NNLC: compute error in torque space (#1185 )

* NNLC: compute error in torque space * bump * sp happy too * bump * lint * update path * oops * test entire loop * bump * test gm * bump * bump
agnos: split launch for c3 and c3x to support custom agnos (#1186 )
2026-06-25 09:52:05 +08:00 · 2025-08-29 22:39:25 +02:00 · 2025-08-29 22:23:58 +02:00 · 2025-08-26 11:49:55 -04:00 · 2025-08-25 23:50:58 -04:00 · 2025-08-25 21:22:20 -04:00
96 changed files with 2029 additions and 844 deletions
@@ -39,4 +39,4 @@ jobs:
        git config --global --add safe.directory '*'
        git lfs pull
    - name: Push __nightly
-      run: BRANCH=__nightly release/build_devel.sh
+      run: BRANCH=__nightly release/build_stripped.sh
@@ -27,7 +27,7 @@ env:

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

-  PYTEST: pytest --continue-on-collection-errors --durations=0 --durations-min=5 -n logical
+  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical

 jobs:
  build_release:
@@ -52,7 +52,7 @@ jobs:
        command: git lfs pull
    - name: Build devel
      timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
+      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
    - uses: ./.github/workflows/setup-with-retry
    - name: Build openpilot and run checks
      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
@@ -190,7 +190,8 @@ jobs:
      timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 999 }}
      run: |
        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        $PYTEST --collect-only -m 'not slow' &> /dev/null && \
+                        # Pre-compile Python bytecode so each pytest worker doesn't need to
+                        $PYTEST --collect-only -m 'not slow' -qq && \
                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
                        ./selfdrive/ui/tests/create_test_translations.sh && \
                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
@@ -167,7 +167,7 @@ node {
  env.GIT_COMMIT = checkout(scm).GIT_COMMIT

  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'testing-closet*', 'hotfix-*']
+                         'release-tici', 'testing-closet*', 'hotfix-*']
  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')

  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
@@ -1,18 +1,22 @@
 Version 0.10.1 (2025-09-08)
 ========================
+* Record driving feedback using LKAS button
+* Honda City 2023 support thanks to drFritz!

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

 Version 0.9.9 (2025-05-23)
 ========================
@@ -1 +1 @@
-#define DEFAULT_MODEL "Down To Ride (Default)"
+#define DEFAULT_MODEL "Steam Powered (Default)"
@@ -73,9 +73,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
    {"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
    {"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
-    {"LastUpdateRouteCount", {PERSISTENT, INT}},
+    {"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
    {"LastUpdateTime", {PERSISTENT, TIME}},
-    {"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT}},
+    {"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
    {"LiveDelay", {PERSISTENT | BACKUP, BYTES}},
    {"LiveParameters", {PERSISTENT, JSON}},
    {"LiveParametersV2", {PERSISTENT, BYTES}},
@@ -199,7 +199,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {

    // mapd
    {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
-    {"MapdVersion", {PERSISTENT, STRING, ""}},
+    {"MapdVersion", {PERSISTENT, STRING}},
    {"MapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT, "0.0"}},
    {"NextMapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, JSON}},
    {"Offroad_OSMUpdateRequired", {CLEAR_ON_MANAGER_START, JSON}},
@@ -215,5 +215,5 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"OsmStateName", {PERSISTENT, STRING, "All"}},
    {"OsmStateTitle", {PERSISTENT, STRING}},
    {"OsmWayTest", {PERSISTENT, STRING}},
-    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING, ""}},
+    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
 };
@@ -14,8 +14,7 @@ class PIDController:
    if isinstance(self._k_d, Number):
      self._k_d = [[0], [self._k_d]]

-    self.pos_limit = pos_limit
-    self.neg_limit = neg_limit
+    self.set_limits(pos_limit, neg_limit)

    self.i_rate = 1.0 / rate
    self.speed = 0.0
@@ -41,6 +40,10 @@ class PIDController:
    self.f = 0.0
    self.control = 0

+  def set_limits(self, pos_limit, neg_limit):
+    self.pos_limit = pos_limit
+    self.neg_limit = neg_limit
+
  def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
    self.speed = speed
    self.p = float(error) * self.k_p
@@ -1,4 +1,6 @@
 import subprocess
+from contextlib import contextmanager
+from subprocess import Popen, PIPE, TimeoutExpired


 def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
@@ -11,3 +13,16 @@ def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> st
  except subprocess.CalledProcessError:
    return default

+
+@contextmanager
+def managed_proc(cmd: list[str], env: dict[str, str]):
+  proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
+  try:
+    yield proc
+  finally:
+    if proc.poll() is None:
+      proc.terminate()
+    try:
+      proc.wait(timeout=5)
+    except TimeoutExpired:
+      proc.kill()
@@ -4,12 +4,13 @@

 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.

-# 325 Supported Cars
+# 334 Supported Cars

 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
+|Acura|MDX 2025|All except Type S|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
 |Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
 |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
@@ -72,19 +73,25 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Accord 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023">Buy Here</a></sub></details>|||
+|Honda|Accord 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
+|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-21">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025">Buy Here</a></sub></details>|||
+|Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector + Honda Clarity Proxy Board<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://shop.retropilot.org/product/honda-clarity-proxy-board-kit">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-25">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
 |Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
@@ -95,6 +102,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
+|Honda|Pilot 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
 |Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-25">Buy Here</a></sub></details>|||
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera 2022">Buy Here</a></sub></details>|||
 |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2019">Buy Here</a></sub></details>|||
@@ -119,7 +127,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
-|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022">Buy Here</a></sub></details>|||
+|Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -297,6 +305,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Wildlander PHEV 2021|All|openpilot|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Wildlander PHEV 2021">Buy Here</a></sub></details>|||
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -6,7 +6,7 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu

 ### Getting Started

-* Setup your [development environment](../tools/)
+* Set up your [development environment](/tools/)
 * Join our [Discord](https://discord.comma.ai)
 * Docs are at https://docs.comma.ai and https://blog.comma.ai

@@ -1,11 +1,11 @@
 # Turn the speed blue
 *A getting started guide for openpilot development*

-In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI.
+In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.

 And if you have a comma 3/3X, we'll deploy the change to your device for testing.

-## 1. Setup your development environment
+## 1. Set up your development environment

 Run this to clone openpilot and install all the dependencies:
 ```bash
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="12.6"
+  export AGNOS_VERSION="12.8"
 fi

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

 exec ./launch_chffrplus.sh
@@ -3,33 +3,34 @@
 ```
 ## release checklist

-**Go to `devel-staging`**
- [ ] make issue to track release
+### Go to staging
+- [ ] make a GitHub issue to track release
+- [ ] create release master branch
 - [ ] update RELEASES.md
- [ ] trigger new nightly build: https://github.com/commaai/openpilot/actions/workflows/release.yaml
- [ ] update `devel-staging`: `git reset --hard origin/__nightly`
+- [ ] bump version on master: `common/version.h` and `RELEASES.md`
 - [ ] build new userdata partition from `release3-staging`
- [ ] open a pull request from `devel-staging` to `devel`
 - [ ] post on Discord, tag `@release crew`

-**Go to `devel`**
- [ ] bump version on master: `common/version.h` and `RELEASES.md`
- [ ] before merging the pull request, test the following:
+Updating staging:
+1. either rebase on master or cherry-pick changes
+2. run this to update: `BRANCH=devel-staging release/build_devel.sh`
+3. build new userdata partition from `release3-staging`
+
+### Go to release
+- [ ] before going to release, test the following:
  - [ ] update from previous release -> new release
  - [ ] update from new release -> previous release
  - [ ] fresh install with `openpilot-test.comma.ai`
  - [ ] drive on fresh install
  - [ ] no submodules or LFS
  - [ ] check sentry, MTBF, etc.
-  - [ ] stress test in production
-
-**Go to `release3`**
+  - [ ] stress test passes in production
 - [ ] publish the blog post
 - [ ] `git reset --hard origin/release3-staging`
 - [ ] tag the release: `git tag v0.X.X <commit-hash> && git push origin v0.X.X`
 - [ ] create GitHub release
 - [ ] final test install on `openpilot.comma.ai`
 - [ ] update factory provisioning
- [ ] close out milestone
+- [ ] close out milestone and issue
 - [ ] post on Discord, X, etc.
 ```
@@ -17,28 +17,23 @@ rm -rf $TARGET_DIR
 mkdir -p $TARGET_DIR
 cd $TARGET_DIR
 cp -r $SOURCE_DIR/.git $TARGET_DIR
-pre-commit uninstall || true

-echo "[-] bringing __nightly and devel in sync T=$SECONDS"
+echo "[-] setting up stripped branch sync T=$SECONDS"
 cd $TARGET_DIR

-git fetch --depth 1 origin __nightly
-git fetch --depth 1 origin devel
-
-git checkout -f --track origin/__nightly
-git reset --hard __nightly
-git checkout __nightly
-git reset --hard origin/devel
-git clean -xdff
-git lfs uninstall
+# tmp branch
+git checkout --orphan tmp

 # remove everything except .git
 echo "[-] erasing old sunnypilot T=$SECONDS"
+git submodule deinit -f --all
+git rm -rf --cached .
 find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;

-# reset source tree
+# cleanup before the copy
 cd $SOURCE_DIR
 git clean -xdff
+git submodule foreach --recursive git clean -xdff

 # do the files copy
 echo "[-] copying files T=$SECONDS"
@@ -47,6 +42,7 @@ cp -pR --parents $(./release/release_files.py) $TARGET_DIR/

 # in the directory
 cd $TARGET_DIR
+rm -rf .git/modules/
 rm -f panda/board/obj/panda.bin.signed

 # include source commit hash and build date in commit
@@ -85,7 +81,7 @@ fi

 if [ ! -z "$BRANCH" ]; then
  echo "[-] Pushing to $BRANCH T=$SECONDS"
-  git push -f origin __nightly:$BRANCH
+  git push -f origin tmp:$BRANCH
 fi

 echo "[-] done T=$SECONDS, ready at $TARGET_DIR"
@@ -95,6 +95,8 @@ class Controls(ControlsExt, ModelStateBase):
        self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
                                           torque_params.frictionCoefficientFiltered)

+        self.LaC.extension.update_limits()
+
      self.LaC.extension.update_model_v2(self.sm['modelV2'])

      self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
@@ -3,7 +3,6 @@ import numpy as np

 from cereal import log
 from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
-from opendbc.car.interfaces import LatControlInputs
 from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.common.pid import PIDController
@@ -29,17 +28,24 @@ class LatControlTorque(LatControl):
  def __init__(self, CP, CP_SP, CI):
    super().__init__(CP, CP_SP, CI)
    self.torque_params = CP.lateralTuning.torque.as_builder()
-    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
-                             k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
    self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
+    self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
+    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
+                             k_f=self.torque_params.kf)
+    self.update_limits()
    self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg

-    self.extension = LatControlTorqueExt(self, CP, CP_SP)
+    self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)

  def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
    self.torque_params.latAccelFactor = latAccelFactor
    self.torque_params.latAccelOffset = latAccelOffset
    self.torque_params.friction = friction
+    self.update_limits()
+
+  def update_limits(self):
+    self.pid.set_limits(self.lateral_accel_from_torque(self.steer_max, self.torque_params),
+                        self.lateral_accel_from_torque(-self.steer_max, self.torque_params))

  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
    pid_log = log.ControlsState.LateralTorqueState.new_message()
@@ -61,33 +67,31 @@ class LatControlTorque(LatControl):
      setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
      measurement = actual_lateral_accel + low_speed_factor * actual_curvature
      gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation
-      torque_from_setpoint = self.torque_from_lateral_accel(LatControlInputs(setpoint, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
-                                                            gravity_adjusted=False)
-      torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
-                                                               gravity_adjusted=False)
-      pid_log.error = float(torque_from_setpoint - torque_from_measurement)
-      ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
-                                          gravity_adjusted=True)
+
+      # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
+      pid_log.error = float(setpoint - measurement)
+      ff = gravity_adjusted_lateral_accel
      ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)

-      # Lateral acceleration torque controller extension updates
-      # Overrides stock ff and pid_log.error
-      ff, pid_log = self.extension.update(CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
-                                          desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
-                                          desired_curvature, actual_curvature)
-
      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-      output_torque = self.pid.update(pid_log.error,
+      output_lataccel = self.pid.update(pid_log.error,
                                      feedforward=ff,
                                      speed=CS.vEgo,
                                      freeze_integrator=freeze_integrator)
+      output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
+
+      # Lateral acceleration torque controller extension updates
+      # Overrides pid_log.error and output_torque
+      pid_log, output_torque = self.extension.update(CS, VM, self.pid, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
+                                                     desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
+                                                     desired_curvature, actual_curvature, steer_limited_by_safety, output_torque)

      pid_log.active = True
      pid_log.p = float(self.pid.p)
      pid_log.i = float(self.pid.i)
      pid_log.d = float(self.pid.d)
      pid_log.f = float(self.pid.f)
-      pid_log.output = float(-output_torque)
+      pid_log.output = float(-output_torque)  # TODO: log lat accel?
      pid_log.actualLateralAccel = float(actual_lateral_accel)
      pid_log.desiredLateralAccel = float(desired_lateral_accel)
      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
@@ -93,12 +93,12 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    return x, v, a, j, throttle_prob

  def update(self, sm):
-    self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
+    mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
    if not self.mlsim:
-      self.mpc.mode = self.mode
+      self.mpc.mode = mode
    LongitudinalPlannerSP.update(self, sm)
    if dec_mpc_mode := self.get_mpc_mode():
-      self.mode = dec_mpc_mode
+      mode = dec_mpc_mode
      if not self.mlsim:
        self.mpc.mode = dec_mpc_mode

@@ -123,7 +123,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    # No change cost when user is controlling the speed, or when standstill
    prev_accel_constraint = not (reset_state or sm['carState'].standstill)

-    if self.mode == 'acc':
+    if mode == 'acc':
      accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
      steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
      accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
@@ -173,7 +173,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
    output_should_stop_e2e = sm['modelV2'].action.shouldStop

-    if self.mode == 'acc' or not self.mlsim:
+    if mode == 'acc' or not self.mlsim:
      output_a_target = output_a_target_mpc
      self.output_should_stop = output_should_stop_mpc
    else:
@@ -5,6 +5,7 @@ from opendbc.car.car_helpers import interfaces
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.nissan.values import CAR as NISSAN
+from opendbc.car.gm.values import CAR as GM
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.selfdrive.car.helpers import convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
@@ -17,7 +18,8 @@ from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfac

 class TestLatControl:

-  @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),  (NISSAN.NISSAN_LEAF, LatControlAngle)])
+  @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
+                         (NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque)])
  def test_saturation(self, car_name, controller):
    CarInterface = interfaces[car_name]
    CP = CarInterface.get_non_essential_params(car_name)
@@ -107,15 +107,12 @@ class ModelState(ModelStateBase):

    self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32)
    self.full_desire = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32)
-    self.full_prev_desired_curv = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
    self.temporal_idxs = slice(-1-(ModelConstants.TEMPORAL_SKIP*(ModelConstants.INPUT_HISTORY_BUFFER_LEN-1)), None, ModelConstants.TEMPORAL_SKIP)

    # policy inputs
    self.numpy_inputs = {
      'desire': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32),
      'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
-      'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32),
-      'prev_desired_curv': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
      'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
    }

@@ -148,7 +145,6 @@ class ModelState(ModelStateBase):
    self.numpy_inputs['desire'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2)

    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
-    self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
    imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names}

    if TICI and not USBGPU:
@@ -174,11 +170,6 @@ class ModelState(ModelStateBase):
    self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))

-    # TODO model only uses last value now
-    self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
-    self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
-    self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
-
    combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
    if SEND_RAW_PRED:
      combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
@@ -299,7 +290,6 @@ def main(demo=False):
    if sm.frame % 60 == 0:
      model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
    lat_delay = model.lat_delay + LAT_SMOOTH_SECONDS
-    lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -332,7 +322,6 @@ def main(demo=False):
    inputs:dict[str, np.ndarray] = {
      'desire': vec_desire,
      'traffic_convention': traffic_convention,
-      'lateral_control_params': lateral_control_params,
    }

    mt1 = time.perf_counter()
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1af87c38492444521632a0e75839b5684ee46bf255b3474773784bffb9fe4f57
-size 15583374
+oid sha256:04b763fb71efe57a8a4c4168a8043ecd58939015026ded0dc755ded6905ac251
+size 12343523
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c824f68646a3b94f117f01c70dc8316fb466e05fbd42ccdba440b8a8dc86914b
-size 46265993
+oid sha256:e66bb8d53eced3786ed71a59b55ffc6810944cb217f0518621cc76303260a1ef
+size 46271991
@@ -22,9 +22,10 @@ class Parser:
    self.ignore_missing = ignore_missing

  def check_missing(self, outs, name):
-    if name not in outs and not self.ignore_missing:
+    missing = name not in outs
+    if missing and not self.ignore_missing:
      raise ValueError(f"Missing output {name}")
-    return name not in outs
+    return missing

  def parse_categorical_crossentropy(self, name, outs, out_shape=None):
    if self.check_missing(outs, name):
@@ -84,6 +85,13 @@ class Parser:
    outs[name] = pred_mu_final.reshape(final_shape)
    outs[name + '_stds'] = pred_std_final.reshape(final_shape)

+  def is_mhp(self, outs, name, shape):
+    if self.check_missing(outs, name):
+      return False
+    if outs[name].shape[1] == 2 * shape:
+      return False
+    return True
+
  def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
@@ -94,23 +102,17 @@ class Parser:
    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
    self.parse_binary_crossentropy('meta', outs)
    self.parse_binary_crossentropy('lead_prob', outs)
-    if outs['lead'].shape[1] == 2 * ModelConstants.LEAD_MHP_SELECTION *ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH:
-      self.parse_mdn('lead', outs, in_N=0, out_N=0,
-                     out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
-    else:
-      self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH)
+    lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
+    lead_out_shape = (ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) if lead_mhp else \
+        (ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH)
+    self.parse_mdn('lead', outs, in_N=lead_in_N, out_N=lead_out_N, out_shape=lead_out_shape)
    return outs

  def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH:
-      self.parse_mdn('plan', outs, in_N=0, out_N=0,
-                     out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    else:
-      self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
-                     out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    if 'desired_curvature' in outs:
-      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
+    plan_mhp = self.is_mhp(outs, 'plan',  ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
+    plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
+    self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
    return outs

@@ -93,7 +93,7 @@ def main() -> None:

      # TODO: remove this in the next AGNOS
      # wait until USB is up before counting
-      if time.monotonic() < 35.:
+      if time.monotonic() < 60.:
        no_internal_panda_count = 0

      # Handle missing internal panda
@@ -265,7 +265,10 @@ class SelfdriveD(CruiseHelper):
      if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture:
        self.events.add(EventName.ldw)

-    # Check for excessive actuation
+    # ******************************************************************************************
+    #  NOTE: To fork maintainers.
+    #  Disabling or nerfing safety features will get you and your users banned from our servers.
+    #  We recommend that you do not change these numbers from the defaults.
    if self.sm.updated['liveCalibration']:
      self.pose_calibrator.feed_live_calib(self.sm['liveCalibration'])
    if self.sm.updated['livePose']:
@@ -280,6 +283,7 @@ class SelfdriveD(CruiseHelper):

    if self.excessive_actuation:
      self.events.add(EventName.excessiveActuation)
+    # ******************************************************************************************

    # Handle lane change
    if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
@@ -1 +1 @@
-543bd2347fa35f8300478a3893fdd0a03a7c1fe6
+6d3219bca9f66a229b38a5382d301a92b0147edb
@@ -63,7 +63,7 @@ segments = [
 ]

 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock", "body"]
+excluded_interfaces = ["mock", "body", "psa"]

 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
@@ -333,20 +333,18 @@ class TestOnroad:
            assert np.all(eof_sof_diff > 0)
            assert np.all(eof_sof_diff < 50*1e6)

-        first_fid = {c: min(self.ts[c]['frameId']) for c in cams}
+        first_fid = {min(self.ts[c]['frameId']) for c in cams}
+        assert len(first_fid) == 1, "Cameras don't start on same frame ID"
        if cam.endswith('CameraState'):
          # camerad guarantees that all cams start on frame ID 0
          # (note loggerd also needs to start up fast enough to catch it)
-          assert set(first_fid.values()) == {0, }, "Cameras don't start on frame ID 0"
-        else:
-          # encoder guarantees all cams start on the same frame ID
-          assert len(set(first_fid.values())) == 1, "Cameras don't start on same frame ID"
+          assert next(iter(first_fid)) < 100, "Cameras start on frame ID too high"

        # we don't do a full segment rotation, so these might not match exactly
-        last_fid = {c: max(self.ts[c]['frameId']) for c in cams}
-        assert max(last_fid.values()) - min(last_fid.values()) < 10
+        last_fid = {max(self.ts[c]['frameId']) for c in cams}
+        assert max(last_fid) - min(last_fid) < 10

-        start, end = min(first_fid.values()), min(last_fid.values())
+        start, end = min(first_fid), min(last_fid)
        for i in range(end-start):
          ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams}
          diff = (max(ts.values()) - min(ts.values()))
@@ -22,8 +22,9 @@ def main():
    sm.update()
    should_send_bookmark = False

+    # TODO: https://github.com/commaai/openpilot/issues/36015
    # only allow the LKAS button to record feedback when MADS is disabled
-    if sm.updated['carState'] and sm['carState'].canValid and not sm['selfdriveStateSP'].mads.available:
+    if False and sm.updated['carState'] and sm['carState'].canValid and not sm['selfdriveStateSP'].mads.available:
      for be in sm['carState'].buttonEvents:
        if be.type == ButtonType.lkas:
          if be.pressed:
@@ -24,11 +24,13 @@ const std::string BRANCH_STR = get_str(BRANCH "?
 #define GIT_SSH_URL "git@github.com:commaai/openpilot.git"
 #define CONTINUE_PATH "/data/continue.sh"

-const std::string CACHE_PATH = "/data/openpilot.cache";
+const std::string INSTALL_PATH = "/data/openpilot";
+const std::string VALID_CACHE_PATH = "/data/.openpilot_cache";

-#define INSTALL_PATH "/data/openpilot"
 #define TMP_INSTALL_PATH "/data/tmppilot"

+const int FONT_SIZE = 120;
+
 extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_start");
 extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_end");
 extern const uint8_t inter_ttf[] asm("_binary_selfdrive_ui_installer_inter_ascii_ttf_start");
@@ -41,6 +43,16 @@ void run(const char* cmd) {
  assert(err == 0);
 }

+void finishInstall() {
+  BeginDrawing();
+    ClearBackground(BLACK);
+    const char *m = "Finishing install...";
+    int text_width = MeasureText(m, FONT_SIZE);
+    DrawTextEx(font, m, (Vector2){(float)(GetScreenWidth() - text_width)/2 + FONT_SIZE, (float)(GetScreenHeight() - FONT_SIZE)/2}, FONT_SIZE, 0, WHITE);
+  EndDrawing();
+  util::sleep_for(60 * 1000);
+}
+
 void renderProgress(int progress) {
  BeginDrawing();
    ClearBackground(BLACK);
@@ -62,11 +74,11 @@ int doInstall() {
  }

  // cleanup previous install attempts
-  run("rm -rf " TMP_INSTALL_PATH " " INSTALL_PATH);
+  run("rm -rf " TMP_INSTALL_PATH);

  // do the install
-  if (util::file_exists(CACHE_PATH)) {
-    return cachedFetch(CACHE_PATH);
+  if (util::file_exists(INSTALL_PATH) && util::file_exists(VALID_CACHE_PATH)) {
+    return cachedFetch(INSTALL_PATH);
  } else {
    return freshClone();
  }
@@ -135,7 +147,9 @@ void cloneFinished(int exitCode) {
  run("git submodule update --init");

  // move into place
-  run("mv " TMP_INSTALL_PATH " " INSTALL_PATH);
+  run(("rm -f " + VALID_CACHE_PATH).c_str());
+  run(("rm -rf " + INSTALL_PATH).c_str());
+  run(util::string_format("mv %s %s", TMP_INSTALL_PATH, INSTALL_PATH.c_str()).c_str());

 #ifdef INTERNAL
  run("mkdir -p /data/params/d/");
@@ -153,9 +167,9 @@ void cloneFinished(int exitCode) {
    param << value;
    param.close();
  }
-  run("cd " INSTALL_PATH " && "
+  run(("cd " + INSTALL_PATH + " && "
      "git remote set-url origin --push " GIT_SSH_URL " && "
-      "git config --replace-all remote.origin.fetch \"+refs/heads/*:refs/remotes/origin/*\"");
+      "git config --replace-all remote.origin.fetch \"+refs/heads/*:refs/remotes/origin/*\"").c_str());
 #endif

  // write continue.sh
@@ -171,16 +185,22 @@ void cloneFinished(int exitCode) {
  run("mv /data/continue.sh.new " CONTINUE_PATH);

  // wait for the installed software's UI to take over
-  util::sleep_for(60 * 1000);
+  finishInstall();
 }

 int main(int argc, char *argv[]) {
  InitWindow(2160, 1080, "Installer");
-  font = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, 120, NULL, 0);
+  font = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, FONT_SIZE, NULL, 0);
  SetTextureFilter(font.texture, TEXTURE_FILTER_BILINEAR);
-  renderProgress(0);
-  int result = doInstall();
-  cloneFinished(result);
+
+  if (util::file_exists(CONTINUE_PATH)) {
+    finishInstall();
+  } else {
+    renderProgress(0);
+    int result = doInstall();
+    cloneFinished(result);
+  }
+
  CloseWindow();
  UnloadFont(font);
  return 0;
@@ -23,10 +23,6 @@ DESCRIPTIONS = {
  'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
  "IsMetric": "Display speed in km/h instead of mph.",
  "RecordAudio": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.",
-  "RecordAudioFeedback": (
-    "Press the LKAS button to record audio feedback about openpilot. When this toggle is disabled, the button acts as a bookmark button. " +
-    "The event will be highlighted in comma connect and the segment will be preserved on your device's storage."
-  ),
 }


@@ -85,12 +81,6 @@ class TogglesLayout(Widget):
        self._params.get_bool("RecordAudio"),
        icon="microphone.png",
      ),
-      toggle_item(
-        "Record Audio Feedback with LKAS button",
-        DESCRIPTIONS["RecordAudioFeedback"],
-        self._params.get_bool("RecordAudioFeedback"),
-        icon="microphone.png",
-      ),
      toggle_item(
        "Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="metric.png"
      ),
@@ -2,12 +2,15 @@ from enum import IntEnum
 import os
 import threading
 import time
+from functools import lru_cache

 from openpilot.common.api import Api, api_get
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID

+TOKEN_EXPIRY_HOURS = 2
+

 class PrimeType(IntEnum):
  UNKNOWN = -2,
@@ -20,6 +23,12 @@ class PrimeType(IntEnum):
  PURPLE = 5,


+@lru_cache(maxsize=1)
+def get_token(dongle_id: str, t: int):
+  print('getting token')
+  return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS)
+
+
 class PrimeState:
  FETCH_INTERVAL = 5.0  # seconds between API calls
  API_TIMEOUT = 10.0  # seconds for API requests
@@ -49,13 +58,15 @@ class PrimeState:
      return

    try:
-      identity_token = Api(dongle_id).get_token()
+      identity_token = get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60)))
      response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token)
      if response.status_code == 200:
        data = response.json()
        is_paired = data.get("is_paired", False)
        prime_type = data.get("prime_type", 0)
        self.set_type(PrimeType(prime_type) if is_paired else PrimeType.UNPAIRED)
+      elif response.status_code == 401:
+        get_token.cache_clear()
    except Exception as e:
      cloudlog.error(f"Failed to fetch prime status: {e}")

@@ -187,9 +187,9 @@ class ModelRenderer(Widget):
      self._path.raw_points, 0.9, self._path_offset_z, max_idx, allow_invert=False
    )

-    self._update_experimental_gradient(self._rect.height)
+    self._update_experimental_gradient()

-  def _update_experimental_gradient(self, height):
+  def _update_experimental_gradient(self):
    """Pre-calculate experimental mode gradient colors"""
    if not self._experimental_mode:
      return
@@ -201,22 +201,21 @@ class ModelRenderer(Widget):

    i = 0
    while i < max_len:
-      track_idx = max_len - i - 1  # flip idx to start from bottom right
-      track_y = self._path.projected_points[track_idx][1]
-      if track_y < 0 or track_y > height:
+      # Some points (screen space) are out of frame (rect space)
+      track_y = self._path.projected_points[i][1]
+      if track_y < self._rect.y or track_y > (self._rect.y + self._rect.height):
        i += 1
        continue

-      # Calculate color based on acceleration
-      lin_grad_point = (height - track_y) / height
+      # Calculate color based on acceleration (0 is bottom, 1 is top)
+      lin_grad_point = 1 - (track_y - self._rect.y) / self._rect.height

      # speed up: 120, slow down: 0
-      path_hue = max(min(60 + self._acceleration_x[i] * 35, 120), 0)
-      path_hue = int(path_hue * 100 + 0.5) / 100
+      path_hue = np.clip(60 + self._acceleration_x[i] * 35, 0, 120)

      saturation = min(abs(self._acceleration_x[i] * 1.5), 1)
-      lightness = self._map_val(saturation, 0.0, 1.0, 0.95, 0.62)
-      alpha = self._map_val(lin_grad_point, 0.75 / 2.0, 0.75, 0.4, 0.0)
+      lightness = np.interp(saturation, [0.0, 1.0], [0.95, 0.62])
+      alpha = np.interp(lin_grad_point, [0.75 / 2.0, 0.75], [0.4, 0.0])

      # Use HSL to RGB conversion
      color = self._hsla_to_color(path_hue / 360.0, saturation, lightness, alpha)
@@ -280,7 +279,7 @@ class ModelRenderer(Widget):

    if self._experimental_mode:
      # Draw with acceleration coloring
-      if len(self._exp_gradient['colors']) > 2:
+      if len(self._exp_gradient['colors']) > 1:
        draw_polygon(self._rect, self._path.projected_points, gradient=self._exp_gradient)
      else:
        draw_polygon(self._rect, self._path.projected_points, rl.Color(255, 255, 255, 30))
@@ -409,13 +408,6 @@ class ModelRenderer(Widget):

    return np.vstack((left_screen.T, right_screen[:, ::-1].T)).astype(np.float32)

-  @staticmethod
-  def _map_val(x, x0, x1, y0, y1):
-    x = np.clip(x, x0, x1)
-    ra = x1 - x0
-    rb = y1 - y0
-    return (x - x0) * rb / ra + y0 if ra != 0 else y0
-
  @staticmethod
  def _hsla_to_color(h, s, l, a):
    rgb = colorsys.hls_to_rgb(h, l, s)
@@ -75,13 +75,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
      "../assets/icons/microphone.png",
      true,
    },
-    {
-      "RecordAudioFeedback",
-      tr("Record Audio Feedback with LKAS button"),
-      tr("Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.\n\nNote that this feature is only compatible with select cars."),
-      "../assets/icons/microphone.png",
-      false,
-    },
    {
      "IsMetric",
      tr("Use Metric System"),
@@ -4,6 +4,7 @@ widgets_src = [
  "sunnypilot/qt/widgets/controls.cc",
  "sunnypilot/qt/widgets/drive_stats.cc",
  "sunnypilot/qt/widgets/expandable_row.cc",
+  "sunnypilot/qt/widgets/external_storage.cc",
  "sunnypilot/qt/widgets/prime.cc",
  "sunnypilot/qt/widgets/scrollview.cc",
  "sunnypilot/qt/network/networking.cc",
@@ -5,9 +5,14 @@
 * See the LICENSE.md file in the root directory for more details.
 */
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/external_storage.h"

 DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(parent) {

+  #ifndef __APPLE__
+  addItem(new ExternalStorageControl());
+  #endif
+
  // Advanced Controls Toggle
  showAdvancedControls = new ParamControlSP("ShowAdvancedControls", tr("Show Advanced Controls"), tr("Toggle visibility of advanced sunnypilot controls.\nThis only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state."), "");
  addItem(showAdvancedControls);
@@ -34,6 +34,27 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
  vlayout->setContentsMargins(50, 20, 50, 20);

  auto *list = new ListWidget(this, false);
+
+  QVBoxLayout *titleLayout = new QVBoxLayout;
+  QLabel *title = new QLabel(tr("🚀 sunnylink 🚀"));
+  title->setStyleSheet("font-size: 90px; font-weight: 500; font-family: 'Noto Color Emoji';");
+  titleLayout->addWidget(title, 0, Qt::AlignCenter);
+
+  QLabel *sunnylinkDesc = new QLabel("<div align='center'><font color='green'>"+
+    tr("For secure backup, restore, and remote configuration")+ "</font></div>");
+
+  QLabel *sponsorMsg = new QLabel("<div align='center'><font color='orange'>"+
+    tr("Sponsorship isn't required for basic backup/restore") + "<br>" +
+       tr("Click the sponsor button for more details")+ "</font></div>");
+
+  sunnylinkDesc->setStyleSheet("font-size: 40px; font-weight: 100; font-family: 'Noto';");
+  sponsorMsg->setStyleSheet("font-size: 35px; font-weight: 100; font-family: 'Noto';");
+
+  titleLayout->addWidget(sunnylinkDesc, 0, Qt::AlignCenter);
+  titleLayout->addWidget(sponsorMsg, 0, Qt::AlignCenter);
+
+  list->addItem(titleLayout);
+
  QString sunnylinkEnabledBtnDesc = tr("This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.");
  sunnylinkEnabledBtn = new ParamControl(
    "SunnylinkEnabled",
@@ -0,0 +1,170 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/external_storage.h"
+
+#include <QProcess>
+#include <QCoreApplication>
+#include <QShowEvent>
+#include <QTimer>
+#include <QtConcurrent>
+
+#include "common/params.h"
+#include "selfdrive/ui/qt/api.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+
+ExternalStorageControl::ExternalStorageControl() :
+  ButtonControl(tr("External Storage"), "", tr("Extend your comma device's storage by inserting a USB drive into the aux port.")) {
+
+  QObject::connect(this, &ButtonControl::clicked, [=]() {
+    if (text() == tr("CHECK") || text() == tr("MOUNT")) {
+      mountStorage();
+    } else if (text() == tr("UNMOUNT")) {
+      unmountStorage();
+    } else if (text() == tr("FORMAT")) {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to format this drive? This will erase all data."), tr("Format"), this)) {
+        formatStorage();
+      }
+    }
+  });
+
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &ExternalStorageControl::updateState);
+  updateState(!uiState()->scene.started);
+
+  refresh();
+}
+
+void ExternalStorageControl::updateState(bool offroad) {
+  setEnabled(offroad);
+}
+
+void ExternalStorageControl::debouncedRefresh() {
+  if (refreshPending) return;
+  refreshPending = true;
+
+  QTimer::singleShot(250, this, [=]() {
+    refreshPending = false;
+    refresh();
+  });
+}
+
+void ExternalStorageControl::refresh() {
+  QtConcurrent::run([=]() {
+    auto run = [](const QString &cmd) {
+      QProcess p;
+      p.start("sh", QStringList() << "-c" << cmd);
+      p.waitForFinished();
+      return p.exitCode() == 0;
+    };
+
+    bool isMounted = run("findmnt -n /mnt/external_realdata");
+    bool hasDrive = run("lsblk -f /dev/sdg");
+    bool hasFs = run("lsblk -f /dev/sdg1 | grep -q ext4");
+    bool hasLabel = run("sudo blkid /dev/sdg1 | grep -q 'LABEL=\"openpilot\"'");
+
+    QString info;
+    if (isMounted && hasLabel) {
+      QProcess df;
+      df.start("sh", QStringList() << "-c" << "df -h /mnt/external_realdata | awk 'NR==2 {print $3 \"/\" $2}'");
+      df.waitForFinished();
+      info = df.readAllStandardOutput().trimmed();
+    }
+
+    QMetaObject::invokeMethod(this, [=]() {
+      if (formatting) {
+        setValue(tr("formatting"));
+        setText(tr("FORMAT"));
+        setEnabled(false);
+      } else {
+        if (!hasDrive) {
+          setValue(tr("insert drive"));
+          setText(tr("CHECK"));
+        } else if (!hasFs || !hasLabel) {
+          setValue(tr("needs format"));
+          setText(tr("FORMAT"));
+        } else if (isMounted) {
+          setValue(info);
+          setText(tr("UNMOUNT"));
+        } else {
+          setValue("drive detected");
+          setText(tr("MOUNT"));
+        }
+        updateState(!uiState()->scene.started);
+      }
+    }, Qt::QueuedConnection);
+  });
+}
+
+void ExternalStorageControl::mountStorage() {
+  setValue(tr("mounting"));
+  setEnabled(false);
+
+  QtConcurrent::run([=]() {
+    QProcess process;
+    process.start("sh", QStringList() << "-c" <<
+      "sudo mount -o remount,rw / && "
+      "sudo mkdir -p /mnt/external_realdata && "
+      "grep -q '/dev/sdg1 /mnt/external_realdata' /etc/fstab || "
+      "echo '/dev/sdg1 /mnt/external_realdata ext4 defaults,nofail 0 2' | sudo tee -a /etc/fstab && "
+      "sudo systemctl daemon-reexec && "
+      "sudo mount /mnt/external_realdata && "
+      "sudo chown -R comma:comma /mnt/external_realdata && "
+      "sudo chmod -R 775 /mnt/external_realdata && "
+      "sudo mount -o remount,ro /");
+    process.waitForFinished();
+
+    QMetaObject::invokeMethod(this, [=]() {
+      debouncedRefresh();
+    }, Qt::QueuedConnection);
+  });
+}
+
+void ExternalStorageControl::unmountStorage() {
+  setValue(tr("unmounting"));
+  setEnabled(false);
+
+  QtConcurrent::run([=]() {
+    QProcess process;
+    process.start("sh", QStringList() << "-c" << "sudo umount /mnt/external_realdata");
+    process.waitForFinished();
+
+    QMetaObject::invokeMethod(this, [=]() {
+      debouncedRefresh();
+    }, Qt::QueuedConnection);
+  });
+}
+
+void ExternalStorageControl::formatStorage() {
+  unmountStorage();
+  formatting = true;
+  setValue(tr("formatting"));
+  setEnabled(false);
+
+  QProcess *process = new QProcess(this);
+  connect(process, static_cast<void(QProcess::*)(int, QProcess::ExitStatus)>(&QProcess::finished),
+          this, [=](int exitCode, QProcess::ExitStatus status) {
+            process->deleteLater();
+            formatting = false;
+            if (exitCode == 0 && status == QProcess::NormalExit) {
+              mountStorage();
+            } else {
+              setValue(tr("needs format"));
+              updateState(!uiState()->scene.started);
+            }
+          });
+  process->start("sh", QStringList() << "-c" <<
+    "sudo wipefs -a /dev/sdg && "
+    "sudo parted -s /dev/sdg mklabel gpt mkpart primary ext4 0% 100% && "
+    "sudo mkfs.ext4 -F -L openpilot /dev/sdg1"
+  );
+}
+
+void ExternalStorageControl::showEvent(QShowEvent *event) {
+  ButtonControl::showEvent(event);
+  QTimer::singleShot(100, this, &ExternalStorageControl::debouncedRefresh);
+}
@@ -0,0 +1,34 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "system/hardware/hw.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#define ButtonControl ButtonControlSP
+
+class ExternalStorageControl : public ButtonControl {
+  Q_OBJECT
+
+public:
+  ExternalStorageControl();
+
+protected:
+  void showEvent(QShowEvent *event) override;
+
+private:
+  Params params;
+
+  bool refreshPending = false;
+  bool formatting = false;
+  void updateState(bool offroad);
+  void refresh();
+  void debouncedRefresh();
+  void mountStorage();
+  void unmountStorage();
+  void formatStorage();
+};
@@ -5,6 +5,7 @@ from openpilot.common.params import Params
 from openpilot.system.manager.process_config import managed_processes


+@pytest.mark.skip("tmp disabled")
 class TestFeedbackd:
  def setup_method(self):
    self.pm = messaging.PubMaster(['carState', 'rawAudioData'])
@@ -972,10 +972,6 @@ The default software delay value is 0.2</source>
        <source>Default</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Model download has started in the background.</source>
        <translation type="unfinished"></translation>
@@ -1020,6 +1016,38 @@ The default software delay value is 0.2</source>
        <source>Cancel</source>
        <translation type="unfinished">إلغاء</translation>
    </message>
+    <message>
+        <source>Refresh Model List</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching Latest Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Steer Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Actuator Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Software Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Total Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -2067,6 +2095,30 @@ Warning: You are on a metered connection!</source>
        <source>Not Paired</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[Don&apos;t use] Enable sunnylink uploader</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SunnylinkSponsorPopup</name>
@@ -2212,16 +2264,6 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
@@ -964,10 +964,6 @@ The default software delay value is 0.2</source>
        <source>Default</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Model download has started in the background.</source>
        <translation type="unfinished"></translation>
@@ -1012,6 +1008,38 @@ The default software delay value is 0.2</source>
        <source>Cancel</source>
        <translation type="unfinished">Abbrechen</translation>
    </message>
+    <message>
+        <source>Refresh Model List</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching Latest Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Steer Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Actuator Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Software Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Total Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -2049,6 +2077,30 @@ Warning: You are on a metered connection!</source>
        <source>Not Paired</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[Don&apos;t use] Enable sunnylink uploader</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SunnylinkSponsorPopup</name>
@@ -2194,16 +2246,6 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
@@ -462,7 +462,7 @@ La calibración del retraso de la dirección está completa.</translation>
    </message>
    <message>
        <source>Select a language</source>
-        <translation type="unfinished"></translation>
+        <translation type="unfinished">Seleccione el idioma</translation>
    </message>
    <message>
        <source>Wake-Up Behavior</source>
@@ -968,10 +968,6 @@ The default software delay value is 0.2</source>
        <source>Default</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Model download has started in the background.</source>
        <translation type="unfinished"></translation>
@@ -1016,6 +1012,38 @@ The default software delay value is 0.2</source>
        <source>Cancel</source>
        <translation type="unfinished">Cancelar</translation>
    </message>
+    <message>
+        <source>Refresh Model List</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching Latest Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Steer Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Actuator Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Software Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Total Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -2051,6 +2079,30 @@ Warning: You are on a metered connection!</source>
        <source>Not Paired</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[Don&apos;t use] Enable sunnylink uploader</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SunnylinkSponsorPopup</name>
@@ -2196,16 +2248,6 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation>Graba y almacena el audio del micrófono mientras conduces. El audio se incluirá en el video de la cámara del tablero en comma connect.</translation>
    </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
@@ -964,10 +964,6 @@ The default software delay value is 0.2</source>
        <source>Default</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Model download has started in the background.</source>
        <translation type="unfinished"></translation>
@@ -1012,6 +1008,38 @@ The default software delay value is 0.2</source>
        <source>Cancel</source>
        <translation type="unfinished">Annuler</translation>
    </message>
+    <message>
+        <source>Refresh Model List</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching Latest Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Steer Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Actuator Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Software Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Total Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -2047,6 +2075,30 @@ Warning: You are on a metered connection!</source>
        <source>Not Paired</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[Don&apos;t use] Enable sunnylink uploader</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SunnylinkSponsorPopup</name>
@@ -2192,16 +2244,6 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
@@ -966,10 +966,6 @@ The default software delay value is 0.2</source>
        <source>Default</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Model download has started in the background.</source>
        <translation type="unfinished"></translation>
@@ -1014,6 +1010,38 @@ The default software delay value is 0.2</source>
        <source>Cancel</source>
        <translation type="unfinished">キャンセル</translation>
    </message>
+    <message>
+        <source>Refresh Model List</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching Latest Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Steer Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Actuator Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Software Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Total Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -2046,6 +2074,30 @@ Warning: You are on a metered connection!</source>
        <source>Not Paired</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[Don&apos;t use] Enable sunnylink uploader</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SunnylinkSponsorPopup</name>
@@ -2191,16 +2243,6 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation>運転中にマイク音声を録音・保存します。音声は comma connect のドライブレコーダー映像に含まれます。</translation>
    </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
@@ -974,10 +974,6 @@ The default software delay value is 0.2</source>
        <source>Default</source>
        <translation>기본값</translation>
    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
-        <translation>이 기능을 켜면 차량이 스스로 핸들 반응 속도를 학습하고 맞춥니다. 끄면 고정된 핸들 반응 속도를 사용합니다. 이 기능을 켜두는 것이 기본 openpilot 경험을 제공합니다. 차량이 주행 중일 때 현재 값이 자동으로 업데이트됩니다.</translation>
-    </message>
    <message>
        <source>Model download has started in the background.</source>
        <translation>모델 다운로드가 백그라운드에서 시작되었습니다.</translation>
@@ -1022,6 +1018,38 @@ The default software delay value is 0.2</source>
        <source>Cancel</source>
        <translation>취소</translation>
    </message>
+    <message>
+        <source>Refresh Model List</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished">새로 고침</translation>
+    </message>
+    <message>
+        <source>Fetching Latest Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Steer Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Actuator Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Software Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Total Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -2060,6 +2088,30 @@ Warning: You are on a metered connection!</source>
        <source>Not Paired</source>
        <translation>페어링되지 않음</translation>
    </message>
+    <message>
+        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[Don&apos;t use] Enable sunnylink uploader</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SunnylinkSponsorPopup</name>
@@ -2205,18 +2257,6 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation>운전 중 마이크 오디오를 녹음하고 저장합니다. 이 오디오는 comma connect의 대시캠 영상에 포함됩니다.</translation>
    </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation>LKAS 버튼으로 오디오 피드백 녹음</translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation>LKAS 버튼을 눌러 openpilot 팀과 주행 피드백을 녹음하고 공유하세요. 이 기능을 비활성화하면, 해당 버튼은 북마크 버튼 역할을 합니다. 이 이벤트는 comma connect에서 강조되며, 해당 구간 영상은 기기 저장소에 보존됩니다.
-
-참고: 이 기능은 일부 차량에서만 호환됩니다.</translation>
-    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation>sunnypilot 사용</translation>
@@ -968,10 +968,6 @@ The default software delay value is 0.2</source>
        <source>Default</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Model download has started in the background.</source>
        <translation type="unfinished"></translation>
@@ -1016,6 +1012,38 @@ The default software delay value is 0.2</source>
        <source>Cancel</source>
        <translation type="unfinished">Cancelar</translation>
    </message>
+    <message>
+        <source>Refresh Model List</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching Latest Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Steer Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Actuator Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Software Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Total Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -2051,6 +2079,30 @@ Warning: You are on a metered connection!</source>
        <source>Not Paired</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[Don&apos;t use] Enable sunnylink uploader</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SunnylinkSponsorPopup</name>
@@ -2196,16 +2248,6 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation>Grave e armazene o áudio do microfone enquanto estiver dirigindo. O áudio será incluído ao vídeo dashcam no comma connect.</translation>
    </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
@@ -962,10 +962,6 @@ The default software delay value is 0.2</source>
        <source>Default</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Model download has started in the background.</source>
        <translation type="unfinished"></translation>
@@ -1010,6 +1006,38 @@ The default software delay value is 0.2</source>
        <source>Cancel</source>
        <translation type="unfinished">ยกเลิก</translation>
    </message>
+    <message>
+        <source>Refresh Model List</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching Latest Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Steer Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Actuator Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Software Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Total Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -2042,6 +2070,30 @@ Warning: You are on a metered connection!</source>
        <source>Not Paired</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[Don&apos;t use] Enable sunnylink uploader</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SunnylinkSponsorPopup</name>
@@ -2187,16 +2239,6 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
@@ -962,10 +962,6 @@ The default software delay value is 0.2</source>
        <source>Default</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Model download has started in the background.</source>
        <translation type="unfinished"></translation>
@@ -1010,6 +1006,38 @@ The default software delay value is 0.2</source>
        <source>Cancel</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Refresh Model List</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching Latest Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Steer Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Actuator Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Software Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Total Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -2041,6 +2069,30 @@ Warning: You are on a metered connection!</source>
        <source>Not Paired</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[Don&apos;t use] Enable sunnylink uploader</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SunnylinkSponsorPopup</name>
@@ -2186,16 +2238,6 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
@@ -966,10 +966,6 @@ The default software delay value is 0.2</source>
        <source>Default</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Model download has started in the background.</source>
        <translation type="unfinished"></translation>
@@ -1014,6 +1010,38 @@ The default software delay value is 0.2</source>
        <source>Cancel</source>
        <translation type="unfinished">取消</translation>
    </message>
+    <message>
+        <source>Refresh Model List</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching Latest Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Steer Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Actuator Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Software Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Total Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -2046,6 +2074,30 @@ Warning: You are on a metered connection!</source>
        <source>Not Paired</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[Don&apos;t use] Enable sunnylink uploader</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SunnylinkSponsorPopup</name>
@@ -2191,16 +2243,6 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation>在驾驶时录制并存储麦克风音频。该音频将会包含在 comma connect 的行车记录仪视频中。</translation>
    </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
@@ -966,10 +966,6 @@ The default software delay value is 0.2</source>
        <source>Default</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Model download has started in the background.</source>
        <translation type="unfinished"></translation>
@@ -1014,6 +1010,38 @@ The default software delay value is 0.2</source>
        <source>Cancel</source>
        <translation type="unfinished">取消</translation>
    </message>
+    <message>
+        <source>Refresh Model List</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>REFRESH</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching Latest Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Live Steer Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Actuator Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Software Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Total Delay:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -2046,6 +2074,30 @@ Warning: You are on a metered connection!</source>
        <source>Not Paired</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>[Don&apos;t use] Enable sunnylink uploader</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>🚀 sunnylink 🚀</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>For secure backup, restore, and remote configuration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Click the sponsor button for more details</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SunnylinkSponsorPopup</name>
@@ -2191,16 +2243,6 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation>在駕駛時錄製並儲存麥克風音訊。此音訊將會收錄在 comma connect 的行車記錄器影片中。</translation>
    </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
@@ -34,7 +34,7 @@ class OsmMapData(BaseMapData):
    return float(self.mem_params.get("MapSpeedLimit") or 0.0)

  def get_current_road_name(self) -> str:
-    return str(self.mem_params.get("RoadName"))
+    return str(self.mem_params.get("RoadName") or "")

  def get_next_speed_limit_and_distance(self) -> tuple[float, float]:
    next_speed_limit_section_str = self.mem_params.get("NextMapSpeedLimit")
@@ -90,7 +90,7 @@ class MapdInstallManager:
    logging.error("Failed to download file after all retries")

  def get_installed_version(self) -> str:
-    return str(self._params.get("MapdVersion"))
+    return str(self._params.get("MapdVersion") or "")

  def wait_for_internet_connection(self, return_on_failure: bool = False) -> bool:
    max_retries = 10
@@ -69,24 +69,26 @@ class ModelState(ModelStateBase):

    # img buffers are managed in openCL transform code
    self.numpy_inputs = {}
+    self.temporal_buffers = {}
+    self.temporal_idxs_map = {}

    for key, shape in self.model_runner.input_shapes.items():
      if key not in self.frames: # Managed by opencl
        self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)
-
-    if self.model_runner.is_20hz_3d:  # split models
-      self.full_features_buffer = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN,  self.constants.FEATURE_LEN), dtype=np.float32)
-      self.full_desire = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN, self.constants.DESIRE_LEN), dtype=np.float32)
-      self.full_prev_desired_curv = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN, self.constants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
-      self.temporal_idxs = slice(-1-(self.constants.TEMPORAL_SKIP*(self.constants.INPUT_HISTORY_BUFFER_LEN-1)), None, self.constants.TEMPORAL_SKIP)
-    elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d:
-      self.full_features_buffer = np.zeros((self.constants.FULL_HISTORY_BUFFER_LEN + 1, self.constants.FEATURE_LEN), dtype=np.float32)
-      self.full_desire = np.zeros((self.constants.FULL_HISTORY_BUFFER_LEN + 1, self.constants.DESIRE_LEN), dtype=np.float32)
-      num_elements = self.numpy_inputs['features_buffer'].shape[1]
-      step_size = int(-100 / num_elements)
-      self.temporal_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
-      self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1,
-                                  self.numpy_inputs['desire'].shape[2])
+        # Temporal input: shape is [batch, history, features]
+        if len(shape) == 3 and shape[1] > 1:
+          buffer_history_len = max(100, (shape[1] * 4 if shape[1] < 100 else shape[1]))   # Allow for higher history buffers in the future
+          feature_len = shape[2]
+          self.temporal_buffers[key] = np.zeros((1, buffer_history_len, feature_len), dtype=np.float32)
+          features_buffer_shape = self.model_runner.input_shapes.get('features_buffer')
+          if shape[1] in (24, 25) and features_buffer_shape is not None and features_buffer_shape[1] == 24:  # 20Hz
+            step = int(-buffer_history_len / shape[1])
+            self.temporal_idxs_map[key] = np.arange(step, step * (shape[1] + 1), step)[::-1]
+          elif shape[1] == 25:  # Split
+            skip = buffer_history_len // shape[1]
+            self.temporal_idxs_map[key] = np.arange(buffer_history_len)[-1 - (skip * (shape[1] - 1))::skip]
+          elif shape[1] == buffer_history_len:  # non20hz
+            self.temporal_idxs_map[key] = np.arange(buffer_history_len)

  @property
  def mlsim(self) -> bool:
@@ -98,19 +100,16 @@ class ModelState(ModelStateBase):
    inputs['desire'][0] = 0
    new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
    self.prev_desire[:] = inputs['desire']
+    self.temporal_buffers['desire'][0,:-1] = self.temporal_buffers['desire'][0,1:]
+    self.temporal_buffers['desire'][0,-1] = new_desire

-    if self.model_runner.is_20hz_3d:  # split models
-      self.full_desire[0,:-1] = self.full_desire[0,1:]
-      self.full_desire[0,-1] = new_desire
-      self.numpy_inputs['desire'][:] = self.full_desire.reshape((1, self.constants.INPUT_HISTORY_BUFFER_LEN, self.constants.TEMPORAL_SKIP, -1)).max(axis=2)
-    elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d:  # 20hz supercombo
-      self.full_desire[:-1] = self.full_desire[1:]
-      self.full_desire[-1] = new_desire
-      self.numpy_inputs['desire'][:] = self.full_desire.reshape(self.desire_reshape_dims).max(axis=2)
-    else: # not 20hz
-      length = inputs['desire'].shape[0]
-      self.numpy_inputs['desire'][0, :-1] = self.numpy_inputs['desire'][0, 1:]
-      self.numpy_inputs['desire'][0, -1, :length] = new_desire[:length]
+    # Roll buffer and assign based on desire.shape[1] value
+    if self.temporal_buffers['desire'].shape[1] > self.numpy_inputs['desire'].shape[1]:
+      skip = self.temporal_buffers['desire'].shape[1] // self.numpy_inputs['desire'].shape[1]
+      self.numpy_inputs['desire'][:] = (
+        self.temporal_buffers['desire'][0].reshape(self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], skip, -1).max(axis=2))
+    else:
+      self.numpy_inputs['desire'][:] = self.temporal_buffers['desire'][0, self.temporal_idxs_map['desire']]

    for key in self.numpy_inputs:
      if key in inputs and key not in ['desire']:
@@ -127,42 +126,27 @@ class ModelState(ModelStateBase):
    # Run model inference
    outputs = self.model_runner.run_model()

-    if self.model_runner.is_20hz_3d: # split models
-      self.full_features_buffer[0, :-1] = self.full_features_buffer[0, 1:]
-      self.full_features_buffer[0, -1] = outputs['hidden_state'][0, :]
-      self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
-    elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d:  # 20hz supercombo
-      self.full_features_buffer[:-1] = self.full_features_buffer[1:]
-      self.full_features_buffer[-1] = outputs['hidden_state'][0, :]
-      self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[self.temporal_idxs]
-    else: # not 20hz
-      feature_len = outputs['hidden_state'].shape[1]
-      self.numpy_inputs['features_buffer'][0, :-1] = self.numpy_inputs['features_buffer'][0, 1:]
-      self.numpy_inputs['features_buffer'][0, -1, :feature_len] = outputs['hidden_state'][0, :feature_len]
+    # Update features_buffer
+    self.temporal_buffers['features_buffer'][0, :-1] = self.temporal_buffers['features_buffer'][0, 1:]
+    self.temporal_buffers['features_buffer'][0, -1] = outputs['hidden_state'][0, :]
+    self.numpy_inputs['features_buffer'][:] = self.temporal_buffers['features_buffer'][0, self.temporal_idxs_map['features_buffer']]

    if "desired_curvature" in outputs:
      input_name_prev = None
-
      if "prev_desired_curvs" in self.numpy_inputs.keys():
        input_name_prev = 'prev_desired_curvs'
      elif "prev_desired_curv" in self.numpy_inputs.keys():
        input_name_prev = 'prev_desired_curv'
-
-      if input_name_prev is not None:
+      if input_name_prev and input_name_prev in self.temporal_buffers:
        self.process_desired_curvature(outputs, input_name_prev)
    return outputs

  def process_desired_curvature(self, outputs, input_name_prev):
-    if self.model_runner.is_20hz_3d:  # split models
-      self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
-      self.full_prev_desired_curv[0,-1,:] = outputs['desired_curvature'][0, :]
-      self.numpy_inputs[input_name_prev][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
-      if self.mlsim:
-        self.numpy_inputs[input_name_prev][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
-    else:
-      length = outputs['desired_curvature'][0].size
-      self.numpy_inputs[input_name_prev][0, :-length, 0] = self.numpy_inputs[input_name_prev][0, length:, 0]
-      self.numpy_inputs[input_name_prev][0, -length:, 0] = outputs['desired_curvature'][0]
+    self.temporal_buffers[input_name_prev][0,:-1] = self.temporal_buffers[input_name_prev][0,1:]
+    self.temporal_buffers[input_name_prev][0,-1,:] = outputs['desired_curvature'][0, :]
+    self.numpy_inputs[input_name_prev][:] = self.temporal_buffers[input_name_prev][0, self.temporal_idxs_map[input_name_prev]]
+    if self.mlsim:
+      self.numpy_inputs[input_name_prev][:] = 0*self.temporal_buffers[input_name_prev][0, self.temporal_idxs_map[input_name_prev]]

  def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                            lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
@@ -1,6 +1,5 @@
 import numpy as np
 from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
-from openpilot.sunnypilot.models.helpers import get_active_bundle


 def safe_exp(x, out=None):
@@ -25,8 +24,6 @@ def softmax(x, axis=-1):
 class Parser:
  def __init__(self, ignore_missing=False):
    self.ignore_missing = ignore_missing
-    model_bundle = get_active_bundle()
-    self.generation = model_bundle.generation if model_bundle is not None else None

  def check_missing(self, outs, name):
    if name not in outs and not self.ignore_missing:
@@ -91,26 +88,26 @@ class Parser:
    outs[name] = pred_mu_final.reshape(final_shape)
    outs[name + '_stds'] = pred_std_final.reshape(final_shape)

-  def _parse_plan_mhp(self, outs):
-    self.parse_mdn('plan', outs, in_N=SplitModelConstants.PLAN_MHP_N, out_N=SplitModelConstants.PLAN_MHP_SELECTION,
-                         out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))
+  def is_mhp(self, outs, name, shape):
+    if self.check_missing(outs, name):
+      return False
+    if outs[name].shape[1] == 2 * shape:
+      return False
+    return True

  def parse_dynamic_outputs(self, outs: dict[str, np.ndarray]) -> None:
    if 'lead' in outs:
-      if self.generation >= 12 and \
-         outs['lead'].shape[1] == 2 * SplitModelConstants.LEAD_MHP_SELECTION * SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH:
-        self.parse_mdn('lead', outs, in_N=0, out_N=0,
-                       out_shape=(SplitModelConstants.LEAD_MHP_SELECTION, SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
-      else:
-        self.parse_mdn('lead', outs, in_N=SplitModelConstants.LEAD_MHP_N, out_N=SplitModelConstants.LEAD_MHP_SELECTION,
-                       out_shape=(SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
+      lead_mhp = self.is_mhp(outs, 'lead',
+                             SplitModelConstants.LEAD_MHP_SELECTION * SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH)
+      lead_in_N, lead_out_N = (SplitModelConstants.LEAD_MHP_N, SplitModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
+      lead_out_shape = (SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH) if lead_mhp else \
+        (SplitModelConstants.LEAD_MHP_SELECTION, SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH)
+      self.parse_mdn('lead', outs, in_N=lead_in_N, out_N=lead_out_N, out_shape=lead_out_shape)
    if 'plan' in outs:
-      if self.generation >= 12 and \
-        outs['plan'].shape[1] == 2 * SplitModelConstants.IDX_N * SplitModelConstants.PLAN_WIDTH:
-        self.parse_mdn('plan', outs, in_N=0, out_N=0,
-                       out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
-      else:
-        self._parse_plan_mhp(outs)
+      plan_mhp = self.is_mhp(outs, 'plan', SplitModelConstants.IDX_N * SplitModelConstants.PLAN_WIDTH)
+      plan_in_N, plan_out_N = (SplitModelConstants.PLAN_MHP_N, SplitModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
+      self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N,
+                     out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))

  def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
    if 'desired_curvature' in outs:
@@ -0,0 +1,256 @@
+import numpy as np
+import pytest
+from typing import Any
+
+import openpilot.sunnypilot.models.helpers as helpers
+import openpilot.sunnypilot.models.runners.helpers as runner_helpers
+import openpilot.sunnypilot.modeld_v2.modeld as modeld_module
+
+ModelState = modeld_module.ModelState
+
+
+# These are the shapes extracted/loaded from the model onnx
+SHAPE_MODE_PARAMS = [
+  ({'desire': (1, 25, 8), 'features_buffer': (1, 25, 512), 'prev_desired_curv': (1, 25, 1)}, 'split'),
+  ({'desire': (1, 25, 8), 'features_buffer': (1, 24, 512), 'prev_desired_curv': (1, 25, 1)}, '20hz'),
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1)}, 'non20hz'),
+]
+
+
+# This creates a dummy runner, override, and bundle instance for the tests to run, without actually trying to load a physical model.
+class DummyOverride:
+  def __init__(self, key: str, value: str) -> None:
+    self.key = key
+    self.value = value
+
+
+class DummyBundle:
+  def __init__(self) -> None:
+    self.overrides = [DummyOverride('lat', '.1'), DummyOverride('long', '.3')]
+    self.generation = 10  # default to non-mlsim for buffer-update tests, as raising to 11 here will zero curvature buffer
+
+
+class DummyModelRunner:
+  def __init__(self, input_shapes: dict[str, tuple[int, int, int]], constants: Any = None) -> None:
+    self.input_shapes = input_shapes
+    self.constants = constants or type('C', (), {
+      'FULL_HISTORY_BUFFER_LEN': 100,
+      'FEATURE_LEN': 512,
+      'DESIRE_LEN': 8,
+      'PREV_DESIRED_CURV_LEN': 1,
+      'INPUT_HISTORY_BUFFER_LEN': 25,
+      'TEMPORAL_SKIP': 4,
+    })()
+    self.vision_input_names: list[str] = []
+    shape = input_shapes.get('desire', (1, 0, 0)) # [batch, history, features]
+    if shape[1] == 25:
+      self.is_20hz = True
+    else:
+      self.is_20hz = False
+
+  # Minimal prepare/run methods so ModelState can be run without actually running the model
+  def prepare_inputs(self, imgs_cl, numpy_inputs, frames):
+    return None
+
+  def run_model(self):
+    return {
+      'hidden_state': np.zeros((1, self.constants.FEATURE_LEN), dtype=np.float32),
+      'desired_curvature': np.zeros((1, 1), dtype=np.float32),
+    }
+
+
+@pytest.fixture
+def shapes(request):
+  return request.param
+
+
+@pytest.fixture
+def bundle() -> DummyBundle:
+  return DummyBundle()
+
+
+@pytest.fixture
+def runner(shapes) -> DummyModelRunner:
+  return DummyModelRunner(shapes)
+
+
+@pytest.fixture
+def apply_patches(monkeypatch: pytest.MonkeyPatch, bundle: DummyBundle, runner: DummyModelRunner):
+  monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None: bundle, raising=False)
+  monkeypatch.setattr(runner_helpers, 'get_model_runner', lambda: runner, raising=False)
+  monkeypatch.setattr(modeld_module, 'get_model_runner', lambda: runner, raising=False)
+  monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None: bundle, raising=False)
+
+
+# These are expected shapes and indices based on the time the model was presented
+def get_expected_indices(shape, constants, mode, key=None):
+  if mode == 'split':
+    start = -1 - (constants.TEMPORAL_SKIP * (constants.INPUT_HISTORY_BUFFER_LEN - 1))
+    arr = np.arange(constants.FULL_HISTORY_BUFFER_LEN)
+    idxs = arr[start::constants.TEMPORAL_SKIP]
+    return idxs
+  elif mode == '20hz':
+    num_elements = shape[1]
+    step_size = int(-100 / num_elements)
+    idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
+    return idxs
+  elif mode == 'non20hz':
+    if key and shape[1] == constants.FULL_HISTORY_BUFFER_LEN:
+      return np.arange(constants.FULL_HISTORY_BUFFER_LEN)
+    return None
+  return None
+
+
+@pytest.mark.parametrize("shapes,mode", SHAPE_MODE_PARAMS, indirect=["shapes"])
+def test_buffer_shapes_and_indices(shapes, mode, apply_patches):
+  state = ModelState(None)
+  constants = DummyModelRunner(shapes).constants
+  for key in shapes:
+    buf = state.temporal_buffers.get(key, None)
+    idxs = state.temporal_idxs_map.get(key, None)
+    # Buffer shape logic
+    if mode == 'split':
+      expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
+      expected_idxs = get_expected_indices(shapes[key], constants, 'split', key)
+    elif mode == '20hz':
+      expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
+      expected_idxs = get_expected_indices(shapes[key], constants, '20hz', key)
+    elif mode == 'non20hz':
+      if key == 'features_buffer':
+        expected_shape = (1, shapes[key][1]*4, shapes[key][2])
+      else:
+        expected_shape = (1, shapes[key][1], shapes[key][2])
+      expected_idxs = get_expected_indices(shapes[key], constants, 'non20hz', key)
+
+    assert buf is not None, f"{key}: buffer not found"
+    assert buf.shape == expected_shape, f"{key}: buffer shape {buf.shape} != expected {expected_shape}"
+    if expected_idxs is not None:
+      assert np.all(idxs == expected_idxs), f"{key}: buffer idxs {idxs} != expected {expected_idxs}"
+    else:
+      assert idxs is None or idxs.size == 0, f"{key}: buffer idxs should be None or empty"
+
+
+def legacy_buffer_update(buf, new_val, mode, key, constants, idxs):
+  # This is what we compare the new dynamic logic to, to ensure it does the same thing
+  if mode == 'split':
+    if key == 'desire':
+      buf[0,:-1] = buf[0,1:]
+      buf[0,-1] = new_val
+      return buf.reshape((1, constants.INPUT_HISTORY_BUFFER_LEN, constants.TEMPORAL_SKIP, -1)).max(axis=2)
+    elif key == 'features_buffer':
+      buf[0,:-1] = buf[0,1:]
+      buf[0,-1] = new_val
+      return buf[0, idxs]
+    elif key == 'prev_desired_curv':
+      buf[0,:-1] = buf[0,1:]
+      buf[0,-1,:] = new_val
+      return buf[0, idxs]
+  elif mode == '20hz':
+    if key == 'desire':
+      buf[:-1] = buf[1:]
+      buf[-1] = new_val
+      reshape_dims = (1, buf.shape[1], -1, buf.shape[2])
+      reshaped = buf.reshape(reshape_dims).max(axis=2)
+      # Slice to last shape[1] elements to match model input shape
+      input_len = reshaped.shape[1]
+      model_input_len = 25  # For 20hz mode, desire shape[1] is 25
+      if input_len > model_input_len:
+        reshaped = reshaped[:, -model_input_len:, :]
+      return reshaped
+    elif key == 'features_buffer':
+      buffer_history_len = buf.shape[1]
+      legacy_buf = np.zeros((buffer_history_len, buf.shape[2]), dtype=np.float32)
+      legacy_buf[:] = buf[0]
+      legacy_buf[:-1] = legacy_buf[1:]
+      legacy_buf[-1] = new_val
+      return legacy_buf[idxs]
+    elif key == 'prev_desired_curv':
+      buffer_history_len = buf.shape[1]
+      legacy_buf = np.zeros((buffer_history_len, buf.shape[2]), dtype=np.float32)
+      legacy_buf[:] = buf[0]
+      legacy_buf[:-1] = legacy_buf[1:]
+      legacy_buf[-1,:] = new_val
+      return legacy_buf[idxs]
+  elif mode == 'non20hz':
+    if key == 'desire':
+      length = new_val.shape[0]
+      buf[0,:-1,:length] = buf[0,1:,:length]
+      buf[0,-1,:length] = new_val[:length]
+      return buf[0]
+    elif key == 'features_buffer':
+      feature_len = new_val.shape[0]
+      buf[0,:-1,:feature_len] = buf[0,1:,:feature_len]
+      buf[0,-1,:feature_len] = new_val[:feature_len]
+      return buf[0]
+    elif key == 'prev_desired_curv':
+      length = new_val.shape[0]
+      buf[0,:-length,0] = buf[0,length:,0]
+      buf[0,-length:,0] = new_val[:length]
+      return buf[0]
+  return None
+
+
+def dynamic_buffer_update(state, key, new_val, mode):
+  if key == 'desire':
+    state.temporal_buffers['desire'][0,:-1] = state.temporal_buffers['desire'][0,1:]
+    state.temporal_buffers['desire'][0,-1] = new_val
+    if state.temporal_buffers['desire'].shape[1] > state.numpy_inputs['desire'].shape[1]:
+      skip = state.temporal_buffers['desire'].shape[1] // state.numpy_inputs['desire'].shape[1]
+      return state.temporal_buffers['desire'][0].reshape(
+        state.numpy_inputs['desire'].shape[0], state.numpy_inputs['desire'].shape[1], skip, -1
+      ).max(axis=2)
+    else:
+      return state.temporal_buffers['desire'][0, state.temporal_idxs_map['desire']]
+
+  inputs = {'desire': np.zeros((1, state.constants.DESIRE_LEN), dtype=np.float32)}
+  for k, tb in state.temporal_buffers.items():
+    if k in state.temporal_idxs_map:
+      continue
+    buf_len = tb.shape[1]
+    if k in state.numpy_inputs:
+      out_len = state.numpy_inputs[k].shape[1]
+      if out_len <= buf_len:
+        state.temporal_idxs_map[k] = np.arange(buf_len)[-out_len:]
+      else:
+        state.temporal_idxs_map[k] = np.arange(buf_len)
+    else:
+      state.temporal_idxs_map[k] = np.arange(buf_len)
+
+  if key == 'features_buffer':
+    def run_model_stub():
+      return {
+        'hidden_state': np.asarray(new_val, dtype=np.float32).reshape(1, -1),
+      }
+    state.model_runner.run_model = run_model_stub
+    state.run({}, {}, inputs, prepare_only=False)
+    return state.numpy_inputs['features_buffer'][0]
+
+  if key == 'prev_desired_curv':
+    def run_model_stub():
+      return {
+        'hidden_state': np.zeros((1, state.constants.FEATURE_LEN), dtype=np.float32),
+        'desired_curvature': np.asarray(new_val, dtype=np.float32).reshape(1, -1),
+      }
+    state.model_runner.run_model = run_model_stub
+    state.run({}, {}, inputs, prepare_only=False)
+    return state.numpy_inputs['prev_desired_curv'][0]
+  return None
+
+
+@pytest.mark.parametrize("shapes,mode", SHAPE_MODE_PARAMS, indirect=["shapes"])
+@pytest.mark.parametrize("key", ["desire", "features_buffer", "prev_desired_curv"])
+def test_buffer_update_equivalence(shapes, mode, key, apply_patches):
+  state = ModelState(None)
+  constants = DummyModelRunner(shapes).constants
+  buf = state.temporal_buffers.get(key, None)
+  idxs = state.temporal_idxs_map.get(key, None)
+  input_shape = shapes[key]
+  for step in range(20):    # multiple steps to ensure history is built up
+    new_val = np.full((input_shape[2],), step, dtype=np.float32)
+    expected = legacy_buffer_update(buf, new_val, mode, key, constants, idxs)
+    actual = dynamic_buffer_update(state, key, new_val, mode)
+    # Model returns the reduced numpy_inputs history, compare the last n entries so the test is checking the same slices.
+    if expected is not None and actual is not None and expected.shape != actual.shape:
+      if expected.ndim == 2 and actual.ndim == 2 and expected.shape[1] == actual.shape[1]:
+        expected = expected[-actual.shape[0]:]
+    assert np.allclose(actual, expected), f"{mode} {key}: dynamic buffer update does not match legacy logic"
@@ -83,7 +83,7 @@ class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTiny

  def _run_model(self) -> NumpyDict:
    """Runs the Tinygrad model inference and parses the outputs."""
-    outputs = self.model_run(**self.inputs).numpy().flatten()
+    outputs = self.model_run(**self.inputs).contiguous().realize().uop.base.buffer.numpy()
    return self._parse_outputs(outputs)

  def _parse_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
@@ -1 +1 @@
-cee4a5f34c3c741fd67e4f130a7c21fd92258c9abfc0416c4d619d94e08a72eb
+2ff2f49176a13bc7f856645d785b3b838a5c7ecf7f6cb37699fa0459ebf12453
@@ -9,23 +9,28 @@ from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.nnlc import NeuralNetworkL


 class LatControlTorqueExt(NeuralNetworkLateralControl):
-  def __init__(self, lac_torque, CP, CP_SP):
-    super().__init__(lac_torque, CP, CP_SP)
+  def __init__(self, lac_torque, CP, CP_SP, CI):
+    super().__init__(lac_torque, CP, CP_SP, CI)

-  def update(self, CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
+  def update(self, CS, VM, pid, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
             desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
-             desired_curvature, actual_curvature):
+             desired_curvature, actual_curvature, steer_limited_by_safety, output_torque):
    self._ff = ff
+    self._pid = pid
    self._pid_log = pid_log
    self._setpoint = setpoint
    self._measurement = measurement
+    self._roll_compensation = roll_compensation
    self._lateral_accel_deadzone = lateral_accel_deadzone
    self._desired_lateral_accel = desired_lateral_accel
    self._actual_lateral_accel = actual_lateral_accel
    self._desired_curvature = desired_curvature
    self._actual_curvature = actual_curvature
+    self._gravity_adjusted_lateral_accel = gravity_adjusted_lateral_accel
+    self._steer_limited_by_safety = steer_limited_by_safety
+    self._output_torque = output_torque

    self.update_calculations(CS, VM, desired_lateral_accel)
    self.update_neural_network_feedforward(CS, params, calibrated_pose)

-    return self._ff, self._pid_log
+    return self._pid_log, self._output_torque
@@ -7,6 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 import math
 import numpy as np

+from openpilot.common.pid import PIDController
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.modeld.constants import ModelConstants

@@ -43,9 +44,10 @@ def get_lookahead_value(future_vals, current_val):


 class LatControlTorqueExtBase:
-  def __init__(self, lac_torque, CP, CP_SP):
+  def __init__(self, lac_torque, CP, CP_SP, CI):
    self.model_v2 = None
    self.model_valid = False
+    self.lac_torque = lac_torque
    self.torque_params = lac_torque.torque_params

    self.actual_lateral_jerk: float = 0.0
@@ -53,17 +55,22 @@ class LatControlTorqueExtBase:
    self.lateral_jerk_measurement: float = 0.0
    self.lookahead_lateral_jerk: float = 0.0

-    self.torque_from_lateral_accel = lac_torque.torque_from_lateral_accel
+    self.torque_from_lateral_accel_in_torque_space = CI.torque_from_lateral_accel_in_torque_space()

    self._ff = 0.0
+    self._pid = PIDController(0.0, 0.0, k_f=0.0)
    self._pid_log = None
    self._setpoint = 0.0
    self._measurement = 0.0
+    self._roll_compensation = 0.0
    self._lateral_accel_deadzone = 0.0
    self._desired_lateral_accel = 0.0
    self._actual_lateral_accel = 0.0
    self._desired_curvature = 0.0
    self._actual_curvature = 0.0
+    self._gravity_adjusted_lateral_accel = 0.0
+    self._steer_limited_by_safety = False
+    self._output_torque = 0.0

    # twilsonco's Lateral Neural Network Feedforward
    # Instantaneous lateral jerk changes very rapidly, making it not useful on its own,
@@ -9,6 +9,8 @@ import math
 import numpy as np

 from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
+from opendbc.sunnypilot.car.interfaces import LatControlInputs
+from opendbc.sunnypilot.car.lateral_ext import get_friction as get_friction_in_torque_space
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.selfdrive.modeld.constants import ModelConstants
@@ -30,8 +32,8 @@ def roll_pitch_adjust(roll, pitch):


 class NeuralNetworkLateralControl(LatControlTorqueExtBase):
-  def __init__(self, lac_torque, CP, CP_SP):
-    super().__init__(lac_torque, CP, CP_SP)
+  def __init__(self, lac_torque, CP, CP_SP, CI):
+    super().__init__(lac_torque, CP, CP_SP, CI)
    self.params = Params()
    self.enabled = self.params.get_bool("NeuralNetworkLateralControl")
    self.has_nn_model = CP_SP.neuralNetworkLateralControl.model.path != MOCK_MODEL_PATH
@@ -57,14 +59,44 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
    self.error_deque = deque(maxlen=history_check_frames[0])
    self.past_future_len = len(self.past_times) + len(self.nn_future_times)

+  @property
+  def _nnlc_enabled(self):
+    return self.enabled and self.model_valid and self.has_nn_model
+
+  def update_limits(self):
+    if not self._nnlc_enabled:
+      return
+
+    self._pid.set_limits(self.lac_torque.steer_max, -self.lac_torque.steer_max)
+
  def update_lateral_lag(self, lag):
    super().update_lateral_lag(lag)
    self.nn_future_times = [t + self.desired_lat_jerk_time for t in self.future_times]

+  def update_feedforward_torque_space(self, CS):
+    torque_from_setpoint = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._setpoint, self._roll_compensation, CS.vEgo, CS.aEgo),
+                                                                          self.torque_params, gravity_adjusted=False)
+    torque_from_measurement = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._measurement, self._roll_compensation, CS.vEgo, CS.aEgo),
+                                                                             self.torque_params, gravity_adjusted=False)
+    self._pid_log.error = float(torque_from_setpoint - torque_from_measurement)
+    self._ff = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._gravity_adjusted_lateral_accel, self._roll_compensation,
+                                                                               CS.vEgo, CS.aEgo), self.torque_params, gravity_adjusted=True)
+    self._ff += get_friction_in_torque_space(self._desired_lateral_accel - self._actual_lateral_accel, self._lateral_accel_deadzone,
+                                             FRICTION_THRESHOLD, self.torque_params)
+
+  def update_output_torque(self, CS):
+    freeze_integrator = self._steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+    self._output_torque = self._pid.update(self._pid_log.error,
+                                           feedforward=self._ff,
+                                           speed=CS.vEgo,
+                                           freeze_integrator=freeze_integrator)
+
  def update_neural_network_feedforward(self, CS, params, calibrated_pose) -> None:
-    if not self.enabled or not self.model_valid or not self.has_nn_model:
+    if not self._nnlc_enabled:
      return

+    self.update_feedforward_torque_space(CS)
+
    low_speed_factor = float(np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)) ** 2
    self._setpoint = self._desired_lateral_accel + low_speed_factor * self._desired_curvature
    self._measurement = self._actual_lateral_accel + low_speed_factor * self._actual_curvature
@@ -128,3 +160,5 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
    # apply friction override for cars with low NN friction response
    if self.model.friction_override:
      self._pid_log.error += get_friction(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+
+    self.update_output_torque(CS)
@@ -3,6 +3,7 @@ from parameterized import parameterized

 from cereal import car, log, messaging
 from opendbc.car.car_helpers import interfaces
+from opendbc.car.gm.values import CAR as GM
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.hyundai.values import CAR as HYUNDAI
 from opendbc.car.toyota.values import CAR as TOYOTA
@@ -41,7 +42,7 @@ def generate_modelV2():

 class TestNeuralNetworkLateralControl:

-  @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN])
+  @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN, GM.CHEVROLET_BOLT_EUV])
  def test_saturation(self, car_name):
    params = Params()
    params.put_bool("NeuralNetworkLateralControl", True)
@@ -57,6 +58,7 @@ class TestNeuralNetworkLateralControl:
    VM = VehicleModel(CP)

    controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI)
+    torque_params = CP.lateralTuning.torque

    CS = car.CarState.new_message()
    CS.vEgo = 30
@@ -77,17 +79,23 @@ class TestNeuralNetworkLateralControl:
    for _ in range(1000):
      controller.extension.update_model_v2(model_v2)
      controller.extension.update_lateral_lag(test_lag)
+      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
+      controller.extension.update_limits()
      _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True)
    assert lac_log.saturated

    for _ in range(1000):
      controller.extension.update_model_v2(model_v2)
      controller.extension.update_lateral_lag(test_lag)
+      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
+      controller.extension.update_limits()
      _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False)
    assert not lac_log.saturated

    for _ in range(1000):
      controller.extension.update_model_v2(model_v2)
      controller.extension.update_lateral_lag(test_lag)
+      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
+      controller.extension.update_limits()
      _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False)
    assert lac_log.saturated
@@ -0,0 +1,3 @@
+# C3 specific hardware code
+
+`c3` is known as `tici` and comma three by comma. Not to confuse it with `c3x` which is known as `tizi`.
@@ -0,0 +1,84 @@
+[
+  {
+    "name": "xbl",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b.img.xz",
+    "hash": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
+    "hash_raw": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
+    "size": 3282256,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "ed61a650bea0c56652dd0fc68465d8fc722a4e6489dc8f257630c42c6adcdc89"
+  },
+  {
+    "name": "xbl_config",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c.img.xz",
+    "hash": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
+    "hash_raw": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
+    "size": 98124,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "b12801ffaa81e58e3cef914488d3b447e35483ba549b28c6cd9deb4814c3265f"
+  },
+  {
+    "name": "abl",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz",
+    "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
+    "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
+    "size": 274432,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6"
+  },
+  {
+    "name": "aop",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9.img.xz",
+    "hash": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
+    "hash_raw": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
+    "size": 184364,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "c1be2f4aac5b3af49b904b027faec418d05efd7bd5144eb4fdfcba602bcf2180"
+  },
+  {
+    "name": "devcfg",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620.img.xz",
+    "hash": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
+    "hash_raw": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
+    "size": 40336,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "17b229668b20305ff8fa3cd5f94716a3aaa1e5bf9d1c24117eff7f2f81ae719f"
+  },
+  {
+    "name": "boot",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz",
+    "hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
+    "hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
+    "size": 18515968,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0"
+  },
+  {
+    "name": "system",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz",
+    "hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126",
+    "hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
+    "size": 5368709120,
+    "sparse": true,
+    "full_check": false,
+    "has_ab": true,
+    "ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7",
+    "alt": {
+      "hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img",
+      "size": 5368709120
+    }
+  }
+]
@@ -0,0 +1,92 @@
+#!/usr/bin/env bash
+
+SP_C3_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+DIR="$( cd "$SP_C3_DIR/../../../.." >/dev/null 2>&1 && pwd )"
+
+source "$SP_C3_DIR/launch_env.sh"
+
+function agnos_init {
+  # TODO: move this to agnos
+  sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
+
+  # set success flag for current boot slot
+  sudo abctl --set_success
+
+  # TODO: do this without udev in AGNOS
+  # udev does this, but sometimes we startup faster
+  sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
+  sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
+
+
+  if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
+    AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
+    MANIFEST="$SP_C3_DIR/agnos.json"
+    if $AGNOS_PY --verify $MANIFEST; then
+      sudo reboot
+    fi
+    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
+  fi
+}
+
+function launch {
+  # Remove orphaned git lock if it exists on boot
+  [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
+
+  # Check to see if there's a valid overlay-based update available. Conditions
+  # are as follows:
+  #
+  # 1. The DIR init file has to exist, with a newer modtime than anything in
+  #    the DIR Git repo. This checks for local development work or the user
+  #    switching branches/forks, which should not be overwritten.
+  # 2. The FINALIZED consistent file has to exist, indicating there's an update
+  #    that completed successfully and synced to disk.
+
+  if [ -f "${DIR}/.overlay_init" ]; then
+    find ${DIR}/.git -newer ${DIR}/.overlay_init | grep -q '.' 2> /dev/null
+    if [ $? -eq 0 ]; then
+      echo "${DIR} has been modified, skipping overlay update installation"
+    else
+      if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
+        if [ ! -d /data/safe_staging/old_openpilot ]; then
+          echo "Valid overlay update found, installing"
+          LAUNCHER_LOCATION="${BASH_SOURCE[0]}"
+
+          mv $DIR /data/safe_staging/old_openpilot
+          mv "${STAGING_ROOT}/finalized" $DIR
+          cd $DIR
+
+          echo "Restarting launch script ${LAUNCHER_LOCATION}"
+          unset AGNOS_VERSION
+          exec "${LAUNCHER_LOCATION}"
+        else
+          echo "openpilot backup found, not updating"
+          # TODO: restore backup? This means the updater didn't start after swapping
+        fi
+      fi
+    fi
+  fi
+
+  # handle pythonpath
+  ln -sfn $(pwd) /data/pythonpath
+  export PYTHONPATH="$PWD"
+
+  # hardware specific init
+  if [ -f /AGNOS ]; then
+    agnos_init
+  fi
+
+  # write tmux scrollback to a file
+  tmux capture-pane -pq -S-1000 > /tmp/launch_log
+
+  # start manager
+  cd $DIR/system/manager
+  if [ ! -f $DIR/prebuilt ]; then
+    ./build.py
+  fi
+  ./manager.py
+
+  # if broken, keep on screen error
+  while true; do sleep 1; done
+}
+
+launch
@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+
+export OMP_NUM_THREADS=1
+export MKL_NUM_THREADS=1
+export NUMEXPR_NUM_THREADS=1
+export OPENBLAS_NUM_THREADS=1
+export VECLIB_MAXIMUM_THREADS=1
+
+if [ -z "$AGNOS_VERSION" ]; then
+  export AGNOS_VERSION="12.8"
+fi
@@ -381,20 +381,22 @@ def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: str = N
  return {"success": 1}


-def scan_dir(path: str, prefix: str) -> list[str]:
+def scan_dir(path: str, prefix: str, base: str | None = None) -> list[str]:
+  if base is None:
+    base = path
  files = []
  # only walk directories that match the prefix
  # (glob and friends traverse entire dir tree)
  with os.scandir(path) as i:
    for e in i:
-      rel_path = os.path.relpath(e.path, Paths.log_root())
+      rel_path = os.path.relpath(e.path, base)
      if e.is_dir(follow_symlinks=False):
        # add trailing slash
        rel_path = os.path.join(rel_path, '')
        # if prefix is a partial dir name, current dir will start with prefix
        # if prefix is a partial file name, prefix with start with dir name
        if rel_path.startswith(prefix) or prefix.startswith(rel_path):
-          files.extend(scan_dir(e.path, prefix))
+          files.extend(scan_dir(e.path, prefix, base))
      else:
        if rel_path.startswith(prefix):
          files.append(rel_path)
@@ -402,7 +404,12 @@ def scan_dir(path: str, prefix: str) -> list[str]:

@dispatcher.add_method
 def listDataDirectory(prefix='') -> list[str]:
-  return scan_dir(Paths.log_root(), prefix)
+  internal_files = scan_dir(Paths.log_root(), prefix, Paths.log_root())
+  try:
+    external_files = scan_dir(Paths.log_root_external(), prefix, Paths.log_root_external())
+  except FileNotFoundError:
+    external_files = []
+  return sorted(set(internal_files + external_files))


@dispatcher.add_method
@@ -427,8 +434,13 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo
      failed.append(file.fn)
      continue

-    path = os.path.join(Paths.log_root(), file.fn)
-    if not os.path.exists(path) and not os.path.exists(strip_zst_extension(path)):
+    path_internal = os.path.join(Paths.log_root(), file.fn)
+    path_external = os.path.join(Paths.log_root_external(), file.fn)
+    if os.path.exists(path_internal) or os.path.exists(strip_zst_extension(path_internal)):
+      path = path_internal
+    elif os.path.exists(path_external) or os.path.exists(strip_zst_extension(path_external)):
+      path = path_external
+    else:
      failed.append(file.fn)
      continue

@@ -1,34 +0,0 @@
-#if SENSOR_ID == 1
-
-#define VIGNETTE_PROFILE_8DT0MM
-
-#define BIT_DEPTH 12
-#define PV_MAX 4096
-#define BLACK_LVL 168
-
-float4 normalize_pv(int4 parsed, float vignette_factor) {
-  float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX - BLACK_LVL);
-  return clamp(pv*vignette_factor, 0.0, 1.0);
-}
-
-float3 color_correct(float3 rgb) {
-  float3 corrected = rgb.x * (float3)(1.82717181, -0.31231438, 0.07307673);
-  corrected += rgb.y * (float3)(-0.5743977, 1.36858544, -0.53183455);
-  corrected += rgb.z * (float3)(-0.25277411, -0.05627105, 1.45875782);
-  return corrected;
-}
-
-float3 apply_gamma(float3 rgb, int expo_time) {
-  // tone mapping params
-  const float gamma_k = 0.75;
-  const float gamma_b = 0.125;
-  const float mp = 0.01; // ideally midpoint should be adaptive
-  const float rk = 9 - 100*mp;
-
-  // poly approximation for s curve
-  return (rgb > mp) ?
-    ((rk * (rgb-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(rgb-mp))) + gamma_k*mp + gamma_b) :
-    ((rk * (rgb-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(rgb-mp))) + gamma_k*mp + gamma_b);
-}
-
-#endif
@@ -1,58 +0,0 @@
-#if SENSOR_ID == 3
-
-#define BGGR
-#define VIGNETTE_PROFILE_4DT6MM
-
-#define BIT_DEPTH 12
-#define PV_MAX10 1023
-#define PV_MAX12 4095
-#define PV_MAX16 65536 // gamma curve is calibrated to 16bit
-#define BLACK_LVL 48
-
-float combine_dual_pvs(float lv, float sv, int expo_time) {
-  float svc = fmax(sv * expo_time, (float)(64 * (PV_MAX10 - BLACK_LVL)));
-  float svd = sv * fmin(expo_time, 8.0) / 8;
-
-  if (expo_time > 64) {
-    if (lv < PV_MAX10 - BLACK_LVL) {
-      return lv / (PV_MAX16 - BLACK_LVL);
-    } else {
-      return (svc / 64) / (PV_MAX16 - BLACK_LVL);
-    }
-  } else {
-    if (lv > 32) {
-      return (lv * 64 / fmax(expo_time, 8.0)) / (PV_MAX16 - BLACK_LVL);
-    } else {
-      return svd / (PV_MAX16 - BLACK_LVL);
-    }
-  }
-}
-
-float4 normalize_pv_hdr(int4 parsed, int4 short_parsed, float vignette_factor, int expo_time) {
-  float4 pl = convert_float4(parsed - BLACK_LVL);
-  float4 ps = convert_float4(short_parsed - BLACK_LVL);
-  float4 pv;
-  pv.s0 = combine_dual_pvs(pl.s0, ps.s0, expo_time);
-  pv.s1 = combine_dual_pvs(pl.s1, ps.s1, expo_time);
-  pv.s2 = combine_dual_pvs(pl.s2, ps.s2, expo_time);
-  pv.s3 = combine_dual_pvs(pl.s3, ps.s3, expo_time);
-  return clamp(pv*vignette_factor, 0.0, 1.0);
-}
-
-float4 normalize_pv(int4 parsed, float vignette_factor) {
-  float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX12 - BLACK_LVL);
-  return clamp(pv*vignette_factor, 0.0, 1.0);
-}
-
-float3 color_correct(float3 rgb) {
-  float3 corrected = rgb.x * (float3)(1.55361989, -0.268894615, -0.000593219);
-  corrected += rgb.y * (float3)(-0.421217301, 1.51883144, -0.69760146);
-  corrected += rgb.z * (float3)(-0.132402589, -0.249936825, 1.69819468);
-  return corrected;
-}
-
-float3 apply_gamma(float3 rgb, int expo_time) {
-  return (10 * rgb) / (1 + 9 * rgb);
-}
-
-#endif
@@ -1,47 +0,0 @@
-#if SENSOR_ID == 2
-
-#define VIGNETTE_PROFILE_8DT0MM
-
-#define BIT_DEPTH 12
-#define BLACK_LVL 64
-
-float ox_lut_func(int x) {
-  if (x < 512) {
-    return x * 5.94873e-8;
-  } else if (512 <= x && x < 768) {
-    return 3.0458e-05 + (x-512) * 1.19913e-7;
-  } else if (768 <= x && x < 1536) {
-    return 6.1154e-05 + (x-768) * 2.38493e-7;
-  } else if (1536 <= x && x < 1792) {
-    return 0.0002448 + (x-1536) * 9.56930e-7;
-  } else if (1792 <= x && x < 2048) {
-    return 0.00048977 + (x-1792) * 1.91441e-6;
-  } else if (2048 <= x && x < 2304) {
-    return 0.00097984 + (x-2048) * 3.82937e-6;
-  } else if (2304 <= x && x < 2560) {
-    return 0.0019601 + (x-2304) * 7.659055e-6;
-  } else if (2560 <= x && x < 2816) {
-    return 0.0039207 + (x-2560) * 1.525e-5;
-  } else {
-    return 0.0078421 + (exp((x-2816)/273.0) - 1) * 0.0092421;
-  }
-}
-
-float4 normalize_pv(int4 parsed, float vignette_factor) {
-  // PWL
-  float4 pv = {ox_lut_func(parsed.s0), ox_lut_func(parsed.s1), ox_lut_func(parsed.s2), ox_lut_func(parsed.s3)};
-  return clamp(pv*vignette_factor*256.0, 0.0, 1.0);
-}
-
-float3 color_correct(float3 rgb) {
-  float3 corrected = rgb.x * (float3)(1.5664815, -0.29808738, -0.03973474);
-  corrected += rgb.y * (float3)(-0.48672447, 1.41914433, -0.40295248);
-  corrected += rgb.z * (float3)(-0.07975703, -0.12105695, 1.44268722);
-  return corrected;
-}
-
-float3 apply_gamma(float3 rgb, int expo_time) {
-  return -0.507089*exp(-12.54124638*rgb) + 0.9655*powr(rgb, 0.5) - 0.472597*rgb + 0.507089;
-}
-
-#endif
@@ -21,16 +21,16 @@ class TiciFanController(BaseFanController):
    self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_HW))

  def update(self, cur_temp: float, ignition: bool) -> int:
-    self.controller.neg_limit = -(100 if ignition else 30)
-    self.controller.pos_limit = -(30 if ignition else 0)
+    self.controller.pos_limit = 100 if ignition else 30
+    self.controller.neg_limit = 30 if ignition else 0

    if ignition != self.last_ignition:
      self.controller.reset()

-    error = 75 - cur_temp
-    fan_pwr_out = -int(self.controller.update(
+    error = cur_temp - 75
+    fan_pwr_out = int(self.controller.update(
                      error=error,
-                      feedforward=np.interp(cur_temp, [60.0, 100.0], [0, -100])
+                      feedforward=np.interp(cur_temp, [60.0, 100.0], [0, 100])
                    ))

    self.last_ignition = ignition
@@ -20,6 +20,10 @@ class Paths:
    else:
      return '/data/media/0/realdata/'

+  @staticmethod
+  def log_root_external() -> str:
+    return '/mnt/external_realdata/'
+
  @staticmethod
  def swaglog_root() -> str:
    if PC:
@@ -67,17 +67,17 @@
  },
  {
    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643.img.xz",
-    "hash": "49faee0e9b084abf0ea46f87722e3366bbd0435fb6b25cce189295c1ff368da1",
-    "hash_raw": "18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz",
+    "hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126",
+    "hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
    "size": 5368709120,
    "sparse": true,
    "full_check": false,
    "has_ab": true,
-    "ondevice_hash": "db07761be0130e35a9d3ea6bec8df231260d3e767ae770850f18f10e14d0ab3f",
+    "ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7",
    "alt": {
-      "hash": "18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643.img",
+      "hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img",
      "size": 5368709120
    }
  }
@@ -350,51 +350,51 @@
  },
  {
    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643.img.xz",
-    "hash": "49faee0e9b084abf0ea46f87722e3366bbd0435fb6b25cce189295c1ff368da1",
-    "hash_raw": "18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz",
+    "hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126",
+    "hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
    "size": 5368709120,
    "sparse": true,
    "full_check": false,
    "has_ab": true,
-    "ondevice_hash": "db07761be0130e35a9d3ea6bec8df231260d3e767ae770850f18f10e14d0ab3f",
+    "ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7",
    "alt": {
-      "hash": "18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643.img",
+      "hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img",
      "size": 5368709120
    }
  },
  {
    "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-02f7abb4b667c04043c0c6950145aaebd704851261f32256d0f7e84a52059dda.img.xz",
-    "hash": "1eda66d4e31222fc2e792a62ae8e7d322fc643f0b23785e7527bb51a9fee97c7",
-    "hash_raw": "02f7abb4b667c04043c0c6950145aaebd704851261f32256d0f7e84a52059dda",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-602d5103cba97e1b07f76508d5febb47cfc4463a7e31bd20e461b55c801feb0a.img.xz",
+    "hash": "6a11d448bac50467791809339051eed2894aae971c37bf6284b3b972a99ba3ac",
+    "hash_raw": "602d5103cba97e1b07f76508d5febb47cfc4463a7e31bd20e461b55c801feb0a",
    "size": 96636764160,
    "sparse": true,
    "full_check": true,
    "has_ab": false,
-    "ondevice_hash": "679b650ee04b7b1ef610b63fde9b43569fded39ceacf88789b564de99c221ea1"
+    "ondevice_hash": "e014d92940a696bf8582807259820ab73948b950656ed83a45da738f26083705"
  },
  {
    "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-bab8399bbe3968f3c496f7bc83c2541b33acc1f47814c4ad95801bf5cb7e7588.img.xz",
-    "hash": "e63d3277285aae1f04fd7f4f48429ce35010f4843ab755f10d360c3aa788e484",
-    "hash_raw": "bab8399bbe3968f3c496f7bc83c2541b33acc1f47814c4ad95801bf5cb7e7588",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-4d7f6d12a5557eb6e3cbff9a4cd595677456fdfddcc879eddcea96a43a9d8b48.img.xz",
+    "hash": "748e31a5fc01fc256c012e359c3382d1f98cce98feafe8ecc0fca3e47caef116",
+    "hash_raw": "4d7f6d12a5557eb6e3cbff9a4cd595677456fdfddcc879eddcea96a43a9d8b48",
    "size": 95563022336,
    "sparse": true,
    "full_check": true,
    "has_ab": false,
-    "ondevice_hash": "2947374fc5980ffe3c5b94b61cc1c81bc55214f494153ed234164801731f5dc0"
+    "ondevice_hash": "c181b93050787adcfef730c086bcb780f28508d84e6376d9b80d37e5dc02b55e"
  },
  {
    "name": "userdata_30",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-22c874b4b66bbc000f3219abede8d62cb307f5786fd526a8473c61422765dea0.img.xz",
-    "hash": "12d9245711e8c49c51ff2c7b82d7301f2fcb1911edcddb35a105a80911859113",
-    "hash_raw": "22c874b4b66bbc000f3219abede8d62cb307f5786fd526a8473c61422765dea0",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-80a76c8e56bbd7536fd5e87e8daa12984e2960db4edeb1f83229b2baeecc4668.img.xz",
+    "hash": "09ff390e639e4373d772e1688d05a5ac77a573463ed1deeff86390686fa686f9",
+    "hash_raw": "80a76c8e56bbd7536fd5e87e8daa12984e2960db4edeb1f83229b2baeecc4668",
    "size": 32212254720,
    "sparse": true,
    "full_check": true,
    "has_ab": false,
-    "ondevice_hash": "03c8b65c945207f887ed6c52d38b53d53d71c8597dcb0b63dfbb11f7cfff8d2b"
+    "ondevice_hash": "2c01ab470c02121c721ff6afc25582437e821686207f3afef659387afb69c507"
  }
 ]
@@ -9,21 +9,26 @@ STATS_DIR_FILE_LIMIT = 10000
 STATS_SOCKET = "ipc:///tmp/stats"
 STATS_FLUSH_TIME_S = 60

-def get_available_percent(default: float) -> float:
+PATH_DICT = {
+  "internal": Paths.log_root(),
+  "external": Paths.log_root_external()
+}
+
+def get_available_percent(default: float, path_type="internal") -> float:
  try:
-    statvfs = os.statvfs(Paths.log_root())
+    statvfs = os.statvfs(PATH_DICT[path_type])
    available_percent = 100.0 * statvfs.f_bavail / statvfs.f_blocks
-  except OSError:
+  except (OSError, KeyError):
    available_percent = default

  return available_percent


-def get_available_bytes(default: int) -> int:
+def get_available_bytes(default: int, path_type="internal") -> int:
  try:
-    statvfs = os.statvfs(Paths.log_root())
+    statvfs = os.statvfs(PATH_DICT[path_type])
    available_bytes = statvfs.f_bavail * statvfs.f_frsize
-  except OSError:
+  except (OSError, KeyError):
    available_bytes = default

  return available_bytes
@@ -1,7 +1,9 @@
 #!/usr/bin/env python3
 import os
+import time
 import shutil
 import threading
+from pathlib import Path
 from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.loggerd.config import get_available_bytes, get_available_percent
@@ -61,6 +63,41 @@ def deleter_thread(exit_event: threading.Event):
        if any(name.endswith(".lock") for name in os.listdir(delete_path)):
          continue

+        if Path(Paths.log_root_external()).is_mount():
+          out_of_bytes_external = get_available_bytes(default=MIN_BYTES + 1, path_type="external") < MIN_BYTES
+          out_of_percent_external = get_available_percent(default=MIN_PERCENT + 1, path_type="external") < MIN_PERCENT
+
+          if out_of_percent_external or out_of_bytes_external:
+            dirs_external = listdir_by_creation(Paths.log_root_external())
+
+            # remove the earliest external directory we can
+            for delete_dir_external in sorted(dirs_external):
+              delete_path_external = os.path.join(Paths.log_root_external(), delete_dir_external)
+              try:
+                cloudlog.warning(f"deleting {delete_path_external}")
+                shutil.rmtree(delete_path_external)
+                break
+              except OSError:
+                cloudlog.exception(f"issue deleting {delete_path_external}")
+
+          # move directory from internal to external
+          path_external = os.path.join(Paths.log_root_external(), delete_dir)
+          try:
+            cloudlog.warning(f"moving {delete_path} to {path_external}")
+            start = time.monotonic()
+            shutil.move(delete_path, path_external)
+            cloudlog.warning(f"moved {delete_path} to {path_external} in {time.monotonic() - start:.2f}s")
+            break
+          except Exception:
+            cloudlog.error(f"issue moving {delete_path} to {path_external}")
+            try:
+              cloudlog.warning(f"deleting {delete_path}")
+              shutil.rmtree(delete_path)
+              break
+            except OSError:
+              cloudlog.exception(f"issue deleting {delete_path}")
+          continue
+
        try:
          cloudlog.info(f"deleting {delete_path}")
          shutil.rmtree(delete_path)
@@ -44,7 +44,7 @@ def manager_init() -> None:
  # set unset params to their default value
  for k in params.all_keys():
    default_value = params.get_default_value(k)
-    if default_value and params.get(k) is None:
+    if default_value is not None and params.get(k) is None:
      params.put(k, default_value)

  # Create folders needed for msgq
@@ -46,9 +46,10 @@ class TestManager:
    manager.main()
    for k in params.all_keys():
      default_value = params.get_default_value(k)
-      if default_value:
+      if default_value is not None:
        assert params.get(k) == default_value
    assert params.get("OpenpilotEnabledToggle")
+    assert params.get("RouteCount") == 0

  @pytest.mark.skip("this test is flaky the way it's currently written, should be moved to test_onroad")
  def test_clean_exit(self, subtests):
@@ -67,7 +67,8 @@ class MouseEvent(NamedTuple):


 class MouseState:
-  def __init__(self):
+  def __init__(self, scale: float = 1.0):
+    self._scale = scale
    self._events: deque[MouseEvent] = deque(maxlen=MOUSE_THREAD_RATE)  # bound event list
    self._prev_mouse_event: list[MouseEvent | None] = [None] * MAX_TOUCH_SLOTS

@@ -102,8 +103,10 @@ class MouseState:
  def _handle_mouse_event(self):
    for slot in range(MAX_TOUCH_SLOTS):
      mouse_pos = rl.get_touch_position(slot)
+      x = mouse_pos.x / self._scale if self._scale != 1.0 else mouse_pos.x
+      y = mouse_pos.y / self._scale if self._scale != 1.0 else mouse_pos.y
      ev = MouseEvent(
-        MousePos(mouse_pos.x, mouse_pos.y),
+        MousePos(x, y),
        slot,
        rl.is_mouse_button_pressed(slot),
        rl.is_mouse_button_released(slot),
@@ -133,7 +136,7 @@ class GuiApplication:
    self._trace_log_callback = None
    self._modal_overlay = ModalOverlay()

-    self._mouse = MouseState()
+    self._mouse = MouseState(self._scale)
    self._mouse_events: list[MouseEvent] = []

    # Debug variables
@@ -39,6 +39,10 @@ vec4 getGradientColor(vec2 pos) {
  float t = clamp(dot(pos - gradientStart, normalizedDir) / gradientLength, 0.0, 1.0);

  if (gradientColorCount <= 1) return gradientColors[0];
+
+  // handle t before first / after last stop
+  if (t <= gradientStops[0]) return gradientColors[0];
+  if (t >= gradientStops[gradientColorCount-1]) return gradientColors[gradientColorCount-1];
  for (int i = 0; i < gradientColorCount - 1; i++) {
    if (t >= gradientStops[i] && t <= gradientStops[i+1]) {
      float segmentT = (t - gradientStops[i]) / (gradientStops[i+1] - gradientStops[i]);
@@ -37,7 +37,7 @@ NM_DEVICE_IFACE = "org.freedesktop.NetworkManager.Device"
 NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8

 TETHERING_IP_ADDRESS = "192.168.43.1"
-DEFAULT_TETHERING_PASSWORD = "12345678"
+DEFAULT_TETHERING_PASSWORD = "swagswagcomma"


 # NetworkManager device states
@@ -6,10 +6,14 @@ import time
 import urllib.request
 from urllib.parse import urlparse
 from enum import IntEnum
+import shutil
+
 import pyray as rl

 from cereal import log
+from openpilot.common.run import run_cmd
 from openpilot.system.hardware import HARDWARE
+from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle, ButtonRadio
@@ -30,6 +34,19 @@ BUTTON_SPACING = 50
 OPENPILOT_URL = "https://openpilot.comma.ai"
 USER_AGENT = f"AGNOSSetup-{HARDWARE.get_os_version()}"

+CONTINUE_PATH = "/data/continue.sh"
+TMP_CONTINUE_PATH = "/data/continue.sh.new"
+INSTALL_PATH = "/data/openpilot"
+VALID_CACHE_PATH = "/data/.openpilot_cache"
+INSTALLER_SOURCE_PATH = "/usr/comma/installer"
+INSTALLER_DESTINATION_PATH = "/tmp/installer"
+INSTALLER_URL_PATH = "/tmp/installer_url"
+
+CONTINUE = """#!/usr/bin/env bash
+
+cd /data/openpilot
+exec ./launch_openpilot.sh
+"""

 class SetupState(IntEnum):
  LOW_VOLTAGE = 0
@@ -93,14 +110,21 @@ class Setup(Widget):
    self._network_setup_continue_button.set_enabled(False)
    self._network_setup_title_label = Label("Connect to Wi-Fi", TITLE_FONT_SIZE, FontWeight.BOLD, TextAlignment.LEFT)

-    self._custom_software_warning_continue_button = Button("Continue", self._custom_software_warning_continue_button_callback)
+    self._custom_software_warning_continue_button = Button("Scroll to continue", self._custom_software_warning_continue_button_callback,
+                                                           button_style=ButtonStyle.PRIMARY)
+    self._custom_software_warning_continue_button.set_enabled(False)
    self._custom_software_warning_back_button = Button("Back", self._custom_software_warning_back_button_callback)
    self._custom_software_warning_title_label = Label("WARNING: Custom Software", 100, FontWeight.BOLD, TextAlignment.LEFT, text_color=rl.Color(255,89,79,255),
                                                      text_padding=60)
-    self._custom_software_warning_body_label = Label("Use caution when installing third-party software. Third-party software has not been tested by comma,"
-                                              + " and may cause damage to your device and/or vehicle.\n\nIf you'd like to proceed, use https://flash.comma.ai "
+    self._custom_software_warning_body_label = Label("Use caution when installing third-party software.\n\n"
+                                              + "⚠️ It has not been tested by comma.\n\n"
+                                              + "⚠️ It may not comply with relevant safety standards.\n\n"
+                                              + "⚠️ It may cause damage to your device and/or vehicle.\n\n"
+                                              + "If you'd like to proceed, use https://flash.comma.ai "
                                              + "to restore your device to a factory state later.",
                                             85, text_alignment=TextAlignment.LEFT, text_padding=60)
+    self._custom_software_warning_body_scroll_panel = GuiScrollPanel()
+
    self._downloading_body_label = Label("Downloading...", TITLE_FONT_SIZE, FontWeight.MEDIUM)

    try:
@@ -136,21 +160,19 @@ class Setup(Widget):
    self.state = SetupState.SOFTWARE_SELECTION

  def _custom_software_warning_continue_button_callback(self):
-    self.state = SetupState.CUSTOM_SOFTWARE
+    self.state = SetupState.NETWORK_SETUP
+    self.stop_network_check_thread.clear()
+    self.start_network_check()

  def _getting_started_button_callback(self):
-    self.state = SetupState.NETWORK_SETUP
-    self.stop_network_check_thread.clear()
-    self.start_network_check()
+    self.state = SetupState.SOFTWARE_SELECTION

  def _software_selection_back_button_callback(self):
-    self.state = SetupState.NETWORK_SETUP
-    self.stop_network_check_thread.clear()
-    self.start_network_check()
+    self.state = SetupState.GETTING_STARTED

  def _software_selection_continue_button_callback(self):
    if self._software_selection_openpilot_button.selected:
-      self.download(OPENPILOT_URL)
+      self.use_openpilot()
    else:
      self.state = SetupState.CUSTOM_SOFTWARE_WARNING

@@ -158,11 +180,14 @@ class Setup(Widget):
    self.state = SetupState.GETTING_STARTED

  def _network_setup_back_button_callback(self):
-    self.state = SetupState.GETTING_STARTED
+    self.state = SetupState.SOFTWARE_SELECTION

  def _network_setup_continue_button_callback(self):
-    self.state = SetupState.SOFTWARE_SELECTION
    self.stop_network_check_thread.set()
+    if self._software_selection_openpilot_button.selected:
+      self.download(OPENPILOT_URL)
+    else:
+      self.state = SetupState.CUSTOM_SOFTWARE

  def render_low_voltage(self, rect: rl.Rectangle):
    rl.draw_texture(self.warning, int(rect.x + 150), int(rect.y + 110), rl.WHITE)
@@ -274,13 +299,23 @@ class Setup(Widget):
    self._download_failed_startover_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT))

  def render_custom_software_warning(self, rect: rl.Rectangle):
-    self._custom_software_warning_title_label.render(rl.Rectangle(rect.x + 50, rect.y + 150, rect.width - 265, TITLE_FONT_SIZE))
-    self._custom_software_warning_body_label.render(rl.Rectangle(rect.x + 50, rect.y + 200 , rect.width - 50, BODY_FONT_SIZE * 3))
+    warn_rect = rl.Rectangle(rect.x, rect.y, rect.width, 1500)
+    offset = self._custom_software_warning_body_scroll_panel.handle_scroll(rect, warn_rect)

    button_width = (rect.width - MARGIN * 3) / 2
    button_y = rect.height - MARGIN - BUTTON_HEIGHT
+
+    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(button_y - BODY_FONT_SIZE))
+    y_offset = rect.y + offset.y
+    self._custom_software_warning_title_label.render(rl.Rectangle(rect.x + 50, y_offset + 150, rect.width - 265, TITLE_FONT_SIZE))
+    self._custom_software_warning_body_label.render(rl.Rectangle(rect.x + 50, y_offset + 200 , rect.width - 50, BODY_FONT_SIZE * 3))
+    rl.end_scissor_mode()
+
    self._custom_software_warning_back_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
    self._custom_software_warning_continue_button.render(rl.Rectangle(rect.x + MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT))
+    if offset.y < (rect.height - warn_rect.height):
+      self._custom_software_warning_continue_button.set_enabled(True)
+      self._custom_software_warning_continue_button.set_text("Continue")

  def render_custom_software(self):
    def handle_keyboard_result(result):
@@ -299,6 +334,23 @@ class Setup(Widget):
    self.keyboard.set_title("Enter URL", "for Custom Software")
    gui_app.set_modal_overlay(self.keyboard, callback=handle_keyboard_result)

+  def use_openpilot(self):
+    if os.path.isdir(INSTALL_PATH) and os.path.isfile(VALID_CACHE_PATH):
+      os.remove(VALID_CACHE_PATH)
+      with open(TMP_CONTINUE_PATH, "w") as f:
+        f.write(CONTINUE)
+      run_cmd(["chmod", "+x", TMP_CONTINUE_PATH])
+      shutil.move(TMP_CONTINUE_PATH, CONTINUE_PATH)
+      shutil.copyfile(INSTALLER_SOURCE_PATH, INSTALLER_DESTINATION_PATH)
+
+      # give time for installer UI to take over
+      time.sleep(1)
+      gui_app.request_close()
+    else:
+      self.state = SetupState.NETWORK_SETUP
+      self.stop_network_check_thread.clear()
+      self.start_network_check()
+
  def download(self, url: str):
    # autocomplete incomplete URLs
    if re.match("^([^/.]+)/([^/]+)$", url):
@@ -316,7 +368,7 @@ class Setup(Widget):
    try:
      import tempfile

-      _, tmpfile = tempfile.mkstemp(prefix="installer_")
+      fd, tmpfile = tempfile.mkstemp(prefix="installer_")

      headers = {"User-Agent": USER_AGENT, "X-openpilot-serial": HARDWARE.get_serial()}
      req = urllib.request.Request(self.download_url, headers=headers)
@@ -346,12 +398,16 @@ class Setup(Widget):
        self.download_failed(self.download_url, "No custom software found at this URL.")
        return

-      os.rename(tmpfile, "/tmp/installer")
-      os.chmod("/tmp/installer", 0o755)
+      # AGNOS might try to execute the installer before this process exits.
+      # Therefore, important to close the fd before renaming the installer.
+      os.close(fd)
+      os.rename(tmpfile, INSTALLER_DESTINATION_PATH)

-      with open("/tmp/installer_url", "w") as f:
+      with open(INSTALLER_URL_PATH, "w") as f:
        f.write(self.download_url)

+      # give time for installer UI to take over
+      time.sleep(5)
      gui_app.request_close()

    except Exception:
@@ -1,17 +1,17 @@
-from dataclasses import dataclass
+from enum import IntEnum
 from functools import partial
 from threading import Lock
-from typing import Literal
+from typing import cast

 import pyray as rl
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.wifi_manager import NetworkInfo, WifiManagerCallbacks, WifiManagerWrapper, SecurityType
 from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.button import ButtonStyle, Button, TextAlignment
+from openpilot.system.ui.widgets.button import ButtonStyle, Button
 from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
 from openpilot.system.ui.widgets.keyboard import Keyboard
-from openpilot.system.ui.widgets.label import gui_label
+from openpilot.system.ui.widgets.label import TextAlignment, gui_label

 NM_DEVICE_STATE_NEED_AUTH = 60
 MIN_PASSWORD_LENGTH = 8
@@ -27,43 +27,20 @@ STRENGTH_ICONS = [
 ]


-@dataclass
-class StateIdle:
-  action: Literal["idle"] = "idle"
-
-
-@dataclass
-class StateConnecting:
-  network: NetworkInfo
-  action: Literal["connecting"] = "connecting"
-
-
-@dataclass
-class StateNeedsAuth:
-  network: NetworkInfo
-  retry: bool
-  action: Literal["needs_auth"] = "needs_auth"
-
-
-@dataclass
-class StateShowForgetConfirm:
-  network: NetworkInfo
-  action: Literal["show_forget_confirm"] = "show_forget_confirm"
-
-
-@dataclass
-class StateForgetting:
-  network: NetworkInfo
-  action: Literal["forgetting"] = "forgetting"
-
-
-UIState = StateIdle | StateConnecting | StateNeedsAuth | StateShowForgetConfirm | StateForgetting
+class UIState(IntEnum):
+  IDLE = 0
+  CONNECTING = 1
+  NEEDS_AUTH = 2
+  SHOW_FORGET_CONFIRM = 3
+  FORGETTING = 4


 class WifiManagerUI(Widget):
  def __init__(self, wifi_manager: WifiManagerWrapper):
    super().__init__()
-    self.state: UIState = StateIdle()
+    self.state: UIState = UIState.IDLE
+    self._state_network: NetworkInfo | None = None  # for CONNECTING / NEEDS_AUTH / SHOW_FORGET_CONFIRM / FORGETTING
+    self._password_retry: bool = False  # for NEEDS_AUTH
    self.btn_width: int = 200
    self.scroll_panel = GuiScrollPanel()
    self.keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH, show_password_toggle=True)
@@ -93,17 +70,16 @@ class WifiManagerUI(Widget):
        gui_label(rect, "Scanning Wi-Fi networks...", 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
        return

-      match self.state:
-        case StateNeedsAuth(network, retry):
-          self.keyboard.set_title("Wrong password" if retry else "Enter password", f"for {network.ssid}")
-          self.keyboard.reset()
-          gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(network, result))
-        case StateShowForgetConfirm(network):
-          self._confirm_dialog.set_text(f'Forget Wi-Fi Network "{network.ssid}"?')
-          self._confirm_dialog.reset()
-          gui_app.set_modal_overlay(self._confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(network, result))
-        case _:
-          self._draw_network_list(rect)
+      if self.state == UIState.NEEDS_AUTH and self._state_network:
+        self.keyboard.set_title("Wrong password" if self._password_retry else "Enter password", f"for {self._state_network.ssid}")
+        self.keyboard.reset()
+        gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(cast(NetworkInfo, self._state_network), result))
+      elif self.state == UIState.SHOW_FORGET_CONFIRM and self._state_network:
+        self._confirm_dialog.set_text(f'Forget Wi-Fi Network "{self._state_network.ssid}"?')
+        self._confirm_dialog.reset()
+        gui_app.set_modal_overlay(self._confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(self._state_network, result))
+      else:
+        self._draw_network_list(rect)

  def _on_password_entered(self, network: NetworkInfo, result: int):
    if result == 1:
@@ -113,13 +89,13 @@ class WifiManagerUI(Widget):
      if len(password) >= MIN_PASSWORD_LENGTH:
        self.connect_to_network(network, password)
    elif result == 0:
-      self.state = StateIdle()
+      self.state = UIState.IDLE

  def on_forgot_confirm_finished(self, network, result: int):
    if result == 1:
      self.forget_network(network)
    elif result == 0:
-      self.state = StateIdle()
+      self.state = UIState.IDLE

  def _draw_network_list(self, rect: rl.Rectangle):
    content_rect = rl.Rectangle(rect.x, rect.y, rect.width, len(self._networks) * ITEM_HEIGHT)
@@ -147,17 +123,18 @@ class WifiManagerUI(Widget):
    security_icon_rect = rl.Rectangle(signal_icon_rect.x - spacing - ICON_SIZE, rect.y + (ITEM_HEIGHT - ICON_SIZE) / 2, ICON_SIZE, ICON_SIZE)

    status_text = ""
-    match self.state:
-      case StateConnecting(network=connecting):
-        if connecting.ssid == network.ssid:
-          self._networks_buttons[network.ssid].set_enabled(False)
-          status_text = "CONNECTING..."
-      case StateForgetting(network=forgetting):
-        if forgetting.ssid == network.ssid:
-          self._networks_buttons[network.ssid].set_enabled(False)
-          status_text = "FORGETTING..."
-      case _:
-        self._networks_buttons[network.ssid].set_enabled(True)
+    if self.state == UIState.CONNECTING and self._state_network:
+      if self._state_network.ssid == network.ssid:
+        self._networks_buttons[network.ssid].set_enabled(False)
+        status_text = "CONNECTING..."
+    elif self.state == UIState.FORGETTING and self._state_network:
+      if self._state_network.ssid == network.ssid:
+        self._networks_buttons[network.ssid].set_enabled(False)
+        status_text = "FORGETTING..."
+    elif network.security_type == SecurityType.UNSUPPORTED:
+      self._networks_buttons[network.ssid].set_enabled(False)
+    else:
+      self._networks_buttons[network.ssid].set_enabled(True)

    self._networks_buttons[network.ssid].render(ssid_rect)

@@ -181,13 +158,16 @@ class WifiManagerUI(Widget):
  def _networks_buttons_callback(self, network):
    if self.scroll_panel.is_touch_valid():
      if not network.is_saved and network.security_type != SecurityType.OPEN:
-        self.state = StateNeedsAuth(network, False)
+        self.state = UIState.NEEDS_AUTH
+        self._state_network = network
+        self._password_retry = False
      elif not network.is_connected:
        self.connect_to_network(network)

  def _forget_networks_buttons_callback(self, network):
    if self.scroll_panel.is_touch_valid():
-      self.state = StateShowForgetConfirm(network)
+      self.state = UIState.SHOW_FORGET_CONFIRM
+      self._state_network = network

  def _draw_status_icon(self, rect, network: NetworkInfo):
    """Draw the status icon based on network's connection state"""
@@ -212,14 +192,16 @@ class WifiManagerUI(Widget):
    rl.draw_texture_v(gui_app.texture(STRENGTH_ICONS[strength_level], ICON_SIZE, ICON_SIZE), rl.Vector2(rect.x, rect.y), rl.WHITE)

  def connect_to_network(self, network: NetworkInfo, password=''):
-    self.state = StateConnecting(network)
+    self.state = UIState.CONNECTING
+    self._state_network = network
    if network.is_saved and not password:
      self.wifi_manager.activate_connection(network.ssid)
    else:
      self.wifi_manager.connect_to_network(network.ssid, password)

  def forget_network(self, network: NetworkInfo):
-    self.state = StateForgetting(network)
+    self.state = UIState.FORGETTING
+    self._state_network = network
    network.is_saved = False
    self.wifi_manager.forget_connection(network.ssid)

@@ -236,22 +218,24 @@ class WifiManagerUI(Widget):
    with self._lock:
      network = next((n for n in self._networks if n.ssid == ssid), None)
      if network:
-        self.state = StateNeedsAuth(network, True)
+        self.state = UIState.NEEDS_AUTH
+        self._state_network = network
+        self._password_retry = True

  def _on_activated(self):
    with self._lock:
-      if isinstance(self.state, StateConnecting):
-        self.state = StateIdle()
+      if self.state == UIState.CONNECTING:
+        self.state = UIState.IDLE

  def _on_forgotten(self, ssid):
    with self._lock:
-      if isinstance(self.state, StateForgetting):
-        self.state = StateIdle()
+      if self.state == UIState.FORGETTING:
+        self.state = UIState.IDLE

  def _on_connection_failed(self, ssid: str, error: str):
    with self._lock:
-      if isinstance(self.state, StateConnecting):
-        self.state = StateIdle()
+      if self.state == UIState.CONNECTING:
+        self.state = UIState.IDLE


 def main():
@@ -242,6 +242,9 @@ class Updater:
    b: str | None = self.params.get("UpdaterTargetBranch")
    if b is None:
      b = self.get_branch(BASEDIR)
+    b = {
+      ("tici", "release3"): "release-tici"
+    }.get((HARDWARE.get_device_type(), b), b)
    return b

  @property
@@ -283,8 +286,8 @@ class Updater:
      self.params.put("LastUpdateUptimeOnroad", last_uptime_onroad)
      self.params.put("LastUpdateRouteCount", last_route_count)
    else:
-      last_uptime_onroad = self.params.get("LastUpdateUptimeOnroad") or last_uptime_onroad
-      last_route_count = self.params.get("LastUpdateRouteCount") or last_route_count
+      last_uptime_onroad = self.params.get("LastUpdateUptimeOnroad", return_default=True)
+      last_route_count = self.params.get("LastUpdateRouteCount", return_default=True)

    if exception is None:
      self.params.remove("LastUpdateException")
@@ -13,7 +13,7 @@ from openpilot.common.git import get_commit, get_origin, get_branch, get_short_b
 RELEASE_SP_BRANCHES = ['release-c3']
 TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new']
 MASTER_SP_BRANCHES = ['master']
-RELEASE_BRANCHES = ['release3-staging', 'release3', 'nightly'] + RELEASE_SP_BRANCHES
+RELEASE_BRANCHES = ['release3-staging', 'release3', 'release-tici', 'nightly'] + RELEASE_SP_BRANCHES
 TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] + TESTED_SP_BRANCHES

 BUILD_METADATA_FILENAME = "build.json"
@@ -107,7 +107,7 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):


 class CompressedVipc:
-  def __init__(self, addr, vision_streams, nvidia=False, debug=False):
+  def __init__(self, addr, vision_streams, server_name, nvidia=False, debug=False):
    print("getting frame sizes")
    os.environ["ZMQ"] = "1"
    messaging.reset_context()
@@ -117,7 +117,7 @@ class CompressedVipc:
    os.environ.pop("ZMQ")
    messaging.reset_context()

-    self.vipc_server = VisionIpcServer("camerad")
+    self.vipc_server = VisionIpcServer(server_name)
    for vst in vision_streams:
      ed = sm[ENCODE_SOCKETS[vst]]
      self.vipc_server.create_buffers(vst, 4, ed.width, ed.height)
@@ -144,6 +144,7 @@ if __name__ == "__main__":
  parser.add_argument("addr", help="Address of comma three")
  parser.add_argument("--nvidia", action="store_true", help="Use nvidia instead of ffmpeg")
  parser.add_argument("--cams", default="0,1,2", help="Cameras to decode")
+  parser.add_argument("--server", default="camerad", help="choose vipc server name")
  parser.add_argument("--silent", action="store_true", help="Suppress debug output")
  args = parser.parse_args()

@@ -154,7 +155,7 @@ if __name__ == "__main__":
  ]

  vsts = [vision_streams[int(x)] for x in args.cams.split(",")]
-  cvipc = CompressedVipc(args.addr, vsts, args.nvidia, debug=(not args.silent))
+  cvipc = CompressedVipc(args.addr, vsts, args.server, args.nvidia, debug=(not args.silent))

  # register exit handler
  signal.signal(signal.SIGINT, lambda sig, frame: cvipc.kill())
@@ -1,6 +1,5 @@
 #!/usr/bin/env python3

-import atexit
 import logging
 import os
 import platform
@@ -11,13 +10,14 @@ from argparse import ArgumentParser, ArgumentTypeError
 from collections.abc import Sequence
 from pathlib import Path
 from random import randint
-from subprocess import Popen, PIPE
+from subprocess import Popen
 from typing import Literal

 from cereal.messaging import SubMaster
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params, UnknownKeyName
 from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.common.run import managed_proc
 from openpilot.tools.lib.route import Route
 from openpilot.tools.lib.logreader import LogReader

@@ -38,22 +38,23 @@ UI = str(Path(BASEDIR, 'selfdrive/ui/ui').resolve())
 logger = logging.getLogger('clip.py')


-def check_for_failure(proc: Popen):
-  exit_code = proc.poll()
-  if exit_code is not None and exit_code != 0:
-    cmd = str(proc.args)
-    if isinstance(proc.args, str):
-      cmd = proc.args
-    elif isinstance(proc.args, Sequence):
-      cmd = str(proc.args[0])
-    msg = f'{cmd} failed, exit code {exit_code}'
-    logger.error(msg)
-    stdout, stderr = proc.communicate()
-    if stdout:
-      logger.error(stdout.decode())
-    if stderr:
-      logger.error(stderr.decode())
-    raise ChildProcessError(msg)
+def check_for_failure(procs: list[Popen]):
+  for proc in procs:
+    exit_code = proc.poll()
+    if exit_code is not None and exit_code != 0:
+      cmd = str(proc.args)
+      if isinstance(proc.args, str):
+        cmd = proc.args
+      elif isinstance(proc.args, Sequence):
+        cmd = str(proc.args[0])
+      msg = f'{cmd} failed, exit code {exit_code}'
+      logger.error(msg)
+      stdout, stderr = proc.communicate()
+      if stdout:
+        logger.error(stdout.decode())
+      if stderr:
+        logger.error(stderr.decode())
+      raise ChildProcessError(msg)


 def escape_ffmpeg_text(value: str):
@@ -137,10 +138,6 @@ def populate_car_params(lr: LogReader):
  logger.debug('persisted CarParams')


-def start_proc(args: list[str], env: dict[str, str]):
-  return Popen(args, env=env, stdout=PIPE, stderr=PIPE)
-
-
 def validate_env(parser: ArgumentParser):
  if platform.system() not in ['Linux']:
    parser.exit(1, f'clip.py: error: {platform.system()} is not a supported operating system\n')
@@ -176,8 +173,7 @@ def wait_for_frames(procs: list[Popen]):
  while no_frames_drawn:
    sm.update()
    no_frames_drawn = sm['uiDebug'].drawTimeMillis == 0.
-    for proc in procs:
-      check_for_failure(proc)
+    check_for_failure(procs)


 def clip(
@@ -253,35 +249,22 @@ def clip(

  with OpenpilotPrefix(prefix, shared_download_cache=True):
    populate_car_params(lr)
-
    env = os.environ.copy()
    env['DISPLAY'] = display

-    xvfb_proc = start_proc(xvfb_cmd, env)
-    atexit.register(lambda: xvfb_proc.terminate())
-    ui_proc = start_proc(ui_cmd, env)
-    atexit.register(lambda: ui_proc.terminate())
-    replay_proc = start_proc(replay_cmd, env)
-    atexit.register(lambda: replay_proc.terminate())
-    procs = [replay_proc, ui_proc, xvfb_proc]
-
-    logger.info('waiting for replay to begin (loading segments, may take a while)...')
-    wait_for_frames(procs)
-
-    logger.debug(f'letting UI warm up ({SECONDS_TO_WARM}s)...')
-    time.sleep(SECONDS_TO_WARM)
-    for proc in procs:
-      check_for_failure(proc)
-
-    ffmpeg_proc = start_proc(ffmpeg_cmd, env)
-    procs.append(ffmpeg_proc)
-    atexit.register(lambda: ffmpeg_proc.terminate())
-
-    logger.info(f'recording in progress ({duration}s)...')
-    ffmpeg_proc.wait(duration + PROC_WAIT_SECONDS)
-    for proc in procs:
-      check_for_failure(proc)
-    logger.info(f'recording complete: {Path(out).resolve()}')
+    with managed_proc(xvfb_cmd, env) as xvfb_proc, managed_proc(ui_cmd, env) as ui_proc, managed_proc(replay_cmd, env) as replay_proc:
+      procs = [xvfb_proc, ui_proc, replay_proc]
+      logger.info('waiting for replay to begin (loading segments, may take a while)...')
+      wait_for_frames(procs)
+      logger.debug(f'letting UI warm up ({SECONDS_TO_WARM}s)...')
+      time.sleep(SECONDS_TO_WARM)
+      check_for_failure(procs)
+      with managed_proc(ffmpeg_cmd, env) as ffmpeg_proc:
+        procs.append(ffmpeg_proc)
+        logger.info(f'recording in progress ({duration}s)...')
+        ffmpeg_proc.wait(duration + PROC_WAIT_SECONDS)
+        check_for_failure(procs)
+        logger.info(f'recording complete: {Path(out).resolve()}')


 def main():
@@ -319,9 +302,7 @@ def main():
    logger.exception('interrupted by user', exc_info=e)
  except Exception as e:
    logger.exception('encountered error', exc_info=e)
-  finally:
-    atexit._run_exitfuncs()
-    sys.exit(exit_code)
+  sys.exit(exit_code)


 if __name__ == '__main__':
@@ -0,0 +1,57 @@
+from collections.abc import Callable
+
+from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url
+from openpilot.tools.lib.openpilotci import get_url
+from openpilot.tools.lib.filereader import DATA_ENDPOINT, file_exists, internal_source_available
+from openpilot.tools.lib.route import Route, SegmentRange, FileName
+
+# When passed a tuple of file names, each source will return the first that exists (rlog.zst, rlog.bz2)
+FileNames = tuple[str, ...]
+Source = Callable[[SegmentRange, list[int], FileNames], dict[int, str]]
+
+InternalUnavailableException = Exception("Internal source not available")
+
+
+def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
+  route = Route(sr.route_name)
+
+  # comma api will have already checked if the file exists
+  if fns == FileName.RLOG:
+    return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None}
+  else:
+    return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None}
+
+
+def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]:
+  if not internal_source_available(endpoint_url):
+    raise InternalUnavailableException
+
+  def get_internal_url(sr: SegmentRange, seg, file):
+    return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}"
+
+  return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs})
+
+
+def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
+  return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs})
+
+
+def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
+  return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs})
+
+
+def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]:
+  # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst)
+  valid_files: dict[int, str] = {}
+
+  for seg_idx, urls in files.items():
+    if isinstance(urls, str):
+      urls = [urls]
+
+    # Add first valid file URL
+    for url in urls:
+      if file_exists(url):
+        valid_files[seg_idx] = url
+        break
+
+  return valid_files
@@ -12,16 +12,15 @@ import urllib.parse
 import warnings
 import zstandard as zstd

-from collections.abc import Callable, Iterable, Iterator
+from collections.abc import Iterable, Iterator
 from typing import cast
 from urllib.parse import parse_qs, urlparse

 from cereal import log as capnp_log
 from openpilot.common.swaglog import cloudlog
-from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url
-from openpilot.tools.lib.openpilotci import get_url
-from openpilot.tools.lib.filereader import DATA_ENDPOINT, FileReader, file_exists, internal_source_available
-from openpilot.tools.lib.route import Route, SegmentRange, FileName
+from openpilot.tools.lib.filereader import FileReader
+from openpilot.tools.lib.file_sources import comma_api_source, internal_source, openpilotci_source, comma_car_segments_source, Source
+from openpilot.tools.lib.route import SegmentRange, FileName
 from openpilot.tools.lib.log_time_series import msgs_to_time_series

 LogMessage = type[capnp._DynamicStructReader]
@@ -40,6 +39,7 @@ def save_log(dest, log_msgs, compress=True):
  with open(dest, "wb") as f:
    f.write(dat)

+
 def decompress_stream(data: bytes):
  dctx = zstd.ZstdDecompressor()
  decompressed_data = b""
@@ -139,73 +139,22 @@ class ReadMode(enum.StrEnum):
  AUTO_INTERACTIVE = "i"  # default to rlogs, fallback to qlogs with a prompt from the user


-LogPath = str | None
-LogFileName = tuple[str, ...]
-Source = Callable[[SegmentRange, LogFileName], list[LogPath]]
-
-InternalUnavailableException = Exception("Internal source not available")
-
-
 class LogsUnavailable(Exception):
  pass


-def comma_api_source(sr: SegmentRange, fns: LogFileName) -> list[LogPath]:
-  route = Route(sr.route_name)
-
-  # comma api will have already checked if the file exists
-  if fns == FileName.RLOG:
-    return [route.log_paths()[seg] for seg in sr.seg_idxs]
-  else:
-    return [route.qlog_paths()[seg] for seg in sr.seg_idxs]
-
-
-def internal_source(sr: SegmentRange, fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> list[LogPath]:
-  if not internal_source_available(endpoint_url):
-    raise InternalUnavailableException
-
-  def get_internal_url(sr: SegmentRange, seg, file):
-    return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}"
-
-  return eval_source([[get_internal_url(sr, seg, fn) for fn in fns] for seg in sr.seg_idxs])
-
-
-def openpilotci_source(sr: SegmentRange, fns: LogFileName) -> list[LogPath]:
-  return eval_source([[get_url(sr.route_name, seg, fn) for fn in fns] for seg in sr.seg_idxs])
-
-
-def comma_car_segments_source(sr: SegmentRange, fns: LogFileName) -> list[LogPath]:
-  return eval_source([get_comma_segments_url(sr.route_name, seg) for seg in sr.seg_idxs])
-
-
 def direct_source(file_or_url: str) -> list[str]:
  return [file_or_url]


-def eval_source(files: list[list[str] | str]) -> list[LogPath]:
-  # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst)
-  valid_files: list[LogPath] = []
-
-  for urls in files:
-    if isinstance(urls, str):
-      urls = [urls]
-
-    for url in urls:
-      if file_exists(url):
-        valid_files.append(url)
-        break
-    else:
-      valid_files.append(None)
-
-  return valid_files
-
-
+# TODO this should apply to camera files as well
 def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode) -> list[str]:
  exceptions = {}

  sr = SegmentRange(identifier)
-  mode = default_mode if sr.selector is None else ReadMode(sr.selector)
+  needed_seg_idxs = sr.seg_idxs

+  mode = default_mode if sr.selector is None else ReadMode(sr.selector)
  if mode == ReadMode.QLOG:
    try_fns = [FileName.QLOG]
  else:
@@ -217,37 +166,35 @@ def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode)

  # Build a dict of valid files as we evaluate each source. May contain mix of rlogs, qlogs, and None.
  # This function only returns when we've sourced all files, or throws an exception
-  valid_files: dict[int, LogPath] = {}
+  valid_files: dict[int, str] = {}
  for fn in try_fns:
    for source in sources:
      try:
-        files = source(sr, fn)
-
-        # Check every source returns an expected number of files
-        assert len(files) == len(valid_files) or len(valid_files) == 0, f"Source {source.__name__} returned unexpected number of files"
+        files = source(sr, needed_seg_idxs, fn)

        # Build a dict of valid files
-        for idx, f in enumerate(files):
-          if valid_files.get(idx) is None:
-            valid_files[idx] = f
+        valid_files |= files
+
+        # Don't check for segment files that have already been found
+        needed_seg_idxs = [idx for idx in needed_seg_idxs if idx not in valid_files]

        # We've found all files, return them
-        if all(f is not None for f in valid_files.values()):
+        if len(needed_seg_idxs) == 0:
          return cast(list[str], list(valid_files.values()))

      except Exception as e:
        exceptions[source.__name__] = e

    if fn == try_fns[0]:
-      missing_logs = list(valid_files.values()).count(None)
+      missing_logs = len(needed_seg_idxs)
      if mode == ReadMode.AUTO:
-        cloudlog.warning(f"{missing_logs}/{len(valid_files)} rlogs were not found, falling back to qlogs for those segments...")
+        cloudlog.warning(f"{missing_logs}/{len(sr.seg_idxs)} rlogs were not found, falling back to qlogs for those segments...")
      elif mode == ReadMode.AUTO_INTERACTIVE:
-        if input(f"{missing_logs}/{len(valid_files)} rlogs were not found, would you like to fallback to qlogs for those segments? (y/N) ").lower() != "y":
+        if input(f"{missing_logs}/{len(sr.seg_idxs)} rlogs were not found, would you like to fallback to qlogs for those segments? (y/N) ").lower() != "y":
          break

-  missing_logs = list(valid_files.values()).count(None)
-  raise LogsUnavailable(f"{missing_logs}/{len(valid_files)} logs were not found, please ensure all logs " +
+  missing_logs = len(needed_seg_idxs)
+  raise LogsUnavailable(f"{missing_logs}/{len(sr.seg_idxs)} logs were not found, please ensure all logs " +
                        "are uploaded. You can fall back to qlogs with '/a' selector at the end of the route name.\n\n" +
                        "Exceptions for sources:\n  - " + "\n  - ".join([f"{k}: {repr(v)}" for k, v in exceptions.items()]))

@@ -298,7 +245,7 @@ class LogReader:
  def __init__(self, identifier: str | list[str], default_mode: ReadMode = ReadMode.RLOG,
               sources: list[Source] = None, sort_by_time=False, only_union_types=False):
    if sources is None:
-      sources = [internal_source, openpilotci_source, comma_api_source, comma_car_segments_source]
+      sources = [internal_source, comma_api_source, openpilotci_source, comma_car_segments_source]

    self.default_mode = default_mode
    self.sources = sources
@@ -351,6 +298,7 @@ class LogReader:
  def time_series(self):
    return msgs_to_time_series(self)

+
 if __name__ == "__main__":
  import codecs

@@ -231,7 +231,6 @@ class RouteName:
  def __str__(self) -> str: return self._canonical_name


-
 class SegmentName:
  # TODO: add constructor that takes dongle_id, time_str, segment_num and then create instances
  # of this class instead of manually constructing a segment name (use canonical_name prop instead)
@@ -252,7 +251,7 @@ class SegmentName:
  @property
  def canonical_name(self) -> str: return self._canonical_name

-  #TODO should only use one name
+  # TODO should only use one name
  @property
  def data_name(self) -> str: return f"{self._route_name.canonical_name}/{self._num}"

@@ -283,7 +282,7 @@ class SegmentName:
  @staticmethod
  def from_file_name(file_name):
    # ??????/xxxxxxxxxxxxxxxx|1111-11-11-11--11-11-11/1/rlog.bz2
-    dongle_id, route_name, segment_num = file_name.replace('|','/').split('/')[-4:-1]
+    dongle_id, route_name, segment_num = file_name.replace('|', '/').split('/')[-4:-1]
    return SegmentName(dongle_id + "|" + route_name + "--" + segment_num)

  @staticmethod
@@ -304,6 +303,7 @@ class SegmentName:
    dongle_id, route_name, segment_num = prefix.split("/")
    return SegmentName(dongle_id + "|" + route_name + "--" + segment_num)

+
@cache
 def get_max_seg_number_cached(sr: 'SegmentRange') -> int:
  try:
@@ -365,4 +365,3 @@ class SegmentRange:

  def __repr__(self) -> str:
    return self.__str__()
-
@@ -10,7 +10,8 @@ import requests
 from parameterized import parameterized

 from cereal import log as capnp_log
-from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode, InternalUnavailableException
+from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, parse_indirect, ReadMode
+from openpilot.tools.lib.file_sources import comma_api_source, InternalUnavailableException
 from openpilot.tools.lib.route import SegmentRange
 from openpilot.tools.lib.url_file import URLFileException

@@ -36,12 +37,12 @@ def setup_source_scenario(mocker, is_internal=False):
  comma_api_source_mock.__name__ = comma_api_source_mock._mock_name

  if is_internal:
-    internal_source_mock.return_value = [QLOG_FILE]
+    internal_source_mock.return_value = {3: QLOG_FILE}
  else:
    internal_source_mock.side_effect = InternalUnavailableException

-  openpilotci_source_mock.return_value = [None]
-  comma_api_source_mock.return_value = [QLOG_FILE]
+  openpilotci_source_mock.return_value = {}
+  comma_api_source_mock.return_value = {3: QLOG_FILE}

  yield

@@ -90,7 +91,7 @@ class TestLogReader:

  @pytest.mark.parametrize("cache_enabled", [True, False])
  def test_direct_parsing(self, mocker, cache_enabled):
-    file_exists_mock = mocker.patch("openpilot.tools.lib.logreader.file_exists")
+    file_exists_mock = mocker.patch("openpilot.tools.lib.filereader.file_exists")
    os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0"
    qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False)

@@ -208,13 +209,12 @@ class TestLogReader:
      assert qlog_len == log_len

  @pytest.mark.parametrize("is_internal", [True, False])
-  @pytest.mark.slow
  def test_auto_source_scenarios(self, mocker, is_internal):
    lr = LogReader(QLOG_FILE)
    qlog_len = len(list(lr))

    with setup_source_scenario(mocker, is_internal=is_internal):
-      lr = LogReader(f"{TEST_ROUTE}/0/q")
+      lr = LogReader(f"{TEST_ROUTE}/3/q")
      log_len = len(list(lr))
      assert qlog_len == log_len

@@ -9,12 +9,14 @@ from urllib3.util import Timeout

 from openpilot.common.file_helpers import atomic_write_in_dir
 from openpilot.system.hardware.hw import Paths
+
 #  Cache chunk size
 K = 1000
 CHUNK_SIZE = 1000 * K

 logging.getLogger("urllib3").setLevel(logging.WARNING)

+
 def hash_256(link: str) -> str:
  return sha256((link.split("?")[0]).encode('utf-8')).hexdigest()

@@ -24,7 +26,7 @@ class URLFileException(Exception):


 class URLFile:
-  _pool_manager: PoolManager|None = None
+  _pool_manager: PoolManager | None = None

  @staticmethod
  def reset() -> None:
@@ -33,16 +35,16 @@ class URLFile:
  @staticmethod
  def pool_manager() -> PoolManager:
    if URLFile._pool_manager is None:
-      socket_options = [(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1),]
+      socket_options = [(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1)]
      retries = Retry(total=5, backoff_factor=0.5, status_forcelist=[409, 429, 503, 504])
      URLFile._pool_manager = PoolManager(num_pools=10, maxsize=100, socket_options=socket_options, retries=retries)
    return URLFile._pool_manager

-  def __init__(self, url: str, timeout: int=10, debug: bool=False, cache: bool|None=None):
+  def __init__(self, url: str, timeout: int = 10, debug: bool = False, cache: bool | None = None):
    self._url = url
    self._timeout = Timeout(connect=timeout, read=timeout)
    self._pos = 0
-    self._length: int|None = None
+    self._length: int | None = None
    self._debug = debug
    #  True by default, false if FILEREADER_CACHE is defined, but can be overwritten by the cache input
    self._force_download = not int(os.environ.get("FILEREADER_CACHE", "0"))
@@ -58,7 +60,7 @@ class URLFile:
  def __exit__(self, exc_type, exc_value, traceback) -> None:
    pass

-  def _request(self, method: str, url: str, headers: dict[str, str]|None=None) -> BaseHTTPResponse:
+  def _request(self, method: str, url: str, headers: dict[str, str] | None = None) -> BaseHTTPResponse:
    return URLFile.pool_manager().request(method, url, timeout=self._timeout, headers=headers)

  def get_length_online(self) -> int:
@@ -85,7 +87,7 @@ class URLFile:
        file_length.write(str(self._length))
    return self._length

-  def read(self, ll: int|None=None) -> bytes:
+  def read(self, ll: int | None = None) -> bytes:
    if self._force_download:
      return self.read_aux(ll=ll)

@@ -117,7 +119,7 @@ class URLFile:
        self._pos = file_end
        return response

-  def read_aux(self, ll: int|None=None) -> bytes:
+  def read_aux(self, ll: int | None = None) -> bytes:
    download_range = False
    headers = {}
    if self._pos != 0 or ll is not None:
@@ -152,7 +154,7 @@ class URLFile:
    self._pos += len(ret)
    return ret

-  def seek(self, pos:int) -> None:
+  def seek(self, pos: int) -> None:
    self._pos = pos

  @property
@@ -4832,11 +4832,11 @@ wheels = [

 [[package]]
 name = "typing-extensions"
-version = "4.14.1"
+version = "4.15.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/98/5a/da40306b885cc8c09109dc2e1abd358d5684b1425678151cdaed4731c822/typing_extensions-4.14.1.tar.gz", hash = "sha256:38b39f4aeeab64884ce9f74c94263ef78f3c22467c8724005483154c26648d36", size = 107673, upload-time = "2025-07-04T13:28:34.16Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/72/94/1a15dd82efb362ac84269196e94cf00f187f7ed21c242792a923cdb1c61f/typing_extensions-4.15.0.tar.gz", hash = "sha256:0cea48d173cc12fa28ecabc3b837ea3cf6f38c6d1136f85cbaaf598984861466", size = 109391, upload-time = "2025-08-25T13:49:26.313Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/b5/00/d631e67a838026495268c2f6884f3711a15a9a2a96cd244fdaea53b823fb/typing_extensions-4.14.1-py3-none-any.whl", hash = "sha256:d1e1e3b58374dc93031d6eda2420a48ea44a36c2b4766a4fdeb3710755731d76", size = 43906, upload-time = "2025-07-04T13:28:32.743Z" },
+    { url = "https://files.pythonhosted.org/packages/18/67/36e9267722cc04a6b9f15c7f3441c2363321a3ea07da7ae0c0707beb2a9c/typing_extensions-4.15.0-py3-none-any.whl", hash = "sha256:f0fa19c6845758ab08074a0cfa8b7aecb71c999ca73d62883bc25cc018c4e548", size = 44614, upload-time = "2025-08-25T13:49:24.86Z" },
 ]

 [[package]]
Author	SHA1	Message	Date
Jason Wen	ba1da60c25	NNLC: compute error in torque space (#1185 ) * NNLC: compute error in torque space * bump * sp happy too * bump * lint * update path * oops * test entire loop * bump * test gm * bump * bump	2025-08-29 22:39:25 +02:00
DevTekVE	54174d1ef0	agnos: split launch for c3 and c3x to support custom agnos (#1186 ) * refactor: skip AGNOS update for tici models in launch script * back to stock on chffrplus * feat: enhance launch script for Tici model with error handling and fallback * empty new line pls	2025-08-29 22:23:58 +02:00
royjr	342ff24510	feature: external storage (#979 ) * external storage * fix mountStorage * fix perms * works for now * better * lagless * move to sp qt * orderish * fix ui crash * cleanup * fix format * offroad only * debug external storage * dont care about delete * just use cloudlog * show logs if using external storage * better text * wipe entire drive * allow partitionless drive to be formatted * label while formatting * this works * better * cleaner * cleaner logs * keep upstream happy --------- Co-authored-by: DevTekVE <devtekve@gmail.com>	2025-08-26 11:49:55 -04:00
github-actions[bot]	6bbf42c16a	[bot] Update translations (#1183 ) Update translations Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com> Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-08-25 23:50:58 -04:00
github-actions[bot]	73e66c4a0b	[bot] Update Python packages (#1178 ) Update Python packages Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>	2025-08-25 21:22:20 -04:00
Nayan	9579d331fc	ui: sunnylink panel title & message (#1181 ) add title & message to clarify sponsorship isn't required for basic functions	2025-08-25 19:49:49 +02:00
James Vecellio-Grant	7c6d887187	modeld_v2: infer model shapes from inputs (#1162 ) * modeld_v2: dynamify temporal buffer management. * skip redundant reshaping and flattening. * simplify MHP checks for lead and plan * modeld_v2: add unit tests for buffer logic and refactor index mapping * Let’s possibly fail a test :) * Update test_buffer_logic_inspect.py * Update test_buffer_logic_inspect.py * modeld_v2: better temporal mapping for non-split * Bump to 10 I guess * Downgrade CURRENT_SELECTOR_VERSION to 9 * red diff ya know? * add dynamic buffer update tests and compare against legacy logic. Cover modelState.init and modelState.run * send * Revert "send" This reverts commit `9e6c95fbfd`. * format --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-08-24 22:08:55 -04:00
github-actions[bot]	f89796033c	[bot] Update translations (#1179 ) Update translations Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>	2025-08-24 15:52:38 -07:00
Jason Wen	c8249f3657	Sync: `commaai/openpilot:master` into `sunnypilot/sunnypilot:master` (#1176 )	2025-08-24 14:56:35 -04:00
Jason Wen	798e9071d8	Merge branch 'upstream/openpilot/master' into sync-20250823 # Conflicts: # .github/workflows/release.yaml # README.md # RELEASES.md # common/params_keys.h # docs/CARS.md # opendbc_repo # panda # release/build_stripped.sh # selfdrive/controls/lib/longitudinal_planner.py # selfdrive/modeld/modeld.py # selfdrive/ui/feedback/feedbackd.py # selfdrive/ui/translations/main_ar.ts # selfdrive/ui/translations/main_de.ts # selfdrive/ui/translations/main_es.ts # selfdrive/ui/translations/main_fr.ts # selfdrive/ui/translations/main_ja.ts # selfdrive/ui/translations/main_ko.ts # selfdrive/ui/translations/main_pt-BR.ts # selfdrive/ui/translations/main_th.ts # selfdrive/ui/translations/main_tr.ts # selfdrive/ui/translations/main_zh-CHS.ts # selfdrive/ui/translations/main_zh-CHT.ts # system/version.py # uv.lock	2025-08-24 14:52:21 -04:00
github-actions[bot]	d6af554db4	[bot] Update translations (#1172 ) Update translations Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com> Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2025-08-23 20:38:19 -04:00
github-actions[bot]	9e50a1b660	[bot] Update Python packages (#1175 ) Update Python packages Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>	2025-08-23 20:34:53 -04:00
Shane Smiskol	dd7de180ea	raylib: cache API token (#36050 ) * cache with time * safety * rm * clean up	2025-08-23 04:56:00 -07:00
Shane Smiskol	2b46e1450a	raylib: simplify network state (#36049 ) * wtf * we never disabled unsupported networks * dont be a hero * i hate mypy * fix	2025-08-23 00:49:19 -07:00
Adeeb Shihadeh	7ed8abb66c	camerad: garbage collect CL files (#36046 )	2025-08-22 20:11:50 -07:00
Adeeb Shihadeh	ef2bb7f2fc	release: build orphaned branch (#36047 )	2025-08-22 20:06:12 -07:00
Adeeb Shihadeh	ae3b74245f	sgo is just o now!	2025-08-22 09:08:40 -07:00
Shane Smiskol	c0a74f7a20	raylib: change default tethering password	2025-08-22 01:55:01 -07:00
Shane Smiskol	cea3572b74	raylib: fix mouse scale for Widgets (#36040 ) fix mouse scale for mousestate	2025-08-21 16:54:15 -07:00
kostas.pats	cd9ec6b240	Compressed vipc name pick (#36036 ) * add custom vipc server name argument * Update compressed_vipc.py * add custom vipc server name argument + fixes * Update compressed_vipc.py	2025-08-20 15:45:05 -07:00
Adeeb Shihadeh	b4cc4ea8e2	Update README.md	2025-08-20 15:44:23 -07:00
Adeeb Shihadeh	154f655335	update release checklist	2025-08-20 15:44:13 -07:00
Shane Smiskol	2ff707d82f	Fix gradient point ignore	2025-08-19 22:37:55 -07:00
Shane Smiskol	8320934d91	raylib: cleanup experimental mode gradient color calculations (#36035 ) * dfebug * simplify * come on man	2025-08-19 22:33:07 -07:00
Maxime Desroches	63441c048c	test_onroad: relax first fid assertion (#36032 ) * fid * test * Revert "test" This reverts commit 38e6635dd0b0b9fb9c08bcc3a74b9283207b0c2f. * r * Revert "r" This reverts commit 4037a321f89af137a645345a0fffb73da6071c72.	2025-08-19 22:30:48 -07:00
Shane Smiskol	d0069c136b	raylib: fix experimental mode path gradient (#36033 ) * fix! * this is enough to fix the broken colors * clean up * fix * use last colors -- need this so we don't have to always pass perfect gradient * clean up * clean up * clean up	2025-08-19 22:19:56 -07:00
Shane Smiskol	870d19f33d	Reapply "File sourcing: Not all files are logs (#36025 )" This reverts commit `3570022b9a`. Fix test	2025-08-19 19:59:50 -07:00
Shane Smiskol	60c34a0837	LogReader: run source test (#36031 ) run "slow" test	2025-08-19 19:58:47 -07:00
Shane Smiskol	22e79479d2	unit tests: add comment (#36030 ) * remove collection * test * back * wtf it actually saves 10s?! * ah that makes sense * rm * ? * ugh * qq * bc	2025-08-19 19:39:27 -07:00
Maxime Desroches	3570022b9a	Revert "File sourcing: Not all files are logs (#36025 )" This reverts commit `18b7ddef8f`.	2025-08-19 17:11:53 -07:00
Maxime Desroches	dd5f5fdb98	ci: show all unit test failures (#36029 ) * testci * fix * Revert "testci" This reverts commit b62a0aacb604fc0fd39c6e50a726b686979b9880.	2025-08-19 17:11:29 -07:00
Harald Schäfer	18b7ddef8f	File sourcing: Not all files are logs (#36025 ) * Not all files are logs * more refactor * linting ok * fix tests * import exception * whoops forgot to git add * fix --------- Co-authored-by: Shane Smiskol <shane@smiskol.com>	2025-08-19 16:25:13 -07:00
Shane Smiskol	5ec9aee216	File sourcing: simplify return type (#36028 ) * rm str \| none pattern * clean up * more clean up * stash * Revert "stash" This reverts commit 3e2472160cc97e9d11922137757d9ef942a0312d. * fix da prints * fix cmt	2025-08-19 15:39:44 -07:00
Maxime Desroches	927548621b	update to latest userdata partition (#36027 ) bump	2025-08-19 15:37:39 -07:00
Shane Smiskol	6005b12f94	format logreader	2025-08-19 15:04:17 -07:00
Jason Young	09aa21390d	Honda: Adding support for Honda City (#36026 ) * bump opendbc * release notes * regen CARS.md * bump opendbc correctly this time	2025-08-19 15:38:55 -04:00
YassineYousfi	d097a0c201	model parser: fix lead mhp out shape (#36024 ) * model parser: fix lead mhp out shape * fix for real	2025-08-19 11:35:22 -07:00
Adeeb Shihadeh	560c503871	new release flow (#36021 ) * new release flow * Update README.md	2025-08-19 11:19:58 -07:00
YassineYousfi	3d24225cc1	model parser: use check missing for mhp checks (#36023 ) * model parser: use check missing for mhp checks * lint + support re * lint... * no walrus * just remove * forgot this	2025-08-19 10:19:00 -07:00
YassineYousfi	51314fa9fe	Revert "model parser: use check missing for mhp checks" (#36022 ) Revert "model parser: use check missing for mhp checks (#36020)" This reverts commit `803b54ebdb`.	2025-08-19 10:09:59 -07:00
YassineYousfi	803b54ebdb	model parser: use check missing for mhp checks (#36020 ) * model parser: use check missing for mhp checks * lint + support re * lint... * no walrus * just remove	2025-08-19 10:09:09 -07:00
Jimmy	c085b8af19	feedbackd: remove lkas toggle for this release (#36018 ) remove lkas toggle for this release	2025-08-19 09:18:32 -07:00
Adeeb Shihadeh	2cec2587be	bump panda	2025-08-19 09:18:14 -07:00
Adeeb Shihadeh	2148e2dff2	build_devel: clean submodules	2025-08-18 19:48:08 -07:00
Shane Smiskol	f55f3bb7cd	setup is a noun!	2025-08-18 19:33:34 -07:00
Adeeb Shihadeh	4d55671b17	feedbackd: temp disable LKAS button as feedback (#36017 ) * feedbackd: temp disable LKAS button as feedback * disable that * mark	2025-08-18 18:57:16 -07:00
commaci-public	dfc66d7807	[bot] Update Python packages (#36014 ) Update Python packages Co-authored-by: Vehicle Researcher <user@comma.ai>	2025-08-18 18:52:05 -07:00
Maxime Desroches	31101ecaab	AGNOS 12.8 (#36008 ) * staging * prod	2025-08-18 15:37:44 -07:00
commaci-public	3d879dd1ae	[bot] Update Python packages (#36012 ) * Update Python packages * add psa --------- Co-authored-by: Vehicle Researcher <user@comma.ai> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>	2025-08-17 17:53:50 -07:00
Muhammed Jaseem Pallikkal	ef9e430992	Fixed development environment link in CONTRIBUTING.md (#36011 ) * Fixed development environment link in CONTRIBUTING.md This is my first PR to openpilot 🎉 excited to contribute! * Using absolute path for tools	2025-08-17 13:51:12 -07:00
Adeeb Shihadeh	63fa250f29	Add note around excessive actuation check (#36010 ) * Add note around excessive actuation check * Update selfdrived.py	2025-08-17 11:53:20 -07:00
Harald Schäfer	ceb557058c	Steam Powered model (#36000 ) * f3e67f3e-6079-48cf-92a4-dee5eebd1d73/360 * f3e67f3e-6079-48cf-92a4-dee5eebd1d73/400 * No more action head: a8f96b93-bde2-4e28-a732-4df21ebba968/400	2025-08-17 10:18:30 -07:00
Maxime Desroches	6a67f9e56f	setup: custom software warning (#36003 ) * warn * msg * label * space * Revert "space" This reverts commit ae9b8ad1149612c5741ae3b091740170238473ed.	2025-08-15 23:10:47 -07:00
Maxime Desroches	372682d4a9	updated: branch migration (#35993 ) * release * Update system/updated/updated.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> --------- Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>	2025-08-15 14:46:20 -07:00
Shane Smiskol	ab44c9a4ff	Torque controller: refactor calculations to be in accel space (#35790 ) * clean up * little confusing but works * clean up * fix * pid outputs torque again, fix windup above max torque * clean up * fix * fix * typo * fix conflicts * fix PID * cleanups * seems correct * updte * inverse * whitespace * move * small cleanup * more cleanup * update ref --------- Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>	2025-08-15 11:39:56 -07:00
Adeeb Shihadeh	1805a47139	USB takes forever to come up...	2025-08-15 11:13:45 -07:00
Adeeb Shihadeh	5417efaa1d	bump opendbc (#36001 )	2025-08-15 11:12:18 -07:00
eFini	4536719353	longitudinal_planner: Convert self.mode to a local variable in update() (#35999 ) Make 'mode' variable local	2025-08-15 09:02:38 -07:00
Adeeb Shihadeh	b54d5997de	Update RELEASES.md	2025-08-14 21:59:25 -07:00
Maxime Desroches	385ad9e839	updated: connectivity check with new setup (#35998 ) * default * fix	2025-08-14 21:38:27 -07:00
Maxime Desroches	7c6bc70312	params: fix default boolean params (#35997 ) * fix * update test	2025-08-14 20:14:12 -07:00
Shane Smiskol	8ec61991ee	LogReader sourcing: remove redundant file existence checks (#35991 ) * speed up sourcing but avoiding checking for existence of collected files already from previous sources * clean up * been meaning to make them return dicts * no longer true * no longer true * clean up * more * more * revert	2025-08-14 19:28:37 -07:00
Shane Smiskol	1eef956cad	LogReader sourcing: return dict (#35994 ) * new return type * fix test * why not	2025-08-14 19:19:37 -07:00
Maxime Desroches	daef43f620	ci: show all tests durations (#35995 ) show	2025-08-14 18:54:56 -07:00
Shane Smiskol	aa91a02db8	LogReader sourcing: check comma API source before CI source (#35992 ) sort	2025-08-14 18:26:19 -07:00
eFini	a6d0a88b1e	Multilang: update chs/cht translations (#35981 )	2025-08-14 10:27:44 -07:00
Jason Young	f2c806f8a0	bump opendbc for fingerprint updates (#35990 ) bump opendbc	2025-08-14 11:39:02 -04:00
Jason Young	349c0ec662	Honda: Add several new cars to release (#35989 ) * bump opendbc * regen CARS.md * update RELEASES.md	2025-08-14 10:30:42 -04:00
Maxime Desroches	741ea44aba	AGNOS 12.7 (#35988 ) * agnos12.7 * prod	2025-08-13 23:25:09 -07:00
github-actions[bot]	56a89eb4fb	[bot] Update translations (#35975 ) Update translations Co-authored-by: Vehicle Researcher <user@comma.ai>	2025-08-13 18:32:10 -07:00
Maxime Desroches	3f830827b2	setup: new flow (#35960 ) * start * remove * path * fix * prepare * url * format * better * better * consist * check * not real * ref * simpler * fix * fix * more * more * path * clean * line * progress * fast * no * ori * flag * remove * install * line * wait time * wait install * Revert "wait time" This reverts commit 14f750971c3d19b93e4609e9344cb3a8ce9175f4. * move * fix * install * universal service resources * fix * safer * this is stupid * time * cleaner * comment	2025-08-13 16:07:12 -07:00
Alexandre Nobuharu Sato	a2a385336e	Multilang: update pt-BR translation (#35971 ) Multilang: update pt-BR translations	2025-08-13 15:20:58 -07:00
Harald Schäfer	be934b3881	fancontroller: remove weird minus (#35983 ) * fancontroller: remove weird minus * another minus	2025-08-13 11:43:50 -07:00
Jimmy	3d6dfc864d	clip: terminate processes in clip() instead of in main() (#35984 ) * terminate processes in clip() instead of in main() * context manager for proc	2025-08-13 11:43:35 -07:00