitudinal Control available cars
-    * Unsupported platforms
-      * Toyota/Lexus and Ford - most platforms do not allow us to control the PCM's set speed, requires testers to verify
-  * NEW❗: Speed limit source selector
-    * Select the desired precedence order of sources used to adapt cruise speed to road limits
-* UPDATED: Custom Stock Longitudinal Control
-  * RE-ENABLED: Hyundai/Kia/Genesis CAN-FD platforms
-* UPDATED: Custom Offsets reimplementation
-  * Camera Offset only works in Laneful (Laneful Only or Laneful in Auto mode when using Dynamic Lane Profile)
-  * Path Offset can be applied to both Laneless and Laneful
-* UPDATED: Refactored Torque Lateral Control custom tuning menu
-  * NEW❗: Less Restrict Settings for Self-Tune (Beta)
-  * NEW❗: Custom Tuning for setting offline and live values in real-time
-* UPDATED: Auto-detect custom Mapbox token if a personal Mapbox token is provided
-  * REMOVED: "Enable Mapbox Navigation" toggle
-* UI updates
-  * New Settings menu redesign and improved interactions
-* FIXED: Retain hotspot/tethering state was not consistently saved
-* FIXED: Map stuck in "Map Loading" if comma Prime is active
-* FIXED: OpenStreetMap implementation on C3X devices
-  * M-TSC
-  * Altitude (ALT.) display on Developer UI
-  * Current street name on top of driving screen when "OSM Debug UI" is enabled
-* Hyundai Kona Non-SCC 2019 support thanks to Quex!
-* Kia Seltos Non-SCC 2023-24 support thanks to Moodkiller and jeroid_!
-
-sunnypilot - 0.9.4.1 (2023-08-11)
-========================
-* UPDATED: Synced with commaai's 0.9.4 release
-* NEW❗: Moonrise driving model
-* NEW❗: Ford upstream models support
-* UPDATED: Dynamic Lane Profile selector in the "SP - Controls" menu
-* REMOVED: Dynamic Lane Profile driving screen UI button
-* FIXED: Disallow torque lateral control for angle control platforms (e.g. Ford, Nissan, Tesla)
-  * Torque lateral control cannot be used by angle control platforms, and would cause a "Controls Unresponsive" error if Torque lateral control is enforced in settings
-* REMOVED: Speed Limit Style override
-* Honda Accord 2016-17 support thanks to mlocoteta!
-  * Serial Steering hardware required. For more information, see https://github.com/mlocoteta/serialSteeringHardware
-* mapd: utilize advisory speed limit in curves (#142) thanks to pfeiferj!
-
-sunnypilot - 0.9.3.1 (2023-07-09)
-========================
-* UPDATED: Synced with commaai's 0.9.3 release
-* NEW❗: Display Temperature on Sidebar toggle
-  * Display Ambient temperature, memory temperature, CPU core with the highest temperature, GPU temperature, or max of Memory/CPU/GPU on the sidebar
-  * Replace "Display CPU Temperature on Sidebar" toggle
-* NEW❗: Hot Coffee driving model
-* NEW❗: HKG CAN: Smoother Stopping Performance (Beta) toggle
-  * Smoother stopping behind a stopped car or desired stopping event.
-  * This is only applicable to HKG CAN platforms using openpilot longitudinal control
-* NEW❗: Toyota: TSS2 longitudinal: Custom Tuning
-  * Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars thanks to dragonpilot-community!
-* NEW❗: Enable Screen Recorder toggle
-  * Enable this will display a button on the onroad screen to toggle on or off real-time screen recording with UI elements.
-* IMPROVED: Dynamic Lane Profile: when using Laneline planner via Laneline Mode or Auto Mode, enforce Laneless planner while traveling below 10 MPH or 16 km/h
-* REMOVED: Display CPU Temperature on Sidebar
-
-sunnypilot - 0.9.2.3 (2023-06-18)
-========================
-* NEW❗: Auto Lane Change: Delay with Blind Spot
-  * Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects an obstructing vehicle, ensuring safe maneuvering
-* NEW❗: Driving Screen Off: Wake with Non-Critical Events
-  * When Driving Screen Off Timer is not set to "Always On":
-    * Enabled: Wake the brightness of the screen to display all events
-    * Disabled: Wake the brightness of the screen to display critical events
-  * Currently, all non-nudge modes are default to continue lane change after 1 seconds of blind spot detection
-* NEW❗: Fleet Manager PIN Requirement toggle
-  * User can now enable or disable PIN requirement on the comma device before accessing Fleet Manager
-* NEW❗: Reset all sunnypilot settings toggle
-* NEW❗: Turn signals display on screen when blinker is used
-  * Green: Blinker is on
-  * Red: Blinker is on, car detected in the adjacent blind spot or road edge detected
-* IMPROVED: mapd: better exceptions handling when loading dependencies
-* UPDATED: Green Traffic Light Chime no longer displays an orange border when executed
-* FIXED: mapd: Road name flashing caused by desync with last GPS timestamp
-* FIXED: Ram HD (2500/3500): Ignore paramsd sanity check
-  * Live parameters have trouble with self-tuning on this platform with upstream openpilot 0.9.2
-* Hyundai: Longitudinal support for CAN-based Camera SCC cars thanks to Zack1010OP's Patreon sponsor!
-
-sunnypilot - 0.9.2.2 (2023-06-13)
-========================
-* NEW❗: Toyota: Allow M.A.D.S. toggling with LKAS Button (Beta)
-* IMPROVED: Ram: cruise button handling
-
-sunnypilot - 0.9.2.1 (2023-06-10)
-========================
-* UPDATED: Synced with commaai's 0.9.2 release
-* UPDATED: feature revamp with better stability
-* UPDATED:
-  * M.A.D.S.
-    * Path color becomes LIGHT ORANGE during Driver Steering Override
-  * Gap Adjust Cruise (now known as Driving Personality in upstream openpilot 0.9.3):
-    * Updated profiles and jerk changes
-    * Experimental Mode support
-    * Three settings: Stock, Aggressive, and Maniac
-    * Stock is recommended and the default
-    * In Aggressive/Maniac mode, lead follow distance is shorter and quicker gas/brake response
-  * Dynamic Lane Profile
-    * Display blue borders on both sides of the driving path when Laneline mode is being used in the planner
-    * Auto Mode optimization
-      * Permanent: Laneless during Auto Lane Change execution
-  * Mapd
-    * OpenStreetMap Database: new regions added
-  * Developer UI (Dev UI)
-    * REMOVED: 2-column design
-    * NEW❗: 1-column + 1-row design
-  * Custom Stock Longitudinal Control
-    * NEW❗: Chrysler/Jeep/Ram support
-    * NEW❗: Mazda support
-    * NEW❗: Volkswagen PQ support
-    * DISABLED: Hyundai/Kia/Genesis CAN-FD platforms
-* NEW❗: Switch between Chill (openpilot ACC) and Experimental (E2E longitudinal) with DISTANCE button on the steering wheel
-  * To switch between Chill and Experimental Mode: press and hold the DISTANCE button on the steering wheel for over 0.5 second
-  * All openpilot longitudinal capable cars support
-* NEW❗: Nicki Minaj driving model
-* NEW❗: Nissan and Mazda upstream models support
-* NEW❗: Pre-Global Subaru upstream models support
-* NEW❗: Display End-to-end Longitudinal Status (Beta)
-  * Display an icon that appears when the End-to-end model decides to start or stop
-* NEW❗: Green Traffic Light Chime (Beta)
-  * A chime will play when the traffic light you are waiting for turns green, and you have no vehicle in front of you.
-* NEW❗: Lead Vehicle Departure Alert
-  * Notify when the leading vehicle drives away
-* NEW❗: Speedometer: Display True Speed
-  * Display the true vehicle current speed from wheel speed sensors.
-* NEW❗: Speedometer: Hide from Onroad Screen
-* NEW❗: Auto-Hide UI Buttons
-  * Hide UI buttons on driving screen after a 30-second timeout. Tap on the screen at anytime to reveal the UI buttons
-  * Applicable to Dynamic Lane Profile (DLP) and Gap Adjust Cruise (GAC)
-* NEW❗: Display DM Camera in Reverse Gear
-  * Show Driver Monitoring camera while the car is in reverse gear
-* NEW❗: Block Lane Change: Road Edge Detection (Beta)
-  * Block lane change when road edge is detected on the stalk actuated side
-* NEW❗: Display CPU Temperature on Sidebar
-  * Display the CPU core with the highest temperature on the sidebar
-* NEW❗: Display current driving model in Software settings
-* NEW❗: HKG: smartMDPS automatic detection (installed with applicable firmware)
-* FIXED: Unintended siren/alarm from the comma device if the vehicle is turned off too quickly in PARK gear
-* FIXED: mapd: Exception handling for loading dependencies
-* Fleet Manager via Browser support thanks to actuallylemoncurd, AlexandreSato, ntegan1, and royjr!
-  * Access your dashcam footage, screen recordings, and error logs when the car is turned off
-  * Connect to the device via Wi-Fi, mobile hotspot, or tethering on the comma device, then navigate to http://ipAddress:5050 to access.
-* Honda Clarity 2018-22 support thanks to mcallbosco, vanillagorillaa and wirelessnet2!
-* Ram: Steer to 0/7 MPH support thanks to vincentw56!
-* Retain hotspot/tethering state across reboots thanks to rogerioaguas!
-
-sunnypilot - Version Latest (2023-02-22)
-========================
-* UPDATED: Synced with commaai's master branch - 2023.02.19-04:52:00:GMT - 0.9.2
-* Refactor sunnypilot features to be more stable
-
-sunnypilot - Version Latest (2022-12-16)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.12.16-06:31:00:GMT - 0.9.1
-* NEW❗: GM:
-    * NEW❗: Gap Adjust Cruise support - Chill, Normal, Aggressive
-    * NEW❗: Experimental Mode: Hold DISTANCE button on the steering wheel for 0.5 second to switch between Experimental Mode and Chill Mode
-* REMOVED❌: Toytoa: SnG Hack
-    * This method is not recommended and may cause some cars to not behave as expected
-    * SDSU is strongly recommended to enable SnG for Toyota vehicles without SnG from factory
-* commaai: radard: add missing accel data for vision-only leads (commaai/openpilot#26619) - pending PR
-    * VOACC performance is drastically improved when using Chill Mode
-* IMPROVED: M.A.D.S. events handling
-* IMPROVED: UI: screen recorder button change
-* IMPROVED: OpenStreetMap Offline Database optimization
-* FIXED: Toyota: vehicles' LKAS button no longer has a delay with toggling M.A.D.S.
-* FIXED: Toyota: brake pedal press at standstill causing Cruise Fault
-* FIXED: Volkswagen MQB: reduce Camera Malfunction occurrences (requires testing)
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-12-10)
-========================
-* IMPROVED: NEW❗ Developer UI design
-    * Second column metrics is now moved to the bottom of the screen
-        * ACC. = Acceleration
-        * L.S. = Lead Speed
-        * E.T. = EPS Torque
-        * B.D. = Bearing Degree
-        * FRI. = Friction
-        * L.A. = Lateral Acceleration
-        * ALT. = Altitude
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-12-07)
-========================
-* NEW❗: Screen Recorder support thanks to neokii and Kumar!
-* NEW❗: End-to-end longitudinal start/stop status icon
-    * Only appears when Experimental Mode is enabled
-* NEW❗: End-to-end longitudinal car chime when starting
-    * Hyundai/Kia/Genesis CAN platform, Honda/Acura Bosch/Nidec, Toyota/Lexus
-    * i.e. Traffic light turns green, stop sign ready to go, etc.
-    * Only appears when Experimental Mode is enabled AND longitudinal control is disengaged
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-12-05)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.12.04-22:46:00:GMT - 0.9.1
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-11-12)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.11.12-10:02:00:GMT - 0.8.17
-* FIXED: CAN Error for CAN HKG cars that do not have navigation from the factory
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-11-11)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.11.11-21:22:00:GMT - 0.8.17
-* commaai: AGNOS 6.2 (commaai/openpilot#26441)
-* NEW❗: Speed Limit Control - HKG - add speed limit from car's navigation head unit
-    * Compatible with certain models, trims, and model years
-* DISABLED: FCA: RAM HD - steer down to 0
-* FIXED: UI: End-to-end longitudinal button on driving screen synchronization
-* FIXED: Honda: Longitudinal status with set cruise speed now displays properly in the car's dashboard
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-11-08)
-========================
-* ADDED: New Zealand offline OpenStreetMap database
-
-sunnypilot - Version Latest (2022-11-04)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.11.05-01:44:00:GMT - 0.8.17
-* RE-ENABLED: Dynamic Lane Profile - preserves lanelines
-    * Can be found in "SP - Controls" menu
-* NEW❗: DLP: switch to laneless for current/future curves thanks to @twilsonco!
-    * Can be found in "SP - Controls" menu
-* NEW❗: UI: Road Camera Selector
-    * Enable this will display a button on the driving screen to select the driving camera
-    * Can be found in "SP - Visuals" menu
-* NEW❗: Controls: Camera & Path Custom Offsets
-    * Only applicable to laneline mode when using Dynamic Lane Profile
-* NEW❗: Buttons on driving screen are now sorted based on priority and availability
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-28)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.10.28-03:53:00:GMT - 0.8.17
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-26)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.10.26-06:20:00:GMT - 0.8.17
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-25)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.10.25-23:53:00:GMT - 0.8.17
-* Pre-Global Subaru support thanks to @martinl!
-* NEW❗: Speed Limit values turn red when current speed is higher than posted speed limit
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-23)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.10.22-23:15:00:GMT - 0.8.17
-* IMPROVED: Custom Stock Longitudinal Control - HKG - only allow engagement on user button press
-* IMPROVED: Custom Stock Longitudinal Control - Volkswagen MQB & PQ - more consistent set speed change
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-21)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.10.21-17:33:00:GMT - 0.8.17
-* IMPROVED: Custom Stock Longitudinal Control - Volkswagen MQB & PQ - more predictable button send logic
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-20)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.10.20-20:25:00:GMT - 0.8.17
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-19)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.10.19-08:31:00:GMT - 0.8.17
-* IMPROVED: Controls: Speed Limit Control - accelerator press only disengage if "Disengage on Accelerator Pedal" is enabled
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-18)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.10.18-04:44:00:GMT - 0.8.17
-* RE-ENABLED: Volkswagen MQB & PQ with Custom Stock Longitudinal Control
-* NEW❗: Steering Rate Cost Live Tune
-    * Enables live tune for Steering Rate Cost. Lower value allows steering wheel to move more freely at low speed
-    * Can be found in "SP - Controls" menu
-* FIXED: MADS: GM - include Regen Paddle logic thanks to @twilsonco!
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-17)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.10.17-23:54:00:GMT+1 - 0.8.17
-* ENABLED: "Custom Stock Longitudinal Control" toggle for CAN-FD cars
-* FIXED: HKG CAN-FD: Could not engage when openpilot longitudinal is enabled
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-13)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.10.13-19:43:00:GMT+1 - 0.8.17
-* ADDED: Live Tmux toggle
-    * Can be found in "SP - General" menu
-* IMPROVED: OpenStreetMap Database Update - only check for database update with explicit user decision
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-11)
-========================
-* ADDED: Hyundai openpilot longitudinal improvements - huge thanks to @aragon7777!
-* ADDED: Check for OpenStreetMap Database Update button
-* UPDATED: commaai: Low speed lateral control improvements (commaai:openpilot#26022, bbcd448) - pending PR
-* FIXED: MUTCD speed limit spacing adjusts dynamically when no subtext is shown (i.e., speed limit offset, distance to next speed limit)
-* FIXED: MADS: Intermittent CAN Error when engaging for Toyota Prius TSS-P
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-09)
-========================
-* ADDED: commaai: Low speed lateral control improvements (commaai:openpilot#26022, bca288bb) - pending PR
-* FIXED: MADS: Intermittent CAN Error when engaging for Toyota Prius TSS-P
-* IMPROVED: mapd: stop signs and other supported traffic_calming tags are now slowing/stopping as expected
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-08)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.10.08-12:07:00:GMT+1 - 0.8.17
-* FIXED: MADS: Intermittent CAN Error when engaging for Toyota Prius TSS-P
-* IMPROVED: mapd: Speed Humps are now set at 20 MPH or 32 km/h
-* IMPROVED: OpenStreetMap Offline Database download experience
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-07)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.10.07-08:16:00:GMT - 0.8.17
-* NEW❗: OpenStreetMap database can now be downloaded locally for offline use
-    * Now offering US South, US West, US Northeast, US Florida, Taiwan, and South Africa
-    * Databases updated - 2022.10.05-03:30:00:GMT
-* NEW❗: mapd: Stop Sign, Yield, Speed Bump, Speed Hump, Sharp Curve support - huge thanks to @move-fast and @dragonpilot-community!
-    * Go to https://openstreetmap.org and start mapping out your area!
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-09-30)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.30-22:43:00:GMT - 0.8.17
-* RE-ADDED: Torque Lateral Controller Live Tune Menu
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-09-23)
-========================
-* ADDED: Developer UI: latAccelFactorFiltered & frictionCoefficientFiltered values displays in green if Torque is using live params
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-09-22)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.19-22:19:00:GMT - 0.8.17
-* NEW❗: Toggle to explicitly enable Custom Stock Longitudinal Control
-    * Applicable cars only: Honda, Hyundai/Kia/Genesis
-    * Settings -> Toggles menu
-
-sunnypilot - Version Latest (2022-09-21)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.19-22:19:00:GMT - 0.8.17
-* ADDED: Toggle to enable Live Torque (self/auto tune) with Torque lateral controller
-    * To enable, first enable "Enforce Torque Lateral Controller" toggle
-* UPDATED: New metrics in Developer UI (when Live Torque is enabled)
-    * REMOVED: latAccelFactorRaw & frictionCoefficientRaw from torqued
-    * ADDED: latAccelFactorFiltered & frictionCoefficientFiltered from torqued
-* REMOVED: Temporary remove Torque Lateral Controller Live Tune Menu
-
-sunnypilot - Version Latest (2022-09-20)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.19-22:19:00:GMT - 0.8.17
-* ADDED: Toggle to enable Live Torque (self/auto tune) with Torque lateral controller
-    * To enable, first enable "Enforce Torque Lateral Controller" toggle
-* REMOVED: Temporary remove Torque Lateral Controller Live Tune Menu
-
-sunnypilot - Version Latest (2022-09-18)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.17-11:23:00:GMT - 0.8.17
-* ADDED: Kia Forte Non-SCC 2019 support for @askalice
-* FIXED: Torque Lateral Control Live Tune now syncs with commaai:openpilot#25822
-* FIXED: mapd dependencies no longer need to be re-downloaded after unknown reboots
-
-sunnypilot - Version Latest (2022-09-17)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.17-11:23:00:GMT - 0.8.17
-* NEW❗: Non SCC HKG support
-    * Custom Stock Longitudinal Control
-    * ❗No❗ openpilot longitudinal control
-* FIXED: Honda Bosch random low-value set speed changes
-
-sunnypilot - Version Latest (2022-09-16)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.16-20:23:00:GMT - 0.8.17
-
-sunnypilot - Version Latest (2022-09-15)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.16-02:00:00:GMT - 0.8.17
-* FIXED: Block additional auto lane change actions if blinker stays on after the first lane change
-* REVERTED: Some Toyota with LKAS button no longer requires double press to engage/disengage M.A.D.S.
-
-sunnypilot - Version Latest (2022-09-14)u
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
-* NEW❗: GM models supported in Force Car Recognition (FCR)
-    * Under "SP - Vehicles"
-* NEW❗: Prompt to select car in "SP - Vehicles" if car unrecognized on startup
-* FIXED: Some Toyota with LKAS button no longer requires double press to engage/disengage M.A.D.S.
-* UPDATED: ESCC: Use radar tracks from radar if available
-
-sunnypilot - Version Latest (2022-09-13)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
-* NEW❗: New metric in Developer UI
-    * Actual Lateral Acceleration (Roll Compensated)
-
-sunnypilot - Version Latest (2022-09-12)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
-* FIXED: Honda Nidec models not gaining speed when longitudinal engaged
-
-sunnypilot - Version Latest (2022-09-11)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
-* NEW❗: Hyundai Enhanced SCC now forwards FCW and AEB signals and commands from radar to car
-* RE-ENABLED: MADS Status Icon toggle
-
-sunnypilot - Version Latest (2022-09-10)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
-* NEW❗: RAM improvement implementation thanks to realfast!
-* DISABLED: Chrysler/Jeep/Ram with Custom Stock Longitudinal Control
-* DISABLED: Volkswagen MQB & PQ with Custom Stock Longitudinal Control
-
-sunnypilot - Version Latest (2022-09-09)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.09-07:35:00:GMT - 0.8.17
-* NEW❗: MADS now supporting General Motors (GM)
-* ADDED: Custom Stock Longitudinal Control - Volkswagen
-    * MQB & PQ
-* ADDED: Reverse ACC Change
-    * ACC +/-: Short=5, Long=1
-* ADDED: Custom Stock Longitudinal Control
-    * Hyundai/Kia/Genesis
-    * Honda Bosch
-* ADDED: Hyundai: 2015-16 Genesis resume from standstill fix (commaai:openpilot#25579) - pending PR
-* Vision Turn Speed Control re-enabled
-* Disable Onroad Uploads toggle re-enabled
-
-sunnypilot - Version Latest (2022-09-08)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.08-04:05:00:GMT - 0.8.17
-* NEW❗: Block lane change initiation while brake is pressed
-
-sunnypilot - Version Latest (2022-09-07)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.08-04:05:00:GMT - 0.8.17
-* NEW❗: Display End-to-end longitudinal 🌮 on screen
-    * NEW❗: Hold DISTANCE button on the steering wheel for 1 second to switch between E2E Long and ACC mode
-    * Enable toggle on the driving screen to switch between modes with End-to-end longitudinal
-    * Only applicable to cars with openpilot longitudinal control
-* NEW❗: Block lane change initiation while brake is pressed
-* REMOVED: Dynamic Lane Profile - upstream laneless model is now on by default
-* REMOVED: hyundai: consistent start from stop (commaai:openpilot#25672) - pending PR
-
-sunnypilot - Version Latest (2022-09-06)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.06 - 0.8.17
-* NEW❗: Display useful metrics above the chevron that tracks the lead car
-    * Under "SP - Visuals" menu
-    * Only applicable to cars with openpilot longitudinal control
-* ADDED: hyundai: consistent start from stop (commaai:openpilot#25672) - pending PR
-* FIXED: Vienna speed limit interface now scales properly with the outer box
-* REMOVED: Hyundai long improvements (commaai:openpilot#25604) - closed PR
-
-sunnypilot - Version Latest (2022-09-05)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.03 - 0.8.17
-* NEW❗: Speed Limit Control (SLC) interface integrated with upstream
-* NEW❗: Speed limit from active navigation is now prioritized for Speed Limit Control
-* NEW❗: MUTCD (U.S.) or Vienna (E.U.) speed limit interfaces can now be selected under "SP - Controls"
-
-sunnypilot - Version Latest (2022-09-04)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.03 - 0.8.17
-* FIXED: Gap Adjust Cruise status now displays properly on screen
-* FIXED: mapd - missing index in list caused mapd to crash
-* REMOVED: Temporary removed Vision Turn Speed Control
-
-sunnypilot - Version Latest (2022-09-03)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.03 - 0.8.17
-* ADDED: New border colors for different operation engagements
-* ADDED: UI: Show barrier when car detected in blind spot
-    * Only applicable to cars that have BSM detection with openpilot
-* FIXED: Cruise Cancel button no longer display prompt if cruise not engaged
-* TWEAKED: Update changelogs on startup in Settings -> Software -> Version
-* REMOVED: Upload Raw Logs and Full Resolution Videos toggles
-
-sunnypilot - Version Latest (2022-08-31)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.08.31 - 0.8.17
-* ADDED: New border colors for different operation engagements
-* ADDED: UI: Show barrier when car detected in blind spot
-    * Only applicable to cars that have BSM detection with openpilot
-* FIXED: Cruise Cancel button no longer display prompt if cruise not engaged
-* REMOVED: Upload Raw Logs and Full Resolution Videos toggles
-
-sunnypilot - Version 0.8.16 (2022-07-16)
-========================
-* Sync with commaai's master branches
-* NEW❗: Add toggle to pause lateral actuation below 30 MPH / 50 KM/H
-* IMPROVED: Better controls mismatch handling
-* IMPROVED: Less frequent Low Memory alert
-* IMPROVED: Only allow lateral control when in forward gears
-* IMPROVED: Better alerts handling on gear changes
-
-sunnypilot - Version 0.8.14-1.3 (2022-06-29)
-========================
-* Hyundai/Kia/Genesis
-    * NEW❗: MADS: Add GAP/Distance button on the steering wheel to engage/disengage
-        * To engage/disengage MADS: Hold the button for 0.5 second
-* NEW❗: Dynamic Lane Profile: Add toggle to enable "Laneless for Curves in Auto Lane"
-* HOTFIX🛠: Improve Torque lateral control and reduce ping pong for some Toyota cars
-    * Torque control: higher low speed gains and better steering angle deadzone logic
-* Developer UI: Remove Distance Traveled, replace with Memory Usage %
-    * This may have a potential to fix the Low Memory alert that may appear
-
-sunnypilot - Version 0.8.14-1 (2022-06-27)
-========================
-* HOTFIX🛠: Honda, Toyota, Volkswagen now initialized correctly with Torque Lateral Live Tune
-
-sunnypilot - Version 0.8.14-1 (2022-06-27)
-========================
-* NEW❗: Added toggle to enable updates for sunnypilot
-* HOTFIX🛠: Volkswagen car list now displays properly in Force Car Recognition menu
-* REVERTED: Honda - temporary removes CRUISE (MAIN) for MADS engagement
-    * LKAS button continues to be used for MADS engagement/disengagement
-
-sunnypilot - Version 0.8.14-1 (2022-06-26)
-========================
-Visit https://bit.ly/sunnyreadme for more details
-* sunnypilot 0.8.14 release - based on openpilot 0.8.14 devel
-* "0.8.14-prod-c3" branch only supports comma three
-    * If you have a comma two, EON, or other devices than a comma three, visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
-* Mono-branch support
-    * Honda/Acura
-    * Hyundai/Kia/Genesis
-    * Toyota/Lexus
-    * Volkswagen MQB
-* Modified Assistive Driving Safety (MADS) Mode
-    * NEW❗: CRUISE (MAIN) now engages MADS for all supported car makes
-    * NEW❗: Added toggle to disable disengaging Automatic Lane Centering (ALC) on the brake pedal
-* Dynamic Lane Profile (DLP)
-* NEW❗: Gap Adjust Cruise (GAC)
-    * openpilot longitudinal cars can now adjust between the lead car's following distance gap via 3 modes:
-        * Steering Wheel (SW) | User Interface (UI) | Steering Wheel + User Interface (SW+UI)
-* NEW❗: Custom Camera & Path Offsets
-* NEW❗: Torque Lateral Control from openpilot 0.8.15 master (as of 2022-06-15)
-* NEW❗: Torque Lateral Control Live Tune Menu
-* NEW❗: Speed Limit Sign from openpilot 0.8.15 master (as of 2022-06-22)
-* NEW❗: Mapbox Speed Limit data will now be utilized in Speed Limit Control (SLC)
-    * Speed limit data will be utilized in the following availability:
-        * Mapbox (active navigation) -> OpenStreetMap -> Car Interface (Toyota's TSR)
-* Custom Stock Longitudinal Control
-    * NEW❗: Volkswagen MQB
-    * Honda
-    * Hyundai/Kia/Genesis
-* NEW❗: Mapbox navigation support for non-Prime users
-    * Visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
-* Hyundai/Kia/Genesis
-    * NEW❗: Enhanced SCC (ESCC) Support
-        * Requires hardware modification. Visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
-    * NEW❗: Smart MDPS (SMDPS) Support - Auto-detection
-        * Requires hardware modification and custom firmware for the SMDPS. Visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
-* Toyota/Lexus
-    * NEW❗: Added toggle to enforce stock longitudinal control
-
-sunnypilot - Version 0.8.12-4
-========================
-* NEW❗: Custom Stock Longitudinal Control by setting the target speed via openpilot's "MAX" speed thanks to multikyd!
-    * Speed Limit Control
-    * Vision-based Turn Control
-    * Map-based Turn Control
-* NEW❗: HDA status integration with Custom Stock Longitudinal Control on applicable HKG cars only
-* NEW❗: Roll Compensation and SteerRatio fix from comma's 0.8.13
-* NEW❗: Dev UI to display different metrics on screen
-    * Click on the "MAX" box on the top left of the openpilot display to toggle different metrics display
-    * Lead car relative distance; Lead car relative speed; Actual steering degree; Desired steering degree; Engine RPM; Longitudinal acceleration; Lead car actual speed; EPS torque; Current altitude; Compass direction
-* NEW❗: Stand Still Timer to display time spent at a stop with M.A.D.S engaged (i.e., stop lights, stop signs, traffic congestions)
-* NEW❗: Current car speed text turns red when the car is braking
-* NEW❗: Export GPS tracks into GPX files and upload to OSM thanks to eFini!
-* NEW❗: Enable ACC and M.A.D.S with a single press of the RES+/SET- button
-* NEW❗: ACC +/-: Short=5, Long=1
-    * Change the ACC +/- buttons behavior with cruise speed change in openpilot
-    * Disabled (Stock):  Short=1, Long=5
-    * Enabled:  Short=5, Long=1
-* NEW❗: Speed Limit Value Offset (not %)*
-    * Set speed limit higher or lower than actual speed limit for a more personalized drive.
-    * *To use this feature, turn off "Enable Speed Limit % Offset"*
-* NEW❗: Dedicated icon to show the status of M.A.D.S.
-* NEW❗: No Offroad Fix for non-official devices that cannot shut down after the car is turned off
-* NEW❗: Stop N' Go Resume Alternative
-    * Offer alternative behavior to auto resume when stopped behind a lead car using stock SCC/ACC. This feature removes the repeating prompt chime when stopped and/or allows some cars to use auto resume (i.e., Genesis)
-* IMPROVED: Show the lead car icon in the car's dashboard when a lead car is detected by openpilot's camera vision
-* FIXED: MADS button unintentionally set MAX when using stock longitudinal control thanks to Spektor56!
-
-sunnypilot - Version 0.8.12-3
-========================
-* NEW❗: Bypass "System Malfunction" alert toggle
-    * Prevent openpilot from returning the "System Malfunction" alert that hinders the ability use openpilot
-* FIXED: Hyundai/Kia/Genesis Brake Hold Active now outputs the correct events on screen with M.A.D.S. engaged
-
-sunnypilot - Version 0.8.12-2
-========================
-* NEW❗: Disable M.A.D.S. toggle to disable the beloved M.A.D.S. feature
-    * Enable Stock openpilot engagement/disengagement
-* ADJUST: Initialize Driving Screen Off Brightness at 50%
-
-sunnypilot - Version 0.8.12-1
-========================
-* sunnypilot 0.8.12 release - based on openpilot 0.8.12 devel
-* Dedicated Hyundai/Kia/Genesis branch support
-* NEW❗: OpenStreetMap integration thanks to the Move Fast team!
-    * NEW❗: Vision-based Turn Control
-    * NEW❗: Map-Data-based Turn Control
-    * NEW❗: Speed Limit Control w/ optional Speed Limit Offset
-    * NEW❗: OpenStreetMap integration debug UI
-    * Only available to openpilot longitudinal enabled cars
-* NEW❗: Hands on Wheel Monitoring according to EU r079r4e regulation
-* NEW❗: Disable Onroad Uploads for data-limited Wi-Fi hotspots when using OpenStreetMap related features
-* NEW❗: Fast Boot (Prebuilt)
-* NEW❗: Auto Lane Change Timer
-* NEW❗: Screen Brightness Control (Global)
-* NEW❗: Driving Screen Off Timer
-* NEW❗: Driving Screen Off Brightness (%)
-* NEW❗: Max Time Offroad
-* Improved user feedback with M.A.D.S. operations thanks to Spektor56!
-    * Lane Path
-        * Green🟢 (Laneful), Red🔴 (Laneless): M.A.D.S. engaged
-        * White⚪: M.A.D.S. suspended or disengaged
-        * Black⚫: M.A.D.S. engaged, steering is being manually override by user
-    * Screen border now only illuminates Green when SCC/ACC is engaged
-
-sunnypilot - Version 0.8.10-1 (Unreleased)
-========================
-* sunnypilot 0.8.10 release - based on openpilot 0.8.10 `devel`
-* Add Toyota cars to Force Car Recognition
-
-sunnypilot - Version 0.8.9-4
-========================
-* Hyundai: Fix Ioniq Hybrid signals
-
-sunnypilot - Version 0.8.9-3
-========================
-* Update home screen brand and version structure
-
-sunnypilot - Version 0.8.9-2
-========================
-* Added additional Sonata Hybrid Firmware Versions
-* Features
-    * Modified Assistive Driving Safety (MADS) Mode
-    * Dynamic Lane Profile (DLP)
-    * Quiet Drive 🤫
-    * Force Car Recognition (FCR)
-    * PID Controller: add kd into the stock PID controller
-
-sunnypilot - Version 0.8.9-1
-========================
-* First changelog!
-* Features
-    * Modified Assistive Driving Safety (MADS) Mode
-    * Dynamic Lane Profile (DLP)
-    * Quiet Drive 🤫
-    * Force Car Recognition (FCR)
-    * PID Controller: add kd into the stock PID controller

docs_sp/SAFETY.md

@@ -1,36 +0,0 @@
-# Safety
-
-openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system.
-Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
-driver to be alert and to pay attention at all times.
-
-In order to enforce driver alertness, openpilot includes a driver monitoring feature
-that alerts the driver when distracted.
-
-However, even with an attentive driver, we must make further efforts for the system to be
-safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
-used safely** and openpilot is provided with no warranty of fitness for any purpose.
-
-openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
-industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
-ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
-released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/))
-on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
-hardware-in-the-loop and in-vehicle tests before each software release.
-
-Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
-ensuring two main safety requirements.
-
-1. The driver must always be capable to immediately retake manual control of the vehicle,
-   by stepping on the brake pedal or by pressing the cancel button.
-2. The vehicle must not alter its trajectory too quickly for the driver to safely
-   react. This means that while the system is engaged, the actuators are constrained
-   to operate within reasonable limits[^1]. 
-
-For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [panda/board/safety/](https://github.com/commaai/panda/tree/master/board/safety).
-
-**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
-  not fully meeting the above requirements.
-
-[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation. 
-

docs_sp/assets/features/dlp-1.png

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:996ef2f2fad71a5fa0c8a175c6f05fc841330ee57c1edee871077a95c737ac9f
-size 62046

docs_sp/assets/features/dlp-2.png

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2ac783627ef97d31bbe79281986226c1a06501a80ba57f73e5cc66bae318242c
-size 107559

docs_sp/assets/features/dlp-3.png

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:abac3aad3f1f6fd8cd0d278e82c5a7e79aa7e9e3275fe261bc387acab63bd046
-size 164956

docs_sp/branches/definitions.md

@@ -1,11 +0,0 @@
-# Definitions
-
-|    Branch    | Definition | Description                                                                                                                                                                                                                                 | Stability/Readiness |
-|:------------:|------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|---|
-| `release-c3` | Release branch | Stable release branches. After testing on `staging-c3`, updates are pushed here and published publicly.                                                                                                                            | **Ready to Use:** Highly stable, recommended for most users. |
-| `staging-c3` | Staging branch | Pre-release testing branches. Community feedback is essential to identify issues before public release.                                                                                                                                     | **Varied Stability:** Generally stable, but intended for testing before public release. |
-|   `dev-c3`   | Development branches | Experimental branches with the latest features and bug fixes brought in manually. Expect bugs and braking changes.                                                                                                                          | **Experimental:** Least stable, suitable for testers and developers. |
-|   `master`   | Primary development branch | All Pull Requests are merged here for future releases. CI automatically strips, minifies, and pushes changes to `staging-c3`. Running the `master` branch is suitable for development purposes but not recommended for non-development use. | **For Development Use:** Suitable for developers, may be unstable for general use. |
-
-!!! tip
-    Your feedback is invaluable. Testers, even without software development experience, are encourage to run `dev-c3` or `staging-c3` and report issues.

docs_sp/branches/recommended-branches.md

@@ -1,7 +0,0 @@
-# Recommended Branches
-
-|      Branch      | Compatible Device | Installation URL          | Change Logs                                                                              |
-|:----------------:|-------------------|---------------------------|------------------------------------------------------------------------------------------|
-|   `release-c3`   | comma 3/3X        | release-c3.sunnypilot.ai  | [CHANGELOGS.md](https://github.com/sunnyhaibin/sunnypilot/blob/release-c3/CHANGELOGS.md) |
-|   `staging-c3`   | comma 3/3X        | staging-c3.sunnypilot.ai  | [CHANGELOGS.md](https://github.com/sunnyhaibin/sunnypilot/blob/release-c3/CHANGELOGS.md) |
-|     `dev-c3`     | comma 3/3X        | dev-c3.sunnypilot.ai      | [CHANGELOGS.md](https://github.com/sunnyhaibin/sunnypilot/blob/release-c3/CHANGELOGS.md) |

docs_sp/community/CONTRIBUTING.md

@@ -1,68 +0,0 @@
-# How to contribute
-
-Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about open-sourcing and externalization](https://www.sunnypilot.ai/blog/july/a-new-chapter-transparency/). Development activity is coordinated through our [GitHub Issues](https://github.com/sunnypilot/sunnypilot/issues), [GitHub Discussions](https://github.com/sunnypilot/sunnypilot/discussions), and [Discord](https://discord.sunnypilot.ai).
-
-### Getting Started
-
-* Setup your [development environment](https://github.com/sunnypilot/sunnypilot/tree/master/tools)
-* Read about the [development workflow](WORKFLOW.md)
-* Join our [Discord](https://discord.sunnypilot.ai)
-* Docs are at [https://docs.sunnypilot.ai](https://docs.sunnypilot.ai) and [https://www.sunnypilot.ai/blog](https://www.sunnypilot.ai/blog)
-
-## What contributions are we looking for?
-
-**sunnypilot's priorities are [safety](../SAFETY.md), stability, quality, and features, in that order.** Aligning with comma's ideals, part of sunnypilot's mission is to *solve self-driving cars while delivering shippable intermediaries*, and **all** development is towards that goal.
-
-### What gets merged?
-
-The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged.
-If a PR offers *some* value but will take lots of time to get merged, it will be closed.
-Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged. 
-
-All of these are examples of good PRs:
-
-* [typo fix](https://github.com/commaai/openpilot/pull/30678)
-* [removing unused code](https://github.com/commaai/openpilot/pull/30573)
-* [simple car model port](https://github.com/commaai/openpilot/pull/30245)
-* [car brand port](https://github.com/commaai/openpilot/pull/23331)
-* [UI design changes](https://github.com/sunnypilot/sunnypilot/commit/84f6fce90639135611ec568c4d39a352a300bede)
-* [new features](https://github.com/sunnypilot/sunnypilot/commit/68e1379003bfdb599921cf9cd5684bfb762fd676)
-
-### What doesn't get merged?
-
-* **arbitrary style changes**: code is art, and it's up to the author to make it beautiful
-* **500+ line PRs**: clean it up, break it up into smaller PRs, or both
-* **PRs without a clear goal**: every PR must have a singular and clear goal
-
-### First contribution
-
-Check out any [good first issue from commaai's openpilot](https://github.com/commaai/openpilot/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22) to get started.
-
-### What do I need to contribute?
-
-A lot of sunnypilot work requires only a PC, and some requires a comma device.
-Most car-related contributions require access to that car, plus a comma device installed in the car.
-
-## Pull Requests
-
-Pull requests should be against the [`master`](https://github.com/sunnypilot/sunnypilot) branch. If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve.
-
-A good pull request has all of the following:
-
-- a clearly stated purpose
-- every line changed directly contributes to the stated purpose
-- verification, i.e. how did you test your PR?
-- justification
-
-    * if you've optimized something, post benchmarks to prove it's better
-    * if you've improved your car's tuning, post before and after plots
-
-- passes the CI tests
-
-## Contributing without Code
-
-* Report bugs in [GitHub issues](https://github.com/sunnypilot/sunnypilot/issues).
-* Report driving issues in the `#general` Discord channel.
-* Consider opting into driver camera uploads to improve the driver monitoring model.
-* Connect your device to Wi-Fi regularly, so that comma can pull data for training better driving models.
-* Run the `staging-c3` branch and report issues. This branch is like `master` but it's built just like a release.

docs_sp/community/WORKFLOW.md

@@ -1,43 +0,0 @@
-# sunnypilot development workflow
-
-Aside from the ML models, most tools used for sunnypilot development are in this repo.
-
-Most development happens on normal Ubuntu workstations, and not in cars or directly on comma devices. See the [setup guide](https://github.com/sunnypilot/sunnypilot/tree/master/tools) for getting your PC setup for sunnypilot development.
-
-## Quick start
-
-```bash
-# get the latest stuff
-git pull
-git lfs pull
-git submodule update --init --recursive
-
-# update dependencies
-tools/ubuntu_setup.sh
-
-# build everything
-scons -j$(nproc)
-
-# build just the ui with either of these
-scons -j8 selfdrive/ui/
-cd selfdrive/ui/ && scons -u -j8
-
-# test everything
-pytest
-
-# test just logging services
-cd system/loggerd && pytest .
-
-# run the linter
-op lint
-```
-
-## Testing
-
-### Automated Testing
-
-All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
-
-### Code Style and Linting
-
-Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.

docs_sp/community/reporting-a-bug.md

@@ -1,274 +0,0 @@
-# Bug Reports
-
-sunnypilot is an actively maintained project that we constantly strive to improve. With project of this size and complexity, 
-bugs may occur. If you think you have discovered a bug, you can help us by submitting an issue 
-in [comma's public issue tracker][comma's issue tracker], 
-[sunnypilot's public issue tracker][sunnypilot's issue tracker] or on our [Discord][discord], following this guide.
-
-  [comma's issue tracker]: https://github.com/commaai/openpilot/issues
-  [sunnypilot's issue tracker]: https://github.com/sunnypilot/sunnypilot/issues
-  [discord]: https://discord.sunnypilot.ai
-
-## Before creating an issue
-
-With more than 2,500 users, issues are created frequently. The maintainers of this project are trying very hard to keep 
-the number of open issues and reports down by fixing bugs as fast as possible. By following this guide, you will know 
-exactly what information we need to help you quickly.
-
-**But first, please do the following things before creating an issue.**
-
-### Upgrade to the latest version
-
-Chances are that the bug you discovered was already fixed in a subsequent version. Thus, before reporting an issue, 
-ensure that you're running the [latest release version](https://github.com/sunnypilot/sunnypilot/releases) of sunnypilot. 
-Please consult our [installation guide](../setup/read-before-installing.md) to learn how to upgrade to the latest version.
-
-!!! warning "Bug fixes are not backported"
-    Please understand that only bugs that occur in the latest version of sunnypilot will be addressed. Also, to reduce 
-    duplicate efforts, fixes cannot be backported to earlier versions.
-
-### Remove customizations
-
-If you're using customized features, such as your own tweaks of the features, please remove them from the branch 
-you are testing from before reporting a bug. We can't offer official support for bugs that might hide in your implementations, 
-so make sure to omit any customizations from the version being tested.
-
-If, after removing the customizations, the bug is gone, the bug is likely caused by your customizations. A good idea is 
-to add them back gradually to narrow down the root cause of the problem If you did a major version upgrade, make sure 
-you adjusted all customizations you have implemented.
-
-!!! tip
-    If you are an advanced user, you could also utilize `git bisect` 
-    to perform a binary search in the history to find a particular regression.
-
-!!! warning "Customizations mentioned in our documentation"
-    A handful of the features sunnypilot offers can only be implemented with customizations. if you find a bug in any of 
-    the customizations that our documentations explicitly mentioned, you are, of course, encouraged to report it.
-
-**Don't be shy to ask on our [Discord][discord] for help if you run into problems.**
-
-### Search for solutions
-
-At this stage, we know that the problem persists in the latest version and is not caused by any of your customizations. 
-However, the problem might result from a small typo or a syntactical error in the source code, e.g., `selfdrive/car/interfaces.py`.
-
-Now, before you go through the trouble of creating a bug report that is answered and closed right away with a link to
-the relevant documentation section or another already reported or closed issue or discussion, you can save time for us 
-and yourself by doing some research:
-
-1. [Search our documentation] and look for the relevant sections that could be related to your problem. If found, make
-    sure that the settings are configured correctly.
-2. [Search our Discord][discord] to learn if other users are struggling with similar problems and work together with 
-   our 
-   great comunity towards a solution. Many problems are solved there.
-3. [Search comma's openpilot issue tracker][comma's issue tracker], as another user might 
-   already have reported the same problem that may exist in
-   stock openpilot, and there might even be a known workaround or fix for it. Thus, no need to create a new issue.
-4. [Search sunnypilot's issue tracker][sunnypilot's issue tracker], as another user might already have 
-   reported the same problem, and there
-   might even be a known workaround or fix for it. Thus, no need to create a new issue.
-
-[Search our documentation]: ?q=
-
-**Keep track of all <u>search terms</u> and <u>relevant links</u>, you'll need them in the bug report.**[^1]
-
-  [^1]:
-    We might be using terminology in our documentation different from yours, but we mean the same. When you include the 
-    search terms and related links in your bug report, you help us to adjust and improve the documentation. 
-
----
-
-At this point, when you still haven't found a solution to your problem, we encourage you to report the issue on our 
-[Discord][discord] because it's now very likely that you stumbled over something we don't know 
-yet. Read the following section 
-to learn how to create a complete and helpful bug report.
-
-## Issue template
-
-We have created an issue template to make the bug reporting process as simple as possible, and more efficient for our
-community and us.
-
-- [Title]
-- [Context]<small>optional</small>
-- [Bug description]
-- [Related links]
-- [Reproduction]
-- [Steps to reproduce]
-- [Checklist]
-
-  [Title]: #title
-  [Context]: #context
-  [Bug description]: #bug-description
-  [Related links]: #related-links
-  [Reproduction]: #reproduction
-  [Steps to reproduce]: #steps-to-reproduce
-  [Checklist]: #checklist
-
-### Title
-
-A good title is short and descriptive. It should be a one-sentence executive summary of the issue, so the impact and
-severity of the bug you want to report can be inferred from the title.
-
-| <!-- --> | Example                                                                                                      |
-| -------- |--------------------------------------------------------------------------------------------------------------|
-| :material-check:{ style="color: #4DB6AC" } __Clear__ | Speed Limit Control (SLC) stuck in `preActive` when engaged                                                  |
-| :material-close:{ style="color: #EF5350" } __Wordy__ | The Speed Limit Control (SLC) remains in the `preActive` state when longitudinal it's supposed to be engaged |
-| :material-close:{ style="color: #EF5350" } __Unclear__ | SLC does not work                                                                                            |
-| :material-close:{ style="color: #EF5350" } __Useless__ | Help                                                                                                         |
-
-### Context <small>optional</small> { #context }
-
-Before describing the bug, you can provide additional context for us to understand what you were trying to achieve.
-Explain the circumstances in which you're using sunnypilot, and what you _think_ might be relevant. Don't write 
-about the bug here.
-
-!!! note "__Why this might be helpful__"
-    Some errors only manifest in specific settings, environments or edge cases, for example, when the feature is not available
-    to certain cars.
-
-### Bug description
-
-Now, to the bug you want to report. Provide a clear, focused, specific, and concise summary of the bug you encountered. 
-Explain why you think this is a bug that should be reported to sunnypilot, and not to one of its dependencies.[^3]
-Adhere to the following principles:
-
-  [^3]:
-    Sometimes, users report bugs on our [sunnypilot's issue tracker] or [Discord][discord] 
-    that are caused by one of our upstream dependencies, including [comma's openpilot], [comma's panda],
-    or other openpilot forks' dependencies. A good rule of thumb is
-    to reproduce the issue with stock openpilot in the same conditions and
-    check if the problem persists. If it does, the problem is likely not
-    related to sunnypilot and should be reported upstream. When in
-    doubt, use our [Discord][discord] to ask for help.
-
-  [comma's openpilot]: https://github.com/commaai/openpilot
-  [comma's panda]: https://github.com/commaai/panda
-
--   __Explain the <u>what</u>, not the <u>how</u>__ – don't explain
-    [how to reproduce the bug][Steps to reproduce] here, we're getting there.
-    Focus on articulating the problem and its impact as clearly as possible.
-
--   __Keep it short and concise__ – if the bug can be precisely explained in one
-    or two sentences, perfect. Don't inflate it – maintainers and future users
-    will be grateful for having to read less.
-
--   __One bug at a time__ – if you encounter several unrelated bugs, please
-    create separate issues for them. Don't report them in the same issue, as
-    this makes attribution difficult.
-
----
-
-:material-run-fast: __Stretch goal__ – if you found a workaround or a way to fix
-the bug, you can help other users temporarily mitigate the problem before
-we maintainers can fix the bug in our code base.
-
-!!! note "__Why we need this__"
-    In order for us to understand the problem, we need a clear description of it and quantify its impact, which is 
-    essential for triage and prioritization.
-
-### Related links
-
-Of course, prior to reporting a bug, you have read our documentation and
-[could not find a working solution][search for solutions]. Please share links
-to all sections of our documentation that might be relevant to the bug, as it
-helps us gradually improve it.
-
-Additionally, since you have searched [comma's issue tracker], [sunnypilot's issue tracker] or [Discord][discord]
-before reporting an issue, and have possibly found several issues or
-discussions, include those as well. Every link to an issue or discussion creates
-a backlink, guiding us maintainers and other users in the future.
-
----
-
-:material-run-fast: __Stretch goal__ – if you also include the search terms you
-used when [searching for a solution][search for solutions] to your problem, you
-make it easier for us maintainers to improve the documentation.
-
-  [search for solutions]: #search-for-solutions
-
-### Reproduction
-
-A minimal reproduction is at the heart of every well-written bug report, as
-it allows us maintainers to instantly recreate the necessary conditions to
-inspect the bug to quickly find its root cause. It's a proven fact that issues
-with concise and small reproductions can be fixed much faster.
-
-After you have created the reproduction, take note of your <u>__comma Dongle ID__</u>. It will be used during the bug 
-report.
-
-!!! note "__Why we need this__"
-    If an issue contains no minimal reproduction or just a link to a repository with thousands of files, the 
-    maintainers would need to invest a lot of time into trying to recreate the right conditions to even inspect the 
-    bug, let alone fix it.
-
-!!! warning "Don't share links to repositories"
-    While we know that it is a good practice among developers to include a link
-    to a repository with the bug report, we currently don't support those in our
-    process. The reason is that the reproduction, which is automatically
-    produced by the <u>__route ID__</u> contains all the necessary
-    environment information that is often forgotten to be included.
-
-    Additionally, there are many non-technical users of sunnypilot that
-    have trouble creating repositories.
-
-### Steps to reproduce
-
-At this point, you provided us with enough information to understand the bug
-and provided us with a reproduction that we could run and inspect. However, when
-we check your reproduction, it might not be immediately apparent how we can see
-the bug in action.
-
-Thus, please list the specific steps we should follow when running your
-reproduction to observe the bug. Keep the steps short and concise, and make sure
-not to leave anything out. Use simple language as you would explain it to a
-five-year-old, and focus on continuity.
-
-!!! note "__Why we need this__"
-    We must know how to navigate your reproduction in order
-    to observe the bug, as some bugs only occur at certain viewports or in
-    specific conditions.
-
-### Uploading logs and preserving routes
-
-After reproducing the bug, please follow these steps to upload the necessary logs and preserve the routes.
-
-1. Ensure the route is fully uploaded at [comma Connect]. We cannot look 
-  into issues without routes, or at least a comma Dongle ID.
-
-    1. Visit [comma Connect], select the route with the issue reproduced.
-    2. Under the "Files" button, locate "All logs". Click "Upload x files".
-    3. View the upload queue, and confirm that all raw logs are uploaded.
-
-    !!! note
-        Sometimes when the qlogs of the route are still being uploaded, some raw logs may not be available to 
-        request for upload. Refresh the page a few times once you have confirmed all qlogs have been uploaded, 
-        then try to upload all raw logs again if available.
-
-2. Share your Dongle ID with sunnypilot on [comma Connect].
-
-    1. Visit [comma Connect], navigate to the gear icon.
-    2. Select "Share by email", and enter `support@sunnypilot.ai`.
-    3. Confirm the sharing by clicking the share icon again.
-    4. Set the device name to your vehicle's year/make/model and your Discord username, so it can be easily identified.
-
-3. Once all raw logs are uploaded, click "More info" and enable the "Preserved" option to preserve the route.
-4. Attach the route ID in your issue submission.
-
-  [comma Connect]: https://connect.comma.ai
-
-### Checklist
-
-Thanks for following the guide and creating a high-quality and complete bug
-report – you are almost done. The checklist ensures that you have read this guide
-and have worked to your best knowledge to provide us with everything we need to
-know to help you.
-
-- [ ] I have upgraded to the latest release version of sunnypilot.
-- [ ] I have removed or disable any customizations and confirmed the bug persists.
-- [ ] I have searched the documentation, issue trackers, and Discord for similar issues.
-- [ ] I have created a minimal reproduction and noted my comma Dongle ID.
-- [ ] I have shared my Dongle ID with sunnypilot at `support@sunnypilot.ai`.
-- [ ] I have filled out all required sections of the issue template.
-- [ ] I have followed this guide and ensured all necessary information is included.
-
-__We'll take it from here.__

docs_sp/community/reporting-a-docs-issue.md

@@ -1,97 +0,0 @@
-# Documentation issues
-
-Our documentation is composed of many pages and includes extensive
-information on features, configurations, customizations, and much more. If you
-have found an inconsistency or see room for improvement, please follow this
-guide to submit an issue on our [issue tracker].
-
-  [issue tracker]: https://github.com/sunnypilot/sunnypilot/issues
-
-## Issue template
-
-Reporting a documentation issue is usually less involved than reporting a bug.
-Please thoroughly read this guide before creating a new documentation issue,
-and provide the following information as part of the issue:
-
-- [Title]
-- [Description]
-- [Related links]
-- [Proposed change] <small>optional</small>
-- [Checklist]
-
-  [Title]: #title
-  [Description]: #description
-  [Related links]: #related-links
-  [Proposed change]: #proposed-change
-  [Checklist]: #checklist
-
-### Title
-
-A good title should be a short, one-sentence description of the issue, contain
-all relevant information and, in particular, keywords to simplify the search in
-our issue tracker.
-
-| <!-- --> | Example  |
-| -------- | -------- |
-| :material-check:{ style="color: #4DB6AC" } __Clear__ | Clarify Speed Limit Control engagement
-| :material-close:{ style="color: #EF5350" } __Unclear__ | Missing information in the docs
-| :material-close:{ style="color: #EF5350" } __Useless__ | Help
-
-### Description
-
-Provide a clear and concise summary of the inconsistency or issue you
-encountered in the documentation or the documentation section that needs
-improvement. Explain why you think the documentation should be adjusted and
-describe the severity of the issue:
-
--   __Keep it short and concise__ – if the inconsistency or issue can be
-    precisely explained in one or two sentences, perfect. Maintainers and future
-    users will be grateful for having to read less.
-
--   __One issue at a time__ – if you encounter several unrelated inconsistencies,
-    please create separate issues for them. Don't report them in the same issue
-    – it makes attribution difficult.
-
-!!! note "__Why we need this__"
-    Describing the problem clearly and concisely is a prerequisite for improving
-    our documentation – we need to understand what's wrong, so we can fix it.
-
-### Related links
-
-After you described the documentation section that needs to be adjusted above,
-we now ask you to share the link to this specific documentation section and
-other possibly related sections. Make sure to use anchor links (permanent links)
-where possible, as it simplifies discovery.
-
-!!! note "__Why we need this__"
-    Providing the links to the documentation help us understand which sections
-    of our documentation need to be adjusted, extended, or overhauled.
-
-### Proposed change <small>optional</small> { #proposed-change }
-
-Now that you have provided us with the description and links to the
-documentation sections, you can help us, maintainers, and the community by
-proposing an improvement. You can sketch out rough ideas or write a concrete
-proposal. This field is optional but very helpful.
-
-!!! note "__Why we need this__"
-    An improvement proposal can be beneficial for other users who encounter
-    the same issue, as they offer solutions before we maintainers can update
-    the documentation.
-
-### Checklist
-
-Thanks for following the guide and providing valuable feedback for our
-documentation – you are almost done. The checklist ensures that you have read
-this guide and have worked to your best knowledge to provide us with every piece
-of information we need to improve it.
-
-- [ ] I have provided a clear and descriptive title for the documentation issue.
-- [ ] I have summarized the inconsistency or issue concisely in the description.
-- [ ] I have included links to the specific documentation section(s) that need
-      adjustments.
-- [ ] (Optional) I have proposed a change or improvement to the documentation.
-- [ ] I have followed this guide and ensured all necessary information is included.
-
-__We'll take it from here.__
-

docs_sp/features/dynamic-lane-profile.md

@@ -1,31 +0,0 @@
-# Dynamic Lane Profile (DLP)
-
-Dynamic Lane Profile (DLP) aims to provide the best driving experience by confidently keeping the vehicle within a lane. 
-It allows sunnypilot to dynamically switch between lane profiles based on the lane recognition confidence level on the road.
-
-!!! note
-    Due to the removal of lateral planner in newer Driving Models, Dynamic Lane Profile is only available with the 
-    following selected Driving Models:
-
-    - New Delhi (December 21, 2023) - ND
-    - Blue Diamond v2 (December 11, 2023) - BDv2
-    - Blue Diamond (November 18, 2023) - BDv1
-    - Farmville (November 7, 2023) - FV
-    - Night Strike (October 3, 2023) - NS
-
-## Available Modes
-
-- **Auto Lane**: sunnypilot dynamically selects between `Laneline` or `Laneless` model.
-- **Laneline**: uses the Laneline model only.
-- **Laneless**: uses the Laneless model only.
-
-### Feature Location
-
-1. Settings
-![Settings](../assets/features/dlp-1.png)
-
-2. `sunnypilot` Panel
-![sunnypilot Panel](../assets/features/dlp-2.png)
-
-3. Select the desired mode
-![DLP Select](../assets/features/dlp-3.png)

docs_sp/features/index.md

@@ -1,3 +0,0 @@
-# Features
-
-WIP

docs_sp/features/modified-assistive-driving-safety.md

@@ -1,40 +0,0 @@
-# Modified Assistive Driving Safety (M.A.D.S.)
-
-Modified Assistive Driving Safety (MADS) aims to elevate the user's driving experience by modifying the behaviors of 
-driving assist engagements.
-
-!!! note
-    This feature aligns closely with comma.ai's safety rules.
-
-## Independent Engagement
-
-MADS allows users to engage sunnypilot Automatic Lane Centering (ALC) for lateral control and Adaptive Cruise Control 
-(ACC) or Smart Cruise Control (SCC) for longitudinal control independently.
-
-??? note "Why This Feature Exists"
-    While newer car models allow for independent engagement of lateral (steering) and longitudinal (speed) control, 
-    many older models and stock openpilot enforce engaging both controls together. MADS introduces this modern 
-    convenience to older models, effectively backporting a feature found in newer cars and providing users more flexibility.
-
-## Dedicated Buttons
-
-### Toggle for sunnypilot ALC
-
-  - `CRUISE (MAIN)` button: Available on all supported cars on sunnypilot.
-  - `LFA` button: Available on newer HKG cars.
-  - `LKAS` button: Available on Honda, Toyota, and Global Subaru.
-
-### Engagement
-
-  - `SET-` button: Enables ACC/SCC.
-  - `CANCEL` button: Disables ACC/SCC only.
-  - `CRUISE (MAIN)` must be `ON` to use ACC/SCC.
-
-!!! info
-    The `CRUISE (MAIN)` button disables sunnypilot completely when `OFF`. This is strictly enforced in the panda safety code.
-
-## Lateral Control on Brake Pedal
-
-Dedicated toggle to handle Lateral state on brake pedal press and release:
-
-- **ON**: Pressing the `BRAKE pedal` will pause Automatic Lane Centering.

docs_sp/getting-started/develop-sunnypilot.md

@@ -1,10 +0,0 @@
-# To start developing sunnypilot
-
-sunnypilot is a fork of [commaai's openpilot](https://github.com/commaai/openpilot), developed by [sunnypilot](https://sunnypilot.ai) and by users like you. 
-We welcome both pull requests and issues on [GitHub](http://github.com/sunnypilot/sunnypilot).
-
-* Join the [community Discord](https://discord.sunnypilot.ai)
-* Check out [the contributing docs](../community/CONTRIBUTING.md)
-* Check out the [openpilot tools](https://github.com/sunnypilot/sunnypilot/tree/master/tools)
-* Read about the [development workflow](../community/WORKFLOW.md)
-* Information about running sunnypilot and code documentation lives on the [sunnypilot docs](https://docs.sunnypilot.ai)

docs_sp/getting-started/use-sunnypilot-in-a-car.md

@@ -1,16 +0,0 @@
-# To start using sunnypilot in a car
-
-To use sunnypilot in a car, you need four things:
-
-1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
-
-2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `release-c3.sunnypilot.ai` to install the release version.
-
-3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CARS.md).
-
-4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
-
-[comma.ai](https://comma.ai) have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup).
-
-!!! note
-    It's possible to run sunnypilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.

docs_sp/getting-started/what-is-sunnypilot.md

@@ -1,11 +0,0 @@
-# What is sunnypilot?
-
-sunnypilot is a fork of [comma.ai's openpilot](https://github.com/commaai/openpilot), an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 250+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
-
-## How do I use it?
-
-sunnypilot is designed to be used on the comma 3/3X.
-
-## How does it work?
-
-In short, sunnypilot uses the car's existing APIs for the built-in [ADAS](https://en.wikipedia.org/wiki/Advanced_driver-assistance_system) system and simply provides better acceleration, braking, and steering inputs than the stock system.

docs_sp/how-to/enabling-mapbox-navigation.md

@@ -1,53 +0,0 @@
-# :map: Enabling Mapbox navigation
-
-Enabling Mapbox Navigation on sunnypilot enhances your driving experience by providing accurate maps and directions.
-
-Following the instructions below, you will set up a free Mapbox account, generating your own access token, and 
-configuring on your comma 3/3X. Next:
-
-## 1. Create a free Mapbox account
-
-Sign up for a free Mapbox account. Although a credit card is required for verification, you will not be charged for the
-free tier.
-
-## 2. Generate access token
-
-!!! warning
-    You won't be able to access the secret key after this window.
-
-On the Dashboard, find the **Access Tokens** section and click `Create a Token`. Name it as you like and set 
-the scopes to allow everything for both Public and Secret. Copy both keys.
-
-## 3. Connect comma 3/3X to a network
-
-Once rebooted, connect your comma 3/3X to a network with internet access and note the comma 3/3X’s IP address.
-
-## 4. Configure keys
-
-In a browser, navigate to `C3_IP:8082` (e.g., 192.168.1.69:8082). You should see the comma logo and an input field. 
-Paste your Public token (pk.xx), press enter, paste your Secret key (sk.xx), and press enter again. This page lets 
-you search for destinations.
-
-## 5. Set Home and Work addresses
-
-To set Home and Work addresses, search for a place, select Home/Work from the dropdown, and click Navigate. For 
-other destinations, select Recent Places.
-
-!!! warning
-    Your comma 3/3X requires an active internet connection to download map data, generate directions, and update
-    ETA. Once data is downloaded, offline use is possible, but updates (like new directions after a missed turn)
-    won't occur.
-
-!!! info
-    At this time, it is not possible to search directly on the comma 3/3X.
-
-!!! info
-    Mapbox does not support alphanumeric addresses (e.g., W123N1234 Main St). There is currently no known
-    workaround for this.
-
-!!! tip
-    If your comma 3/3X shows a "Map Loading" screen, a reboot via the UI should fix it.
-    Connect the comma 3/3X to a network (i.e. your phone's hotspot) and use your phone browser to search for places.
-
-    In the Navigation panel on the comma 3/3X, select Home, Work, and Recent Places without needing a browser 
-    (assuming internet connection).

docs_sp/how-to/hyundai/enabling-radar-tracks.md

@@ -1,50 +0,0 @@
-# :satellite: Radar Tracks
-
-Unlock the potential of sunnypilot by enabling radar tracks manually on applicable Hyundai/Kia/Genesis cars. Thanks to
-[@greghogan](https://github.com/greghogan) and [@pd0wm](https://github.com/pd0wm), this feature is now accessible via SSH.
-
-!!! info "How Radar Points Can Be Used Along With Vision"
-    Current openpilot policy is to identify with vision first and match it to a radar point. If vision sees nothing,
-    you get a false negative and no lead car detection. (Source: [Hubblesphere#7894 from comma.ai community Discord](https://discord.com/channels/469524606043160576/872899198738104330/872913890793635872))
-
-!!! caution
-    **USE AT YOUR OWN RISK!** Stock system safety features, such as AEB and FCW, may be affected by these changes.
-
-## 1. Prerequisites
-
-Ensure the car is in the `OFF` ignition position and connect your comma 3/3X to the car.
-
-## 2. SSH connection
-
-Connect to your comma 3/3X via [SSH](https://github.com/commaai/openpilot/wiki/SSH).
-
-## 3. Execute commands
-
-In the SSH terminal, execute the following commands:
-
-```bash
-pkill -f openpilot
-python /data/openpilot/selfdrive/debug/hyundai_enable_radar_points.py
-```
-Follow the script instructions and ensure no faults appear.
-
-## 4. Reboot
-
-Reboot your comma 3/3X. Once rebotoed, start your car and ensure there is no fault caused by enabling the radar tracks.
-
-## 5. Test drive
-
-Go for a quick drive, drive behind a lead car, and allow the drive to upload its raw logs in [comma Connect](https://connect.comma.ai).
-
-## 6. Verify in Cabana
-
-Load the test route in [Cabana](https://github.com/sunnypilot/sunnypilot/tree/master/tools/cabana), load `hyundai_kia_mando_front_radar.dbc`, search `RADAR_TRACK_50x`,
-and check `LONG_DIST`.
-
-## 7. Confirmation
-
-If the radar tracks data is relevant, you've successfully enabled radar tracks.
-
-!!! tip
-    Having issues or need assistance? Reach out to the community in the `hyundai-kia-genesis` channel in
-    [sunnypilot Discord](https://discord.sunnypilot.ai) or [commaai community Discord](https://discord.comma.ai).

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

@@ -1,98 +0,0 @@
-# Turn the speed blue
-*A getting started guide for openpilot development*
-
-In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI.
-
-And if you have a comma 3/3X, we'll deploy the change to your device for testing.
-
-## 1. Setup your development environment
-
-Run this to clone openpilot and install all the dependencies:
-```bash
-curl -fsSL openpilot.comma.ai | bash
-```
-
-Navigate to openpilot folder & activate a Python virtual environment
-```bash
-cd openpilot
-source .venv/bin/activate
-```
-
-Then, compile openpilot:
-```bash
-scons -j8
-```
-
-## 2. Run replay
-
-We'll run the `replay` tool with the demo route to get data streaming for testing our UI changes.
-```bash
-# in terminal 1
-tools/replay/replay --demo
-
-# in terminal 2
-selfdrive/ui/ui
-```
-
-The openpilot UI should launch and show a replay of the demo route.
-
-If you have your own comma device, you can replace `--demo` with one of your own routes from comma connect.
-
-## 3. Make the speed blue
-
-Search for “mph” with git grep in the `ui` folder.
-```bash
-$ git grep "mph" selfdrive/ui/
-paint.cc:  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
-```
-
-The line right above contains the actual speed. Unfortunately, COLOR_BLUE isn’t defined, but a git grep of COLOR_WHITE shows it’s nvgRGBA(255, 255, 255, 255). Personally, I like a lighter blue, so I went with #8080FF.
-```bash
-$ git diff
-diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
-index 821d95115..cc996eaa1 100644
---- a/selfdrive/ui/paint.cc
-+++ b/selfdrive/ui/paint.cc
-@@ -175,8 +175,8 @@ static void ui_draw_vision_speed(UIState *s) {
-   const float speed = std::max(0.0, (*s->sm)["carState"].getCarState().getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363));
-   const std::string speed_str = std::to_string((int)std::nearbyint(speed));
-   nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
--  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold");
--  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
-+  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, nvgRGBA(128, 128, 255, 255), "sans-bold");
-+  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, nvgRGBA(128, 128, 255, 200), "sans-regular");
- }
-
- static void ui_draw_vision_event(UIState *s) {
-```
-
-
-## 4. Rebuild UI, and admire your work
-
-```
-scons -j8 && selfdrive/ui/ui
-```
-
-![](https://blog.comma.ai/img/blue_speed_ui.png)
-
-## 5. Push your fork to GitHub
-
-Click fork on GitHub. Then, push with:
-```bash
-git remote rm origin
-git remote add origin git@github.com:<your-github-username>/openpilot.git
-git add .
-git commit -m "Make the speed blue."
-git push --set-upstream origin master
-```
-
-## 6. Run your fork on device in your car!
-
-Uninstall openpilot from your device through the settings. Then, enter the URL for your very own installer:
-```
-installer.comma.ai/<your-github-username>/master
-```
-
-## 7. Admire your work IRL
-
-![](https://blog.comma.ai/img/c3_blue_ui.jpg)

docs_sp/index.md

@@ -1 +0,0 @@
-getting-started/what-is-sunnypilot.md

docs_sp/safety-information/prohibited-safety-modifications.md

@@ -1,14 +0,0 @@
-# Prohibited Safety Modifications
-
-All [official sunnypilot branches](https://github.com/sunnyhaibin/sunnypilot/branches) strictly adhere to [comma.ai's safety policy](https://github.com/commaai/openpilot/blob/master/docs/SAFETY.md). Any changes that go against 
-this policy will result in your fork and your device being banned from both comma.ai and sunnypilot channels.
-
-The following changes are **VIOLATIONS** of the safety policy and **ARE NOT** supported in any official sunnypilot branches:
-
-!!! danger "Driver Monitoring"
-    - "Nerfing" or reducing monitoring parameters.
-
-!!! danger "Panda Safety"
-    - No preventing disengaging of <ins>**longitudinal control**</ins> (positive/negative acceleration) on brake pedal press.
-    - No auto re-engaging of <ins>**longitudinal control**</ins> (positive/negative acceleration) on brake pedal release.
-    - No disengaging on `CRUISE MAIN` in `OFF` state.

docs_sp/setup/changelogs/index.md

@@ -1 +0,0 @@
-../../CHANGELOGS.md

docs_sp/setup/read-before-installing.md

@@ -1,20 +0,0 @@
-# 🚨 Read Before Installing
-
-It is recommended to read the <u>**entire documentation**</u> before proceeding. This will ensure that you fully understand each added feature in sunnypilot. This also ensures that you are choosing the correct settings and branch for your car to have the best driving experience.
-
-!!! warning
-    By installing this software, you accept all responsibility for anything that might occur while you use it. sunnypilot and all contributors to sunnypilot are not liable.
-
-    **Use at your own risk.**
-
-## Installation
-
-Please refer to the [Recommended Branches](../branches/recommended-branches.md) to find your preferred/supported branch. This guide will assume you want to install the latest `release-c3` branch.
-
-You can install sunnypilot on your comma 3/3X using one of the following methods:
-
-- ### [URL Method (Directly on Device)](url-method.md)
-This method allows you to install sunnypilot directly from your device's screen using a provided URL. It's simple and user-friendly, requiring no additional tools or external devices.
-
-- ### [SSH Method (Command Line)](ssh-method.md)
-This method is for advanced users who prefer to use SSH to clone the sunnypilot repository and install it manually via the command line. It offeres greater control over the installation process.

docs_sp/setup/ssh-method.md

@@ -1,26 +0,0 @@
-# SSH Method
-
-If you are looking to install sunnypilot via SSH, run the following commands in an SSH terminal after connecting to your comma 3/3X:
-
-1. Navigate to `data` directory
-    ```sh 
-    cd /data
-    ```
-
-2. Clone sunnypilot
-
-    !!! example ""
-        `release-c3` branch is used in this step as an example.
-    ```sh
-    git clone release-c3 --recurse-submodules https://github.com/sunnyhaibin/openpilot.git 
-    ```
-
-3. Git LFS
-    ```sh
-    git lfs pull
-    ```
-
-4. Reboot
-    ```sh
-    sudo reboot
-    ```

docs_sp/setup/url-method.md

@@ -1,37 +0,0 @@
-# URL Method
-
-The URL installation method can be done in two ways, depending on your current setup and version of sunnypilot on your device.
-
-=== "sunnypilot not installed, or sunnypilot < 0.8.17"
-
-    1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
-    2. After factory reset/uninstall, upon reboot, select `Custom Software` when given the option.
-    3. Input the **Installation URL** per [Recommended Branches](../branches/recommended-branches.md).
-    4. Complete the rest of the installation by following the onscreen instructions.
-
-    !!! info "[Recommended Branches](../branches/recommended-branches.md)"
-        |    Branch    |         Installation URL         |
-        |:------------:|:--------------------------------:|
-        | `release-c3` | release-c3.sunnypilot.ai |
-        | `staging-c3` | staging-c3.sunnypilot.ai |
-        |   `dev-c3`   | dev-c3.sunnypilot.ai     |
-    !!! example "Example of Installation URL"
-        `release-c3.sunnypilot.ai`[^1]
-
-=== "sunnypilot already installed, or sunnypilot ≥ 0.8.17"
-
-    1. On the comma 3/3X, go to `Settings` → `Software`.
-    2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from the sunnypilot repository on GitHub.
-    3. At the `Target Branch` option, press `SELECT` to open the `Target Branch` selector.
-    4. Scroll and select the **Desired Branch** per Recommended Branches.
-
-    !!! info "[Recommended Branches](../branches/recommended-branches.md)"
-        |    Branch    |         Installation URL         |
-        |:------------:|:--------------------------------:|
-        | `release-c3` | release-c3.sunnypilot.ai |
-        | `staging-c3` | staging-c3.sunnypilot.ai |
-        |   `dev-c3`   | dev-c3.sunnypilot.ai     |
-    !!! example "Example of Desired Branch"
-        `release-c3`
-
-[^1]: Shortened URL for convenience. Full URL is `smiskol.com/fork/sunnyhaibin/release-c3`.

mkdocs-sp.yml

@@ -1,150 +0,0 @@
-site_name: sunnypilot docs
-repo_name: sunnypilot/sunnypilot
-repo_url: https://github.com/sunnypilot/sunnypilot/
-site_description: sunnypilot Documentation
-site_url: https://docs.sunnypilot.ai
-edit_uri: blob/new-docs/docs_sp
-
-exclude_docs: README.md
-
-strict: true
-docs_dir: docs_sp
-site_dir: docs_sp_site/
-
-theme:
-  name: material
-  icon:
-    repo: fontawesome/brands/github
-    edit: material/file-edit-outline
-    view: material/file-eye-outline
-  features:
-    - content.action.edit
-    - content.action.view
-    - content.code.copy
-    - content.code.select
-    #- navigation.expand
-    - navigation.footer
-    - navigation.indexes
-    - navigation.path
-    - navigation.sections
-    - navigation.tabs
-    - navigation.tabs.sticky
-    - navigation.top
-    - search.suggest
-    - search.highlight
-    - search.share
-  font:
-    text: Roboto
-    code: Roboto Mono
-  palette:
-    - media: "(prefers-color-scheme)"
-      toggle:
-        icon: material/link
-        name: Switch to light mode
-    - media: "(prefers-color-scheme: light)"
-      scheme: default
-      primary: indigo
-      accent: indigo
-      toggle:
-        icon: material/toggle-switch
-        name: Switch to dark mode
-    - media: "(prefers-color-scheme: dark)"
-      scheme: slate
-      primary: black
-      accent: indigo
-      toggle:
-        icon: material/toggle-switch-off
-        name: Switch to system preference
-  navigation_depth: 3
-
-markdown_extensions:
-  - admonition
-  - attr_list
-  - def_list
-  - footnotes
-  - md_in_html
-  - pymdownx.details
-  - pymdownx.emoji:
-      emoji_index: !!python/name:material.extensions.emoji.twemoji
-      emoji_generator: !!python/name:material.extensions.emoji.to_svg
-  - pymdownx.highlight:
-      anchor_linenums: true
-      line_spans: __span
-      pygments_lang_class: true
-  - pymdownx.inlinehilite
-  - pymdownx.magiclink:
-      normalize_issue_symbols: true
-      repo_url_shorthand: true
-      user: sunnypilot
-      repo: sunnypilot
-  - pymdownx.snippets
-  - pymdownx.superfences
-  - pymdownx.tabbed:
-      alternate_style: true
-  - pymdownx.tasklist:
-      custom_checkbox: true
-      clickable_checkbox: true
-  - toc:
-      permalink: true
-
-plugins:
-  - git-authors
-  - git-committers:
-      repository: sunnypilot/sunnypilot
-      branch: master
-      enabled: !ENV [CI, false]
-  - git-revision-date-localized:
-      enable_creation_date: true
-  - search
-
-extra:
-  analytics:
-    provider: google
-    property: !ENV GOOGLE_ANALYTICS_KEY
-    feedback:
-      title: Was this page helpful?
-      ratings:
-        - icon: material/emoticon-happy-outline
-          name: This page was helpful
-          data: 1
-          note: >-
-            Thanks for your feedback!
-        - icon: material/emoticon-sad-outline
-          name: This page could be improved
-          data: 0
-          note: >-
-            Thanks for your feedback! Help us improve this page by
-            using our <a href="..." target="_blank" rel="noopener">feedback form</a>.
-
-nav:
-  - Getting Started:
-    - index.md
-    - What is sunnypilot?: getting-started/what-is-sunnypilot.md
-    - Use sunnypilot in a car: getting-started/use-sunnypilot-in-a-car.md
-    - Develop sunnypilot: getting-started/develop-sunnypilot.md
-    - Setup:
-      - 🚨 Read before installing 🚨: setup/read-before-installing.md
-      - Installation:
-        - URL Method: setup/url-method.md
-        - SSH Method: setup/ssh-method.md
-    - Changelogs:
-      - setup/changelogs/index.md
-  - Features:
-    - features/index.md
-  - Community:
-    - Contributing: community/CONTRIBUTING.md
-    - Reporting a bug: community/reporting-a-bug.md
-    - Reporting a docs issue: community/reporting-a-docs-issue.md
-    - Asking a question: https://discord.sunnypilot.ai
-  - Safety Information:
-    - Safety: SAFETY.md
-    - Prohibited safety modifications: safety-information/prohibited-safety-modifications.md
-  - How To:
-    - Enabling Mapbox navigation: how-to/enabling-mapbox-navigation.md
-    - Turn the speed blue: how-to/turn-the-speed-blue.md
-    - Hyundai:
-      - Enabling Radar Tracks: how-to/hyundai/enabling-radar-tracks.md
-  - References:
-    - Branches:
-      - Definitions: branches/definitions.md
-      - Recommended Branches: branches/recommended-branches.md

pyproject.toml

@@ -69,11 +69,6 @@ docs = [
   "Jinja2",
   "natsort",
   "mkdocs",
-  "mkdocs-material",
-  "mkdocs-git-revision-date-localized-plugin",
-  "mkdocs-git-committers-plugin-2",
-  "mkdocs-git-authors-plugin",
-  "mkdocs-glightbox",
 ]
 
 testing = [

release/files_pc

@@ -0,0 +1,4 @@
+third_party/libyuv/x86_64/**
+third_party/snpe/x86_64/**
+third_party/snpe/x86_64-linux-clang/**
+third_party/acados/x86_64/**

release/files_tici

@@ -0,0 +1,15 @@
+third_party/libyuv/larch64/**
+third_party/snpe/larch64**
+third_party/snpe/aarch64-ubuntu-gcc7.5/*
+third_party/acados/larch64/**
+
+system/camerad/cameras/camera_qcom2.cc
+system/camerad/cameras/camera_qcom2.h
+system/camerad/cameras/camera_util.cc
+system/camerad/cameras/camera_util.h
+system/camerad/cameras/process_raw.cl
+
+system/qcomgpsd/*
+
+selfdrive/ui/qt/spinner_larch64
+selfdrive/ui/qt/text_larch64

release/release_files.py

@@ -200,6 +200,7 @@ sunnypilot_whitelist = [
   ".*CARS.md",
   ".*LIMITATIONS.md",
   ".*CONTRIBUTING.md",
+  ".*sunnyhaibin0850_qrcode_paypal.me.png",
   "opendbc/.*.dbc",
 ]
 

selfdrive/car/__init__.py

@@ -218,7 +218,7 @@ def create_gas_interceptor_command(packer, gas_amount, idx):
     values["GAS_COMMAND"] = gas_amount * 255.
     values["GAS_COMMAND2"] = gas_amount * 255.
 
-  dat = packer.make_can_msg("GAS_COMMAND", 0, values)[2]
+  dat = packer.make_can_msg("GAS_COMMAND", 0, values)[1]
 
   checksum = crc8_pedal(dat[:-1])
   values["CHECKSUM_PEDAL"] = checksum

selfdrive/car/chrysler/interface.py

@@ -98,10 +98,9 @@ class CarInterface(CarInterfaceBase):
       *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
     ]
 
-    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
 
-    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
-                                                            self.CS.button_events, c.vCruise,
+    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled,
                                                             enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.resumeCruise) if not self.CP.pcmCruiseSpeed else
                                                                            (ButtonType.accelCruise, ButtonType.decelCruise),
                                                             resume_button=(ButtonType.resumeCruise,) if not self.CP.pcmCruiseSpeed else
@@ -114,16 +113,16 @@ class CarInterface(CarInterfaceBase):
         if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
           self.CS.madsEnabled = not self.CS.madsEnabled
           self.CS.lkas_disabled = not self.CS.lkas_disabled
-        self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
+        self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
     else:
       self.CS.madsEnabled = False
-    self.CS.madsEnabled = self.get_sp_started_mads(ret, self.CS)
+    self.CS.madsEnabled = self.get_sp_started_mads(ret, self.CS.madsEnabled)
 
     if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
       if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+        self.get_sp_cancel_cruise_state()
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      self.get_sp_cancel_cruise_state()
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
 
     if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
@@ -136,7 +135,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
@@ -146,7 +145,7 @@ class CarInterface(CarInterfaceBase):
     # events
     events = self.create_common_events(ret, c, extra_gears=[car.CarState.GearShifter.low], pcm_enable=False)
 
-    events, ret = self.create_sp_events(self.CS, ret, events)
+    events, ret = self.create_sp_events(ret, events)
 
     # Low speed steer alert hysteresis logic
     if self.CP.carFingerprint in RAM_DT:
@@ -162,9 +161,7 @@ class CarInterface(CarInterfaceBase):
     if self.low_speed_alert:
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 
-    ret.customStockLong = self.CS.update_custom_stock_long(self.CC.cruise_button, self.CC.final_speed_kph,
-                                                           self.CC.target_speed, self.CC.v_set_dis,
-                                                           self.CC.speed_diff, self.CC.button_type)
+    ret.customStockLong = self.update_custom_stock_long()
 
     ret.events = events.to_msg()
 

selfdrive/car/ford/carcontroller.py

@@ -3,7 +3,7 @@ from opendbc.can.packer import CANPacker
 from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.car import apply_std_steer_angle_limits
 from openpilot.selfdrive.car.ford import fordcan
-from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
+from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags, FordFlagsSP
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -35,6 +35,9 @@ class CarController(CarControllerBase):
     self.lkas_enabled_last = False
     self.steer_alert_last = False
     self.lead_distance_bars_last = None
+    self.path_angle = 0.
+    self.path_offset = 0.
+    self.curvature_rate = 0.
 
   def update(self, CC, CS, now_nanos):
     can_sends = []
@@ -74,7 +77,10 @@ class CarController(CarControllerBase):
         # TODO: extended mode
         mode = 1 if CC.latActive else 0
         counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
-        can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
+        if self.CP.spFlags & FordFlagsSP.SP_ENHANCED_LAT_CONTROL.value:
+          can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, self.path_offset, self.path_angle, -apply_curvature, self.curvature_rate, counter))
+        else:
+          can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
       else:
         can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.))
 

selfdrive/car/ford/carstate.py

@@ -24,6 +24,7 @@ class CarState(CarStateBase):
 
     self.lkas_enabled = None
     self.prev_lkas_enabled = None
+    self.v_limit = 0
 
     self.button_states = {button.event_type: False for button in BUTTONS}
 
@@ -72,6 +73,10 @@ class CarState(CarStateBase):
     ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0
     ret.cruiseState.standstill = cp.vl["EngBrakeData"]["AccStopMde_D_Rq"] == 3
     ret.accFaulted = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (1, 2)
+
+    if self.CP.flags & FordFlags.CANFD:
+      ret.cruiseState.speedLimit = self.update_traffic_signals(cp_cam)
+
     if not self.CP.openpilotLongitudinalControl:
       ret.accFaulted = ret.accFaulted or cp_cam.vl["ACCDATA"]["CmbbDeny_B_Actl"] == 1
 
@@ -129,6 +134,16 @@ class CarState(CarStateBase):
 
     return ret
 
+  def update_traffic_signals(self, cp_cam):
+    # TODO: Check if CAN platforms have the same signals
+    if self.CP.flags & FordFlags.CANFD:
+      self.v_limit = cp_cam.vl["Traffic_RecognitnData"]["TsrVLim1MsgTxt_D_Rq"]
+      v_limit_unit = cp_cam.vl["Traffic_RecognitnData"]["TsrVlUnitMsgTxt_D_Rq"]
+
+      speed_factor = CV.MPH_TO_MS if v_limit_unit == 2 else CV.KPH_TO_MS if v_limit_unit == 1 else 0
+
+      return self.v_limit * speed_factor if self.v_limit not in (0, 255) else 0
+
   @staticmethod
   def get_can_parser(CP):
     messages = [
@@ -185,6 +200,11 @@ class CarState(CarStateBase):
       ("IPMA_Data", 1),
     ]
 
+    if CP.flags & FordFlags.CANFD:
+      messages += [
+        ("Traffic_RecognitnData", 1),
+      ]
+
     if CP.enableBsm and CP.flags & FordFlags.CANFD:
       messages += [
         ("Side_Detect_L_Stat", 5),

selfdrive/car/ford/interface.py

@@ -3,7 +3,8 @@ from panda import Panda
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.ford.fordcan import CanBus
-from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
+from openpilot.common.params import Params
+from openpilot.selfdrive.car.ford.values import Ecu, FordFlags, FordFlagsSP
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
@@ -18,13 +19,15 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "ford"
-    ret.dashcamOnly = bool(ret.flags & FordFlags.CANFD)
 
     ret.radarUnavailable = True
     ret.steerControlType = car.CarParams.SteerControlType.angle
     ret.steerActuatorDelay = 0.2
     ret.steerLimitTimer = 1.0
 
+    if Params().get("DongleId", encoding='utf8') in ("4fde83db16dc0802", "112e4d6e0cad05e1", "e36b272d5679115f", "24574459dd7fb3e0", "83a4e056c7072678"):
+      ret.spFlags |= FordFlagsSP.SP_ENHANCED_LAT_CONTROL.value
+
     CAN = CanBus(fingerprint=fingerprint)
     cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)]
     if CAN.main >= 4:
@@ -51,6 +54,13 @@ class CarInterface(CarInterfaceBase):
           if config_tja != 0xFF or config_lca != 0xFF:
             ret.dashcamOnly = True
 
+    if ret.spFlags & FordFlagsSP.SP_ENHANCED_LAT_CONTROL:
+      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_ENHANCED_LAT_CONTROL
+
+    ret.longitudinalTuning.kpBP = [0.]
+    ret.longitudinalTuning.kpV = [0.5]
+    ret.longitudinalTuning.kiV = [0.]
+
     # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
     found_ecus = [fw.ecu for fw in car_fw]
     if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[CAN.main] or docs:
@@ -79,10 +89,9 @@ class CarInterface(CarInterfaceBase):
       *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
     ]
 
-    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
 
-    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
-                                                            self.CS.button_events, c.vCruise)
+    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled)
 
     if ret.cruiseState.available:
       if self.enable_mads:
@@ -90,15 +99,15 @@ class CarInterface(CarInterfaceBase):
           self.CS.madsEnabled = True
         if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
           self.CS.madsEnabled = not self.CS.madsEnabled
-        self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
+        self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
     else:
       self.CS.madsEnabled = False
 
     if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0):
       if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+        self.get_sp_cancel_cruise_state()
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      self.get_sp_cancel_cruise_state()
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
 
     if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
@@ -106,7 +115,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
@@ -115,7 +124,7 @@ class CarInterface(CarInterfaceBase):
 
     events = self.create_common_events(ret, c, extra_gears=[GearShifter.manumatic], pcm_enable=False)
 
-    events, ret = self.create_sp_events(self.CS, ret, events)
+    events, ret = self.create_sp_events(ret, events)
 
     if not self.CS.vehicle_sensors_valid:
       events.add(car.CarEvent.EventName.vehicleSensorsInvalid)

selfdrive/car/ford/radar_interface.py

@@ -11,6 +11,7 @@ DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540))
 DELPHI_MRR_RADAR_START_ADDR = 0x120
 DELPHI_MRR_RADAR_MSG_COUNT = 64
 
+STEER_ASSIST_DATA_MSGS = 0x3d7
 
 def _create_delphi_esr_radar_can_parser(CP) -> CANParser:
   msg_n = len(DELPHI_ESR_RADAR_MSGS)
@@ -28,6 +29,9 @@ def _create_delphi_mrr_radar_can_parser(CP) -> CANParser:
 
   return CANParser(RADAR.DELPHI_MRR, messages, CanBus(CP).radar)
 
+def _create_steer_assist_data(CP) -> CANParser:
+  messages = [("Steer_Assist_Data", 20)]
+  return CANParser(RADAR.STEER_ASSIST_DATA, messages, CanBus(CP).camera)
 
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
@@ -45,6 +49,10 @@ class RadarInterface(RadarInterfaceBase):
     elif self.radar == RADAR.DELPHI_MRR:
       self.rcp = _create_delphi_mrr_radar_can_parser(CP)
       self.trigger_msg = DELPHI_MRR_RADAR_START_ADDR + DELPHI_MRR_RADAR_MSG_COUNT - 1
+    elif self.radar == RADAR.STEER_ASSIST_DATA:
+      self.rcp = _create_steer_assist_data(CP)
+      self.trigger_msg = STEER_ASSIST_DATA_MSGS
+
     else:
       raise ValueError(f"Unsupported radar: {self.radar}")
 
@@ -68,11 +76,67 @@ class RadarInterface(RadarInterfaceBase):
       self._update_delphi_esr()
     elif self.radar == RADAR.DELPHI_MRR:
       self._update_delphi_mrr()
+    elif self.radar == RADAR.STEER_ASSIST_DATA:
+      self._update_steer_assist_data()
 
     ret.points = list(self.pts.values())
     self.updated_messages.clear()
     return ret
 
+  def _update_steer_assist_data(self):
+    msg = self.rcp.vl["Steer_Assist_Data"]
+    updated_msg = self.updated_messages
+
+    dRel = msg['CmbbObjDistLong_L_Actl']
+    confidence = msg['CmbbObjConfdnc_D_Stat']
+    new_track = False
+
+    # if dRel < 1022:
+    if confidence > 0:
+      if 0 not in self.pts:
+        self.pts[0] = car.RadarData.RadarPoint.new_message()
+        self.pts[0].trackId = self.track_id
+        self.vRelCol[0] = collections.deque(maxlen=20)
+        self.track_id += 1
+        new_track = True
+
+      yRel = msg['CmbbObjDistLat_L_Actl']
+      vRel = msg['CmbbObjRelLong_V_Actl']
+      yvRel = msg['CmbbObjRelLat_V_Actl']
+      calc = 0
+      if not new_track:
+        # if this is a newly created track - we don't have historical data so skip it
+        # if we are on the same track
+        # Let's see if we are moving:
+        #   positive gap - lead is moving faster than us
+        #   negative gap - lead is moving slower than us
+        dDiff = dRel - self.pts[0].dRel
+        if (abs(vRel) < 1.0e-2):
+          self.vRelCol[0].append(dDiff)
+          vRel = sum(self.vRelCol[0])
+          calc = 1
+        else:
+          if len(self.vRelCol[0]) > 0:
+            self.vRelCol[0].clear()
+
+        if abs(self.pts[0].vRel - vRel) > 2 or abs(self.pts[0].dRel - dRel) > 5:
+          self.pts[0].trackId = self.track_id
+          if len(self.vRelCol[0]) > 0:
+            self.vRelCol[0].clear()
+          self.track_id += 1
+
+      self.pts[0].dRel = dRel  # from front of car
+      self.pts[0].yRel = yRel  # in car frame's y axis, left is positive
+      self.pts[0].vRel = vRel
+      self.pts[0].aRel = float('nan')
+      self.pts[0].yvRel = yvRel
+      self.pts[0].measured = True
+    else:
+      if 0 in self.pts:
+        del self.pts[0]
+        del self.vRelCol[0]
+
+
   def _update_delphi_esr(self):
     for ii in sorted(self.updated_messages):
       cpt = self.rcp.vl[ii]

selfdrive/car/ford/values.py

@@ -48,9 +48,14 @@ class FordFlags(IntFlag):
   CANFD = 1
 
 
+class FordFlagsSP(IntFlag):
+  SP_ENHANCED_LAT_CONTROL = 1
+
+
 class RADAR:
   DELPHI_ESR = 'ford_fusion_2018_adas'
   DELPHI_MRR = 'FORD_CADS'
+  STEER_ASSIST_DATA = 'ford_lincoln_base_pt'
 
 
 class Footnote(Enum):
@@ -91,7 +96,7 @@ class FordPlatformConfig(PlatformConfig):
 
 @dataclass
 class FordCANFDPlatformConfig(FordPlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', None))
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.STEER_ASSIST_DATA))
 
   def init(self):
     super().init()

selfdrive/car/gm/carcontroller.py

@@ -1,4 +1,6 @@
 from cereal import car
+import cereal.messaging as messaging
+from openpilot.common.params import Params
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
 from opendbc.can.packer import CANPacker
@@ -6,6 +8,7 @@ from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.gm import gmcan
 from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
 from openpilot.selfdrive.car.interfaces import CarControllerBase
+from selfdrive.controls.lib.drive_helpers import GM_V_CRUISE_MIN
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 NetworkLocation = car.CarParams.NetworkLocation
@@ -37,6 +40,36 @@ class CarController(CarControllerBase):
     self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
     self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
 
+    self.sm = messaging.SubMaster(['longitudinalPlanSP'])
+    self.param_s = Params()
+    self.is_metric = self.param_s.get_bool("IsMetric")
+    self.speed_limit_control_enabled = False
+    self.last_speed_limit_sign_tap = False
+    self.last_speed_limit_sign_tap_prev = False
+    self.speed_limit = 0.
+    self.speed_limit_offset = 0
+    self.timer = 0
+    self.final_speed_kph = 0
+    self.init_speed = 0
+    self.current_speed = 0
+    self.v_set_dis = 0
+    self.v_cruise_min = 0
+    self.button_type = 0
+    self.button_select = 0
+    self.button_count = 0
+    self.target_speed = 0
+    self.t_interval = 7
+    self.slc_active_stock = False
+    self.sl_force_active_timer = 0
+    self.v_tsc_state = 0
+    self.slc_state = 0
+    self.m_tsc_state = 0
+    self.cruise_button = None
+    self.speed_diff = 0
+    self.v_tsc = 0
+    self.m_tsc = 0
+    self.steady_speed = 0
+
   def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl
@@ -45,9 +78,40 @@ class CarController(CarControllerBase):
     if hud_v_cruise > 70:
       hud_v_cruise = 0
 
+    if not self.CP.pcmCruiseSpeed:
+      self.sm.update(0)
+
+      if self.sm.updated['longitudinalPlanSP']:
+        self.v_tsc_state = self.sm['longitudinalPlanSP'].visionTurnControllerState
+        self.slc_state = self.sm['longitudinalPlanSP'].speedLimitControlState
+        self.m_tsc_state = self.sm['longitudinalPlanSP'].turnSpeedControlState
+        self.speed_limit = self.sm['longitudinalPlanSP'].speedLimit
+        self.speed_limit_offset = self.sm['longitudinalPlanSP'].speedLimitOffset
+        self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
+        self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed
+
+      if self.frame % 200 == 0:
+        self.speed_limit_control_enabled = self.param_s.get_bool("EnableSlc")
+        self.is_metric = self.param_s.get_bool("IsMetric")
+      self.last_speed_limit_sign_tap = self.param_s.get_bool("LastSpeedLimitSignTap")
+      self.v_cruise_min = GM_V_CRUISE_MIN[self.is_metric] * (CV.KPH_TO_MPH if not self.is_metric else 1)
+
     # Send CAN commands.
     can_sends = []
 
+    if not self.CP.pcmCruiseSpeed:
+      if not self.last_speed_limit_sign_tap_prev and self.last_speed_limit_sign_tap:
+        self.sl_force_active_timer = self.frame
+        self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False)
+      self.last_speed_limit_sign_tap_prev = self.last_speed_limit_sign_tap
+
+      sl_force_active = self.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
+      sl_inactive = not sl_force_active and (not self.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
+      sl_temp_inactive = not sl_force_active and (self.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
+      slc_active = not sl_inactive and not sl_temp_inactive
+
+      self.slc_active_stock = slc_active
+
     # Steering (Active: 50Hz, inactive: 10Hz)
     steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP
 
@@ -148,6 +212,15 @@ class CarController(CarControllerBase):
           self.last_button_frame = self.frame
           can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
 
+      if not (CC.cruiseControl.cancel or CC.cruiseControl.resume) and not self.CP.pcmCruiseSpeed and CS.out.cruiseState.enabled:
+        self.cruise_button = self.get_cruise_buttons(CS, CC.vCruise)
+        if self.cruise_button is not None:
+          send_freq = 1
+          if not (self.v_tsc_state != 0 or self.m_tsc_state > 1) and abs(self.target_speed - self.v_set_dis) <= 2:
+            send_freq = 3
+          if self.frame % 12 < 6:  # thanks to mochi86420 for the magic numbers
+            can_sends.extend([gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, (CS.buttons_counter + 2) % 4, self.cruise_button)] * 3)
+
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
       # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
       if self.frame % 10 == 0:
@@ -161,3 +234,120 @@ class CarController(CarControllerBase):
 
     self.frame += 1
     return new_actuators, can_sends
+
+  # multikyd methods, sunnyhaibin logic
+  def get_cruise_buttons_status(self, CS):
+    if not CS.out.cruiseState.enabled or CS.cruise_buttons != CruiseButtons.UNPRESS:
+      self.timer = 40
+    elif self.timer:
+      self.timer -= 1
+    else:
+      return 1
+    return 0
+
+  def get_target_speed(self, v_cruise_kph_prev):
+    v_cruise_kph = v_cruise_kph_prev
+    if self.slc_state > 1:
+      v_cruise_kph = (self.speed_limit + self.speed_limit_offset) * CV.MS_TO_KPH
+      if not self.slc_active_stock:
+        v_cruise_kph = v_cruise_kph_prev
+    return v_cruise_kph
+
+  def get_button_type(self, button_type):
+    self.type_status = "type_" + str(button_type)
+    self.button_picker = getattr(self, self.type_status, lambda: "default")
+    return self.button_picker()
+
+  def reset_button(self):
+    if self.button_type != 3:
+      self.button_type = 0
+
+  def type_default(self):
+    self.button_type = 0
+    return None
+
+  def type_0(self):
+    self.button_count = 0
+    self.target_speed = self.init_speed
+    self.speed_diff = self.target_speed - self.v_set_dis
+    if self.target_speed > self.v_set_dis:
+      self.button_type = 1
+    elif self.target_speed < self.v_set_dis and self.v_set_dis > self.v_cruise_min:
+      self.button_type = 2
+    return None
+
+  def type_1(self):
+    cruise_button = CruiseButtons.RES_ACCEL
+    self.button_count += 1
+    if self.target_speed <= self.v_set_dis:
+      self.button_count = 0
+      self.button_type = 3
+    elif self.button_count > 5:
+      self.button_count = 0
+      self.button_type = 3
+    return cruise_button
+
+  def type_2(self):
+    cruise_button = CruiseButtons.DECEL_SET
+    self.button_count += 1
+    if self.target_speed >= self.v_set_dis or self.v_set_dis <= self.v_cruise_min:
+      self.button_count = 0
+      self.button_type = 3
+    elif self.button_count > 5:
+      self.button_count = 0
+      self.button_type = 3
+    return cruise_button
+
+  def type_3(self):
+    cruise_button = CruiseButtons.UNPRESS
+    self.button_count += 1
+    if self.button_count > self.t_interval:
+      self.button_type = 0
+    return cruise_button
+
+  def get_curve_speed(self, target_speed_kph, v_cruise_kph_prev):
+    if self.v_tsc_state != 0:
+      vision_v_cruise_kph = self.v_tsc * CV.MS_TO_KPH
+      if int(vision_v_cruise_kph) == int(v_cruise_kph_prev):
+        vision_v_cruise_kph = 255
+    else:
+      vision_v_cruise_kph = 255
+    if self.m_tsc_state > 1:
+      map_v_cruise_kph = self.m_tsc * CV.MS_TO_KPH
+      if int(map_v_cruise_kph) == 0.0:
+        map_v_cruise_kph = 255
+    else:
+      map_v_cruise_kph = 255
+    curve_speed = self.curve_speed_hysteresis(min(vision_v_cruise_kph, map_v_cruise_kph) + 2 * CV.MPH_TO_KPH)
+    return min(target_speed_kph, curve_speed)
+
+  def get_button_control(self, CS, final_speed, v_cruise_kph_prev):
+    self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not self.is_metric else 1))
+    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not self.is_metric else CV.MS_TO_KPH))
+    cruise_button = self.get_button_type(self.button_type)
+    return cruise_button
+
+  def curve_speed_hysteresis(self, cur_speed: float, hyst=(0.75 * CV.MPH_TO_KPH)):
+    if cur_speed > self.steady_speed:
+      self.steady_speed = cur_speed
+    elif cur_speed < self.steady_speed - hyst:
+      self.steady_speed = cur_speed
+    return self.steady_speed
+
+  def get_cruise_buttons(self, CS, v_cruise_kph_prev):
+    cruise_button = None
+    if not self.get_cruise_buttons_status(CS):
+      pass
+    elif CS.out.cruiseState.enabled:
+      set_speed_kph = self.get_target_speed(v_cruise_kph_prev)
+      if self.slc_state > 1:
+        target_speed_kph = set_speed_kph
+      else:
+        target_speed_kph = min(v_cruise_kph_prev, set_speed_kph)
+      if self.v_tsc_state != 0 or self.m_tsc_state > 1:
+        self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev)
+      else:
+        self.final_speed_kph = target_speed_kph
+
+      cruise_button = self.get_button_control(CS, self.final_speed_kph, v_cruise_kph_prev)  # MPH/KPH based button presses
+    return cruise_button

selfdrive/car/gm/interface.py

@@ -119,6 +119,7 @@ class CarInterface(CarInterfaceBase):
         ret.pcmCruise = False
         ret.openpilotLongitudinalControl = True
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
+      ret.customStockLongAvailable = True
 
     else:  # ASCM, OBD-II harness
       ret.openpilotLongitudinalControl = True
@@ -204,8 +205,6 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
 
-    distance_button = 0
-
     # Don't add event if transitioning from INIT, unless it's to an actual button
     if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
       self.CS.button_events = [
@@ -214,21 +213,19 @@ class CarInterface(CarInterfaceBase):
         *create_button_events(self.CS.distance_button, self.CS.prev_distance_button,
                               {1: ButtonType.gapAdjustCruise})
       ]
-      distance_button = self.CS.distance_button
 
     self.CS.button_events = [
       *self.CS.button_events,
       *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
     ]
 
-    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
 
     if not self.CP.pcmCruise:
       if any(b.type == ButtonType.accelCruise and b.pressed for b in self.CS.button_events):
         self.CS.accEnabled = True
 
-    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
-                                                            self.CS.button_events, c.vCruise)
+    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled)
 
     if ret.cruiseState.available:
       if self.enable_mads:
@@ -236,15 +233,15 @@ class CarInterface(CarInterfaceBase):
           self.CS.madsEnabled = True
         if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
           self.CS.madsEnabled = not self.CS.madsEnabled
-        self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
+        self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
     else:
       self.CS.madsEnabled = False
 
-    if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0):
+    if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
       if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+        self.get_sp_cancel_cruise_state()
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      self.get_sp_cancel_cruise_state()
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
 
     if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
@@ -252,7 +249,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(distance_button))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
@@ -267,7 +264,7 @@ class CarInterface(CarInterfaceBase):
     #  if any(b.type == ButtonType.accelCruise and b.pressed for b in ret.buttonEvents):
     #    events.add(EventName.buttonEnable)
 
-    events, ret = self.create_sp_events(self.CS, ret, events, enable_pressed=self.CS.accEnabled,
+    events, ret = self.create_sp_events(ret, events, enable_pressed=self.CS.accEnabled,
                                         enable_buttons=(ButtonType.decelCruise,))
 
     # Enabling at a standstill with brake is allowed
@@ -281,6 +278,8 @@ class CarInterface(CarInterfaceBase):
     if ret.vEgo < self.CP.minSteerSpeed and self.CS.madsEnabled:
       events.add(EventName.belowSteerSpeed)
 
+    ret.customStockLong = self.update_custom_stock_long()
+
     ret.events = events.to_msg()
 
     return ret

selfdrive/car/honda/interface.py

@@ -267,10 +267,9 @@ class CarInterface(CarInterfaceBase):
       *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, SETTINGS_BUTTONS_DICT),
     ]
 
-    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
 
-    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
-                                                            self.CS.button_events, c.vCruise)
+    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled)
 
     if ret.cruiseState.available:
       if self.enable_mads:
@@ -278,7 +277,7 @@ class CarInterface(CarInterfaceBase):
           self.CS.madsEnabled = True
         if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
           self.CS.madsEnabled = not self.CS.madsEnabled
-        self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
+        self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
     else:
       self.CS.madsEnabled = False
 
@@ -286,9 +285,9 @@ class CarInterface(CarInterfaceBase):
 
     if not self.CP.pcmCruise or min_enable_speed_pcm or not self.CP.pcmCruiseSpeed:
       if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+        self.get_sp_cancel_cruise_state()
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      self.get_sp_cancel_cruise_state()
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads or min_enable_speed_pcm \
                                                         else False if self.CP.pcmCruise \
                                                         else self.CS.accEnabled
@@ -301,7 +300,7 @@ class CarInterface(CarInterfaceBase):
       elif not ret.cruiseState.enabled:
         self.CS.accEnabled = False
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=(self.CS.cruise_setting == 3))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
@@ -313,7 +312,7 @@ class CarInterface(CarInterfaceBase):
     if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed and not self.CS.madsEnabled:
       events.add(EventName.belowEngageSpeed)
 
-    events, ret = self.create_sp_events(self.CS, ret, events)
+    events, ret = self.create_sp_events(ret, events)
 
     #if self.CP.pcmCruise:
     #  # we engage when pcm is active (rising edge)
@@ -330,9 +329,7 @@ class CarInterface(CarInterfaceBase):
     if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
       events.add(EventName.manualRestart)
 
-    ret.customStockLong = self.CS.update_custom_stock_long(self.CC.cruise_button, self.CC.final_speed_kph,
-                                                           self.CC.target_speed, self.CC.v_set_dis,
-                                                           self.CC.speed_diff, self.CC.button_type)
+    ret.customStockLong = self.update_custom_stock_long()
 
     ret.events = events.to_msg()
 

selfdrive/car/hyundai/carcontroller.py

@@ -1,7 +1,7 @@
 from cereal import car
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
-from openpilot.common.numpy_fast import clip
+from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.params import Params
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg
@@ -62,7 +62,7 @@ class CarController(CarControllerBase):
     self.lat_disengage_init = False
     self.lat_active_last = False
 
-    sub_services = ['longitudinalPlanSP']
+    sub_services = ['longitudinalPlan', 'longitudinalPlanSP']
     if CP.openpilotLongitudinalControl:
       sub_services.append('radarState')
     # TODO: Always true, prep for future conditional refactoring
@@ -94,9 +94,24 @@ class CarController(CarControllerBase):
     self.v_tsc = 0
     self.m_tsc = 0
     self.steady_speed = 0
-    self.hkg_can_smooth_stop = self.param_s.get_bool("HkgSmoothStop")
+    self.speeds = 0
+    self.v_target_plan = 0
+    self.custom_stock_planner_speed = self.param_s.get_bool("CustomStockLongPlanner")
     self.lead_distance = 0
 
+    self.jerk = 0.0
+    self.jerk_l = 0.0
+    self.jerk_u = 0.0
+    self.jerkStartLimit = 2.0
+    self.cb_upper = 0.0
+    self.cb_lower = 0.0
+    self.jerk_count = 0.0
+
+    self.accel_raw = 0
+    self.accel_val = 0
+    self.accel_last_jerk = 0
+    self.hkg_custom_long_tuning = self.param_s.get_bool("HkgCustomLongTuning")
+
   def calculate_lead_distance(self, hud_control: car.CarControl.HUDControl) -> float:
     lead_one = self.sm["radarState"].leadOne
     lead_two = self.sm["radarState"].leadTwo
@@ -113,6 +128,10 @@ class CarController(CarControllerBase):
       self.sm.update(0)
 
     if not self.CP.pcmCruiseSpeed:
+      if self.sm.updated['longitudinalPlan']:
+        _speeds = self.sm['longitudinalPlan'].speeds
+        self.speeds = _speeds[-1] if len(_speeds) else 0
+
       if self.sm.updated['longitudinalPlanSP']:
         self.v_tsc_state = self.sm['longitudinalPlanSP'].visionTurnControllerState
         self.slc_state = self.sm['longitudinalPlanSP'].speedLimitControlState
@@ -122,14 +141,21 @@ class CarController(CarControllerBase):
         self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
         self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed
 
+      if self.frame % 200 == 0:
+        self.custom_stock_planner_speed = self.param_s.get_bool("CustomStockLongPlanner")
       self.v_cruise_min = HYUNDAI_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)
+      self.v_target_plan = min(CC.vCruise * CV.KPH_TO_MS, self.speeds)
 
     actuators = CC.actuators
     hud_control = CC.hudControl
 
     # steering torque
+    if self.CP.spFlags & HyundaiFlagsSP.SP_UPSTREAM_TACO.value:
+      self.params = CarControllerParams(self.CP, CS.out.vEgoRaw)
     new_steer = int(round(actuators.steer * self.params.STEER_MAX))
     apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
+    if self.CP.spFlags & HyundaiFlagsSP.SP_UPSTREAM_TACO.value:
+      apply_steer = clip(apply_steer, -self.params.STEER_MAX, self.params.STEER_MAX)
 
     # >90 degree steering fault prevention
     self.angle_limit_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringAngleDeg) >= MAX_ANGLE, CC.latActive,
@@ -190,7 +216,7 @@ class CarController(CarControllerBase):
     if self.frame % 100 == 0 and not ((self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) or escc) and \
       self.CP.carFingerprint not in CAMERA_SCC_CAR and self.CP.openpilotLongitudinalControl:
       # for longitudinal control, either radar or ADAS driving ECU
-      addr, bus = 0x7d0, 0
+      addr, bus = 0x7d0, self.CAN.ECAN if self.CP.carFingerprint in CANFD_CAR else 0
       if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
         addr, bus = 0x730, self.CAN.ECAN
       can_sends.append(make_tester_present_msg(addr, bus, suppress_response=True))
@@ -199,6 +225,9 @@ class CarController(CarControllerBase):
       if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
         can_sends.append(make_tester_present_msg(0x7b1, self.CAN.ECAN, suppress_response=True))
 
+    if self.CP.openpilotLongitudinalControl:
+      self.make_jerk(CS, accel, actuators)
+
     # CAN-FD platforms
     if self.CP.carFingerprint in CANFD_CAR:
       hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
@@ -225,9 +254,11 @@ class CarController(CarControllerBase):
       if self.CP.openpilotLongitudinalControl:
         if hda2:
           can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
+        else:
+          can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
         if self.frame % 2 == 0:
           can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CS, CC.enabled and CS.out.cruiseState.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
-                                                           set_speed_in_units, hud_control))
+                                                           set_speed_in_units, hud_control, self.jerk_u, self.jerk_l))
           self.accel_last = accel
       else:
         # button presses
@@ -271,15 +302,13 @@ class CarController(CarControllerBase):
         self.lead_distance = self.calculate_lead_distance(hud_control)
 
       if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
-        if self.hkg_can_smooth_stop:
-          stopping = stopping and CS.out.vEgoRaw < 0.05
-
         # TODO: unclear if this is needed
         jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
         use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
-        can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled and CS.out.cruiseState.enabled, accel, jerk, int(self.frame / 2),
+        self.make_accel(CS, actuators)
+        can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled and CS.out.cruiseState.enabled, self.accel_raw, self.accel_val, self.jerk_l, self.jerk_u, int(self.frame / 2),
                                                         hud_control, set_speed_in_units, stopping,
-                                                        CC.cruiseControl.override, use_fca, CS, escc, self.CP, self.lead_distance))
+                                                        CC.cruiseControl.override, use_fca, CS, escc, self.CP, self.lead_distance, self.cb_lower, self.cb_upper))
 
       # 20 Hz LFA MFA message
       if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
@@ -446,6 +475,8 @@ class CarController(CarControllerBase):
         target_speed_kph = set_speed_kph
       else:
         target_speed_kph = min(v_cruise_kph_prev, set_speed_kph)
+      if self.custom_stock_planner_speed:
+        target_speed_kph = self.curve_speed_hysteresis(self.v_target_plan * CV.MS_TO_KPH)
       if self.v_tsc_state != 0 or self.m_tsc_state > 1:
         self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev)
       else:
@@ -453,3 +484,66 @@ class CarController(CarControllerBase):
 
       cruise_button = self.get_button_control(CS, self.final_speed_kph, v_cruise_kph_prev)  # MPH/KPH based button presses
     return cruise_button
+
+  # jerk calculations thanks to apilot!
+  def cal_jerk(self, accel, actuators):
+    self.accel_raw = accel
+    if actuators.longControlState == LongCtrlState.off:
+      accel_diff = 0.0
+    elif actuators.longControlState == LongCtrlState.stopping:# or hud_control.softHold > 0:
+      accel_diff = 0.0
+    else:
+      accel_diff = self.accel_raw - self.accel_last_jerk
+
+    accel_diff /= DT_CTRL
+    self.jerk = self.jerk * 0.9 + accel_diff * 0.1
+    return self.jerk
+
+  def make_jerk(self, CS, accel, actuators):
+    jerk = self.cal_jerk(accel, actuators)
+    a_error = accel - CS.out.aEgo
+    jerk = jerk + (a_error * 2.0)
+
+    if not self.hkg_custom_long_tuning:
+      self.jerk_u = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
+      self.jerk_l = 5.0
+    elif True: #self.CP.carFingerprint in CANFD_CAR or self.CP.carFingerprint == CAR.HYUNDAI_KONA_EV_2022:
+      startingJerk = 0.5
+      jerkLimit = 5.0
+      self.jerk_count += DT_CTRL
+      jerk_max = interp(self.jerk_count, [0, 1.5, 2.5], [startingJerk, startingJerk, jerkLimit])
+      if actuators.longControlState == LongCtrlState.off:
+        self.jerk_u = jerkLimit
+        self.jerk_l = jerkLimit
+        self.jerk_count = 0
+      else:
+        self.jerk_u = min(max(0.5, jerk * 2.0), jerk_max)
+        self.jerk_l = min(max(1.0, -jerk * 3.0), jerkLimit)
+    else:
+      startingJerk = self.jerkStartLimit
+      jerkLimit = 5.0
+      self.jerk_count += DT_CTRL
+      jerk_max = interp(self.jerk_count, [0, 1.5, 2.5], [startingJerk, startingJerk, jerkLimit])
+      self.cb_upper = self.cb_lower = 0
+      if actuators.longControlState == LongCtrlState.off:
+        self.jerk_u = jerkLimit
+        self.jerk_l = jerkLimit
+        self.jerk_count = 0
+      else:
+        self.jerk_u = min(max(0.5, jerk * 2.0), jerk_max)
+        self.jerk_l = min(max(0.5, -jerk * 2.0), jerkLimit)
+        self.cb_upper = clip(0.9 + accel * 0.2, 0, 1.2)
+        self.cb_lower = clip(0.8 + accel * 0.2, 0, 1.2)
+
+  def make_accel(self, CS, actuators):
+    long_control = actuators.longControlState
+    is_ice = not self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV)
+    rate_up = 0.1
+    rate_down = 0.1
+    if long_control == LongCtrlState.off or (long_control == LongCtrlState.stopping and CS.out.standstill):
+      self.accel_raw, self.accel_val = 0, 0
+    else:
+      #self.accel_val = clip(self.accel_raw, self.accel_last - rate_down, self.accel_last + rate_up)
+      self.accel_val = self.accel_raw
+    self.accel_last = self.accel_val
+    self.accel_last_jerk = self.accel_val

selfdrive/car/hyundai/fingerprints.py

@@ -1171,6 +1171,17 @@ FW_VERSIONS = {
       b'\xf1\x006T6J0_C2\x00\x006T6K1051\x00\x00TOS4N20NS2\x00\x00\x00\x00',
     ],
   },
+  CAR.HYUNDAI_KONA_EV_NON_SCC: {
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00OS  MDPS C 1.00 1.04 56310K4000\x00 4OEDC104',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4100 W40',
+    ],
+  },
   CAR.KIA_CEED_PHEV_2022_NON_SCC: {
     (Ecu.eps, 0x7D4, None): [
       b'\xf1\x00CD  MDPS C 1.00 1.01 56310-XX000 4CPHC101',

selfdrive/car/hyundai/hyundaican.py

@@ -130,8 +130,8 @@ def create_lfahda_mfc(packer, enabled, lat_active, lateral_paused, blinking_icon
   }
   return packer.make_can_msg("LFAHDA_MFC", 0, values)
 
-def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca,
-                        CS, escc, CP, lead_distance):
+def create_acc_commands(packer, enabled, accel_raw, accel_val, lower_jerk, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca,
+                        CS, escc, CP, lead_distance, cb_lower, cb_upper):
   commands = []
 
   scc11_values = {
@@ -150,8 +150,8 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, se
   scc12_values = {
     "ACCMode": 2 if enabled and long_override else 1 if enabled else 0,
     "StopReq": 1 if stopping else 0,
-    "aReqRaw": accel,
-    "aReqValue": accel,  # stock ramps up and down respecting jerk limit until it reaches aReqRaw
+    "aReqRaw": accel_raw,
+    "aReqValue": accel_val,  # stock ramps up and down respecting jerk limit until it reaches aReqRaw
     "CR_VSM_Alive": idx % 0xF,
   }
 
@@ -172,10 +172,10 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, se
   commands.append(packer.make_can_msg("SCC12", 0, scc12_values))
 
   scc14_values = {
-    "ComfortBandUpper": 0.0, # stock usually is 0 but sometimes uses higher values
-    "ComfortBandLower": 0.0, # stock usually is 0 but sometimes uses higher values
+    "ComfortBandUpper": cb_upper, # stock usually is 0 but sometimes uses higher values
+    "ComfortBandLower": cb_lower, # stock usually is 0 but sometimes uses higher values
     "JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values
-    "JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values
+    "JerkLowerLimit": lower_jerk, # stock usually is 0.5 but sometimes uses higher values
     "ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
     "ObjGap": get_object_gap(lead_distance), # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
   }
@@ -207,7 +207,7 @@ def create_acc_opt(packer, escc, CS, CP):
   commands = []
 
   scc13_values = {
-    "SCCDrvModeRValue": 2,
+    "SCCDrvModeRValue": 3,
     "SCC_Equip": 1,
     "Lead_Veh_Dep_Alert_USM": 2,
   }

selfdrive/car/hyundai/hyundaicanfd.py

@@ -121,7 +121,7 @@ def create_lfahda_cluster(packer, CAN, enabled, lat_active, lateral_paused, blin
   return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
 
 
-def create_acc_control(packer, CAN, CS, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control):
+def create_acc_control(packer, CAN, CS, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control, upper_jerk, lower_jerk):
   jerk = 5
   jn = jerk / 50
   if not enabled or gas_override:
@@ -137,8 +137,8 @@ def create_acc_control(packer, CAN, CS, enabled, accel_last, accel, stopping, ga
     "aReqValue": a_val,
     "aReqRaw": a_raw,
     "VSetDis": set_speed,
-    "JerkLowerLimit": jerk if enabled else 1,
-    "JerkUpperLimit": 3.0,
+    "JerkLowerLimit": lower_jerk,
+    "JerkUpperLimit": upper_jerk,
 
     "ACC_ObjDist": 1,
     "ObjValid": 0,
@@ -172,6 +172,20 @@ def create_spas_messages(packer, CAN, frame, left_blink, right_blink):
   return ret
 
 
+def create_fca_warning_light(packer, CAN, frame):
+  ret = []
+  if frame % 2 == 0:
+    values = {
+      'AEB_SETTING': 0x1,  # show AEB disabled icon
+      'SET_ME_2': 0x2,
+      'SET_ME_FF': 0xff,
+      'SET_ME_FC': 0xfc,
+      'SET_ME_9': 0x9,
+    }
+    ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values))
+  return ret
+
+
 def create_adrv_messages(packer, CAN, frame):
   # messages needed to car happy after disabling
   # the ADAS Driving ECU to do longitudinal control
@@ -182,15 +196,7 @@ def create_adrv_messages(packer, CAN, frame):
   }
   ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))
 
-  if frame % 2 == 0:
-    values = {
-      'AEB_SETTING': 0x1,  # show AEB disabled icon
-      'SET_ME_2': 0x2,
-      'SET_ME_FF': 0xff,
-      'SET_ME_FC': 0xfc,
-      'SET_ME_9': 0x9,
-    }
-    ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values))
+  ret.extend(create_fca_warning_light(packer, CAN, frame))
 
   if frame % 5 == 0:
     values = {

selfdrive/car/hyundai/interface.py

@@ -1,6 +1,8 @@
+import cereal.messaging as messaging
 from cereal import car
 from panda import Panda
 from openpilot.common.params import Params
+from openpilot.selfdrive.car.sunnypilot.fingerprinting import can_fingerprint, get_one_can
 from openpilot.selfdrive.car.hyundai.enable_radar_tracks import enable_radar_tracks
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
@@ -91,7 +93,7 @@ class CarInterface(CarInterfaceBase):
 
     # *** longitudinal control ***
     if candidate in CANFD_CAR:
-      ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR | NON_SCC_CAR)
+      ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | NON_SCC_CAR)
       if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC and not hda2:
         ret.spFlags |= HyundaiFlagsSP.SP_CAMERA_SCC_LEAD.value
     else:
@@ -102,13 +104,20 @@ class CarInterface(CarInterfaceBase):
     ret.pcmCruise = not ret.openpilotLongitudinalControl
 
     ret.stoppingControl = True
-    ret.startingState = True
     ret.vEgoStarting = 0.1
-    ret.startAccel = 1.0
+    ret.startAccel = 1.6
     ret.longitudinalActuatorDelay = 0.5
 
+    if ret.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
+      ret.startingState = False
+      ret.stopAccel = -2.0
+    else:
+      ret.startingState = True
+      ret.stopAccel = -1.0
+
     if DBC[ret.carFingerprint]["radar"] is None:
       if ret.spFlags & (HyundaiFlagsSP.SP_ENHANCED_SCC | HyundaiFlagsSP.SP_CAMERA_SCC_LEAD):
+        ret.radarTimeStep = 0.02
         ret.radarUnavailable = False
 
     # *** feature detection ***
@@ -117,6 +126,8 @@ class CarInterface(CarInterfaceBase):
 
       if 0x1fa in fingerprint[CAN.ECAN]:
         ret.spFlags |= HyundaiFlagsSP.SP_NAV_MSG.value
+      if Params().get("DongleId", encoding='utf8') in ("012c95f06918eca4", "68d6a96e703c00c9", "11c1f1909ca37bca"):
+        ret.spFlags |= HyundaiFlagsSP.SP_UPSTREAM_TACO.value
     else:
       ret.enableBsm = 0x58b in fingerprint[0]
 
@@ -125,7 +136,8 @@ class CarInterface(CarInterfaceBase):
 
       if ret.flags & HyundaiFlags.MANDO_RADAR and ret.radarUnavailable:
         ret.spFlags |= HyundaiFlagsSP.SP_RADAR_TRACKS.value
-        ret.radarUnavailable = False
+        if Params().get_bool("HyundaiRadarTracksAvailable"):
+          ret.radarUnavailable = False
 
     # *** panda safety config ***
     if candidate in CANFD_CAR:
@@ -142,6 +154,8 @@ class CarInterface(CarInterfaceBase):
         ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
       if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
         ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
+      if ret.spFlags & HyundaiFlagsSP.SP_UPSTREAM_TACO:
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_UPSTREAM_TACO
     else:
       if candidate in LEGACY_SAFETY_MODE_CAR:
         # these cars require a special panda safety mode due to missing counters and checksums in the messages
@@ -167,7 +181,8 @@ class CarInterface(CarInterfaceBase):
     elif ret.flags & HyundaiFlags.EV:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS
 
-    if candidate in (CAR.HYUNDAI_KONA, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_NON_SCC):
+    if candidate in (CAR.HYUNDAI_KONA, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022,
+                     CAR.HYUNDAI_KONA_NON_SCC, CAR.HYUNDAI_KONA_EV_NON_SCC):
       ret.flags |= HyundaiFlags.ALT_LIMITS.value
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS
 
@@ -177,16 +192,13 @@ class CarInterface(CarInterfaceBase):
     if 0x2AA in fingerprint[0]:
       ret.minSteerSpeed = 0.
 
-    if Params().get_bool("HkgSmoothStop"):
-      ret.vEgoStopping = 0.1
-
     return ret
 
   @staticmethod
   def init(CP, logcan, sendcan):
     if CP.openpilotLongitudinalControl and not ((CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) or (CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC)) and \
       CP.carFingerprint not in CAMERA_SCC_CAR:
-      addr, bus = 0x7d0, 0
+      addr, bus = 0x7d0, CanBus(CP).ECAN if CP.carFingerprint in CANFD_CAR else 0
       if CP.flags & HyundaiFlags.CANFD_HDA2.value:
         addr, bus = 0x730, CanBus(CP).ECAN
       disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')
@@ -201,7 +213,23 @@ class CarInterface(CarInterfaceBase):
     if CP.spFlags & HyundaiFlagsSP.SP_RADAR_TRACKS:
       enable_radar_tracks(logcan, sendcan, bus=0, addr=0x7d0, config_data_id=b'\x01\x42')
 
+      params = Params()
+      rt_avail = params.get_bool("HyundaiRadarTracksAvailable")
+      rt_avail_persist = params.get_bool("HyundaiRadarTracksAvailablePersistent")
+      params.put_bool_nonblocking("HyundaiRadarTracksAvailableCache", rt_avail)
+      if not rt_avail_persist:
+        messaging.drain_sock_raw(logcan)
+        fingerprint = can_fingerprint(lambda: get_one_can(logcan))
+        radar_unavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[CP.carFingerprint]["radar"] is None
+        params.put_bool_nonblocking("HyundaiRadarTracksAvailable", not radar_unavailable)
+        params.put_bool_nonblocking("HyundaiRadarTracksAvailablePersistent", True)
+
   def _update(self, c):
+    if not self.CS.control_initialized and not self.CP.pcmCruise:
+      can_cruise_main_default = self.CP.spFlags & HyundaiFlagsSP.SP_CAN_LFA_BTN and not self.CP.flags & HyundaiFlags.CANFD and \
+                                self.CS.params_list.hyundai_cruise_main_default
+      self.CS.mainEnabled = True if can_cruise_main_default or self.CP.carFingerprint in CANFD_CAR else False
+
     ret = self.CS.update(self.cp, self.cp_cam)
 
     self.CS.button_events = [
@@ -210,10 +238,9 @@ class CarInterface(CarInterfaceBase):
       *create_button_events(self.CS.main_buttons[-1], self.CS.prev_main_buttons, {1: ButtonType.altButton3}),
     ]
 
-    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
 
-    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
-                                                            self.CS.button_events, c.vCruise)
+    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled)
 
     if ret.cruiseState.available:
       if not self.CP.pcmCruiseSpeed:
@@ -221,12 +248,12 @@ class CarInterface(CarInterfaceBase):
           self.CS.accEnabled = True
 
     if self.enable_mads:
-      if not self.CS.prev_mads_enabled and self.CS.mads_enabled and \
-        any(b.type == ButtonType.altButton3 for b in self.CS.button_events):
+      if not self.CS.prev_mads_enabled and self.CS.mads_enabled and (self.CP.pcmCruise or
+        (any(b.type == ButtonType.altButton3 for b in self.CS.button_events) and not self.CP.pcmCruise)):
         self.CS.madsEnabled = True
       if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
         self.CS.madsEnabled = not self.CS.madsEnabled
-      self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
+      self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
 
     if not ret.cruiseState.available and self.CS.out.cruiseState.available:
       self.CS.madsEnabled = False
@@ -234,15 +261,15 @@ class CarInterface(CarInterfaceBase):
     if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed:
       if not self.CP.pcmCruise:
         if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-          self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+          self.get_sp_cancel_cruise_state()
       if not self.CP.pcmCruiseSpeed:
         if not ret.cruiseState.enabled:
-          self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+          self.get_sp_cancel_cruise_state()
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      self.get_sp_cancel_cruise_state()
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=(self.CS.cruise_buttons[-1] == 3))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
@@ -256,7 +283,7 @@ class CarInterface(CarInterfaceBase):
     events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.manumatic],
                                        pcm_enable=False, allow_enable=allow_enable)
 
-    events, ret = self.create_sp_events(self.CS, ret, events, main_enabled=True, allow_enable=allow_enable)
+    events, ret = self.create_sp_events(ret, events, main_enabled=True, allow_enable=allow_enable)
 
     # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
     if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
@@ -266,9 +293,10 @@ class CarInterface(CarInterfaceBase):
     if self.low_speed_alert and self.CS.madsEnabled:
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 
-    ret.customStockLong = self.CS.update_custom_stock_long(self.CC.cruise_button, self.CC.final_speed_kph,
-                                                           self.CC.target_speed, self.CC.v_set_dis,
-                                                           self.CC.speed_diff, self.CC.button_type)
+    if self.CS.params_list.hyundai_radar_tracks_available and not self.CS.params_list.hyundai_radar_tracks_available_cache:
+      events.add(car.CarEvent.EventName.hyundaiRadarTracksAvailable)
+
+    ret.customStockLong = self.update_custom_stock_long()
 
     ret.events = events.to_msg()
 

selfdrive/car/hyundai/values.py

@@ -3,7 +3,7 @@ from dataclasses import dataclass, field
 from enum import Enum, IntFlag
 
 from cereal import car
-from panda.python import uds
+from panda.python import uds, Panda
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
@@ -16,7 +16,7 @@ class CarControllerParams:
   ACCEL_MIN = -3.5 # m/s
   ACCEL_MAX = 2.0 # m/s
 
-  def __init__(self, CP):
+  def __init__(self, CP, vEgoRaw=100.):
     self.STEER_DELTA_UP = 3
     self.STEER_DELTA_DOWN = 7
     self.STEER_DRIVER_ALLOWANCE = 50
@@ -26,12 +26,13 @@ class CarControllerParams:
     self.STEER_STEP = 1  # 100 Hz
 
     if CP.carFingerprint in CANFD_CAR:
-      self.STEER_MAX = 270
-      self.STEER_DRIVER_ALLOWANCE = 250
+      upstream_taco = CP.safetyConfigs[-1].safetyParam & Panda.FLAG_HYUNDAI_UPSTREAM_TACO
+      self.STEER_MAX = 270 if not upstream_taco else 384 if vEgoRaw < 11. else 330
+      self.STEER_DRIVER_ALLOWANCE = 250 if not upstream_taco else 350
       self.STEER_DRIVER_MULTIPLIER = 2
-      self.STEER_THRESHOLD = 250
-      self.STEER_DELTA_UP = 2
-      self.STEER_DELTA_DOWN = 3
+      self.STEER_THRESHOLD = 250 if not upstream_taco else 350
+      self.STEER_DELTA_UP = 2 if not upstream_taco else 10 if vEgoRaw < 11. else 2
+      self.STEER_DELTA_DOWN = 3 if not upstream_taco else 10 if vEgoRaw < 11. else 3
 
     # To determine the limit for your car, find the maximum value that the stock LKAS will request.
     # If the max stock LKAS request is <384, add your car to this list.
@@ -108,6 +109,7 @@ class HyundaiFlagsSP(IntFlag):
   SP_CAMERA_SCC_LEAD = 2 ** 6
   SP_LKAS12 = 2 ** 7
   SP_RADAR_TRACKS = 2 ** 8
+  SP_UPSTREAM_TACO = 2 ** 9
 
 
 class Footnote(Enum):
@@ -574,6 +576,12 @@ class CAR(Platforms):
     HYUNDAI_KONA.specs,
     spFlags=HyundaiFlagsSP.SP_NON_SCC | HyundaiFlagsSP.SP_NON_SCC_FCA,
   )
+  HYUNDAI_KONA_EV_NON_SCC = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona Electric Non-SCC 2019", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_g]))],
+    HYUNDAI_KONA.specs,
+    flags=HyundaiFlags.EV,
+    spFlags=HyundaiFlagsSP.SP_NON_SCC | HyundaiFlagsSP.SP_NON_SCC_FCA,
+  )
   KIA_CEED_PHEV_2022_NON_SCC = HyundaiPlatformConfig(
     [HyundaiCarDocs("Kia Ceed PHEV Non-SCC 2022", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_i]))],
     CarSpecs(mass=1650, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),

selfdrive/car/interfaces.py

@@ -244,8 +244,6 @@ class CarInterfaceBase(ABC):
     self.cruise_cancelled_btn = True
     self.prev_acc_mads_combo = False
     self.mads_event_lock = True
-    self.gap_button_counter = 0
-    self.experimental_mode_hold = False
     self.last_mads_init = 0.
     self.madsEnabledInit = False
     self.madsEnabledInitPrev = False
@@ -408,7 +406,7 @@ class CarInterfaceBase(ABC):
 
   @staticmethod
   def sp_configure_custom_torque_tune(ret, params):
-    ret.lateralTuning.torque.friction = float(params.get("TorqueFriction", encoding="utf8")) * 0.01
+    ret.lateralTuning.torque.friction = float(params.get("TorqueFriction", encoding="utf8")) * 0.001
     ret.lateralTuning.torque.latAccelFactor = float(params.get("TorqueMaxLatAccel", encoding="utf8")) * 0.01
     return ret
 
@@ -550,20 +548,20 @@ class CarInterfaceBase(ABC):
   def sp_v_cruise_initialized(v_cruise):
     return v_cruise != V_CRUISE_UNSET
 
-  def get_acc_mads(self, cruiseState_enabled, acc_enabled, mads_enabled):
+  def get_acc_mads(self, cs_out, mads_enabled):
     if self.CS.params_list.acc_mads_combo:
-      if not self.prev_acc_mads_combo and (cruiseState_enabled or acc_enabled):
+      if not self.prev_acc_mads_combo and (cs_out.cruiseState.enabled or self.CS.accEnabled):
         mads_enabled = True
-      self.prev_acc_mads_combo = (cruiseState_enabled or acc_enabled)
+      self.prev_acc_mads_combo = (cs_out.cruiseState.enabled or self.CS.accEnabled)
 
     return mads_enabled
 
-  def get_sp_v_cruise_non_pcm_state(self, cs_out, acc_enabled, button_events, vCruise,
+  def get_sp_v_cruise_non_pcm_state(self, cs_out, vCruise, acc_enabled,
                                     enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise),
                                     resume_button=(ButtonType.accelCruise, ButtonType.resumeCruise)):
 
     if cs_out.cruiseState.available:
-      for b in button_events:
+      for b in self.CS.button_events:
         if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed:
           if b.type in enable_buttons and not b.pressed:
             acc_enabled = True
@@ -578,9 +576,9 @@ class CarInterfaceBase(ABC):
 
     return acc_enabled
 
-  def get_sp_cancel_cruise_state(self, mads_enabled, acc_enabled=False):
-    mads_enabled = False if not self.enable_mads or self.disengage_on_accelerator else mads_enabled
-    return mads_enabled, acc_enabled
+  def get_sp_cancel_cruise_state(self):
+    self.CS.madsEnabled = False if not self.enable_mads or self.disengage_on_accelerator else self.CS.madsEnabled
+    self.CS.accEnabled = False
 
   def get_sp_pedal_disengage(self, cs_out):
     accel_pedal = cs_out.gasPressed and not self.CS.out.gasPressed and self.disengage_on_accelerator
@@ -588,24 +586,22 @@ class CarInterfaceBase(ABC):
     regen = cs_out.regenBraking and (not self.CS.out.regenBraking or not cs_out.standstill)
     return accel_pedal or brake or regen
 
-  def get_sp_cruise_main_state(self, cs_out, CS):
-    if not CS.control_initialized:
-      mads_enabled = False
+  def get_sp_cruise_main_state(self, cs_out):
+    if not self.CS.control_initialized:
+      return False
     elif not self.CS.params_list.mads_main_toggle:
-      mads_enabled = False
+      return False
     else:
-      mads_enabled = cs_out.cruiseState.available
+      return cs_out.cruiseState.available
 
-    return mads_enabled
-
-  def get_sp_started_mads(self, cs_out, CS):
-    if not cs_out.cruiseState.available and CS.out.cruiseState.available:
+  def get_sp_started_mads(self, cs_out, mads_enabled):
+    if not cs_out.cruiseState.available and self.CS.out.cruiseState.available:
       self.madsEnabledInit = False
       self.madsEnabledInitPrev = False
       return False
     if not self.CS.params_list.mads_main_toggle or self.prev_acc_mads_combo:
-      return CS.madsEnabled
-    if not self.madsEnabledInit and CS.madsEnabled:
+      return mads_enabled
+    if not self.madsEnabledInit and self.CS.madsEnabled:
       self.madsEnabledInit = True
       self.last_mads_init = time.monotonic()
     if cs_out.gearShifter not in FORWARD_GEARS:
@@ -616,19 +612,16 @@ class CarInterfaceBase(ABC):
       self.madsEnabledInitPrev = True
       return cs_out.cruiseState.available
     else:
-      return CS.madsEnabled
+      return mads_enabled
 
-  def get_sp_common_state(self, cs_out, CS, gear_allowed=True, gap_button=False):
-    cs_out.cruiseState.enabled = CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed else cs_out.cruiseState.enabled
+  def get_sp_common_state(self, cs_out, gear_allowed=True):
+    cs_out.cruiseState.enabled = self.CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed else cs_out.cruiseState.enabled
 
     if not self.enable_mads:
-      if cs_out.cruiseState.enabled and not CS.out.cruiseState.enabled:
-        CS.madsEnabled = True
-      elif not cs_out.cruiseState.enabled and CS.out.cruiseState.enabled:
-        CS.madsEnabled = False
-
-    if self.CP.openpilotLongitudinalControl:
-      self.toggle_exp_mode(gap_button)
+      if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
+        self.CS.madsEnabled = True
+      elif not cs_out.cruiseState.enabled and self.CS.out.cruiseState.enabled:
+        self.CS.madsEnabled = False
 
     lane_change_speed_min = get_min_lateral_speed(self.CS.params_list.pause_lateral_speed, self.CS.params_list.is_metric)
 
@@ -640,37 +633,24 @@ class CarInterfaceBase(ABC):
 
     cs_out.latActive = gear_allowed
 
-    if not CS.control_initialized:
-      CS.control_initialized = True
+    if not self.CS.control_initialized:
+      self.CS.control_initialized = True
 
     # Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
     if (cs_out.gasPressed and not self.CS.out.gasPressed and self.disengage_on_accelerator) or \
       (cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)) or \
       (cs_out.regenBraking and (not self.CS.out.regenBraking or not cs_out.standstill)):
-      if CS.madsEnabled:
-        CS.disengageByBrake = True
+      if self.CS.madsEnabled:
+        self.CS.disengageByBrake = True
 
-    cs_out.madsEnabled = CS.madsEnabled
-    cs_out.accEnabled = CS.accEnabled
-    cs_out.disengageByBrake = CS.disengageByBrake
+    cs_out.madsEnabled = self.CS.madsEnabled
+    cs_out.accEnabled = self.CS.accEnabled
+    cs_out.disengageByBrake = self.CS.disengageByBrake
     cs_out.brakeLightsDEPRECATED |= cs_out.brakePressed or cs_out.brakeHoldActive or cs_out.parkingBrake or cs_out.regenBraking
 
-    return cs_out, CS
+    return cs_out
 
-  # TODO: SP: use upstream's buttonEvents counter checks from controlsd
-  def toggle_exp_mode(self, gap_pressed):
-    if gap_pressed:
-      if not self.experimental_mode_hold:
-        self.gap_button_counter += 1
-        if self.gap_button_counter > 50:
-          self.gap_button_counter = 0
-          self.experimental_mode_hold = True
-          self.param_s.put_bool_nonblocking("ExperimentalMode", not self.CS.params_list.experimental_mode)
-    else:
-      self.gap_button_counter = 0
-      self.experimental_mode_hold = False
-
-  def create_sp_events(self, CS, cs_out, events, main_enabled=False, allow_enable=True, enable_pressed=False,
+  def create_sp_events(self, cs_out, events, main_enabled=False, allow_enable=True, enable_pressed=False,
                        enable_from_brake=False, enable_pressed_long=False,
                        enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
 
@@ -678,7 +658,7 @@ class CarInterfaceBase(ABC):
       if cs_out.disengageByBrake and cs_out.madsEnabled:
         enable_pressed = True
         enable_from_brake = True
-      CS.disengageByBrake = False
+      self.CS.disengageByBrake = False
       cs_out.disengageByBrake = False
 
     for b in cs_out.buttonEvents:
@@ -707,11 +687,11 @@ class CarInterfaceBase(ABC):
     if self.CP.pcmCruise:
       # do disable on button down
       if main_enabled:
-        if any(CS.main_buttons) and not cs_out.cruiseState.enabled:
+        if any(self.CS.main_buttons) and not cs_out.cruiseState.enabled:
           if not cs_out.madsEnabled:
             events.add(EventName.buttonCancel)
       # do enable on both accel and decel buttons
-      if cs_out.cruiseState.enabled and not CS.out.cruiseState.enabled and allow_enable:
+      if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled and allow_enable:
         enable_pressed = True
         enable_pressed_long = True
       elif not cs_out.cruiseState.enabled:
@@ -731,6 +711,16 @@ class CarInterfaceBase(ABC):
 
     return events, cs_out
 
+  def update_custom_stock_long(self):
+    customStockLong = car.CarState.CustomStockLong.new_message()
+    customStockLong.cruiseButton = 0 if self.CC.cruise_button is None else int(self.CC.cruise_button)
+    customStockLong.finalSpeedKph = float(self.CC.final_speed_kph)
+    customStockLong.targetSpeed = float(self.CC.target_speed)
+    customStockLong.vSetDis = float(self.CC.v_set_dis)
+    customStockLong.speedDiff = float(self.CC.speed_diff)
+    customStockLong.buttonType = int(self.CC.button_type)
+    return customStockLong
+
 class RadarInterfaceBase(ABC):
   def __init__(self, CP):
     self.CP = CP
@@ -834,16 +824,6 @@ class CarStateBase(ABC):
 
     return bool(left_blinker_stalk or self.left_blinker_cnt > 0), bool(right_blinker_stalk or self.right_blinker_cnt > 0)
 
-  def update_custom_stock_long(self, cruise_button, final_speed_kph, target_speed, v_set_dis, speed_diff, button_type):
-    customStockLong = car.CarState.CustomStockLong.new_message()
-    customStockLong.cruiseButton = 0 if cruise_button is None else cruise_button
-    customStockLong.finalSpeedKph = final_speed_kph
-    customStockLong.targetSpeed = target_speed
-    customStockLong.vSetDis = v_set_dis
-    customStockLong.speedDiff = speed_diff
-    customStockLong.buttonType = button_type
-    return customStockLong
-
   @staticmethod
   def parse_gear_shifter(gear: str | None) -> car.CarState.GearShifter:
     if gear is None:
@@ -876,6 +856,13 @@ class CarControllerBase(ABC):
     self.CP = CP
     self.frame = 0
 
+    self.cruise_button = 0
+    self.final_speed_kph = 0.0
+    self.target_speed = 0.0
+    self.v_set_dis = 0.0
+    self.speed_diff = 0.0
+    self.button_type = 0
+
   @abstractmethod
   def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
     pass

selfdrive/car/mazda/interface.py

@@ -45,10 +45,9 @@ class CarInterface(CarInterfaceBase):
       *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
     ]
 
-    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
 
-    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
-                                                            self.CS.button_events, c.vCruise)
+    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled)
 
     if ret.cruiseState.available:
       if self.enable_mads:
@@ -56,15 +55,15 @@ class CarInterface(CarInterfaceBase):
           self.CS.madsEnabled = True
         if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
           self.CS.madsEnabled = not self.CS.madsEnabled
-        self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
+        self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
     else:
       self.CS.madsEnabled = False
 
     if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
       if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+        self.get_sp_cancel_cruise_state()
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      self.get_sp_cancel_cruise_state()
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
 
     if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
@@ -72,7 +71,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
@@ -83,16 +82,14 @@ class CarInterface(CarInterfaceBase):
     events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake],
                                        pcm_enable=False)
 
-    events, ret = self.create_sp_events(self.CS, ret, events)
+    events, ret = self.create_sp_events(ret, events)
 
     #if self.CS.lkas_disabled:
     #  events.add(EventName.lkasDisabled)
     if self.CS.low_speed_alert:
       events.add(EventName.belowSteerSpeed)
 
-    ret.customStockLong = self.CS.update_custom_stock_long(self.CC.cruise_button, self.CC.final_speed_kph,
-                                                           self.CC.target_speed, self.CC.v_set_dis,
-                                                           self.CC.speed_diff, self.CC.button_type)
+    ret.customStockLong = self.update_custom_stock_long()
 
     ret.events = events.to_msg()
 

selfdrive/car/nissan/interface.py

@@ -35,22 +35,22 @@ class CarInterface(CarInterfaceBase):
 
     self.CS.button_events = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
-    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
 
     if ret.cruiseState.available:
       if self.enable_mads:
         if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
           self.CS.madsEnabled = True
-        self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
+        self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
     else:
       self.CS.madsEnabled = False
 
     if (not ret.cruiseState.enabled and self.CS.out.cruiseState.enabled) or \
        self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      self.get_sp_cancel_cruise_state()
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
@@ -61,7 +61,7 @@ class CarInterface(CarInterfaceBase):
     events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake],
                                        pcm_enable=False)
 
-    events, ret = self.create_sp_events(self.CS, ret, events)
+    events, ret = self.create_sp_events(ret, events)
 
     if self.CS.lkas_enabled:
       events.add(car.CarEvent.EventName.invalidLkasSetting)

selfdrive/car/param_manager.py

@@ -9,8 +9,11 @@ class ParamManager:
       "acc_mads_combo": False,
       "below_speed_pause": False,
       "experimental_mode": False,
+      "hyundai_radar_tracks_available": False,
+      "hyundai_radar_tracks_available_cache": False,
       "is_metric": False,
       "last_speed_limit_sign_tap": False,
+      "hyundai_cruise_main_default": False,
       "mads_main_toggle": False,
       "pause_lateral_speed": 0,
       "reverse_acc_change": False,
@@ -35,8 +38,11 @@ class ParamManager:
       "acc_mads_combo": params.get_bool("AccMadsCombo"),
       "below_speed_pause": params.get_bool("BelowSpeedPause"),
       "experimental_mode": params.get_bool("ExperimentalMode"),
+      "hyundai_radar_tracks_available": params.get_bool("HyundaiRadarTracksAvailable"),
+      "hyundai_radar_tracks_available_cache": params.get_bool("HyundaiRadarTracksAvailableCache"),
       "is_metric": params.get_bool("IsMetric"),
       "last_speed_limit_sign_tap": params.get_bool("LastSpeedLimitSignTap"),
+      "hyundai_cruise_main_default": params.get_bool("HyundaiCruiseMainDefault"),
       "mads_main_toggle": params.get_bool("MadsCruiseMain"),
       "pause_lateral_speed": int(params.get("PauseLateralSpeed", encoding="utf8")),
       "reverse_acc_change": params.get_bool("ReverseAccChange"),

selfdrive/car/subaru/interface.py

@@ -117,7 +117,7 @@ class CarInterface(CarInterfaceBase):
 
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
 
-    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
 
     if ret.cruiseState.available:
       if self.enable_mads:
@@ -128,7 +128,7 @@ class CarInterface(CarInterfaceBase):
             self.CS.madsEnabled = not self.CS.madsEnabled
           elif self.CS.prev_lkas_enabled != self.CS.lkas_enabled and self.CS.prev_lkas_enabled == 2 and self.CS.lkas_enabled != 1:
             self.CS.madsEnabled = not self.CS.madsEnabled
-        self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
+        self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
     else:
       self.CS.madsEnabled = False
 
@@ -137,10 +137,10 @@ class CarInterface(CarInterfaceBase):
         if not self.enable_mads:
           self.CS.madsEnabled = False
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      self.get_sp_cancel_cruise_state()
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS)
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
@@ -150,7 +150,7 @@ class CarInterface(CarInterfaceBase):
 
     events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low], pcm_enable=False)
 
-    events, ret = self.create_sp_events(self.CS, ret, events)
+    events, ret = self.create_sp_events(ret, events)
 
     ret.events = events.to_msg()
 

selfdrive/car/subaru/values.py

@@ -21,7 +21,7 @@ class CarControllerParams:
     self.STEER_DRIVER_FACTOR = 1       # from dbc
 
     if CP.flags & SubaruFlags.GLOBAL_GEN2:
-      self.STEER_MAX = 1000
+      self.STEER_MAX = 1600
       self.STEER_DELTA_UP = 40
       self.STEER_DELTA_DOWN = 40
     elif CP.carFingerprint == CAR.SUBARU_IMPREZA_2020:

selfdrive/car/sunnypilot/fingerprinting.py

@@ -0,0 +1,37 @@
+from collections.abc import Callable
+
+import cereal.messaging as messaging
+from openpilot.selfdrive.car import gen_empty_fingerprint
+
+FRAME_FINGERPRINT = 25  # 0.25s
+
+
+def get_one_can(logcan):
+  while True:
+    can = messaging.recv_one_retry(logcan)
+    if len(can.can) > 0:
+      return can
+
+
+def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]:
+  finger = gen_empty_fingerprint()
+  frame = 0
+  done = False
+
+  while not done:
+    a = next_can()
+
+    for can in a.can:
+      # The fingerprint dict is generated for all buses, this way the car interface
+      # can use it to detect a (valid) multipanda setup and initialize accordingly
+      if can.src < 128:
+        if can.src not in finger:
+          finger[can.src] = {}
+        finger[can.src][can.address] = len(can.dat)
+
+    # bail if we've been waiting for more than 2s
+    done = frame > 100
+
+    frame += 1
+
+  return finger

selfdrive/car/sunnypilot_carname.json

@@ -29,6 +29,9 @@
   "Ford Escape Plug-in Hybrid 2020-22": "FORD_ESCAPE_MK4",
   "Ford Explorer 2020-23": "FORD_EXPLORER_MK6",
   "Ford Explorer Hybrid 2020-23": "FORD_EXPLORER_MK6",
+  "Ford F-150 2022-23": "FORD_F_150_MK14",
+  "Ford F-150 Hybrid 2022-23": "FORD_F_150_MK14",
+  "Ford F-150 Lightning 2021-23": "FORD_F_150_LIGHTNING_MK1",
   "Ford Focus 2018": "FORD_FOCUS_MK4",
   "Ford Focus Hybrid 2018": "FORD_FOCUS_MK4",
   "Ford Kuga 2020-22": "FORD_ESCAPE_MK4",
@@ -38,6 +41,8 @@
   "Ford Maverick 2023-24": "FORD_MAVERICK_MK1",
   "Ford Maverick Hybrid 2022": "FORD_MAVERICK_MK1",
   "Ford Maverick Hybrid 2023-24": "FORD_MAVERICK_MK1",
+  "Ford Mustang Mach-E 2021-23": "FORD_MUSTANG_MACH_E_MK1",
+  "Ford Ranger 2024": "FORD_RANGER_MK2",
   "Genesis G70 2018": "GENESIS_G70",
   "Genesis G70 2019-21": "GENESIS_G70_2020",
   "Genesis G70 2022-23": "GENESIS_G70_2020",
@@ -101,6 +106,7 @@
   "Hyundai Kona Electric 2018-21": "HYUNDAI_KONA_EV",
   "Hyundai Kona Electric 2022-23": "HYUNDAI_KONA_EV_2022",
   "Hyundai Kona Electric (with HDA II, Korea only) 2023": "HYUNDAI_KONA_EV_2ND_GEN",
+  "Hyundai Kona Electric Non-SCC 2019": "HYUNDAI_KONA_EV_NON_SCC",
   "Hyundai Kona Hybrid 2020": "HYUNDAI_KONA_HEV",
   "Hyundai Kona Non-SCC 2019": "HYUNDAI_KONA_NON_SCC",
   "Hyundai Palisade 2020-22": "HYUNDAI_PALISADE",

selfdrive/car/tests/routes.py

@@ -17,7 +17,6 @@ from openpilot.selfdrive.car.body.values import CAR as COMMA
 
 # TODO: add routes for these cars
 non_tested_cars = [
-  FORD.FORD_F_150_MK14,
   GM.CADILLAC_ATS,
   GM.HOLDEN_ASTRA,
   GM.CHEVROLET_MALIBU,
@@ -54,6 +53,7 @@ routes = [
   CarTestRoute("e886087f430e7fe7|2023-06-16--23-06-36", FORD.FORD_FOCUS_MK4),
   CarTestRoute("bd37e43731e5964b|2023-04-30--10-42-26", FORD.FORD_MAVERICK_MK1),
   CarTestRoute("112e4d6e0cad05e1|2023-11-14--08-21-43", FORD.FORD_F_150_LIGHTNING_MK1),
+  CarTestRoute("24574459dd7fb3e0|2023-11-06--06-23-44", FORD.FORD_F_150_MK14),
   CarTestRoute("83a4e056c7072678|2023-11-13--16-51-33", FORD.FORD_MUSTANG_MACH_E_MK1),
   CarTestRoute("37998aa0fade36ab/00000000--48f927c4f5", FORD.FORD_RANGER_MK2),
   #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),

selfdrive/car/torque_data/substitute.toml

@@ -86,6 +86,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "KIA_FORTE_2021_NON_SCC" = "HYUNDAI_SONATA"
 "KIA_SELTOS_2023_NON_SCC" = "HYUNDAI_SONATA"
 "HYUNDAI_KONA_NON_SCC" = "HYUNDAI_KONA_EV"
+"HYUNDAI_KONA_EV_NON_SCC" = "HYUNDAI_KONA_EV"
 "HYUNDAI_ELANTRA_2022_NON_SCC" = "HYUNDAI_ELANTRA_2021"
 "GENESIS_G70_2021_NON_SCC" = "HYUNDAI_SONATA"
 "KIA_CEED_PHEV_2022_NON_SCC" = "HYUNDAI_SONATA"

selfdrive/car/toyota/carstate.py

@@ -1,18 +1,19 @@
 import copy
 
-from cereal import car
+from cereal import car, custom
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import mean
 from openpilot.common.filter_simple import FirstOrderFilter
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.params import Params
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.toyota.values import ToyotaFlags, ToyotaFlagsSP, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                   TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
 
 SteerControlType = car.CarParams.SteerControlType
-
+AccelPersonality = custom.AccelerationPersonality
 # These steering fault definitions seem to be common across LKA (torque) and LTA (angle):
 # - high steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds
 # - lka/lta msg drop out: goes to 9 then 11 for a combined total of 2 seconds, then 3.
@@ -79,6 +80,13 @@ class CarState(CarStateBase):
     self._right_blindspot_d2 = 0
     self._right_blindspot_counter = 0
 
+    self.signals_checked = False
+    self.sport_signal_seen = False
+    self.eco_signal_seen = False
+    self.accel_profile = None
+    self.prev_accel_profile = None
+    self.accel_profile_init = False
+    self.toyota_drive_mode = Params().get_bool('ToyotaDriveMode')
     self.frame = 0
 
   def update(self, cp, cp_cam):
@@ -176,6 +184,51 @@ class CarState(CarStateBase):
     ret.leftBlinker = ret.leftBlinkerOn = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 1
     ret.rightBlinker = ret.rightBlinkerOn = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 2
 
+    if self.toyota_drive_mode:
+      # Determine sport signal based on car model
+      sport_signal = 'SPORT_ON_2' if self.CP.carFingerprint in (CAR.TOYOTA_RAV4_TSS2, CAR.LEXUS_ES_TSS2, CAR.TOYOTA_HIGHLANDER_TSS2) else 'SPORT_ON'
+
+      # Check signals once
+      if not self.signals_checked:
+        self.signals_checked = True
+
+        # Try to detect sport mode signal, handle missing signal with a fallback
+        try:
+          sport_mode = cp.vl["GEAR_PACKET"][sport_signal]
+          self.sport_signal_seen = True
+        except KeyError:
+          sport_mode = 0
+          self.sport_signal_seen = False
+
+        # Try to detect eco mode signal, handle missing signal with a fallback
+        try:
+          eco_mode = cp.vl["GEAR_PACKET"]['ECON_ON']
+          self.eco_signal_seen = True
+        except KeyError:
+          eco_mode = 0
+          self.eco_signal_seen = False
+      else:
+        # Always re-check the signals to account for mode changes
+        sport_mode = cp.vl["GEAR_PACKET"][sport_signal] if self.sport_signal_seen else 0
+        eco_mode = cp.vl["GEAR_PACKET"]['ECON_ON'] if self.eco_signal_seen else 0
+
+      # Set acceleration profile based on detected modes, with sport mode having higher priority
+      if sport_mode == 1:
+        self.accel_profile = AccelPersonality.sport
+      elif eco_mode == 1:
+        self.accel_profile = AccelPersonality.eco
+      else:
+        self.accel_profile = AccelPersonality.normal
+
+      print(f"Accel profile set to: {self.accel_profile}")
+
+      # If not initialized, sync profile with the current mode on the car
+      if not self.accel_profile_init or self.accel_profile != self.prev_accel_profile:
+        Params().put_nonblocking('AccelPersonality', str(self.accel_profile))
+        self.accel_profile_init = True
+        # Update the previous profile to prevent unnecessary re-syncing
+        self.prev_accel_profile = self.accel_profile
+
     if self.CP.carFingerprint != CAR.TOYOTA_MIRAI:
       ret.engineRpm = cp.vl["ENGINE_RPM"]["RPM"]
 

selfdrive/car/toyota/interface.py

@@ -160,26 +160,26 @@ class CarInterface(CarInterfaceBase):
 
     sp_tss2_long_tune = Params().get_bool("ToyotaTSS2Long")
 
-    # hand tuned (July 1, 2024)
-    def custom_tss2_longitudinal_tuning():
-      ret.vEgoStopping = 0.01
-      ret.vEgoStarting = 0.01
-      ret.stoppingDecelRate = 0.35
-
-    def default_tss2_longitudinal_tuning():
+    # Last updated: September 29, 2024
+    def custom_tss2_longitudinal_tuning(): # hand tuned
       ret.vEgoStopping = 0.25
-      ret.vEgoStarting = 0.25
-      ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
+      ret.vEgoStarting = 0.01
+      ret.stoppingDecelRate = 0.006
 
-    def default_longitudinal_tuning():
+    def default_tss2_longitudinal_tuning(): # stock comma
+      ret.vEgoStopping = 0.25
+      ret.vEgoStarting = 0.10
+      ret.stoppingDecelRate = 0.007  # reach stopping target smoothly
+
+    def default_longitudinal_tuning(): # stock comma
       tune.kiBP = [0., 5., 35.]
       tune.kiV = [3.6, 2.4, 1.5]
 
     tune = ret.longitudinalTuning
     if candidate in TSS2_CAR or ret.enableGasInterceptorDEPRECATED:
       if sp_tss2_long_tune:
-        tune.kiBP = [0., 5., 12., 20., 27., 36., 50]
-        tune.kiV = [0.35, 0.23, 0.20, 0.17, 0.10, 0.07, 0.01]
+        tune.kiBP = [0.,  5.,   12.,  20.,  27.,  36.,  40.]
+        tune.kiV = [0.34, 0.234, 0.20, 0.17, 0.105, 0.09, 0.08]
         custom_tss2_longitudinal_tuning()
       else:
         tune.kpV = [0.0]
@@ -208,13 +208,10 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
-    distance_button = 0
-
     if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER):
       self.CS.button_events = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
-      distance_button = self.CS.distance_button
 
-    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
 
     if ret.cruiseState.available:
       if self.enable_mads:
@@ -229,16 +226,16 @@ class CarInterface(CarInterfaceBase):
             if (not self.CS.prev_lkas_enabled and self.CS.lkas_enabled) or \
               (self.CS.prev_lkas_enabled == 1 and not self.CS.lkas_enabled):
               self.CS.madsEnabled = not self.CS.madsEnabled
-        self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
+        self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
     else:
       self.CS.madsEnabled = False
 
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      self.get_sp_cancel_cruise_state()
       if not self.CP.pcmCruise:
         ret.cruiseState.enabled = self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(distance_button))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
@@ -250,7 +247,7 @@ class CarInterface(CarInterfaceBase):
     events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake],
                                        pcm_enable=False)
 
-    events, ret = self.create_sp_events(self.CS, ret, events)
+    events, ret = self.create_sp_events(ret, events)
 
     # Lane Tracing Assist control is unavailable (EPS_STATUS->LTA_STATE=0) until
     # the more accurate angle sensor signal is initialized

selfdrive/car/volkswagen/interface.py

@@ -114,26 +114,25 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
 
-    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
 
-    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
-                                                            self.CS.button_events, c.vCruise,
+    self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled,
                                                             enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
 
     if ret.cruiseState.available:
       if self.enable_mads:
         if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
           self.CS.madsEnabled = True
-        self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
+        self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
     else:
       self.CS.madsEnabled = False
-    self.CS.madsEnabled = self.get_sp_started_mads(ret, self.CS)
+    self.CS.madsEnabled = self.get_sp_started_mads(ret, self.CS.madsEnabled)
 
     if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
       if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+        self.get_sp_cancel_cruise_state()
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      self.get_sp_cancel_cruise_state()
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
 
     if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
@@ -141,8 +140,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS,
-                                            gap_button=any(b.type == ButtonType.gapAdjustCruise and b.pressed for b in self.CS.button_events))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
@@ -153,7 +151,7 @@ class CarInterface(CarInterfaceBase):
                                        pcm_enable=False,
                                        enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
 
-    events, ret = self.create_sp_events(self.CS, ret, events,
+    events, ret = self.create_sp_events(ret, events,
                                         enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
 
     # Low speed steer alert hysteresis logic
@@ -173,9 +171,7 @@ class CarInterface(CarInterfaceBase):
     if self.CC.eps_timer_soft_disable_alert:
       events.add(EventName.steerTimeLimit)
 
-    ret.customStockLong = self.CS.update_custom_stock_long(self.CC.cruise_button, self.CC.final_speed_kph,
-                                                           self.CC.target_speed, self.CC.v_set_dis,
-                                                           self.CC.speed_diff, self.CC.button_type)
+    ret.customStockLong = self.update_custom_stock_long()
 
     ret.events = events.to_msg()
 

selfdrive/controls/controlsd.py

@@ -20,7 +20,7 @@ from openpilot.common.swaglog import cloudlog
 
 from openpilot.selfdrive.car.car_helpers import get_car_interface, get_startup_event
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
-from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature, get_lag_adjusted_curvature
+from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature, get_lag_adjusted_curvature, CRUISE_LONG_PRESS
 from openpilot.selfdrive.controls.lib.events import Events, ET
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
@@ -174,17 +174,27 @@ class Controls:
 
     self.live_torque = self.params.get_bool("LiveTorque")
     self.torqued_override = self.params.get_bool("TorquedOverride")
+    self.custom_stock_planner_speed = self.params.get_bool("CustomStockLongPlanner")
 
     self.enable_mads = self.params.get_bool("EnableMads")
     self.mads_disengage_lateral_on_brake = self.params.get_bool("DisengageLateralOnBrake")
     self.mads_ndlob = self.enable_mads and not self.mads_disengage_lateral_on_brake
+    self.pcm_v_cruise_override = self.params.get_bool("PCMVCruiseOverride")
+    self.pcm_v_cruise_override_speed = int(self.params.get("PCMVCruiseOverrideSpeed", encoding="utf-8"))
     self.process_not_running = False
+    self.experimental_mode_update = False
 
     self.custom_model_metadata = CustomModelMetadata(params=self.params, init_only=True)
     self.model_use_lateral_planner = self.custom_model_metadata.valid and \
                                      self.custom_model_metadata.capabilities & ModelCapabilities.LateralPlannerSolution
 
     self.dynamic_personality = self.params.get_bool("DynamicPersonality")
+    self.overtaking_accel = self.params.get_bool("OvertakingAccelerationAssist")
+    self.overtaking_accel_engaged = False
+    self.prev_overtaking_accel_engaged = False
+    self.overtaking_accel_allowed = False
+    self.prev_overtaking_accel_allowed = False
+    self.overtaking_accel_blocked = False
 
     self.accel_personality = self.read_accel_personality_param()
 
@@ -489,7 +499,9 @@ class Controls:
   def state_transition(self, CS):
     """Compute conditional state transitions and execute actions on state transitions"""
 
-    self.v_cruise_helper.update_v_cruise(CS, self.enabled_long, self.is_metric, self.reverse_acc_change, self.sm['longitudinalPlanSP'])
+    # sp - PCM speed override
+    sp_override_speed = self.pcm_v_cruise_override_speed if self.pcm_v_cruise_override else False
+    self.v_cruise_helper.update_v_cruise(CS, self.enabled_long, self.is_metric, self.reverse_acc_change, sp_override_speed, self.sm['longitudinalPlanSP'])
 
     # decrement the soft disable timer at every step, as it's reset on
     # entrance in SOFT_DISABLING state
@@ -638,9 +650,15 @@ class Controls:
       self.LoC.reset()
 
     if not self.joystick_mode:
+      speeds = long_plan.speeds
+      a_lead = self.sm['radarState'].leadOne.aLeadK
+      resume = False
+      if len(speeds):
+        resume = self.enabled_long and CS.standstill and self.CP.carName == "hyundai" and speeds[-1] > 0.1 and a_lead > 0.1
+
       # accel PID loop
       pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
-      actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits)
+      actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits, resume)
 
       # Steering PID loop and lateral MPC
       if self.model_use_lateral_planner:
@@ -717,11 +735,21 @@ class Controls:
         cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
         setattr(actuators, p, 0.0)
 
+    # toggle experimental mode once on distance button hold
+    if self.CP.openpilotLongitudinalControl:
+      if self.v_cruise_helper.button_timers[ButtonType.gapAdjustCruise] == CRUISE_LONG_PRESS and \
+            not self.experimental_mode_update:
+        self.experimental_mode = not self.experimental_mode
+        self.params.put_bool_nonblocking("ExperimentalMode", self.experimental_mode)
+        self.experimental_mode_update = True
+
     # decrement personality on distance button press
     if self.CP.openpilotLongitudinalControl:
       if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
-        self.personality = (self.personality - 1) % 3
-        self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
+        if not self.experimental_mode_update:
+          self.personality = (self.personality - 1) % 3
+          self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
+        self.experimental_mode_update = False
 
     return CC, lac_log
 
@@ -806,11 +834,36 @@ class Controls:
 
     # Curvature & Steering angle
     lp = self.sm['liveParameters']
-    lp_mono_time_svs = 'lateralPlanDEPRECATED' if self.model_use_lateral_planner else 'modelV2'
+    dh = 'lateralPlanDEPRECATED' if self.model_use_lateral_planner else 'modelV2'
 
     steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg)
     curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll)
 
+    lat_plan = self.sm['lateralPlanDEPRECATED']
+    long_plan = self.sm['longitudinalPlan']
+    dm_state = self.sm['driverMonitoringState']
+    blinker_svs = lat_plan if self.model_use_lateral_planner else model_v2.meta
+    self.prev_overtaking_accel_allowed = self.overtaking_accel_allowed
+    if not self.overtaking_accel_allowed and not self.prev_overtaking_accel_allowed:
+      self.overtaking_accel_blocked = False
+    self.overtaking_accel_allowed = ((blinker_svs.laneChangeDirection == LaneChangeDirection.right and dm_state.isRHD) or
+                                     (blinker_svs.laneChangeDirection == LaneChangeDirection.left and not dm_state.isRHD)) and \
+                                    (blinker_svs.laneChangeState in (LaneChangeState.preLaneChange, LaneChangeState.laneChangeStarting)) and \
+                                    not self.overtaking_accel_blocked
+    self.prev_overtaking_accel_engaged = self.overtaking_accel_engaged
+    ttc = self.sm['radarState'].leadOne.dRel / CS.vEgo if CS.vEgo > 0 else 255
+    overtaking_accel_engaged = self.overtaking_accel and self.overtaking_accel_allowed and \
+                               (CS.vEgo > ((60 * CV.KPH_TO_MS) if self.is_metric else (40 * CV.MPH_TO_MS))) and \
+                               not (CS.leftBlinker and CS.rightBlinker)
+    if ttc < 0.75 and self.prev_overtaking_accel_engaged and overtaking_accel_engaged:
+      overtaking_accel_engaged = False
+      self.overtaking_accel_blocked = True
+    if overtaking_accel_engaged and not self.prev_overtaking_accel_engaged and \
+      long_plan.hasLead and long_plan.aTarget > -0.1 and (0.75 < ttc < 3.0):
+      self.overtaking_accel_engaged = True
+    elif not overtaking_accel_engaged:
+      self.overtaking_accel_engaged = False
+
     # controlsState
     dat = messaging.new_message('controlsState')
     dat.valid = CS.canValid
@@ -825,7 +878,7 @@ class Controls:
       controlsState.alertSound = current_alert.audible_alert
 
     controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
-    controlsState.lateralPlanMonoTime = self.sm.logMonoTime[lp_mono_time_svs]
+    controlsState.lateralPlanMonoTime = self.sm.logMonoTime[dh]
     controlsState.enabled = not (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) and (self.enabled or CS.cruiseState.enabled) and CS.gearShifter not in [GearShifter.park, GearShifter.reverse]
     controlsState.active = not (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) and (self.active or CS.cruiseState.enabled)
     controlsState.curvature = curvature
@@ -863,6 +916,7 @@ class Controls:
     controlsStateSP.personality = self.personality
     controlsStateSP.dynamicPersonality = self.dynamic_personality
     controlsStateSP.accelPersonality = self.accel_personality
+    controlsStateSP.overtakingAccelerationAssist = self.overtaking_accel_engaged
 
     if self.enable_nnff and lat_tuning == 'torque':
       controlsStateSP.lateralControlState.torqueState = self.LaC.pid_long_sp
@@ -920,7 +974,8 @@ class Controls:
   def params_thread(self, evt):
     while not evt.is_set():
       self.is_metric = self.params.get_bool("IsMetric")
-      self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
+      self.experimental_mode = self.params.get_bool("ExperimentalMode") and (self.CP.openpilotLongitudinalControl or
+                                                                             (not self.CP.pcmCruiseSpeed and self.custom_stock_planner_speed))
       self.personality = self.read_personality_param()
       self.dynamic_personality = self.params.get_bool("DynamicPersonality")
       self.accel_personality = self.read_accel_personality_param()
@@ -929,9 +984,11 @@ class Controls:
 
       self.reverse_acc_change = self.params.get_bool("ReverseAccChange")
       self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
+      self.overtaking_accel = self.params.get_bool("OvertakingAccelerationAssist")
 
       if self.sm.frame % int(2.5 / DT_CTRL) == 0:
         self.live_torque = self.params.get_bool("LiveTorque")
+        self.custom_stock_planner_speed = self.params.get_bool("CustomStockLongPlanner")
       time.sleep(0.1)
 
   def controlsd_thread(self):

selfdrive/controls/lib/drive_helpers.py

@@ -65,6 +65,10 @@ VOLKSWAGEN_V_CRUISE_MIN = {
   True: 30,
   False: int(20 * CV.MPH_TO_KPH),
 }
+GM_V_CRUISE_MIN = {
+  True: 30,
+  False: int(20 * CV.MPH_TO_KPH),
+}
 
 SpeedLimitControlState = custom.LongitudinalPlanSP.SpeedLimitControlState
 
@@ -75,7 +79,7 @@ class VCruiseHelper:
     self.v_cruise_kph = V_CRUISE_UNSET
     self.v_cruise_cluster_kph = V_CRUISE_UNSET
     self.v_cruise_kph_last = 0
-    self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0}
+    self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0, ButtonType.gapAdjustCruise: 0}
     self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers}
 
     self.is_metric_prev = None
@@ -84,12 +88,20 @@ class VCruiseHelper:
     self.slc_state_prev = SpeedLimitControlState.inactive
     self.slc_speed_limit_offsetted = 0
 
+    # sp: PCM speed override
+    self.sp_override_v_cruise_kph = V_CRUISE_UNSET
+    self.sp_override_cruise_speed_last = V_CRUISE_UNSET
+    self.sp_override_enabled_last = False
+
+    self.experimental_mode_update = False
+
   @property
   def v_cruise_initialized(self):
     return self.v_cruise_kph != V_CRUISE_UNSET
 
-  def update_v_cruise(self, CS, enabled, is_metric, reverse_acc, long_plan_sp):
+  def update_v_cruise(self, CS, enabled, is_metric, reverse_acc, sp_override_speed, long_plan_sp):
     self.v_cruise_kph_last = self.v_cruise_kph
+    self.slc_state_prev = self.slc_state
     self.slc_state = long_plan_sp.speedLimitControlState
 
     if not self.CP.pcmCruiseSpeed:
@@ -101,13 +113,33 @@ class VCruiseHelper:
         self._update_v_cruise_non_pcm(CS, enabled, is_metric, reverse_acc)
         self._update_v_cruise_slc(long_plan_sp)
         self.v_cruise_cluster_kph = self.v_cruise_kph
-        self.update_button_timers(CS, enabled)
       else:
-        self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
-        self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
+        if enabled and sp_override_speed and CS.cruiseState.speed * CV.MS_TO_KPH < sp_override_speed:
+          if self.sp_override_v_cruise_kph == V_CRUISE_UNSET:
+            self.sp_override_v_cruise_kph = max(CS.vEgo * CV.MS_TO_KPH, V_CRUISE_MIN)
+        else:
+          self.sp_override_v_cruise_kph = V_CRUISE_UNSET
+
+        # when we have an override_speed, use it
+        if self.sp_override_v_cruise_kph != V_CRUISE_UNSET:
+          self.v_cruise_kph = self.sp_override_v_cruise_kph
+          self.v_cruise_cluster_kph = self.sp_override_v_cruise_kph
+        else:
+          self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
+          self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
+
+          #print("sp_override_v_cruise_kph:", self.sp_override_v_cruise_kph)
+          #print("v_cruise_kph:", self.v_cruise_kph)
+          #print("v_cruise_cluster_kph:", self.v_cruise_cluster_kph)
+
+        self.sp_override_cruise_speed_last = CS.cruiseState.speed
+        self.sp_override_enabled_last = enabled
+      self.update_button_timers(CS, enabled)
     else:
+      self.sp_override_v_cruise_kph = V_CRUISE_UNSET
       self.v_cruise_kph = V_CRUISE_UNSET
       self.v_cruise_cluster_kph = V_CRUISE_UNSET
+      self.experimental_mode_update = False
 
   def _update_v_cruise_non_pcm(self, CS, enabled, is_metric, reverse_acc):
     # handle button presses. TODO: this should be in state_control, but a decelCruise press
@@ -137,7 +169,7 @@ class VCruiseHelper:
           long_press = True
           break
 
-    if button_type is None:
+    if button_type is None or button_type == ButtonType.gapAdjustCruise:
       return
 
     resume_button = ButtonType.accelCruise
@@ -202,6 +234,8 @@ class VCruiseHelper:
         initial = MAZDA_V_CRUISE_MIN[is_metric]
       elif self.CP.carName == "volkswagen":
         initial = VOLKSWAGEN_V_CRUISE_MIN[is_metric]
+      elif self.CP.carName == "gm":
+        initial = GM_V_CRUISE_MIN[is_metric]
 
     # 250kph or above probably means we never had a set speed
     if any(b.type in resume_buttons for b in CS.buttonEvents) and self.v_cruise_kph_last < 250:
@@ -220,8 +254,6 @@ class VCruiseHelper:
     if self.slc_state == SpeedLimitControlState.active and self.slc_state_prev == SpeedLimitControlState.preActive:
       self.v_cruise_kph = clip(round(self.slc_speed_limit_offsetted, 1), self.v_cruise_min, V_CRUISE_MAX)
 
-    self.slc_state_prev = self.slc_state
-
   def _update_v_cruise_min(self, is_metric):
     if is_metric != self.is_metric_prev:
       if self.CP.carName == "honda":
@@ -234,6 +266,8 @@ class VCruiseHelper:
         self.v_cruise_min = MAZDA_V_CRUISE_MIN[is_metric]
       elif self.CP.carName == "volkswagen":
         self.v_cruise_min = VOLKSWAGEN_V_CRUISE_MIN[is_metric]
+      elif self.CP.carName == "gm":
+        self.v_cruise_min = GM_V_CRUISE_MIN[is_metric]
     self.is_metric_prev = is_metric
 
 

selfdrive/controls/lib/events.py

@@ -1141,6 +1141,9 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.PERMANENT: torque_nn_load_alert,
   },
 
+  EventName.hyundaiRadarTracksAvailable: {
+    ET.PERMANENT: NormalPermanentAlert("Radar tracks available. Restart the car to initialize")
+  }
 }
 
 

selfdrive/controls/lib/latcontrol_torque.py

@@ -83,7 +83,8 @@ class LatControlTorque(LatControl):
     self.torqued_override = self.param_s.get_bool("TorquedOverride")
     self._frame = 0
 
-    self.use_lateral_jerk = False  # TODO: make this a parameter in the UI
+    self.use_lateral_jerk = self.param_s.get_bool("TorqueLateralJerk")  # TODO: make this a parameter in the UI
+    self.nnff_no_lateral_jerk = self.param_s.get_bool("NNFFNoLateralJerk")  # TODO: make this a parameter in the UI
 
     # Twilsonco's Lateral Neural Network Feedforward
     self.use_nn = CI.has_lateral_torque_nn
@@ -140,11 +141,13 @@ class LatControlTorque(LatControl):
     if self._frame % 250 == 0:
       self._frame = 0
       self.torqued_override = self.param_s.get_bool("TorquedOverride")
+      self.use_lateral_jerk = self.param_s.get_bool("TorqueLateralJerk")
+      self.nnff_no_lateral_jerk = self.param_s.get_bool("NNFFNoLateralJerk")
       if not self.torqued_override:
         return
 
       self.torque_params.latAccelFactor = float(self.param_s.get("TorqueMaxLatAccel", encoding="utf8")) * 0.01
-      self.torque_params.friction = float(self.param_s.get("TorqueFriction", encoding="utf8")) * 0.01
+      self.torque_params.friction = float(self.param_s.get("TorqueFriction", encoding="utf8")) * 0.001
 
   @property
   def pid_long_sp(self):
@@ -197,7 +200,7 @@ class LatControlTorque(LatControl):
         predicted_lateral_jerk = get_predicted_lateral_jerk(model_data.acceleration.y, self.t_diffs)
         desired_lateral_jerk = (interp(self.desired_lat_jerk_time, ModelConstants.T_IDXS, model_data.acceleration.y) - desired_lateral_accel) / self.desired_lat_jerk_time
         lookahead_lateral_jerk = get_lookahead_value(predicted_lateral_jerk[LAT_PLAN_MIN_IDX:friction_upper_idx], desired_lateral_jerk)
-        if self.use_steering_angle or lookahead_lateral_jerk == 0.0:
+        if self.nnff_no_lateral_jerk or self.use_steering_angle or lookahead_lateral_jerk == 0.0:
           lookahead_lateral_jerk = 0.0
           actual_lateral_jerk = 0.0
           self.lat_accel_friction_factor = 1.0
@@ -206,6 +209,7 @@ class LatControlTorque(LatControl):
 
       if self.use_nn and model_good:
         # update past data
+        pitch = 0
         roll = params.roll
         if len(llk.calibratedOrientationNED.value) > 1:
           pitch = self.pitch.update(llk.calibratedOrientationNED.value[1])
@@ -231,7 +235,14 @@ class LatControlTorque(LatControl):
                                  + past_rolls + future_rolls
         torque_from_setpoint = self.torque_from_nn(nnff_setpoint_input)
         torque_from_measurement = self.torque_from_nn(nnff_measurement_input)
+
         pid_log.error = torque_from_setpoint - torque_from_measurement
+        error_blend_factor = interp(abs(desired_lateral_accel), [1.0, 2.0], [0.0, 1.0])
+        if error_blend_factor > 0.0:  # blend in stronger error response when in high lat accel
+          nnff_error_input = [CS.vEgo, setpoint - measurement, lateral_jerk_setpoint - lateral_jerk_measurement, 0.0]
+          torque_from_error = self.torque_from_nn(nnff_error_input)
+          if sign(pid_log.error) == sign(torque_from_error) and abs(pid_log.error) < abs(torque_from_error):
+            pid_log.error = pid_log.error * (1.0 - error_blend_factor) + torque_from_error * error_blend_factor
 
         # compute feedforward (same as nn setpoint output)
         error = setpoint - measurement

selfdrive/controls/lib/longcontrol.py

@@ -11,11 +11,11 @@ LongCtrlState = car.CarControl.Actuators.LongControlState
 
 
 def long_control_state_trans(CP, active, long_control_state, v_ego,
-                             should_stop, brake_pressed, cruise_standstill):
+                             should_stop, brake_pressed, cruise_standstill, resume):
   # Ignore cruise standstill if car has a gas interceptor
   cruise_standstill = cruise_standstill and not CP.enableGasInterceptorDEPRECATED
-  stopping_condition = should_stop
-  starting_condition = (not should_stop and
+  stopping_condition = should_stop and not resume
+  starting_condition = ((not should_stop or resume) and
                         not cruise_standstill and
                         not brake_pressed)
   started_condition = v_ego > CP.vEgoStarting
@@ -58,14 +58,14 @@ class LongControl:
   def reset(self):
     self.pid.reset()
 
-  def update(self, active, CS, a_target, should_stop, accel_limits):
+  def update(self, active, CS, a_target, should_stop, accel_limits, resume):
     """Update longitudinal control. This updates the state machine and runs a PID loop"""
     self.pid.neg_limit = accel_limits[0]
     self.pid.pos_limit = accel_limits[1]
 
     self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo,
                                                        should_stop, CS.brakePressed,
-                                                       CS.cruiseState.standstill)
+                                                       CS.cruiseState.standstill, resume)
     if self.long_control_state == LongCtrlState.off:
       self.reset()
       output_accel = 0.

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -63,9 +63,11 @@ def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
   elif personality==custom.LongitudinalPersonalitySP.standard:
     return 1.0
   elif personality==custom.LongitudinalPersonalitySP.moderate:
-    return 0.8
+    return 0.9
   elif personality==custom.LongitudinalPersonalitySP.aggressive:
-    return 0.6
+    return 0.8
+  elif personality==custom.LongitudinalPersonalitySP.overtake:
+    return 0.1
   else:
     raise NotImplementedError("Longitudinal personality not supported")
 
@@ -79,26 +81,27 @@ def get_T_FOLLOW(personality=custom.LongitudinalPersonalitySP.standard):
     return 1.25
   elif personality==custom.LongitudinalPersonalitySP.aggressive:
     return 1.0
+  elif personality==custom.LongitudinalPersonalitySP.overtake:
+    return 0.25
   else:
     raise NotImplementedError("Longitudinal personality not supported")
 
-
+# Last updated: September 29, 2024
 def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP.standard):
   if personality==custom.LongitudinalPersonalitySP.relaxed:
-    x_vel =  [0,    11,   14.5, 15,   20,   20.01,  25,    25.01,  36,  36.01]
-    y_dist = [1.5,  1.5,  1.5,  1.6,  1.76, 1.76,   1.78,  1.78,   1.8, 1.8]
+    x_vel =  [0,    14.,   27.7]
+    y_dist = [1.75, 1.75,  2.00]
   elif personality==custom.LongitudinalPersonalitySP.standard:
-    x_vel =  [0,    11,   14.5, 15,   20,   20.01,  25,    25.01,  36,  36.01]
-    y_dist = [1.40, 1.40, 1.40, 1.50, 1.60, 1.76,   1.76,  1.78,   1.8, 1.8]
+    x_vel =  [0,    14.,   27.7]
+    y_dist = [1.75, 1.75,  1.70]
   elif personality==custom.LongitudinalPersonalitySP.moderate:
-    x_vel =  [0,    11,   14.5, 15,   20,   20.01,  25,    25.01,  36,  36.01]
-    y_dist = [1.3,  1.3,  1.3,  1.35, 1.35, 1.385,  1.385, 1.4,   1.4,  1.45]
+    x_vel =  [0,    14.,   27.7]
+    y_dist = [1.45, 1.45,  1.48]
   elif personality==custom.LongitudinalPersonalitySP.aggressive:
-    x_vel =  [0,     5,     5.01,  11,    14.5,   15,    20,    20.01,  25, 25.01, 36,   36.01]
-    y_dist = [1.12,  1.12,  1.12,  1.12,  1.12,  1.105, 1.105, 1.15, 1.15, 1.18, 1.20,  1.23]
+    x_vel =  [0,    14.,   27.7]
+    y_dist = [1.25, 1.25,  1.28]
   else:
     raise NotImplementedError("Dynamic personality not supported")
-
   return np.interp(v_ego, x_vel, y_dist)
 
 
@@ -358,9 +361,11 @@ class LongitudinalMpc:
     self.cruise_min_a = min_a
     self.max_a = max_a
 
-  def update(self, radarstate, v_cruise, x, v, a, j, personality=custom.LongitudinalPersonalitySP.standard, dynamic_personality=False):
+  def update(self, radarstate, v_cruise, x, v, a, j, personality=custom.LongitudinalPersonalitySP.standard,
+             dynamic_personality=False, overtaking_acceleration_assist=False):
     v_ego = self.x0[1]
     t_follow = get_dynamic_personality(v_ego, personality) if dynamic_personality else get_T_FOLLOW(personality)
+    t_follow = get_T_FOLLOW(custom.LongitudinalPersonalitySP.overtake) if overtaking_acceleration_assist else t_follow
     self.status = radarstate.leadOne.status or radarstate.leadTwo.status
 
     lead_xv_0 = self.process_lead(radarstate.leadOne)

selfdrive/controls/lib/longitudinal_planner.py

@@ -3,7 +3,7 @@ import math
 import numpy as np
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.params import Params
-from cereal import car
+from cereal import car, log, custom
 
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
@@ -12,6 +12,7 @@ from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.controls.lib.sunnypilot.common import Source
 from openpilot.selfdrive.controls.lib.sunnypilot.speed_limit_controller import SpeedLimitController
+from openpilot.selfdrive.car.hyundai.values import HyundaiFlags
 from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
@@ -35,6 +36,7 @@ _A_TOTAL_MAX_V = [1.7, 3.2]
 _A_TOTAL_MAX_BP = [20., 40.]
 
 
+MpcSource = custom.MpcSource
 EventName = car.CarEvent.EventName
 
 
@@ -82,7 +84,8 @@ class LongitudinalPlanner:
     self.dt = dt
 
     self.a_desired = init_a
-    self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
+    v_ego_sec = 0.6 if CP.carName == "hyundai" and not CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV) else 2.0
+    self.v_desired_filter = FirstOrderFilter(init_v, v_ego_sec, self.dt)
     self.v_model_error = 0.0
 
     self.v_desired_trajectory = np.zeros(CONTROL_N)
@@ -129,10 +132,13 @@ class LongitudinalPlanner:
       self.read_param()
     self.param_read_counter += 1
     if self.dynamic_experimental_controller.is_enabled() and sm['controlsState'].experimentalMode:
-      self.mpc.mode = self.dynamic_experimental_controller.get_mpc_mode(self.CP.radarUnavailable, sm['carState'], sm['radarState'].leadOne, sm['modelV2'], sm['controlsState'], sm['navInstruction'].maneuverDistance)
+      self.dynamic_experimental_controller.set_mpc_fcw_crash_cnt(self.mpc.crash_cnt)
+      self.dynamic_experimental_controller.update(self.CP.radarUnavailable, sm['carState'], sm['radarState'].leadOne, sm['modelV2'], sm['controlsState'], sm['navInstruction'].maneuverDistance)
+      self.mpc.mode = self.dynamic_experimental_controller.get_mpc_mode()
     else:
       self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
 
+
     v_ego = sm['carState'].vEgo
     v_cruise_kph = min(sm['controlsState'].vCruise, V_CRUISE_MAX)
     v_cruise = v_cruise_kph * CV.KPH_TO_MS
@@ -153,8 +159,10 @@ class LongitudinalPlanner:
       accel_limits = [ACCEL_MIN, ACCEL_MAX]
       accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]
 
+    overtaking_accel_engaged = sm['controlsStateSP'].overtakingAccelerationAssist
     # override accel using Accel Controller
-    if self.accel_controller.is_enabled(accel_personality=sm['controlsStateSP'].accelPersonality):
+    if self.accel_controller.is_enabled(accel_personality=custom.AccelerationPersonality.sport if overtaking_accel_engaged else
+                                                          sm['controlsStateSP'].accelPersonality):
       # get min, max from accel controller
       min_limit, max_limit = self.accel_controller.get_accel_limits(v_ego, accel_limits)
       if self.mpc.mode == 'acc':
@@ -189,11 +197,12 @@ class LongitudinalPlanner:
     accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
     accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)
 
-    self.mpc.set_weights(prev_accel_constraint, personality=sm['controlsStateSP'].personality)
+    self.mpc.set_weights(prev_accel_constraint, personality=custom.LongitudinalPersonalitySP.overtake if overtaking_accel_engaged else sm['controlsStateSP'].personality)
     self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
     x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
-    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsStateSP'].personality, dynamic_personality=sm['controlsStateSP'].dynamicPersonality)
+    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsStateSP'].personality,
+                    dynamic_personality=sm['controlsStateSP'].dynamicPersonality, overtaking_acceleration_assist=overtaking_accel_engaged)
 
     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)
@@ -262,7 +271,8 @@ class LongitudinalPlanner:
     longitudinalPlanSP.turnSpeedControlState = self.turn_speed_controller.state
     longitudinalPlanSP.turnSpeed = float(self.turn_speed_controller.v_target)
 
-    longitudinalPlanSP.e2eBlended = self.mpc.mode
+    longitudinalPlanSP.mpcSource = MpcSource.blended if self.mpc.mode == 'blended' else MpcSource.acc
+    longitudinalPlanSP.dynamicExperimentalControl = self.dynamic_experimental_controller.is_enabled()
 
     pm.send('longitudinalPlanSP', plan_sp_send)
 

selfdrive/controls/lib/sunnypilot/accel_controller.py

@@ -21,23 +21,23 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
 
-# Last updated: July 1, 2024
+# Last updated: September 29, 2024
 
 from cereal import custom
 from openpilot.common.numpy_fast import interp
 
 AccelPersonality = custom.AccelerationPersonality
 
-# accel personality by @arne182 modified by cgw
-_DP_CRUISE_MIN_V =       [-1.03,  -0.79,  -0.77,  -0.77,  -0.75,  -0.75,  -0.88,  -0.82]
-_DP_CRUISE_MIN_V_ECO =   [-1.02,  -0.78,  -0.75,  -0.75,  -0.73,  -0.73,  -0.80,  -0.80]
-_DP_CRUISE_MIN_V_SPORT = [-1.04,  -0.81,  -0.79,  -0.79,  -0.77,  -0.77,  -0.90,  -0.84]
-_DP_CRUISE_MIN_BP =      [0.,     0.05,   0.1,    0.5,    8.33,   16.,    30.,    40.]
+# accel personality by @arne182 modified by cgw and kumar
+_DP_CRUISE_MIN_V =       [-1.0, -1.0,  -0.88]
+_DP_CRUISE_MIN_V_ECO =   [-1.0, -1.0,  -0.76]
+_DP_CRUISE_MIN_V_SPORT = [-1.0, -1.0,  -1.0]
+_DP_CRUISE_MIN_BP =      [0.,   11.1,  20.]
 
-_DP_CRUISE_MAX_V =       [2.5, 2.5, 2.5, 1.70, 1.05, .81,  .625, .42,  .348, .12]
-_DP_CRUISE_MAX_V_ECO =   [2.0, 2.0, 2.0, 1.4, .80,   .68,  .53,  .32,  .20,  .085]
-_DP_CRUISE_MAX_V_SPORT = [3.5, 3.5, 2.8, 2.4,  1.4,  1.0,  .89,  .75,  .50,  .2]
-_DP_CRUISE_MAX_BP =      [0.,  1.,  6.,  8.,   11.,  15.,  20.,  25.,  30.,  55.]
+_DP_CRUISE_MAX_V =       [2.0, 2.0, 2.0, 1.75, 1.03, .72,  .53,  .42,  .13]
+_DP_CRUISE_MAX_V_ECO =   [2.0, 2.0, 2.0, 1.50, 0.92, .54,  .43,  .32,  .088]
+_DP_CRUISE_MAX_V_SPORT = [2.0, 2.0, 2.0, 2.00, 1.25, .96,  .78,  .60,  .4]
+_DP_CRUISE_MAX_BP =      [0.,  1.,  6.,  8.,   11.,  20.,  25.,  30.,  55.]
 
 
 class AccelController:

selfdrive/controls/lib/sunnypilot/dynamic_experimental_controller.py

@@ -21,33 +21,39 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
 #
-# Version = 2024-1-29
+# Version = 2024-9-28
 from common.numpy_fast import interp
-from openpilot.selfdrive.controls.lib.lateral_planner import TRAJECTORY_SIZE
+import numpy as np
 
-LEAD_WINDOW_SIZE = 5
+# d-e2e, from modeldata.h
+TRAJECTORY_SIZE = 33
+
+LEAD_WINDOW_SIZE = 4
 LEAD_PROB = 0.6
 
-SLOW_DOWN_WINDOW_SIZE = 5
+SLOW_DOWN_WINDOW_SIZE = 4
 SLOW_DOWN_PROB = 0.6
-SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
-SLOW_DOWN_DIST = [20, 30., 50., 70., 80., 90., 105., 120.]
 
-SLOWNESS_WINDOW_SIZE = 20
-SLOWNESS_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.]
+
+SLOWNESS_WINDOW_SIZE = 12
+SLOWNESS_PROB = 0.5
 SLOWNESS_CRUISE_OFFSET = 1.05
 
-DANGEROUS_TTC_WINDOW_SIZE = 5
-DANGEROUS_TTC = 2.0
+DANGEROUS_TTC_WINDOW_SIZE = 3
+DANGEROUS_TTC = 2.3
 
-HIGHWAY_CRUISE_KPH = 75
+HIGHWAY_CRUISE_KPH = 70
 
 STOP_AND_GO_FRAME = 60
 
 SET_MODE_TIMEOUT = 10
 
-MPC_FCW_WINDOW_SIZE = 5
-MPC_FCW_PROB = 0.6
+MPC_FCW_WINDOW_SIZE = 10
+MPC_FCW_PROB = 0.5
+
+V_ACC_MIN = 9.72
 
 
 class SNG_State:
@@ -77,29 +83,51 @@ class GenericMovingAverageCalculator:
     self.data = []
     self.total = 0
 
+class WeightedMovingAverageCalculator:
+  def __init__(self, window_size):
+    self.window_size = window_size
+    self.data = []
+    self.weights = np.linspace(1, 3, window_size)  # Linear weights, adjust as needed
+
+  def add_data(self, value):
+    if len(self.data) == self.window_size:
+      self.data.pop(0)
+    self.data.append(value)
+
+  def get_weighted_average(self):
+    if len(self.data) == 0:
+      return None
+    weighted_sum = np.dot(self.data, self.weights[-len(self.data):])
+    weight_total = np.sum(self.weights[-len(self.data):])
+    return weighted_sum / weight_total
+
+  def reset_data(self):
+    self.data = []
 
 class DynamicExperimentalController:
   def __init__(self):
     self._is_enabled = False
     self._mode = 'acc'
     self._mode_prev = 'acc'
+    self._mode_changed = False
     self._frame = 0
 
-    self._lead_gmac = GenericMovingAverageCalculator(window_size=LEAD_WINDOW_SIZE)
+    # Use weighted moving average for filtering leads
+    self._lead_gmac = WeightedMovingAverageCalculator(window_size=LEAD_WINDOW_SIZE)
     self._has_lead_filtered = False
     self._has_lead_filtered_prev = False
 
-    self._slow_down_gmac = GenericMovingAverageCalculator(window_size=SLOW_DOWN_WINDOW_SIZE)
+    self._slow_down_gmac = WeightedMovingAverageCalculator(window_size=SLOW_DOWN_WINDOW_SIZE)
     self._has_slow_down = False
 
     self._has_blinkers = False
 
-    self._slowness_gmac = GenericMovingAverageCalculator(window_size=SLOWNESS_WINDOW_SIZE)
+    self._slowness_gmac = WeightedMovingAverageCalculator(window_size=SLOWNESS_WINDOW_SIZE)
     self._has_slowness = False
 
     self._has_nav_instruction = False
 
-    self._dangerous_ttc_gmac = GenericMovingAverageCalculator(window_size=DANGEROUS_TTC_WINDOW_SIZE)
+    self._dangerous_ttc_gmac = WeightedMovingAverageCalculator(window_size=DANGEROUS_TTC_WINDOW_SIZE)
     self._has_dangerous_ttc = False
 
     self._v_ego_kph = 0.
@@ -113,13 +141,50 @@ class DynamicExperimentalController:
     self._sng_transit_frame = 0
     self._sng_state = SNG_State.off
 
-    self._mpc_fcw_gmac = GenericMovingAverageCalculator(window_size=MPC_FCW_WINDOW_SIZE)
+    self._mpc_fcw_gmac = WeightedMovingAverageCalculator(window_size=MPC_FCW_WINDOW_SIZE)
     self._has_mpc_fcw = False
     self._mpc_fcw_crash_cnt = 0
 
     self._set_mode_timeout = 0
     pass
 
+
+  def _adaptive_slowdown_threshold(self):
+    """
+    Adapts the slow down threshold based on vehicle speed and recent behavior.
+    """
+    return interp(self._v_ego_kph, SLOW_DOWN_BP, SLOW_DOWN_DIST) * (1.0 + 0.03 * np.log(1 + len(self._slow_down_gmac.data)))
+
+  def _anomaly_detection(self, recent_data, threshold=2.0, context_check=True):
+    """
+    Basic anomaly detection using standard deviation.
+    """
+    if len(recent_data) < 5:
+      return False
+    mean = np.mean(recent_data)
+    std_dev = np.std(recent_data)
+    anomaly = recent_data[-1] > mean + threshold * std_dev
+
+    # Context check to ensure repeated anomaly
+    if context_check:
+      return np.count_nonzero(np.array(recent_data) > mean + threshold * std_dev) > 1
+    return anomaly
+
+  def _smoothed_lead_detection(self, lead_prob, smoothing_factor=0.2):
+    """
+    Smoothing the lead detection to avoid erratic behavior.
+    """
+    self._has_lead_filtered = (1 - smoothing_factor) * self._has_lead_filtered + smoothing_factor * lead_prob
+    return self._has_lead_filtered > LEAD_PROB
+
+  def _adaptive_lead_prob_threshold(self):
+    """
+    Adapts lead probability threshold based on driving conditions.
+    """
+    if self._v_ego_kph > HIGHWAY_CRUISE_KPH:
+      return LEAD_PROB + 0.1  # Increase the threshold on highways
+    return LEAD_PROB
+
   def _update(self, car_state, lead_one, md, controls_state, maneuver_distance):
     self._v_ego_kph = car_state.vEgo * 3.6
     self._v_cruise_kph = controls_state.vCruise
@@ -128,18 +193,27 @@ class DynamicExperimentalController:
 
     # fcw detection
     self._mpc_fcw_gmac.add_data(self._mpc_fcw_crash_cnt > 0)
-    self._has_mpc_fcw = self._mpc_fcw_gmac.get_moving_average() >= MPC_FCW_PROB
+    self._has_mpc_fcw = self._mpc_fcw_gmac.get_weighted_average() > MPC_FCW_PROB
 
     # nav enable detection
     self._has_nav_instruction = md.navEnabledDEPRECATED and maneuver_distance / max(car_state.vEgo, 1) < 13
 
-    # lead detection
+    # lead detection with smoothing
     self._lead_gmac.add_data(lead_one.status)
-    self._has_lead_filtered = self._lead_gmac.get_moving_average() >= LEAD_PROB
+    self._has_lead_filtered = self._lead_gmac.get_weighted_average() > LEAD_PROB
+    #lead_prob = self._lead_gmac.get_weighted_average() or 0
+    #self._has_lead_filtered = self._smoothed_lead_detection(lead_prob)
 
-    # slow down detection
-    self._slow_down_gmac.add_data(len(md.orientation.x) == len(md.position.x) == TRAJECTORY_SIZE and md.position.x[TRAJECTORY_SIZE - 1] < interp(self._v_ego_kph, SLOW_DOWN_BP, SLOW_DOWN_DIST))
-    self._has_slow_down = self._slow_down_gmac.get_moving_average() >= SLOW_DOWN_PROB
+    # adaptive slow down detection
+    adaptive_threshold = self._adaptive_slowdown_threshold()
+    slow_down_trigger = len(md.orientation.x) == len(md.position.x) == TRAJECTORY_SIZE and md.position.x[TRAJECTORY_SIZE - 1] < adaptive_threshold
+    self._slow_down_gmac.add_data(slow_down_trigger)
+    self._has_slow_down = self._slow_down_gmac.get_weighted_average() > SLOW_DOWN_PROB
+
+    # anomaly detection for slow down events
+    if self._anomaly_detection(self._slow_down_gmac.data):
+      # Handle anomaly: potentially log it, adjust behavior, or issue a warning
+      self._has_slow_down = False  # Reset slow down if anomaly detected
 
     # blinker detection
     self._has_blinkers = car_state.leftBlinker or car_state.rightBlinker
@@ -161,7 +235,7 @@ class DynamicExperimentalController:
     # slowness detection
     if not self._has_standstill:
       self._slowness_gmac.add_data(self._v_ego_kph <= (self._v_cruise_kph*SLOWNESS_CRUISE_OFFSET))
-      self._has_slowness = self._slowness_gmac.get_moving_average() >= SLOWNESS_PROB
+      self._has_slowness = self._slowness_gmac.get_weighted_average() > SLOWNESS_PROB
 
     # dangerous TTC detection
     if not self._has_lead_filtered and self._has_lead_filtered_prev:
@@ -171,14 +245,14 @@ class DynamicExperimentalController:
     if self._has_lead and car_state.vEgo >= 0.01:
       self._dangerous_ttc_gmac.add_data(lead_one.dRel/car_state.vEgo)
 
-    self._has_dangerous_ttc = self._dangerous_ttc_gmac.get_moving_average() is not None and self._dangerous_ttc_gmac.get_moving_average() <= DANGEROUS_TTC
+    self._has_dangerous_ttc = self._dangerous_ttc_gmac.get_weighted_average() is not None and self._dangerous_ttc_gmac.get_weighted_average() <= DANGEROUS_TTC
 
     # keep prev values
     self._has_standstill_prev = self._has_standstill
     self._has_lead_filtered_prev = self._has_lead_filtered
     self._frame += 1
 
-  def _blended_priority_mode(self):
+  def _radarless_mode(self):
     # when mpc fcw crash prob is high
     # use blended to slow down quickly
     if self._has_mpc_fcw:
@@ -190,21 +264,21 @@ class DynamicExperimentalController:
       self._set_mode('blended')
       return
 
-    # when blinker is on and speed is driving below highway cruise speed: blended
+    # when blinker is on and speed is driving below V_ACC_MIN: blended
     # we dont want it to switch mode at higher speed, blended may trigger hard brake
-    if self._has_blinkers and self._v_ego_kph < HIGHWAY_CRUISE_KPH:
-      self._set_mode('blended')
-      return
+    #if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
+    #  self._set_mode('blended')
+    #  return
 
     # when at highway cruise and SNG: blended
     # ensuring blended mode is used because acc is bad at catching SNG lead car
     # especially those who accel very fast and then brake very hard.
-    if self._sng_state == SNG_State.going and self._v_cruise_kph >= HIGHWAY_CRUISE_KPH:
-      self._set_mode('blended')
-      return
+    #if self._sng_state == SNG_State.going and self._v_cruise_kph >= V_ACC_MIN:
+    #  self._set_mode('blended')
+    #  return
 
     # when standstill: blended
-    # in case of lead car suddenly move away under traffic light, acc mode wont brake at traffic light.
+    # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light.
     if self._has_standstill:
       self._set_mode('blended')
       return
@@ -226,9 +300,9 @@ class DynamicExperimentalController:
       self._set_mode('acc')
       return
 
-    self._set_mode('blended')
+    self._set_mode('acc')
 
-  def _acc_priority_mode(self):
+  def _radar_mode(self):
     # when mpc fcw crash prob is high
     # use blended to slow down quickly
     if self._has_mpc_fcw:
@@ -236,18 +310,18 @@ class DynamicExperimentalController:
       return
 
     # If there is a filtered lead, the vehicle is not in standstill, and the lead vehicle's yRel meets the condition,
-    #if self._has_lead_filtered and not self._has_standstill:
-    #  self._set_mode('acc')
-    #  return
-
-    # when blinker is on and speed is driving below highway cruise speed: blended
-    # we dont want it to switch mode at higher speed, blended may trigger hard brake
-    if self._has_blinkers and self._v_ego_kph < HIGHWAY_CRUISE_KPH:
-      self._set_mode('blended')
+    if self._has_lead_filtered and not self._has_standstill:
+      self._set_mode('acc')
       return
 
+    # when blinker is on and speed is driving below V_ACC_MIN: blended
+    # we dont want it to switch mode at higher speed, blended may trigger hard brake
+    #if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
+    #  self._set_mode('blended')
+    #  return
+
     # when standstill: blended
-    # in case of lead car suddenly move away under traffic light, acc mode wont brake at traffic light.
+    # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light.
     if self._has_standstill:
       self._set_mode('blended')
       return
@@ -270,17 +344,22 @@ class DynamicExperimentalController:
 
     self._set_mode('acc')
 
-  def get_mpc_mode(self, radar_unavailable, car_state, lead_one, md, controls_state, maneuver_distance):
+  def update(self, radar_unavailable, car_state, lead_one, md, controls_state, maneuver_distance):
     if self._is_enabled:
       self._update(car_state, lead_one, md, controls_state, maneuver_distance)
       if radar_unavailable:
-        self._blended_priority_mode()
+        self._radarless_mode()
       else:
-        self._acc_priority_mode()
-
+        self._radar_mode()
+    self._mode_changed = self._mode != self._mode_prev
     self._mode_prev = self._mode
+
+  def get_mpc_mode(self):
     return self._mode
 
+  def has_changed(self):
+    return self._mode_changed
+
   def set_enabled(self, enabled):
     self._is_enabled = enabled
 
@@ -297,4 +376,4 @@ class DynamicExperimentalController:
         self._set_mode_timeout = SET_MODE_TIMEOUT
 
     if self._set_mode_timeout > 0:
-      self._set_mode_timeout -= 1
+      self._set_mode_timeout -= 1

selfdrive/controls/plannerd.py

@@ -32,7 +32,7 @@ def plannerd_thread():
   pm = messaging.PubMaster(['longitudinalPlan', 'longitudinalPlanSP'] + lateral_planner_svs)
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2',
                             'longitudinalPlan', 'navInstruction', 'longitudinalPlanSP',
-                            'liveMapDataSP', 'e2eLongStateSP', 'controlsStateSP'] + lateral_planner_svs,
+                            'liveMapDataSP', 'e2eLongStateSP', 'controlsStateSP', 'driverMonitoringState'] + lateral_planner_svs,
                            poll='modelV2', ignore_avg_freq=['radarState'])
 
   while True:

selfdrive/locationd/torqued.py

@@ -83,7 +83,7 @@ class TorqueEstimator(ParameterEstimator):
     params = Params()
     if params.get_bool("EnforceTorqueLateral"):
       if params.get_bool("CustomTorqueLateral"):
-        self.offline_friction = float(params.get("TorqueFriction", encoding="utf8")) * 0.01
+        self.offline_friction = float(params.get("TorqueFriction", encoding="utf8")) * 0.001
         self.offline_latAccelFactor = float(params.get("TorqueMaxLatAccel", encoding="utf8")) * 0.01
       if params.get_bool("LiveTorqueRelaxed"):
         self.min_bucket_points = np.array([0, 200, 300, 500, 500, 300, 200, 0]) / (10 if decimated else 1)

selfdrive/ui/qt/api.cc

@@ -145,4 +145,4 @@ void HttpRequest::requestFinished() {
 QNetworkAccessManager *HttpRequest::nam() {
   static QNetworkAccessManager *networkAccessManager = new QNetworkAccessManager(qApp);
   return networkAccessManager;
-}
+}

selfdrive/ui/qt/api.h

@@ -24,7 +24,7 @@ class HttpRequest : public QObject {
   Q_OBJECT
 
 public:
-  enum class Method {GET, DELETE, POST, PUT};
+  enum class Method { GET, DELETE, POST, PUT };
 
   explicit HttpRequest(QObject* parent, bool create_jwt = true, int timeout = 20000);
   virtual void sendRequest(const QString &requestURL, Method method);
@@ -47,4 +47,4 @@ protected:
 protected slots:
   void requestTimeout();
   void requestFinished();
-};
+};

selfdrive/ui/qt/home.cc

@@ -86,7 +86,8 @@ void HomeWindow::mousePressEvent(QMouseEvent* e) {
 }
 
 void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
-  HomeWindow::mousePressEvent(e);
+  // By removing the static call to HomeWindow::mousePressEvent, we can now rely on child classes to handle the event
+  mousePressEvent(e);
   const SubMaster &sm = *(uiState()->sm);
   if (sm["carParams"].getCarParams().getNotCar()) {
     if (onroad->isVisible()) {

selfdrive/ui/qt/home.h

@@ -47,7 +47,7 @@ protected:
   void mouseDoubleClickEvent(QMouseEvent* e) override;
 
   Sidebar *sidebar;
-  OffroadHome *home;
+  OffroadHome* home;
   OnroadWindow *onroad;
   BodyWindow *body;
   DriverViewWindow *driver_view;
@@ -55,4 +55,4 @@ protected:
 
 protected slots:
   virtual void updateState(const UIState &s);
-};
+};

selfdrive/ui/qt/offroad/settings.cc

@@ -16,7 +16,7 @@
 #include "selfdrive/ui/qt/widgets/ssh_keys.h"
 #ifdef SUNNYPILOT
 #include "selfdrive/ui/sunnypilot/sunnypilot_main.h"
-#endif 
+#endif
 
 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   RETURN_IF_SUNNYPILOT

selfdrive/ui/qt/offroad/settings.h

@@ -91,6 +91,7 @@ protected:
   virtual void updateToggles();
 };
 
+
 class SoftwarePanel : public ListWidget {
   Q_OBJECT
 public:

selfdrive/ui/qt/offroad/software_settings.cc

@@ -26,7 +26,7 @@
 
 
 void SoftwarePanel::checkForUpdates() {
-  std::system("pkill -SIGUSR1 -f system.updated.updated");
+  std::system("pkill -SIGUSR1 -f updated");
 }
 
 SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
@@ -45,7 +45,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
     if (downloadBtn->text() == tr("CHECK")) {
       checkForUpdates();
     } else {
-      std::system("pkill -SIGHUP -f system.updated.updated");
+      std::system("pkill -SIGHUP -f updated");
     }
   });
   addItem(downloadBtn);
@@ -162,4 +162,4 @@ void SoftwarePanel::updateLabels() {
   installBtn->setDescription(QString::fromStdString(params.get("UpdaterNewReleaseNotes")));
 
   update();
-}
+}

selfdrive/ui/qt/offroad_home.cc

@@ -2,6 +2,7 @@
 
 #include <QHBoxLayout>
 #include <QMouseEvent>
+#include <QVBoxLayout>
 
 #include "selfdrive/ui/qt/offroad/experimental_mode.h"
 #include "selfdrive/ui/qt/util.h"

selfdrive/ui/qt/offroad_home.h

@@ -1,12 +1,19 @@
 #pragma once
 
+#include <QFrame>
+#include <QLabel>
+#include <QPushButton>
+#include <QStackedLayout>
 #include <QStackedWidget>
+#include <QTimer>
 #include <QWidget>
 
 #include "common/params.h"
+#include "selfdrive/ui/qt/offroad/driverview.h"
 #include "selfdrive/ui/qt/body.h"
 #include "selfdrive/ui/qt/onroad/onroad_home.h"
 #include "selfdrive/ui/qt/widgets/offroad_alerts.h"
+#include "selfdrive/ui/ui.h"
 
 #ifdef SUNNYPILOT
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"

selfdrive/ui/qt/onroad/annotated_camera.cc

@@ -385,4 +385,4 @@ void AnnotatedCameraWidget::showEvent(QShowEvent *event) {
 
   ui_update_params(uiState());
   prev_draw_t = millis_since_boot();
-}
+}

selfdrive/ui/qt/onroad/annotated_camera.h

@@ -50,4 +50,4 @@ protected:
 
   double prev_draw_t = 0;
   FirstOrderFilter fps_filter;
-};
+};

selfdrive/ui/qt/onroad/buttons.cc

@@ -26,7 +26,8 @@ ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(fals
 
 void ExperimentalButton::changeMode() {
   const auto cp = (*uiState()->sm)["carParams"].getCarParams();
-  bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed");
+  bool can_change = (hasLongitudinalControl(cp) || (!cp.getPcmCruiseSpeed() && params.getBool("CustomStockLongPlanner")))
+                    && params.getBool("ExperimentalModeConfirmed");
   if (can_change) {
     params.putBool("ExperimentalMode", !experimental_mode);
   }

selfdrive/ui/qt/onroad/buttons.h

@@ -31,4 +31,4 @@ private:
   QPixmap experimental_img;
 };
 
-void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity);
+void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity);

selfdrive/ui/qt/onroad/onroad_home.cc

@@ -66,4 +66,4 @@ void OnroadWindow::offroadTransition(bool offroad) {
 void OnroadWindow::paintEvent(QPaintEvent *event) {
   QPainter p(this);
   p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
-}
+}

selfdrive/ui/qt/onroad/onroad_home.h

@@ -26,4 +26,4 @@ protected:
 protected slots:
   virtual void offroadTransition(bool offroad);
   virtual void updateState(const UIState &s);
-};
+};

selfdrive/ui/qt/request_repeater.h

@@ -20,4 +20,4 @@ private:
   Params params;
   QTimer *timer;
   QString prevResp;
-};
+};

selfdrive/ui/qt/sidebar.h

@@ -65,4 +65,4 @@ protected:
 
 private:
   std::unique_ptr<PubMaster> pm;
-};
+};

selfdrive/ui/qt/text.cc

@@ -61,4 +61,4 @@ int main(int argc, char *argv[]) {
   )");
 
   return a.exec();
-}
+}

selfdrive/ui/qt/util.h

@@ -59,4 +59,4 @@ private:
   QFileSystemWatcher *watcher;
   QHash<QString, QString> params_hash;
   Params params;
-};
+};

selfdrive/ui/qt/widgets/ssh_keys.h

@@ -35,4 +35,4 @@ private:
 
   void refresh();
   void getUserKeys(const QString &username);
-};
+};