refactor

init accel and deaccel personality
CarControlSP: live params (#943 )
2026-07-11 00:52:12 +08:00 · 2025-05-24 16:18:07 -07:00 · 2025-05-24 16:14:19 -07:00 · 2025-05-24 16:20:57 -04:00 · 2025-05-22 20:54:43 -04:00 · 2025-05-21 01:14:08 -04:00
142 changed files with 3769 additions and 1274 deletions
@@ -16,7 +16,7 @@ simulation:

 ui:
  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/ui/**'
+    - any-glob-to-all-files: '{selfdrive/ui/**,system/ui/**}'

 tools:
  - changed-files:
@@ -12,7 +12,7 @@ inputs:
    required: true
  save:
    description: 'whether to save the cache'
-    default: 'false'
+    default: 'true'
    required: false
 outputs:
  cache-hit:
@@ -47,10 +47,8 @@ selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
 cereal/messaging/bridge
-selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
-selfdrive/ui/translations/alerts_generated.h
 selfdrive/ui/translations/tmp
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/car/tests/cars_dump
@@ -4,6 +4,7 @@ Version 0.9.9 (2025-05-15)
  * New training architecture supervised by MLSIM
 * Steering actuator delay is now learned online
 * Tesla Model 3 and Y support thanks to lukasloetkolben!
+* Lexus RC 2023 support thanks to nelsonjchen!
 * Coming soon
  * New Honda models
  * Bigger vision model
@@ -39,20 +39,6 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
    sha256 @1 :Text;
  }

-  enum Type {
-    drive @0;
-    navigation @1;
-    metadata @2;
-  }
-
-  struct Model {
-    fullName @0 :Text;
-    fileName @1 :Text;
-    downloadUri @2 :DownloadUri;
-    downloadProgress @3 :DownloadProgress;
-    type @4 :Type;
-  }
-
  enum DownloadStatus {
    notDownloading @0;
    downloading @1;
@@ -67,6 +53,25 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
    eta @2 :UInt32;
  }

+  struct Artifact {
+    fileName @0 :Text;
+    downloadUri @1 :DownloadUri;
+    downloadProgress @2 :DownloadProgress;
+  }
+
+  struct Model {
+    type @0 :Type;
+    artifact @1 :Artifact;  # Main artifact
+    metadata @2 :Artifact;  # Metadata artifact
+
+    enum Type {
+      supercombo @0;
+      navigation @1;
+      vision @2;
+      policy @3;
+    }
+  }
+
  enum Runner {
    snpe @0;
    tinygrad @1;
@@ -83,11 +88,14 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
    environment @6 :Text;
    runner @7 :Runner;
    is20hz @8 :Bool;
+    ref @9 :Text;  # New field
+    minimumSelectorVersion @10 :UInt32;
  }
 }

 struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
  dec @0 :DynamicExperimentalControl;
+  accelPersonality @1 :AccelerationPersonality;

  struct DynamicExperimentalControl {
    state @0 :DynamicExperimentalControlState;
@@ -99,6 +107,13 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
      blended @1;
    }
  }
+
+  enum AccelerationPersonality {
+    sport @0;
+    normal @1;
+    eco @2;
+    stock @3;
+  }
 }

 struct OnroadEventSP @0xda96579883444c35 {
@@ -137,6 +152,7 @@ struct OnroadEventSP @0xda96579883444c35 {
    hyundaiRadarTracksConfirmed @13;
    experimentalModeSwitched @14;
    wrongCarModeAlertOnly @15;
+    pedalPressedAlertOnly @16;
  }
 }

@@ -159,6 +175,12 @@ struct CarParamsSP @0x80ae746ee2596b11 {

 struct CarControlSP @0xa5cd762cd951a455 {
  mads @0 :ModularAssistiveDrivingSystem;
+  params @1 :List(Param);
+
+  struct Param {
+    key @0 :Text;
+    value @1 :Text;
+  }
 }

 struct BackupManagerSP @0xf98d843bfd7004a3 {
@@ -169,14 +191,14 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
  lastError @4 :Text;
  currentBackup @5 :BackupInfo;
  backupHistory @6 :List(BackupInfo);
-  
+
  enum Status {
    idle @0;
    inProgress @1;
    completed @2;
    failed @3;
  }
-  
+
  struct Version {
    major @0 :UInt16;
    minor @1 :UInt16;
@@ -184,13 +206,13 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
    build @3 :UInt16;
    branch @4 :Text;
  }
-  
+
  struct MetadataEntry {
    key @0 :Text;
    value @1 :Text;
    tags @2 :List(Text);
  }
-  
+
  struct BackupInfo {
    deviceId @0 :Text;
    version @1 :UInt32;
@@ -1 +1 @@
-#define DEFAULT_MODEL "Tomb_Raider_6 (Default)"
+#define DEFAULT_MODEL "Tomb Raider 7 (Default)"
@@ -138,7 +138,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
    // MADS params
    {"Mads", PERSISTENT | BACKUP},
    {"MadsMainCruiseAllowed", PERSISTENT | BACKUP},
-    {"MadsPauseLateralOnBrake", PERSISTENT | BACKUP},
+    {"MadsSteeringMode", PERSISTENT | BACKUP},
    {"MadsUnifiedEngagementMode", PERSISTENT | BACKUP},

    // Model Manager params
@@ -164,10 +164,12 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
    {"BackupManager_RestoreVersion", PERSISTENT},

    // sunnypilot car specific params
+    {"HyundaiLongitudinalTuning", PERSISTENT},
    {"HyundaiRadarTracks", PERSISTENT},
    {"HyundaiRadarTracksConfirmed", PERSISTENT},
    {"HyundaiRadarTracksPersistent", PERSISTENT},
    {"HyundaiRadarTracksToggle", PERSISTENT},

    {"DynamicExperimentalControl", PERSISTENT},
+    {"AccelPersonality", PERSISTENT},
 };
@@ -1,6 +1,7 @@
 """Utilities for reading real time clocks and keeping soft real time constraints."""
 import gc
 import os
+import sys
 import time

 from setproctitle import getproctitle
@@ -28,13 +29,13 @@ class Priority:


 def set_core_affinity(cores: list[int]) -> None:
-  if not PC:
+  if sys.platform == 'linux' and not PC:
    os.sched_setaffinity(0, cores)


 def config_realtime_process(cores: int | list[int], priority: int) -> None:
  gc.disable()
-  if not PC:
+  if sys.platform == 'linux' and not PC:
    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(priority))
  c = cores if isinstance(cores, list) else [cores, ]
  set_core_affinity(c)
@@ -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.

-# 304 Supported Cars
+# 311 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|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|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.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
-|Acura|RDX 2016-18|AcuraWatch Plus|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.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
+|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.html?make=Acura&model=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.html?make=Acura&model=ILX 2019">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.html?make=Acura&model=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.html?make=Acura&model=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.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
 |Audi|A3 Sportback e-tron 2017-18|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.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
@@ -32,17 +33,22 @@ A supported vehicle is one that just works when you install a comma device. All
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA 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.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 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.html?make=Ford&model=Bronco Sport 2021-24">Buy Here</a></sub></details>||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 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.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
+|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Ford&model=Escape 2023-24">Buy Here</a></sub></details>||
 |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 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.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Ford&model=Escape Hybrid 2023-24">Buy Here</a></sub></details>||
 |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 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.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Ford&model=Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||
 |Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 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.html?make=Ford&model=Explorer 2020-24">Buy Here</a></sub></details>||
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 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.html?make=Ford&model=Explorer Hybrid 2020-24">Buy Here</a></sub></details>||
 |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|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 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=F-150 2021-23">Buy Here</a></sub></details>||
 |Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|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 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=F-150 Hybrid 2021-23">Buy Here</a></sub></details>||
 |Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 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.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
 |Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 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.html?make=Ford&model=Focus Hybrid 2018">Buy Here</a></sub></details>||
-|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 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.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
-|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 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.html?make=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 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.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 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.html?make=Ford&model=Kuga 2020-23">Buy Here</a></sub></details>||
+|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 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.html?make=Ford&model=Kuga Hybrid 2020-23">Buy Here</a></sub></details>||
+|Ford|Kuga Hybrid 2024|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 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Ford&model=Kuga Hybrid 2024">Buy Here</a></sub></details>||
+|Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 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.html?make=Ford&model=Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
+|Ford|Kuga Plug-in Hybrid 2024|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 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<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.html?make=Ford&model=Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||
 |Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 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.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
 |Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 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.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>||
 |Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 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.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
@@ -186,6 +192,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 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.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>||
 |Lexus|NX Hybrid 2020-21|All|openpilot|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.html?make=Lexus&model=NX Hybrid 2020-21">Buy Here</a></sub></details>||
 |Lexus|RC 2018-20|All|Stock|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.html?make=Lexus&model=RC 2018-20">Buy Here</a></sub></details>||
+|Lexus|RC 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 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.html?make=Lexus&model=RC 2023">Buy Here</a></sub></details>||
 |Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 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.html?make=Lexus&model=RX 2016">Buy Here</a></sub></details>||
 |Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 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.html?make=Lexus&model=RX 2017-19">Buy Here</a></sub></details>||
 |Lexus|RX 2020-22|All|openpilot|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.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>||
@@ -25,9 +25,9 @@ ensuring two main safety requirements.
   by stepping on the brake pedal or by pressing the cancel button.
 2. The vehicle must not alter its trajectory too quickly for the driver to safely
   react. This means that while the system is engaged, the actuators are constrained
-   to operate within reasonable limits[^1]. 
+   to operate within reasonable limits[^1].

-For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [panda/board/safety/](https://github.com/commaai/panda/tree/master/board/safety).
+For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [opendbc/safety/safety](https://github.com/commaai/opendbc/tree/master/opendbc/safety/safety).

 **Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
  not fully meeting the above requirements.
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="11.13"
+  export AGNOS_VERSION="12.1"
 fi

 export STAGING_ROOT="/data/safe_staging"
@@ -47,6 +47,7 @@ dependencies = [
  # logging
  "pyzmq",
  "sentry-sdk",
+  "xattr", # used in place of 'os.getxattr' for macos compatibility

  # athena
  "PyJWT",
@@ -191,7 +191,7 @@ class CarSpecificEvents:
      events.add(EventName.accFaulted)
    if CS.steeringPressed:
      events.add(EventName.steerOverride)
-    if CS.steeringDisengage:
+    if CS.steeringDisengage and not CS_prev.steeringDisengage:
      events.add(EventName.steerDisengage)
    if CS.brakePressed and CS.standstill:
      events.add(EventName.preEnableStandstill)
@@ -108,7 +108,7 @@ class Car:
      fixed_fingerprint = json.loads(self.params.get("CarPlatformBundle", encoding='utf-8') or "{}").get("platform", None)

      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, num_pandas, cached_params, fixed_fingerprint)
-      sunnypilot_interfaces.setup_interfaces(self.CI.CP, self.CI.CP_SP, self.params)
+      sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
      self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
      self.CP = self.CI.CP
      self.CP_SP = self.CI.CP_SP
@@ -55,5 +55,6 @@ def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> struct
  struct_dataclass = structs.CarControlSP(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))

  struct_dataclass.mads = structs.ModularAssistiveDrivingSystem(**remove_deprecated(struct_dict.get('mads', {})))
+  struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]

  return struct_dataclass
@@ -45,9 +45,9 @@ class TestCarInterfaces:
                                         alpha_long=args['alpha_long'], docs=False)
    car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
                                               alpha_long=args['alpha_long'], docs=False)
-    sunnypilot_interfaces.setup_interfaces(car_params, car_params_sp)
    car_params = car_params.as_reader()
    car_interface = CarInterface(car_params, car_params_sp)
+    sunnypilot_interfaces.setup_interfaces(car_interface)
    assert car_params
    assert car_params_sp
    assert car_interface
@@ -4,7 +4,7 @@ from openpilot.common.basedir import BASEDIR
 from opendbc.car.docs import generate_cars_md, get_all_car_docs
 from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs
 from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff
-from openpilot.selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE
+from openpilot.selfdrive.car.docs import CARS_MD_TEMPLATE


 class TestCarDocs:
@@ -13,11 +13,7 @@ class TestCarDocs:
    cls.all_cars = get_all_car_docs()

  def test_generator(self):
-    generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
-    with open(CARS_MD_OUT) as f:
-      current_cars_md = f.read()
-
-    assert generated_cars_md == current_cars_md, "Run selfdrive/car/docs.py to update the compatibility documentation"
+    generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)

  def test_docs_diff(self):
    dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
@@ -338,6 +338,7 @@ class TestCarModelBase(unittest.TestCase):
      prev_panda_gas = self.safety.get_gas_pressed_prev()
      prev_panda_brake = self.safety.get_brake_pressed_prev()
      prev_panda_regen_braking = self.safety.get_regen_braking_prev()
+      prev_panda_steering_disengage = self.safety.get_steering_disengage_prev()
      prev_panda_vehicle_moving = self.safety.get_vehicle_moving()
      prev_panda_vehicle_speed_min = self.safety.get_vehicle_speed_min()
      prev_panda_vehicle_speed_max = self.safety.get_vehicle_speed_max()
@@ -365,6 +366,9 @@ class TestCarModelBase(unittest.TestCase):
      if self.safety.get_regen_braking_prev() != prev_panda_regen_braking:
        self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())

+      if self.safety.get_steering_disengage_prev() != prev_panda_steering_disengage:
+        self.assertEqual(CS.steeringDisengage, self.safety.get_steering_disengage_prev())
+
      if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving:
        self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())

@@ -440,6 +444,7 @@ class TestCarModelBase(unittest.TestCase):
          brake_pressed = False
      checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
      checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
+      checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()

      if self.CP.pcmCruise:
        # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.
@@ -1,8 +1,10 @@
 #!/usr/bin/env python3
 import math
+import threading
+import time
 from typing import SupportsFloat

-from cereal import car, log, custom
+from cereal import car, log
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
@@ -19,6 +21,8 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose

+from openpilot.sunnypilot.selfdrive.controls.controlsd_ext import ControlsExt
+
 State = log.SelfdriveState.OpenpilotState
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -26,24 +30,23 @@ LaneChangeDirection = log.LaneChangeDirection
 ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())


-class Controls:
+class Controls(ControlsExt):
  def __init__(self) -> None:
    self.params = Params()
    cloudlog.info("controlsd is waiting for CarParams")
    self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
    cloudlog.info("controlsd got CarParams")

-    cloudlog.info("controlsd is waiting for CarParamsSP")
-    self.CP_SP = messaging.log_from_bytes(self.params.get("CarParamsSP", block=True), custom.CarParamsSP)
-    cloudlog.info("controlsd got CarParamsSP")
+    # Initialize sunnypilot controlsd extension
+    ControlsExt.__init__(self, self.CP, self.params)

    self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP)

    self.sm = messaging.SubMaster(['liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
                                   'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
-                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + ['selfdriveStateSP'],
+                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + self.sm_services_ext,
                                  poll='selfdriveState')
-    self.pm = messaging.PubMaster(['carControl', 'controlsState'] + ['carControlSP'])
+    self.pm = messaging.PubMaster(['carControl', 'controlsState'] + self.pm_services_ext)

    self.steer_limited_by_controls = False
    self.curvature = 0.0
@@ -100,11 +103,8 @@ class Controls:
    # Check which actuators can be enabled
    standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, 0.3) or CS.standstill

-    ss_sp = self.sm['selfdriveStateSP']
-    if ss_sp.mads.available:
-      _lat_active = ss_sp.mads.active
-    else:
-      _lat_active = self.sm['selfdriveState'].active
+    # Get which state to use for active lateral control
+    _lat_active = self.get_lat_active(self.sm)

    CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
                   (not standstill or self.CP.steerAtStandstill)
@@ -148,12 +148,9 @@ class Controls:
        cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
        setattr(actuators, p, 0.0)

-    CC_SP = custom.CarControlSP.new_message()
-    CC_SP.mads = ss_sp.mads
+    return CC, lac_log

-    return CC, CC_SP, lac_log
-
-  def publish(self, CC, CC_SP, lac_log):
+  def publish(self, CC, lac_log):
    CS = self.sm['carState']

    # Orientation and angle rates can be useful for carcontroller
@@ -227,19 +224,27 @@ class Controls:
    cc_send.carControl = CC
    self.pm.send('carControl', cc_send)

-    # carControlSP
-    cc_sp_send = messaging.new_message('carControlSP')
-    cc_sp_send.valid = CS.canValid
-    cc_sp_send.carControlSP = CC_SP
-    self.pm.send('carControlSP', cc_sp_send)
+  def params_thread(self, evt):
+    while not evt.is_set():
+      self.get_params_sp()
+
+      time.sleep(0.1)

  def run(self):
    rk = Ratekeeper(100, print_delay_threshold=None)
-    while True:
-      self.update()
-      CC, CC_SP, lac_log = self.state_control()
-      self.publish(CC, CC_SP, lac_log)
-      rk.monitor_time()
+    e = threading.Event()
+    t = threading.Thread(target=self.params_thread, args=(e,))
+    try:
+      t.start()
+      while True:
+        self.update()
+        CC, lac_log = self.state_control()
+        self.publish(CC, lac_log)
+        self.run_ext(self.sm, self.pm)
+        rk.monitor_time()
+    finally:
+      e.set()
+      t.join()


 def main():
@@ -10,6 +10,9 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.modeld.constants import index_function
 from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU

+from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import AccelController
+
+
 if __name__ == '__main__':  # generating code
  from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
@@ -228,6 +231,7 @@ class LongitudinalMpc:
    self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
    self.reset()
    self.source = SOURCES[2]
+    self.accel_controller = AccelController()

  def reset(self):
    # self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
@@ -332,6 +336,8 @@ class LongitudinalMpc:
    v_ego = self.x0[1]
    self.status = radarstate.leadOne.status or radarstate.leadTwo.status

+    a_cruise_min = self.accel_controller._get_min_accel_for_speed(v_ego)
+
    lead_xv_0 = self.process_lead(radarstate.leadOne)
    lead_xv_1 = self.process_lead(radarstate.leadTwo)

@@ -350,7 +356,7 @@ class LongitudinalMpc:

      # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
      # when the leads are no factor.
-      v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05)
+      v_lower = v_ego + (T_IDXS * a_cruise_min * 1.05)
      # TODO does this make sense when max_a is negative?
      v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05)
      v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
@@ -93,8 +93,8 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    return x, v, a, j, throttle_prob

  def update(self, sm):
-    LongitudinalPlannerSP.update(self, sm)
    self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
+    LongitudinalPlannerSP.update(self, sm)
    if dec_mpc_mode := self.get_mpc_mode():
      self.mode = dec_mpc_mode

@@ -126,6 +126,16 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    else:
      accel_clip = [ACCEL_MIN, ACCEL_MAX]

+    # Override accel using Accel Controller if enabled
+    if self.accel_controller.is_personality_enabled:
+      max_limit = self.accel_controller._get_max_accel_for_speed(v_ego)
+      if self.mpc.mode == 'acc':
+        # Use the accel controller limits directly
+        accel_clip = [ACCEL_MIN, max_limit]
+        # Recalculate limit turn according to the new max limit
+        steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
+        accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
+
    if reset_state:
      self.v_desired_filter.x = v_ego
      # Clip aEgo to cruise limits to prevent large accelerations when becoming active
@@ -178,6 +188,10 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
      output_a_target = min(output_a_target_mpc, output_a_target_e2e)
      self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc

+    if not self.is_stock:
+      # To support non Tomb Raider models
+      output_a_target, self.output_should_stop = output_a_target_mpc, output_should_stop_mpc
+
    for idx in range(2):
      accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)
    self.output_a_target = np.clip(output_a_target, accel_clip[0], accel_clip[1])
@@ -23,7 +23,7 @@ class TestLatControl:
    CP = CarInterface.get_non_essential_params(car_name)
    CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
    CI = CarInterface(CP, CP_SP)
-    sunnypilot_interfaces.setup_interfaces(CP, CP_SP)
+    sunnypilot_interfaces.setup_interfaces(CI)
    CP_SP = convert_to_capnp(CP_SP)
    VM = VehicleModel(CP)

@@ -71,6 +71,13 @@ SUPPORTED_FW_VERSIONS = {
  b"DLhe SCC FHCUP      1.00 1.02 99110-L7000 \x01 \x102    ": ConfigValues(
    default_config=b"\x00\x00\x00\x01\x00\x00",
    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  # 2022 Niro EV
+  b"DEev SCC F-CUP      1.00 1.00 99110-Q4600\x01\x42      ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  b"DEev SCC F-CUP      1.00 1.00 99110-Q4600 \x07\x03\t%      ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
 }

 if __name__ == "__main__":
@@ -90,18 +90,11 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)

  # temporal pose
-  temporal_pose = modelV2.temporalPose
-  if 'sim_pose' in net_output_data:
-    temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
-    temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
-    temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
-    temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
-  else:
-    temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
-    temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
-    temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
-    temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()
-
+  #temporal_pose = modelV2.temporalPose
+  #temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
+  #temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
+  #temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
+  #temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()

  # poly path
  fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
@@ -41,7 +41,7 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl'
 VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
 POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'

-LAT_SMOOTH_SECONDS = 0.3
+LAT_SMOOTH_SECONDS = 0.1
 LONG_SMOOTH_SECONDS = 0.3
 MIN_LAT_CONTROL_SPEED = 0.3

@@ -54,9 +54,12 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
                                                     ModelConstants.T_IDXS,
                                                     action_t=long_action_t)
    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
-    desired_curvature = get_curvature_from_plan(plan[:, Plan.T_FROM_CURRENT_EULER][:, 2],
-                                                plan[:, Plan.ORIENTATION_RATE][:, 2],
-                                                ModelConstants.T_IDXS, v_ego, lat_action_t)
+
+    desired_curvature = get_curvature_from_plan(plan[:,Plan.T_FROM_CURRENT_EULER][:,2],
+                                                plan[:,Plan.ORIENTATION_RATE][:,2],
+                                                ModelConstants.T_IDXS,
+                                                v_ego,
+                                                lat_action_t)
    if v_ego > MIN_LAT_CONTROL_SPEED:
      desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
    else:
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8a478376723ba79e2393ca95e2d3e497571ba6fed113e5f13a36f0e4b4d4a7c5
+oid sha256:19e30484236efff72d519938c3e26461dbeb89c11d81fa7ecbff8e0263333c18
 size 15588463
@@ -41,7 +41,7 @@
 #define CUTOFF_IL 400
 #define SATURATE_IL 1000

-#define ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE 2048
+#define ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE 2048

 ExitHandler do_exit;

@@ -57,7 +57,7 @@ bool check_all_connected(const std::vector<Panda *> &pandas) {

 bool process_mads_heartbeat(SubMaster *sm) {
  const int &alt_exp = (*sm)["carParams"].getCarParams().getAlternativeExperience();
-  const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE) != 0;
+  const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE) != 0;

  const auto &mads = (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads();
  const bool heartbeat_type = disengage_lateral_on_brake ? mads.getActive() : mads.getEnabled();
@@ -474,7 +474,12 @@ void pandad_run(std::vector<Panda *> &pandas) {
    for (auto *panda : pandas) {
      std::string log = panda->serial_read();
      if (!log.empty()) {
-        LOGD("%s", log.c_str());
+        if (log.find("Register 0x") != std::string::npos) {
+          // Log register divergent faults as errors
+          LOGE("%s", log.c_str());
+        } else {
+          LOGD("%s", log.c_str());
+        }
      }
    }

@@ -78,6 +78,16 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
                                          "../assets/offroad/icon_speed_limit.png",
                                          longi_button_texts);

+  // accel controller
+  std::vector<QString> accel_personality_texts{tr("Sport"), tr("Normal"), tr("Eco"), tr("Stock")};
+  accel_personality_setting = new ButtonParamControlSP("AccelPersonality", tr("Acceleration Personality"),
+                                          tr("Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. "
+                                             "In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these "
+                                             "acceleration personality within Onroad Settings on the driving screen."),
+                                          "",
+                                          accel_personality_texts);
+  accel_personality_setting->showDescription();
+
  // set up uiState update for personality setting
  QObject::connect(uiState(), &UIState::uiUpdate, this, &TogglesPanel::updateState);

@@ -93,6 +103,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
    // insert longitudinal personality after NDOG toggle
    if (param == "DisengageOnAccelerator") {
      addItem(long_personality_setting);
+      addItem(accel_personality_setting);
    }
  }

@@ -113,6 +124,13 @@ void TogglesPanel::updateState(const UIState &s) {
    }
    uiState()->scene.personality = personality;
  }
+  if (sm.updated("longitudinalPlanSP")) {
+    auto accel_personality = sm["longitudinalPlanSP"].getLongitudinalPlanSP().getAccelPersonality();
+    if (accel_personality != s.scene.accel_personality && s.scene.started && isVisible()) {
+      accel_personality_setting->setCheckedButton(static_cast<int>(accel_personality));
+    }
+    uiState()->scene.accel_personality = accel_personality;
+  }
 }

 void TogglesPanel::expandToggleDescription(const QString &param) {
@@ -150,10 +168,12 @@ void TogglesPanel::updateToggles() {
      experimental_mode_toggle->setEnabled(true);
      experimental_mode_toggle->setDescription(e2e_description);
      long_personality_setting->setEnabled(true);
+      accel_personality_setting->setEnabled(true);
    } else {
      // no long for now
      experimental_mode_toggle->setEnabled(false);
      long_personality_setting->setEnabled(false);
+      accel_personality_setting->setEnabled(true);
      params.remove("ExperimentalMode");

      const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");
@@ -85,6 +85,7 @@ protected:
  Params params;
  std::map<std::string, ParamControl*> toggles;
  ButtonParamControl *long_personality_setting;
+  ButtonParamControl *accel_personality_setting;

  virtual void updateToggles();
 };
@@ -3,6 +3,7 @@ widgets_src = [
  "sunnypilot/qt/widgets/toggle.cc",
  "sunnypilot/qt/widgets/controls.cc",
  "sunnypilot/qt/widgets/drive_stats.cc",
+  "sunnypilot/qt/widgets/expandable_row.cc",
  "sunnypilot/qt/widgets/prime.cc",
  "sunnypilot/qt/widgets/scrollview.cc",
  "sunnypilot/qt/network/networking.cc",
@@ -21,6 +22,7 @@ qt_src = [
  "sunnypilot/qt/offroad/offroad_home.cc",
  "sunnypilot/qt/offroad/settings/device_panel.cc",
  "sunnypilot/qt/offroad/settings/lateral_panel.cc",
+  "sunnypilot/qt/offroad/settings/longitudinal_panel.cc",
  "sunnypilot/qt/offroad/settings/max_time_offroad.cc",
  "sunnypilot/qt/offroad/settings/settings.cc",
  "sunnypilot/qt/offroad/settings/software_panel.cc",
@@ -49,11 +51,28 @@ network_src = [
 ]

 vehicle_panel_qt_src = [
+  "sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc",
  "sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc",
 ]

+brand_settings_qt_src = [
+  "sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc",
+]
+
 sp_widgets_src = widgets_src + network_src
-sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src
+sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src
 sp_qt_util = qt_util

 Export('sp_widgets_src', 'sp_qt_src', "sp_qt_util")
@@ -112,9 +112,18 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {

  addItem(power_group_layout);

+  std::vector always_enabled_btns = {
+    rebootBtn,
+    poweroffBtn,
+    offroadBtn,
+    buttons["quietModeBtn"],
+  };
+
  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
    for (auto btn : findChildren<PushButtonSP*>()) {
-      if (btn != rebootBtn && btn != poweroffBtn && btn != offroadBtn) {
+      bool always_enabled = std::find(always_enabled_btns.begin(), always_enabled_btns.end(), btn) != always_enabled_btns.end();
+
+      if (!always_enabled) {
        btn->setEnabled(offroad);
      }
    }
@@ -21,35 +21,19 @@ MadsSettings::MadsSettings(QWidget *parent) : QWidget(parent) {

  ListWidget *list = new ListWidget(this, false);
  // Main cruise
-  madsMainCruiseToggle = new ParamControl(
-    "MadsMainCruiseAllowed",
-    tr("Toggle with Main Cruise"),
-    tr("Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."),
-    "");
+  madsMainCruiseToggle = new ParamControl("MadsMainCruiseAllowed", tr("Toggle with Main Cruise"), "", "");
  list->addItem(madsMainCruiseToggle);

  // Unified Engagement Mode
-  madsUnifiedEngagementModeToggle = new ParamControl(
-    "MadsUnifiedEngagementMode",
-    tr("Unified Engagement Mode (UEM)"),
-    QString("%1<br>"
-            "<h4>%2</h4>")
-    .arg(tr("Engage lateral and longitudinal control with cruise control engagement."))
-    .arg(tr("Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.")),
-    "");
+  madsUnifiedEngagementModeToggle = new ParamControl("MadsUnifiedEngagementMode", tr("Unified Engagement Mode (UEM)"), "", "");
  list->addItem(madsUnifiedEngagementModeToggle);

-  // Pause Lateral On Brake
-  std::vector<QString> lateral_on_brake_texts{tr("Remain Active"), tr("Pause Steering")};
-  madsPauseLateralOnBrake = new ButtonParamControl(
-    "MadsPauseLateralOnBrake",
-    tr("Steering Mode After Braking"),
-    tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.\n\n"
-       "Remain Active: ALC will remain active even after the brake pedal is pressed.\nPause Steering: ALC will be paused after the brake pedal is manually pressed."),
-    "",
-    lateral_on_brake_texts,
-    500);
-  list->addItem(madsPauseLateralOnBrake);
+  // Steering Mode On Brake
+  madsSteeringMode = new ButtonParamControl("MadsSteeringMode", tr("Steering Mode on Brake Pedal"), "", "", madsSteeringModeTexts(), 500);
+  QObject::connect(madsSteeringMode, &ButtonParamControl::buttonToggled, [=] {
+    updateToggles(offroad);
+  });
+  list->addItem(madsSteeringMode);

  QObject::connect(uiState(), &UIState::offroadTransition, this, &MadsSettings::updateToggles);

@@ -61,7 +45,58 @@ void MadsSettings::showEvent(QShowEvent *event) {
 }

 void MadsSettings::updateToggles(bool _offroad) {
-  madsPauseLateralOnBrake->setEnabled(_offroad);
+  auto mads_steering_mode_param = std::atoi(params.get("MadsSteeringMode").c_str());
+
+  auto steering_mode = static_cast<MadsSteeringMode>(
+    std::clamp(mads_steering_mode_param, static_cast<int>(MadsSteeringMode::REMAIN_ACTIVE), static_cast<int>(MadsSteeringMode::DISENGAGE))
+  );
+
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    if (isBrandInList(CP.getBrand(), mads_limited_settings_brands)) {
+      params.remove("MadsMainCruiseAllowed");
+      params.putBool("MadsUnifiedEngagementMode", true);
+      params.put("MadsSteeringMode", std::to_string(static_cast<int>(MadsSteeringMode::DISENGAGE)));
+
+      madsMainCruiseToggle->setEnabled(false);
+      madsMainCruiseToggle->setDescription(madsDescriptionBuilder(DEFAULT_TO_OFF, MADS_MAIN_CRUISE_BASE_DESC));
+      madsMainCruiseToggle->showDescription();
+
+      madsUnifiedEngagementModeToggle->setEnabled(false);
+      madsUnifiedEngagementModeToggle->setDescription(madsDescriptionBuilder(DEFAULT_TO_ON, MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC));
+      madsUnifiedEngagementModeToggle->showDescription();
+
+      madsSteeringModeValues = convertMadsSteeringModeValues({MadsSteeringMode::DISENGAGE});
+      madsSteeringMode->setDescription(madsDescriptionBuilder(STATUS_DISENGAGE_ONLY, madsSteeringModeDescription(steering_mode)));
+    } else {
+      madsMainCruiseToggle->setEnabled(true);
+      madsMainCruiseToggle->setDescription(MADS_MAIN_CRUISE_BASE_DESC);
+
+      madsUnifiedEngagementModeToggle->setEnabled(true);
+      madsUnifiedEngagementModeToggle->setDescription(MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC);
+
+      madsSteeringModeValues = convertMadsSteeringModeValues(getMadsSteeringModeValues());
+      madsSteeringMode->setDescription(madsSteeringModeDescription(steering_mode));
+    }
+  } else {
+    madsMainCruiseToggle->setEnabled(false);
+    madsMainCruiseToggle->setDescription(madsDescriptionBuilder(STATUS_CHECK_COMPATIBILITY, MADS_MAIN_CRUISE_BASE_DESC));
+    madsMainCruiseToggle->showDescription();
+
+    madsUnifiedEngagementModeToggle->setEnabled(false);
+    madsUnifiedEngagementModeToggle->setDescription(madsDescriptionBuilder(STATUS_CHECK_COMPATIBILITY, MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC));
+    madsUnifiedEngagementModeToggle->showDescription();
+
+    madsSteeringModeValues = {};
+    madsSteeringMode->setDescription(madsDescriptionBuilder(STATUS_CHECK_COMPATIBILITY, madsSteeringModeDescription(steering_mode)));
+  }
+
+  madsSteeringMode->setEnableSelectedButtons(_offroad, madsSteeringModeValues);
+  madsSteeringMode->showDescription();

  offroad = _offroad;
 }
@@ -12,6 +12,20 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"

+const std::vector<std::string> mads_limited_settings_brands = {"rivian", "tesla"};
+
+enum class MadsSteeringMode {
+  REMAIN_ACTIVE = 0,
+  PAUSE = 1,
+  DISENGAGE = 2,
+};
+
+struct MadsSteeringModeOption {
+  MadsSteeringMode mode;
+  QString display_text;
+  QString description;
+};
+
 class MadsSettings : public QWidget {
  Q_OBJECT

@@ -32,5 +46,70 @@ private:

  ParamControl *madsMainCruiseToggle;
  ParamControl *madsUnifiedEngagementModeToggle;
-  ButtonParamControl *madsPauseLateralOnBrake;
+  ButtonParamControl *madsSteeringMode;
+
+  std::vector<int> madsSteeringModeValues = {};
+
+  const QString MADS_MAIN_CRUISE_BASE_DESC = tr("Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.");
+  const QString MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC = QString("%1<br>"
+                                                                 "<h4>%2</h4>")
+                                                         .arg(tr("Engage lateral and longitudinal control with cruise control engagement."))
+                                                         .arg(tr("Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off."));
+
+  const QString STATUS_CHECK_COMPATIBILITY = tr("Start the vehicle to check vehicle compatibility.");
+  const QString DEFAULT_TO_OFF = tr("This feature defaults to OFF, and does not allow selection due to vehicle limitations.");
+  const QString DEFAULT_TO_ON = tr("This feature defaults to ON, and does not allow selection due to vehicle limitations.");
+  const QString STATUS_DISENGAGE_ONLY = tr("This platform only supports Disengage mode due to vehicle limitations.");
+
+  static const std::vector<MadsSteeringModeOption> &madsSteeringModeOptions() {
+    static const std::vector<MadsSteeringModeOption> options = {
+      {MadsSteeringMode::REMAIN_ACTIVE,  tr("Remain Active"), tr("Remain Active: ALC will remain active when the brake pedal is pressed.")},
+      {MadsSteeringMode::PAUSE,          tr("Pause"),         tr("Pause: ALC will pause when the brake pedal is pressed.")},
+      {MadsSteeringMode::DISENGAGE,      tr("Disengage"),     tr("Disengage: ALC will disengage when the brake pedal is pressed.")},
+    };
+    return options;
+  }
+
+  static std::vector<MadsSteeringMode> getMadsSteeringModeValues() {
+    std::vector<MadsSteeringMode> values;
+    for (const auto& option : madsSteeringModeOptions()) {
+      values.push_back(option.mode);
+    }
+    return values;
+  }
+
+  static std::vector<int> convertMadsSteeringModeValues(const std::vector<MadsSteeringMode> &modes) {
+    std::vector<int> values;
+    for (const auto& mode : modes) {
+      values.push_back(static_cast<int>(mode));
+    }
+    return values;
+  }
+
+  static std::vector<QString> madsSteeringModeTexts() {
+    std::vector<QString> texts;
+    for (const auto& option : madsSteeringModeOptions()) {
+      texts.push_back(option.display_text);
+    }
+    return texts;
+  }
+
+  static QString madsSteeringModeDescription(const MadsSteeringMode mode = MadsSteeringMode::REMAIN_ACTIVE) {
+    QString base_desc = tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.");
+    QString result = base_desc + "<br><br>";
+
+    for (const auto& option : madsSteeringModeOptions()) {
+      QString desc = option.description;
+      if (option.mode == mode) {
+        desc = "<font color='white'><b>" + desc + "</b></font>";
+      }
+      result += desc + "<br>";
+    }
+
+    return result;
+  }
+
+  static QString madsDescriptionBuilder(const QString &custom_description, const QString &base_description) {
+    return "<font color='white'><b>" + custom_description + "</b></font><br><br>" + base_description;
+  }
 };
@@ -122,6 +122,21 @@ void LateralPanel::updateToggles(bool _offroad) {
    toggle->setEnabled(_offroad);
  }

+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    if (isBrandInList(CP.getBrand(), mads_limited_settings_brands)) {
+      madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_LIMITED_COMPATIBILITY, MADS_BASE_DESC));
+    } else {
+      madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_FULL_COMPATIBILITY, MADS_BASE_DESC));
+    }
+  } else {
+    madsToggle->setDescription(descriptionBuilder(STATUS_MADS_CHECK_COMPATIBILITY, MADS_BASE_DESC));
+  }
+
  madsSettingsButton->setEnabled(madsToggle->isToggled());

  offroad = _offroad;
@@ -30,6 +30,7 @@ public slots:
  void updateToggles(bool _offroad);

 private:
+  Params params;
  QStackedLayout* main_layout = nullptr;
  QWidget* sunnypilotScreen = nullptr;
  ScrollViewSP *sunnypilotScroller = nullptr;
@@ -42,4 +43,14 @@ private:
  PushButtonSP *laneChangeSettingsButton;
  LaneChangeSettings *laneChangeWidget = nullptr;
  NeuralNetworkLateralControl *nnlcToggle = nullptr;
+
+  const QString MADS_BASE_DESC = tr("Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).");
+
+  const QString STATUS_MADS_CHECK_COMPATIBILITY = tr("Start the vehicle to check vehicle compatibility.");
+  const QString STATUS_MADS_SETTINGS_FULL_COMPATIBILITY = tr("This platform supports all MADS settings.");
+  const QString STATUS_MADS_SETTINGS_LIMITED_COMPATIBILITY = tr("This platform supports limited MADS settings.");
+
+  static QString descriptionBuilder(const QString &custom_description, const QString &base_description) {
+    return "<font color='white'><b>" + custom_description + "</b></font><br><br>" + base_description;
+  }
 };
@@ -0,0 +1,11 @@
+/**
+ * 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/offroad/settings/longitudinal_panel.h"
+
+LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
+}
@@ -0,0 +1,17 @@
+/**
+ * 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 "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+
+class LongitudinalPanel : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit LongitudinalPanel(QWidget *parent = nullptr);
+};
@@ -16,6 +16,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h"

@@ -79,6 +80,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
    PanelInfo("   " + tr("Toggles"), toggles, "../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
    PanelInfo("   " + tr("Software"), new SoftwarePanelSP(this), "../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
    PanelInfo("   " + tr("Steering"), new LateralPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
+    PanelInfo("   " + tr("Cruise"), new LongitudinalPanel(this), "../assets/offroad/icon_speed_limit.png"),
    PanelInfo("   " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
    PanelInfo("   " + tr("Vehicle"), new VehiclePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
    PanelInfo("   " + tr("Firehose"), new FirehosePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_firehose.svg"),
@@ -12,6 +12,10 @@

 #include "selfdrive/ui/qt/offroad/settings.h"

+inline bool isBrandInList(const std::string &brand, const std::vector<std::string> &list) {
+  return std::find(list.begin(), list.end(), brand) != list.end();
+}
+
 class SettingsWindowSP : public SettingsWindow {
  Q_OBJECT

@@ -47,24 +47,24 @@ void SoftwarePanelSP::handleBundleDownloadProgress() {
  // Get status for each model type in order
  for (const auto &model: models) {
    QString typeName;
-    QString modelName;
+    QString modelName = QString::fromStdString(bundle.getDisplayName());

    switch (model.getType()) {
-      case cereal::ModelManagerSP::Type::DRIVE:
+      case cereal::ModelManagerSP::Model::Type::SUPERCOMBO:
        typeName = tr("Driving");
-        modelName = QString::fromStdString(bundle.getDisplayName());
        break;
-      case cereal::ModelManagerSP::Type::NAVIGATION:
+      case cereal::ModelManagerSP::Model::Type::NAVIGATION:
        typeName = tr("Navigation");
-        modelName = QString::fromStdString(model.getFullName());
        break;
-      case cereal::ModelManagerSP::Type::METADATA:
-        typeName = tr("Metadata");
-        modelName = QString::fromStdString(model.getFullName());
+      case cereal::ModelManagerSP::Model::Type::VISION:
+        typeName = tr("Vision");
+        break;
+      case cereal::ModelManagerSP::Model::Type::POLICY:
+        typeName = tr("Policy");
        break;
    }

-    const auto &progress = model.getDownloadProgress();
+    const auto &progress = model.getArtifact().getDownloadProgress();
    QString line;

    if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING) {
@@ -0,0 +1,62 @@
+/**
+ * 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/offroad/settings/vehicle/brand_settings_factory.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h"
+
+static const QStringList supportedBrands = {
+  "chrysler",
+  "ford",
+  "gm",
+  "honda",
+  "hyundai",
+  "mazda",
+  "nissan",
+  "rivian",
+  "subaru",
+  "tesla",
+  "toyota",
+  "volkswagen",
+};
+
+BrandSettingsInterface* BrandSettingsFactory::createBrandSettings(const QString& brand, QWidget* parent) {
+  if (brand == "chrysler")
+    return new ChryslerSettings(parent);
+  if (brand == "ford")
+    return new FordSettings(parent);
+  if (brand == "gm")
+    return new GMSettings(parent);
+  if (brand == "honda")
+    return new HondaSettings(parent);
+  if (brand == "hyundai")
+    return new HyundaiSettings(parent);
+  if (brand == "mazda")
+    return new MazdaSettings(parent);
+  if (brand == "nissan")
+    return new NissanSettings(parent);
+  if (brand == "rivian")
+    return new RivianSettings(parent);
+  if (brand == "subaru")
+    return new SubaruSettings(parent);
+  if (brand == "tesla")
+    return new TeslaSettings(parent);
+  if (brand == "toyota")
+    return new ToyotaSettings(parent);
+  if (brand == "volkswagen")
+    return new VolkswagenSettings(parent);
+
+  // Default empty settings if brand not supported
+  return nullptr;
+}
+
+bool BrandSettingsFactory::isBrandSupported(const QString& brand) {
+  return supportedBrands.contains(brand);
+}
+
+QStringList BrandSettingsFactory::getSupportedBrands() {
+  return supportedBrands;
+}
@@ -0,0 +1,18 @@
+/**
+ * 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 "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+class BrandSettingsFactory {
+
+public:
+  static BrandSettingsInterface* createBrandSettings(const QString &brand, QWidget *parent = nullptr);
+  static bool isBrandSupported(const QString& brand);
+  static QStringList getSupportedBrands();
+};
@@ -0,0 +1,21 @@
+/**
+ * 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/offroad/settings/vehicle/brand_settings_interface.h"
+
+BrandSettingsInterface::BrandSettingsInterface(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  list = new ListWidget(this, false);
+  main_layout->addWidget(list);
+}
+
+void BrandSettingsInterface::updatePanel(bool _offroad) {
+  offroad = _offroad;
+  updateSettings();
+}
@@ -0,0 +1,28 @@
+/**
+ * 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 "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class BrandSettingsInterface : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit BrandSettingsInterface(QWidget *parent = nullptr);
+  virtual ~BrandSettingsInterface() = default;
+
+  void updatePanel(bool _offroad);
+  virtual void updateSettings() = 0;
+
+protected:
+  ListWidget *list = nullptr;
+  Params params;
+  bool offroad = false;
+};
@@ -0,0 +1,21 @@
+/**
+ * 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 "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h"
@@ -0,0 +1,14 @@
+/**
+ * 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/offroad/settings/vehicle/chrysler_settings.h"
+
+ChryslerSettings::ChryslerSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+}
+
+void ChryslerSettings::updateSettings() {
+}
@@ -0,0 +1,26 @@
+/**
+ * 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 "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class ChryslerSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit ChryslerSettings(QWidget *parent = nullptr);
+  void updateSettings() override;
+
+private:
+  bool offroad = false;
+};
@@ -0,0 +1,14 @@
+/**
+ * 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/offroad/settings/vehicle/ford_settings.h"
+
+FordSettings::FordSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+}
+
+void FordSettings::updateSettings() {
+}
@@ -0,0 +1,26 @@
+/**
+ * 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 "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class FordSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit FordSettings(QWidget *parent = nullptr);
+  void updateSettings() override;
+
+private:
+  bool offroad = false;
+};
@@ -0,0 +1,14 @@
+/**
+ * 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/offroad/settings/vehicle/gm_settings.h"
+
+GMSettings::GMSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+}
+
+void GMSettings::updateSettings() {
+}
@@ -0,0 +1,26 @@
+/**
+ * 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 "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class GMSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit GMSettings(QWidget *parent = nullptr);
+  void updateSettings() override;
+
+private:
+  bool offroad = false;
+};
@@ -0,0 +1,14 @@
+/**
+ * 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/offroad/settings/vehicle/honda_settings.h"
+
+HondaSettings::HondaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+}
+
+void HondaSettings::updateSettings() {
+}
@@ -0,0 +1,26 @@
+/**
+ * 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 "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class HondaSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit HondaSettings(QWidget *parent = nullptr);
+  void updateSettings() override;
+
+private:
+  bool offroad = false;
+};
@@ -0,0 +1,57 @@
+/**
+ * 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/offroad/settings/vehicle/hyundai_settings.h"
+
+HyundaiSettings::HyundaiSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  std::vector<QString> tuning_texts{ tr("Off"), tr("Dynamic"), tr("Predictive") };
+  longitudinalTuningToggle = new ButtonParamControl(
+    "HyundaiLongitudinalTuning",
+    tr("Custom Longitudinal Tuning"),
+    "",
+    "",
+    tuning_texts,
+    500
+  );
+  QObject::connect(longitudinalTuningToggle, &ButtonParamControlSP::buttonToggled, this, &HyundaiSettings::updateSettings);
+  list->addItem(longitudinalTuningToggle);
+  longitudinalTuningToggle->showDescription();
+}
+
+void HyundaiSettings::updateSettings() {
+  auto longitudinal_tuning_param = std::atoi(params.get("HyundaiLongitudinalTuning").c_str());
+
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    has_longitudinal_control = hasLongitudinalControl(CP);
+  } else {
+    has_longitudinal_control = false;
+  }
+
+  LongitudinalTuningOption longitudinal_tuning_option;
+  if (longitudinal_tuning_param == int(LongitudinalTuningOption::PREDICTIVE)) {
+    longitudinal_tuning_option = LongitudinalTuningOption::PREDICTIVE;
+  } else if (longitudinal_tuning_param == int(LongitudinalTuningOption::DYNAMIC)) {
+    longitudinal_tuning_option = LongitudinalTuningOption::DYNAMIC;
+  } else {
+    longitudinal_tuning_option = LongitudinalTuningOption::OFF;
+  }
+
+  bool longitudinal_tuning_disabled = !offroad || !has_longitudinal_control;
+  QString longitudinal_tuning_description = longitudinalTuningDescription(longitudinal_tuning_option);
+  if (longitudinal_tuning_disabled) {
+    longitudinal_tuning_description = toggleDisableMsg(offroad, has_longitudinal_control);
+  }
+
+  longitudinalTuningToggle->setEnabled(!longitudinal_tuning_disabled);
+  longitudinalTuningToggle->setDescription(longitudinal_tuning_description);
+  longitudinalTuningToggle->showDescription();
+}
@@ -0,0 +1,65 @@
+/**
+ * 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 "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+enum class LongitudinalTuningOption {
+  OFF,
+  DYNAMIC,
+  PREDICTIVE,
+};
+
+class HyundaiSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit HyundaiSettings(QWidget *parent = nullptr);
+  void updateSettings() override;
+
+private:
+  bool has_longitudinal_control = false;
+  ButtonParamControl *longitudinalTuningToggle = nullptr;
+
+  static QString toggleDisableMsg(bool _offroad, bool _has_longitudinal_control) {
+    if (!_has_longitudinal_control) {
+      return tr("This feature can only be used with openpilot longitudinal control enabled.");
+    }
+
+    if (!_offroad) {
+      return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to select an option.");
+    }
+
+    return QString();
+  }
+
+  static QString longitudinalTuningDescription(LongitudinalTuningOption option = LongitudinalTuningOption::OFF) {
+    QString off_str = tr("Off: Uses default tuning");
+    QString dynamic_str = tr("Dynamic: Adjusts acceleration limits based on current speed");
+    QString predictive_str = tr("Predictive: Uses future trajectory data to anticipate needed adjustments");
+
+    if (option == LongitudinalTuningOption::PREDICTIVE) {
+      predictive_str = "<font color='white'><b>" + predictive_str + "</b></font>";
+    } else if (option == LongitudinalTuningOption::DYNAMIC) {
+      dynamic_str = "<font color='white'><b>" + dynamic_str + "</b></font>";
+    } else {
+      off_str = "<font color='white'><b>" + off_str + "</b></font>";
+    }
+
+    return QString("%1<br><br>%2<br>%3<br>%4<br>")
+             .arg(tr("Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control."))
+             .arg(off_str)
+             .arg(dynamic_str)
+             .arg(predictive_str);
+  }
+};
@@ -0,0 +1,14 @@
+/**
+ * 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/offroad/settings/vehicle/mazda_settings.h"
+
+MazdaSettings::MazdaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+}
+
+void MazdaSettings::updateSettings() {
+}
@@ -0,0 +1,26 @@
+/**
+ * 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 "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class MazdaSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit MazdaSettings(QWidget *parent = nullptr);
+  void updateSettings() override;
+
+private:
+  bool offroad = false;
+};
@@ -0,0 +1,14 @@
+/**
+ * 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/offroad/settings/vehicle/nissan_settings.h"
+
+NissanSettings::NissanSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+}
+
+void NissanSettings::updateSettings() {
+}
@@ -0,0 +1,26 @@
+/**
+ * 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 "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class NissanSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit NissanSettings(QWidget *parent = nullptr);
+  void updateSettings() override;
+
+private:
+  bool offroad = false;
+};
@@ -43,36 +43,73 @@ PlatformSelector::PlatformSelector() : ButtonControl(tr("Vehicle"), "", "") {
    }
  });

+  main_layout->addStretch(0);
  refresh(offroad);
 }

 void PlatformSelector::refresh(bool _offroad) {
  QString name = getPlatformBundle("name").toString();
+  platform = unrecognized_str;
+  QString platform_color = YELLOW_PLATFORM;
+
  if (!name.isEmpty()) {
-    setValue(name);
+    platform = name;
+    platform_color = BLUE_PLATFORM;
+    brand = getPlatformBundle("brand").toString();
    setText(tr("REMOVE"));
  } else {
    setText(tr("SEARCH"));
+
+    platform = unrecognized_str;
+    brand = "";
    auto cp_bytes = params.get("CarParamsPersistent");
    if (!cp_bytes.empty()) {
      AlignedBuffer aligned_buf;
      capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
      cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
-      setValue(QString::fromStdString(CP.getCarFingerprint().cStr()));
+
+      platform = QString::fromStdString(CP.getCarFingerprint().cStr());
+
+      for (auto it = platforms.constBegin(); it != platforms.constEnd(); ++it) {
+        if (it.value()["platform"].toString() == platform) {
+          brand = it.value()["brand"].toString();
+          break;
+        }
+      }
+
+      if (platform == "MOCK") {
+        platform = unrecognized_str;
+      } else {
+        platform_color = GREEN_PLATFORM;
+      }
    }
  }
+  setValue(platform, platform_color);
  setEnabled(true);
+  emit refreshPanel();

  offroad = _offroad;
+
+  FingerprintStatus cur_status;
+  if (platform_color == GREEN_PLATFORM) {
+    cur_status = FingerprintStatus::AUTO_FINGERPRINT;
+  } else if (platform_color == BLUE_PLATFORM) {
+    cur_status = FingerprintStatus::MANUAL_FINGERPRINT;
+  } else {
+    cur_status = FingerprintStatus::UNRECOGNIZED;
+  }
+
+  setDescription(platformDescription(cur_status));
+  showDescription();
 }

-void PlatformSelector::setPlatform(const QString &platform) {
-  QVariantMap platform_data = platforms[platform];
+void PlatformSelector::setPlatform(const QString &_platform) {
+  QVariantMap platform_data = platforms[_platform];

  const QString offroad_msg = offroad ? tr("This setting will take effect immediately.") :
                                        tr("This setting will take effect once the device enters offroad state.");
  const QString msg = QString("<b>%1</b><br><br>%2")
-                      .arg(platform, offroad_msg);
+                      .arg(_platform, offroad_msg);

  QString content("<body><h2 style=\"text-align: center;\">" + tr("Vehicle Selector") + "</h2><br>"
                  "<p style=\"text-align: center; margin: 0 128px; font-size: 50px;\">" + msg + "</p></body>");
@@ -80,7 +117,7 @@ void PlatformSelector::setPlatform(const QString &platform) {
  if (ConfirmationDialog(content, tr("Confirm"), tr("Cancel"), true, this).exec()) {
    QJsonObject json_bundle;
    json_bundle["platform"] = platform_data["platform"].toString();
-    json_bundle["name"] = platform;
+    json_bundle["name"] = _platform;
    json_bundle["make"] = platform_data["make"].toString();
    json_bundle["brand"] = platform_data["brand"].toString();
    json_bundle["model"] = platform_data["model"].toString();
@@ -9,6 +9,16 @@

 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"

+static const QString GREEN_PLATFORM = "#00F100";
+static const QString BLUE_PLATFORM = "#0086E9";
+static const QString YELLOW_PLATFORM = "#FFD500";
+
+enum class FingerprintStatus {
+  AUTO_FINGERPRINT,
+  MANUAL_FINGERPRINT,
+  UNRECOGNIZED,
+};
+
 class PlatformSelector : public ButtonControl {
  Q_OBJECT

@@ -16,9 +26,15 @@ public:
  PlatformSelector();
  QVariant getPlatformBundle(const QString &key);

+  QString platform;
+  QString brand;
+
 public slots:
  void refresh(bool _offroad);

+signals:
+  void refreshPanel();
+
 private:
  void searchPlatforms(const QString &query);
  void setPlatform(const QString &platform = "");
@@ -26,4 +42,27 @@ private:

  Params params;
  bool offroad;
+
+  QString unrecognized_str = tr("Unrecognized Vehicle");
+
+  static QString platformDescription(FingerprintStatus status = FingerprintStatus::UNRECOGNIZED) {
+    QString auto_str = "🟢 - " + tr("Fingerprinted automatically");
+    QString manual_str = "🔵 - " + tr("Manually selected");
+    QString unrecognized_str = "🟡 - " + tr("Not fingerprinted or manually selected");
+
+    if (status == FingerprintStatus::AUTO_FINGERPRINT) {
+      auto_str = "<font color='white'><b>" + auto_str + "</b></font>";
+    } else if (status == FingerprintStatus::MANUAL_FINGERPRINT) {
+      manual_str = "<font color='white'><b>" + manual_str + "</b></font>";
+    } else {
+      unrecognized_str = "<font color='white'><b>" + unrecognized_str + "</b></font>";
+    }
+
+    return QString("%1<br>%2<br><br>%3<br>%4<br>%5")
+             .arg(tr("Select vehicle to force fingerprint manually."))
+             .arg(tr("Colors represent fingerprint status:"))
+             .arg(auto_str)
+             .arg(manual_str)
+             .arg(unrecognized_str);
+  }
 };
@@ -0,0 +1,14 @@
+/**
+ * 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/offroad/settings/vehicle/rivian_settings.h"
+
+RivianSettings::RivianSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+}
+
+void RivianSettings::updateSettings() {
+}
@@ -0,0 +1,26 @@
+/**
+ * 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 "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class RivianSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit RivianSettings(QWidget *parent = nullptr);
+  void updateSettings() override;
+
+private:
+  bool offroad = false;
+};
@@ -0,0 +1,14 @@
+/**
+ * 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/offroad/settings/vehicle/subaru_settings.h"
+
+SubaruSettings::SubaruSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+}
+
+void SubaruSettings::updateSettings() {
+}
@@ -0,0 +1,26 @@
+/**
+ * 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 "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class SubaruSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit SubaruSettings(QWidget *parent = nullptr);
+  void updateSettings() override;
+
+private:
+  bool offroad = false;
+};
@@ -0,0 +1,14 @@
+/**
+ * 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/offroad/settings/vehicle/tesla_settings.h"
+
+TeslaSettings::TeslaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+}
+
+void TeslaSettings::updateSettings() {
+}
@@ -0,0 +1,26 @@
+/**
+ * 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 "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class TeslaSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit TeslaSettings(QWidget *parent = nullptr);
+  void updateSettings() override;
+
+private:
+  bool offroad = false;
+};
@@ -0,0 +1,14 @@
+/**
+ * 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/offroad/settings/vehicle/toyota_settings.h"
+
+ToyotaSettings::ToyotaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+}
+
+void ToyotaSettings::updateSettings() {
+}
@@ -0,0 +1,26 @@
+/**
+ * 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 "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class ToyotaSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit ToyotaSettings(QWidget *parent = nullptr);
+  void updateSettings() override;
+
+private:
+  bool offroad = false;
+};
@@ -0,0 +1,14 @@
+/**
+ * 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/offroad/settings/vehicle/volkswagen_settings.h"
+
+VolkswagenSettings::VolkswagenSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+}
+
+void VolkswagenSettings::updateSettings() {
+}
@@ -0,0 +1,26 @@
+/**
+ * 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 "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class VolkswagenSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit VolkswagenSettings(QWidget *parent = nullptr);
+  void updateSettings() override;
+
+private:
+  bool offroad = false;
+};
@@ -7,26 +7,32 @@

 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h"

+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"

 VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) {
-  main_layout = new QStackedLayout(this);
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 20, 50, 20);
+
  ListWidget *list = new ListWidget(this);

-  vehicleScreen = new QWidget(this);
-  QVBoxLayout *vlayout = new QVBoxLayout(vehicleScreen);
-  vlayout->setContentsMargins(50, 20, 50, 20);
-
  platformSelector = new PlatformSelector();
+  QObject::connect(platformSelector, &PlatformSelector::refreshPanel, this, &VehiclePanel::updateBrandSettings);
  list->addItem(platformSelector);

+  brandSettingsContainer = new QWidget(this);
+  brandSettingsContainerLayout = new QVBoxLayout(brandSettingsContainer);
+  brandSettingsContainerLayout->setContentsMargins(0, 0, 0, 0);
+  brandSettingsContainerLayout->setSpacing(0);
+  list->addItem(brandSettingsContainer);
+
  ScrollViewSP *scroller = new ScrollViewSP(list, this);
-  vlayout->addWidget(scroller);
+  main_layout->addWidget(scroller);
+
+  currentBrandSettings = nullptr;

  QObject::connect(uiState(), &UIState::offroadTransition, this, &VehiclePanel::updatePanel);
-
-  main_layout->addWidget(vehicleScreen);
-  main_layout->setCurrentWidget(vehicleScreen);
 }

 void VehiclePanel::showEvent(QShowEvent *event) {
@@ -34,7 +40,28 @@ void VehiclePanel::showEvent(QShowEvent *event) {
 }

 void VehiclePanel::updatePanel(bool _offroad) {
-  platformSelector->refresh(_offroad);
-
  offroad = _offroad;
+  platformSelector->refresh(_offroad);
+  updateBrandSettings();
+}
+
+void VehiclePanel::updateBrandSettings() {
+  if (!isVisible()) {
+    return;
+  }
+
+  if (currentBrandSettings) {
+    brandSettingsContainerLayout->removeWidget(currentBrandSettings);
+    delete currentBrandSettings;
+    currentBrandSettings = nullptr;
+  }
+
+  if (BrandSettingsFactory::isBrandSupported(platformSelector->brand)) {
+    currentBrandSettings = BrandSettingsFactory::createBrandSettings(platformSelector->brand, this);
+    if (currentBrandSettings) {
+      currentBrandSettings->setContentsMargins(0, 0, 0, 0);
+      brandSettingsContainerLayout->addWidget(currentBrandSettings);
+      currentBrandSettings->updatePanel(offroad);
+    }
+  }
 }
@@ -9,6 +9,7 @@

 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"

+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h"

 class VehiclePanel : public QFrame {
@@ -22,8 +23,12 @@ public slots:
  void updatePanel(bool _offroad);

 private:
-  QStackedLayout* main_layout = nullptr;
-  QWidget* vehicleScreen = nullptr;
-  PlatformSelector *platformSelector = nullptr;
-  bool offroad;
+  PlatformSelector* platformSelector = nullptr;
+  BrandSettingsInterface* currentBrandSettings = nullptr;
+  QWidget* brandSettingsContainer = nullptr;
+  QVBoxLayout* brandSettingsContainerLayout = nullptr;
+  bool offroad = false;
+
+private slots:
+  void updateBrandSettings();
 };
@@ -118,7 +118,7 @@ AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, con
  if (!title.isEmpty()) {
    title_label = new QPushButton(title);
    title_label->setFixedHeight(120);
-    title_label->setStyleSheet("font-size: 50px; font-weight: 450; text-align: left; border: none; padding: 20 0 0 0");
+    title_label->setStyleSheet("font-size: 50px; font-weight: 450; text-align: left; border: none; padding: 0 0 0 0");
    main_layout->addWidget(title_label, 1);

    connect(title_label, &QPushButton::clicked, [=]() {
@@ -148,7 +148,7 @@ AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, con

  // description
  description = new QLabel(desc);
-  description->setContentsMargins(0, 20, 40, 20);
+  description->setContentsMargins(40, 20, 40, 20);
  description->setStyleSheet("font-size: 40px; color: grey");
  description->setWordWrap(true);
  description->setVisible(false);
@@ -219,7 +219,7 @@ class ButtonParamControlSP : public AbstractControlSP_SELECTOR {

 public:
  ButtonParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                       const std::vector<QString> &button_texts, const int minimum_button_width = 300) : AbstractControlSP_SELECTOR(title, desc, icon), button_texts(button_texts) {
+                       const std::vector<QString> &button_texts, const int minimum_button_width = 300, const bool inline_layout = false) : AbstractControlSP_SELECTOR(title, desc, icon), button_texts(button_texts), is_inline_layout(inline_layout) {
    const QString style = R"(
      QPushButton {
        border-radius: 20px;
@@ -246,6 +246,19 @@ public:
    key = param.toStdString();
    int value = atoi(params.get(key).c_str());

+    if (inline_layout) {
+      button_param_layout->setMargin(0);
+      button_param_layout->setSpacing(0);
+      if (!title.isEmpty()) {
+        main_layout->removeWidget(title_label);
+        hlayout->addWidget(title_label, 1);
+      }
+      if (spacingItem != nullptr && main_layout->indexOf(spacingItem) != -1) {
+        main_layout->removeItem(spacingItem);
+        spacingItem = nullptr;
+      }
+    }
+
    button_group = new QButtonGroup(this);
    button_group->setExclusive(true);
    for (int i = 0; i < button_texts.size(); i++) {
@@ -254,12 +267,18 @@ public:
      button->setChecked(i == value);
      button->setStyleSheet(style);
      button->setMinimumWidth(minimum_button_width);
-      if (i == 0) hlayout->addSpacing(2);
-      hlayout->addWidget(button);
+      if (i == 0) button_param_layout->addSpacing(2);
+      button_param_layout->addWidget(button);
      button_group->addButton(button, i);
    }

-    hlayout->setAlignment(Qt::AlignLeft);
+    button_param_layout->setAlignment(Qt::AlignLeft);
+    if (is_inline_layout) {
+      QFrame *container = new QFrame;
+      container->setLayout(button_param_layout);
+      container->setStyleSheet("background-color: #393939; border-radius: 20px;");
+      hlayout->addWidget(container);
+    }

    QObject::connect(button_group, QOverload<int>::of(&QButtonGroup::buttonClicked), [=](int id) {
      params.put(key, std::to_string(id));
@@ -305,15 +324,20 @@ public:
    }
  }

-  void setDisabledSelectedButton(std::string val) {
-    int value = atoi(val.c_str());
+  void setEnableSelectedButtons(bool enable, const std::vector<int>& enabled_btns = {}) const {
    for (int i = 0; i < button_group->buttons().size(); i++) {
-      button_group->buttons()[i]->setEnabled(i != value);
+      // Enable the button if its index is in the enabled list
+      bool should_enable = std::find(enabled_btns.begin(), enabled_btns.end(), i) != enabled_btns.end();
+      button_group->buttons()[i]->setEnabled(enable && should_enable);
    }
  }

 protected:
  void paintEvent(QPaintEvent *event) override {
+    if (is_inline_layout) {
+      return;
+    }
+
    QPainter p(this);
    p.setRenderHint(QPainter::Antialiasing);

@@ -348,6 +372,8 @@ private:
  std::vector<QString> button_texts;

  bool button_group_enabled = true;
+  bool is_inline_layout;
+  QHBoxLayout *button_param_layout = is_inline_layout ? new QHBoxLayout() : hlayout;
 };

 class ListWidgetSP : public QWidget {
@@ -360,7 +386,7 @@ public:
    outer_layout.addLayout(&inner_layout);
    inner_layout.setMargin(0);
    inner_layout.setSpacing(25); // default spacing is 25
-    outer_layout.addStretch();
+    outer_layout.addStretch(1);
  }
  inline void addItem(QWidget *w) { inner_layout.addWidget(w); }
  inline void addItem(QLayout *layout) { inner_layout.addLayout(layout); }
@@ -415,15 +441,16 @@ public:
 class OptionControlSP : public AbstractControlSP_SELECTOR {
  Q_OBJECT

-private:
-  bool isInlineLayout;
-  QHBoxLayout *optionSelectorLayout = isInlineLayout ? new QHBoxLayout() : hlayout;
-
+protected:
  struct MinMaxValue {
    int min_value;
    int max_value;
  };

+private:
+  bool is_inline_layout;
+  QHBoxLayout *optionSelectorLayout = is_inline_layout ? new QHBoxLayout() : hlayout;
+
  int getParamValue() {
    const auto param_value = QString::fromStdString(params.get(key));
    const auto result = valueMap != nullptr ? valueMap->key(param_value) : param_value;
@@ -438,7 +465,7 @@ private:

 public:
  OptionControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                  const MinMaxValue &range, const int per_value_change = 1, const bool inline_layout = false, const QMap<QString, QString> *valMap = nullptr) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr), _title(title), valueMap(valMap), isInlineLayout(inline_layout) {
+                  const MinMaxValue &range, const int per_value_change = 1, const bool inline_layout = false, const QMap<QString, QString> *valMap = nullptr) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr), _title(title), valueMap(valMap), is_inline_layout(inline_layout) {
    const QString style = R"(
      QPushButton {
        border-radius: 20px;
@@ -513,7 +540,7 @@ public:
    }

    optionSelectorLayout->setAlignment(Qt::AlignLeft);
-    if (isInlineLayout) {
+    if (is_inline_layout) {
      QFrame *container = new QFrame;
      container->setLayout(optionSelectorLayout);
      container->setStyleSheet("background-color: #393939; border-radius: 20px;");
@@ -525,6 +552,10 @@ public:
    request_update = _update;
  }

+  void setFixedWidth(int width) {
+    label.setFixedWidth(width);
+  }
+
  inline void setLabel(const QString &text) { label.setText(text); }

  void setEnabled(bool enabled) {
@@ -540,7 +571,7 @@ public:

 protected:
  void paintEvent(QPaintEvent *event) override {
-    if (isInlineLayout) {
+    if (is_inline_layout) {
      return;
    }

@@ -633,16 +664,6 @@ public:
    }
  }

-protected:
-  // Override mouse release event to handle style updates smoothly
-  void mouseReleaseEvent(QMouseEvent *event) override {
-    if (!key.empty()) {
-      bool next_state = !params.getBool(key);
-      updateStyle(next_state);
-    }
-    QPushButton::mouseReleaseEvent(event);
-  }
-
 private:
  std::string key = "";
  Params params;
@@ -651,13 +672,14 @@ private:

  QString btn_enabled_off_style = "QPushButton:enabled { background-color: #393939; }";
  QString btn_enabled_on_style = "QPushButton:enabled { background-color: #1e79e8; }";
-  QString btn_pressed_style = "QPushButton:pressed { background-color: #4A4A4A; }";
-  QString btn_disabled_stype = "QPushButton:disabled { background-color: #121212; color: #5C5C5C; }";
+  QString btn_off_pressed_style = "QPushButton:pressed { background-color: #4A4A4A; }";
+  QString btn_on_pressed_style = "QPushButton:pressed { background-color: #1E8FFF; }";
+  QString btn_disabled_style = "QPushButton:disabled { background-color: #121212; color: #5C5C5C; }";

  void updateStyle(bool enabled) {
    QString enabled_style = enabled ? btn_enabled_on_style : btn_enabled_off_style;
-
-    setStyleSheet(buttonStyle + enabled_style + btn_pressed_style + btn_disabled_stype);
+    QString pressed_style = enabled ? btn_on_pressed_style : btn_off_pressed_style;
+    setStyleSheet(buttonStyle + enabled_style + pressed_style + btn_disabled_style);
  }
 };

@@ -0,0 +1,31 @@
+/**
+ * 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/expandable_row.h"
+
+ExpandableToggleRow::ExpandableToggleRow(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent)
+  : ToggleControlSP(title, desc, icon, false, parent) {
+
+  key = param.toStdString();
+  QObject::connect(this, &ExpandableToggleRow::toggleFlipped, this, &ExpandableToggleRow::toggleClicked);
+
+  collapsibleWidget = new QFrame(this);
+  collapsibleWidget->setContentsMargins(0, 0, 0, 0);
+  collapsibleWidget->setVisible(false);
+  QVBoxLayout *collapsible_layout = new QVBoxLayout();
+  collapsibleWidget->setLayout(collapsible_layout);
+
+  list = new ListWidgetSP(this, false);
+
+  main_layout->addWidget(collapsibleWidget);
+  collapsible_layout->addWidget(list);
+}
+
+void ExpandableToggleRow::toggleClicked(bool state) {
+  params.putBool(key, state);
+  collapsibleWidget->setVisible(state);
+}
@@ -0,0 +1,50 @@
+/**
+ * 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 "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class ExpandableToggleRow : public ToggleControlSP {
+  Q_OBJECT
+
+public:
+  ExpandableToggleRow(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr);
+
+  void addItem(QWidget *widget) {
+    list->addItem(widget);
+  }
+
+  ListWidgetSP *innerList() {
+    return list;
+  }
+
+  void refresh() {
+    bool state = params.getBool(key);
+    if (state != toggle.on) {
+      toggle.togglePosition();
+    }
+    collapsibleWidget->setVisible(state);
+  }
+
+  bool isToggled() {
+    return params.getBool(key);
+  }
+
+  void showEvent(QShowEvent *event) override {
+    refresh();
+  }
+
+private:
+  void toggleClicked(bool state);
+
+  std::string key;
+  Params params;
+
+  ListWidgetSP *list;
+  QFrame *collapsibleWidget = nullptr;
+};
@@ -37,7 +37,7 @@ DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder] = dict.fromkeys(
  "driverStateV2", "roadCameraState", "wideRoadCameraState", "driverCameraState"], None)

 def setup_homescreen(click, pm: PubMaster, scroll=None):
-  pass
+  time.sleep(UI_DELAY)

 def setup_settings_device(click, pm: PubMaster, scroll=None):
  click(100, 100)
@@ -61,6 +61,7 @@ def setup_settings_software(click, pm: PubMaster, scroll=None):
  time.sleep(UI_DELAY)

 def setup_settings_firehose(click, pm: PubMaster, scroll=None):
+  setup_settings_device(click, pm)
  scroll(-400, 278, 962)
  click(278, 862)

@@ -151,7 +152,7 @@ def setup_keyboard_uppercase(click, pm: PubMaster, scroll=None):

 def setup_driver_camera(click, pm: PubMaster, scroll=None):
  setup_settings_device(click, pm)
-  click(1720, 620)
+  click(1720, 825)
  DATA['deviceState'].deviceState.started = False
  setup_onroad(click, pm)
  DATA['deviceState'].deviceState.started = True
@@ -239,11 +240,17 @@ def setup_settings_steering_alc(click, pm: PubMaster, scroll=None):
  click(970, 534)
  time.sleep(UI_DELAY)

-def setup_settings_trips(click, pm: PubMaster, scroll=None):
+def setup_settings_driving(click, pm: PubMaster, scroll=None):
  setup_settings_device(click, pm)
  click(278, 962)
  time.sleep(UI_DELAY)

+def setup_settings_trips(click, pm: PubMaster, scroll=None):
+  setup_settings_device(click, pm)
+  scroll(-400, 278, 962)
+  click(278, 646)
+  time.sleep(UI_DELAY)
+
 def setup_settings_vehicle(click, pm: PubMaster, scroll=None):
  Params().put("CarPlatformBundle", json.dumps(
    {
@@ -291,6 +298,7 @@ CASES.update({
  "settings_steering": setup_settings_steering,
  "settings_steering_mads": setup_settings_steering_mads,
  "settings_steering_alc": setup_settings_steering_alc,
+  "settings_driving": setup_settings_driving,
  "settings_trips": setup_settings_trips,
  "settings_vehicle": setup_settings_vehicle,
 })
@@ -60,6 +60,7 @@ typedef struct UIScene {
  cereal::PandaState::PandaType pandaType;

  cereal::LongitudinalPersonality personality;
+  cereal::LongitudinalPlanSP::AccelerationPersonality accel_personality;

  float light_sensor = -1;
  bool started, ignition, is_metric;
@@ -11,15 +11,37 @@ from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP, HyundaiSafetyFlagsSP


+class MadsSteeringModeOnBrake:
+  REMAIN_ACTIVE = 0
+  PAUSE = 1
+  DISENGAGE = 2
+
+
+def get_mads_limited_brands(CP: structs.CarParams) -> bool:
+  return CP.brand in ("rivian", "tesla")
+
+
+def read_steering_mode_param(CP: structs.CarParams, params: Params):
+  if get_mads_limited_brands(CP):
+    return MadsSteeringModeOnBrake.DISENGAGE
+
+  try:
+    return int(params.get("MadsSteeringMode"))
+  except (ValueError, TypeError):
+    return MadsSteeringModeOnBrake.REMAIN_ACTIVE
+
+
 def set_alternative_experience(CP: structs.CarParams, params: Params):
  enabled = params.get_bool("Mads")
-  pause_lateral_on_brake = params.get_bool("MadsPauseLateralOnBrake")
+  steering_mode = read_steering_mode_param(CP, params)

  if enabled:
    CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS

-    if pause_lateral_on_brake:
-      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISENGAGE_LATERAL_ON_BRAKE
+    if steering_mode == MadsSteeringModeOnBrake.DISENGAGE:
+      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_DISENGAGE_LATERAL_ON_BRAKE
+    elif steering_mode == MadsSteeringModeOnBrake.PAUSE:
+      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_PAUSE_LATERAL_ON_BRAKE


 def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
@@ -31,12 +53,12 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p
      CP_SP.flags |= HyundaiFlagsSP.LONGITUDINAL_MAIN_CRUISE_TOGGLEABLE.value
      CP_SP.safetyParam |= HyundaiSafetyFlagsSP.LONG_MAIN_CRUISE_TOGGLEABLE

-  # MADS is currently not supported in Tesla due to lack of consistent states to engage controls
-  # TODO-SP: To enable MADS for Tesla, identify consistent signals for MADS toggling
-  if CP.brand == "tesla":
-    params.remove("Mads")
-
-  # MADS is currently not supported in Rivian due to lack of consistent states to engage controls
-  # TODO-SP: To enable MADS for Rivian, identify consistent signals for MADS toggling
-  if CP.brand == "rivian":
-    params.remove("Mads")
+  # MADS Partial Support
+  # MADS is currently partially supported for these platforms due to lack of consistent states to engage controls
+  # Only MadsSteeringModeOnBrake.DISENGAGE is supported for these platforms
+  # TODO-SP: To enable MADS full support for Rivian/Tesla, identify consistent signals for MADS toggling
+  mads_partial_support = get_mads_limited_brands(CP)
+  if mads_partial_support:
+    params.put("MadsSteeringMode", "2")
+    params.put_bool("MadsUnifiedEngagementMode", True)
+    params.remove("MadsMainCruiseAllowed")
@@ -9,6 +9,8 @@ from cereal import log, custom

 from opendbc.car import structs
 from opendbc.car.hyundai.values import HyundaiFlags
+from opendbc.safety import ALTERNATIVE_EXPERIENCE
+from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param, get_mads_limited_brands
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT

 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
@@ -24,75 +26,105 @@ IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)

 class ModularAssistiveDrivingSystem:
  def __init__(self, selfdrive):
+    self.CP = selfdrive.CP
    self.params = selfdrive.params

    self.enabled = False
    self.active = False
    self.available = False
    self.allow_always = False
+    self.no_main_cruise = False
    self.selfdrive = selfdrive
    self.selfdrive.enabled_prev = False
    self.state_machine = StateMachine(self)
    self.events = self.selfdrive.events
    self.events_sp = self.selfdrive.events_sp
+    self.disengage_on_accelerator = not self.CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS

-    if self.selfdrive.CP.brand == "hyundai":
-      if self.selfdrive.CP.flags & (HyundaiFlags.HAS_LDA_BUTTON | HyundaiFlags.CANFD):
+    if self.CP.brand == "hyundai":
+      if self.CP.flags & (HyundaiFlags.HAS_LDA_BUTTON | HyundaiFlags.CANFD):
        self.allow_always = True

+    if get_mads_limited_brands(self.CP):
+      self.no_main_cruise = True
+
    # read params on init
    self.enabled_toggle = self.params.get_bool("Mads")
    self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
-    self.pause_lateral_on_brake_toggle = self.params.get_bool("MadsPauseLateralOnBrake")
+    self.steering_mode_on_brake = read_steering_mode_param(self.CP, self.params)
    self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")

  def read_params(self):
    self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
    self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")

+  def pedal_pressed_non_gas_pressed(self, CS: structs.CarState) -> bool:
+    if self.events.has(EventName.pedalPressed) and not (CS.gasPressed and not self.selfdrive.CS_prev.gasPressed and self.disengage_on_accelerator):
+      return True
+
+    return False
+
+  def should_silent_lkas_enable(self, CS: structs.CarState) -> bool:
+    if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE and self.pedal_pressed_non_gas_pressed(CS):
+      return False
+
+    if self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
+      return False
+
+    return True
+
+  def block_unified_engagement_mode(self) -> bool:
+    # UEM disabled
+    if not self.unified_engagement_mode:
+      return True
+
+    if self.enabled:
+      return True
+
+    if self.selfdrive.enabled and self.selfdrive.enabled_prev:
+      return True
+
+    return False
+
+  def get_wrong_car_mode(self, alert_only: bool) -> None:
+    if alert_only:
+      if self.events.has(EventName.wrongCarMode):
+        self.replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly)
+    else:
+      self.events.remove(EventName.wrongCarMode)
+
+  def transition_paused_state(self):
+    if self.state_machine.state != State.paused:
+      self.events_sp.add(EventNameSP.silentLkasDisable)
+
+  def replace_event(self, old_event: int, new_event: int):
+    self.events.remove(old_event)
+    self.events_sp.add(new_event)
+
  def update_events(self, CS: structs.CarState):
-    def update_unified_engagement_mode():
-      uem_blocked = self.enabled or (self.selfdrive.enabled and self.selfdrive.enabled_prev)
-      if (self.unified_engagement_mode and uem_blocked) or not self.unified_engagement_mode:
-        self.events.remove(EventName.pcmEnable)
-        self.events.remove(EventName.buttonEnable)
-
-    def transition_paused_state():
-      if self.state_machine.state != State.paused:
-        self.events_sp.add(EventNameSP.silentLkasDisable)
-
-    def replace_event(old_event: int, new_event: int):
-      self.events.remove(old_event)
-      self.events_sp.add(new_event)
-
    if not self.selfdrive.enabled and self.enabled:
      if self.events.has(EventName.doorOpen):
-        replace_event(EventName.doorOpen, EventNameSP.silentDoorOpen)
-        transition_paused_state()
+        self.replace_event(EventName.doorOpen, EventNameSP.silentDoorOpen)
+        self.transition_paused_state()
      if self.events.has(EventName.seatbeltNotLatched):
-        replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched)
-        transition_paused_state()
-      if self.events.has(EventName.wrongGear) and (CS.standstill or CS.gearShifter == GearShifter.reverse):
-        replace_event(EventName.wrongGear, EventNameSP.silentWrongGear)
-        transition_paused_state()
+        self.replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched)
+        self.transition_paused_state()
+      if self.events.has(EventName.wrongGear) and (CS.vEgo < 2.5 or CS.gearShifter == GearShifter.reverse):
+        self.replace_event(EventName.wrongGear, EventNameSP.silentWrongGear)
+        self.transition_paused_state()
      if self.events.has(EventName.reverseGear):
-        replace_event(EventName.reverseGear, EventNameSP.silentReverseGear)
-        transition_paused_state()
+        self.replace_event(EventName.reverseGear, EventNameSP.silentReverseGear)
+        self.transition_paused_state()
      if self.events.has(EventName.brakeHold):
-        replace_event(EventName.brakeHold, EventNameSP.silentBrakeHold)
-        transition_paused_state()
+        self.replace_event(EventName.brakeHold, EventNameSP.silentBrakeHold)
+        self.transition_paused_state()
      if self.events.has(EventName.parkBrake):
-        replace_event(EventName.parkBrake, EventNameSP.silentParkBrake)
-        transition_paused_state()
+        self.replace_event(EventName.parkBrake, EventNameSP.silentParkBrake)
+        self.transition_paused_state()

-      if self.pause_lateral_on_brake_toggle:
-        if CS.brakePressed:
-          transition_paused_state()
-
-      if not (self.pause_lateral_on_brake_toggle and CS.brakePressed) and \
-         not self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
-        if self.state_machine.state == State.paused:
-          self.events_sp.add(EventNameSP.silentLkasEnable)
+      if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE:
+        if self.pedal_pressed_non_gas_pressed(CS):
+          self.transition_paused_state()

      self.events.remove(EventName.preEnableStandstill)
      self.events.remove(EventName.belowEngageSpeed)
@@ -100,8 +132,19 @@ class ModularAssistiveDrivingSystem:
      self.events.remove(EventName.cruiseDisabled)
      self.events.remove(EventName.manualRestart)

-    if self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable):
-      update_unified_engagement_mode()
+    selfdrive_enable_events = self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable)
+    set_speed_btns_enable = any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents)
+
+    # wrongCarMode alert only or actively block control
+    self.get_wrong_car_mode(selfdrive_enable_events or set_speed_btns_enable)
+
+    if selfdrive_enable_events:
+      if self.pedal_pressed_non_gas_pressed(CS):
+        self.events_sp.add(EventNameSP.pedalPressedAlertOnly)
+
+      if self.block_unified_engagement_mode():
+        self.events.remove(EventName.pcmEnable)
+        self.events.remove(EventName.buttonEnable)
    else:
      if self.main_enabled_toggle:
        if CS.cruiseState.available and not self.selfdrive.CS_prev.cruiseState.available:
@@ -120,20 +163,29 @@ class ModularAssistiveDrivingSystem:
        else:
          self.events_sp.add(EventNameSP.lkasEnable)

-    if not CS.cruiseState.available:
+    if not CS.cruiseState.available and not self.no_main_cruise:
      self.events.remove(EventName.buttonEnable)
      if self.selfdrive.CS_prev.cruiseState.available:
        self.events_sp.add(EventNameSP.lkasDisable)

+    if self.steering_mode_on_brake == MadsSteeringModeOnBrake.DISENGAGE:
+      if self.pedal_pressed_non_gas_pressed(CS):
+        if self.enabled:
+          self.events_sp.add(EventNameSP.lkasDisable)
+        else:
+          # block lkasEnable if being sent, then send pedalPressedAlertOnly event
+          if self.events_sp.contains(EventNameSP.lkasEnable):
+            self.events_sp.remove(EventNameSP.lkasEnable)
+            self.events_sp.add(EventNameSP.pedalPressedAlertOnly)
+
+    if self.should_silent_lkas_enable(CS):
+      if self.state_machine.state == State.paused:
+        self.events_sp.add(EventNameSP.silentLkasEnable)
+
    self.events.remove(EventName.pcmDisable)
    self.events.remove(EventName.buttonCancel)
    self.events.remove(EventName.pedalPressed)
    self.events.remove(EventName.wrongCruiseMode)
-    if any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents):
-      if self.events.has(EventName.wrongCarMode):
-        replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly)
-    else:
-      self.events.remove(EventName.wrongCarMode)

  def update(self, CS: structs.CarState):
    if not self.enabled_toggle:
@@ -141,7 +193,7 @@ class ModularAssistiveDrivingSystem:

    self.update_events(CS)

-    if not self.selfdrive.CP.passive and self.selfdrive.initialized:
+    if not self.CP.passive and self.selfdrive.initialized:
      self.enabled, self.active = self.state_machine.update()

    # Copy of previous SelfdriveD states for MADS events handling
@@ -51,7 +51,7 @@ class StateMachine:
    if self.state != State.disabled:
      # user and immediate disable always have priority in a non-disabled state
      if self.check_contains(ET.USER_DISABLE):
-        if self._events_sp.has(EventNameSP.silentLkasDisable) or self._events_sp.has(EventNameSP.silentBrakeHold):
+        if self._events_sp.has(EventNameSP.silentLkasDisable):
          self.state = State.paused
        else:
          self.state = State.disabled
@@ -73,7 +73,7 @@ class TestMADSStateMachine:
        self.clear_events()

  def test_user_disable_to_paused(self):
-    paused_events = (EventNameSP.silentLkasDisable, EventNameSP.silentBrakeHold)
+    paused_events = (EventNameSP.silentLkasDisable, )
    for state in ALL_STATES:
      for et in MAINTAIN_STATES[state]:
        self.events_sp.add(make_event([et, ET.USER_DISABLE]))
@@ -52,3 +52,8 @@ commonmodel_lib = lenv.Library('commonmodel', common_src)
 lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks)
 lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath)
 lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
+
+if arch == "larch64":
+  thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'OpenCL', 'dl'])
+  thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
+  lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL'])
@@ -23,7 +23,7 @@ from openpilot.sunnypilot.modeld.parse_model_outputs import Parser
 from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.sunnypilot.modeld.constants import ModelConstants
 from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext
-from openpilot.sunnypilot.modeld.runners.run_helpers import get_model_path, load_metadata, prepare_inputs, load_meta_constants
+from openpilot.sunnypilot.models.helpers import get_model_path, load_metadata, prepare_inputs, load_meta_constants

 PROCESS_NAME = "selfdrive.modeld.modeld_snpe"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -1,92 +0,0 @@
-"""
-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.
-"""
-
-import os
-import pickle
-import numpy as np
-
-from cereal import custom
-from openpilot.sunnypilot.modeld.constants import Meta, MetaTombRaider, MetaSimPose
-from openpilot.sunnypilot.modeld.runners import ModelRunner
-from openpilot.sunnypilot.models.helpers import get_active_bundle
-from openpilot.system.hardware import PC
-from openpilot.system.hardware.hw import Paths
-from pathlib import Path
-
-USE_ONNX = os.getenv('USE_ONNX', PC)
-
-CUSTOM_MODEL_PATH = Paths.model_root()
-METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
-
-ModelManager = custom.ModelManagerSP
-
-
-def get_model_path():
-  if USE_ONNX:
-    return {ModelRunner.ONNX: Path(__file__).parent / '../models/supercombo.onnx'}
-
-  if bundle := get_active_bundle():
-    drive_model = next(model for model in bundle.models if model.type == ModelManager.Type.drive)
-    return {ModelRunner.THNEED: f"{CUSTOM_MODEL_PATH}/{drive_model.fileName}"}
-
-  return {ModelRunner.THNEED: Path(__file__).parent / '../models/supercombo.thneed'}
-
-
-def load_metadata():
-  metadata_path = METADATA_PATH
-
-  if bundle := get_active_bundle():
-    metadata_model = next(model for model in bundle.models if model.type == ModelManager.Type.metadata)
-    metadata_path = f"{CUSTOM_MODEL_PATH}/{metadata_model.fileName}"
-
-  with open(metadata_path, 'rb') as f:
-    return pickle.load(f)
-
-
-def prepare_inputs(model_metadata) -> dict[str, np.ndarray]:
-  # img buffers are managed in openCL transform code so we don't pass them as inputs
-  inputs = {
-    k: np.zeros(v, dtype=np.float32).flatten()
-    for k, v in model_metadata['input_shapes'].items()
-    if 'img' not in k
-  }
-
-  return inputs
-
-
-def load_meta_constants(model_metadata):
-  """
-  Determines and loads the appropriate meta model class based on the metadata provided. The function checks
-  specific keys and conditions within the provided metadata dictionary to identify the corresponding meta
-  model class to return.
-
-  :param model_metadata: Dictionary containing metadata about the model. It includes
-      details such as input shapes, output slices, and other configurations for identifying
-      metadata-dependent meta model classes.
-  :type model_metadata: dict
-  :return: The appropriate meta model class (Meta, MetaSimPose, or MetaTombRaider)
-      based on the conditions and metadata provided.
-  :rtype: type
-  """
-  meta = Meta  # Default Meta
-
-  if 'sim_pose' in model_metadata['input_shapes'].keys():
-    # Meta for models with sim_pose input
-    meta = MetaSimPose
-  else:
-    # Meta for Tomb Raider, it does not include sim_pose input but has the same meta slice as previous models
-    meta_slice = model_metadata['output_slices']['meta']
-    meta_tf_slice = slice(5868, 5921, None)
-
-    if (
-          meta_slice.start == meta_tf_slice.start and
-          meta_slice.stop == meta_tf_slice.stop and
-          meta_slice.step == meta_tf_slice.step
-    ):
-      meta = MetaTombRaider
-
-  return meta
@@ -8,6 +8,7 @@ from openpilot.sunnypilot.modeld_v2 import MODEL_PATH, MODEL_PKL_PATH, METADATA_
 from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLMem
 from openpilot.sunnypilot.modeld_v2.runners.ort_helpers import make_onnx_cpu_runner, ORT_TYPES_TO_NP_TYPES
 from openpilot.sunnypilot.modeld_v2.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
+from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser
 from openpilot.system.hardware import TICI
 from openpilot.system.hardware.hw import Paths

@@ -34,8 +35,8 @@ class ModelRunner(ABC):

    if bundle := get_active_bundle():
      bundle_models = {model.type.raw: model for model in bundle.models}
-      self._drive_model = bundle_models.get(ModelManager.Type.drive)
-      self._metadata_model = bundle_models.get(ModelManager.Type.metadata)
+      self._drive_model = bundle_models.get(ModelManager.Model.Type.supercombo)
+      self._metadata_model = self._drive_model.metadata
      self.is_20hz = bundle.is20hz

    # Override the metadata path if a metadata model is found in the active bundle
@@ -48,6 +49,7 @@ class ModelRunner(ABC):
    self.input_shapes = self.model_metadata['input_shapes']
    self.output_slices = self.model_metadata['output_slices']
    self.inputs: dict = {}
+    self.parser = Parser()

  @abstractmethod
  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray], frames: dict[str, DrivingModelFrame]) -> dict:
@@ -55,16 +57,22 @@ class ModelRunner(ABC):
    raise NotImplementedError

  @abstractmethod
-  def run_model(self):
+  def _run_model(self):
    """Run model inference with prepared inputs."""
+    raise NotImplementedError("This method should be implemented in subclasses.")

-  def slice_outputs(self, model_outputs: np.ndarray) -> dict:
+  def _slice_outputs(self, model_outputs: np.ndarray) -> dict:
    """Slice model outputs according to metadata configuration."""
    parsed_outputs = {k: model_outputs[np.newaxis, v] for k, v in self.output_slices.items()}
    if SEND_RAW_PRED:
      parsed_outputs['raw_pred'] = model_outputs.copy()
    return parsed_outputs

+  def run_model(self) -> dict[str, np.ndarray]:
+    """Run model inference with prepared inputs and parse outputs."""
+    result: dict[str, np.ndarray] = self.parser.parse_outputs(self._slice_outputs(self._run_model()))
+    return result
+

 class TinygradRunner(ModelRunner):
  """Tinygrad implementation of model runner for TICI hardware."""
@@ -74,7 +82,7 @@ class TinygradRunner(ModelRunner):

    model_pkl_path = MODEL_PKL_PATH
    if self._drive_model:
-      model_pkl_path = f"{CUSTOM_MODEL_PATH}/{self._drive_model.fileName}"
+      model_pkl_path = f"{CUSTOM_MODEL_PATH}/{self._drive_model.artifact.fileName}"
      assert model_pkl_path.endswith('_tinygrad.pkl'), f"Invalid model file: {model_pkl_path} for TinygradRunner"

    # Load Tinygrad model
@@ -108,7 +116,7 @@ class TinygradRunner(ModelRunner):

    return self.inputs

-  def run_model(self):
+  def _run_model(self):
    return self.model_run(**self.inputs).numpy().flatten()


@@ -130,5 +138,5 @@ class ONNXRunner(ModelRunner):
      self.inputs[key] = frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key]).astype(dtype=self.input_to_nptype[key])
    return self.inputs

-  def run_model(self):
+  def _run_model(self):
    return self.runner.run(None, self.inputs)[0].flatten()
@@ -18,7 +18,6 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser
 from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
 from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLContext
@@ -27,6 +26,7 @@ from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 from openpilot.sunnypilot.modeld_v2.model_runner import ONNXRunner, TinygradRunner

 PROCESS_NAME = "selfdrive.modeld.modeld"
+LAT_SMOOTH_SECONDS = 0.0


 class FrameMeta:
@@ -41,7 +41,6 @@ class FrameMeta:
 class ModelState:
  frames: dict[str, DrivingModelFrame]
  inputs: dict[str, np.ndarray]
-  output: np.ndarray
  prev_desire: np.ndarray  # for tracking the rising edge of the pulse

  def __init__(self, context: CLContext):
@@ -54,8 +53,8 @@ class ModelState:
    self.frames = {'input_imgs': DrivingModelFrame(context, buffer_length), 'big_input_imgs': DrivingModelFrame(context, buffer_length)}
    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
    if self.model_runner.is_20hz:
-      self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
-      self.desire_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
+      self.full_features_buffer = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
+      self.full_desire = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)

    # img buffers are managed in openCL transform code
    self.numpy_inputs = {}
@@ -64,15 +63,10 @@ class ModelState:
      if key not in self.frames: # Managed by opencl
        self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)

-    self.parser = Parser()
-
    if self.model_runner.is_20hz:
-      net_output_size = self.model_runner.model_metadata['output_shapes']['outputs'][1]
-      self.output = np.zeros(net_output_size, dtype=np.float32)
-
      num_elements = self.numpy_inputs['features_buffer'].shape[1]
      step_size = int(-100 / num_elements)
-      self.full_features_20Hz_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
+      self.full_features_buffer_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])

  def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
@@ -83,9 +77,9 @@ class ModelState:
    self.prev_desire[:] = inputs['desire']

    if self.model_runner.is_20hz:
-      self.desire_20Hz[:-1] = self.desire_20Hz[1:]
-      self.desire_20Hz[-1] = new_desire
-      self.numpy_inputs['desire'][:] = self.desire_20Hz.reshape(self.desire_reshape_dims).max(axis=2)
+      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:
      length = inputs['desire'].shape[0]
      self.numpy_inputs['desire'][0, :-1] = self.numpy_inputs['desire'][0, 1:]
@@ -105,13 +99,12 @@ class ModelState:
      return None

    # Run model inference
-    self.output = self.model_runner.run_model()
-    outputs = self.parser.parse_outputs(self.model_runner.slice_outputs(self.output))
+    outputs = self.model_runner.run_model()

    if self.model_runner.is_20hz:
-      self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
-      self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
-      self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[self.full_features_20Hz_idxs]
+      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.full_features_buffer_idxs]
    else:
      feature_len = outputs['hidden_state'].shape[1]
      self.numpy_inputs['features_buffer'][0, :-1] = self.numpy_inputs['features_buffer'][0, 1:]
@@ -171,7 +164,7 @@ def main(demo=False):

  # messaging
  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
-  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"])
+  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])

  publish_state = PublishState()
  params = Params()
@@ -196,8 +189,8 @@ def main(demo=False):
    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
  cloudlog.info("modeld got CarParams: %s", CP.brand)

-  # TODO this needs more thought, use .2s extra for now to estimate other delays
-  steer_delay = CP.steerActuatorDelay + .2
+  # Enable lagd support for modeld_v2
+  steer_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS

  DH = DesireHelper()

@@ -11,6 +11,7 @@ import time
 import requests
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
+from sunnypilot.models.helpers import is_bundle_version_compatible

 from cereal import custom

@@ -19,68 +20,49 @@ class ModelParser:
  """Handles parsing of model data into cereal objects"""

  @staticmethod
-  def _parse_model(full_name: str, file_name: str, uri_data: dict,
-                   model_type: custom.ModelManagerSP.Type) -> custom.ModelManagerSP.Model:
-    model = custom.ModelManagerSP.Model()
+  def _parse_download_uri(download_uri_data) -> custom.ModelManagerSP.DownloadUri:
    download_uri = custom.ModelManagerSP.DownloadUri()
+    download_uri.uri = download_uri_data.get("url")
+    download_uri.sha256 = download_uri_data.get("sha256")
+    return download_uri

-    download_uri.uri = uri_data["url"]
-    download_uri.sha256 = uri_data["sha256"]
+  @staticmethod
+  def _parse_artifact(artifact_data) -> custom.ModelManagerSP.Artifact:
+    artifact = custom.ModelManagerSP.Artifact()
+    artifact.fileName = artifact_data.get("file_name")
+    artifact.downloadUri = ModelParser._parse_download_uri(artifact_data.get("download_uri", {}))
+    return artifact

-    model.fullName = full_name
-    model.fileName = file_name
-    model.downloadUri = download_uri
-    model.type = model_type
+  @staticmethod
+  def _parse_model(model_data) -> custom.ModelManagerSP.Model:
+    model = custom.ModelManagerSP.Model()

+    model.type = model_data.get("type")
+    model.artifact = ModelParser._parse_artifact(model_data.get("artifact", {}))
+    if metadata := model_data.get("metadata"):
+      model.metadata = ModelParser._parse_artifact(metadata)
    return model

  @staticmethod
-  def _parse_bundle(key: str, value: dict) -> custom.ModelManagerSP.ModelBundle:
+  def _parse_bundle(bundle) -> custom.ModelManagerSP.ModelBundle:
    model_bundle = custom.ModelManagerSP.ModelBundle()
-
-    # Parse main driving model
-    models = [
-      ModelParser._parse_model(
-        value["full_name"],
-        value["file_name"],
-        value["download_uri"],
-        custom.ModelManagerSP.Type.drive
-      )
-    ]
-
-    # Parse navigation model if exists
-    if value.get("download_uri_nav"):
-      models.append(ModelParser._parse_model(
-        value["full_name_nav"],
-        value["file_name_nav"],
-        value["download_uri_nav"],
-        custom.ModelManagerSP.Type.navigation
-      ))
-
-    # Parse metadata model if exists
-    if value.get("download_uri_metadata"):
-      models.append(ModelParser._parse_model(
-        value["full_name_metadata"],
-        value["file_name_metadata"],
-        value["download_uri_metadata"],
-        custom.ModelManagerSP.Type.metadata
-      ))
-
-    model_bundle.index = int(value["index"])
-    model_bundle.internalName = key
-    model_bundle.displayName = value["display_name"]
-    model_bundle.models = models
+    model_bundle.index = int(bundle["index"])
+    model_bundle.internalName = bundle["short_name"]
+    model_bundle.displayName = bundle["display_name"]
+    model_bundle.models = [ModelParser._parse_model(model) for model in bundle.get("models",[])]
    model_bundle.status = 0
-    model_bundle.generation = int(value["generation"])
-    model_bundle.environment = value["environment"]
-    model_bundle.runner = value.get("runner", custom.ModelManagerSP.Runner.snpe)
-    model_bundle.is20hz = value.get("is_20hz", False)
+    model_bundle.generation = int(bundle["generation"])
+    model_bundle.environment = bundle["environment"]
+    model_bundle.runner = bundle.get("runner", custom.ModelManagerSP.Runner.snpe)
+    model_bundle.is20hz = bundle.get("is_20hz", False)
+    model_bundle.minimumSelectorVersion = int(bundle["minimum_selector_version"])

    return model_bundle

  @staticmethod
  def parse_models(json_data: dict) -> list[custom.ModelManagerSP.ModelBundle]:
-    return [ModelParser._parse_bundle(key, value) for key, value in json_data.items()]
+    found_bundles = [ModelParser._parse_bundle(bundle) for bundle in json_data.get("bundles", [])]
+    return [bundle for bundle in found_bundles if is_bundle_version_compatible(bundle.to_dict())]


 class ModelCache:
@@ -122,7 +104,7 @@ class ModelCache:

 class ModelFetcher:
  """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v2.json"
+  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v3.json"

  def __init__(self, params: Params):
    self.params = params
@@ -143,7 +125,7 @@ class ModelFetcher:
      cloudlog.exception("Error fetching models")
      raise

-  def get_available_models(self) -> list[custom.ModelManagerSP.ModelBundle]:
+  def get_available_bundles(self) -> list[custom.ModelManagerSP.ModelBundle]:
    """Gets the list of available models, with smart cache handling"""
    cached_data, is_expired = self.model_cache.get()

@@ -160,3 +142,16 @@ class ModelFetcher:

    cloudlog.warning("Failed to fetch fresh data. Using expired cache as fallback")
    return self.model_parser.parse_models(cached_data)
+
+if __name__ == "__main__":
+  params = Params()
+  model_fetcher = ModelFetcher(params)
+  bundles = model_fetcher.get_available_bundles()
+  for bundle in bundles:
+    for model in bundle.models:
+      # Print model details
+      print(f"Bundle: {bundle.internalName}, Type: {model.type}, Status: {bundle.status}")
+      # Print artifact details
+      print(f"Artifact: {model.artifact.fileName}, Download URI: {model.artifact.downloadUri.uri}")
+      # Print metadata details
+      print(f"Metadata: {model.metadata.fileName}, Download URI: {model.metadata.downloadUri.uri}")
@@ -7,8 +7,27 @@ See the LICENSE.md file in the root directory for more details.

 import hashlib
 import os
+import pickle
+import numpy as np
+import json
+
 from openpilot.common.params import Params
-from cereal import custom, messaging
+from cereal import custom
+from openpilot.sunnypilot.modeld.constants import Meta, MetaTombRaider, MetaSimPose
+from openpilot.sunnypilot.modeld.runners import ModelRunner
+from openpilot.system.hardware import PC
+from openpilot.system.hardware.hw import Paths
+from pathlib import Path
+
+CURRENT_SELECTOR_VERSION = 3
+REQUIRED_MIN_SELECTOR_VERSION = 2
+
+USE_ONNX = os.getenv('USE_ONNX', PC)
+
+CUSTOM_MODEL_PATH = Paths.model_root()
+METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
+
+ModelManager = custom.ModelManagerSP


 async def verify_file(file_path: str, expected_hash: str) -> bool:
@@ -24,13 +43,36 @@ async def verify_file(file_path: str, expected_hash: str) -> bool:
  return sha256_hash.hexdigest().lower() == expected_hash.lower()


+def is_bundle_version_compatible(bundle: dict) -> bool:
+  """
+  Checks whether the model bundle is compatible with the current selector version constraints.
+
+  The bundle specifies a `minimum_selector_version`, which defines the minimum selector version
+  required to load the model. This function ensures that:
+
+    1. The model is not too old: the bundle must require at least `REQUIRED_MIN_SELECTOR_VERSION`.
+    2. The model is not too new: it must support the current selector version (`CURRENT_SELECTOR_VERSION`).
+
+  This allows the selector to enforce both a minimum and maximum range of supported models,
+  even if a model would otherwise be compatible.
+
+  :param bundle: Dictionary containing `minimum_selector_version`, as defined by the model bundle.
+  :type bundle: Dict
+  :return: True if the selector version is within the accepted range for the bundle; otherwise False.
+  :rtype: Bool
+  """
+  return bool(REQUIRED_MIN_SELECTOR_VERSION <= bundle.get("minimumSelectorVersion", 0) <= CURRENT_SELECTOR_VERSION)
+
 def get_active_bundle(params: Params = None) -> custom.ModelManagerSP.ModelBundle:
  """Gets the active model bundle from cache"""
  if params is None:
    params = Params()

-  if active_bundle := params.get("ModelManager_ActiveBundle"):
-    return messaging.log_from_bytes(active_bundle, custom.ModelManagerSP.ModelBundle)
+  try:
+    if (active_bundle := json.loads(params.get("ModelManager_ActiveBundle") or "{}")) and is_bundle_version_compatible(active_bundle):
+      return custom.ModelManagerSP.ModelBundle(**active_bundle)
+  except Exception:
+    pass

  return None

@@ -71,3 +113,74 @@ def get_active_model_runner(params: Params = None, force_check=False) -> custom.
    params.put("ModelRunnerTypeCache", str(int(runner_type)))

  return runner_type
+
+def _get_model():
+  if bundle := get_active_bundle():
+    drive_model = next(model for model in bundle.models if model.type == ModelManager.Model.Type.supercombo)
+    return drive_model
+
+  return None
+
+def get_model_path():
+  if USE_ONNX:
+    return {ModelRunner.ONNX: Path(__file__).parent / '../models/supercombo.onnx'}
+
+  if model := _get_model():
+    return {ModelRunner.THNEED: f"{CUSTOM_MODEL_PATH}/{model.artifact.fileName}"}
+
+  return {ModelRunner.THNEED: Path(__file__).parent / '../models/supercombo.thneed'}
+
+
+def load_metadata():
+  metadata_path = METADATA_PATH
+
+  if model := _get_model():
+    metadata_path = f"{CUSTOM_MODEL_PATH}/{model.metadata.fileName}"
+
+  with open(metadata_path, 'rb') as f:
+    return pickle.load(f)
+
+
+def prepare_inputs(model_metadata) -> dict[str, np.ndarray]:
+  # img buffers are managed in openCL transform code so we don't pass them as inputs
+  inputs = {
+    k: np.zeros(v, dtype=np.float32).flatten()
+    for k, v in model_metadata['input_shapes'].items()
+    if 'img' not in k
+  }
+
+  return inputs
+
+
+def load_meta_constants(model_metadata):
+  """
+  Determines and loads the appropriate meta model class based on the metadata provided. The function checks
+  specific keys and conditions within the provided metadata dictionary to identify the corresponding meta
+  model class to return.
+
+  :param model_metadata: Dictionary containing metadata about the model. It includes
+      details such as input shapes, output slices, and other configurations for identifying
+      metadata-dependent meta model classes.
+  :type model_metadata: dict
+  :return: The appropriate meta model class (Meta, MetaSimPose, or MetaTombRaider)
+      based on the conditions and metadata provided.
+  :rtype: type
+  """
+  meta = Meta  # Default Meta
+
+  if 'sim_pose' in model_metadata['input_shapes'].keys():
+    # Meta for models with sim_pose input
+    meta = MetaSimPose
+  else:
+    # Meta for Tomb Raider, it does not include sim_pose input but has the same meta slice as previous models
+    meta_slice = model_metadata['output_slices']['meta']
+    meta_tf_slice = slice(5868, 5921, None)
+
+    if (
+            meta_slice.start == meta_tf_slice.start and
+            meta_slice.stop == meta_tf_slice.stop and
+            meta_slice.step == meta_tf_slice.step
+    ):
+      meta = MetaTombRaider
+
+  return meta
@@ -8,6 +8,7 @@ See the LICENSE.md file in the root directory for more details.
 import asyncio
 import os
 import time
+import json

 import aiohttp
 from openpilot.common.params import Params
@@ -73,43 +74,54 @@ class ModelManagerSP:
        # Clean up start time after download completes
        del self._download_start_times[model.fileName]

-  async def _process_model(self, model, destination_path: str) -> None:
+  async def _process_artifact(self, artifact, destination_path: str) -> None:
    """Processes a single model download including verification"""
-    url = model.downloadUri.uri
-    expected_hash = model.downloadUri.sha256
-    filename = model.fileName
+    if not artifact.downloadUri.uri:
+      return None
+
+    url = artifact.downloadUri.uri
+    expected_hash = artifact.downloadUri.sha256
+    filename = artifact.fileName
    full_path = os.path.join(destination_path, filename)

    try:
      # Check existing file
      if os.path.exists(full_path) and await verify_file(full_path, expected_hash):
-        model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached
-        model.downloadProgress.progress = 100
-        model.downloadProgress.eta = 0
+        artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached
+        artifact.downloadProgress.progress = 100
+        artifact.downloadProgress.eta = 0
        self._report_status()
        return

      # Download and verify
-      await self._download_file(url, full_path, model)
+      await self._download_file(url, full_path, artifact)
      if not await verify_file(full_path, expected_hash):
        raise ValueError(f"Hash validation failed for {filename}")

-      model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloaded
-      model.downloadProgress.eta = 0
+      artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloaded
+      artifact.downloadProgress.eta = 0
      self._report_status()

    except Exception as e:
      cloudlog.error(f"Error downloading {filename}: {str(e)}")
      if os.path.exists(full_path):
        os.remove(full_path)
-      model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.failed
-      model.downloadProgress.eta = 0
+      artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.failed
+      artifact.downloadProgress.eta = 0
      self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
      self._report_status()
      # Clean up start time if it exists
-      self._download_start_times.pop(model.fileName, None)
+      self._download_start_times.pop(artifact.fileName, None)
      raise

+  async def _process_model(self, model, destination_path: str) -> None:
+    """Processes a single model download including verification"""
+    model_artifact = model.artifact
+    metadata_artifact = model.metadata
+
+    await self._process_artifact(metadata_artifact, destination_path)
+    await self._process_artifact(model_artifact, destination_path)
+
  def _report_status(self) -> None:
    """Reports current status through messaging system"""
    msg = messaging.new_message('modelManagerSP', valid=True)
@@ -134,7 +146,7 @@ class ModelManagerSP:
      await asyncio.gather(*tasks)
      self.active_bundle = self.selected_bundle
      self.active_bundle.status = custom.ModelManagerSP.DownloadStatus.downloaded
-      self.params.put("ModelManager_ActiveBundle", self.active_bundle.to_bytes())
+      self.params.put("ModelManager_ActiveBundle", json.dumps(self.active_bundle.to_dict()))
      self.selected_bundle = None

    except Exception:
@@ -154,7 +166,7 @@ class ModelManagerSP:

    while True:
      try:
-        self.available_models = self.model_fetcher.get_available_models()
+        self.available_models = self.model_fetcher.get_available_bundles()
        self.active_bundle = get_active_bundle(self.params)

        if index_to_download := self.params.get("ModelManager_DownloadIndex", block=False, encoding="utf-8"):
@@ -1 +1 @@
-82ead1a4ecffbde961382329a6cf71bc97a6b112fbfb1f175a51c28ee2472bec
+8ef2dbcae743eb132167074a374f0a834308be31cffd532598bb13c3d7144a57
@@ -11,6 +11,7 @@ from opendbc.car.car_helpers import can_fingerprint
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
 from opendbc.car.hyundai.values import HyundaiFlags, DBC as HYUNDAI_DBC
+from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
@@ -25,9 +26,24 @@ def log_fingerprint(CP: structs.CarParams) -> None:
  else:
    sentry.capture_fingerprint(CP.carFingerprint, CP.brand)

+def _initialize_custom_longitudinal_tuning(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
+                                           params: Params = None) -> None:
+  if params is None:
+    params = Params()

-def _initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None,
-                                              enabled: bool = False) -> None:
+  # Hyundai Custom Longitudinal Tuning
+  if CP.brand == 'hyundai':
+    hyundai_longitudinal_tuning = int(params.get("HyundaiLongitudinalTuning", encoding="utf8") or 0)
+    if hyundai_longitudinal_tuning == LongitudinalTuningType.DYNAMIC:
+      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_DYNAMIC.value
+    if hyundai_longitudinal_tuning == LongitudinalTuningType.PREDICTIVE:
+      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_PREDICTIVE.value
+
+  CP_SP = CI.get_longitudinal_tuning_sp(CP, CP_SP)
+
+
+def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
+                                               params: Params = None, enabled: bool = False) -> None:
  if params is None:
    params = Params()

@@ -40,7 +56,7 @@ def _initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: str
    enabled = params.get_bool("NeuralNetworkLateralControl")

  if enabled:
-    CarInterfaceBase.configure_torque_tune(CP.carFingerprint, CP.lateralTuning)
+    CI.configure_torque_tune(CP.carFingerprint, CP.lateralTuning)

  CP_SP.neuralNetworkLateralControl.model.path = nnlc_model_path
  CP_SP.neuralNetworkLateralControl.model.name = nnlc_model_name
@@ -61,8 +77,12 @@ def _initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP,
          CP.radarUnavailable = False


-def setup_interfaces(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None):
-  _initialize_neural_network_lateral_control(CP, CP_SP, params)
+def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
+  CP = CI.CP
+  CP_SP = CI.CP_SP
+
+  _initialize_custom_longitudinal_tuning(CI, CP, CP_SP, params)
+  _initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
  _initialize_radar_tracks(CP, CP_SP, params)


@@ -0,0 +1,63 @@
+"""
+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.
+"""
+import cereal.messaging as messaging
+from cereal import custom
+
+from opendbc.car import structs
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.sunnypilot.selfdrive.controls.lib.param_store import ParamStore
+
+
+class ControlsExt:
+  def __init__(self, CP: structs.CarParams, params: Params):
+    self.CP = CP
+    self.params = params
+    self.param_store = ParamStore(self.CP)
+    self.get_params_sp()
+
+    cloudlog.info("controlsd_ext is waiting for CarParamsSP")
+    self.CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
+    cloudlog.info("controlsd_ext got CarParamsSP")
+
+    self.sm_services_ext = ['selfdriveStateSP']
+    self.pm_services_ext = ['carControlSP']
+
+  def get_params_sp(self) -> None:
+    self.param_store.update(self.params)
+
+  @staticmethod
+  def get_lat_active(sm: messaging.SubMaster) -> bool:
+    ss_sp = sm['selfdriveStateSP']
+
+    if ss_sp.mads.available:
+      return bool(ss_sp.mads.active)
+
+    # MADS not available, use stock state to engage
+    return bool(sm['selfdriveState'].active)
+
+  def state_control_ext(self, sm: messaging.SubMaster) -> custom.CarControlSP:
+    CC_SP = custom.CarControlSP.new_message()
+
+    # MADS state
+    CC_SP.mads = sm['selfdriveStateSP'].mads
+
+    CC_SP.params = self.param_store.publish()
+
+    return CC_SP
+
+  @staticmethod
+  def publish_ext(CC_SP: custom.CarControlSP, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
+    cc_sp_send = messaging.new_message('carControlSP')
+    cc_sp_send.valid = sm['carState'].canValid
+    cc_sp_send.carControlSP = CC_SP
+
+    pm.send('carControlSP', cc_sp_send)
+
+  def run_ext(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
+    CC_SP = self.state_control_ext(sm)
+    self.publish_ext(CC_SP, sm, pm)
@@ -0,0 +1,75 @@
+"""
+Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from cereal import custom
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.params import Params
+
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_profiles import (
+  get_max_accel_hermite,
+  get_min_accel_hermite
+)
+
+
+AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
+
+class AccelController:
+  def __init__(self):
+    self.params = Params()
+    self.personality = AccelPersonality.stock
+    self.frame = 0
+
+  def _update_personality_from_param(self):
+    if self.frame % int(1. / DT_MDL) == 0:
+      personality_str = self.params.get("AccelPersonality", encoding='utf-8')
+      if personality_str is not None:
+        personality_int = int(personality_str)
+        if personality_int in [AccelPersonality.stock, AccelPersonality.normal, AccelPersonality.eco, AccelPersonality.sport]:
+          self.personality = personality_int
+
+  def _get_max_accel_for_speed(self, v_ego: float) -> float:
+    self._update_personality_from_param()
+
+    if self.personality == AccelPersonality.eco:
+      mode = "eco"
+    elif self.personality == AccelPersonality.sport:
+      mode = "sport"
+    else:
+      mode = "normal"
+
+    return get_max_accel_hermite(v_ego, mode)
+
+  def _get_min_accel_for_speed(self, v_ego: float) -> float:
+    self._update_personality_from_param()
+
+    if self.personality == AccelPersonality.eco:
+      mode = "eco"
+    elif self.personality == AccelPersonality.sport:
+      mode = "sport"
+    elif self.personality == AccelPersonality.normal:
+      mode = "normal"
+    else:
+      mode = "stock"
+
+    return get_min_accel_hermite(v_ego, mode)
+
+  def get_accel_limits(self, v_ego: float, accel_limits: list[float]) -> tuple[float, float]:
+    self._update_personality_from_param()
+
+    if self.personality == AccelPersonality.stock:
+      return (accel_limits[0], accel_limits[1])
+    else:
+      max_accel = self._get_max_accel_for_speed(v_ego)
+      min_accel = self._get_min_accel_for_speed(v_ego)
+      return (min_accel, max_accel)
+
+  def is_personality_enabled(self, accel_personality: int = AccelPersonality.stock) -> bool:
+    self.personality = accel_personality
+    self._update_personality_from_param()
+    return bool(self.personality != AccelPersonality.stock)
+
+  def update(self):
+    self.frame += 1
@@ -0,0 +1,79 @@
+"""
+Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import numpy as np
+
+# Profiles
+MAX_ACCEL_PROFILES = {
+  "eco":                [2.00, 2.00, 1.98, 1.54, 0.83, .572, .455, .365, .32, .10],
+  "normal":             [2.00, 2.00, 1.99, 1.66, 1.06, .66,  .58, .49, .37, .15],
+  "sport":              [2.00, 2.00, 2.00, 1.95, 1.25, .88,  .70, .60, .45, .20],
+}
+MAX_ACCEL_BREAKPOINTS = [0.,   1.,   6.,   8.,   11.,  16.,  20., 25., 30., 55.]
+
+MIN_ACCEL_PROFILES = {
+  "eco":                [-.06,  -.06,  -.11,  -.11, -.071, -.071, -.072, -.65, -.65],
+  "normal":             [-.07,  -.07,  -.12,  -.12, -.072, -.072, -.073, -.70, -.70],
+  "sport":              [-1.2,  -1.2,  -1.2,  -1.2, -1.2,  -1.2,  -1.2,  -1.2, -1.2],
+  "stock":              [-1.2,  -1.2,  -1.2,  -1.2, -1.2,  -1.2,  -1.2,  -1.2, -1.2],
+}
+MIN_ACCEL_BREAKPOINTS = [0.,    0.5,    0.6,    1.2,    8.,    12.,   14.,   25.,  40.]
+
+# Precompute slopes for Cubic Bézier curves
+def compute_symmetric_slopes(x, y):
+  n = len(x)
+  if n < 2:
+    raise ValueError("At least two points are required to compute slopes.")
+  m = np.zeros(n)
+  for i in range(n):
+    if i == 0:
+      m[i] = (y[i+1] - y[i]) / (x[i+1] - x[i])
+    elif i == n-1:
+      m[i] = (y[i] - y[i-1]) / (x[i] - x[i-1])
+    else:
+      m[i] = ((y[i+1] - y[i]) / (x[i+1] - x[i]) + (y[i] - y[i-1]) / (x[i] - x[i-1])) / 2
+  return m
+
+
+MAX_ACCEL_SLOPES = {
+  mode: compute_symmetric_slopes(MAX_ACCEL_BREAKPOINTS, values)
+  for mode, values in MAX_ACCEL_PROFILES.items()
+}
+
+MIN_ACCEL_SLOPES = {
+  mode: compute_symmetric_slopes(MIN_ACCEL_BREAKPOINTS, values)
+  for mode, values in MIN_ACCEL_PROFILES.items()
+}
+
+# Hermite interpolation function
+def hermite_interpolate(x, xp, yp, slopes, mode):
+  # Clip x inside the domain
+  x = np.clip(x, xp[0], xp[-1])
+
+  # Find segment
+  idx = np.searchsorted(xp, x) - 1
+  idx = np.clip(idx, 0, len(slopes[mode]) - 1)
+
+  x0, x1 = xp[idx], xp[idx+1]
+  y0, y1 = yp[idx], yp[idx+1]
+  m0, m1 = slopes[mode][idx], slopes[mode][idx+1]
+
+  t = (x - x0) / (x1 - x0)
+  h00 = 2*t**3 - 3*t**2 + 1
+  h10 = t**3 - 2*t**2 + t
+  h01 = -2*t**3 + 3*t**2
+  h11 = t**3 - t**2
+
+  interpolated = (h00 * y0) + (h10 * (x1 - x0) * m0) + (h01 * y1) + (h11 * (x1 - x0) * m1)
+  return interpolated
+
+# Final functions to call
+def get_max_accel_hermite(v_ego: float, mode: str = "normal") -> float:
+  return float(hermite_interpolate(v_ego, MAX_ACCEL_BREAKPOINTS, MAX_ACCEL_PROFILES[mode], MAX_ACCEL_SLOPES, mode))
+
+def get_min_accel_hermite(v_ego: float, mode: str = "normal") -> float:
+  return float(hermite_interpolate(v_ego, MIN_ACCEL_BREAKPOINTS, MIN_ACCEL_PROFILES[mode], MIN_ACCEL_SLOPES, mode))
@@ -7,14 +7,17 @@ See the LICENSE.md file in the root directory for more details.

 from cereal import messaging, custom
 from opendbc.car import structs
+from openpilot.sunnypilot.models.helpers import get_active_model_runner
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
-
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import AccelController
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState


 class LongitudinalPlannerSP:
  def __init__(self, CP: structs.CarParams, mpc):
    self.dec = DynamicExperimentalController(CP, mpc)
+    self.accel_controller = AccelController()
+    self.is_stock = get_active_model_runner() == custom.ModelManagerSP.Runner.stock

  def get_mpc_mode(self) -> str | None:
    if not self.dec.active():
@@ -24,6 +27,7 @@ class LongitudinalPlannerSP:

  def update(self, sm: messaging.SubMaster) -> None:
    self.dec.update(sm)
+    self.accel_controller.update()

  def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
    plan_sp_send = messaging.new_message('longitudinalPlanSP')
@@ -24,7 +24,7 @@ class TestNNLCFingerprintBase:
    CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
    CI = CarInterface(CP, CP_SP)

-    sunnypilot_interfaces.setup_interfaces(CP, CP_SP, Params())
+    sunnypilot_interfaces.setup_interfaces(CI, Params())

    return CI

--- a/Show More
+++ b/Show More