Revert "mapd: improved system transforms GPS navigation from a basic "am I near a road?" check into an intelligent map matching system that understands movement patterns, GPS reliability, and road network"

This reverts commit ea1e521306.

.github/workflows/sunnypilot-build-prebuilt.yaml

@@ -9,6 +9,12 @@ env:
   
   # Branch configurations
   STAGING_C3_SOURCE_BRANCH: ${{ vars.STAGING_C3_SOURCE_BRANCH || 'master' }} # vars are set on repo settings.
+  DEV_C3_SOURCE_BRANCH: ${{ vars.DEV_C3_SOURCE_BRANCH || 'master-dev-c3-new' }} # vars are set on repo settings.
+  
+  # Target branch configurations
+  STAGING_TARGET_BRANCH: ${{ vars.STAGING_TARGET_BRANCH || 'staging-c3-new' }} # vars are set on repo settings.
+  DEV_TARGET_BRANCH: ${{ vars.DEV_TARGET_BRANCH || 'dev-c3-new' }} # vars are set on repo settings.
+  RELEASE_TARGET_BRANCH: ${{ vars.RELEASE_TARGET_BRANCH || 'release-c3-new' }} # vars are set on repo settings.
   
   # Runtime configuration
   SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
@@ -16,7 +22,7 @@ env:
 on:
   push:
     branches: [ master, master-dev-c3-new ]
-    tags: [ 'release/*' ]
+    tags: [ '*' ]
   pull_request_target:
     types: [ labeled ]
   workflow_dispatch:
@@ -28,72 +34,9 @@ on:
         default: false
 
 jobs:
-  prepare_strategy:
-    runs-on: ubuntu-24.04
-    if: (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-    outputs:
-      environment: ${{ steps.strategy.outputs.environment }}
-      new_branch: ${{ steps.strategy.outputs.new_branch }}
-      extra_version_identifier: ${{ steps.strategy.outputs.extra_version_identifier }}
-      version: ${{ steps.strategy.outputs.version }}
-      cancel_publish_in_progress: ${{ steps.strategy.outputs.cancel_publish_in_progress }}
-      publish_concurrency_group: ${{ steps.strategy.outputs.publish_concurrency_group }}
-      is_stable_branch: ${{ steps.strategy.outputs.is_stable_branch }}
-      build: ${{ steps.strategy.outputs.build }}
-    steps:
-      - uses: actions/checkout@v4
-      - name: Extract deploy strategy
-        id: strategy
-        run: |
-          echo '::group::Strategy Extraction'
-          BRANCH="${{ github.head_ref || github.ref_name }}"
-          echo "Current branch: $BRANCH"
-
-          STRATEGY_JSON='${{ vars.DEPLOY_STRATEGY }}'
-          CONFIG=$(echo "$STRATEGY_JSON" | jq -r --arg branch "$BRANCH" '
-            .configs[] | select(.branch == $branch)
-          ')
-
-          BUILD="$(date '+%Y.%m.%d')-${{ github.run_number }}"
-          if [[ -z "$CONFIG" || "$CONFIG" == "null" ]]; then
-            echo "No exact strategy match found. Falling back to feature/fork logic."
-            IS_FORK="${{ github.event.pull_request.head.repo.fork && 'true' || 'false' }}"
-            FORK_SUFFIX=$( [[ "$IS_FORK" == "true" ]] && echo "-fork" || echo "" )
-            NEW_BRANCH="${BRANCH}${FORK_SUFFIX}-prebuilt"
-
-            echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
-            echo "version=$BUILD" >> $GITHUB_OUTPUT
-            echo "cancel_publish_in_progress=true" >> $GITHUB_OUTPUT
-            echo "publish_concurrency_group=publish-${BRANCH}" >> $GITHUB_OUTPUT
-            echo "environment=feature-branch" >> $GITHUB_OUTPUT
-            echo "extra_version_identifier=feature-branch" >> $GITHUB_OUTPUT
-          else
-          echo "Matched config: $CONFIG"
-            environment=$(echo "$CONFIG" | jq -r '.environment')
-            echo "environment=$environment" >> $GITHUB_OUTPUT
-            echo "new_branch=$(echo "$CONFIG" | jq -r '.target_branch')" >> $GITHUB_OUTPUT
-            cancel="$(echo "$CONFIG" | jq -r '.cancel_publish_in_progress')";
-            echo "cancel_publish_in_progress=$( [ "$cancel" = "null" ] && echo "true" || echo $cancel)" >> $GITHUB_OUTPUT
-            echo "publish_concurrency_group=publish-${BRANCH}$( [ "$cancel" = "null" ] || [ "$cancel" = "true" ] || echo "${{ github.sha }}" )" >> $GITHUB_OUTPUT
-          
-            is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
-            echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
-
-            stable_version=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g');
-            echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
-            echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
-          fi
-          echo "build=$BUILD" >> $GITHUB_OUTPUT
-          cat $GITHUB_OUTPUT
-  
   validate_tests:
     runs-on: ubuntu-24.04
-    needs: [ prepare_strategy ]
-    if: ${{
-      ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) ||
-      (github.event_name == 'push' && needs.prepare_strategy.outputs.is_stable_branch == 'true') ||
-      contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-      }}
+    if: ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) || contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
     steps:
       - uses: actions/checkout@v4
       - name: Wait for Tests
@@ -101,26 +44,19 @@ jobs:
         with:
           workflow: selfdrive_tests.yaml # The workflow file to monitor
           github-token: ${{ secrets.GITHUB_TOKEN }}
-          should-wait-for-start: ${{ github.event_name == 'push' && 'true' || 'false' }}
 
   build:
-    needs: [ validate_tests, prepare_strategy ]
+    needs: [ validate_tests ]
     concurrency:
       group: build-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: false
     runs-on: [self-hosted, tici]
     outputs:
-      new_branch: ${{ needs.prepare_strategy.outputs.new_branch }}
-      version: ${{ needs.prepare_strategy.outputs.version }}
-      extra_version_identifier: ${{ needs.prepare_strategy.outputs.extra_version_identifier }}
-      commit_sha: ${{ github.sha }}
-    if: ${{
-      (always() && !cancelled() && !failure()) &&
-      needs.prepare_strategy.result == 'success' &&
-      (needs.validate_tests.result == 'success' || needs.validate_tests.result == 'skipped') &&
-      (!contains(github.event_name, 'pull_request') ||
-      (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) 
-      }}
+      new_branch: ${{ steps.set-env.outputs.new_branch }}
+      version: ${{ steps.set-env.outputs.version }}
+      extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
+      commit_sha: ${{ steps.set-env.outputs.commit_sha }}
+    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
     steps:
       - uses: actions/checkout@v4
         with:
@@ -141,12 +77,61 @@ jobs:
             scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_C3_SOURCE_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}
 
+      - name: Set Feature Branch Prebuilt Configuration
+        id: set_feature_configuration
+        if: (
+          !(env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH) &&
+          !(env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH) &&
+          !(startsWith(github.ref, 'refs/tags/'))
+          )
+        run: |
+          echo "NEW_BRANCH=${{ env.SOURCE_BRANCH }}${{ github.event.pull_request.head.repo.fork && '-fork' || '' }}-prebuilt" >> $GITHUB_ENV
+          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
+
+      - name: Set dev-c3-new prebuilt Configuration
+        id: set_dev_configuration
+        if: (
+          steps.set_feature_configuration.outcome == 'skipped' &&
+          env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH
+          )
+        run: |
+          echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
+          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
+          echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
+
+      - name: Set staging-c3-new prebuilt Configuration
+        id: set_staging_configuration
+        if: (
+          steps.set_feature_configuration.outcome == 'skipped' &&
+          !contains(github.event_name, 'pull_request') &&
+          steps.set_dev_configuration.outcome == 'skipped' &&
+          (env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH)
+          )
+        run: |
+          echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
+          echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
+          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV
+
+      - name: Set release-c3-new prebuilt Configuration
+        id: set_tag_configuration
+        if: (
+          steps.set_feature_configuration.outcome == 'skipped' &&
+          !contains(github.event_name, 'pull_request') &&
+          steps.set_staging_configuration.outcome == 'skipped' &&
+          startsWith(github.ref, 'refs/tags/')
+          )
+        run: |
+          echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
+          echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
+          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV
+
       - name: Set environment variables
         id: set-env
         run: |
-          echo "new_branch=${{ needs.prepare_strategy.outputs.new_branch }}" >> $GITHUB_OUTPUT
-          echo "version=${{ needs.prepare_strategy.outputs.version }}" >> $GITHUB_OUTPUT
-          echo "extra_version_identifier=${{ needs.prepare_strategy.outputs.extra_version_identifier }}" >> $GITHUB_OUTPUT
+          # Write to GITHUB_OUTPUT from environment variables
+          echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
+          [[ ! -z "$EXTRA_VERSION_IDENTIFIER" ]] && echo "extra_version_identifier=$EXTRA_VERSION_IDENTIFIER" >> $GITHUB_OUTPUT
+          [[ ! -z "$VERSION" ]] && echo "version=$VERSION" >> $GITHUB_OUTPUT
           echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
           
           # Set up common environment
@@ -241,19 +226,15 @@ jobs:
         if: always()
         run: |
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
-  
-  
+
   publish:
     concurrency:
-      # We do a bit of a hack here to avoid canceling the publishing job if a new commit comes in while we're publishing by adding the sha to the group name.
-      # This means that if multiple commits come in while we're publishing, they will be queued up and publish one after the other.
-      # Otherwise, if a job is waiting to be published due to environment wait time, it would be canceled by a new commit and restart the wait time.
-      group: ${{ needs.prepare_strategy.outputs.publish_concurrency_group }}
-      cancel-in-progress: ${{ needs.prepare_strategy.outputs.cancel_publish_in_progress == 'true' }}
-    if: ${{ (always() && !cancelled() && !failure()) && needs.build.result == 'success' && needs.prepare_strategy.result == 'success' && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
-    needs: [ build, prepare_strategy ]
+      group: publish-${{ github.head_ref || github.ref_name }}
+      cancel-in-progress: true
+    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+    needs: [ build ]
     runs-on: ubuntu-24.04
-    environment: ${{ needs.prepare_strategy.outputs.environment }}
+    environment: ${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }}
     steps:
       - uses: actions/checkout@v4
 
@@ -285,7 +266,7 @@ jobs:
             "${{ needs.build.outputs.new_branch }}" \
             "${{ needs.build.outputs.version }}" \
             "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
-            "${{ needs.build.outputs.extra_version_identifier }}"
+            "-${{ needs.build.outputs.extra_version_identifier }}"
 
           echo ""
           echo "----   ℹ️ To update the list of branches that auto deploy prebuilts  -----"
@@ -293,18 +274,11 @@ jobs:
           echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
           echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
           echo "3. Update as needed (JSON array with no spaces)"
-      
-      - name: Tag ${{ needs.prepare_strategy.outputs.environment }}
-        if: ${{ needs.prepare_strategy.outputs.is_stable_branch == 'true' && (github.event_name != 'push' || !startsWith(github.ref, 'refs/tags/')) }}
-        run: |
-            TAG="${{ needs.prepare_strategy.outputs.environment }}/${{ needs.prepare_strategy.outputs.version }}/${{ needs.prepare_strategy.outputs.build }}"
-            git tag -f -a ${TAG} -m "${{ needs.prepare_strategy.outputs.environment }} @ ${{ needs.prepare_strategy.outputs.version }} of build ${{ needs.build.outputs.build }}."
-            git push -f origin ${TAG}
 
   notify:
     needs: [ build, publish ]
     runs-on: ubuntu-24.04
-    if: ${{ (always() && !cancelled() && !failure()) && needs.publish.result == 'success' && !failure() && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
     steps:
       - uses: actions/checkout@v4
       - name: Setup Alpine Linux environment

cereal/custom.capnp

@@ -123,6 +123,9 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
 struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   dec @0 :DynamicExperimentalControl;
 
+  events @1 :List(OnroadEventSP.Event);
+  slc @2 :SpeedLimitControl;
+
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
     enabled @1 :Bool;
@@ -133,6 +136,23 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
       blended @1;
     }
   }
+
+  struct SpeedLimitControl {
+    state @0 :SpeedLimitControlState;
+    enabled @1 :Bool;
+    active @2 :Bool;
+    speedLimit @3 :Float32;
+    speedLimitOffset @4 :Float32;
+    distToSpeedLimit @5 :Float32;
+  }
+
+  enum SpeedLimitControlState {
+    inactive @0; # No speed limit set or not enabled by parameter.
+    tempInactive @1; # User wants to ignore speed limit until it changes.
+    preActive @2;
+    adapting @3; # Reducing speed to match new speed limit.
+    active @4; # Cruising at speed limit.
+  }
 }
 
 struct OnroadEventSP @0xda96579883444c35 {
@@ -172,6 +192,10 @@ struct OnroadEventSP @0xda96579883444c35 {
     experimentalModeSwitched @14;
     wrongCarModeAlertOnly @15;
     pedalPressedAlertOnly @16;
+    speedLimitPreActive @17;
+    speedLimitActive @18;
+    speedLimitConfirmed @19;
+    speedLimitValueChange @20;
   }
 }
 
@@ -247,6 +271,7 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
 }
 
 struct CarStateSP @0xb86e6369214c01c8 {
+  speedLimit @0 :Float32;  # m/s
 }
 
 struct LiveMapDataSP @0xf416ec09499d9d19 {

common/params_keys.h

@@ -216,4 +216,14 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OsmStateTitle", {PERSISTENT, STRING}},
     {"OsmWayTest", {PERSISTENT, STRING}},
     {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
+
+    // Speed Limit Control
+    {"SpeedLimitControl", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"SpeedLimitControlPolicy", {PERSISTENT | BACKUP, INT, "3"}},
+    {"SpeedLimitEngageType", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SpeedLimitOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SpeedLimitValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SpeedLimitWarningType", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SpeedLimitWarningOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SpeedLimitWarningValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
 };

docs/CARS.md

@@ -4,13 +4,12 @@
 
 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.
 
-# 334 Supported Cars
+# 326 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
-|Acura|MDX 2025|All except Type S|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
 |Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
 |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
@@ -73,15 +72,12 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Accord 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
+|Honda|Accord 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
-|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-21">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
@@ -89,9 +85,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector + Honda Clarity Proxy Board<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://shop.retropilot.org/product/honda-clarity-proxy-board-kit">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
-|Honda|CR-V 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-25">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
 |Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
@@ -102,7 +96,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
-|Honda|Pilot 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
 |Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-25">Buy Here</a></sub></details>|||
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera 2022">Buy Here</a></sub></details>|||
 |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2019">Buy Here</a></sub></details>|||
@@ -127,7 +120,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
-|Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022-23">Buy Here</a></sub></details>|||
+|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -305,7 +298,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Wildlander PHEV 2021|All|openpilot|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Wildlander PHEV 2021">Buy Here</a></sub></details>|||
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||

launch_openpilot.sh

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

release/ci/publish.sh

@@ -51,19 +51,26 @@ git fetch origin $DEV_BRANCH || (git checkout -b $DEV_BRANCH && git commit --all
 
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
+git commit -a -m "sunnypilot v$VERSION release"
+git branch --set-upstream-to=origin/$DEV_BRANCH
 
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/common/version.h)
+SP_VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
 
-# Commit with detailed message
-git commit -a -m "sunnypilot v$VERSION
-version: sunnypilot v$SP_VERSION (${EXTRA_VERSION_IDENTIFIER})
-date: $DATETIME
-master commit: $GIT_HASH
-"
-git branch --set-upstream-to=origin/$DEV_BRANCH
+# Add built files to git
+git add -f .
+if [ "$EXTRA_VERSION_IDENTIFIER" = "-release" ] || [ "$EXTRA_VERSION_IDENTIFIER" = "-staging" ]; then
+  export VERSION=${VERSION%"$EXTRA_VERSION_IDENTIFIER"}
+  git commit --amend -m "sunnypilot v$VERSION"
+else
+  git commit --amend -m "sunnypilot v$VERSION
+  version: sunnypilot v$SP_VERSION release
+  date: $DATETIME
+  master commit: $GIT_HASH
+  "
+fi
 git branch -m $DEV_BRANCH
 
 # Push!

selfdrive/controls/controlsd.py

@@ -95,8 +95,6 @@ class Controls(ControlsExt, ModelStateBase):
         self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
                                            torque_params.frictionCoefficientFiltered)
 
-        self.LaC.extension.update_limits()
-
       self.LaC.extension.update_model_v2(self.sm['modelV2'])
 
       self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)

selfdrive/controls/lib/latcontrol_torque.py

@@ -35,7 +35,7 @@ class LatControlTorque(LatControl):
     self.update_limits()
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
 
-    self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)
+    self.extension = LatControlTorqueExt(self, CP, CP_SP)
 
   def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
     self.torque_params.latAccelFactor = latAccelFactor
@@ -73,6 +73,12 @@ class LatControlTorque(LatControl):
       ff = gravity_adjusted_lateral_accel
       ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
 
+      # Lateral acceleration torque controller extension updates
+      # Overrides stock ff and pid_log.error
+      ff, pid_log = self.extension.update(CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
+                                          desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
+                                          desired_curvature, actual_curvature)
+
       freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
       output_lataccel = self.pid.update(pid_log.error,
                                       feedforward=ff,
@@ -80,12 +86,6 @@ class LatControlTorque(LatControl):
                                       freeze_integrator=freeze_integrator)
       output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
 
-      # Lateral acceleration torque controller extension updates
-      # Overrides pid_log.error and output_torque
-      pid_log, output_torque = self.extension.update(CS, VM, self.pid, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
-                                                     desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
-                                                     desired_curvature, actual_curvature, steer_limited_by_safety, output_torque)
-
       pid_log.active = True
       pid_log.p = float(self.pid.p)
       pid_log.i = float(self.pid.i)

selfdrive/controls/lib/longitudinal_planner.py

@@ -146,6 +146,9 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
       clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
       accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)
 
+    # Get new v_cruise from Speed Limit Control
+    v_cruise = LongitudinalPlannerSP.update_v_cruise(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)
+
     if force_slow_decel:
       v_cruise = 0.0
 

selfdrive/controls/plannerd.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 from cereal import car
+from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
@@ -16,10 +17,13 @@ def main():
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("plannerd got CarParams: %s", CP.brand)
 
+  gps_location_service = get_gps_location_service(params)
+
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
+                            'liveMapDataSP', 'carStateSP', gps_location_service],
                            poll='modelV2')
 
   while True:

selfdrive/selfdrived/selfdrived.py

@@ -96,7 +96,7 @@ class SelfdriveD(CruiseHelper):
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                    'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback'] + \
-                                   self.camera_packets + self.sensor_packets + self.gps_packets,
+                                   self.camera_packets + self.sensor_packets + self.gps_packets + ["longitudinalPlanSP"],
                                   ignore_alive=ignore, ignore_avg_freq=ignore,
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))
 
@@ -209,6 +209,7 @@ class SelfdriveD(CruiseHelper):
 
     if not self.CP.notCar:
       self.events.add_from_msg(self.sm['driverMonitoringState'].events)
+      self.events_sp.add_from_msg(self.sm['longitudinalPlanSP'].events)
 
     # Add car events, ignore if CAN isn't valid
     if CS.canValid:

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -67,6 +67,9 @@ class Plant:
     lp = messaging.new_message('liveParameters')
     car_control = messaging.new_message('carControl')
     model = messaging.new_message('modelV2')
+    car_state_sp = messaging.new_message('carStateSP')
+    live_map_data_sp = messaging.new_message('liveMapDataSP')
+    gps_data = messaging.new_message('gpsLocation')
     a_lead = (v_lead - self.v_lead_prev)/self.ts
     self.v_lead_prev = v_lead
 
@@ -133,7 +136,10 @@ class Plant:
           'controlsState': control.controlsState,
           'selfdriveState': ss.selfdriveState,
           'liveParameters': lp.liveParameters,
-          'modelV2': model.modelV2}
+          'modelV2': model.modelV2,
+          'carStateSP': car_state_sp.carStateSP,
+          'liveMapDataSP': live_map_data_sp.liveMapDataSP,
+          'gpsLocation': gps_data.gpsLocation}
     self.planner.update(sm)
     self.acceleration = self.planner.output_a_target
     self.speed = self.speed + self.acceleration * self.ts

selfdrive/ui/sunnypilot/SConscript

@@ -4,7 +4,6 @@ widgets_src = [
   "sunnypilot/qt/widgets/controls.cc",
   "sunnypilot/qt/widgets/drive_stats.cc",
   "sunnypilot/qt/widgets/expandable_row.cc",
-  "sunnypilot/qt/widgets/external_storage.cc",
   "sunnypilot/qt/widgets/prime.cc",
   "sunnypilot/qt/widgets/scrollview.cc",
   "sunnypilot/qt/network/networking.cc",
@@ -53,6 +52,10 @@ lateral_panel_qt_src = [
 
 longitudinal_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.cc",
+  "sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.cc",
+  "sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_policy.cc",
+  "sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_subpanel.cc",
+  "sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_warning.cc",
 ]
 
 network_src = [

selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc

@@ -5,14 +5,9 @@
  * See the LICENSE.md file in the root directory for more details.
  */
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/external_storage.h"
 
 DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(parent) {
 
-  #ifndef __APPLE__
-  addItem(new ExternalStorageControl());
-  #endif
-
   // Advanced Controls Toggle
   showAdvancedControls = new ParamControlSP("ShowAdvancedControls", tr("Show Advanced Controls"), tr("Toggle visibility of advanced sunnypilot controls.\nThis only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state."), "");
   addItem(showAdvancedControls);

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.cc

@@ -0,0 +1,25 @@
+/**
+ * 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/slc/speed_limit_control.h"
+
+SpeedLimitControl::SpeedLimitControl(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent)
+    : ExpandableToggleRow(param, title, desc, icon, parent) {
+
+  auto *slcFrame = new QFrame(this);
+  auto *slcFrameLayout = new QVBoxLayout();
+  slcFrame->setLayout(slcFrameLayout);
+  slcFrameLayout->setSpacing(0);
+  slcFrameLayout->setContentsMargins(0, 0, 0, 0);
+
+  slcSettings = new PushButtonSP(tr("Customize SLC"));
+  slcFrameLayout->addWidget(slcSettings);
+  connect(slcSettings, &QPushButton::clicked, [&]() {
+    emit slcSettingsButtonClicked();
+  });
+  addItem(slcFrame);
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.h

@@ -0,0 +1,77 @@
+/*
+ * 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"
+#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
+
+enum class SLCEngageType {
+  AUTO,
+  USER_CONFIRM,
+};
+
+inline const char *SLCEngageTypeText[]{
+  QT_TR_NOOP("Auto"),
+  QT_TR_NOOP("User Confirm")
+};
+
+enum class SLCOffsetType {
+  NONE,
+  FIXED,
+  PERCENT,
+};
+
+inline const char *SLCOffsetTypeText[]{
+  QT_TR_NOOP("None"),
+  QT_TR_NOOP("Fixed"),
+  QT_TR_NOOP("Percent"),
+};
+
+enum class SLCWarningType {
+  OFF,
+  DISPLAY,
+  CHIME,
+};
+
+inline const char *SLCWarningTypeText[]{
+  QT_TR_NOOP("Off"),
+  QT_TR_NOOP("Display"),
+  QT_TR_NOOP("Chime")
+};
+
+enum class SLCSourcePolicy {
+  CAR_ONLY,
+  MAP_ONLY,
+  CAR_FIRST,
+  MAP_FIRST,
+  COMBINED
+};
+
+inline const char *SLCSourcePolicyText[]{
+  QT_TR_NOOP("Car\nOnly"),
+  QT_TR_NOOP("Map\nOnly"),
+  QT_TR_NOOP("Car\nFirst"),
+  QT_TR_NOOP("Map\nFirst"),
+  QT_TR_NOOP("Combined\nData")
+};
+
+class SpeedLimitControl : public ExpandableToggleRow {
+  Q_OBJECT
+
+public:
+  SpeedLimitControl(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr);
+
+signals:
+  void slcSettingsButtonClicked();
+
+private:
+  Params params;
+  PushButtonSP *slcSettings;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_policy.cc

@@ -0,0 +1,53 @@
+/*
+ * 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/slc/speed_limit_control_policy.h"
+
+SpeedLimitControlPolicy::SpeedLimitControlPolicy(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+  main_layout->setSpacing(0);
+
+  // Back button
+  PanelBackButton *back = new PanelBackButton(tr("Back"));
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  main_layout->addWidget(back, 0, Qt::AlignLeft);
+
+  main_layout->addSpacing(10);
+
+  ListWidgetSP *list = new ListWidgetSP(this, true);
+
+  std::vector<QString> slc_policy_texts{
+    SLCSourcePolicyText[static_cast<int>(SLCSourcePolicy::CAR_ONLY)],
+    SLCSourcePolicyText[static_cast<int>(SLCSourcePolicy::MAP_ONLY)],
+    SLCSourcePolicyText[static_cast<int>(SLCSourcePolicy::CAR_FIRST)],
+    SLCSourcePolicyText[static_cast<int>(SLCSourcePolicy::MAP_FIRST)],
+    SLCSourcePolicyText[static_cast<int>(SLCSourcePolicy::COMBINED)]
+  };
+  slc_policy = new ButtonParamControlSP(
+    "SpeedLimitControlPolicy",
+    tr("Speed Limit Source"),
+    "",
+    "",
+    slc_policy_texts,
+    250);
+  list->addItem(slc_policy);
+  connect(slc_policy, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitControlPolicy::refresh);
+
+  refresh();
+  main_layout->addWidget(list);
+};
+
+void SpeedLimitControlPolicy::refresh() {
+  SLCSourcePolicy policy_param = static_cast<SLCSourcePolicy>(std::atoi(params.get("SpeedLimitControlPolicy").c_str()));
+  slc_policy->setDescription(sourceDescription(policy_param));
+}
+
+void SpeedLimitControlPolicy::showEvent(QShowEvent *event) {
+  refresh();
+  slc_policy->showDescription();
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_policy.h

@@ -0,0 +1,56 @@
+/*
+ * 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/offroad/settings/longitudinal/slc/speed_limit_control.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class SpeedLimitControlPolicy : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit SpeedLimitControlPolicy(QWidget *parent = nullptr);
+  void refresh();
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void backPress();
+
+private:
+  Params params;
+  ButtonParamControlSP *slc_policy;
+
+  static QString sourceDescription(SLCSourcePolicy type = SLCSourcePolicy::CAR_ONLY) {
+    QString car_only = tr("⦿ Car Only: Use Speed Limit data only from Car");
+    QString map_only = tr("⦿ Map Only: Use Speed Limit data only from OpenStreetMaps");
+    QString car_first = tr("⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps");
+    QString map_first = tr("⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car");
+    QString combined = tr("⦿ Combined: Use combined Speed Limit data from Car & OpenStreetMaps");
+
+    if (type == SLCSourcePolicy::CAR_ONLY) {
+      car_only = "<font color='white'><b>" + car_only + "</b></font>";
+    } else if (type == SLCSourcePolicy::MAP_ONLY) {
+      map_only = "<font color='white'><b>" + map_only + "</b></font>";
+    } else if (type == SLCSourcePolicy::CAR_FIRST) {
+      car_first = "<font color='white'><b>" + car_first + "</b></font>";
+    } else if (type == SLCSourcePolicy::MAP_FIRST) {
+      map_first = "<font color='white'><b>" + map_first + "</b></font>";
+    } else {
+      combined = "<font color='white'><b>" + combined + "</b></font>";
+    }
+
+    return QString("%1<br>%2<br>%3<br>%4<br>%5")
+        .arg(car_only)
+        .arg(map_only)
+        .arg(car_first)
+        .arg(map_first)
+        .arg(combined);
+  }
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_subpanel.cc

@@ -0,0 +1,142 @@
+/*
+ * 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/slc/speed_limit_control_subpanel.h"
+
+SpeedLimitControlSubpanel::SpeedLimitControlSubpanel(QWidget *parent) : QStackedWidget(parent) {
+  subPanelFrame = new QFrame();
+  QVBoxLayout *subPanelLayout = new QVBoxLayout(subPanelFrame);
+  subPanelLayout->setContentsMargins(0, 0, 0, 0);
+  subPanelLayout->setSpacing(0);
+
+  // Back button
+  PanelBackButton *back = new PanelBackButton(tr("Back"));
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  subPanelLayout->addWidget(back, 0, Qt::AlignLeft);
+
+  subPanelLayout->addSpacing(20);
+
+  ListWidgetSP *list = new ListWidgetSP(this, true);
+
+  auto *slcBtnFrame = new QFrame(this);
+  auto *slcBtnFrameLayout = new QGridLayout();
+  slcBtnFrame->setLayout(slcBtnFrameLayout);
+  slcBtnFrameLayout->setContentsMargins(0, 40, 0, 40);
+  slcBtnFrameLayout->setSpacing(0);
+
+  slcWarningScreen = new SpeedLimitControlWarning(this);
+  slcPolicyScreen = new SpeedLimitControlPolicy(this);
+
+  slcWarningControl = new PushButtonSP(tr("Customize Warning"));
+  connect(slcWarningControl, &QPushButton::clicked, [&]() {
+    setCurrentWidget(slcWarningScreen);
+    slcWarningScreen->refresh();
+  });
+  connect(slcWarningScreen, &SpeedLimitControlWarning::backPress, [&]() {
+    setCurrentWidget(subPanelFrame);
+    showEvent(new QShowEvent());
+  });
+
+  slcSourceControl = new PushButtonSP(tr("Customize Source"));
+  connect(slcSourceControl, &QPushButton::clicked, [&]() {
+    setCurrentWidget(slcPolicyScreen);
+    slcPolicyScreen->refresh();
+  });
+  connect(slcPolicyScreen, &SpeedLimitControlPolicy::backPress, [&]() {
+    setCurrentWidget(subPanelFrame);
+    showEvent(new QShowEvent());
+  });
+
+  slcWarningControl->setFixedWidth(720);
+  slcSourceControl->setFixedWidth(720);
+  slcBtnFrameLayout->addWidget(slcWarningControl, 0, 0, Qt::AlignLeft);
+  slcBtnFrameLayout->addWidget(slcSourceControl, 0, 1, Qt::AlignRight);
+  list->addItem(slcBtnFrame);
+
+
+  std::vector<QString> slc_engage_texts{
+    SLCEngageTypeText[static_cast<int>(SLCEngageType::AUTO)],
+    SLCEngageTypeText[static_cast<int>(SLCEngageType::USER_CONFIRM)]
+  };
+  slc_engage_setting = new ButtonParamControlSP(
+    "SpeedLimitEngageType",
+    tr("Engage Mode"),
+    "",
+    "",
+    slc_engage_texts,
+    500);
+  slc_engage_setting->showDescription();
+  list->addItem(slc_engage_setting);
+
+  QFrame *offsetFrame = new QFrame(this);
+  QVBoxLayout *offsetLayout = new QVBoxLayout(offsetFrame);
+
+  std::vector<QString> slc_offset_texts{
+    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::NONE)],
+    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::FIXED)],
+    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::PERCENT)]
+  };
+  slc_offset_setting = new ButtonParamControlSP(
+    "SpeedLimitOffsetType",
+    tr("Speed Limit Offset"),
+    "",
+    "",
+    slc_offset_texts,
+    500);
+
+  offsetLayout->addWidget(slc_offset_setting);
+
+  slc_offset = new OptionControlSP(
+    "SpeedLimitValueOffset",
+    "",
+    "",
+    "",
+    {-30, 30}
+    );
+  offsetLayout->addWidget(slc_offset);
+
+  list->addItem(offsetFrame);
+
+  connect(slc_offset, &OptionControlSP::updateLabels, this, &SpeedLimitControlSubpanel::refresh);
+  connect(slc_offset_setting, &ButtonParamControlSP::showDescriptionEvent, slc_offset, &OptionControlSP::showDescription);
+  connect(slc_engage_setting, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitControlSubpanel::refresh);
+  connect(slc_offset_setting, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitControlSubpanel::refresh);
+
+  refresh();
+  subPanelLayout->addWidget(list);
+  addWidget(subPanelFrame);
+  addWidget(slcWarningScreen);
+  addWidget(slcPolicyScreen);
+  setCurrentWidget(subPanelFrame);
+};
+
+void SpeedLimitControlSubpanel::refresh() {
+  SLCEngageType engage_type_param = static_cast<SLCEngageType>(std::atoi(params.get("SpeedLimitEngageType").c_str()));
+  SLCOffsetType offset_type_param = static_cast<SLCOffsetType>(std::atoi(params.get("SpeedLimitOffsetType").c_str()));
+  QString offsetLabel = QString::fromStdString(params.get("SpeedLimitValueOffset"));
+
+  slc_engage_setting->setDescription(engageModeDescription(engage_type_param));
+  slc_offset->setDescription(offsetDescription(offset_type_param));
+
+  if (offset_type_param == SLCOffsetType::PERCENT) {
+    offsetLabel += "%";
+  }
+
+  if (offset_type_param == SLCOffsetType::NONE) {
+    slc_offset->setVisible(false);
+  } else {
+    slc_offset->setVisible(true);
+    slc_offset->setLabel(offsetLabel);
+    slc_offset->showDescription();
+  }
+}
+
+void SpeedLimitControlSubpanel::showEvent(QShowEvent *event) {
+  refresh();
+  slc_engage_setting->showDescription();
+  slc_offset->showDescription();
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_subpanel.h

@@ -0,0 +1,72 @@
+/*
+ * 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/offroad/settings/longitudinal/slc/speed_limit_control.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_policy.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_warning.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class SpeedLimitControlSubpanel : public QStackedWidget {
+  Q_OBJECT
+
+public:
+  SpeedLimitControlSubpanel(QWidget *parent = nullptr);
+  void refresh();
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void backPress();
+
+private:
+  Params params;
+  QFrame *subPanelFrame;
+  PushButtonSP *slcWarningControl;
+  PushButtonSP *slcSourceControl;
+  ButtonParamControlSP *slc_offset_setting;
+  OptionControlSP *slc_offset;
+  ButtonParamControlSP *slc_engage_setting;
+  SpeedLimitControlWarning *slcWarningScreen;
+  SpeedLimitControlPolicy *slcPolicyScreen;
+
+  static QString engageModeDescription(SLCEngageType type = SLCEngageType::AUTO) {
+    QString auto_str = tr("⦿ Auto: Automatic speed adjustment based on speed limit data");
+    QString user_str = tr("⦿ User Confirm: Asks driver to confirm speed adjustment based on speed limit data");
+
+    if (type == SLCEngageType::USER_CONFIRM) {
+      user_str = "<font color='white'><b>" + user_str + "</b></font>";
+    } else {
+      auto_str = "<font color='white'><b>" + auto_str + "</b></font>";
+    }
+
+    return QString("%1<br>%2")
+        .arg(auto_str)
+        .arg(user_str);
+  }
+
+  static QString offsetDescription(SLCOffsetType type = SLCOffsetType::NONE) {
+    QString none_str = tr("⦿ None: No Offset");
+    QString fixed_str = tr("⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]");
+    QString percent_str = tr("⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]");
+
+    if (type == SLCOffsetType::FIXED) {
+      fixed_str = "<font color='white'><b>" + fixed_str + "</b></font>";
+    } else if (type == SLCOffsetType::PERCENT) {
+      percent_str = "<font color='white'><b>" + percent_str + "</b></font>";
+    } else {
+      none_str = "<font color='white'><b>" + none_str + "</b></font>";
+    }
+
+    return QString("%1<br>%2<br>%3")
+        .arg(none_str)
+        .arg(fixed_str)
+        .arg(percent_str);
+  }
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_warning.cc

@@ -0,0 +1,100 @@
+/*
+ * 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/slc/speed_limit_control_warning.h"
+
+SpeedLimitControlWarning::SpeedLimitControlWarning(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+  main_layout->setSpacing(0);
+
+  // Back button
+  PanelBackButton *back = new PanelBackButton(tr("Back"));
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  main_layout->addWidget(back, 0, Qt::AlignLeft);
+
+  main_layout->addSpacing(10);
+
+  ListWidgetSP *list = new ListWidgetSP(this, true);
+
+  std::vector<QString> slc_warning_texts{
+    SLCWarningTypeText[static_cast<int>(SLCWarningType::OFF)],
+    SLCWarningTypeText[static_cast<int>(SLCWarningType::DISPLAY)],
+    SLCWarningTypeText[static_cast<int>(SLCWarningType::CHIME)]
+  };
+  slc_warning_settings = new ButtonParamControlSP(
+    "SpeedLimitWarningType", tr("Speed Limit Warning"),
+    "",
+    "",
+    slc_warning_texts,
+    300);
+  list->addItem(slc_warning_settings);
+
+  QFrame *offsetFrame = new QFrame(this);
+  QVBoxLayout *offsetLayout = new QVBoxLayout(offsetFrame);
+
+  std::vector<QString> slc_warning_offset_texts{
+    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::NONE)],
+    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::FIXED)],
+    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::PERCENT)]
+  };
+  slc_warning_offset_settings = new ButtonParamControlSP(
+    "SpeedLimitWarningOffsetType",
+    tr("Warning Offset"),
+    "",
+    "",
+    slc_warning_offset_texts,
+    300);
+  offsetLayout->addWidget(slc_warning_offset_settings);
+
+  slc_warning_offset = new OptionControlSP(
+    "SpeedLimitWarningValueOffset",
+    "",
+    "",
+    "",
+    {-30, 30}
+  );
+  slc_warning_offset->setFixedWidth(100);
+  offsetLayout->addWidget(slc_warning_offset);
+
+  list->addItem(offsetFrame);
+
+  connect(slc_warning_offset, &OptionControlSP::updateLabels, this, &SpeedLimitControlWarning::refresh);
+  connect(slc_warning_offset_settings, &ButtonParamControlSP::showDescriptionEvent, slc_warning_offset, &OptionControlSP::showDescription);
+  connect(slc_warning_settings, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitControlWarning::refresh);
+  connect(slc_warning_offset_settings, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitControlWarning::refresh);
+
+  refresh();
+  main_layout->addWidget(list);
+};
+
+void SpeedLimitControlWarning::refresh() {
+  SLCWarningType warning_type_param = static_cast<SLCWarningType>(std::atoi(params.get("SpeedLimitWarningType").c_str()));
+  SLCOffsetType offset_type_param = static_cast<SLCOffsetType>(std::atoi(params.get("SpeedLimitWarningOffsetType").c_str()));
+  QString offsetLabel = QString::fromStdString(params.get("SpeedLimitWarningValueOffset"));
+
+  slc_warning_settings->setDescription(warningDescription(warning_type_param));
+  slc_warning_offset->setDescription(offsetDescription(offset_type_param));
+
+  if (offset_type_param == SLCOffsetType::PERCENT) {
+    offsetLabel += "%";
+  }
+
+  if (offset_type_param == SLCOffsetType::NONE) {
+    slc_warning_offset->setDisabled(true);
+    slc_warning_offset->setLabel(tr("N/A"));
+  } else {
+    slc_warning_offset->setDisabled(false);
+    slc_warning_offset->setLabel(offsetLabel);
+  }
+}
+
+void SpeedLimitControlWarning::showEvent(QShowEvent *event) {
+  refresh();
+  slc_warning_settings->showDescription();
+  slc_warning_offset->showDescription();
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_warning.h

@@ -0,0 +1,71 @@
+/*
+ * 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/offroad/settings/longitudinal/slc/speed_limit_control.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class SpeedLimitControlWarning : public QWidget {
+  Q_OBJECT
+
+public:
+  SpeedLimitControlWarning(QWidget *parent = nullptr);
+
+  void refresh();
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void backPress();
+
+private:
+  Params params;
+
+  ButtonParamControlSP *slc_warning_settings;
+  ButtonParamControlSP *slc_warning_offset_settings;
+  OptionControlSP *slc_warning_offset;
+
+  static QString warningDescription(SLCWarningType type = SLCWarningType::OFF) {
+    QString off_str = tr("⦿ Off: No Warning");
+    QString display_str = tr("⦿ Display: Speed Limit Sign will visually alert");
+    QString chime_str = tr("⦿ Chime: Speed Limit Sign will visually alert along with an audible chime");
+
+    if (type == SLCWarningType::DISPLAY) {
+      display_str = "<font color='white'><b>" + display_str + "</b></font>";
+    } else if (type == SLCWarningType::CHIME) {
+      chime_str = "<font color='white'><b>" + chime_str + "</b></font>";
+    } else {
+      off_str = "<font color='white'><b>" + off_str + "</b></font>";
+    }
+
+    return QString("%1<br>%2<br>%3")
+        .arg(off_str)
+        .arg(display_str)
+        .arg(chime_str);
+  }
+
+  static QString offsetDescription(SLCOffsetType type = SLCOffsetType::NONE) {
+    QString none_str = tr("⦿ None: No Offset");
+    QString fixed_str = tr("⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]");
+    QString percent_str = tr("⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]");
+
+    if (type == SLCOffsetType::FIXED) {
+      fixed_str = "<font color='white'><b>" + fixed_str + "</b></font>";
+    } else if (type == SLCOffsetType::PERCENT) {
+      percent_str = "<font color='white'><b>" + percent_str + "</b></font>";
+    } else {
+      none_str = "<font color='white'><b>" + none_str + "</b></font>";
+    }
+
+    return QString("%1<br>%2<br>%3")
+        .arg(none_str)
+        .arg(fixed_str)
+        .arg(percent_str);
+  }
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc

@@ -8,6 +8,21 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"
 
 LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
+  setStyleSheet(R"(
+    #back_btn {
+      font-size: 50px;
+      margin: 0px;
+      padding: 15px;
+      border-width: 0;
+      border-radius: 30px;
+      color: #dddddd;
+      background-color: #393939;
+    }
+    #back_btn:pressed {
+      background-color:  #4a4a4a;
+    }
+  )");
+
   main_layout = new QStackedLayout(this);
   ListWidget *list = new ListWidget(this, false);
 
@@ -23,7 +38,28 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &LongitudinalPanel::refresh);
 
+  slcControl = new SpeedLimitControl(
+    "SpeedLimitControl",
+    tr("Speed Limit Control (SLC)"),
+    tr("When you engage ACC, you will be prompted to set the cruising speed to the speed limit of the road adjusted by the Offset and Source Policy specified, or the current driving speed. "
+      "The maximum cruising speed will always be the MAX set speed."),
+    "",
+    this);
+  list->addItem(slcControl);
+
+  connect(slcControl, &SpeedLimitControl::slcSettingsButtonClicked, [=]() {
+    cruisePanelScroller->setLastScrollPosition();
+    main_layout->setCurrentWidget(slcScreen);
+  });
+
+  slcScreen = new SpeedLimitControlSubpanel(this);
+  connect(slcScreen, &SpeedLimitControlSubpanel::backPress, [=]() {
+    cruisePanelScroller->restoreScrollPosition();
+    main_layout->setCurrentWidget(cruisePanelScreen);
+  });
+
   main_layout->addWidget(cruisePanelScreen);
+  main_layout->addWidget(slcScreen);
   main_layout->setCurrentWidget(cruisePanelScreen);
   refresh(offroad);
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h

@@ -8,8 +8,11 @@
 #pragma once
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_subpanel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
 
 class LongitudinalPanel : public QWidget {
   Q_OBJECT
@@ -29,4 +32,6 @@ private:
   ScrollViewSP *cruisePanelScroller = nullptr;
   QWidget *cruisePanelScreen = nullptr;
   CustomAccIncrement *customAccIncrement = nullptr;
+  SpeedLimitControlSubpanel *slcScreen;
+  SpeedLimitControl *slcControl;
 };

selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc

@@ -34,27 +34,6 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   vlayout->setContentsMargins(50, 20, 50, 20);
 
   auto *list = new ListWidget(this, false);
-
-  QVBoxLayout *titleLayout = new QVBoxLayout;
-  QLabel *title = new QLabel(tr("🚀 sunnylink 🚀"));
-  title->setStyleSheet("font-size: 90px; font-weight: 500; font-family: 'Noto Color Emoji';");
-  titleLayout->addWidget(title, 0, Qt::AlignCenter);
-
-  QLabel *sunnylinkDesc = new QLabel("<div align='center'><font color='green'>"+
-    tr("For secure backup, restore, and remote configuration")+ "</font></div>");
-
-  QLabel *sponsorMsg = new QLabel("<div align='center'><font color='orange'>"+
-    tr("Sponsorship isn't required for basic backup/restore") + "<br>" +
-       tr("Click the sponsor button for more details")+ "</font></div>");
-
-  sunnylinkDesc->setStyleSheet("font-size: 40px; font-weight: 100; font-family: 'Noto';");
-  sponsorMsg->setStyleSheet("font-size: 35px; font-weight: 100; font-family: 'Noto';");
-
-  titleLayout->addWidget(sunnylinkDesc, 0, Qt::AlignCenter);
-  titleLayout->addWidget(sponsorMsg, 0, Qt::AlignCenter);
-
-  list->addItem(titleLayout);
-
   QString sunnylinkEnabledBtnDesc = tr("This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.");
   sunnylinkEnabledBtn = new ParamControl(
     "SunnylinkEnabled",

selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc

@@ -18,6 +18,7 @@ ExpandableToggleRow::ExpandableToggleRow(const QString &param, const QString &ti
   collapsibleWidget->setVisible(false);
   QVBoxLayout *collapsible_layout = new QVBoxLayout();
   collapsibleWidget->setLayout(collapsible_layout);
+  collapsible_layout->setContentsMargins(0, 20, 0, 20);
 
   list = new ListWidgetSP(this, false);
 

selfdrive/ui/sunnypilot/qt/widgets/external_storage.cc

@@ -1,170 +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.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/widgets/external_storage.h"
-
-#include <QProcess>
-#include <QCoreApplication>
-#include <QShowEvent>
-#include <QTimer>
-#include <QtConcurrent>
-
-#include "common/params.h"
-#include "selfdrive/ui/qt/api.h"
-#include "selfdrive/ui/qt/widgets/input.h"
-#include "selfdrive/ui/sunnypilot/ui.h"
-
-ExternalStorageControl::ExternalStorageControl() :
-  ButtonControl(tr("External Storage"), "", tr("Extend your comma device's storage by inserting a USB drive into the aux port.")) {
-
-  QObject::connect(this, &ButtonControl::clicked, [=]() {
-    if (text() == tr("CHECK") || text() == tr("MOUNT")) {
-      mountStorage();
-    } else if (text() == tr("UNMOUNT")) {
-      unmountStorage();
-    } else if (text() == tr("FORMAT")) {
-      if (ConfirmationDialog::confirm(tr("Are you sure you want to format this drive? This will erase all data."), tr("Format"), this)) {
-        formatStorage();
-      }
-    }
-  });
-
-  QObject::connect(uiState(), &UIState::offroadTransition, this, &ExternalStorageControl::updateState);
-  updateState(!uiState()->scene.started);
-
-  refresh();
-}
-
-void ExternalStorageControl::updateState(bool offroad) {
-  setEnabled(offroad);
-}
-
-void ExternalStorageControl::debouncedRefresh() {
-  if (refreshPending) return;
-  refreshPending = true;
-
-  QTimer::singleShot(250, this, [=]() {
-    refreshPending = false;
-    refresh();
-  });
-}
-
-void ExternalStorageControl::refresh() {
-  QtConcurrent::run([=]() {
-    auto run = [](const QString &cmd) {
-      QProcess p;
-      p.start("sh", QStringList() << "-c" << cmd);
-      p.waitForFinished();
-      return p.exitCode() == 0;
-    };
-
-    bool isMounted = run("findmnt -n /mnt/external_realdata");
-    bool hasDrive = run("lsblk -f /dev/sdg");
-    bool hasFs = run("lsblk -f /dev/sdg1 | grep -q ext4");
-    bool hasLabel = run("sudo blkid /dev/sdg1 | grep -q 'LABEL=\"openpilot\"'");
-
-    QString info;
-    if (isMounted && hasLabel) {
-      QProcess df;
-      df.start("sh", QStringList() << "-c" << "df -h /mnt/external_realdata | awk 'NR==2 {print $3 \"/\" $2}'");
-      df.waitForFinished();
-      info = df.readAllStandardOutput().trimmed();
-    }
-
-    QMetaObject::invokeMethod(this, [=]() {
-      if (formatting) {
-        setValue(tr("formatting"));
-        setText(tr("FORMAT"));
-        setEnabled(false);
-      } else {
-        if (!hasDrive) {
-          setValue(tr("insert drive"));
-          setText(tr("CHECK"));
-        } else if (!hasFs || !hasLabel) {
-          setValue(tr("needs format"));
-          setText(tr("FORMAT"));
-        } else if (isMounted) {
-          setValue(info);
-          setText(tr("UNMOUNT"));
-        } else {
-          setValue("drive detected");
-          setText(tr("MOUNT"));
-        }
-        updateState(!uiState()->scene.started);
-      }
-    }, Qt::QueuedConnection);
-  });
-}
-
-void ExternalStorageControl::mountStorage() {
-  setValue(tr("mounting"));
-  setEnabled(false);
-
-  QtConcurrent::run([=]() {
-    QProcess process;
-    process.start("sh", QStringList() << "-c" <<
-      "sudo mount -o remount,rw / && "
-      "sudo mkdir -p /mnt/external_realdata && "
-      "grep -q '/dev/sdg1 /mnt/external_realdata' /etc/fstab || "
-      "echo '/dev/sdg1 /mnt/external_realdata ext4 defaults,nofail 0 2' | sudo tee -a /etc/fstab && "
-      "sudo systemctl daemon-reexec && "
-      "sudo mount /mnt/external_realdata && "
-      "sudo chown -R comma:comma /mnt/external_realdata && "
-      "sudo chmod -R 775 /mnt/external_realdata && "
-      "sudo mount -o remount,ro /");
-    process.waitForFinished();
-
-    QMetaObject::invokeMethod(this, [=]() {
-      debouncedRefresh();
-    }, Qt::QueuedConnection);
-  });
-}
-
-void ExternalStorageControl::unmountStorage() {
-  setValue(tr("unmounting"));
-  setEnabled(false);
-
-  QtConcurrent::run([=]() {
-    QProcess process;
-    process.start("sh", QStringList() << "-c" << "sudo umount /mnt/external_realdata");
-    process.waitForFinished();
-
-    QMetaObject::invokeMethod(this, [=]() {
-      debouncedRefresh();
-    }, Qt::QueuedConnection);
-  });
-}
-
-void ExternalStorageControl::formatStorage() {
-  unmountStorage();
-  formatting = true;
-  setValue(tr("formatting"));
-  setEnabled(false);
-
-  QProcess *process = new QProcess(this);
-  connect(process, static_cast<void(QProcess::*)(int, QProcess::ExitStatus)>(&QProcess::finished),
-          this, [=](int exitCode, QProcess::ExitStatus status) {
-            process->deleteLater();
-            formatting = false;
-            if (exitCode == 0 && status == QProcess::NormalExit) {
-              mountStorage();
-            } else {
-              setValue(tr("needs format"));
-              updateState(!uiState()->scene.started);
-            }
-          });
-  process->start("sh", QStringList() << "-c" <<
-    "sudo wipefs -a /dev/sdg && "
-    "sudo parted -s /dev/sdg mklabel gpt mkpart primary ext4 0% 100% && "
-    "sudo mkfs.ext4 -F -L openpilot /dev/sdg1"
-  );
-}
-
-void ExternalStorageControl::showEvent(QShowEvent *event) {
-  ButtonControl::showEvent(event);
-  QTimer::singleShot(100, this, &ExternalStorageControl::debouncedRefresh);
-}

selfdrive/ui/sunnypilot/qt/widgets/external_storage.h

@@ -1,34 +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.
- */
-
-#pragma once
-
-#include "system/hardware/hw.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#define ButtonControl ButtonControlSP
-
-class ExternalStorageControl : public ButtonControl {
-  Q_OBJECT
-
-public:
-  ExternalStorageControl();
-
-protected:
-  void showEvent(QShowEvent *event) override;
-
-private:
-  Params params;
-
-  bool refreshPending = false;
-  bool formatting = false;
-  void updateState(bool offroad);
-  void refresh();
-  void debouncedRefresh();
-  void mountStorage();
-  void unmountStorage();
-  void formatStorage();
-};

selfdrive/ui/translations/main_ar.ts

@@ -2103,22 +2103,6 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>🚀 sunnylink 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>For secure backup, restore, and remote configuration</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Click the sponsor button for more details</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_de.ts

@@ -2085,22 +2085,6 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>🚀 sunnylink 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>For secure backup, restore, and remote configuration</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Click the sponsor button for more details</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_es.ts

@@ -2087,22 +2087,6 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>🚀 sunnylink 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>For secure backup, restore, and remote configuration</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Click the sponsor button for more details</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_fr.ts

@@ -2083,22 +2083,6 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>🚀 sunnylink 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>For secure backup, restore, and remote configuration</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Click the sponsor button for more details</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_ja.ts

@@ -2082,22 +2082,6 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>🚀 sunnylink 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>For secure backup, restore, and remote configuration</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Click the sponsor button for more details</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_ko.ts

@@ -2096,22 +2096,6 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>🚀 sunnylink 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>For secure backup, restore, and remote configuration</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Click the sponsor button for more details</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_pt-BR.ts

@@ -2087,22 +2087,6 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>🚀 sunnylink 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>For secure backup, restore, and remote configuration</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Click the sponsor button for more details</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_th.ts

@@ -2078,22 +2078,6 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>🚀 sunnylink 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>For secure backup, restore, and remote configuration</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Click the sponsor button for more details</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_tr.ts

@@ -2077,22 +2077,6 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>🚀 sunnylink 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>For secure backup, restore, and remote configuration</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Click the sponsor button for more details</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -2082,22 +2082,6 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>🚀 sunnylink 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>For secure backup, restore, and remote configuration</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Click the sponsor button for more details</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -2082,22 +2082,6 @@ Warning: You are on a metered connection!</source>
         <source>[Don&apos;t use] Enable sunnylink uploader</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>🚀 sunnylink 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>For secure backup, restore, and remote configuration</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Sponsorship isn&apos;t required for basic backup/restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Click the sponsor button for more details</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>

sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py

@@ -9,28 +9,23 @@ from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.nnlc import NeuralNetworkL
 
 
 class LatControlTorqueExt(NeuralNetworkLateralControl):
-  def __init__(self, lac_torque, CP, CP_SP, CI):
-    super().__init__(lac_torque, CP, CP_SP, CI)
+  def __init__(self, lac_torque, CP, CP_SP):
+    super().__init__(lac_torque, CP, CP_SP)
 
-  def update(self, CS, VM, pid, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
+  def update(self, CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
              desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
-             desired_curvature, actual_curvature, steer_limited_by_safety, output_torque):
+             desired_curvature, actual_curvature):
     self._ff = ff
-    self._pid = pid
     self._pid_log = pid_log
     self._setpoint = setpoint
     self._measurement = measurement
-    self._roll_compensation = roll_compensation
     self._lateral_accel_deadzone = lateral_accel_deadzone
     self._desired_lateral_accel = desired_lateral_accel
     self._actual_lateral_accel = actual_lateral_accel
     self._desired_curvature = desired_curvature
     self._actual_curvature = actual_curvature
-    self._gravity_adjusted_lateral_accel = gravity_adjusted_lateral_accel
-    self._steer_limited_by_safety = steer_limited_by_safety
-    self._output_torque = output_torque
 
     self.update_calculations(CS, VM, desired_lateral_accel)
     self.update_neural_network_feedforward(CS, params, calibrated_pose)
 
-    return self._pid_log, self._output_torque
+    return self._ff, self._pid_log

sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py

@@ -7,7 +7,6 @@ See the LICENSE.md file in the root directory for more details.
 import math
 import numpy as np
 
-from openpilot.common.pid import PIDController
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
@@ -44,10 +43,9 @@ def get_lookahead_value(future_vals, current_val):
 
 
 class LatControlTorqueExtBase:
-  def __init__(self, lac_torque, CP, CP_SP, CI):
+  def __init__(self, lac_torque, CP, CP_SP):
     self.model_v2 = None
     self.model_valid = False
-    self.lac_torque = lac_torque
     self.torque_params = lac_torque.torque_params
 
     self.actual_lateral_jerk: float = 0.0
@@ -55,22 +53,17 @@ class LatControlTorqueExtBase:
     self.lateral_jerk_measurement: float = 0.0
     self.lookahead_lateral_jerk: float = 0.0
 
-    self.torque_from_lateral_accel_in_torque_space = CI.torque_from_lateral_accel_in_torque_space()
+    self.torque_from_lateral_accel = lac_torque.torque_from_lateral_accel
 
     self._ff = 0.0
-    self._pid = PIDController(0.0, 0.0, k_f=0.0)
     self._pid_log = None
     self._setpoint = 0.0
     self._measurement = 0.0
-    self._roll_compensation = 0.0
     self._lateral_accel_deadzone = 0.0
     self._desired_lateral_accel = 0.0
     self._actual_lateral_accel = 0.0
     self._desired_curvature = 0.0
     self._actual_curvature = 0.0
-    self._gravity_adjusted_lateral_accel = 0.0
-    self._steer_limited_by_safety = False
-    self._output_torque = 0.0
 
     # twilsonco's Lateral Neural Network Feedforward
     # Instantaneous lateral jerk changes very rapidly, making it not useful on its own,

sunnypilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -7,7 +7,10 @@ See the LICENSE.md file in the root directory for more details.
 
 from cereal import messaging, custom
 from opendbc.car import structs
+from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_controller import SpeedLimitController
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
@@ -15,8 +18,11 @@ DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimen
 
 class LongitudinalPlannerSP:
   def __init__(self, CP: structs.CarParams, mpc):
+    self.events_sp = EventsSP()
+
     self.dec = DynamicExperimentalController(CP, mpc)
     self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
+    self.slc = SpeedLimitController(CP)
 
   @property
   def mlsim(self) -> bool:
@@ -29,6 +35,17 @@ class LongitudinalPlannerSP:
 
     return self.dec.mode()
 
+  def update_v_cruise(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise: float) -> float:
+    self.events_sp.clear()
+
+    self.slc.update(sm, v_ego, a_ego, v_cruise, self.events_sp)
+
+    v_cruise_slc = self.slc.speed_limit_offseted if self.slc.is_active else V_CRUISE_UNSET
+
+    v_cruise_final = min(v_cruise, v_cruise_slc)
+
+    return v_cruise_final
+
   def update(self, sm: messaging.SubMaster) -> None:
     self.dec.update(sm)
 
@@ -38,6 +55,7 @@ class LongitudinalPlannerSP:
     plan_sp_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
 
     longitudinalPlanSP = plan_sp_send.longitudinalPlanSP
+    longitudinalPlanSP.events = self.events_sp.to_msg()
 
     # Dynamic Experimental Control
     dec = longitudinalPlanSP.dec
@@ -45,4 +63,13 @@ class LongitudinalPlannerSP:
     dec.enabled = self.dec.enabled()
     dec.active = self.dec.active()
 
+    # Speed Limit Control
+    slc = longitudinalPlanSP.slc
+    slc.state = self.slc.state
+    slc.enabled = self.slc.is_enabled
+    slc.active = self.slc.is_active
+    slc.speedLimit = float(self.slc.speed_limit)
+    slc.speedLimitOffset = float(self.slc.speed_limit_offset)
+    slc.distToSpeedLimit = float(self.slc.distance)
+
     pm.send('longitudinalPlanSP', plan_sp_send)

sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py

@@ -9,8 +9,6 @@ import math
 import numpy as np
 
 from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
-from opendbc.sunnypilot.car.interfaces import LatControlInputs
-from opendbc.sunnypilot.car.lateral_ext import get_friction as get_friction_in_torque_space
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.selfdrive.modeld.constants import ModelConstants
@@ -32,8 +30,8 @@ def roll_pitch_adjust(roll, pitch):
 
 
 class NeuralNetworkLateralControl(LatControlTorqueExtBase):
-  def __init__(self, lac_torque, CP, CP_SP, CI):
-    super().__init__(lac_torque, CP, CP_SP, CI)
+  def __init__(self, lac_torque, CP, CP_SP):
+    super().__init__(lac_torque, CP, CP_SP)
     self.params = Params()
     self.enabled = self.params.get_bool("NeuralNetworkLateralControl")
     self.has_nn_model = CP_SP.neuralNetworkLateralControl.model.path != MOCK_MODEL_PATH
@@ -59,44 +57,14 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
     self.error_deque = deque(maxlen=history_check_frames[0])
     self.past_future_len = len(self.past_times) + len(self.nn_future_times)
 
-  @property
-  def _nnlc_enabled(self):
-    return self.enabled and self.model_valid and self.has_nn_model
-
-  def update_limits(self):
-    if not self._nnlc_enabled:
-      return
-
-    self._pid.set_limits(self.lac_torque.steer_max, -self.lac_torque.steer_max)
-
   def update_lateral_lag(self, lag):
     super().update_lateral_lag(lag)
     self.nn_future_times = [t + self.desired_lat_jerk_time for t in self.future_times]
 
-  def update_feedforward_torque_space(self, CS):
-    torque_from_setpoint = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._setpoint, self._roll_compensation, CS.vEgo, CS.aEgo),
-                                                                          self.torque_params, gravity_adjusted=False)
-    torque_from_measurement = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._measurement, self._roll_compensation, CS.vEgo, CS.aEgo),
-                                                                             self.torque_params, gravity_adjusted=False)
-    self._pid_log.error = float(torque_from_setpoint - torque_from_measurement)
-    self._ff = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._gravity_adjusted_lateral_accel, self._roll_compensation,
-                                                                               CS.vEgo, CS.aEgo), self.torque_params, gravity_adjusted=True)
-    self._ff += get_friction_in_torque_space(self._desired_lateral_accel - self._actual_lateral_accel, self._lateral_accel_deadzone,
-                                             FRICTION_THRESHOLD, self.torque_params)
-
-  def update_output_torque(self, CS):
-    freeze_integrator = self._steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-    self._output_torque = self._pid.update(self._pid_log.error,
-                                           feedforward=self._ff,
-                                           speed=CS.vEgo,
-                                           freeze_integrator=freeze_integrator)
-
   def update_neural_network_feedforward(self, CS, params, calibrated_pose) -> None:
-    if not self._nnlc_enabled:
+    if not self.enabled or not self.model_valid or not self.has_nn_model:
       return
 
-    self.update_feedforward_torque_space(CS)
-
     low_speed_factor = float(np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)) ** 2
     self._setpoint = self._desired_lateral_accel + low_speed_factor * self._desired_curvature
     self._measurement = self._actual_lateral_accel + low_speed_factor * self._actual_curvature
@@ -160,5 +128,3 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
     # apply friction override for cars with low NN friction response
     if self.model.friction_override:
       self._pid_log.error += get_friction(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
-
-    self.update_output_torque(CS)

sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py

@@ -3,7 +3,6 @@ from parameterized import parameterized
 
 from cereal import car, log, messaging
 from opendbc.car.car_helpers import interfaces
-from opendbc.car.gm.values import CAR as GM
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.hyundai.values import CAR as HYUNDAI
 from opendbc.car.toyota.values import CAR as TOYOTA
@@ -42,7 +41,7 @@ def generate_modelV2():
 
 class TestNeuralNetworkLateralControl:
 
-  @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN, GM.CHEVROLET_BOLT_EUV])
+  @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN])
   def test_saturation(self, car_name):
     params = Params()
     params.put_bool("NeuralNetworkLateralControl", True)
@@ -58,7 +57,6 @@ class TestNeuralNetworkLateralControl:
     VM = VehicleModel(CP)
 
     controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI)
-    torque_params = CP.lateralTuning.torque
 
     CS = car.CarState.new_message()
     CS.vEgo = 30
@@ -79,23 +77,17 @@ class TestNeuralNetworkLateralControl:
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
       controller.extension.update_lateral_lag(test_lag)
-      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
-      controller.extension.update_limits()
       _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True)
     assert lac_log.saturated
 
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
       controller.extension.update_lateral_lag(test_lag)
-      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
-      controller.extension.update_limits()
       _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False)
     assert not lac_log.saturated
 
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
       controller.extension.update_lateral_lag(test_lag)
-      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
-      controller.extension.update_limits()
       _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False)
     assert lac_log.saturated

sunnypilot/selfdrive/controls/lib/speed_limit_controller/__init__.py

@@ -0,0 +1,19 @@
+from cereal import custom
+
+DEBUG = True
+PARAMS_UPDATE_PERIOD = 2.  # secs. Time between parameter updates.
+TEMP_INACTIVE_GUARD_PERIOD = 1.  # secs. Time to wait after activation before considering temp deactivation signal.
+
+# Lookup table for speed limit percent offset depending on speed.
+LIMIT_PERC_OFFSET_V = [0.1, 0.05, 0.038]  # 55, 105, 135 km/h
+LIMIT_PERC_OFFSET_BP = [13.9, 27.8, 36.1]  # 50, 100, 130 km/h
+
+# Constants for Limit controllers.
+LIMIT_ADAPT_ACC = -1.  # m/s^2 Ideal acceleration for the adapting (braking) phase when approaching speed limits.
+LIMIT_MIN_ACC = -1.5  # m/s^2 Maximum deceleration allowed for limit controllers to provide.
+LIMIT_MAX_ACC = 1.0   # m/s^2 Maximum acceleration allowed for limit controllers to provide while active.
+LIMIT_MIN_SPEED = 8.33  # m/s, Minimum speed limit to provide as solution on limit controllers.
+LIMIT_SPEED_OFFSET_TH = -1.  # m/s Maximum offset between speed limit and current speed for adapting state.
+LIMIT_MAX_MAP_DATA_AGE = 10.  # s Maximum time to hold to map data, then consider it invalid inside limits controllers.
+
+SpeedLimitControlState = custom.LongitudinalPlanSP.SpeedLimitControlState

sunnypilot/selfdrive/controls/lib/speed_limit_controller/common.py

@@ -0,0 +1,25 @@
+from enum import IntEnum
+
+
+class Source(IntEnum):
+  none = 0
+  car_state = 1
+  map_data = 2
+
+
+class Policy(IntEnum):
+  map_data_only = 0
+  car_state_only = 1
+  map_data_priority = 2
+  car_state_priority = 3
+  combined = 4
+
+
+class Engage(IntEnum):
+  auto = 0
+
+
+class OffsetType(IntEnum):
+  default = 0
+  fixed = 1
+  percentage = 2

sunnypilot/selfdrive/controls/lib/speed_limit_controller/helpers.py

@@ -0,0 +1,19 @@
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller import DEBUG, SpeedLimitControlState
+from openpilot.common.swaglog import cloudlog
+
+
+def debug(msg):
+  if not DEBUG:
+    return
+  cloudlog.debug(msg)
+
+
+def description_for_state(speed_limit_control_state):
+  if speed_limit_control_state == SpeedLimitControlState.inactive:
+    return 'INACTIVE'
+  if speed_limit_control_state == SpeedLimitControlState.tempInactive:
+    return 'TEMP_INACTIVE'
+  if speed_limit_control_state == SpeedLimitControlState.adapting:
+    return 'ADAPTING'
+  if speed_limit_control_state == SpeedLimitControlState.active:
+    return 'ACTIVE'

sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py

@@ -0,0 +1,284 @@
+import numpy as np
+import time
+
+from cereal import messaging, custom
+from openpilot.common.constants import CV
+from openpilot.common.params import Params
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller import LIMIT_PERC_OFFSET_BP, LIMIT_PERC_OFFSET_V, \
+  PARAMS_UPDATE_PERIOD, TEMP_INACTIVE_GUARD_PERIOD, LIMIT_SPEED_OFFSET_TH, SpeedLimitControlState
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Source, Policy, Engage, OffsetType
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.helpers import description_for_state, debug
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_resolver import SpeedLimitResolver
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+from openpilot.selfdrive.modeld.constants import ModelConstants
+
+EventNameSP = custom.OnroadEventSP.EventName
+
+ACTIVE_STATES = (SpeedLimitControlState.active, SpeedLimitControlState.adapting)
+ENABLED_STATES = (SpeedLimitControlState.preActive, SpeedLimitControlState.tempInactive, *ACTIVE_STATES)
+
+
+class SpeedLimitController:
+  _speed_limit: float
+  _distance: float
+  _source: Source
+  _v_ego: float
+  _a_ego: float
+  _v_offset: float
+
+  def __init__(self, CP):
+    self.params = Params()
+    self._CP = CP
+    self._policy = self.params.get("SpeedLimitControlPolicy", return_default=True)
+    self._resolver = SpeedLimitResolver(self._policy)
+    self._last_params_update = 0.0
+    self._last_op_engaged_time = 0.0
+    self._is_metric = self.params.get_bool("IsMetric")
+    self._enabled = self.params.get_bool("SpeedLimitControl")
+    self._op_engaged = False
+    self._op_engaged_prev = False
+    self._v_ego = 0.
+    self._a_ego = 0.
+    self._v_offset = 0.
+    self._v_cruise_setpoint = 0.
+    self._v_cruise_setpoint_prev = 0.
+    self._v_cruise_setpoint_changed = False
+    self._speed_limit = 0.
+    self._speed_limit_prev = 0.
+    self._speed_limit_changed = False
+    self._distance = 0.
+    self._source = Source.none
+    self._state = SpeedLimitControlState.inactive
+    self._state_prev = SpeedLimitControlState.inactive
+    self._gas_pressed = False
+    self._pcm_cruise_op_long = CP.openpilotLongitudinalControl and CP.pcmCruise
+
+    self._offset_type = OffsetType(self.params.get("SpeedLimitWarningValueOffset", return_default=True))
+    self._offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)
+    self._warning_type = self.params.get("SpeedLimitWarningType", return_default=True)
+    self._warning_offset_type = OffsetType(self.params.get("SpeedLimitWarningOffsetType", return_default=True))
+    self._warning_offset_value = self.params.get("SpeedLimitWarningValueOffset", return_default=True)
+    self._engage_type = self._read_engage_type_param()
+    self._current_time = 0.
+    self._v_cruise_rounded = 0.
+    self._v_cruise_prev_rounded = 0.
+    self._speed_limit_offsetted_rounded = 0.
+    self._speed_limit_warning_offsetted_rounded = 0.
+    self._speed_factor = CV.MS_TO_KPH if self._is_metric else CV.MS_TO_MPH
+
+    # Mapping functions to state transitions
+    self.state_transition_strategy = {
+      # Transition functions for each state
+      SpeedLimitControlState.inactive: self.transition_state_from_inactive,
+      SpeedLimitControlState.tempInactive: self.transition_state_from_temp_inactive,
+      SpeedLimitControlState.adapting: self.transition_state_from_adapting,
+      SpeedLimitControlState.active: self.transition_state_from_active,
+      SpeedLimitControlState.preActive: self.transition_state_from_pre_active,
+    }
+
+    # FIXME-SP: unused?
+    # Solution functions mapped to respective states
+    self.acceleration_solutions = {
+      # Solution functions for each state
+      SpeedLimitControlState.tempInactive: self.get_current_acceleration_as_target,
+      SpeedLimitControlState.inactive: self.get_current_acceleration_as_target,
+      SpeedLimitControlState.adapting: self.get_adapting_state_target_acceleration,
+      SpeedLimitControlState.active: self.get_active_state_target_acceleration,
+      SpeedLimitControlState.preActive: self.get_current_acceleration_as_target,
+    }
+
+  @property
+  def state(self) -> SpeedLimitControlState:
+    return self._state
+
+  @state.setter
+  def state(self, value) -> None:
+    if value != self._state:
+      debug(f'Speed Limit Controller state: {description_for_state(value)}')
+
+      if value == SpeedLimitControlState.tempInactive:
+        # Reset previous speed limit to current value as to prevent going out of tempInactive in
+        # a single cycle when the speed limit changes at the same time the user has temporarily deactivated it.
+        self._speed_limit_prev = self._speed_limit
+
+    self._state = value
+
+  @property
+  def is_enabled(self) -> bool:
+    return self.state in ENABLED_STATES and self._enabled
+
+  @property
+  def is_active(self) -> bool:
+    return self.state in ACTIVE_STATES and self._enabled
+
+  @property
+  def speed_limit_offseted(self) -> float:
+    return self._speed_limit + self.speed_limit_offset
+
+  @property
+  def speed_limit_offset(self) -> float:
+    return self._get_offset(self._offset_type, self._offset_value)
+
+  @property
+  def speed_limit_warning_offset(self) -> float:
+    return self._get_offset(self._warning_offset_type, self._warning_offset_value)
+
+  @property
+  def speed_limit(self) -> float:
+    return self._speed_limit
+
+  @property
+  def distance(self) -> float:
+    return self._distance
+
+  @property
+  def source(self) -> Source:
+    return self._source
+
+  def _get_offset(self, offset_type: OffsetType, offset_value: int) -> float:
+    if offset_type == OffsetType.default:
+      return float(np.interp(self._speed_limit, LIMIT_PERC_OFFSET_BP, LIMIT_PERC_OFFSET_V) * self._speed_limit)
+    elif offset_type == OffsetType.fixed:
+      return offset_value * (CV.KPH_TO_MS if self._is_metric else CV.MPH_TO_MS)
+    elif offset_type == OffsetType.percentage:
+      return offset_value * 0.01 * self._speed_limit
+    else:
+      raise NotImplementedError("Offset not supported")
+
+  def _update_v_cruise_setpoint_prev(self) -> None:
+    self._v_cruise_setpoint_prev = self._v_cruise_setpoint
+
+  def _update_params(self) -> None:
+    if self._current_time > self._last_params_update + PARAMS_UPDATE_PERIOD:
+      self._enabled = self.params.get_bool("SpeedLimitControl")
+      self._offset_type = OffsetType(self.params.get("SpeedLimitWarningValueOffset", return_default=True))
+      self._offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)
+      self._warning_type = self.params.get("SpeedLimitWarningType", return_default=True)
+      self._warning_offset_type = OffsetType(self.params.get("SpeedLimitWarningOffsetType", return_default=True))
+      self._warning_offset_value = self.params.get("SpeedLimitWarningValueOffset", return_default=True)
+      self._policy = Policy(self.params.get("SpeedLimitControlPolicy", return_default=True))
+      self._is_metric = self.params.get_bool("IsMetric")
+      self._speed_factor = CV.MS_TO_KPH if self._is_metric else CV.MS_TO_MPH
+      self._resolver.change_policy(self._policy)
+      self._engage_type = self._read_engage_type_param()
+
+      self._last_params_update = self._current_time
+
+  def _read_engage_type_param(self) -> Engage:
+    if self._pcm_cruise_op_long:
+      return Engage.auto
+
+    return Engage.auto
+
+  def _update_calculations(self) -> None:
+    # Update current velocity offset (error)
+    self._v_offset = self.speed_limit_offseted - self._v_ego
+
+    # Track the time op becomes active to prevent going to tempInactive right away after
+    # op enabling since controlsd will change the cruise speed every time on enabling and this will
+    # cause a temp inactive transition if the controller is updated before controlsd sets actual cruise
+    # speed.
+    if not self._op_engaged_prev and self._op_engaged:
+      self._last_op_engaged_time = self._current_time
+
+    # Update change tracking variables
+    self._speed_limit_changed = self._speed_limit != self._speed_limit_prev
+    self._v_cruise_setpoint_changed = self._v_cruise_setpoint != self._v_cruise_setpoint_prev
+    self._speed_limit_prev = self._speed_limit
+    self._update_v_cruise_setpoint_prev()  # always for Engage.auto
+    self._op_engaged_prev = self._op_engaged
+
+    self._v_cruise_rounded = int(round(self._v_cruise_setpoint * self._speed_factor))
+    self._v_cruise_prev_rounded = int(round(self._v_cruise_setpoint_prev * self._speed_factor))
+    self._speed_limit_offsetted_rounded = 0 if self._speed_limit == 0 else int(round((self._speed_limit + self.speed_limit_offset) * self._speed_factor))
+    self._speed_limit_warning_offsetted_rounded = 0 if self._speed_limit == 0 else \
+                                                  int(round((self._speed_limit + self.speed_limit_warning_offset) * self._speed_factor))
+
+  def transition_state_from_inactive(self) -> None:
+    """ Make state transition from inactive state """
+    if self._engage_type == Engage.auto:
+      if self._v_offset < LIMIT_SPEED_OFFSET_TH:
+        self.state = SpeedLimitControlState.adapting
+      else:
+        self.state = SpeedLimitControlState.active
+
+  def transition_state_from_temp_inactive(self) -> None:
+    """ Make state transition from temporary inactive state """
+    if self._speed_limit_changed:
+      if self._engage_type == Engage.auto:
+        self.state = SpeedLimitControlState.inactive
+
+  def transition_state_from_pre_active(self) -> None:
+    """ Make state transition from preActive state """
+
+  def transition_state_from_adapting(self) -> None:
+    """ Make state transition from adapting state """
+    if self._v_offset >= LIMIT_SPEED_OFFSET_TH:
+      self.state = SpeedLimitControlState.active
+
+  def transition_state_from_active(self) -> None:
+    """ Make state transition from active state """
+    if self._engage_type == Engage.auto:
+      if self._v_offset < LIMIT_SPEED_OFFSET_TH:
+        self.state = SpeedLimitControlState.adapting
+
+  def _state_transition(self) -> None:
+    self._state_prev = self._state
+
+    # In any case, if op is disabled, or speed limit control is disabled or no valid speed limit
+    # or gas is pressed, deactivate.
+    if not self._op_engaged or not self._enabled or self._speed_limit == 0:
+      self.state = SpeedLimitControlState.inactive
+      return
+
+    # In any case, we deactivate the speed limit controller temporarily if the user changes the cruise speed.
+    # Ignore if a minimum amount of time has not passed since activation. This is to prevent temp inactivations
+    # due to controlsd logic changing cruise setpoint when going active.
+    if self._engage_type == Engage.auto and self._v_cruise_setpoint_changed and \
+          self._current_time > (self._last_op_engaged_time + TEMP_INACTIVE_GUARD_PERIOD):
+      self.state = SpeedLimitControlState.tempInactive
+      return
+
+    self.state_transition_strategy[self.state]()
+
+    self._update_v_cruise_setpoint_prev()  # always for Engage.auto
+
+  def get_current_acceleration_as_target(self) -> float:
+    """ When state is inactive or tempInactive, preserve current acceleration """
+    return self._a_ego
+
+  def get_adapting_state_target_acceleration(self) -> float:
+    """ In adapting state, calculate target acceleration based on speed limit and current velocity """
+    if self.distance > 0:
+      return (self.speed_limit_offseted ** 2 - self._v_ego ** 2) / (2. * self.distance)
+
+    return self._v_offset / float(ModelConstants.T_IDXS[CONTROL_N])
+
+  def get_active_state_target_acceleration(self) -> float:
+    """ In active state, aim to keep speed constant around control time horizon """
+    return self._v_offset / float(ModelConstants.T_IDXS[CONTROL_N])
+
+  def _update_events(self, events_sp: EventsSP) -> None:
+    if self.is_active:
+      if self._engage_type == Engage.auto:
+        if self._state_prev not in ACTIVE_STATES:
+          events_sp.add(EventNameSP.speedLimitActive)
+        elif self._speed_limit_changed != 0:
+          events_sp.add(EventNameSP.speedLimitValueChange)
+
+  def update(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise_setpoint: float, events_sp: EventsSP) -> None:
+    _car_state = sm['carState']
+    self._op_engaged = sm['carControl'].longActive
+    self._v_ego = v_ego
+    self._a_ego = a_ego
+    self._v_cruise_setpoint = v_cruise_setpoint if not np.isnan(v_cruise_setpoint) else 0.0
+    self._gas_pressed = _car_state.gasPressed
+    self._current_time = time.monotonic()
+
+    self._speed_limit, self._distance, self._source = self._resolver.resolve(v_ego, self.speed_limit, sm)
+
+    self._update_params()
+    self._update_calculations()
+    self._state_transition()
+    self._update_events(events_sp)

sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_resolver.py

@@ -0,0 +1,119 @@
+import time
+import numpy as np
+
+from cereal import messaging
+from openpilot.common.gps import get_gps_location_service
+from openpilot.common.params import Params
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller import LIMIT_MAX_MAP_DATA_AGE, LIMIT_ADAPT_ACC
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Source, Policy
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.helpers import debug
+
+
+class SpeedLimitResolver:
+  _limit_solutions: dict[Source, float]  # Store for speed limit solutions from different sources
+  _distance_solutions: dict[Source, float]  # Store for distance to current speed limit start for different sources
+  _v_ego: float
+  _current_speed_limit: float
+
+  def __init__(self, policy: Policy):
+    self._gps_location_service = get_gps_location_service(Params())
+    self._limit_solutions = {}
+    self._distance_solutions = {}
+
+    self._policy = policy
+    self._policy_to_sources_map = {
+      Policy.car_state_only: [Source.car_state],
+      Policy.car_state_priority: [Source.car_state, Source.map_data],
+      Policy.map_data_priority: [Source.map_data, Source.car_state],
+      Policy.map_data_only: [Source.map_data],
+      Policy.combined: [Source.car_state, Source.map_data],
+    }
+    for source in Source:
+      self._reset_limit_sources(source)
+
+  def change_policy(self, policy: Policy) -> None:
+    self._policy = policy
+
+  def _reset_limit_sources(self, source: Source) -> None:
+    self._limit_solutions[source] = 0.
+    self._distance_solutions[source] = 0.
+
+  def resolve(self, v_ego: float, current_speed_limit: float, sm: messaging.SubMaster) -> tuple[float, float, Source]:
+    self._v_ego = v_ego
+    self._current_speed_limit = current_speed_limit
+
+    self._resolve_limit_sources(sm)
+    return self._consolidate()
+
+  def _resolve_limit_sources(self, sm: messaging.SubMaster) -> None:
+    """Get limit solutions from each data source"""
+    self._get_from_car_state(sm)
+    self._get_from_map_data(sm)
+
+  def _get_from_car_state(self, sm: messaging.SubMaster) -> None:
+    self._reset_limit_sources(Source.car_state)
+    self._limit_solutions[Source.car_state] = sm['carStateSP'].speedLimit
+    self._distance_solutions[Source.car_state] = 0.
+
+  def _get_from_map_data(self, sm: messaging.SubMaster) -> None:
+    self._reset_limit_sources(Source.map_data)
+    self._process_map_data(sm)
+
+  def _process_map_data(self, sm: messaging.SubMaster) -> None:
+    gps_data = sm[self._gps_location_service]
+    map_data = sm['liveMapDataSP']
+
+    gps_fix_age = time.monotonic() - gps_data.unixTimestampMillis * 1e-3
+    if gps_fix_age > LIMIT_MAX_MAP_DATA_AGE:
+      debug(f'SL: Ignoring map data as is too old. Age: {gps_fix_age}')
+      return
+
+    speed_limit = map_data.speedLimit if map_data.speedLimitValid else 0.
+    next_speed_limit = map_data.speedLimitAhead if map_data.speedLimitAheadValid else 0.
+
+    self._calculate_map_data_limits(sm, speed_limit, next_speed_limit)
+
+  def _calculate_map_data_limits(self, sm: messaging.SubMaster, speed_limit: float, next_speed_limit: float) -> None:
+    gps_data = sm[self._gps_location_service]
+    map_data = sm['liveMapDataSP']
+
+    distance_since_fix = self._v_ego * (time.monotonic() - gps_data.unixTimestampMillis * 1e-3)
+    distance_to_speed_limit_ahead = max(0., map_data.speedLimitAheadDistance - distance_since_fix)
+
+    self._limit_solutions[Source.map_data] = speed_limit
+    self._distance_solutions[Source.map_data] = 0.
+
+    if 0. < next_speed_limit < self._v_ego:
+      adapt_time = (next_speed_limit - self._v_ego) / LIMIT_ADAPT_ACC
+      adapt_distance = self._v_ego * adapt_time + 0.5 * LIMIT_ADAPT_ACC * adapt_time ** 2
+
+      if distance_to_speed_limit_ahead <= adapt_distance:
+        self._limit_solutions[Source.map_data] = next_speed_limit
+        self._distance_solutions[Source.map_data] = distance_to_speed_limit_ahead
+
+  def _consolidate(self) -> tuple[float, float, Source]:
+    source = self._get_source_solution_according_to_policy()
+    self.speed_limit = self._limit_solutions[source] if source else 0.
+    self.distance = self._distance_solutions[source] if source else 0.
+    self.source = source or Source.none
+
+    debug(f'SL: *** Speed Limit set: {self.speed_limit}, distance: {self.distance}, source: {self.source}')
+    return self.speed_limit, self.distance, self.source
+
+  def _get_source_solution_according_to_policy(self) -> Source | None:
+    sources_for_policy = self._policy_to_sources_map[self._policy]
+
+    if self._policy != Policy.combined:
+      # They are ordered in the order of preference, so we pick the first that's non zero
+      for source in sources_for_policy:
+        if self._limit_solutions[source] > 0.:
+          return Source(source)
+
+    limits = np.array([self._limit_solutions[source] for source in sources_for_policy], dtype=float)
+    sources = np.array([source.value for source in sources_for_policy], dtype=int)
+
+    if len(limits) > 0:
+      min_idx = np.argmin(limits)
+      return Source(sources[min_idx])
+
+    return None

sunnypilot/selfdrive/controls/lib/speed_limit_controller/state.py

@@ -0,0 +1,58 @@
+"""
+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.
+"""
+from cereal import custom
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+
+EventNameSP = custom.OnroadEventSP.EventName
+State = custom.LongitudinalPlanSP.SpeedLimitControlState
+
+ACTIVE_STATES = (State.active, State.adapting)
+ENABLED_STATES = (State.preActive, State.tempInactive, *ACTIVE_STATES)
+
+
+class StateMachine:
+  def __init__(self):
+    self.state = State.inactive
+
+  def update(self, events_sp: EventsSP) -> tuple[bool, bool]:
+    # INACTIVE
+    if self.state == State.inactive:
+      if events_sp.has(EventNameSP.speedLimitAdapting):
+        self.state = State.adapting
+      elif events_sp.has(EventNameSP.speedLimitActive):
+        self.state = State.active
+
+    # ACTIVE
+    elif self.state == State.active:
+      if events_sp.has(EventNameSP.speedLimitDisable):
+        self.state = State.inactive
+      elif events_sp.has(EventNameSP.speedLimitUserCancel):
+        self.state = State.tempInactive
+      elif events_sp.has(EventNameSP.speedLimitAdapting):
+        self.state = State.adapting
+
+    # ADAPTING
+    elif self.state == State.adapting:
+      if events_sp.has(EventNameSP.speedLimitDisable):
+        self.state = State.inactive
+      elif events_sp.has(EventNameSP.speedLimitUserCancel):
+        self.state = State.tempInactive
+      elif events_sp.has(EventNameSP.speedLimitReached):
+        self.state = State.active
+
+    # TEMP INACTIVE
+    elif self.state == State.tempInactive:
+      if events_sp.has(EventNameSP.speedLimitDisable):
+        self.state = State.inactive
+      elif events_sp.has(EventNameSP.speedLimitValueChange):
+        # When speed limit changes, reactivate
+        self.state = State.inactive
+
+    enabled = self.state in ENABLED_STATES
+    active = self.state in ACTIVE_STATES
+
+    return enabled, active

sunnypilot/selfdrive/controls/lib/speed_limit_controller/tests/test_speed_limit_resolver.py

@@ -0,0 +1,130 @@
+import random
+import time
+
+import pytest
+from pytest_mock import MockerFixture
+
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller import LIMIT_MAX_MAP_DATA_AGE
+
+# from selfdrive.controls.lib.speed_limit_controller_tbd import SpeedLimitResolver as OriginalSpeedLimitResolver
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_resolver import SpeedLimitResolver as RefactoredSpeedLimitResolver
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Source, Policy
+
+
+def create_mock(properties, mocker: MockerFixture):
+  mock = mocker.MagicMock()
+  for _property, value in properties.items():
+    setattr(mock, _property, value)
+  return mock
+
+
+def setup_sm_mock(mocker: MockerFixture):
+  cruise_speed_limit = random.uniform(0, 120)
+  live_map_data_limit = random.uniform(0, 120)
+
+  car_state = create_mock({
+    'gasPressed': False,
+    'brakePressed': False,
+    'standstill': False,
+  }, mocker)
+  car_state_sp = create_mock({
+    'speedLimit': cruise_speed_limit,
+  }, mocker)
+  live_map_data = create_mock({
+    'speedLimit': live_map_data_limit,
+    'speedLimitValid': True,
+    'speedLimitAhead': 0.,
+    'speedLimitAheadValid': 0.,
+    'speedLimitAheadDistance': 0.,
+  }, mocker)
+  gps_data = create_mock({
+    'unixTimestampMillis': time.monotonic() * 1e3,
+  }, mocker)
+  sm_mock = mocker.MagicMock()
+  sm_mock.__getitem__.side_effect = lambda key: {
+    'carState': car_state,
+    'liveMapDataSP': live_map_data,
+    'carStateSP': car_state_sp,
+    'gpsLocation': gps_data,
+  }[key]
+  return sm_mock
+
+
+parametrized_policies = pytest.mark.parametrize(
+  "policy, sm_key, function_key", [
+    (Policy.car_state_only, 'carStateSP', 'car_state'),
+    (Policy.car_state_priority, 'carStateSP', 'car_state'),
+    (Policy.map_data_only, 'liveMapDataSP', 'map_data'),
+    (Policy.map_data_priority, 'liveMapDataSP', 'map_data'),
+  ],
+  ids=lambda val: val.name if hasattr(val, 'name') else str(val)
+)
+
+
+@pytest.mark.parametrize("resolver_class", [RefactoredSpeedLimitResolver], ids=["Refactored"])
+class TestSpeedLimitResolverValidation:
+
+  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
+  def test_initial_state(self, resolver_class, policy):
+    resolver = resolver_class(policy)
+    for source in Source:
+      if source in resolver._limit_solutions:
+        assert resolver._limit_solutions[source] == 0.
+        assert resolver._distance_solutions[source] == 0.
+
+  @parametrized_policies
+  def test_resolver(self, resolver_class, policy, sm_key, function_key, mocker: MockerFixture):
+    resolver = resolver_class(policy)
+    sm_mock = setup_sm_mock(mocker)
+    source_speed_limit = sm_mock[sm_key].speedLimit
+
+    # Assert the resolver
+    speed_limit, _, source = resolver.resolve(source_speed_limit, 0, sm_mock)
+    assert speed_limit == source_speed_limit
+    assert source == Source[function_key]
+
+  def test_resolver_combined(self, resolver_class, mocker: MockerFixture):
+    resolver = resolver_class(Policy.combined)
+    sm_mock = setup_sm_mock(mocker)
+    socket_to_source = {'carStateSP': Source.car_state, 'liveMapDataSP': Source.map_data}
+    minimum_key, minimum_speed_limit = min(
+      ((key, sm_mock[key].speedLimit) for key in
+       socket_to_source.keys()), key=lambda x: x[1])
+
+    # Assert the resolver
+    speed_limit, _, source = resolver.resolve(minimum_speed_limit, 0, sm_mock)
+    assert speed_limit == minimum_speed_limit
+    assert source == socket_to_source[minimum_key]
+
+  @parametrized_policies
+  def test_parser(self, resolver_class, policy, sm_key, function_key, mocker: MockerFixture):
+    resolver = resolver_class(policy)
+    sm_mock = setup_sm_mock(mocker)
+    source_speed_limit = sm_mock[sm_key].speedLimit
+
+    # Assert the parsing
+    speed_limit, _, source = resolver.resolve(source_speed_limit, 0, sm_mock)
+    assert resolver._limit_solutions[Source[function_key]] == source_speed_limit
+    assert resolver._distance_solutions[Source[function_key]] == 0.
+
+  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
+  def test_resolve_interaction_in_update(self, resolver_class, policy, mocker: MockerFixture):
+    v_ego = 50
+    resolver = resolver_class(policy)
+
+    sm_mock = setup_sm_mock(mocker)
+    _speed_limit, _distance, _source = resolver.resolve(v_ego, 0, sm_mock)
+
+    # After resolution
+    assert _speed_limit is not None
+    assert _distance is not None
+    assert _source is not None
+
+  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
+  def test_old_map_data_ignored(self, resolver_class, policy, mocker: MockerFixture):
+    resolver = resolver_class(policy)
+    sm_mock = mocker.MagicMock()
+    sm_mock['gpsLocation'].unixTimestampMillis = (time.monotonic() - 2 * LIMIT_MAX_MAP_DATA_AGE) * 1e3
+    resolver._get_from_map_data(sm_mock)
+    assert resolver._limit_solutions[Source.map_data] == 0.
+    assert resolver._distance_solutions[Source.map_data] == 0.

sunnypilot/selfdrive/selfdrived/events.py

@@ -1,4 +1,6 @@
+import cereal.messaging as messaging
 from cereal import log, car, custom
+from openpilot.common.constants import CV
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
   NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, wrong_car_mode_alert
 
@@ -14,6 +16,17 @@ EventNameSP = custom.OnroadEventSP.EventName
 EVENT_NAME_SP = {v: k for k, v in EventNameSP.schema.enumerants.items()}
 
 
+def speed_limit_adjust_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  speedLimit = sm['longitudinalPlanSP'].slc.speedLimit
+  speed = round(speedLimit * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH))
+  message = f'Adjusting to {speed} {"km/h" if metric else "mph"} speed limit'
+  return Alert(
+    message,
+    "",
+    AlertStatus.normal, AlertSize.small,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, 4.)
+
+
 class EventsSP(EventsBase):
   def __init__(self):
     super().__init__()
@@ -132,6 +145,18 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   EventNameSP.pedalPressedAlertOnly: {
     ET.WARNING: NoEntryAlert("Pedal Pressed")
-  }
+  },
+
+  EventNameSP.speedLimitActive: {
+    ET.WARNING: Alert(
+      "Set speed changed to match posted speed limit",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 3.),
+  },
+
+  EventNameSP.speedLimitValueChange: {
+    ET.WARNING: speed_limit_adjust_alert,
+  },
 
 }

sunnypilot/system/hardware/c3/README.md

@@ -1,3 +0,0 @@
-# C3 specific hardware code
-
-`c3` is known as `tici` and comma three by comma. Not to confuse it with `c3x` which is known as `tizi`.

sunnypilot/system/hardware/c3/agnos.json

@@ -1,84 +0,0 @@
-[
-  {
-    "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b.img.xz",
-    "hash": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
-    "hash_raw": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
-    "size": 3282256,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "ed61a650bea0c56652dd0fc68465d8fc722a4e6489dc8f257630c42c6adcdc89"
-  },
-  {
-    "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c.img.xz",
-    "hash": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
-    "hash_raw": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
-    "size": 98124,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "b12801ffaa81e58e3cef914488d3b447e35483ba549b28c6cd9deb4814c3265f"
-  },
-  {
-    "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz",
-    "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
-    "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
-    "size": 274432,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6"
-  },
-  {
-    "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9.img.xz",
-    "hash": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
-    "hash_raw": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
-    "size": 184364,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "c1be2f4aac5b3af49b904b027faec418d05efd7bd5144eb4fdfcba602bcf2180"
-  },
-  {
-    "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620.img.xz",
-    "hash": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
-    "hash_raw": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
-    "size": 40336,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "17b229668b20305ff8fa3cd5f94716a3aaa1e5bf9d1c24117eff7f2f81ae719f"
-  },
-  {
-    "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz",
-    "hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
-    "hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
-    "size": 18515968,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0"
-  },
-  {
-    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz",
-    "hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126",
-    "hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
-    "size": 5368709120,
-    "sparse": true,
-    "full_check": false,
-    "has_ab": true,
-    "ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7",
-    "alt": {
-      "hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img",
-      "size": 5368709120
-    }
-  }
-]

sunnypilot/system/hardware/c3/launch_chffrplus.sh

@@ -1,92 +0,0 @@
-#!/usr/bin/env bash
-
-SP_C3_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-DIR="$( cd "$SP_C3_DIR/../../../.." >/dev/null 2>&1 && pwd )"
-
-source "$SP_C3_DIR/launch_env.sh"
-
-function agnos_init {
-  # TODO: move this to agnos
-  sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
-
-  # set success flag for current boot slot
-  sudo abctl --set_success
-
-  # TODO: do this without udev in AGNOS
-  # udev does this, but sometimes we startup faster
-  sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
-  sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
-
-
-  if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
-    AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
-    MANIFEST="$SP_C3_DIR/agnos.json"
-    if $AGNOS_PY --verify $MANIFEST; then
-      sudo reboot
-    fi
-    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
-  fi
-}
-
-function launch {
-  # Remove orphaned git lock if it exists on boot
-  [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
-
-  # Check to see if there's a valid overlay-based update available. Conditions
-  # are as follows:
-  #
-  # 1. The DIR init file has to exist, with a newer modtime than anything in
-  #    the DIR Git repo. This checks for local development work or the user
-  #    switching branches/forks, which should not be overwritten.
-  # 2. The FINALIZED consistent file has to exist, indicating there's an update
-  #    that completed successfully and synced to disk.
-
-  if [ -f "${DIR}/.overlay_init" ]; then
-    find ${DIR}/.git -newer ${DIR}/.overlay_init | grep -q '.' 2> /dev/null
-    if [ $? -eq 0 ]; then
-      echo "${DIR} has been modified, skipping overlay update installation"
-    else
-      if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
-        if [ ! -d /data/safe_staging/old_openpilot ]; then
-          echo "Valid overlay update found, installing"
-          LAUNCHER_LOCATION="${BASH_SOURCE[0]}"
-
-          mv $DIR /data/safe_staging/old_openpilot
-          mv "${STAGING_ROOT}/finalized" $DIR
-          cd $DIR
-
-          echo "Restarting launch script ${LAUNCHER_LOCATION}"
-          unset AGNOS_VERSION
-          exec "${LAUNCHER_LOCATION}"
-        else
-          echo "openpilot backup found, not updating"
-          # TODO: restore backup? This means the updater didn't start after swapping
-        fi
-      fi
-    fi
-  fi
-
-  # handle pythonpath
-  ln -sfn $(pwd) /data/pythonpath
-  export PYTHONPATH="$PWD"
-
-  # hardware specific init
-  if [ -f /AGNOS ]; then
-    agnos_init
-  fi
-
-  # write tmux scrollback to a file
-  tmux capture-pane -pq -S-1000 > /tmp/launch_log
-
-  # start manager
-  cd $DIR/system/manager
-  if [ ! -f $DIR/prebuilt ]; then
-    ./build.py
-  fi
-  ./manager.py
-
-  # if broken, keep on screen error
-  while true; do sleep 1; done
-}
-
-launch

sunnypilot/system/hardware/c3/launch_env.sh

@@ -1,11 +0,0 @@
-#!/usr/bin/env bash
-
-export OMP_NUM_THREADS=1
-export MKL_NUM_THREADS=1
-export NUMEXPR_NUM_THREADS=1
-export OPENBLAS_NUM_THREADS=1
-export VECLIB_MAXIMUM_THREADS=1
-
-if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="12.8"
-fi

system/athena/athenad.py

@@ -381,22 +381,20 @@ def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: str = N
   return {"success": 1}
 
 
-def scan_dir(path: str, prefix: str, base: str | None = None) -> list[str]:
-  if base is None:
-    base = path
+def scan_dir(path: str, prefix: str) -> list[str]:
   files = []
   # only walk directories that match the prefix
   # (glob and friends traverse entire dir tree)
   with os.scandir(path) as i:
     for e in i:
-      rel_path = os.path.relpath(e.path, base)
+      rel_path = os.path.relpath(e.path, Paths.log_root())
       if e.is_dir(follow_symlinks=False):
         # add trailing slash
         rel_path = os.path.join(rel_path, '')
         # if prefix is a partial dir name, current dir will start with prefix
         # if prefix is a partial file name, prefix with start with dir name
         if rel_path.startswith(prefix) or prefix.startswith(rel_path):
-          files.extend(scan_dir(e.path, prefix, base))
+          files.extend(scan_dir(e.path, prefix))
       else:
         if rel_path.startswith(prefix):
           files.append(rel_path)
@@ -404,12 +402,7 @@ def scan_dir(path: str, prefix: str, base: str | None = None) -> list[str]:
 
 @dispatcher.add_method
 def listDataDirectory(prefix='') -> list[str]:
-  internal_files = scan_dir(Paths.log_root(), prefix, Paths.log_root())
-  try:
-    external_files = scan_dir(Paths.log_root_external(), prefix, Paths.log_root_external())
-  except FileNotFoundError:
-    external_files = []
-  return sorted(set(internal_files + external_files))
+  return scan_dir(Paths.log_root(), prefix)
 
 
 @dispatcher.add_method
@@ -434,13 +427,8 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo
       failed.append(file.fn)
       continue
 
-    path_internal = os.path.join(Paths.log_root(), file.fn)
-    path_external = os.path.join(Paths.log_root_external(), file.fn)
-    if os.path.exists(path_internal) or os.path.exists(strip_zst_extension(path_internal)):
-      path = path_internal
-    elif os.path.exists(path_external) or os.path.exists(strip_zst_extension(path_external)):
-      path = path_external
-    else:
+    path = os.path.join(Paths.log_root(), file.fn)
+    if not os.path.exists(path) and not os.path.exists(strip_zst_extension(path)):
       failed.append(file.fn)
       continue
 

system/hardware/hw.py

@@ -20,10 +20,6 @@ class Paths:
     else:
       return '/data/media/0/realdata/'
 
-  @staticmethod
-  def log_root_external() -> str:
-    return '/mnt/external_realdata/'
-
   @staticmethod
   def swaglog_root() -> str:
     if PC:

system/loggerd/config.py

@@ -9,26 +9,21 @@ STATS_DIR_FILE_LIMIT = 10000
 STATS_SOCKET = "ipc:///tmp/stats"
 STATS_FLUSH_TIME_S = 60
 
-PATH_DICT = {
-  "internal": Paths.log_root(),
-  "external": Paths.log_root_external()
-}
-
-def get_available_percent(default: float, path_type="internal") -> float:
+def get_available_percent(default: float) -> float:
   try:
-    statvfs = os.statvfs(PATH_DICT[path_type])
+    statvfs = os.statvfs(Paths.log_root())
     available_percent = 100.0 * statvfs.f_bavail / statvfs.f_blocks
-  except (OSError, KeyError):
+  except OSError:
     available_percent = default
 
   return available_percent
 
 
-def get_available_bytes(default: int, path_type="internal") -> int:
+def get_available_bytes(default: int) -> int:
   try:
-    statvfs = os.statvfs(PATH_DICT[path_type])
+    statvfs = os.statvfs(Paths.log_root())
     available_bytes = statvfs.f_bavail * statvfs.f_frsize
-  except (OSError, KeyError):
+  except OSError:
     available_bytes = default
 
   return available_bytes

system/loggerd/deleter.py

@@ -1,9 +1,7 @@
 #!/usr/bin/env python3
 import os
-import time
 import shutil
 import threading
-from pathlib import Path
 from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.loggerd.config import get_available_bytes, get_available_percent
@@ -63,41 +61,6 @@ def deleter_thread(exit_event: threading.Event):
         if any(name.endswith(".lock") for name in os.listdir(delete_path)):
           continue
 
-        if Path(Paths.log_root_external()).is_mount():
-          out_of_bytes_external = get_available_bytes(default=MIN_BYTES + 1, path_type="external") < MIN_BYTES
-          out_of_percent_external = get_available_percent(default=MIN_PERCENT + 1, path_type="external") < MIN_PERCENT
-
-          if out_of_percent_external or out_of_bytes_external:
-            dirs_external = listdir_by_creation(Paths.log_root_external())
-
-            # remove the earliest external directory we can
-            for delete_dir_external in sorted(dirs_external):
-              delete_path_external = os.path.join(Paths.log_root_external(), delete_dir_external)
-              try:
-                cloudlog.warning(f"deleting {delete_path_external}")
-                shutil.rmtree(delete_path_external)
-                break
-              except OSError:
-                cloudlog.exception(f"issue deleting {delete_path_external}")
-
-          # move directory from internal to external
-          path_external = os.path.join(Paths.log_root_external(), delete_dir)
-          try:
-            cloudlog.warning(f"moving {delete_path} to {path_external}")
-            start = time.monotonic()
-            shutil.move(delete_path, path_external)
-            cloudlog.warning(f"moved {delete_path} to {path_external} in {time.monotonic() - start:.2f}s")
-            break
-          except Exception:
-            cloudlog.error(f"issue moving {delete_path} to {path_external}")
-            try:
-              cloudlog.warning(f"deleting {delete_path}")
-              shutil.rmtree(delete_path)
-              break
-            except OSError:
-              cloudlog.exception(f"issue deleting {delete_path}")
-          continue
-
         try:
           cloudlog.info(f"deleting {delete_path}")
           shutil.rmtree(delete_path)

uv.lock

@@ -4832,11 +4832,11 @@ wheels = [
 
 [[package]]
 name = "typing-extensions"
-version = "4.15.0"
+version = "4.14.1"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/72/94/1a15dd82efb362ac84269196e94cf00f187f7ed21c242792a923cdb1c61f/typing_extensions-4.15.0.tar.gz", hash = "sha256:0cea48d173cc12fa28ecabc3b837ea3cf6f38c6d1136f85cbaaf598984861466", size = 109391, upload-time = "2025-08-25T13:49:26.313Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/98/5a/da40306b885cc8c09109dc2e1abd358d5684b1425678151cdaed4731c822/typing_extensions-4.14.1.tar.gz", hash = "sha256:38b39f4aeeab64884ce9f74c94263ef78f3c22467c8724005483154c26648d36", size = 107673, upload-time = "2025-07-04T13:28:34.16Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/18/67/36e9267722cc04a6b9f15c7f3441c2363321a3ea07da7ae0c0707beb2a9c/typing_extensions-4.15.0-py3-none-any.whl", hash = "sha256:f0fa19c6845758ab08074a0cfa8b7aecb71c999ca73d62883bc25cc018c4e548", size = 44614, upload-time = "2025-08-25T13:49:24.86Z" },
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